Device register manual

Modbus Communication Protocol and Register Description for Brushless Motor Drivers

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modbus Technical Team

January 15, 2024 约 61 min read

Modbus Communication Protocol and Register Description for Brushless Motor Drivers

Modbus Communication Protocol and Register Description for Brushless Motor DriversFigure

1. Communication protocol

0x07, 0x09, 0x19, 0x01, 0x11, 0x0a, 0x1a, 0x02, 0x12, 0x0b, 0x1b, 0x03, 0x13, 0x0c, 0x1c, 0x04, 0x14, 0x0d, 0x1d, 0x05, 0x15, 0x08, 0x18, 0x00, 0x10,

0x03 0x06 0x10

0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0 xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81,

0x51, 0x93, 0x53, 0x52, 0x92, 0x96, 0x56, 0x57, 0x97, 0x55, 0x95, 0x94, 0x54, 0x9C, 0x5C,
> The data bit is 8 Position.
> Verify as“None+1 Stop position”.
> The address of the slave station is fixed at 1. User defined communication parameters:
> Configurable range of baud rate 9600-115200bps.
> The data bits are fixed at 8 Position.
> The verification method can be configured as:: “I am+1 Stop position”, “Strange+1 Stop position”And“None+2 Stop position”.
> The range of sub station addresses can be set 1~255.

When the interruption of data frame communication exceeds 4 The packaging time of one byte is determined as frame reception timeout. When a frame timeout occurs, The previously received data will be Deemed invalid.

1.2 MODBUS-RTU Frame format

This drive supports MODBUS of Read and hold registers 0x03(Write a single register) and), 0x06(Write multiple register function codes 0x10(Read and hold registers.

1.2.1 0x03 Sent by the main station

Byte:

Content	1	2	3	4	5	6	7	8
Start register	ADR	0x03	High byte Start register	Low byte Register high byte count	Number of registers	Low byte Low byte	CRC High byte	CRC The

Byte 1 Slave station address code ADR: The (=001~254) .

Byte 2 Read register value function code 0x03: The.

Byte 3, 4 The starting address of the register to be read: The.

Byte 5, 6 The number of registers to be read: The.

Byte 7, 8 From bytes: Arrived 1 of 6 of CRC16 Verification code .

Return from the station:

Byte	1	2	3	4 , 5	6 , 7	…	M-1, M	M+1	M+2
Content	ADR	0x03	Total number of bytes	Register data Register 1	data Register data Low byte 2	…	High M	CRC Byte	CRC The Byte

Slave station address code 1 The ADR: Byte (=001~254) .

Return to read function code 2 The 0x03: Byte.

From 3 Arrived: include 4 And M (The total number of bytes 4 The M) Arrived.

Byte 4 Register data M The: Byte.

From bytes M＋1, M+2 Arrived: of Verification code 1 When receiving an error from the slave station M Return from the station CRC16 Byte.

Content, Exception code:

Low byte	1	2	3	4	5
High byte	ADR	0x83	The	CRC Byte	CRC The

Byte 1 The Byte 2 Slave station address code Error reading register value 3 Exception code

ADR: See table (=001~254) .

0x83: The.

Byte: From bytes 1.1.

Arrived 4, 5 of Verification code: Write a single register 1 to 3 of CRC16 Verification code.

1.2.2 0x06 Write a single register

Sent by the main station:

Byte	1	2	3	4	5	6	7	8
Content	ADR	0x06	Register high Byte address	Register low Byte address	High byte data	Low byte data	CRC Low byte code	CRC Code height byte

When receiving correctly from the station, Return from the station:

Byte	1	2	3	4	5	6	7	8
Content	ADR	0x06	Register high Byte address	Register low Byte address	High byte data	Low byte data	CRC Low byte code	CRC Code height byte

When receiving an error from the slave station, Return from the station:

Byte	1	2	3	4	5
Content	ADR	0x86	Exception code	CRC Low byte	CRC High byte

The 1 Byte The 2 Byte The 3 Byte

ADR: Slave station address code (=001~254) .

0x86: Write register value error function code.

Exception code: See table 1.1.

