IAI America ROBO Cylinder Series - Manual (Page 89)

5. Modbus RTU
81
Modbus
5.3.9 I/O Port Input Signal Status Reading <>
(1) Function
This query reads the port input value of the RC controller regardless of the PIO pattern.
The status of the port to which a signal is currently input as recognized by the RC controller is
read.
(2) Query format
Field
Number of data items
(number of bytes)
RTU mode
8-bit data
Remarks
Start None Silent interval
Slave address [H] 1 Arbitrary Axis number + 1 (01
H
to 10
H
)
Function code [H] 1 03 Register reading
Start address [H] 2 9003 Input port monitor register
Number of registers [H] 2 0001 Reading address 9003
H
Error check [H] 2 CRC (16 bits)
End None Silent interval
Total number of bytes 8
(3) Response format
A response message contains 16 bits of data per address.
Field
Number of data items
(number of bytes)
RTU mode
8-bit data
Remarks
Start None Silent interval
Slave address [H] 1 Arbitrary Axis number + 1 (01
H
to 10
H
)
Function code [H] 1 03 Register reading
Number of data bytes [H] 1 02 Reading 1 register = 2 bytes
Data 1 [H] 2 Port input value Port input value [Hex]
Error check [H] 2 CRC (16 bits)
End None Silent interval
Total number of bytes 7