Hiwin D2 Series User Manual

Modbus Communication D2 Series Servo Drive User Manual
13-4 HIWIN MIKROSYSTEM CORP.
MD07UE01-2005
Command Response Error
Hi 7Ah
(2)
Read input registers (04h)
This function is used to read the contents of the consecutive blocks of input registers in the drive.
The related data format is given in the following table. The content of each register is divided into the
8-bits higher data (“Hi”) and the 8-bits lower data (“Lo”). The maximum of consecutive blocks read at
the same time is 125.
Table13.2.4
Data Length Value
Request
Function code
1 Byte
04h
Starting address
2 Bytes
0x0000 - 0xFFFF
Quantity of registers
2 Bytes
1 - 125
Response
Function code
1 Byte
04h
Byte count
1 Byte
2 x N
Register value
2 x N Bytes
Error
Error code
1 Byte
84h
Exception code
1 Byte
01h, 02h, 03h, 04h
Note:
N is the quantity of registers.
Table13.2.5
Exception Code
Exception Name Cause
01h
Illegal function The function code is not supported.
02h
Illegal data address Try to read an illegal register.
03h
Illegal data value The quantity of registers is too large (>125).
04h
Server device failure
The accessed data includes the incomplete data.
For example, the host controller only requests 16
bits of 32-bits parameter.
The following table is an example of requesting to read the register 0x0008. For the case of normal
response, the content of register 0x0008 is shown as the 2-bytes value of “00 0Ah”.

Hiwin D2 Series Specifications

General

Brand	Hiwin
Model	D2 Series
Category	Servo Drives
Language	English