6RL SERIES OPERATION MANUAL
SECTION 7: REMOTE PROGRAMMING
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2018 by Adaptive Power Systems, Inc. (APS) • All Rights Reserved • No reproduction without written authorization from APS.
6RL Series Regenerative DC Load Operation Manual
Page 181 of 204
multiplexer and when programming CAN directly, the first two bytes of data in a CAN
message define the register, i. e. object to access. The selection between writing and
reading objects is done by the CAN ID.
Each unit will be assigned three CAN IDs, which are adjusted with the so-called base ID on
the unit's CAN settings. The base ID is used write to objects (message: Send_Object), while
querying objects (message: Query_ Object) is done with base ID +1 and responses (message:
Read_Object) coming from the unit use base ID + 2.
Responses are either expected after a query, but can also be unexpected in case of
communication or access error. When adjusting the base ID of a unit, the related IDs will
shift automatically.
There is another adjustable ID, the broadcast ID. It is separate from the others and can be
used to access multiple units at once with one command when adjusting the broadcast ID to
the same value on all units. This ID is for write access (Send_Object) only. Queries to
multiple units at once with one message are not possible.
Apart from the base ID and broadcast ID for acyclic access there are further IDs to adjust for
the cyclic data which can be sent by the unit after being activated. Refer to the user manual
of your unit, particularly the section for the communication settings.
7.15.3
Message formats
Note: Below explanations are, besides the selection of IDs to switch between write and
read actions, also related to the ModBus functions, as listed in the register lists in
columns 2-6.
7.15.3.1
Normal sending (writing)
Writing to the unit always used the base ID or the broadcast ID. It requires to define the first
register/object to write to in the CAN data, as well as the number of registers to write and a
specific number of parameter bytes which can represent different data types.
Access: Base ID, broadcast ID
ModBus function: Write Single Coil (WSC), Write Single Register (WSR):
Bytes 0+1
Byte 2
Bytes 3+4
Register
Nr. of regs to write
Data
0...65534
Always 1
Value (16 bit)
Access: Base ID, broadcast ID
ModBus function: Write Multiple Registers (WMR)
Bytes 0+1
Byte 2
Byte 3
Bytes 4-7
Start reg.
Nr. of regs to write
Marker
Data bytes
0...65534
2...123
0xFF, 0xFE...
Four bytes or two 16 bit values or one 32 bit value
Start register: always the register number from the register list, i. e. start register, even for
WMR.
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