IAI RoboNet, Operation Manual

Page: 147 / 398

127
Part 1 Specification
[7] Read completed position number status – Axis (0)
The configuration of the completed position number register of axis (0) is shown below.
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) 0A H
2
Address of the completed position number of
axis (0)
Number of registers (upper) 00 H
Number of registers (lower) 01 H
2 Number of registers (1 register = 1 word): 1
Error check (CRC)
Based on
calculation result
2 (92 A2)
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 02 H 1 1-word register x 1 = 2 bytes
Data 1 (upper) Arbitrary
Data 1 (lower) Arbitrary
1 each for upper
and lower words
2
Completed position number data
Error check (CRC)
Based on
calculation result
2
Trailer None -
Total bytes 7
z
Actual Example
„
Sent Query: 3F03F70A000192A2
„
Received Response: 3F03020003D180
(Explanation) The completed position number is “3.”
Address