Modbus, Communication function

description V3.3

1 Function overview and wiring diagram

The servo drive has an RS-485 serial communication interface, which can
control the servo system, change the parameters, and monitor the server system
status through the MODBUS protocol. The wiring description of the communication
port CN3 is as follows:
The communication port for the L 20 / L 30 drives uses three-bit terminals
with shape and pin distribution:

Communication ports for other specification drives use dual-row DB 9

sockets, with shape and pin distribution of:

Special description: At the RS 485 communication terminal, the port can

also be connected through the 40 / 41 / 42 of the CN1, please see the
product specification for details.

2. Communication parameters
scope default unit
P-181 Drive communication ID number value
- 1~32 -1
When using RS-485 communication, the upper controller is the host, and the
server drive is the slave. The communication address of the server drive should
be set to different communication station numbers. The range of the station
number address is set from-1~32. The default value of-1 indicates the closed
communication function, and the setting value greater than 0 indicates the open
communication function. Before using the communication function, this parameter
must be set to the required station number, which represents the absolute
address of the drive in the communication network. A set of server drives can
only set a station number. If the station number is repeated, no normal
communication will be caused.
scope default unit
P-182 MODBUS Communications Porter value
rate
0~3 2
Through this parameter, select the wave rate of RS-485 communication.
1
Different values correspond to different wave rates. The selected
communication wave rate should be consistent with the communication wave rate
of the upper controller. The specific set values are as follows:
Parameter significance:
0: The Porter rate is 4,800 bps
1: The Porter rate is 9,600 bps
2: The Porter rate is 19,200 bps
3: The Porter rate is 38,400 bps
MODBUS communication data scope default unit
P-183 mode selection (temporarily only value
supports RTU data format) 0~5 1
The data mode of RS-485 communication is selected by this parameter. The
selected data mode shall be consistent with the communication protocol of the
upper controller. The specific parameter value is as follows:
0: Data bit-8 bit check bit-no stop bit-1 bit

1
 1: Data bit-8 bit Check bit-even Stop bit-1 bit
2: Data bit-8 bit check (Even) Stop bit-1 bit
3: Data bit-8 bit Check bit-odd Stop bit-2 bit
4: Data bit-8 bit check (Odd) Stop bit-2 bit
5: Data bit-8 bit Check position-no Stop bit-2 bit
Check bit-even
check (Even)
Check bit-odd
check (Odd)

3. The MODBUS communication protocol

When using RS-485 serial communication, each server drive must set its
communication station number on the parameter P181 in advance, and the computer
or the upper controller controls the corresponding servo drive according to the
station number; the port rate must set the parameter P182 according to the
communication mode of the upper controller; the MODBUS communication protocol
temporarily only supports the RTU (Remote Terminal Unit) mode, and the user can
set the required communication data mode on the parameter P183 according to the
requirements of the upper controller. After the above parameters are set, the
parameter saving operation and power off to restart the drive can take effect.
The following describes the details of the MODBUS communication.
Communication data structure:

