IAI America ROBO Cylinder Series - Manual (Page 202)

6. Modbus
ASCII
194
Modbus
6.4.4 Total moving distance Reading <<ODOM>> (in 0.01 mm units)
(1) Function
This bit reads the total moving distance in units of 1m.
(2) Query format
Field Number of characters ASCII mode character
string (fixed)
Remarks
Header 1 ‘:’
Slave address [H] 2 Arbitrary Axis number + 1
(01
H
to 10
H
)
Function code [H] 2 ‘0’, ‘3’ Register reading
Start address [H] 4 ‘8’, ‘4’, ‘0’, ‘2’ Total moving distance
Number of registers [H] 4
‘0’, ‘0’, ‘0’, ‘2’
Reading addresses 8402
H
to 8403
H
Error check [H] 2 LRC calculation result
Trailer 2 ‘CR’, ‘LF’
Total number of bytes 17
(3) Response format
A response message contains 16 bits of data per register.
Field Number of characters ASCII mode character
string (fixed)
Remarks
Header 1 ‘:’
Slave address [H] 2 Arbitrary Axis number + 1
(01
H
to 10
H
)
Function code [H] 2 ‘0’, ‘3’ Register reading
Number of data bytes [H] 2
‘0’, ‘4’
Reading 2 registers
= 4 bytes
Data 1 [H] 4 Total moving distance Total moving distance
[Hex] (most significant
digit)
Data 2 [H] 4 Total moving distance Total moving distance
[Hex] (least significant
digit)
Error check [H] 2 LRC calculation result
Trailer 2 CR’, ‘LF’ Silent interval
Total number of bytes 19