223
Bytes
Value
Description
16-bit mode 32-bit mode
0 0x05 0x05 Slave address
1 0x10/0x43 0x10/0x43 Command code
2~3 0x0200 0x8200
Start address (in the 32-bit mode, the highest byte of the
start address is 1)
4~5 0x0004 0x0008
Number of registers (in the 32-bit mode, the number of
registers is twice of that of parameters)
6~7 Check code Check code CRC verification
If the operation is failed, it will return to the abnormal response frame and its format is as shown above.
Note
1) The writing operation of the 16-bit mode is only applicable to the parameter of type I with the writing range
from -32768 to 32767 and the parameter of type II with the writing range from 0 to 0xFFFF. The writing
operation of other parameters shall adopt the 32-bit mode.
2) For the parameter of type I, when the value of 16 bits is written into the parameter with an actual length of
32 bits in the 16-bit mode, the actual written value is the expanded value. The principles for the length
expansion are as follow: expanding according to the highest bit of the 16-bit parameter value to be written, if
the highest bit is 1, the 16 high bits will be filled with 0xFFFF, otherwise, they will be filled with 0x0000. If the
expanded value is within the value range of the parameter, the value is valid and it is allowed to change the
parameter, then the value can be written successfully. There is no need to expand the parameter of type II and
they are independent of the values of the 16 high bits.
3) In the 32-bit access mode, no matter the actual length is 16 bits or 32 bits, as long as the value to be written
is within the value range of the parameter, the value is valid and it is allowed to change the parameter, then
the value can be written successfully.
4) To change the parameter with an actual length of 16 bits in the 16-bit mode, please refer to the description
above.
8. Cautions
1. For the command codes 0x10 and 0x43, when writing several function code parameters of the drive
continually, if the writing operation of any function code is invalid (for example, the parameter value is invalid,
the parameter cannot be changed, etc.), the error message will be returned and none of the parameters can
be changed; when writing several control parameters, if the writing operation of any parameter is invalid (for
example, the parameter value is invalid, the parameter cannot be changed, etc.), the operation will return from
the storage address of the first fault, this parameter and its following parameters cannot be changed normally,
but the parameters before it can be written normally and the error message will be returned.
2. For some special function codes, 0x06 and 0x41 have the same function, and 0x10 and 0x43 have the
same function. When operating, power on again after power off, the parameters will be saved. These function
codes are as show in the following table:
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