IAI America ROBO Cylinder Series - Manual (Page 246)

6. Modbus
ASCII
238
Modbus
(4) Query sample
An example of use is shown, where the current measurement on the load cell connected to
controller axis 0 is read.
Query: 01 03 90 0A 00 02 4C [CR] [LF]
Field Fixed character strings in ASCII
mode
Converted ASCII
code data [H]
Start ‘:’ 3A
Slave address [H] ‘0’, ‘1’ 3031
Function code [H] ‘0’, ‘3’ 3033
Start address [H] ‘9’, ‘0’, ‘1’, ‘E’ 39393145
Number of registers [H] ‘0’, ‘0’, ‘0’, ‘2’ 30303032
Error check [H]
‘4’, ‘C’ (in accordance with LRC
calculation)
3443
End ‘CR’, ‘LF’ 0D0A
The response to the query is as follows.
Response: 01 03 04 00 00 03 E4 [CR] [LF]
Field Fixed character strings in ASCII
mode
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’ (2 bytes = 1 register) 3034
Data 1 [H] ‘0’, ‘0’, ‘0’, ‘0’ 30303030
Data 2 [H] ‘0’, ‘3’, ‘E’, ‘4’ 30334534
Error check [H]
‘1’, ‘1’ (in accordance with LRC
calculation)
3131
End ‘CR’, ‘LF’ 0D0A
Example 1) The current measurement on the load cell is “000003E4, ” which is convert into a
decimal number, or 996 (x 0.01 N) Æ The current push force is 9.96 N.
Example 2) If the current measurement reading on the load cell is “FFFFFF35” (tensile state (Note 2) ),
the formula FFFFFFFF
H
– FFFFFF35
H
+ 1 (1 must be added) applies. The result is
converted into decimal number, or 203 (x 0.01 N) Æ The current tensile force (Note 2) is
2.03 N.
Note 1 This is only one example of response. The specific response varies depending on each
situation.
Note 2 If a force is applied in the tensile direction, the load cell will break.