The 4, 5 Byte: From bytes 1 Arrived 3 of Verification code CRC16 Write multiple register values.

1.2.3 0x10 Sent by the main station

Byte:

Content	1	2	3	4	5	6	7
Start register	ADR	0x10	High byte address Start register	Low byte address Number of registers	High byte count Number of registers	Low byte count Data word	Total number of sections Total number of sections

Byte	8,9	10,11	N,N+1	N+2	N+3
Content	Register data 1	Register data 2	Register data M	CRC Low byte code	CRC Code height byte

When receiving correctly from the station, Return from the station:

Byte	1	2	3	4	5	6	7	8
Content	ADR	0x10	Register high Byte address	Register low Byte address	Number of registers High byte count	Number of registers Low byte count	CRC Low byte code	CRC Code height byte

When receiving an error from the slave station, Return from the station:

Byte	1	2	3	4	5
Content	ADR	0x90	Exception code	CRC Low byte	CRC High byte

The 1 Byte The 2 Byte The 3 Byte

ADR: 0x90: Exception code:

Slave station address code (=001~254) .

Error writing register value.

See table 1.1.

The 4, 5 Byte: From bytes 1 Arrived 3 of Verification code CRC16 Error exception code.

1.2.4 Exception code

MODBUS As shown in the table : The 1.1 ShowTable

Abnormal code table 1. 1 MODBUS Exception code

meaning	Illegal function code
0x01	Illegal data address
0x02	Illegal data values
0x03	Substation equipment malfunction
0x04	The request has been confirmed
0x05	But it takes a long time to process the request, Busy with devices
0x06	Busy with devices
0x08	Storage parity error
0x0A	Unavailable gateway
0x0B	Gateway target device response failed

2. Standard register definition

2.1 Device description information register

The device description information register is shown in the table 2.1 TheShow.

Table 2. 1 Device description information register

Register address	Description	Value range	Support function code	remarks
0x0000 (0)	Equipment identification number		0x03	Each model has a corresponding device identification number
0x0001 (1)	Device version		0x03	High byte main version number, Low byte is the sub version number
0x0002 (2)	Maximum current		0x03	Multiply the numerical value by0.01For the current value, The unit isA

0x0003~0x0007(3)~(7)

retain

0x03

2.2 Real time status register

The real-time status register is shown in the table 2.2 TheShow.

Table 2.2 Real time status register

Register address	Description	Value range	Support function code	remarks
0x0008 (8)	Real time current	0~65535	0x03	Multiply the numerical value by 0.01 For the current value, The unit is A
0x0009 (9)	The high half of real-time speed	-110000~110000	0x03	Real time rotational speed, unit: RPM
0x000A (10)	Low half word of real-time speed	-110000~110000	0x03	Real time rotational speed, unit: RPM
0x000B (11)	Error status	0~13	0x03	0 No errors1: Blocked rotor shutdown2: Phase sequence not studied3: Phase anomaly4: Phase line overcurrent5: Bus overcurrent6: Voltage too high7: Voltage too low, 8: Abnormal phase learning9: Overload abnormality10: 485 Communication interruption11: CAN Communication interruption12: Bus voltage is too high13: Excessive temperature, 14: Unconscious startup failed15: Abnormal phase current
0x000C (12)	Internal potentiometer voltage	0~3300	0x03	The unit is mV
0x000D (13)	External signal voltage	0~10000	0x03	The unit is mV
0x000E (14)	retain
0x000F (15)	retain
0x0010 (16)	Enable level	0,1	0x03	0: Low level1: High level
0x0011 (17)	Brake voltage level	0,1	0x03	0: Low level1: High level
0x0012 (18)	Directional voltage level	0,1	0x03	0: Low level1: High level

