If there is error such as address over range,non-exist address and the address is read only,then it will return
function code 0x90
For example:Send message 01 10 6F 00 00 02 04 55 55 00 08 1A 47
Meaning:
01： Station No.
10： Function code,write multiple WORDs
6F 00： Modbus address for writing data. This is the address corresponding to parameter “Target
Velocity”(60FF0020)
00 02: Address length is 2 WORD.
04： Data length is 4 Bytes(2 words)
55 55 00 08：Write data 00085555(Hex) into address.
1A 47： CRC check
10.2.4 RS485 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.(Not all the objects support RS485)
About RS485 communication example please refer to Appendix.
10.3 CANopen Communication
CANopen is one of the most famous and successful open fieldbus standards.It has been widely recognized
and applied a lot in Europe and USA. In 1992,CiA (CANinAutomation) was set up in Germany,and began to
develop application layer protocol CANopen for CAN in automation. Since then, members of CiA developed a
series of CANopen products,and applied in a large number of applications in the field of machinery
manufacturing such as railway, vehicles, ships, pharmaceutical, food processing etc..Nowadays CANopen
protocol has been the most important industrial fieldbus standard EN-50325-4 in Europe
The JD series servo supports standard CAN (slave device), strictly follow CANopen2.0A / B protocol, any
host computer which support this protocol can communicate with it. JD servo uses of a strictly defined object
list, we call it the object dictionary, this object dictionary design is based on the CANopen international
standards, all objects have a clear definition of the function. Objects said here similar to the memory address,
we often say that some objects, such as speed and position,can be modified by an external controller, some
object were modified only by the drive itself, such as status and error messages.
These objects are as following:
For example:
Index Sub Bits Attribute Meaning
6040 00 16(=0x10) RW Control word
6060 00 8(=0x08) RW Operation mode
607A 00 32(=0x20) W Target position
6041 00 16(=0x10) MW Status word
The attributes of objects are as follows:
1. RW:The object can be both read and written.
2. RO:The object can be read only
3. WO:The object can be written only.
4. M:The object can be mapping,similar to indirect addressing.
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