IAI America ROBO Cylinder Series - Manual (Page 233)

6. Modbus
ASCII
225
Modbus
6.4.17 Deviation Reading <>
(1) Function
This query reads the deviation over a 1-ms period between the position command value and the
feedback value (actual position). The unit is pulse. The number of pulses per one motor revolution in
mechanical angle varies depending on the encoder used.
(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’, ‘E’ Deviation monitor
Number of registers [H] 4 ‘0’, ‘0’, ‘0’, ‘2’
Reading addresses 900E
H
to 900F
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 Deviation monitor
Deviation monitor [Hex]
Indicated in pulses.
Error check [H] 2 LRC calculation result
Trailer 2 ‘CR’, ‘LF’
Total number of bytes 19