IAI America ROBO Cylinder Series - Manual (Page 105)

5. Modbus RTU
97
Modbus
5.3.15 Current Speed Reading <<VNOW>>
(1) Function
The monitored data of actual motor speed is read. The speed may be positive or negative
depending on the moving direction of the actuator.
The unit is 0.01 mm/sec.
(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 900A Current speed monitor
Number of registers [H]
2
0002 Reading addresses 900A
H
to
900B
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 registers = 4 bytes
Data [H] 4 Current speed Current speed [Hex]
Indicated in units of 0.01
mm/sec.
Error check [H] 2 CRC (16 bits)
End None Silent interval
Total number of bytes 9