0x0013 (19)	Control mode	0x07, 0x09, 0x19, 0x01, 0x11, 0x0a, 0x1a, 0x02, 0x12, 0x0b, 0x1b, 0x03, 0x13, 0x0c, 0x1c, 0x04, 0x14, 0x0d, 0x1d, 0x05, 0x15, 0x08, 0x18, 0x00, 0x10,	0x03	0-4 Definition from low to high in position: ①The 4 Position indicates no sensation 0 Or have feelings 1, ②The 3 Position represents open-loop 0 Or closed loop 1, ③The 0-2 Position representation mode: Phase sequence learning (111) , Communication control (000) , Internal potentiometer (001) , Analog quantity (010) , PWM (011) ,model airplane PWM (100) ,Joystick (101) ④Value meaning: 0x07: Phase sequence learning, 0x09: Non sensitive/closed-loop/internal potentiometer control, 0x19: Sensing/closed-loop/internal potentiometer control, 0x01: Non sensitive/open-loop/internal potentiometer control, 0x11: Sensing/open-loop/internal potentiometer control, 0x0a: Sensorless/closed-loop/analog control, 0x1a: Sensory/closed-loop/analog control, 0x02: Sensorless/open-loop/analog control, 0x12: Sensible/open-loop/analog control, 0x0b: No sensation/closed loop/PWM Control, 0x1b: Sensation/closed loop/PWM Control, 0x03: No sensitivity/open-loop/PWM Control, 0x13: Sensible/open-loop/PWM Control, 0x0c: Non sensory/closed-loop/model airplane PWM Control, 0x1c: Sensory/closed-loop/model airplane PWM Control, 0x04: Non sensory/open-loop/model airplane PWM Control, 0x14: Sensible/open-loop/model airplane PWM Control, 0x0d: Sensorless/closed-loop/joystick control, 0x1d: Sensory/closed-loop/joystick control, 0x05: Sensorless/open-loop/joystick control, 0x15: Sensation/open-loop/joystick control, 0x08: Sensorless/closed-loop/communication control, 0x18: Sensing/closed-loop/communication control, 0x00: Sensorless/open-loop/communication control, 0x10: Sensing/open-loop/communication control,
0x0014(20)	Load rate	0~1000	0x03	Multiply the numerical value by 0.1%For PWM percentage, The unit is‰
0x0015(21)	Input PWM Duty cycle	0~1000	0x03	Multiply the numerical value by 0.1%For input PWM Duty cycle, The unit is‰
0x0016(22)	Voltage	0~100	0x03	Power supply voltage, The unit is V

0x0017(23)	Temperature	-200~200	0x03	Circuit board temperature, The unit is℃
0x0018(24)	retain

2.3 Motor control register

Motor control registerAs shown in the table 2.3 TheShow.

Table 2.3 Motor control register

Register address	Description	Value range	Support function code	remarks
0x0020 (32)	stop it	0, 1, 2	0x03 0x06	0: Normal stop1: Emergency braking2: Freedom stops
0x0021 (33)	Set the upper half of the target parameter	Closed loop: -Maximum speed~ Maximum speed open-loop: -1000~1000	0x03 0x06 0x10	When the speed control is closed-loop, Representing speed, The unit is RPM; When the speed control is open-loop, Representative PWM, Multiply the numerical value by 0.1%For PWM percentage. Positive numbers indicate positive rotation, Negative numbers indicate reversal, 0 Normal stop
0x0022 (34)	Set the lower half of the target parameter		0x03 0x06 0x10
0x0023 (35)	Test control	0, 1	0x03 0x06	0: Cancel testing, 1: Phase sequence learning
0x0024 (36)	Output control	0, 1	0x03 0x06	0: Output low level1: Output high level
0x0025~0x27(37)~ (39)	retain

2.4 Motor parameter configuration register

The motor parameter configuration register is shown in the table 2.4 TheShow.

Table 2.4 Motor parameter configuration register

Register address	Description	Value range	Support function code	remarks
0x0028 (40)	Rated current of motor	0~1500	0x03 0x06 0x10	Multiply the numerical value by 0.01 For the current value, The unit is A
0x0029 (41)	The higher half of the maximum speed of the motor	0~110000	0x03 0x06 0x10	The unit is RPM
0x002A (42)	The lower half of the maximum speed of the motor	0~110000	0x03 0x06 0x10	The unit is RPM
0x002B (43)	The higher half of the minimum speed of the motor	0~110000	0x03 0x06 0x10	The unit is RPM, Generally set in 200RPM following
0x002C (44)	The lower half of the minimum speed of the motor	0~110000	0x03 0x06 0x10	The unit is RPM, Generally set in 200RPM following
0x002D (45)	Number of motor poles	0~65535	0x03 0x06 0x10	Number of north and south magnetic poles of stator, It is magnetic The extreme half

