IAI America ROBO Cylinder Series - Manual (Page 234)

6. Modbus
ASCII
226
Modbus
(4) Sample query
A sample query that reads the deviation (address 900E
H
) of a controller of axis No. 0 is shown
below.
Query: 01 03 90 0E 00 02 5C [CR] [LF]
Field ASCII mode
fixed character string
Converted ASCII
code data [H]
Start ‘:’ 3A
Slave address [H] ‘0’, ‘1’ 3031
Function code [H] ‘0’, ‘3’ 3033
Start address [H] ‘9’, ‘0’, ‘0’, ‘E’ 39303045
Number of registers [H] ‘0’, ‘0’, ‘0’, ‘2’ 30303032
Error check [H] ‘5’, ‘C’ (In accordance with LRC calculation) 3543
End ‘CR’, ‘LF’ 0D0A
The response to the query is as follows.
Response: 01 03 04 00 00 00 83 75 [CR] [LF]
Field ASCII mode
fixed character string
Converted ASCII
code data [H]
Start ‘:’ 3A
Slave address [H] ‘0’, ‘1’ 3031
Function code [H] ‘0’, ‘3’ 3033
Number of data bytes [H] ‘0’, ‘4’ (4 bytes = 2 registers) 3034
Data 1 [H] ‘0’, ‘0’, ‘0’, ‘0’ 30303030
Data 2 [H] ‘0’, ‘0’, ‘8’, ‘3’ 30303833
Error check [H] ‘7’, ‘5’ (In accordance with LRC calculation) 3735
End ‘CR’, ‘LF’ 0D0A
The deviation monitor is “00000083” o Convert into decimal number o 131 pulse
The deviation over a 1-ms period between the position command value and the feedback value (actual
position) is 131 pulses.
Note The data of the response example is simply an example and will vary depending on
various conditions.