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Modbus CRC Calculation

The Modbus CRC Reset parameter is used to reset the CRC Calulator. If Modbus CRC Reset = 0,

the CRC Calculator is set to FFFF in the monitor field (Page 1; Variable <4). If Modbus CRC Reset =

1, the CRC value can be calculated with every Modbus byte.

The parameter Modbus CRC Byte is used to enter the bytes for the CRC calculation.

Into this memory address the Modbus bytes can be transferred one after the other and then the CRC

checksum can be read out in the monitor field (Page 1, variable <4).

Using the OS

For the Modbus command 0x07 0x11 the checksum shall be determined. First the Serial Page

parameter should be set to 1 to select Page 1.
- Modbus CRC Reset = 0, Modbus Byte = 7dec

(Press OS Transmit change)

-> Variable <4 = 0x0000 FFFF (reset)

- Modbus CRC Reset = 1, Modbus Byte = 7dec

(Press OS Transmit change)

-> Variable <4 = 0x0000 82FE

- Modbus CRC Reset = 1, Modbus Byte = 17dec

(Press OS Transmit change)

-> Variable <4 = 0x0000 8CC3

Now the command can be set together

-> 07 11 C3 8C

Note that with Modbus the CRC sends first the LByte and then the HByte, therefore byte swapping is

necessary.

Correction of the difference increments

The correction of the difference increments can be done by the parameters Correction Basis,

Correction Freq and Correction Value. If Correction Freq and Correction Value are set to zero, then

the extended correction is switched off.

A simple correction can be done by using the Correction Basis parameter. If all Correction parameters

are set to zero, the correction is deactivated and the output frequency is not corrected, so that a slight

deviation of the position in time is noticeable. Here, the differential counter slowly rises or falls to the

maximum value (approx. +/- 244 000) and then stops. An Out of Sync event is also triggered.

If you now set the Correction Base parameter at a certain frequency, you can see that with higher

parameter values, the differential counter runs around zero. With lower parameter values a differential

counter value is generated, which results in a constant position shift. Too high settings can make the

system unstable, resulting in an oscillation. If you now change the frequency, you can see that the

position shift increases or decreases.

Содержание FM210

Страница 1: ...cy Divider Product features Adjustable Multiplier divider F1 F2 Input format RS 422 HTL single ended HTL differential or TTL Multiplication division without cumulative residual error Additional functi...

Страница 2: ...sur https www motrona com fileadmin files bedienungsanleitungen Fm210_f pdf The operator software OS freeware is available at https www motrona com de support software html Version Description FM210_...

Страница 3: ...r Output A A B B Z Z 11 Control Outputs OUTx 11 LEDs 12 DIL Switch 12 USB 12 RS 485 12 Parameter 13 Factor Menu 13 Command Menu 13 General Menu 14 Input Menu 15 Output Menu 16 Modbus Menu 16 Serial Me...

Страница 4: ...tion Reset Static 28 Command Process Reference 28 Command Process Jog 28 Lecom Protocol 29 Lecom Read 29 Lecom Write 30 Modbus Protocol 31 Modbus Read 31 Modbus Write 32 Modbus CRC Calculation 35 Corr...

Страница 5: ...he right to modify the hardware software or operation manual at any time and without prior notice Therefore there might be minor differences between the unit and the descriptions in operation manual T...

Страница 6: ...ated as separator Incoming as well as outgoing wires and wires for extra low voltages ELV must be separated from dangerous electrical cables SELV circuits by using a double resp increased isolation Al...

Страница 7: ...mounted in a metal enclosure with sufficient distance to sources of electromagnetic noise Run signal and control cables apart from power lines and other cables emitting electromagnetic noise Please a...

Страница 8: ...drives in the realization of electronic shafts or electronically adjustable gears Since the pulse conversion works without errors the unit can also be used for positioning tasks or angular synchronou...

Страница 9: ...e phase offset A B DC Input Voltage Supply The unit is supplied with a DC voltage between 9 30 VDC via terminals 1 and 2 of X1 The current consumption depends among others on the level of the supply v...

Страница 10: ...2 signals is available at terminals 2 7 of X4 The unused inputs must either remain open HTL Single Ended as opposed to HTL Differential or possibly be terminated unused Z lines in RS 422 or HTL Differ...

Страница 11: ...g approximately to the supply voltage at X1 S2 1 OFF encoder output RS 422 S2 1 ON encoder output HTL Attention If the DIL switch is set incorrectly the following circuit may be damaged Control Output...

Страница 12: ...om 5V OFF to 24V ON The DIL switch 2 3 is used for loading the factory parameters when the supply voltage is switched on In the ON position the factory parameters will be loaded at the next power up a...

Страница 13: ...speed 1 1 000 000 2 000 005 Ref Ramp This parameter is only valid in Reference mode It indicates the ramp time in seconds 0 ramp off 0 99 10 006 Jog Speed This parameter is only valid in Jog mode It i...

Страница 14: ...rcent at the output 0 100 10 017 Calculation Freq This parameter reflects different ways of calculating the output frequency 0 faster but less accurate 1 slower but more accurate 0 1 0 018 Direction T...

Страница 15: ...unction 0 No Function 1 Reset Edge 2 Inhibit 3 Direction 4 Jog 5 Offset Edge 6 Reference 7 Trim 8 Trim 9 Prestop Mark 10 Edge Prestop 11 Reset Static 12 Z Reference 0 12 0 027 Input 2 Config see Input...

