Modbus – IAI America ROBO Cylinder Series User Manual
Page 217
6. Modbus
ASCII
209
Modbus
6.4.10 I/O Port Output Signal Status Reading <<DOPM>>
(1) Function
Port output values of the RC controller are stored directly regardless of the PIO pattern.
(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’, ‘4’
Output port monitor register
Number of registers [H]
4
‘0’, ‘0’, ‘0’, ‘1’
Reading address 9004
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
DO output value
DI output value [Hex]
Error check [H]
2
LRC calculation result
Trailer
2
‘CR’, ‘LF’
Total number of bytes
15