Preset Single Register (Query Using Fc = 06H) - IAI RoboNet Operation Manual

3.9.3.4

Preset Single Register (Query using FC = 06H)

Data is written to (changed in) a holding register in the slave.
The basic query/response structures and examples of queries are shown below.
(1) Basic Query/Response Structures
[1] Query format
The query message specifies the address of the holding register (gateway register) from which to start writing
(changing) data, and the data.
Data length of 1 holding register = 1 word = 2 bytes = 16 bits
Field name
Header
Slave address
Function code
Starting address
Starting address
New data (data written) (upper)
New data (data written) (lower)
Error check
Trailer
Total bytes
[2] Response format
If the data has been changed (written) successfully, the response is the same as the query.
If invalid data has been sent, no response is returned.
130
RTU mode data
(8 bits)
None
3F H
06 H
(upper) Arbitrary
(lower) Arbitrary
Arbitrary
Arbitrary
(CRC) 16 bits
None
Data length
(bytes)
-
1 Fixed.
1
The address varies depending on the axis
2
arrangement.
2
2 Based on calculation result
-
8
Part 1 Specification
Remarks