ORTU pattern:
The MODBUS Application Layer protocol defines a simple protocol data unit
(PDU), as shown in the figure below, which does not depend on the underlying
communication layer.
Address FC Data field check code
field
MODBUS starts with the address field as the frame, the content of the
address field is the valid address value (0~247), the host places the slave
address value in the address field of the request information to determine the
receiver of the request information, the qualified slave receives the
information and completes the corresponding processing, places the address
value in the address field of the response information, so that the host knows
what the slave response is sent.
The address field is followed by a function code, which indicates what the
slave will do. The function code is followed by the data field, which contains
the parameters of the request and the response. The format, length and meaning
of the data field also vary according to the function code.
The verification code is used to verify the effectiveness of information
and ensure the reliability of information transmission. In RTU mode is the 16-bit
CRC (Cyclical Redundancy Check) check used.
In RTU mode, the data per 8 bits of one byte in the information frame is
sent by 24-bit 16-decimal codes, for example: 1byte data 64H.
The RTU mode is a bit-oriented transmission mode, starting with an idle
2
time of not less than 3.5 characters, then sends the address field, the online
device monitors the communication bus, receives the address field information
after continuously monitoring an idle time of 3.5 characters, receives the
received address field information is valid, and then operates accordingly
according to the function code and additional information, and the response
information is required and sent to the host machine. The last sent byte
indicates the end of the information frame after about 3 characters of idle
time, and a new information frame can be sent..5 The RTU mode maintains frame
synchronization by the simulated synchronization information, and the entire
information frame must be transmitted as a continuous data stream. If a
continuous data stream is transmitted, and the receiving device detects more
than 1.5 character intervals, one frame of data is considered to have been
received, and the next receiving character is taken as the beginning of the
next frame. Under normal circumstances, the interval between information frames
is at least 3.5 characters, that is, a frame of data is sent, and at least 3.5
characters of idle time is passed to send the next frame of data.

2
 The information frame format in RTU mode is:

START Addres Functio Data field check E ND

s Field n Code (DATA ) code
(ADR) (CMD)
(CRC )
T 1-T 2-T3- 8 bits 8 bits n *8 bits 16 bits T 1-T 2-T3-
T4 T4
Note: The T1-T2-T3-T4 indicates that the minimum time interval from the

previous frame is 3.5 characters.

In RTU mode, each byte is sent in the format of:

start Data bit (low in parity stop bit

bit front) check bit
1 bit 8 bits 1 bit or no 1 bit or 2 bits
bit

character structure:

10bits character box (no checked for 8bits characters)

(8-bit data + no check + 1 stop bit)

11bits character box (for 8bit character plus calibration)

(8-bit data + parity + 1 stop bit)

(8-bit data + odd check + 1 stop bit)

Communication information frame format:

The items in the communication information frame format box are described as
follows:
p START (Communication Start)
RTU mode: The minimum time interval from the previous frame is 3.5
characters.
The p ADR (mailing address)
Legal communication addresses range from 1 to 32, as follows: Communicate
with a server drive with station number 16 (hexadecimal 10H):
RTU pattern:ADR=10H
The p CMD (function code) and the DAT A (data field)
The format of the data characters depends on the function code. The common
3
function codes are described as follows:
Command code 03H: Read the parameter value of the drive
Command code 04H: Read the running state of the drive (such as motor
speed, position, current, torque, etc., variable value) Command code
06H: parameters written to the drive (single write)
Command code 41H: Write the parameters of the drive to the EEPROM
(parameter save)

3
p CRC (RTU mode) Frame
calibration calculation:
RTU mode:
The RTU mode adopts CRC (Cyclical Redundancy Check) frame check, and the CRC
frame check calculation is described in the following steps:
Step 1: Initialize a 16b its register with FFFFH content, called a CRC
register.
Step 2: compare the first byte of the command information with the
low byte of the 16-bitsCRC register, and save the results back
to the CRC register.
Step 3: Check the lowest bit (LSB) of the CRC register. If this bit
is 0, move one bit right. If this bit is 1, the CRC register
value moves one bit right, and then operate differently with
the A001H.
Step 4: Go back to Step 3, until Step 3 has been executed 8 times, and
then go to Step 5.
Step 5: Repeat steps 2 to step 4 for the next byte of the command
information until all the bytes complete the above
processing, when the content of the CRC register is the CR C
frame verification.
Note: After calculating the CRC frame check, fill in the CRC low and
then the C RC high. Please refer to the following examples.
For example, read the 0 segment 05 parameter of the server drive with
station number 01H. The last content of the CRC register calculated from
the ADR to the last byte of the data is 3794H, and the command information
is shown as follows, noting that byte 94H shall be transmitted before byte
37H.
A DR 01H
CM D 03H
Start 00H (High
data Bytes)
locat 05H (Low
ion Bytes)
Number of 00H (High
data Bytes)
02H (Low
Bytes)
CRC Low 94H (High
Bytes)
CRC High 37H (Low
Bytes)
p END (communication):
RTU mode: The minimum time interval from the next frame is 3.5 characters.

