Changes for page 08 Communication
Last modified by Iris on 2025/07/24 15:23
From version 4.6
edited by Joey
on 2022/06/18 21:59
on 2022/06/18 21:59
Change comment:
Update document after refactoring.
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Page properties (2 modified, 0 added, 0 removed)
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... ... @@ -1,1 +1,1 @@ 1 -XWiki. Joey1 +XWiki.Stone - Content
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... ... @@ -54,58 +54,46 @@ 54 54 55 55 (% class="table-bordered" %) 56 56 |(% style="text-align:center; vertical-align:middle" %)**Operate**|(% style="text-align:center; vertical-align:middle" %)**Command code** 57 -|(% style="text-align:center; vertical-align:middle" %)Read 16-bit 57 +|(% style="text-align:center; vertical-align:middle" %)Read 16-bit/32-bit function code|(% style="text-align:center; vertical-align:middle" %)0x03 58 58 |(% style="text-align:center; vertical-align:middle" %)Write 16-bit function code|(% style="text-align:center; vertical-align:middle" %)0x06 59 +|(% style="text-align:center; vertical-align:middle" %)Write 32-bit function code|(% style="text-align:center; vertical-align:middle" %)0x10 59 59 60 -** (1)Read function code: 0x03**61 +**Read function code: 0x03** 61 61 62 62 Request format: 63 63 64 -(% class="table-bordered" %) 65 -|(% style="text-align:center; vertical-align:middle; width:84px" %)**Address**|(% style="text-align:center; vertical-align:middle; width:104px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:179px" %)((( 66 -**Initial address high byte** 67 -)))|(% style="text-align:center; vertical-align:middle; width:162px" %)((( 68 -**Initial address low byte** 69 -)))|(% style="text-align:center; vertical-align:middle; width:194px" %)((( 70 -**Number of reads high byte** 71 -)))|(% style="text-align:center; vertical-align:middle; width:195px" %)((( 72 -**Number of reads low byte** 73 -)))|(% style="text-align:center; vertical-align:middle; width:158px" %)**CRC check code** 74 -|(% style="text-align:center; vertical-align:middle; width:84px" %)1 byte|(% style="text-align:center; vertical-align:middle; width:104px" %)03|(% style="text-align:center; vertical-align:middle; width:179px" %)1 byte|(% style="text-align:center; vertical-align:middle; width:162px" %)1 byte|(% style="text-align:center; vertical-align:middle; width:194px" %)1 byte|(% style="text-align:center; vertical-align:middle; width:195px" %)1 byte|(% style="text-align:center; vertical-align:middle; width:158px" %)2 bytes 65 +|(% rowspan="2" %)**Address**|(% rowspan="2" %)**Function code**|(% colspan="2" %)**Initial address**|(% colspan="2" %)**Number of reads**|(% rowspan="2" %)**CRC check code** 66 +|**high byte**|**low byte**|**high byte**|**low byte** 67 +|1 byte|03|1 byte|1 byte|1 byte|1 byte|2 bytes 75 75 76 76 Correct response format: 77 77 78 -(% class="table-bordered" %) 79 -|(% style="text-align:center; vertical-align:middle; width:85px" %)**Address**|(% style="text-align:center; vertical-align:middle; width:139px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:244px" %)((( 80 -**Return data number of bytes** 81 -)))|(% style="text-align:center; vertical-align:middle; width:203px" %)((( 82 -**Register 1 high byte** 83 -)))|(% style="text-align:center; vertical-align:middle; width:190px" %)((( 84 -**Register 1 low byte** 85 -)))|(% style="text-align:center; vertical-align:middle; width:72px" %)…|(% style="text-align:center; vertical-align:middle; width:143px" %)**CRC check code** 86 -|(% style="text-align:center; vertical-align:middle; width:85px" %)1 byte|(% style="text-align:center; vertical-align:middle; width:139px" %)03|(% style="text-align:center; vertical-align:middle; width:244px" %)1 byte|(% style="text-align:center; vertical-align:middle; width:203px" %)1 