0x002E (46)	electric machinery 1 , 2 Phase sequence data	The high byte is 0~6The low byte is 0~6	0x03 0x06 0x10	The low byte is 1 The high byte is 2 Phase
0x002F (47)	electric machinery 3 , 4 Phase sequence data	The high byte is 0~6The low byte is 0~6	0x03 0x06 0x10	The low byte is 3 The high byte is 4 Phase
0x0030 (48)	electric machinery 4 , 6 Phase sequence data	The high byte is 0~6The low byte is 0~6	0x03 0x06 0x10	The low byte is 4 The high byte is 6 Phase
0x0031 (49)	Phase sequence learning status	0,1	0x03 0x06 0x10	0: Not studying1: Already studied
0x0032 (50)	No sensory startup load size	0~4	0x03 0x06 0x10	0: Light load1: Medium load2: Overloading3: Small inertia load4: Large inertia load
0x0033 (51)	Closed loop speed acceleration	100~Maximum speed	0x03 0x06 0x10	The unit is RPM/S
0x0034 (52)	Closed loop speed deceleration acceleration	100~Maximum speed	0x03 0x06 0x10	The unit is RPM/S
0x0035 (53)	Open loop speed acceleration	4~500	0x03 0x06 0x10	The unit is%/S
0x0036 (54)	Open-loop speed deceleration acceleration	4~500	0x03 0x06 0x10	The unit is%/S
0x0037 (55)	Stop mode	0, 1, 2	0x03 0x06 0x10	0: Normal stop1: Emergency braking2: Freedom stops
0x0038 (56)	Automatic reversing mode	0, 1, 2	0x03 0x06 0x10	0: Normal commutation1: Emergency stop reversing
0x0039 (57)	Shutdown lock-in current	0~1500	0x03 0x06 0x10	0: Do not stop the machine and lock other values: Multiply the numerical value by 0.01 For the current value, The unit is A
0x003A~0x 3F(58)~ (63)	retain

2.5 System parameter configuration register

System parameter configuration registerAs shown in the table 2.5 TheShow.

Table 2.5 System parameter configuration register

Description

Value range

Support function code

remarks

0x0040 (64)	Blockage shutdown time	0~66635	0x03 0x06 0x10	The unit is mS
0x0041 (65)	Protect the shutdown current	0~4200	0x03 0x06 0x10	Multiply the numerical value by 0.01 For the current value, The unit is A
0x0042 (66)	Maximum value of internal potentiometer control threshold	0~3300	0x03 0x06 0x10	The unit is mV
0x0043 (67)	Minimum threshold value for internal potentiometer control	0~3300	0x03 0x06 0x10	The unit is mV
0x0044 (68)	Maximum value of external input control threshold	0~10000	0x03 0x06 0x10	The unit is mV
0x0045(69)	Minimum value of external input control threshold	0~10000	0x03 0x06 0x10	The unit is mV
0x0046 (70)	Maximum value of protection voltage threshold (Overvoltage protection Voltage)	8~56	0x03 0x06 0x10	Protection voltage range, The unit is V
0x0047 (71)	Minimum value of protection voltage threshold (Undervoltage protection Voltage)	8~56	0x03 0x06 0x10	Protection voltage range, The unit is V
0x0048 (72)	Voltage protection settings	0,1	0x03 0x06 0x10	0: Not protecting1: Voltage protection
0x0049(73)	output type	0,1,2,3,4,5	0x03 0x06 0x10	0: Not outputting (I.e. outputting low power Flat) 1: Long output2: Alarm signal output3: FG Feedback signal output4: Shutdown signal output5: Communication control

2.6 PID Parameter configuration register

Closed-loop control PIDThe parameter configuration register is shown in the table 2.6 TheShow.

