IAI America ROBO Cylinder Series - Manual (Page 230)

6. Modbus
ASCII
222
Modbus
(4) Sample query
A sample query that reads the speed (address 900A
H
) of a controller of axis No. 0 is shown below.
Query: 01 03 90 0A 00 02 60 [CR] [LF]
Field ASCII mode
fixed character string
Converted ASCII
code data [H]
Start ‘:’ 3A
Slave address [H] ‘0’, ‘1’ 3031
Function code [H] ‘0’, ‘3’ 3033
Start address [H] ‘9’, ‘0’, ‘0’, ‘A’ 39303041
Number of registers [H] ‘0’, ‘0’, ‘0’, ‘2’ 30303032
Error check [H] ‘6’, ‘0’ (In accordance with LRC calculation) 3630
End ‘CR’, ‘LF’ 0D0A
The response to the query is as follows.
Response: 01 03 04 00 00 26 FC D6 [CR] [LF]
Field ASCII mode
fixed character string
Converted ASCII
code data [H]
Start ‘:’ 3A
Slave address [H] ‘0’, ‘1’ 3031
Function code [H] ‘0’, ‘3’ 3033
Number of data bytes [H] ‘0’, ‘4’ (4 bytes = 2 registers) 3034
Data 1 [H] ‘0’, ‘0’, ‘0’, ‘0’ 30303030
Data 2 [H] ‘2’, ‘6’, ‘F’, ‘C’ 32364643
Error check [H] ‘D’, ‘6’ (In accordance with LRC calculation) 4436
End ‘CR’, ‘LF’ 0D0A
The current speed is “000026FC” o Convert into decimal number o 9980 (x 0.01 mm/sec)
The current speed monitor is 99.8 mm/sec.
Note The data of the response example is simply an example and will vary depending on
various conditions.