Modbus – IAI America ROBO Cylinder Series User Manual
Page 209
6. Modbus
ASCII
201
Modbus
6.4.7 Current Position Reading (in 0.01 mm units) Monitor <<PNOW>>
(1) Function
This query reads the current in units of 0.01 mm. The sign is effective.
(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’
Reading registers
Start address [H]
4
‘9’, ‘0’, ‘0’, ‘0’
Current position monitor
Number of registers [H]
4
‘0’, ‘0’, ‘0’, ‘2’
Reading addresses 9000
H
to 9001
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’
Reading registers
Number of data bytes [H]
2
‘0’, ‘4’
Reading 2 registers
= 4 bytes
Data 1 [H]
4
In accordance with
the current value
Current value data [Hex]
Data 2 [H]
4
In accordance with
the current value
Current value data [Hex]
Error check [H]
2
LRC calculation result
Trailer
2
‘CR’, ‘LF’
Total number of bytes
19