Parker PD-04 Series User Manual

Parker Hannifin
P series User Guide 65
 Reception Packet Structure
[Normal Response]
Additional
Address
Function
Code
Data
Error Check
Byte
0
1
2
.
.
n-1
n
description
Node ID
Function
Data
.
.
CRC(MSB)
CRC(LSB)
[Abnormal Response]
Additional
Address
Functio
n Code
Data
Error Check
Byte
0
1
2
3
4
descripti
on
Node ID
Function+
0x80
Exception code
CRC(MSB)
CRC(LSB)
Table 22. RS-422 Reception Packet Structure
 Protocol Packet Code Descriptions
 Node ID
This indicates the Node ID of the servo driver to transmit.
The Node ID of servo Drive can be configured with the external switch at the loader
window. The set Node ID can be viewed at parameter [0x2003].
 Function Code
Function Codes under Modbus-RTU Standard supported by PD Drive are as follows.
Category
Comm
and
Code
Descriptions
Usage
Read
Write
PUBLIC Function
Code
0x03
Read Holding Registers
○
0x04
Read Input Register
○
0x06
Write Single Register
○
0x10
Write Multi Register
○
Table 23. Protocol Packet Code Description
 Data
[Transmission] : In the case of Read Register command, Modbus address, number
of registers, and number of bytes, etc. are designated. In case of Write Register
command, Modbus address, number of bytes, and value to set, etc. are designated.
[Reception] : In the case of Read Register command, under normal response, Node
ID and Function Code are received as the same values as the transmitted values. The
value of each register is received in the order they were transmitted.
In the case of Write Single Register command, the same values as the transmitted
values are received. In the case of Write Multi Register, the starting address intended
to write the data in with the same values as the transmitted values and the number of
registers are received.

Parker PD-04 Series Specifications

General

Brand	Parker
Model	PD-04 Series
Category	Servo Drives
Language	English