Estun ETS-101010APC-CAN - Page 107

ETS Series AC Servo User's Manual
- 106 -
communication speed).
ADR（communication address）
Valid communication address：1 to 254
For example: communicate with the servo drive which address is 32（20 in hex）：
ASCII mode：ADR=‘2’，‘0’=＞‘2’=32
H
，‘0’=30
H
RTU mode：ADR=20H
CMD（command reference）and DATA（data）
Data structure is determined by command code. Regular command code is shown as follows:
Command code: 03H，read N words(word)，N ≦ 20.
For example: read 2 words starting from 0070
H
from the servo drive which address is 01 H.
ASCII mode：
Reference information： Response information：
STX
“：”
ADR
‘0’
‘1’
CMD
‘0’
‘3’
Data start address
‘0’
‘0’
‘7’
‘0’
Data number
(count as word）
‘0’
‘0’
‘0’
‘2’
LRC checking
‘8’
‘A’
End 1
(0D
H
)(CR)
End 0
(0A
H
)(LF)
RTU mode：
Reference information： Response information：
Reference code: 06
H
，write in one word
For example: write 1（0001
H
）into 01
H
servo address 0070
H
.
STX
“：”
ADR
‘0’
‘1’
CMD
‘0’
‘3’
Data number
（count as byte）
‘0’
‘4’
Content of data start
address 0200
H
‘0’
‘0’
‘0’
‘0’
Content of second data
address 0201
H
‘0’
‘0’
‘0’
‘0’
LRC checking
‘F’
‘8’
End 1
(0D
H
)(CR)
End 0
(0A
H
)(LF)
ADR
01
H
CMD
03
H
Data start address
00
H
(high-bit)
70
H
(low-bit)
Data number
（count as word）
00
H
02
H
CRC checking
C5
H
(low-bit)
CRC checking
D0
H
(high-bit)
ADR
01
H
CMD
03
H
Data number
（count as byte）
04
H
Content of data start
address 0200
H
00
H
(high-bit)
00
H
(low-bit)
Content of second data
address 0201
H
00
H
(high-bit)
00
H
(low-bit)
CRC checking
FA
H
(low-bit)
CRC checking
33
H
(high-bit)