WiT WT53R-485 - Modbus Protocol

WT53R-485 Manual v23-0720 | www.wit-motion.com | support@wit-motion.com
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6.2 Modbus Protocol
The sensor adopts the industrial standard Modbus protocol, and the specific
reading and writing format is as follows:
Modbus communication, the command number is divided into two kinds of read
command and write command, 0x03 (read command) reads the corresponding
register data, 0x06 (write command) writes data to the corresponding register.
The host computer sends the data frame
ID
Sign
Register
high byte
Register
low byte
Read
length
high
byte
Read
length
low
byte
CRC
Check
high
byte
CRC
Check
low
byte
ID
CMD
RegH
RegL
LenH
LenL
CRCH
CRCL
For example: the module address is 0x50 (default), the read command is 0x03,
the register 0x34 (measurement distance), and the length is one byte.
Command: 50 03 00 34 00 01
Module response frame:
ID
Sign
Data
length
Data bit
1 byte
Data bit
1 byte
CRC
Check
high
byte
CRC
Check
low
byte
ID
CMD
LenH
DataH
DataL
.....
CRCH
CRCL
For example: the module address is 0x00, the read command is 0x03, and the
length is 2 bits.
Command: 50 03 02 00 1C 44 41
As follows: Read the measured distance