byte|(% style="text-align:center; vertical-align:middle; width:190px" %)1 byte|(% style="text-align:center; vertical-align:middle; width:72px" %)…|(% style="text-align:center; vertical-align:middle; width:143px" %)2 bytes 71 +|(% rowspan="2" %)**Address**|(% rowspan="2" %)**Function code**|(% rowspan="2" %)**Number of bytes of returned data**|(% colspan="2" %)**Register 1**|(% rowspan="2" %)**…**|(% rowspan="2" %)**CRC check code** 72 +|**high byte**|**low byte** 73 +|1 byte|03|1 byte|1 byte|1 byte|…|2 bytes 87 87 88 -** (2)Write function code: 0x06**75 +**Write function code: 0x06** 89 89 90 90 Request format: 91 91 92 -(% class="table-bordered" %) 93 -|(% style="text-align:center; vertical-align:middle" %)**Address**|(% style="text-align:center; vertical-align:middle" %)**Function code**|(% style="text-align:center; vertical-align:middle" %)**Register address high byte**|(% style="text-align:center; vertical-align:middle" %)**Register address low byte**|(% style="text-align:center; vertical-align:middle" %)**Data high byte**|(% style="text-align:center; vertical-align:middle" %)**Data low byte**|(% style="text-align:center; vertical-align:middle" %)**CRC check code** 94 -|(% style="text-align:center; vertical-align:middle" %)1 byte|(% style="text-align:center; vertical-align:middle" %)06|(% style="text-align:center; vertical-align:middle" %)1 byte|(% style="text-align:center; vertical-align:middle" %)1 byte|(% style="text-align:center; vertical-align:middle" %)1 byte|(% style="text-align:center; vertical-align:middle" %)1 byte|(% style="text-align:center; vertical-align:middle" %)2 bytes 79 +|(% rowspan="2" %)**Address**|(% rowspan="2" %)**Function code**|(% colspan="2" %)((( 80 +**Register address** 81 +)))|(% colspan="2" %)**Data**|(% rowspan="2" %)**CRC check code** 82 +|**high byte**|**low byte**|**high byte**|**low byte** 83 +|1 byte|06|1 byte|1 byte|1 byte|1 byte|2 bytes 95 95 96 96 Response format: 97 97 98 -(% class="table-bordered" %)99 -| (% style="text-align:center; vertical-align:middle" %)**Address**|(% style="text-align:center; vertical-align:middle" %)**Function code**|(% style="text-align:center; vertical-align:middle" %)**Register addresshigh byte**|(% style="text-align:center; vertical-align:middle" %)**Register addresslow byte**|(% style="text-align:center; vertical-align:middle" %)**Datahigh byte**|(% style="text-align:center; vertical-align:middle" %)**Datalow byte**|(% style="text-align:center; vertical-align:middle" %)**CRC check code**100 -| (% style="text-align:center; vertical-align:middle" %)1 byte|(% style="text-align:center; vertical-align:middle" %)06|(% style="text-align:center; vertical-align:middle" %)1 byte|(% style="text-align:center; vertical-align:middle" %)1 byte|(% style="text-align:center; vertical-align:middle" %)1 byte|(% style="text-align:center; vertical-align:middle" %)1 byte|(% style="text-align:center; vertical-align:middle" %)2 bytes87 +|(% rowspan="2" %)**Address**|(% rowspan="2" %)**Function code**|(% colspan="2" %)**Register address**|(% colspan="2" %)**Data**|(% rowspan="2" %)**CRC check code** 88 +|**high byte**|**low byte**|**high byte**|**low byte** 89 +|1 byte|06|1 byte|1 byte|1 byte|1 byte|2 bytes 101 101 102 102 If the setting is successful, the original is returned 103 103 104 -(% class="table-bordered" %) 105 -|(% rowspan="2" style="text-align:center; vertical-align:middle" %)**There should be a message interval not less than 3.5 characters at the beginning**|(% style="text-align:center; vertical-align:middle" %)**Address**|(% style="text-align:center; vertical-align:middle" %)**Function code**|(% style="text-align:center; vertical-align:middle" %)**Data**|(% style="text-align:center; vertical-align:middle" %)**CRC check code** 106 -|(% style="text-align:center; vertical-align:middle" %)1 