Modbus – IAI America ROBO Cylinder Series User 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