7.Appendix

7.1 Appendix1 - Use Modbus-RTU communication Protocol to Control Linear Motor

7.1.1 Modbus RTU Communication Format

The Linear Motor defaults to the standard Modbus RTU protocol at a default baudrate is 2Mbps and the slave ID is 0x01. The currently supported function codes are: 0x03 / 0x06/ 0x10.

Commonly used address for Linear Motor are: 0x0100, 0x0700, 0x0303, 0x0A0A, 0x0404, 0x004F.

If need to store EEPROM, perform an '|' operation with the communication address and 0x1000.

For example, write servo operation mode to EEPROM, the communication address(0x0A0B) should be changed to 0x1A0B.

Note: Linear Motor needs to be initialized after each powered on.

7.1.2 Read Linear Motor Register

	Read Register
	Request
Modbus RTU Data	Slave ID (Linear Motor)	1 Byte	0x01
	Function Code	1 Byte	0x03
	Register Starting Address	2 Bytes	Address
	Quantity of Register	2 Bytes	N*
	Modbus CRC16	2 Bytes	CRC*
Response
Modbus RTU Data	Slave ID	1 Byte	0x01
	Function Code	1 Byte	0x03
	Byte Count	1 Byte	*Nx2**
	Registers Value	*Nx2** Bytes	Value
	Modbus CRC16	2 Bytes	CRC*

N* = Quantity of Registers

Address = Register Starting Address

CRC* = Cyclic Redundancy Check

	Resgister Starting Address	Registers Value
Get Linear Motor status Register	0x0000	2 Bytes	End status: 0x0000 Motion status: 0x0001 Stop status: 0x0002
Get Linear Motor position Register	0x0702	4bytes	0xFFFFFFFB-0x00000320
Get Linear Motor Error Register	0x000F	2 Bytes	An error occurs: all other return values indicate an error(except 0)No error occurred: 0x0000

7.1.3 Write Linear Motor Register

	Write Register
Request
Modbus RTU Data	Slave ID (Linear Motor)	1 Byte	0x01
	Function Code	1 Byte	0x10
	Register Starting Address	2 Bytes	Address
	Quantity of Register	2 Bytes	N*
	Byte Count	1 Byte	*Nx2**
	Registers Value	*Nx2** Bytes	Value
	Modbus CRC16	2 Bytes	CRC*
Response
Modbus RTU Data	Slave ID	1 Byte	0x01
	Function Code	1 Byte	0x10
	Register Starting Address	2 Bytes	Address
	Quantity of Registers	2 Bytes	N*
	Modbus CRC16	2 Bytes	CRC*

N* = Quantity of Registers

Address = Register Starting Address

CRC* = Cyclic Redundancy Check

7.1.4 Modbus RTU Example

Enable Linear Motor

	enable Linear Motor
Request
Modbus RTU Data	Slave ID (Linear Motor)	1 Byte	0x01
	Function Code	1 Byte	0x10
	Register Starting Address	2 Bytes	0x01,0x00
	Quantity of Registers	2 Bytes	0x00,0x01
	Byte Count	1 Byte	0x02
	Registers Value	2 Bytes	0x00,0x01
	Modbus CRC16	2 Bytes	0x1D,0x00
Response
Modbus RTU Data	Slave ID	1 Byte	0x01
	Function Code	1 Byte	0x10
	Register Starting Address	2 Bytes	0x01,0x00
	Quantity of Registers	2 Bytes	0x00,0x01
	Modbus CRC16	2 Bytes	0x00,0xAC

Set Linear Motor position

	Set Linear Motor position
Request
Modbus RTU Data	Slave ID (Linear Motor)	1 Byte	0x01
	Function Code	1 Byte	0x10
	Register Starting Address	2 Bytes	0x07,0x00
	Quantity of Registers	2 Bytes	0x00,0x02
	Byte Count	1 Byte	0x04
	Registers Value	4Bytes	0x00,0x1E,0x84,0x80
	Modbus CRC16	2 Bytes	0x7B,0x62
Response
Modbus RTU Data	Slave ID	1 Byte	0x01
	Function Code	1 Byte	0x10
	Register Starting Address	2 Bytes	0x07,0x00
	Quantity of Registers	2 Bytes	0x00,0x02
	Modbus CRC16	2 Bytes	0x40,0x25

