IAI RoboNet Operation Manual page 142

[2] Read response command data 0 to 3
Query
Field name
Header
Slave address
Function code
Starting address
Starting address
Number of registers
Number of registers
Error check
Trailer
Total bytes
Response
Field name
Header
Slave address
Function code
Data bytes
Data 1 (upper)
Data 2 (upper)
Data 3 (upper)
Data 4 (upper)
Data 5 (upper)
Error check
Trailer
Total bytes
Actual Example (Example of reading the response data after issuing a command to read the table position for position
No. 2 of axis 0)
Sent Query:
Received Response:
(Explanation) [1] The response command is "1040H," meaning that this is a target position read command.
[2] Position number: 2
[3] Lower word of position data that has been read: 2710H
[4] Upper word of position data that has been read: 0000H
[5] Axis number: 0
122
RTU mode data
(8 bits)
None
3F H
03 H
(upper) F7 H
(lower) 02 H
(upper) 00 H
(lower) 05 H
Based on
(CRC)
calculation result
None
RTU mode data
(8 bits)
None
3F H
03 H
0A H
Response
(lower)
command
(lower) Data 0
(lower) Data 1
(lower) Data 2
(lower) Data 3
Based on
(CRC)
calculation result
None
3F03F702000512A3
3F030A 1040
[1]
Data length
(bytes)
-
1 Fixed.
1
2 Initial address of the response command
2 Number of registers (1 register = 1 word): 5
2 (12 A3)
-
8
Data length
(bytes)
-
1 Fixed.
1
1 1-word register x 5 = 10 bytes
Position number specified in the request
2
command
2
2
2
2 Address
2
-
0002 2710 0000
[2] [3] [4]
Part 1 Specification
Remarks
Remarks
0000 A74A
[5]
2710H = 10000 (decimal)
→ 100.00 mm