Fuji Electric ALPHA7, User Manual

Page: 549 / 662

CHAPTER 13 MODBUS RTU COMMUNICATION
13-10
Transmission Protocol
13
(2) Response message from the amplifier
Station No. 1 byte
FC 1 byte
･･･
10h
Information
Address 2 bytes
(H)
･･･
Specified address
(L)
No. of
registers
2 bytes
(H)
･･･ Number of sets of actually written data, m × 2
* The positioning data are m × 10 .
* Cannot write in to nonexistent data.
(L)
CRC check
16 bits
(2 bytes)
(L)
(H)
(3) Message examples
PA2_19: shows a message example to enter 200000 to a preset position.
<Query example>
Station No. 1 byte 01 ･･･
When the amplifier station no. is "1".
FC 1 byte 10
Information
Address 2 bytes
41
･･･
Specify 4112h as the address of PA2_19.
12
No. of registers 2 bytes
00 ･･･
Specify 0002h as the number of data 1×2.
02
No. of data
bytes
1 byte 04
･･･
1×4 = 04h
Data 1 4 bytes
00
･･･
Specify 200000 = 00030D40h .
Specify data 1 = FFFCF2C0h for -20000.
03
0D
40
CRC check
16 bits
(2 bytes)
BA
49
<Response message example>
Station No. 1 byte
01
FC 1 byte 10
Information
Address 2 bytes
41
12
No. of registers 2 bytes
00
02
CRC check
16 bits
(2 bytes)
F5
F1