DS-CLS9-FRS4_DS-CLS9-FRS4-01_MODBUS Protocol Manual
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MODBUS-RTU Protocol Convention MODBUS-RTU Protocol Convention

Table of Contents 1. Modbus-RTU Protocol Example.…………………..………….….…………..3 1.1 Running Motor……….………………………...………………………..3 1.1.1 Absolute Position Mode………………………………………..3 1.1.2 Relative Position Mode……………..………..……………………..5 Read Alarm Status…………….…………………………….…………..9 1.3.1 Alarm Status…..……………………………………………………..9

Modbus-RTU Protocol Example 1. Modbus-RTU Example 1.1 Running Motor 1.1.1 Absolute Position Mode Step Add. Running Speed Target Position Control Command  Example. 1 Step 1 : Set Speed Write Single Register Running Speed Starting Address Starting Address

Modbus-RTU Protocol Example  Example. 2 Step 2 : Set Position Write Multi Register Target Position Quantity of Registers 5000 pulse -5000 pulse Data Request Slave ID Starting Address Byte Count Starting Address  Example. 3 Step 3 : Command Run Write Single Register Starting Address Starting Address

Modbus-RTU Protocol Example Relative Position Mode Step Add. Running Speed Running Stroke Control Command  Example. 1 Step 1 : Set Speed Write Single Register Running Speed Starting Address Starting Address

Modbus-RTU Protocol Example  Example. 2 Step 2 : Set Stroke Write Multi Register Running Stroke Quantity of Registers 5000 pulse -5000 pulse Data Request Slave ID Starting Address Byte Count Starting Address  Example. 3 Step 3 : Command Run Write Single Register Starting Address Starting Address

Modbus-RTU Protocol Example 1.2 Read Motor Status 1.2.1 Read Current Position Step Add. Current Position Unit pulse Step 1 : Read Position  Example Step 1 : Read Current Position Read Register Current Position Starting Address Byte Count

Modbus-RTU Protocol Example Read Current Speed Step Add. Current Speed Step 1 : Read Speed  Example Step 1 : Read Current Speed Read Register Current Speed Starting Address Byte Count

Modbus-RTU Protocol Example Read Alarm Status Alarm Status Step Add. Alarm Status Step 1 : Read Alarm  Example Step 1 : Read Alarm Status Read Register Alarm Status Starting Address IF : alarm status = 11 ( 0 x 000B ) = Motor phase loss Byte Count

Control Parameter 2. Control Parameter Notes Informal version of communication parameters, some parameters are fixed and not open. 2.1 Controller Basic Status (Class 01) adr Motor current Motor real-time current value Input voltage Current input voltage Pulse mode 1 is pulse + direction mode, 2 is double pulse mode error code Code at the time of alarm, see 1-2 for content, and display "0" for no fault Operating status Drive running status, see 1-1 hardware version Drive hardware version Software version Drive software version current position target location Actual speed display Actual...

Control Parameter 2.2 Basic Parameter Setting (Class 02) adr Motor switching Elaborate direction Range / unit Select the motor running direction User instructions Set when the motor is stopped 1: user parameter reset 2: Clear the alarm (except for some hardware failure alarms) 3: drive restart Half-flow ratio Stop current ratio (effective in open loop mode) Motor control mode 0: open loop 1: closed loop Default: 1 Angular filtering The smaller the value, the smoother the motor runs, but the higher the delay Digital filtering Filter coefficient of input pulse. The larger the value, the lower...

Control Parameter 2.3 Closed-Loop Parameter Setting (Class 04) adr Range / unit Encoder resolution Resolution = number of encoder lines x 4 In-place pulse width Reach the target position and close the distance, output the signal in place Default: 0 Position tolerance threshold 2.4 Control Parameters (Class 05) adr Starting frequency Stop frequency Return to origin mode Return to origin mode, 0: Return to origin clockwise 1: Return to the origin counterclockwise Fixed-length running speed Speed mode running speed In speed mode, the running direction is consistent with the speed direction...

Control Parameter Output pulse Running stroke Absolute position mode: run to the specified position Relative position mode: travel setting offset stroke Default: 0 Positive soft limit Default: 2000000000 Note: It is invalid during return to origin Negative soft limit Default: -2000000000 Note: It is invalid during return to origin control commands 0: empty 1. Absolute running, running to the set distance, running direction is determined by distance plus or minus, speed plus or minus value is invalid, it is effective to modify target position during running 2. Relative running, running at a...

Control Parameter 2.5 Input Block Designation (Class 06) adr Range / unit 0: empty 1. Absolute running, running to the set distance, running direction is determined by distance plus or minus, speed plus or minus value is invalid, it is effective to modify target position during running 2. Relative running, running at a set distance and running speed. The running direction is determined by the distance plus or minus. The speed plus or minus value is invalid. Modifying the movement distance during running is invalid 3. Speed mode 4. Jog forward 5. Reverse jog 6. deceleration and stop 7....

Control Parameter 0: OFF (initial value 0) 1: ON (trigger the action of IN1 configuration) 0: OFF (initial value 0) 1: ON (trigger the action of IN2 configuration) 0: OFF (initial value 0) 1: ON (trigger the action of IN3 configuration) 0: OFF (initial value 0) 1: ON (trigger the action of IN4 configuration) 0: OFF (initial value 0) 1: ON (trigger the action of IN5 configuration) 0: OFF (initial value 0) 1: ON (triggers the action configured by IN6) (During external pulse, the function of the pseudo communication port is disabled) 0: OFF (initial value 0) 1: ON (trigger the action of IN7...