IAI America ROBO Cylinder Series - Manual (Page 39)

4. Communication
31
Modbus
4.3.2 Details of Modbus Registers
Reference page Address
[hex]
Area name Description Symbol
RTU ASCII
0000 to 04FF Reserved for
system
0500 Alarm detail code ALA0 30 30
0501 Alarm address ALA0 30 30
0502 Always 0 - - -
0503 Alarm code ALC0 31 31
0504
Detailed
information of
the alarm
detected lately
Alarm occurrence time ALT0
64
32
192
32
0506 to 0CFF Reserved for
system
0D00 Device control register 1 DRG1 33 33
0D01 Device control register 2 DRG2 34 34
0D03
I/O control
information
category Position number specification register POSR
149
35
276
35
0D04 to 0FFF Reserved for
system
1000 to 3FFF Offset [hex]
+0000
H
Target position PCMD
+0002
H
Positioning band INP
+0004
H
Speed command VCMD
+0006
H
Individual zone boundary + ZNMP
+0008
H
Individual zone boundary - ZNLP
+000A
H
Acceleration command ACMD
173 300
+000B
H
Deceleration command DCMD
+000C
H
Push-current limiting value PPOW
+000D
H
Load current threshold LPOW
Position table
information
(low-speed
memory area)
+000E
H
Control flag specification CTLF
171
174
298
301
* Detailed
addresses
can be
calculated
using the
formula to the
right. o * Address = 1000
H
+ (16 x position No.) + offset
4000 to 83FF Reserved for
system
8400 Total moving count (Note 1) TLMC 36 66 36 194
8402 Total moving distance (Note 1) ODOM 37 68 37 196
841A Current time(dedicated for SCON-CA) TIMN 38 70 38 198
8420 Current time(dedicated for PCON-CA/CFA) TIMN 38 70 38 198
842E
Maintenance
information
(dedicated for
models
applicable to
calendar function)
Total FAN driving time(dedicated for PCON-
CFA)
TFAN 39 74 39 202
8430 to 8FFF Reserved for
system
9000 Current position register PNOW 76 204
9002 Present alarm code register ALMC 78 206
9003 Input port register DIPM 80 208
9004 Output port register DOPM
(61)
84
(189)
212
9005 Device status 1 register DSS1 40(61) 88 40(189) 216
9006 Device status 2 register DSS2 41(61) 90 41(189) 218
9007 Expansion device status register DSSE 42(61) 92 42(189) 220
9008 System status register STAT 43(61) 94 43(189) 222
900A Current speed monitor register VNOW 96 224
900C Current ampere monitor register CNOW 98 226
900E Deviation monitor register DEVI 100 228
9010 System timer register STIM
(61)
102
(189)
230
9012 Special input port register SIPM 44(61) 104 44(189) 232
9013 Zone status register ZONS 45(61) 106 45(189) 234
9014 Position complete number status register POSS 46(61) 108 46(189) 236
9015
Controller
monitor
information
category
Expansion System status register SSSE 47(61) 110 47(189) 238
9016 to 901D Reserved for
system
Note 1 Dedicated for PCON-CA/CFA, SCON-CA and ERC3