byte|(% style="text-align:center; vertical-align:middle" %)1 byte|(% style="text-align:center; vertical-align:middle" %)N bytes|(% style="text-align:center; vertical-align:middle" %)2 bytes 93 +|(% rowspan="2" %)**There should be a message interval not less than 3.5 characters at the beginning**|**Address**|**Function code**|**Data**|**CRC check code** 94 +|1 byte|1 byte|N bytes|2 bytes 107 107 108 -= =**CRC check**==96 +(% style="color:inherit; font-family:inherit; font-size:26px" %)**CRC check** 109 109 110 110 The servo uses a 16-bit CRC check, and the host computer must also use the same check rule, otherwise the CRC check will make mistake. When transmitting, the low bit is in the front and the high bit is at the back. The CRC code are as follows: 111 111 ... ... @@ -176,39 +176,62 @@ 176 176 177 177 == **Communication example** == 178 178 179 -**03 Function Code Read** 180 180 168 + 169 +**03 Function code read** 170 + 181 181 Read the monitoring volume U0-31 bus voltage, the Modbus register address corresponding to this variable is 7716 (0x1E24) 182 182 183 183 Request format: 184 184 185 -(% class="table-bordered" %)186 -| (% style="text-align:center; vertical-align:middle" %)**Address**|(% style="text-align:center; vertical-align:middle" %)**Function code**|(% style="text-align:center; vertical-align:middle" %)**Register addresshigh byte**|(% style="text-align:center; vertical-align:middle" %)**Register addresslow byte**|(% style="text-align:center; vertical-align:middle" %)**Datahigh byte**|(% style="text-align:center; vertical-align:middle" %)**Datalow byte**|(% style="text-align:center; vertical-align:middle" %)**CRC check code**187 -| (% style="text-align:center; vertical-align:middle" %)1byte|(% style="text-align:center; vertical-align:middle" %)06|(% style="text-align:center; vertical-align:middle" %)1byte|(% style="text-align:center; vertical-align:middle" %)1 byte|(% style="text-align:center; vertical-align:middle" %)1 byte|(% style="text-align:center; vertical-align:middle" %)1byte|(% style="text-align:center; vertical-align:middle" %)2bytes175 +|(% rowspan="2" %)**Address**|(% rowspan="2" %)**Function code**|(% colspan="2" %)**Register address**|(% colspan="2" %)**Data**|(% rowspan="2" %)**CRC check code** 176 +|**high byte**|**low byte**|**high byte**|**low byte** 177 +|01|03|1E|24|00|01|C2 29 188 188 189 189 The slave responds normally: 190 190 191 -(% class="table-bordered" %)192 -| (% style="text-align:center; vertical-align:middle" %)**Address**|(% style="text-align:center; vertical-align:middle" %)**Function code**|(% style="text-align:center; vertical-align:middle" %)**Number of bytes**|(% style="text-align:center; vertical-align:middle" %)**Datahigh byte**|(% style="text-align:center; vertical-align:middle" %)**Datalow byte**|(% style="text-align:center; vertical-align:middle" %)**CRC low byte**|(% style="text-align:center; vertical-align:middle" %)**CRC high byte**193 -| (% style="text-align:center; vertical-align:middle" %)01|(% style="text-align:center; vertical-align:middle" %)03|(% style="text-align:center; vertical-align:middle" %)02|(% style="text-align:center; vertical-align:middle" %)0C|(% style="text-align:center; vertical-align:middle" %)26|(% style="text-align:center; vertical-align:middle" %)3C|(%style="text-align:center; vertical-align:middle" %)9E181 +|(% rowspan="2" %)**Address**|(% rowspan="2" %)**Function code**|(% rowspan="2" %)**Number of bytes**|(% colspan="2" %)**Data**|(% rowspan="2" %)**CRC high byte** 182 +|**high byte**|**low byte** 183 +|01|03|02|0C|4F|FC B0 194 194 195 -The value read is 0x0C 26, which means that the voltage is 311.0V.185 +For example: The value read is 0x0C4F, which means that the voltage is 315.1V. 196 196 187 + 188 + 197 197 **06 Function Code Write** 198 198 199 -P1-10 the maximum