IAI America ROBO Cylinder Series - Manual (Page 281)

6. Modbus
ASCII
273
Modbus
(3) Query format
Specify the address and data of the register whose data is to be changed in the query message.
Data to be changed shall be specified as 16-bit data in the changed data area of the query.
Field Number of characters
(Number of bytes)
ASCII mode
fixed character
string
Remarks
Header 1 ‘:’
Slave address [H] 2 Arbitrary Axis number + 1 (01
H
to 10
H
)
00
H
when broadcast is
specified
Function code [H] 2 ‘0’, ‘6’ Writing to registers
Start address [H] 4 Arbitrary Refer to 6.6.1 (2), “Start
address list.”
Changed data [H] 4 4.3.2 (5) to 4.3.2. (7),
Refer to “List of changed
data.”
Error check [H] 2 LRC calculation
result
Trailer 2 ‘CR’, ‘LF’
Total number of bytes 17
(4) Response
If the change is successful, the response message will be the same as the query.
If invalid data is sent, an exception response (refer to section 7) will be returned, or no response will
be returned.