Table 2.6 Closed-loop control PID Parameter configuration register

Register address	Description	Value range	Support function code	remarks
0x004A (74)	Speed closed-loop P High coefficient half letter	Suggestions 1~327680	0x03 0x10	Divide the value by 32768 For actual values
0x004B (75)	Speed closed-loop P Low coefficient half letter
0x004C (76)	Speed closed-loop I High coefficient half letter	Suggestions 1~326780	0x03 0x10	Divide the value by 32768 For actual values
0x004D (77)	Speed closed-loop I Low coefficient half letter
0x004E (78)	Speed closed-loop D High coefficient half letter	Suggestions 1~326780	0x03 0x10	Divide the value by 32768 For actual values
0x004F (79)	Speed closed-loop D Low coefficient half letter

2.7 Communication parameter configuration register

CommunicationThe parameter configuration register is shown in the table 2.6 TheShow.

Table 2.7 Communication parameter configuration register

Register address	Description	Value range	Support function code	remarks
0x0050 (80)	485Communication interruption braking time	0~66635	0x03 0x060x10	The unit is S
0x0051 (81)	485Address of communication equipment	0~255	0x03 0x060x10	Modbus From device address
0x0052 (82)	485Communication serial port baud rate	0~4	0x03 0x060x10	0: 96001: 192002: 384003: 576004: 115200unit bps
0x0053 (83)	485 Communication serial port verification method	0~3	0x03 0x060x10	0: No+stop position1: I am+1 Stop position2: Strange+1 Stop position3: None+2 Stop position
0x0054(84)~0 x0059 (89)	retain

3.CRC16 The calculation

C Language CRC Generate functions such asProgram 3.1As shown. All possibilities CRC The values are pre installed in two arrays, When calculating the content of the message Simple indexing is sufficient. An array contains 16 Position CRC All domains 256 Possible high-order bytes, Another array contains the values of the lower byte. This type of index access CRC The method provides a new calculation for each new character in the comparison message buffer CRC Faster methods.

Note This function performs high/low internally: Byte exchange CRC This function returns what has already been swapped. Value CRC in other words. From this, The function returns The value can be directly placed in the message for sending CRC The function takes two parameters.

Pointing to the content used for generation:

unsigned char *puchMsg; Pointer to the binary data message buffer CRC The number of bytes in the message buffer.

unsigned short usDataLen; Note:.

following: The generated function program is excerpted from CRC16 Program <MODBUS over Serial Line Specification and Implementation Guide

V1.02> .

Generate a list of function programs 3.1 CRC16 High byte

/* Value CRC Low order bytes*/

static unsigned char auchCRCHi[] = {

0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81,

0x40

} ;

/* Value CRC Function to*/

static char auchCRCLo[] = {

0x00, 0xC0, 0xC1, 0x01, 0xC3, 0x03, 0x02, 0xC2, 0xC6, 0x06, 0x07, 0xC7, 0x05, 0xC5, 0xC4,

0x04, 0xCC, 0x0C, 0x0D, 0xCD, 0x0F, 0xCF, 0xCE, 0x0E, 0x0A, 0xCA, 0xCB, 0x0B, 0xC9, 0x09, 0x08, 0xC8, 0xD8, 0x18, 0x19, 0xD9, 0x1B, 0xDB, 0xDA, 0x1A, 0x1E, 0xDE, 0xDF, 0x1F, 0xDD,

0x1D, 0x1C, 0xDC, 0x14, 0xD4, 0xD5, 0x15, 0xD7, 0x17, 0x16, 0xD6, 0xD2, 0x12, 0x13, 0xD3,

0x11, 0xD1, 0xD0, 0x10, 0xF0, 0x30, 0x31, 0xF1, 0x33, 0xF3, 0xF2, 0x32, 0x36, 0xF6, 0xF7,

0x37, 0xF5, 0x35, 0x34, 0xF4, 0x3C, 0xFC, 0xFD, 0x3D, 0xFF, 0x3F, 0x3E, 0xFE, 0xFA, 0x3A, 0x3B, 0xFB, 0x39, 0xF9, 0xF8, 0x38, 0x28, 0xE8, 0xE9, 0x29, 0xEB, 0x2B, 0x2A, 0xEA, 0xEE, 0x2E, 0x2F, 0xEF, 0x2D, 0xED, 0xEC, 0x2C, 0xE4, 0x24, 0x25, 0xE5, 0x27, 0xE7, 0xE6, 0x26,