speed threshold is set to 3000rpm. This variable corresponds to the Modbus 191 +P1-10 the maximum speed threshold is set to 3000rpm. This variable corresponds to the Modbus address: 266 (0x010A) 200 200 201 201 Request format: 202 202 203 -(% class="table-bordered" %)204 -| (% style="text-align:center; vertical-align:middle" %)**Address**|(% style="text-align:center; vertical-align:middle" %)**Function code**|(% style="text-align:center; vertical-align:middle" %)**Register addresshigh byte**|(% style="text-align:center; vertical-align:middle" %)**Register addresslow byte**|(% style="text-align:center; vertical-align:middle" %)**Datahigh byte**|(% style="text-align:center; vertical-align:middle" %)**Datalow byte**|(% style="text-align:center; vertical-align:middle" %)**CRC low byte**205 -| (% style="text-align:center; vertical-align:middle" %)01|(% style="text-align:center; vertical-align:middle" %)06|(% style="text-align:center; vertical-align:middle" %)01|(% style="text-align:center; vertical-align:middle" %)0A|(% style="text-align:center; vertical-align:middle" %)0B|(% style="text-align:center; vertical-align:middle" %)B8|(% style="text-align:center; vertical-align:middle" %)AF195 +|(% rowspan="2" %)**Address**|(% rowspan="2" %)**Function code**|(% colspan="2" %)**Register address**|(% colspan="2" %)**Data**|(% rowspan="2" %)**CRC check code** 196 +|**high byte**|**low byte**|**high byte**|**low byte** 197 +|01|06|01|0A|0B|B8|AF, 76 206 206 207 207 The slave responds normally: 208 208 209 -|(% style="text-align:center; vertical-align:middle" %)**Address**|(% style="text-align:center; vertical-align:middle" %)**Function code**|(% style="text-align:center; vertical-align:middle" %)**Register address high byte**|(% style="text-align:center; vertical-align:middle" %)**Register address low byte**|(% style="text-align:center; vertical-align:middle" %)**Data high byte**|(% style="text-align:center; vertical-align:middle" %)**Data low byte**|(% style="text-align:center; vertical-align:middle" %)**CRC low byte** 210 -|(% style="text-align:center; vertical-align:middle" %)01|(% style="text-align:center; vertical-align:middle" %)06|(% style="text-align:center; vertical-align:middle" %)01|(% style="text-align:center; vertical-align:middle" %)0A|(% style="text-align:center; vertical-align:middle" %)0B|(% style="text-align:center; vertical-align:middle" %)B8|(% style="text-align:center; vertical-align:middle" %)AF 201 +|(% rowspan="2" %)**Address**|(% rowspan="2" %)**Function code**|(% colspan="2" %)**Register address**|(% colspan="2" %)**Data**|(% rowspan="2" %)**CRC check code** 202 +|**high byte**|**low byte**|**high byte**|**low byte** 203 +|01|06|01|0A|0B|B8|AF, 76 211 211 205 + 206 + 207 +**10 Function code write** 208 + 209 +P07-09 set the 1st segment position to 2000, and this variable corresponds to the Modbus address: 1801 (0x0709). 210 + 211 +Request format: 212 + 213 +|(% rowspan="2" %)**Address**|(% rowspan="2" %)**Function code**|(% colspan="2" %)**Initial address**|(% colspan="2" %)**Number of register**|(% rowspan="2" %)**Number of data**|(% colspan="2" %)**Data 1**|(% colspan="2" %)**Data 2**|(% colspan="2" %)**CRC check code** 214 +|**high byte**|**low byte**|**high byte**|**low byte**|**high byte**|**low byte**|**high byte**|**low byte**|**high byte**|**low byte** 215 +|01|10|07|09|00|02|04|00|00|07|D0|16|59 216 + 217 +The slave responds normally: 218 + 219 +|(% rowspan="2" %)**Address**|(% rowspan="2" %)**Function code**|(% colspan="2" %)**Register address**|(% colspan="2" %)**Data**|(% colspan="2" %)**CRC check code** 220 +|**high byte**|**low byte**|**high byte**|**low byte**|**high byte**|**low byte** 221 +|01|10|07|09|00|02|90|BE 222 + 212 212 = **Servo communication parameter setting** = 213 213 214 214 (% style="text-align:center" %)