M Series AC Servo
User Manual
155
Rev. 1.0
7/31/2019
400-820-9661
2) Digital I/O Function Selection And I/O Status
Character hex code
‘0’ 0x30 Index of encode
‘1’ 0x31 input 1 or output 1
‘2’ 0x32 input 2 or output 2
‘3’ 0x33 input 3 or output 3
‘4’ 0x34 input 4 or output 4
‘5’ 0x35 input 5 or output 5
‘6’ 0x36 input 6 or output 6
‘7’ 0x37 input 7
‘8’ 0x38 input 8
‘9’ 0x39 input 9
‘:’ 0x3A input 10
‘;’ 0x3B input 11
‘<’ 0x3C input 12
‘L’ 0x4C low state (closed)
‘H’ 0x48 high state (open)
‘R’ 0x52 rising edge
‘F’ 0x46 falling edge
9.3.8 Function Code
MOONS drives currently support following Modbus function code:
1) 0x03: Read holding registers
2) 0x04: Read input registers
3) 0x06: Write single registers
4) 0x10: Write multiple registers
9.3.8.1 Function Code 0X03, Reading Multiple Holding Registers
If we want to read encoder
’
s actual position command to drive Node ID 1, the data address for encoder
’
s
actual position is register 40005. If the register value is in decimal numbers it will be 250000, and the
transfer method is P-75 (PR) = 5, for big-endian transfer.
Communication details are as follows:
Command Message (Master) Response Message (slave)
Function Data Number Of Bytes Function Data Number Of Bytes
Slave Address 01H 1 Slave Address 01H 1
Function Code 03H 1 Function Code 03H 1
Starting Data Address
00H (High)
04H (Low)
2
Number of Data
(In Byte)
04 1
Number of Data
(In word)
00 (High)
02 (Low)
2
Content of Starting Data
Address 40005
00H (High)
26H (Low)
2
CRC Check Low 85 1
Content of second Data
Address 40006
25H (High)
A0 (Low)
2
CRC Check High CA 1 CRC Check Low 01H 1
CRC Check High 10H 1
Host Sending: 01 03 00 04 00 02 85 CA
Drive Reply: 01 03 04 00 26 25 A0 01 10
If error is occurred, drive reply format: 01 83 XX CRC_L CRC_H
Where XX = 01
：
Function code 03 unsupported
XX = 02
：
Incorrect reading on driving address or numbers
XX = 03
：
Reading register address out of range
XX = 04
：
Reading failure
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