Estun ETS-101010APC-CAN - Page 108

ETS Series AC Servo User's Manual
- 107 -
ASCII mode：
Reference information： Response information：
STX
“：”
ADR
‘0’
‘1’
CMD
‘0’
‘6’
Data start address
‘0’
‘0’
‘7’
‘0’
Data content
‘0’
‘0’
‘0’
‘1’
LRC checking
‘8’
‘8’
End 1
(0D
H
)(CR)
End 0
(0A
H
)(LF)
RTU mode：
Reference information： Response information：
LRC（ASCII mode）and CRC（RTU mode）error detection value calculation：
LRC calculation in ASCII mode:
ASCII mode uses LRC (Longitudinal Redundancy Check) error detection value. The exceeded parts (e.g. the total value is
128
H
of hex, then take 28
H
only) is taken off by the unit of 256 in the total value from ADR to the last information, then
calculate and compensate, the final result is LRC error detection value.
STX
“：”
ADR
‘0’
‘1’
CMD
‘0’
‘6’
Data start address
‘0’
‘0’
‘7’
‘0’
Content of data start
address 0200
H
‘0’
‘0’
‘0’
‘1’
LRC checking
‘8’
‘8’
End 1
(0D
H
)(CR)
End 0
(0A
H
)(LF)
ADR
01
H
CMD
06
H
Data start address
00
H
(high-bit)
70
H
(low-bit)
Data content
00
H
(high-bit)
01
H
(low-bit)
CRC checking
49
H
(low-bit)
CRC checking
D1
H
(high-bit)
ADR
01
H
CMD
06
H
Data start address
00
H
(high-bit)
70
H
(low-bit)
Data content
00
H
(high-bit)
01
H
(low-bit)
CRC checking
49
H
(low-bit)
CRC checking
D1
H
(high-bit)