Function Code (CMD):

The function code is 1 byte (8bi ts) with a range from 1 to 255.
Function Code Specific meaning Implications in the Modbus
(HEX) protocol specification
03H Read the parameter values of Read Holding Register
the drive (read
4
 simultaneously with multiple
parameters)
04H Read the operating status Read Input Register
of the drive (such as
motor, speed, position,
current, torque, which
can read multiple states
simultaneously)
06H Parameters for the write Write Si ngle Register
drive (single write)
10H Parameters for the write Write Mul tiple Register
drive (multiple writes)
08h deagnostic function Diag nostic
41H Write drive parameters to
EEPROM (parameter save)

Various exceptions and errors may occur during communication, defined to be

identified by the host

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The corresponding exception codes were obtained, as shown in the table below.
When the information of the host from the host finds an error or fails to
complete the normal response, the slave will send the error response frame to
the host, that is, the highest position 1 of the function code byte, and the
data field places the corresponding exception code (Except ion Code )。
Exception Code (HEX ) Mea n
01h ILLEGAL FUNCTIO N
02h ILLEGAL DATA ADDRES S
03h ILLEGAL DATA VALUE
04h SLAVE DEVICE FAILUR E
05h ACKN OWLEDGE
06h S L AVE DEVICE BUSY

4. Write-out and read-out of the parameters

For all parameters of servo drive, refer to the parameter section of

commissioning manual, which are divided by parameter segment. Each parameter,
number is expressed using the data of 16bits, the communication address of each
parameter is determined by the parameter serial number (range 0~249), for
example, communication address of parameter P-005 is 005 (decimal),
communication address of parameter P108 is 108 (decimal), communication address
of parameter P-204 is 204 (decimal), other parameters and so on.
All the parameters described in the Parameters section can be read by
communication, but only some parts of the parameters allow the user to modify
the write, the parameters listed in the debugging manual are allowed to modify
the write, and the other parameters not described are the servo drive retention
parameters (The user cannot write to the reserved parameters, otherwise the
servo drive may run abnormally). If the user needs to modify other parameters,
please contact the company technician.

5 Read description of the monitored status volume

The state inside the servo drive can be read out through RS-485
communication and the write operation is invalid. The state quantity is stored
in 16bit data, providing 100 state variables from 0 to 99. The reading of the
state quantity can be realized by the following two functional codes:
(1) Function code (04H), address range 0x 0000~0x 0063
(2) Function code (03H), address range 0x 1000~0x 1063

The address of the function code (04H) (hexadecimal) is as follows:

0x 0000: Motor speed in "r/min";
0x0001: Original position command (input pulse) is 16 bits lower;
0x0002: Original position command (input pulse) is 16 bits high;
0x 0003: Position command (pulse) is low to 16 bits;
0x 0004: Position command (pulse) is 16 bits high;
0x 0005: Current motor position (pulse) is low by 16 bits;
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0x 0006: Current motor position (pulse) is 16 bits high;
0x 0007: Position deviation (pulse) low by 16 bits;
0x 0008: Position deviation (pulse) is 16 bits high;
0x 0009: Motor torque, in unit "%" (percentage of the rated torque), 12
means 12% of the rated torque;
0x 000A: Peak torque, unit "%" (peak torque within 1s); <10>
0x000B: the instantaneous current of the motor, in the unit of "0. 1A" (12:
indicates that the real-time current of the motor is 1.2A);

