master will generate an error if a non-existent target address is uploaded.
The host sends:
CMD Specifies the direction of data transfer
40(0x16)
INDEX 16-bit value
SUBINDEX 8-bit subindex
RESERVED Bytes 4…7 not used
The slave responds:
RES Displays slave response:
43(0x16) bytes 4...7 contain 32-bit data
4B(0x16) bytes 4, 5 contain 16-bit data
4F(0x16) byte 4 contains 8-bit data
80(0x16) error, bytes 4…7 contain error cause
INDEX 16-bit value, same as that sent by the master
SUBINDEX 8-bit value, same as that sent by the maste
If the data contains no error, byte 4…byte 7 save the object value read from the slave, with the lower-order
bits arranged before the higher-order bits. Correct value = byte7, byte6, byte5, byte4. If there is an error, data
contained in these four types is no longer object values read from the slave.
For example:
Host sends:
01 40 7A 60 00 00 00 00 00 E5 （This command is to read data of target position 607A0020）
Slave responds
01 43 7A 60 00 E2 1D 00 00 E3
Means:
01－Station No. of slave is 1
43－Receive 4 bytes of data and save into byte4…byte5.
byte4=E2，byte5=1D，byte6=00，byte7=00
Then DATA= byte7 byte6 byte5 byte4 = 1DE2（hex）=7650 inc
10.1.4 RS232 Communication Address of Servo Parameters
About the objects of each operation mode please refer to chapter8.
About common object address please refer to object list in Appendix.
About all the communication address please refer to parameters list.
About RS232 communication example please refer to Appendix.
10.2 RS485 Communication
To Next Page
Loading...
