Delta ASD-A2R-0121 Series, User Manual

Page: 205 / 660

Chapter 7 Motion Control

ASDA-A2R Series
Revision December, 2014 7-11
Content of Communication Command: Write into Data Array
No. Command
Start
Add. Written
Amount
P5-11 P5-12 P5-13
Low
Word
High
Word
Low
Word
High
Word
Low
Word
High
Word
1 0x10 P5-11
6
(Word)
11 0 100 0 200 0
The first address The first data
The second
data
2 0x10 P5-11
6
(Word)
13 0 300 0 400 0
The third address The third data The fourth data
3 0x10 P5-11
6
(Word)
15 0 500 0 600 0
The fifth address The fifth data The sixth data
If users desire to read the value of data array in order to check the previous written
content, users can write the desired reading start address into P5-11 via MODBUS
communication command 0x06 (write 1 data). The issuing communication command is
as the following:
Content of Communication Command: Set the
Reading Address of Data Array
No. Command Start Add. Written Data
4 0x06 P5-11 11
Then, read the content of specified address by communication command 0x03
(continuous reading). The issuing communication command is as follows:
Content of Communication
Command: Read Data Array
Return Data
No. Command
Start
Add. Read
Amount
P5-11 P5-12 P5-13
Low
Word
High
Word
Low
Word
High
Word
Low
Word
High
Word
5 0x03 P5-11
6
(Word)
11 0 100 0 200 0
Read address
Data of
address 11
Data of
address 12
6 0x03 P5-11
6
(Word)
13 0 300 0 400 0
Read address
Data of
address 13
Data of
address 14
7 0x03 P5-11
6
(Word)
15 0 500 0 600 0
Read address
Data of
address 15
Data of
address 16
The return value on the right-hand side of the above table represents the read
parameter, P5-11, P5-12 and P5-13, which is also the content of address 11~16 in data
array.