5
 0x 000C: Peak current of the motor, in the unit of "0. 1A" (152: means that
the maximum current within 1s is 15.2A);
0x000D: Position command pulse frequency in "0. 1kHz" (3000: indicating
300k Hz);
0x 000E: Speed instruction, in unit "r / min";
0x000F: Torque instruction in '%'; <15>
0x 0010: Speed analog command voltage, in unit "mV";
0x 0011: Torque analog command voltage in "mV";
0x 0012: The input terminal DI status, [Note 1];
0x 0013: Output terminal DO status, [Note 2];
0x 0014: Motor encoder single coil absolute position (pulse) low 16 bits;
<20>
0x 0015: Motor encoder single coil absolute position (pulse) height of 16
bits;
0x 0016: Multi-loop position of the motor encoder (read out 0 value when
there is no multiloop information);
0x 0017: regenerative brake load rate in "%";
0x 0018: Average load rate in "%";
0x0019: Output voltage in "%"; <25>
0x001A: alarm code;
0x 001B: Motor speed, per unit of "0. 1r / min";
0x 001C: The second encoder position (pulse) is low to 16 bits;
0x 001D: The second encoder position (pulse) is 16 bits high;
0x001E: instantaneous current of motor in "0.01A" (12: which is
0x 001F: 16 absolute lower (32 absolute positions for multiple laps +
single loop data splicing) <31>
0x 0020: The absolute motor position is 16 bits higher (32 bits of
absolute position for multiple laps + single circle data splicing) <32>
0x 0021: reserved <33>
0x 0022:16 bits lower; (applicable to relative encoder) <34>
0x 0023:16 bits higher for relative motor feedback position; (applicable to
relative encoder) <35>
0x0024:16 bits lower; (applicable to relative encoder) <36>
0x0025: Motor feedback relative position is 16 bits higher; (applicable to
relative encoder) <37>
0x 0026: Drive radiator temperature <38>
0x 0027: module internal temperature <39>
0x 0028: DC bus voltage <40>
0x 0029: reserved <41>
0x 002A: reserved <42>
0x 002B: reserved <43>
0x 002C: Hold <44>
0x 002D: reserved <45>

The function code (03H) reads the status quantity address (hexadecimal)
as follows:
0x 1000: Motor speed in "r/min";
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0x 1001: Original position command (input pulse) low of 16bit;
0x 1002: Original position command (input pulse) is 16bit high;
0x 1003: Position command (pulse) low to 16bit;
0x 1004: Position command (pulse): 16bit high;
0x 1005: Current motor position (pulse) low: 16bit;
0x 1006: Current motor position (pulse) height of 16bit;

6
 0x 1007: Position deviation (pulse) low of 16bit;
0x 1008: Position deviation (pulse): 16bit high;
0x 1009: Motor torque, unit "%" (percentage of rated torque);
0x 100A: Peak torque, unit "%" (peak torque within 1s); <10>
0x100B: the instantaneous current of the motor, in the unit of "0. 1A" (12:
indicates the motor real-time current of 1.2A);
0x 100C: Peak current of the motor, in the unit of "0. 1A" (152: means that
the maximum current within 1s is 15.2A);
0x100D: Position command pulse frequency in "0. 1kHz" (3000: means 300k
Hz);
0x 100E: Speed instruction, unit in "r / min";
0x100F: Torque instruction in '%'; <15>
0x 1010: Speed analog command voltage, in "mV";
0x 1011: Torque analog command voltage in "mV";
0x 1012: The input terminal DI status, [Note 1];
0x 1013: Output terminal DO status, [Note 2];
0x 1014: Motor encoder single coil absolute position (pulse) low 16bit;
<20>
0x1015: Motor encoder single coil absolute position (pulse) height of
16bit;
0x 1016: Multi-loop position of the motor encoder (read out 0 value when
there is no multiloop information);
0x 1017: regenerative brake load rate in "%";
0x 1018: Average load rate in "%";
0x1019: Output voltage in "%"; <25>
0x101A: The alarm code;
0x 101B: Motor speed, per unit of "0. 1r / min";
0x 101C: The second encoder position (pulse) is low to 16bit;
0x 101D: The second encoder position (pulse) height is 16bit;
0x 101E: instantaneous current of motor in "0.01A" (12: which is
0x 101F: 16 bit lower (32 bit absolute position of single loop data
splicing)
0x 1020: Motor absolute position 16 position high (32 bit absolute
position of multiple circles + single circle data splicing)
0x 1021: reserved
0x 1022: reserved
0x 1023: reserved <35>
0x 1024: reserved
0x 1025: reserved
0x 1026: reserved
0x 1027: reserved <39>

