15. Communication Protocol
Function code
Starting Address
Quantity of Registers
Byte Count
Registers Value
Request OK
Function code
Starting Address
Quantity of Registers
Response not OK
Error code
Exception code
1Byte
2Bytes
2Bytes
1Byte
N* x 2 Bytes
1Byte
2Byte
2Byte
1Byte
1Byte
0x10
0x0000 to 0xFFFF
0x0001 to 0x007B
2 x N*
value
*N = Quantity of Registers
0x10
0x0000 to 0xFFFF
1 to 123 (0x7B)
0x90
0x01 ~ 0x06
Example 1) Writing multiple parameter values (JogSpeed(Address: 0x2300),
JogAccelerationTime(Address: 0x2301), JogDeceleration Speed(Address: 0x2302))
Request
Node
ID
Function
0x01 0x10
Starting
Address Hi
0x23
Starting
Address Lo
0x00
Quantity of
Register Hi.
0x00
Quantity of
Register Lo
0x03
Byte
Count
0x06
Registers
Value Hi
0XF4
Registers
Value Lo
0x48
Registers
Value Hi
0x00
Registers
Value Lo
0x64
Registers
Value Hi
0x00
Registers
Value Lo
0x64
CRC Hi
0XF7
CRC Lo
0X4A
- Jogspeed(Address: 0x2300) value is changed to -3000(or 0xF448), and jogaccelerationtime(Address: 0x2301)
and jog deceleration time(Address: 0x2300) were changed to 100(or 0x0064).
Request OK
Node
ID
Function
Starting
Starting
Address Hi Address Lo
0x01 0x10
0x23
0x00
Quantity of
Register Hi.
0x00
Quantity of
Register Lo
0x03
CRC Hi
0X8B
CRC Lo
0X8C
Response not OK
Node ID
Error Code
Exception Code
0x01
0x90
0x01 ~ 0x06
CRC Hi
-
CRC Lo
-
15-17
