IAI America ROBO Cylinder Series - Manual (Page 243)

6. Modbus
ASCII
235
Modbus
6.4.22 Controller Status Signal 5 <>
(1) Function
This query reads the internal operation status of the controller.
[Refer to 4.3.2 (19), “Data of expansion 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’, ‘1’, ‘5’
Expansion system status
register
Number of registers [H] 1 ‘0’, ‘0’, ‘0’, ‘1’ Reading address 9015
H
Error check [H] 2 LRC calculation result
Trailer 2 ‘CR’, ‘LF’
Total number of bytes 14
(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 status of controller
Number of data bytes [H] 2 ‘0’, ‘2’ Reading 1 registers = 2 bytes
Data [H] 4
Expansion system
status
Expansion system status
[Hex]
Error check [H] 2 LRC calculation result
Trailer 2 ‘CR’, ‘LF’
Total number of bytes 15