IAI America ROBO Cylinder Series - Manual (Page 93)

5. Modbus RTU
85
Modbus
5.3.10 I/O Port Output Signal Status Reading<<DOPM>>
(1) Function
This query reads the port output value of the RC controller regardless of the PIO pattern.
(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 9004 Output port monitor register
Number of registers [H] 2 0001 Reading addresses 9004
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 02 Reading 1 register = 2 bytes
Data 1 [H] 2 D0 output value Port output value [Hex]
Error check [H] 2 CRC (16 bits)
End None Silent interval
Total number of bytes 7