Sinee EA100-2R8-2A - Example

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3) Collect and check LSB (the least significant bit of CRC parity register).
4) Shift each bit of CRC parity register rightwards by 1 bit, the highest bit filled with 0.
5) If LSB is 1, conduct XOR calculation between the value of CRC register and A001H, and then upload the result to CRC parity register.
6) Repeat steps 3, 4 and 5 until completing 8 rounds of shifting.
7) Repeat steps 2, 3, 4, 5 and 6, and process the next byte of sending message. Repeat above process continuously until each byte of
sending message is processed.
8) CRC parity date will be saved in CRC parity register after calculation.
9) First send the low byte of CRC parity when sending, and then send the high byte.
Circuit diagnostics and 0x08 setting description
Sub-function
Code
Data Requested
Response Data
Indication of
Sub-function
0000H
#data16
The same as the data requested
Circuit Diagnosis
Abnormal response
When the host sends the wrong data or the servo error data caused by disturbance, it will send back an exception response. Abnormal response
data structure:
ADU Item
Byte count
Description
Address code
1
Address of slave
Function code
1
Equal to the function code of + 0x80
Exception code
1
See the exception code table
CRC parity (L)
2
CRC16
CRC parity (H)
CRC16
Abnormal table：
data
Meaning
01
CRC parity error
02
Function code is not correct
04
Send data length is not correct
08
Register address error
10
Register digital error
20
Register modification error
40
EEPROM busy
Note: if the function code is wrong, the exception code is 0x02
8.6 Example
Write 01 servo drive control mode for position control, that is, P1-00=1.
Sending sequence
0
1
2
3
4
5
6
7
8
9
Sending content
01H
06H
01H
00H
00H
01H
49H
F6H
Receive sequence
0
1
2
3
4
5
6
7
8
9
Receive content
01H
06H
01H
00H
00H
01H
49H
F6H