Fuji Electric ALPHA7, Руководство пользователя

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CHAPTER 13 MODBUS RTU COMMUNICATION
Transmission Protocol
13-17
13
<Response message example>
Station No. 1byte 01
FC
1byte 17
Information
No. of data bytes 1byte 0C
Data 1
4byte
00 ･･･ Feedback speed: 1000 [r/min] (3E8h)
00
03
E8
Data 2
4byte
00
･･･
Effective torque: 80 [%] (50h)
00
00
50
Data 3
4byte
00 ･･･ Motor current: 80 [%] (50h)
00
00
50
CRC check
16 bits
(2 bytes)
19
5F
 FC 08h (Echo back maintenance )
(1) Query from the master
Station No. 1 byte
FC 1 byte ･･･
08h
Information
Sub code 2 bytes
(H)
･･･
Specify 0000h as the sub code of echo back.
(L)
Data 2 bytes
(H)
･･･
Specify an arbitrary data.
(L)
CRC check
16 bits
(2 bytes)
(L)
(H)
(2) Response message from the amplifier
Station No. 1 byte
FC 1 byte ･･･
08h
Information
Sub code 2 bytes
(H)
･･･
0000h
(L)
Data 2 bytes
(H)
･･･
Echo back the specified data.
(L)
CRC check
16 bits
(2 bytes)
(L)
(H)