IAI RoboNet Operation Manual page 143

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