IAI America ROBO Cylinder Series - Manual (Page 245)

6. Modbus
ASCII
237
Modbus
6.4.23 Force Feedback Data Read <> --- SCON-CA Only
(1) Function
The monitored data of load cell measurement (push force) is read.
The unit is 0.01 N.
(2) Query format
Field Number of
characters
ASC II 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’ Register reading
Start address [H] 4 ‘9’, ‘0’, ‘1’, ‘E’ Force feedback monitor
Number of registers [H] 4 ‘0, ‘0, ‘0’, 2’ Reading address 901E
H
to 901F
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
ASC II 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’ Register reading
Number of data bytes [H] 2 ‘0, ‘4’ Reading 2 register = 4 bytes
Data [H]
8 Position number status Current push force [N]
Unit: 0.01 N
Error check [H] 2 LRC calculation result
Trailer 2 ‘CR’, ‘LF’
Total number of bytes 19