12. Communication Protocol
Node
ID
0x01
Function
0x05
Starting
Starting
Address Hi Address Lo
0x00
0x00
Quantity of
Register Hi.
0x00
Quantity of
Register Lo
0x00
Response not OK
Node ID
0x01
Error Code
0x85
Exception Code
0x01 ~ 0x04
CRC Hi
-
CRC Lo
-
CRC Hi
0XCD
CRC Lo
0xCA
(6) Write Single Register (0x06)
Writes value in single register (16bit data).
Request
Function code
Starting Address
Quantity of Registers
Request OK
Function code
Starting Address
Quantity of Registers
1Byte
2Bytes
2Bytes
1Byte
2Bytes
2Bytes
0x06
0x0000 to 0xFFFF
0x0000 to 0xFFFF
0x06
0x0000 to 0xFFFF
0x0000 to 0xFFFF
Response not OK
Error code
Exception code
1Byte
1Byte
0x86
0x01 ~ 0x06
Example 1) Changing Inertia Ratio (Address: 0x2100) value to 200
Request
Node
ID
Function
Starting
Starting
Address Hi Address Lo
Quantity of
Register Hi.
Quantity of
Register Lo
0x01 0x06
0x21
0x00
0x00
0xC8
Request OK
Node
ID
Function
Starting
Starting
Address Hi Address Lo
Quantity of
Register Hi.
Quantity of
Register Lo
0x01 0x06
0x21
0x00
0x00
0xC8
- Changes the inertia ratio (Address: 0x2100) value to 200(or 0x00C8).
Response not OK
Node ID
Error Code
Exception Code CRC Hi CRC Lo
0x01
0x86
0x01 ~ 0x06
-
-
CRC Hi
0x82
CRC Hi
0x82
CRC Lo
0x60
CRC Lo
0x60
15-14
