M2DC Series Hardware Manual
154
Rev. 1.1
2018/04
400-820-9661
9.3.8.2 Function Code 0x06, Writing Single Register
To set the motor rotary velocity 12.5 rps to drive Node ID 11, the corresponding register address is 40030.
The write-in data value for the register will be 12.5 x 240 = 3000. In hexadecimal, it is 12CH.
Communication Details are as follows:
Command Message (Master)
Response Message (slave)
function
data
number of bytes
function
data
number of bytes
Slave Address
0BH
1
Slave Address
0BH
1
Function Code
06H
1
Function Code
06H
1
Starting Data Address
00H (High)
1DH (Low)
2
Starting Data Address
00H (High)
1DH (Low)
2
Content of Data
01 (High)
2C (Low)
2
Content of Data
01 (High)
2C (Low)
2
CRC Check Low
19
1
CRC Check Low
19
1
CRC Check High
2B
1
CRC Check High
2B
1
Host Sending: 0B 06 00 1D 01 2C 19 2B
Drive Reply: 0B 06 00 1D 01 2C 19 2B
If an error occurs, drive reply format will be: 01 86 XX CRC_L CRC_H
When XX = 01 Function code 06 unsupported
XX = 02 Incorrect writing on driving address or number
XX = 03 Writing register address out of range
XX = 04 Writing failure
