Modbus – IAI America ROBO Cylinder Series User Manual
Page 211
6. Modbus
ASCII
203
Modbus
6.4.8 Present Alarm Code Query <<ALMC>>
(1) Function
Whether the controller is normal or any alarm presently detected is indicated by a code.
If no alarm is present, 00
H
is stored.
[For details on alarm codes, refer to the operation manual that comes with each controller.]
(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’, ‘2’
Present alarm codes
Number of registers [H]
4
‘0’, ‘0’, ‘0’, ‘1’
Reading address 9002
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’, ‘2’
Reading 1 register
= 2 bytes
Data 1 [H]
4
Alarm code
Alarm code [Hex]
Error check [H]
2
LRC calculation result
Trailer
2
‘CR’, ‘LF’
Total number of bytes
15