[Note 1]: The data read by this address is 16bit, where bit7~bit0 corresponds to the input
state of D I 8 to D I 1; "1" indicates input high level, "0" indicates input low level;
bit15~bit8 is reserved bit.
[Note 2]: This address reads the data bit 16bit, where bit5~bit0 indicates the output state
of DO6~DO1, "1" is the output high level, "0" means the output low level; bit15~bit6 is

7
the reserved bit.

7
6 Communication instances

.16 Read Status (CMD =04H)

The read status function code (04H) can read all the monitored state
quantities in the servo drive, and the communication frame format is described
as follows:
Note: The number of states per read is up to 8.
The requested frame format is as follows:
Address FC Start address Number of read CRC, check code
field 1 byte value states 2 bytes, low
1 byte 2 bytes, High 2 bytes, High bytes in front
Bytes in front Bytes in front
0x 01 0x 04 0x00 ，0x00 0x00 ，0x01 (N ) CRC_L o , CRC _Hi
normal response:
Address FC Number of bytes Status value, 2N CRC, check code
field 1 byte 1byte bytes, high bytes 2 bytes, low
1 byte before bytes in front
0x 01 0x 04 0x 02 (2N ) 0xXX ，0xXX ， CRC_L o , CRC _Hi
……
exception response:
Address FC exception code CRC, check code
field 1 byte 1byte 2 bytes, low
1 byte bytes in front
0x 01 0x 84 0x 01 or 02 or 03 or CRC_L o , CRC _Hi
04

Examples are as follows:

Host send frame:
A DDR COD E S TADDR S TADDR R NUM R NUM CRC _L CRC _H
_H _L _H _L
0x 01 0x 04 0x 00 0x 01 0x 00 0x 02 0xX X 0xX X
The slave response frame:
A DDR CO DE BYT E _NUM DATA 1_H DATA 1_L DATA 2_H DATA 2_L CRC _L CRC _H
0x 01 0x 04 0x 04 0xX X 0xX X 0xX X 0xX X 0xX X 0xX X

STADDR: Read the state start address

RNUM: Number of states read: BYTE _NUM: Number of bytes of the read state (for
example, RNUM is 2, or 216-bit data, then BYTE_NUM is 2 * 2 = 4 bytes)
DATAX: The state value read back, X represents the serial number, DATA1 is the
first data, DATA2 is the second data sample send frame STADDR = 0x0001, RNUM =
0x02, indicating reading two state data starting from the starting address 0x
0001 (i. e., read two state values of 0x 0001 and 0x 0002, as described in the
above section). BYTE_NUM = 0x04 in the response frame indicates that the two
state values read occupy 4 bytes, followed by DATA1, and DATA2 is the state
values of 0x0001 and 0x0002.

8
6.2 Read parameters (CMD =03H)
All parameters in the drive can be read using the read parameter function
code (03H), and the communication frame format is described as follows:
Note: The maximum number of parameters per read is up to 8.
The requested frame format is as follows:
Address FC Start address Number of read CRC, check code
field 1 byte value parameters 2 bytes, low
1 byte 2 bytes, High 2 bytes, High bytes in front
Bytes in front Bytes in front
0x 01 0x 03 0x00 ，0x00 0x00 ，0x01 (N ) CRC_L o , CRC _Hi
normal response:
Address FC The number of Parameter values, 2N CRC, check code
field 1 byte bytes of the bytes, high bytes 2 bytes, low
1 byte parameter is before bytes in front
1byte
0x 01 0x 03 0x 02 (2N ) 0xXX ，0xXX ， CRC_L o , CRC _Hi
……
exception response:
Address FC exception code CRC, check code
field 1 byte 1byte 2 bytes, low
1 byte bytes in front
0x 01 0x 83 0x 01 or 02 or 03 or CRC_L o , CRC _Hi
04

