IAI America ROBO Cylinder Series - Manual (Page 99)

5. Modbus RTU
91
Modbus
5.3.12 Controller Status Signal Reading 2 <>
(1) Function
This bit reads the internal status of the controller.
[Refer to 4.3.2 (13), “Data of device status register 2.”]
(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 9006 Device status register 2
Number of registers [H] 2 0001 Reading address 9006
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 register.
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 Internal status of controller
Number of data bytes [H] 1 02 Reading 1 register = 2 bytes
Data [H] 2 Status 2 Status 2 [Hex]
Error check [H] 2 CRC (16 bits)
End None Silent interval
Total number of bytes 7