0x22, 0xE2, 0xE3, 0x23, 0xE1, 0x21, 0x20, 0xE0, 0xA0, 0x60, 0x61, 0xA1, 0x63, 0xA3, 0xA2,

0x62, 0x66, 0xA6, 0xA7, 0x67, 0xA5, 0x65, 0x64, 0xA4, 0x6C, 0xAC, 0xAD, 0x6D, 0xAF, 0x6F, 0x6E, 0xAE, 0xAA, 0x6A, 0x6B, 0xAB, 0x69, 0xA9, 0xA8, 0x68, 0x78, 0xB8, 0xB9, 0x79, 0xBB, 0x7B, 0x7A, 0xBA, 0xBE, 0x7E, 0x7F, 0xBF, 0x7D, 0xBD, 0xBC, 0x7C, 0xB4, 0x74, 0x75, 0xB5,

0x77, 0xB7, 0xB6, 0x76, 0x72, 0xB2, 0xB3, 0x73, 0xB1, 0x71, 0x70, 0xB0, 0x50, 0x90, 0x91,

0x51, 0x93, 0x53, 0x52, 0x92, 0x96, 0x56, 0x57, 0x97, 0x55, 0x95, 0x94, 0x54, 0x9C, 0x5C,

0x5D, 0x9D, 0x5F, 0x9F, 0x9E, 0x5E, 0x5A, 0x9A, 0x9B, 0x5B, 0x99, 0x59, 0x58, 0x98, 0x88, 0x48, 0x49, 0x89, 0x4B, 0x8B, 0x8A, 0x4A, 0x4E, 0x8E, 0x8F, 0x4F, 0x8D, 0x4D, 0x4C, 0x8C,

0x44, 0x84, 0x85, 0x45, 0x87, 0x47, 0x46, 0x86, 0x82, 0x42, 0x43, 0x83, 0x41, 0x81, 0x80,

0x40

};

unsigned short CRC16(puchmsg, usDataLen) /* Type return unsigned short Used for calculation CRC */

unsigned char *puchMsg, /* The message CRC The number of bytes in the message*/

unsigned short usDataLen	/* High byte initialization*/
{
unsigned charuchCRCHi = 0xFF;	/* CRC Low byte initialization*/

unsigned charuchCRCLo = 0xFF; /* CRC Query table index*/

unsigned uIndex ; /* CRC Complete the entire message buffer*/

while (usDataLen--)

{

/* Calculation*/

uIndex = uchCRCLo ^ *puchMsg++; /* Calculation CRC */

uchCRCLo = uchCRCHi ^ auchCRCHi[uIndex];

uchCRCHi = auchCRCLo[uIndex];

}

return (uchCRCHi << 8 | uchCRCLo);

}

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Modbus Communication Protocol and Register Description for Brushless Motor Drivers

1. Communication protocol

0x03 0x06 0x10

1.2 MODBUS-RTU Frame format

1.2.1 0x03 Sent by the main station

1.2.2 0x06 Write a single register

1.2.3 0x10 Sent by the main station

1.2.4 Exception code

2. Standard register definition

2.1 Device description information register

2.3 Motor control register

2.4 Motor parameter configuration register

2.5 System parameter configuration register

2.6 PID Parameter configuration register

3.CRC16 The calculation

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1. Communication protocol

0x03 0x06 0x10

1.2 MODBUS-RTU Frame format

1.2.1 0x03 Sent by the main station

1.2.2 0x06 Write a single register

1.2.3 0x10 Sent by the main station

1.2.4 Exception code

2. Standard register definition

2.1 Device description information register

2.3 Motor control register

2.4 Motor parameter configuration register

2.5 System parameter configuration register

2.6 PID Parameter configuration register

3.CRC16 The calculation

Turn this article into actionable debugging resources

Related Resources

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