Examples are as follows:

Host send frame:
A DDR COD E S TADDR S TADDR R NUM R NUM CRC _L CRC _H
_H _L _H _L
0x 01 0x 03 0x 00 0x 01 0x 00 0x 02 0xX X 0xX X
The slave response frame:
A DDR CO DE BYT E _NUM DATA 1_H DATA 1_L DATA 2_H DATA 2_L CRC _L CRC _H
0x 01 0x 03 0x 04 0xX X 0xX X 0xX X 0xX X 0xX X 0xX X

STADDR: Read the parameter starting address

RNUM: Number of read parameters BYTE _NUM: Number of bytes of the read
parameters (for example, RNUM is 2, or 216-bit data, then BYTE_NUM is 2 * 2 =
4)
DATAX: Read back parameter value, X represents the serial number, DATA1 is the
first parameter, DATA2 is the second parameter STADDR = 0x01, RNUM = 0x02, read
2 parameters starting from starting address 1 (That read two parameters P-001
and P-002 with addresses 0x01 and 0x02). BYTE_NUM = 0x04 in the response frame
indicates that the two parameter values read occupy 4 bytes, followed by DATA1,
and DATA2 is the parameter value with addresses 0x01 and 0x02.

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6.3 Write a single parameter (CMD =06H)
The write parameter function code (06H) can be written to the parameters
listed in the debugging manual. The communication frame format is described
as follows:
pay attention to: The function code 06H can only write to one parameter at a
time. Before writing the parameter, please refer to the parameter instructions
to confirm the specific meaning of the parameter. Incorrectly writing the
parameter value may cause the servo drive to run abnormally!
The requested frame format is as follows:
Address FC Parameter number Parameter values CRC, check code
field 1 byte 2 bytes, High written 2 bytes, low
1 byte Bytes in front 2 bytes, High bytes in front
Bytes in front
0x 01 0x 06 0x00 ，0x00 0x 00 ，0x64 CRC_L o , CRC _Hi
normal response:
Address FC Parameter number Parameter values CRC, check code
field 1 byte 2 bytes, High written 2 bytes, low
1 byte Bytes in front 2 bytes, High bytes in front
Bytes in front
0x 01 0x 06 0x00 ，0x00 0x 00 ，0x64 CRC_L o , CRC _Hi
exception response:
Address FC exception code CRC, check code
field 1 byte 1byte 2 bytes, low
1 byte bytes in front
0x 01 0x 86 0x 01 or 02 or 03 or CRC_L o , CRC _Hi
04

Examples are as follows:

Host send frame:
ADDR CO DE W ADDR W ADDR VALUE _H VALUE _L CRC _L CRC _H
_H _L
0x 01 0x 06 0x 00 0x 01 0x 01 0x 02 0xX X 0xX X
The slave response frame:
ADDR CO DE W ADDR W ADDR VALUE _H VALUE _L CRC _L CRC _H
_H _L
0x 01 0x 06 0x 00 0x 01 0x 01 0x 02 0xX X 0xX X

WADDR: Write the parameter address

VALUE: Value to Write This sample send frame is ADDR = 0x 01, VALUE = 0x0102,
which indicates that the value 0x0102 is written to the parameter with the
address 0x01. Response frame and send frame are the same.

