IAI America ROBO Cylinder Series - Manual (Page 227)

6. Modbus
ASCII
219
Modbus
6.4.14 Controller Status Signal Reading 4 <>
(1) Function
This query reads the internal operation status of the controller.
[Refer to “4.3.2 (15) Data of system status register.”]
(2) Query format
Field Number of characters ASCII mode character
string (fixed)
Remarks
Header 1 ‘:’
Slave address [H] 2 Arbitrary
Axis number + 1
(01
H
to 10
H
)
Function code [H] 2 ‘0’, ‘3’ Reading registers
Start address [H] 4 ‘9’, ‘0’, ‘0’, ‘8’ System status register
Number of registers [H] 4 ‘0’, ‘0’, ‘0’, ‘2’
Reading addresses 9008
H
to
9009
H
Error check [H] 2 LRC calculation result
Trailer 2 ‘CR’, ‘LF’
Total number of bytes 17
(3) Response format
A response message contains 16 bits of data per register.
Field Number of characters ASCII mode character
string (fixed)
Remarks
Header 1 ‘:’
Slave address [H] 2 Arbitrary
Axis number + 1
(01
H
to 10
H
)
Function code [H] 2 ‘0’, ‘3’ Internal controller status
Number of data bytes [H] 2 ‘0’, ‘4’
Reading 2 registers
= 4 bytes.
Data [H] 8 System status System status [Hex]
Error check [H] 2 LRC calculation result
Trailer 2 ‘CR’, ‘LF’
Total number of bytes 19