Chapter 8 Communication Description
132
8
Return Code (Drive to Host)
Address
OP
Code
Starting Register
Register
Numbers to Write
CRC Checksum
MSB
LSB
MSB
LSB
LSB
MSB
02H
10H
20H
00H
00H
02H
4AH
3BH
The host writes 2 data (1011H and 1770H) with total data length 4 byte to 2000H and
2001H registers of drive. The drive receives and writes the data to the registers, and
then returns the message to the host. The host can synchronously broadcast all
drives to write multi-data to multi-registers in order to change the data synchronously.
7-5 CRC Checksum Algorithm
CRC checksum code is to verify the message validity during the communication
and its algorithm is to apply each code in the message to perform XOR and bit
shifting operations to generate the CRC code.
Here is the checksum algorithm diagram to generate CRC code.
FFFFH
1
st
Code
Address
Bit Shifting &
XOR(A001H)
2
nd
Code
OP Code
Bit Shifting &
XOR(A001H)
3
rd
Code
…
CRC
Code
XOR
XOR
The following example of showing how CRC code is generated.
Example: To generate CRC code D140 from Address Code: 02H and OP Code: 03H
1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1
0 0 0 0 0 0 1 0
1 1 1 1
1 1 0 1
1 1 1 1
1 1 1 1
0 1 1 1
1 1 1 0
1 1 1 1
1 1 1 1
1 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1
1 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1
1 1 0 1 1 1 1 1 1 1 1 1 1 1 1 1
0 1 1 0 1 1 1 1 1 1 1 1 1 1 1 1
1 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1
1 1 0 0 1 1 1 1 1 1 1 1 1 1 1 0
0 1 1 0 0 1 1 1 1 1 1 1 1 1 1 1
0 0 1 1 0 0 1 1 1 1 1 1 1 1 1 1
1 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1
1 0 0 1 0 0 1 1 1 1 1 1 1 1 1 0
0 1 0 0 1 0 0 1 1 1 1 1 1 1 1 1
0 0 1 0 0 1 0 0 1 1 1 1 1 1 1 1
1 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1
1 0 0 0 0 1 0 0 1 1 1 1 1 1 1 0
0 1 0 0 0 0 1 0 0 1 1 1 1 1 1 1
0 0 1 0 0 0 0 1 0 0 1 1 1 1 1 1
1 0 0 0 0 0 0 1 0 0 1 1 1 1 1 0
0 0 0 0 0 0 1 1
1 0 0 0 0 0 0 1 0 0 1 1 1 1 0 1
MOVE 1
MOVE 3
MOVE 2
MOVE 5
MOVE 4
MOVE 6
MOVE 8
MOVE 7
0 1 0 0 0 0 0 0 1 0 0 1 1 1 1 0
1 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1
1 1 1 0 0 0 0 0 1 0 0 1 1 1 1 1
0 1 1 1 0 0 0 0 0 1 0 0 1 1 1 1
1 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1
1 1 0 1 0 0 0 0 0 1 0 0 1 1 1 0
0 1 1 0 1 0 0 0 0 0 1 0 0 1 1 1
0 0 1 1 0 1 0 0 0 0 0 1 0 0 1 1
1 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1
1 0 0 1 0 1 0 0 0 0 0 1 0 0 1 0
0 1 0 0 1 0 1 0 0 0 0 0 1 0 0 1
0 0 1 0 0 1 0 1 0 0 0 0 0 1 0 0
1 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1
1 0 0 0 0 1 0 1 0 0 0 0 0 1 0 1
0 1 0 0 0 0 1 0 1 0 0 0 0 0 1 0
1 1 1 0 0 0 1 0 1 0 0 0 0 0 1 1
MOVE 1
MOVE 3
MOVE 2
MOVE 5
MOVE 4
MOVE 6
MOVE 8
MOVE 7
First Code 02H
Second Code 03H
XOR
D
4
0
1
CRC :
1 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1
0 1 1 1 0 0 0 1 0 1 0 0 0 0 0 1
1 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1
1 1 0 1 0 0 0 1 0 1 0 0 0 0 0 0
1
1
1
1
1
1
0
1
0
1
0
1
0
1
0
1
Summary of Contents for RM6F5 series
Page 1: ...AC MOTOR DRIVE Operation Manual RM6F5 series ...
Page 194: ...Notes 194 Notes ...
Page 195: ...Notes 195 Notes ...