Hiwin D2 Series User Manual

Modbus Communication D2 Series Servo Drive User Manual
13-6 HIWIN MIKROSYSTEM CORP.
MD07UE01-2005
Table13.2.8
Exception Code
Exception Name Cause
01h
Illegal function The function code is not supported.
02h
Illegal data address Try to write an illegal register.
03h
Illegal data value The quantity of registers is too large (>123).
04h
Server device failure
The accessed data includes the incomplete data.
For example, the host controller only writes 16 bits of
32-bits parameter.
The following table is an example of requesting to write the data of “00 0Ah” and “01 02h” into 2
registers, where the starting address is 0x0001.
Table13.2.9
Command Response Error
Slave address 01h Slave address 01h Slave address 01h
Function code 10h Function code 10h Function code 90h
Starting
address
Hi 00h
Starting
address
Hi 00h Exception code 02h
Lo 01h Lo 01h
CRC
Lo CDh
Quantity of
registers
Hi 00h
Quantity of
registers
Hi 00h Hi C1h
Lo 02h Lo 02h
Byte count 04h
CRC
Lo 10h
Register
0x0001
Hi 00h Hi 08h
Lo 0Ah
Register
0x0002
Hi 01h
Lo 02h
CRC
Lo 92h
Hi 30h
13.3 Modbus objects
The data type of Modbus object is listed in the following table.
Table13.3.1
Code Data Type Range
INT16 Signed 16 bit -32,768 to +32,767
INT32 Signed 32 bit -2,147,483,648 to +2,147,483,647
UINT16 Unsigned 16 bit 0 to 65,535
UINT32 Unsigned 32 bit 0 to 4,294,967,295
REAL32 Float 32 bit -

Hiwin D2 Series Specifications

General

Brand	Hiwin
Model	D2 Series
Category	Servo Drives
Language	English