10
 6.4 Write multiple parameters (CMD =10H)
The write parameter function code (10H) can be written to the parameters listed in the
debugging manual. The communication frame format is described as follows:
pay attention to: The function code 10H can write multiple parameters at a time
(up to 10 parameters for a single write). Before writing the parameter, please
refer to the parameter instructions to confirm the specific meaning of the
parameter. Incorrectly writing the parameter value may cause the servo drive to
run abnormally!
The requested frame format is as follows:
Addres Functi Starting Number of Number of Parameter CRC, with a
s field on address written bytes values, check code
1 byte Code # value, 2 parameters, occupied by 2N bytes ， of 2 bytes,
1 byte bytes, 2 bytes, the High byte in Low byte in
High byte in high bytes parameter, the front front
the front first (1~122) 1byte
(0~255)
0x 01 0x 10 0x00 ，0x00 0x00 ，0x02 0x 04 0xXX ，0xXX CRC_Lo,
，
(N ) (2N ) CRC _Hi
……
normal response:
Address FC The Starting Number of CRC, check code
field 1 byte Address Value, written 2 bytes, low bytes in front
1 byte 2 bytes ， parameters, 2
bytes, high
High byte in the
front bytes first
0x 01 0x 10 0x00 ，0x00 0x00 ，0x02 CRC_L o , CRC _Hi
(N )
exception response:
Address FC exception code CRC, check code
field 1 byte 1byte 2 bytes, low
1 byte bytes in front
0x 01 0x 90 0x 01 or 02 or 03 or CRC_L o , CRC _Hi
04

Examples are as follows:

Host send frame:
A DR CO DE SADRH SADRL WNU MH WNUM L WNU MB D 1_H D 1_L D 2_H D 2_L CR CL C RCH
0x01 0x10 0x00 0x01 0x00 0x02 0x04 0xXX 0xXX 0xXX 0xXX 0xXX 0xXX
The slave response frame:
A DR CO DE SADRH SADRL WNU MH WNUM L CR CL CR CH
0x 01 0x 10 0x00 0x01 0x00 0x02 0xX X 0xX X

SADR: Write parameter starting address SADRH (high byte) SADRL (low byte)
WNUM: Number of written parameters WNUMH (high bytes) WNUML (low bytes)
WNUMB: bytes (for example WNUM is 2, Namely, the 216-bit data, Then WNUMB is 2
* 2 = 4) D 1_H: high byte value of the first parameter written D 1_L: low byte
value of the first parameter written D 2_H: high byte value of the second
parameter written D 2_L: low byte value of the second parameter written SADR =
11
0x01 in this example send frame, WNUM = 0x02, Starting from starting address 1,
Write to 2 parameters (i. e., two parameters, P-001 and P-002, with the
addresses of 0x01 and 0x02).

11
6.5 Diagnostic function (CMD =08H)
After the host sends a diagnostic frame, the slave (servo drive) responds
to the same data.
Tip: The diagnostic function can be used to determine if the MODBUS
communication is normal.
Host send frame:
ADDR CO DE DATA _H DATA _L CRC _L CRC _H
0x 01 0x 08 0x 12 0x 34 0xX X 0xX X
The slave response frame:
ADDR CO DE DATA _H DATA _L CRC _L CRC _H
0x 01 0x 08 0x 12 0x 34 0xX X 0xX X
The slave response frame data of the diagnostic command should be exactly the
same as the host sending frame data, so the diagnostic command can be used to
detect whether the communication is normal. DATA can be arbitrary custom
data, such as the host to send 0xABCD, then the slave response is also
0xABCD

.66 Save parameter (CMD =41H)

The save parameters function code (41H) can store the drive parameters to the
EEPROM, and the communication frame format is described as follows:
Note After sending this command, the server drive takes some time to save the
parameters to the EEPROM
It is recommended to wait above 5S before doing this operations.

The requested frame format is as follows:

Address FC CRC, check code
field 1 byte 2 bytes, low
1 byte bytes in front
0x 01 0x 41 CRC_L o , CRC _Hi
normal response:
Address FC CRC, check code
field 1 byte 2 bytes, low
1 byte bytes in front
0x 01 0x 41 CRC_L o , CRC _Hi
exception response:
Address FC exception code CRC, check code
field 1 byte 1byte 2 bytes, low
1 byte bytes in front
0x 01 0xC1 0x 01 or 02 or 03 or CRC_L o , CRC _Hi
04

The second way to save the parameters:

Using the function code (06H) of writing a single parameter, write the
numerical value 0x1234 to the address unit 0x1001, and the drive performs the
parameter saving operation.