Страница 16: ...ry 0 no inversion of the outputs 1 OUT1 inverted OUT2 not inverted 2 OUT1 not inverted OU2 inverted 3 both outputs are inverted 0 3 0 036 Diff Error Number of differential counter increments at which...

Страница 17: ...d formats 0 Lecom protocol with RS Unit No Baud rate and format 1 Modbus protocol with RS baud rate and 8E1 2 Modbus protocol with RS baud rate and 8O1 3 Modbus protocol with RS baud rate and 8N2 0 3...

Страница 18: ...te no error Setting the Encoder Output The encoder output can be changed from RS 422 5V signals to HTL 24 signals using the DIL switch S2 S2 1 OFF encoder output RS 422 S2 1 ON encoder output HTL Atte...

Страница 19: ...pulses per time unit then an asymmetrical Z pulse output image appears as long as the command or input is active at the output 6 5 2 Setting the Serial RS 485 Interface The protocol of the RS 485 int...

Страница 20: ...the command is set If the Output X Function parameter is set to 4 the output reflects the command status command set output high without inversion Direction The Direction function changes the directi...

Страница 21: ...de 65 the command is set Modbus FF0C hex Release 07 06 FF 0C 00 00 79 BB Set 07 06 FF 0C 00 01 B8 7B Modbus address 7 command in hex If a 1 is written to FF0C the command is set Trim Triggering Parame...

Страница 22: ...many increments per time are added or subtracted and the closed loop control is not able to follow the differential counter may run away The closed loop control or the affected parameters have to be a...

Страница 23: ...e Tiggering Parameter Comment Addition Input Input X Config 0 1 Input X Function 2 If Input X Config 0 is set the command is triggered in case of a low state at input X The status of the input can be...

Страница 24: ...Input Input X Config 0 1 Input X Function 4 If Input X Config 0 is set the command is triggered in case of a low state at input X The status of the input can be read in the OS Input field Lecom Code...

Страница 25: ...g Parameter Comment Addition Input Input X Config 0 1 Input X Function 9 If Input X Config 0 is set the command is triggered in case of a low state at input X The status of the input can be read in th...

Страница 26: ...til the limit switch Prestop Mark command is passed After the limit switch has been passed the frequency is reduced to zero with the same ramp time start drive stop After zeroing the drive changes the...

Страница 27: ...cycle The Reference command can be reset earlier If the Special Mode is set to 2 reset the Reference command means an abort In this case the sequence would have to correspond the image below to compl...

Страница 28: ...unter becomes larger than the value set in the Diff Error parameter a phase error is triggered which can then be shown via an output Direction f 0 If the output frequency f 0 the output will be set Th...

Страница 29: ...Low Byte C1 code High Byte C2 code Low Byte ENQ control character Hex 05 If the current differential counter for example should be read code 1 with the unit address 11 parameter RS Unit No then the d...

Страница 30: ...prepare several new parameters in the background while the unit is running If the transferred parameters are to be activated the value 1 must be sent to the Activate Data register This will activate a...

Страница 31: ...e data The FM210 supports the function Reading Holding Register R FCT 03 the function Report Slave ID R FCT 11 and the function Preset Single Register W FCT 06 Modbus Read To request data from the uni...

Страница 32: ...g Holding Register also supports more than 2 Word accesses to the direct parameter addresses 0x0 0x4 0x8 0xC for area readout Modbus Write To write data to the unit the following string must be sent A...

Страница 33: ...ew parameters in the background while the unit is running If the transferred parameters are to be activated an Activate Data must be sent to the unit This will activate all changed parameters simultan...

Страница 34: ...001 0001 1100 0011 1000 1100 The answer of the unit is if the request is correct Designation ADR FCT BYTE RUN DATA CRCL CRCH Hexadecimal 07 11 12 FF 46 4D 32 31 30 20 20 20 46 4D 32 31 30 30 31 42 C9...

Страница 35: ...hat with Modbus the CRC sends first the LByte and then the HByte therefore byte swapping is necessary Correction of the difference increments The correction of the difference increments can be done by...

Страница 36: ...ow the Correction Freq is set to 500 and Correction Value to 1500 500kHz Difference counter now moves around 40 to 20 If the frequency is now reduced to 250kHz the differential counter moves by 20 to...

Страница 37: ...H3A 015 Sampling Time 1 1000 1 4 3 12 L3C H3E 016 Overshoot 0 100 10 3 0 13 L40 H42 017 Calculation Freq 0 1 0 1 0 14 L44 H46 018 Direction 0 1 0 1 0 15 L48 H4A 019 Correction Basis 0 10000 25 5 0 16...

Страница 38: ...0 C2 LA0 HA2 041 Reserved 0 10000 1000 5 0 C3 LA4 HA6 042 USB Unit Nr 11 11 11 2 0 90 LA8 HAA 043 USB Baud Rate 0 0 0 1 0 91 LAC HAE 044 USB Format 0 0 0 1 0 92 LB0 HB2 045 Serial Page 0 7 0 1 0 0 LB4...

Страница 39: ...Fm210_01b_oi_e docx Nov 20 Page 39 40 Dimensions...

Страница 40: ...tial signal 1 V max 350kHz Level 1 Low 0 10V High 14 30 V Level 2 Low 0 5V High 9 30 V max 350kHz Low 0 0 6V High 2 2 5V Control inputs Number of inputs Format Frequency Reaction time Load 4 HTL PNP L...

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