IAI America ROBO Cylinder Series - Manual (Page 78)

5. Modbus RTU
70
Modbus
5.3.4 Total moving distance Reading <<ODOM>> (in 0.01 mm units)
(1) Function
This bit reads the total moving distance in units of 1m.
(2) Query format
Field Number of data items
(number of bytes)
RTU mode
8-bit data
Remarks
Start None Silent interval
Slave address [H] 1 Arbitrary Axis number + 1 (01
H
to 10
H
)
Function code [H] 1 03 Register reading
Start address [H] 2 8402 Total moving distance
Number of registers [H] 2 0002 Reading addresses 8402
H
to
8403
H
Error check [H] 2 CRC (16 bits)
End None Silent interval
Total number of bytes 8
(3) Response format
A response message contains 16 bits of data per register.
Field Number of data items
(number of bytes)
RTU mode
8-bit data
Remarks
Start None Silent interval
Slave address [H] 1 Arbitrary Axis number + 1 (01
H
to 10
H
)
Function code [H] 1 03 Register reading
Number of data bytes [H] 1 04 Reading 2 registers = 4 bytes
Data 1 [H] 2 Total moving distance Total moving distance [Hex]
(most significant digit)
Data 2 [H] 2 Total moving distance Total moving distance [Hex]
(least significant digit)
Error check [H] 2 CRC (16 bits)
End None Silent interval
Total number of bytes 9