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There is no straight forward command, which can be used to request data from connect Modbus slave device. If you want to read Modbus data from terminal you can do this in several ways:
A question about the option 2 of your answer.
If I use "modbus read" from a Linux terminal (like in this tutorial: Monitoring via Modbus),
could I retrieve the router slave device's resgisters?
By default the command only reads the router's own internal registers.