IAI RoboNet, Operation Manual

Page: 144 / 398

124
Part 1 Specification
[4] Monitor current electrical current – Axis (1)
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) 0E H
2
Address of the current electrical current of axis
(1)
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 (93 62)
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 electrical current
Data 2 (upper) Arbitrary
Data 2 (lower) Arbitrary
Same as above Upper word of the current electrical current
Error check (CRC)
Based on
calculation result
2
Trailer None -
Total bytes
z
Actual Example
„
Sent Query: 3F03F70E00029362
„
Received Response: 3F030400260000C43B
(Explanation)
•
Lower word: 0026 H
•
Upper word: 0000 H
The electrical current data is indicated in unit of 1mA.
In other words, 00000026 H = 38 (decimal)
→
38 mA