TECO JSDG2S-20A-EL - Page 517

8-12
Commonly Used Command Instruction Code
03H: Read Register
Read N words in succession, N maximum is 29 (1DH).
For Example: Read 2 words in succession from the starting address 0200 of the Driver with ID 01H.
ASCII Mode
Command message PC

Servo Response message Servo

PC (OK) Servo

PC (ERROR)
STX ‘ : ’ STX ‘ : ’ STX ‘ : ’
ADR
‘ 0 ’
ADR
‘ 0 ’
ADR
‘ 0 ’
‘ 1 ’ ‘ 1 ’ ‘ 1 ’
CMD
‘ 0 ’
CMD
‘ 0 ’
CMD
‘ 8 ’
‘ 3 ’ ‘ 3 ’ ‘ 3 ’
Starting
Data
Address
(MSB)
‘ 0 ’
Data
(Number of Bits)
‘ 0 ’
Error Code
‘ 0 ’
‘ 2 ’ ‘ 4 ’ ‘ 2 ’
(LSB)
‘ 0 ’
Address
0200H
content
(MSB)
‘ 0 ’
LRC
‘ 7 ’
‘ 0 ’ ‘ 0 ’ ‘ A ’
Data Length
(Calculated by
word)
‘ 0 ’
(LSB)
‘ B ’
END1 (CR) (0DH)
‘ 0 ’ ‘ 1 ’ END0 (LF) (0AH)
‘ 0 ’
Address
0201H
content
(MSB)
‘ 1 ’
‘ 2 ’ ‘ F ’
LRC
‘ F ’
(LSB)
‘ 4 ’
‘ 8 ’ ‘ 0 ’
END1 (CR) (0DH)
LRC
‘ E ’
END0 (LF) (0AH) ‘ 8 ’
END1 (CR) (0DH)
END0 (LF) (0AH)
RTU Mode
Command message PC  Servo Response message Servo  PC (OK) Servo  PC (ERROR)
ADR 01H ADR 01H ADR 01H
CMD 03H CMD 03H CMD 83H
Starting
Data
Address
(MSB) 02H
Data
(Number of Bits)
04H
Error Code 02H
(LSB) 00H
Content
of 0200H
(MSB) 00H CRC LSB C0H
Data Length
(Calculated by
word)
00H
(LSB) BAH CRC MSB F1H
02H
Content
of 0201H
(MSB) 1FH
CRC LSB 04H (LSB) 40H
CRC MSB 07H CRC LSB A3H
CRC MSB D4H