IAI America ROBO Cylinder Series - Manual (Page 121)

5. Modbus RTU
113
Modbus
5.3.23 Force Feedback Data Read <<FBFC>> --- SCON-CA Only
(1) Function
The monitored data of load cell measurement (push force) is read.
The unit is 0.01 N.
(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 901E Force feedback monitor
Number of registers [H]
2 0002
Reading address
901F
H
~901F
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 Register reading
Number of data bytes [H] 1 04 Reading 2 register = 4 bytes
Data [H] 4
Load cell
measurement
Current push force [N]
Unit: 0.01 N
Error check [H] 2 CRC (16 bits)
End None Silent interval
Total number of bytes 9