UUMOTOR SVD48V Series, Руководство пользователя

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SVD48V Series hub motor servo controller user manual
11
Baotou function
code
register address data (2 bytes) CRC upper
8 bits
CRC lower 8
bits
0XEE 0x06
see register
definitions,
2 bytes
High is first, low is
back
xx xx
error response packet
drive address function
code
exception code CRC upper
8 bits
CRC lower
8 bits
0XEE 0x86
01 or 02 or 03, see
exception
Answer Definition
xx xx
4.1.3
write multiple registers
request packet
driver
address
Funct
ion
code
register start
site
register
number
number of
bytes
data
CRC high
8
bit
CRC low 8
bit
0XEE 0x10 see register
definition
2 bytes
2 bytes 1 byte
high up
ahead,
low behind
xx xx
reply packet
driver
address
function
code
register start
address
Number of
registers
CRC upper 8
bits
CRC lower
8 bits
0XEE 0x10
see register
definition, 2
bytes
register
number, 2
bytes
xx xx
error response packet
drive address function
code
exception code CRC upper
8 bits
CRC lower
8 bits
0XEE 0x90
01 or 02 or 03, see
exception
Answer Definition
xx xx
illustrate
RS232 and RS485 are basically the same, the difference is that theSlave ID of
RS232 is fixed to 0xee. The communication format is compatible with
Modbus protocol.
Write register and read register can access the register data of M1 and M2 motors at the same
time. Write register data and return register data are arranged according to the register byte
width. Writing a register will also return the value of the current register after writing the register,
and reading a register will return the value of the specified register. The data of multiple bytes is
arranged in the low order first and the high order last.
The CRC check starts from the Slave ID to the
last data. The verification method adopts ModbusCRC16, see appendix 1 .