StepperOnline CL57RS, Руководство пользователя

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CLRS Series RS485 Closed Loop Stepper Drive User Manual
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: