IAI America ROBO Cylinder Series - Manual (Page 231)

6. Modbus
ASCII
223
Modbus
6.4.16 Current Ampere Reading <>
(1) Function
The monitored data of motor current is indicated in mA.
The torque current command value is stored.
(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’, ‘C’ Current ampere monitor
Number of registers [H] 4 ‘0’, ‘0’, ‘0’, ‘2’
Reading addresses 900C
H
to 900D
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’ Reading registers
Number of data bytes [H] 2 ‘0’, ‘4’
Reading 2 registers
= 4 bytes
Data [H] 8 Motor current monitor Motor current monitor [Hex]
Indicated in mA.
Error check [H] 2 LRC calculation result
Trailer 2 ‘CR’, ‘LF’
Total number of bytes 19