10.2.3 MODBUS RTU communication protocol
FD5 servo drive supports MODBUS RTU communication protocol, and its internal objects are
discontinuous 16-bit data registers (mapped to 4X when read and written by the Kinco servo+).
。
Table
10-4
Basic format of
Modbus RTU communication protocol
Note：It should start with a message
interval of no less than 3.5 characters.
The brief introduction of Modbus common function codes is as follows:
Function code 0x03: read data register request format:
Correct response：
If a response error such as the address does not exist, the returned function code is
0x81
Example：Sending message 01 03 32 00 00 02 CA B3
Message meaning：
01
——
ID
No. ；
03——Function code，read data register;
32
00
——The modbus address of the servo read-only object "status word" 60410010;
00 02
——Read the number of word data;
CA B3——Check code。
Function code 0x06: write single data register
request format
Register
address
High Bit
Response format: If the setting is successful, the original text will be returned
If the written data is out of range, the address does not exist, and the response to read-
only data operations is wrong, the returned function code is
0x86
.
Example：Sending message 01 06 31 00 00 0F C7 32
Message meaning：
01
——
ID
No.
06——Function code to write a single WORD；
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