Modbus – IAI America ROBO Cylinder Series User Manual
Page 229
6. Modbus
ASCII
221
Modbus
6.4.15 Current Speed Query <<VNOW>>
(1) Function
The monitored data of actual motor speed is indicated. The value becomes positive or negative
depending on the operating direction of the motor. The unit is 0.01 mm/sec.
(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’, ‘A’
Current speed monitor
Number of registers [H]
4
‘0’, ‘0’, ‘0’, ‘2’
Reading addresses 900A
H
to 900B
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 [H]
8
Current speed
Current speed [Hex]
Indicated in units of 0.01
mm/sec.
Error check [H]
2
LRC calculation result
Trailer
2
‘CR’, ‘LF’
Total number of bytes
19