6.7 Servo enable / off (CMD =42H)

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Request / normal response:
Address FC Enables the CRC, check code
field 1 byte closing of the 2 bytes, low
1 byte flag bytes in front
1byte
0x 01 0x 42 0x 55 (enable) or 0xAA (off) CRC_L o , CRC _Hi
exception response:

12
 Address FC exception CRC, check code
field 1 byte code 2 bytes, low
1 byte 1byte bytes in front
0x 01 0x C 2 0x 01 or 02 or 03 or CRC_L o , CRC _Hi
04

The second servo enable / off method:

Use single parameter function code (06H), write address unit 0x62, write
value 0x01 (i. e., parameter P-098 0 to 1), drive enabled; to address unit
0x62, write value 0x00 (parameter P-098 to 0), drive disabled.

.86 Alarm clearance (CMD =43H)

Request / normal response:

Addres FC CRC, check code
s field 1 byte 2 bytes, low
1 byte bytes in front
0x 01 0x 43 CRC_L o , CRC _Hi
exception response:
Address FC exception CRC, check code
field 1 byte code 2 bytes, low
1 byte 1byte bytes in front
0x 01 0x C 3 0x 01 or 02 or 03 or CRC_L o , CRC _Hi
04

The second alarm removal method:

Use the function code (06H) of writing a single parameter, write the value
0x1010 to the address unit 0x1004, and the drive performs the alarm clearing
operation.(Note: Some alarms related to hardware failure are invalid)

6.9 Set the current position to the absolute zero point

Using a function code (06H) for writing a single parameter, write the value
0x1111 to the address unit 0x1000, and the drive sets the absolute position of
the current motor encoder to zero.
(Note: This feature is only for multi-loop absolute encoder with battery
case)

6.10 Communication point operation

Using the function code (06H) of writing a single parameter, write the
corresponding value to the address unit 0x 1010 to realize the point-moving
operation:
To address unit 0x1010, write value 0x1234, drive enables and
maintain zero speed; to address unit 0x 1010, write value
0x2222, servo drive motor point positive operation; to address
unit 0x1010, write value 0x1111, servo drive motor point
reverse operation;
To the address unit 0x 1010, write the value 0x0, the servo drive
to exit the dot state, and break the enable; the dot speed is
determined by the parameter P-076 (in r / min).
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6.11 Communication Control method of input DI
Using the function code (06H) of writing a single parameter, writing the
corresponding values to the corresponding address unit of the following
parameters can realize the corresponding DI function control.
Number of digits of myriab kilobi hundr decade the
the parameter P120 it t eds unit
place
Corresponding contin T CW TCCW ACLR SON
function ue to
have

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 If the corresponding function bit is set to 1, the function forces ON
(valid)

Number of the myriabi kilob hundr decade the

parameter P121 t it eds unit
place
Corresponding ZCLA MP S PD 3 S PD 2S PD 1 CM ODE
function
If the corresponding function bit is set to 1, the function forces ON
(valid)

Number of the myriabi kilob hundr decade the

parameter P122 t it eds unit
place
Corresponding T RQ 2 T RQ 1 CI NVCZ ERO CC W
function
If the corresponding function bit is set to 1, the function forces ON
(valid)

Number of the myriabi kilobihundr decade the

parameter P123 t t eds unit
place
Corresponding G EAR 2 G EAR 1 EM G PC CW
function
If the corresponding function bit is set to 1, the function forces ON
(valid)

Number of the myriab kilob hundre decade the

parameter P124 it it ds unit
place
Corresponding GA IN CWL CC WL PE CLR I NH
function
If the corresponding function bit is set to 1, the function forces ON
(valid)

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