Leadshine Technology EM2RS Series, Руководство пользователя

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EM2RS Modbus RS485 Stepper Drive User Manual
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Description Slave
ID
FC
Number of
bytes returned
Value of
0x01BC
Address
0x01BD
Value of
0x01BE
Value of
0x01BF
Value of
0x01C0
Value of
0x01C1
CRC
Note:
(1) The above example shows reading the value of Pr5.22, Pr5.23, Pr5.24, their corresponding address are 0x01BD, 0x01BF,
0x01C1.
(2) The data type of parameter is 32bit ,which include high 16bit register and low 16bit register. Usually, we use low 16bits
only, but it needs to take the high 16 bits as beginning when we read/write multiple parameters continuously.
4.2.2 Preset Single Register FC= 06
Preset Single Register Query (Master to Slave)
Preset Single Register Response (Slave to
Master)
Slave ID 00 -- 1F Slaver ID 00 -- 1F
FC 06 FC 06
Address of register to
write to High Address of register
written to High
Low Low
Value to write
High Value written to
register
High
Low Low
CRC
Low
CRC
Low
High High
Example C: Write the value of a single register--peak current
Send message: 01 06 01 91 00 20 DD 7B
Receive message: 01 06 01 91 00 20 DD 7B
Details as following:
Master->slave data:
Message 01 06 01 91 00 20 DD 7B
Description Slave ID FC Register address Write data CRC
Slave>master data:
Message 01 06 01 91 00 20 DD 7B
Description Slave ID FC Register address Write data CRC
Note: 0x0191-- output peak current, write data 0x0020=32(decimal, unit: 0.1A), it means the current 3.2A.
Example D: Save the written value to EEPROM
Send message: 01 06 18 01 22 11 06 06
Receive message:01 06 18 01 22 11 06 06
Details as following: