Kinco JD Series - Page 98

Kinco JD 伺服系列使用手册
98
Kinco JD Series Servo User Manual
Station No.
Function
Code
High Byte
of Start
Address
Low Byte
of Start
Address
High byte of
Address
Length
(Word)
Low byte
of
Address
Length
(Word)
CRC
check
1 Byte
03
1 Byte
1 Byte
1 Byte
1 Byte
2 Bytes
Normal response format:
Station
No.
Function
Code
Return data
length(Bytes)
High byte of
Register 1
Low byte of
Register 1
…
CRC
check
1 Byte
03
1 Byte
1 Byte
1 Byte
…
2 Bytes
If there is error such as non-exist address,then it will return function code 0x81.
For example:Send message 01 03 32 00 00 02 CA B3
Meaning:
01： Station NO.
03： Function code:read data registers
32 00 ： Read address starting from 4x3200(Hex).This is the modbus address corresponding to
parameter“Status word”(60410010)
00 02：Read 2 words of data
CA B3：CRC check.
0x06：Write single data register
Request format:
Station
No.
Functi
on
Code
High Byte
of Register
Low Byte of
Register
High byte of
writing
value
Low byte of
writing
value
CRC check
1 Byte
06
1 Byte
1 Byte
1 Byte
1 Byte
1 Bytes
Response format:If writing successful,then return the same message.
If there is error such as address over range,non-exist address and the address is read only,then it will return
function code 0x86.
For example:Send message 01 06 31 00 00 0F C7 32
Meaning:
01： Station No.
06： Function code,write single WORD
31 00： Modbus address for writing data.This is the address corresponding to parameter “control
word”(60400010)
00 0F： Write data 000F(Hex)
C7 32： CRC check.
0x10：Write multiple registers
Request format:
Station
No.
Function
Code
High Byte
of Start
Address
Low
Byte of
Start
Address
High
byte of
Address
Length
(Word)
Low
byte of
Address
Length
(Word)
Data
length
(Bytes
)
High
byte of
Data 1
Low
byte of
Data 1
…
CRC
check
1 Byte
10
1 Byte
1 Byte
1 Byte
1 Byte
1 Byte
1 Byte
1 Byte
…
2
Bytes
Normal respons format:
Station No.
Function
Code
High Byte of
Start
Address
Low Byte
of Start
Address
High byte
of Address
Length
(Word)
Low byte
of Address
Length
(Word)
CRC
check
1 Byte
10
1 Byte
1 Byte
1 Byte
1 Byte
2 Bytes