M Series AC Servo
User Manual
156
Rev. 1.0
7/31/2019
400-820-9661
9.3.8.2 Function Code 0x06, Writing Single Register
If we want to set motor rotary velocity 12.5 rps to drive node ID 11, the corresponding address is
register 40030. The write in data value for the register will be 12.5 x 240 = 3000. In hexadecimal
number, it is 12CH.
Communication Details are as follows:
Command Message (Master) Response Message (slave)
function data number of bytes function data number of bytes
Slave Address 0BH 1 Slave Address 0BH 1
Function Code 06H 1 Function Code 06H 1
Starting Data Address
00H (High)
1DH (Low)
2 Starting Data Address
00H (High)
1DH (Low)
2
Content of Data
01 (High)
2C (Low)
2 Content of Data
01 (High)
2C (Low)
2
CRC Check Low 19 1 CRC Check Low 19 1
CRC Check High 2B 1 CRC Check High 2B 1
Host Sending: 0B 06 00 1D 01 2C 19 2B
Drive Reply: 0B 06 00 1D 01 2C 19 2B
If error is occurred, drive reply format: 01 86 XX CRC_L CRC_H
Where XX = 01 ：Function code 06 unsupported
XX = 02 ：Incorrect writing on driving address or number
XX = 03 ：Writing register address out of range
XX = 04 ：Writing failure
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