Modbus – IAI America ROBO Cylinder Series User Manual
Page 227
6. Modbus
ASCII
219
Modbus
6.4.14 Controller Status Signal Reading 4 <<STAT>>
(1) Function
This query reads the internal operation status of the controller.
[Refer to “4.3.2 (15) Data of system status register.”]
(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’, ‘8’
System status register
Number of registers [H]
4
‘0’, ‘0’, ‘0’, ‘2’
Reading addresses 9008
H
to
9009
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’
Internal controller status
Number of data bytes [H]
2
‘0’, ‘4’
Reading 2 registers
= 4 bytes.
Data [H]
8
System status
System status [Hex]
Error check [H]
2
LRC calculation result
Trailer
2
‘CR’, ‘LF’
Total number of bytes
19