IAI RoboNet, Operation Manual

Page: 143 / 398

123
Part 1 Specification
[3] Monitor current position – Axis (0)
z
Query
Field name
RTU mode data
(8 bits)
Data length
(bytes)
Remarks
Header None -
Slave address 3F H 1 Fixed.
Function code 03 H 1
Starting address (upper) F7 H
Starting address (lower) 08 H
2
The addresses of current position data of axis
(0) are F708H and F709H for the lower word
and upper word, respectively.
Number of registers (upper) 00 H
Number of registers (lower) 02 H
2 Number of registers (1 register = 1 word): 2
Error check (CRC)
Based on
calculation result
2 (73 63)
Trailer None -
Total bytes 8
z
Response
Field name
RTU mode data
(8 bits)
Data length
(bytes)
Remarks
Header None -
Slave address 3F H 1 Fixed.
Function code 03 H 1
Data bytes 04 H 1 1-word register x 2 = 4 bytes
Data 1 (upper) Arbitrary
Data 1 (lower) Arbitrary
1 each for upper
and lower words
2
Lower word of the current position
Data 2 (upper) Arbitrary
Data 2 (lower) Arbitrary
Same as above Upper word of the current position
Error check (CRC)
Based on
calculation result
2
Trailer None -
Total bytes
z
Actual Example
„
Sent Query: 3F03F70800027363
„
Received Response: 3F030438A5000038B3
(Explanation)
•
Lower word: 38A5H
•
Upper word: 0000H
The current position data is indicated in units of 0.01 mm.
In other words, 000038A5 H = 14501 (decimal)
→
145.01 mm