IAI America ROBO Cylinder Series - Manual (Page 67)

5. Modbus RTU
59
Modbus
5.2 List of RTU Mode Queries
FC: Function code
PIO: Parallel I/O (input/output of an I/O connector)
The circle marks in the Combination use with PIO and Broadcast columns indicate queries that can be
combined with PIO and in broadcast communication, respectively.
FC Function Symbol Function Summary
Combination
with PIO
Broad-
cast Page
03 Multiple FC03
register read
None This function can be used to successively
read multiple registers that use function 03.
{ 61
03
Alarm detail
description reading
ALA0
ALC0
ALT0
This bit reads the alarm codes, alarm
addresses, detail codes and alarm
occurrence time (passed time) that lately
occurred.
{ 64
03 Total moving count
reading
TLMC This bit reads the Total moving count. { 66
03 Total moving
distance reading
ODOM This bit reads the Total moving distance in
units of 1 m.
{ 68
03 Present time
reading
TIMN
This bit reads the present time.
(Dedicated for PCON-CA/CFA and
SCON-CA)
{ 70
03 Total FAN driving
time reading
TFAN This bit reads the Total FAN driving time.
(Dedicated for PCON-CFA )
{ 74
03 Current position
read
PNOW This function reads the current actuator
position in units of 0.01 mm.
{ 76
03 Present alarm code
read
ALMC This function reads alarm codes that are
presently detected.
{ 78
03 I/O port input status
read
DIPM This function reads the ON/OFF statuses of
PIO input ports.
{ 80
03 I/O port output
status read
DOPM This function reads the ON/OFF statuses of
PIO output ports.
{ 84
03
Controller status
signal read 1
(device status 1)
(Operation preparation
status)
DSS1
This function reads the following 12 statuses:
[1] Emergency stop
[2] Safety speed enabled/disabled
[3] Controller ready
[4] Servo ON/OFF
[5] Missed work part in push-motion
operation
[6] Major failure
[7] Minor failure
[8] Absolute error
[9] Brake
[10] Pause
[11] Home return completion
[12] Position complete
[13] Load cell calibration complete
[14] Load cell calibration status
{ 88