iEM-RS Series Modbus RS485 Integrated Stepper Motor
12
Message
01
03
0C
00 00
00 02
00 00
00 01
00 00
00 04
9D
B3
Description Slave
ID
FC
Number
of
bytes returned
Value of
0x01BC
Address
0x01BD
Value of
0x01BE
Value of
0x01BF
Value of
0x01C0
Value of
0x01C1
CRC
Note:
(1) The above example shows reading the value of Pr5.22, Pr5.23, Pr5.24, their corresponding address are 0x01BD, 0x01BF,
0x01C1.
(2) The data type of parameter is 32bit, which include high 16bit register and low 16bit register. Usually, we use low 16bits
only, but it needs to take the high 16 bits as beginning when we read/write multiple parameters continuously.
4.2.2 Preset Single Register FC= 06
Preset Single Register Query (Master to Slave)
Preset Single Register Response (Slave to
Master)
Slave ID
00 -- 1F
Slaver ID
00 -- 1F
FC
06
FC
06
Address of register to
write to
High
Address of register
written to
High
Low
Low
Value to write
High
Value
written
to
register
High
Low
Low
CRC
Low
CRC
Low
High
High
Example C: Write the value of a single register--peak current
Send message: 01 06 01 91 00 20 DD 7B
Receive message: 01 06 01 91 00 20 DD 7B
Details as following:
Master->slave data:
Message
01
06
01 91
00 20
DD 7B
Description
Slave ID
FC
Register address
Write data
CRC
Slave>master data:
Message
01
06
01 91
00 20
DD 7B
Description
Slave ID
FC
Register address
Write data
CRC
Note: 0x0191-- output peak current, write data 0x0020=32(decimal, unit: 0.1A), it means the current 3.2A.
Example D: Save the written value to EEPROM
Send message: 01 06 18 01 22 11 06 06
Receive message:01 06 18 01 22 11 06 06