Set Linear Motor Speed

	Set Linear Motor Speed
Request
Modbus RTU Data	Slave ID (Linear Motor)	1 Byte	0x01
	Function Code	1 Byte	0x10
	Register Starting Address	2 Bytes	0x03,0x03
	Quantity of Registers	2 Bytes	0x00,0x01
	Byte Count	1 Byte	0x02
	Registers Value(1500r/min)	2 Bytes	0x17,0x70
	Modbus CRC16	2 Bytes	0xFD,0xFA
Response
Modbus RTU Data	Slave ID	1 Byte	0x01
	Function Code	1 Byte	0x10
	Register Starting Address	2 Bytes	0x03,0x03
	Quantity of Registers	2 Bytes	0x00,0x01
	Modbus CRC16	2 Bytes	0xF1,0x14

Set Linear Motor to Zero position

	Set Linear Motor tozero position
Request
Modbus RTU Data	Slave ID (Linear Motor)	1 Byte	0x01
	Function Code	1 Byte	0x06
	Register Starting Address	2 Bytes	0x0A,0x0A
	Quantity of Registers	2 Bytes	0x00,0x01
	Modbus CRC16	2 Bytes	0xFD,0xFA
Response
Modbus RTU Data	Slave ID	1 Byte	0x01
	Function Code	1 Byte	0x10
	Register Starting Address	2 Bytes	0x0A,0x0A
	Quantity of Registers	2 Bytes	0x00,0x01
	Modbus CRC16	2 Bytes	0xFD,0xFA

Set Linear Motor speed to Zero position

	Set Linear Motor speed to zero position
Request
Modbus RTU Data	Slave ID (Linear Motor)	1 Byte	0x01
	Function Code	1 Byte	0x10
	Register Starting Address	2 Bytes	0x04,0x04
	Quantity of Registers	2 Bytes	0x00,0x01
	Byte Count	1 Byte	0x02
	Registers Value(6000r/min)	2 Bytes	0x0B,0xB8
	Modbus CRC16	2 Bytes	0xFD,0xFA
Response
Modbus RTU Data	Slave ID	1 Byte	0x01
	Function Code	1 Byte	0x10
	Register Starting Address	2 Bytes	0x04,0x04
	Quantity of Registers	2 Bytes	0x00,0x01
	Modbus CRC16	2 Bytes	0xF1,0x14

Get if Linear Motor is back to zero

	Get if Linear Motor is back to zero
Request
Modbus RTU Data	Slave ID (Linear Motor)	1 Byte	0x01
	Function Code	1 Byte	0x03
	Register Starting Address	2 Bytes	0x0A,0x25
	Quantity of Registers	2 Bytes	0x00,0x01
	Modbus CRC16	2 Bytes	0xB5,0xDD
Response
Modbus RTU Data	Slave ID	1 Byte	0x01
	Function Code	1 Byte	0x03
	Byte Count	1 Byte	0x02
	Registers Value	2 Bytes	0x00,0x01
	Modbus CRC16	2 Bytes	0x79,0x84

Monitor the distance between the photoelectric sensor and the fisrt Z phase

	Monitor the distance
Request
Modbus RTU Data	Slave ID (Linear Motor)	1 Byte	0x01
	Function Code	1 Byte	0x03
	Register Starting Address	2 Bytes	0x0A,0x28
	Quantity of Registers	2 Bytes	0x00,0x01
	Modbus CRC16	2 Bytes	0xE4,0x1D
Response
Modbus RTU Data	Slave ID	1 Byte	0x01
	Function Code	1 Byte	0x03
	Byte Count	1 Byte	0x02
	Registers Value	2 Bytes	0x06,0xF2
	Modbus CRC16	2 Bytes	0x3A,0x61

8. Locating end range

	Locating end range
Request
Modbus RTU Data	Slave ID (Linear Motor)	1 Byte	0x01
	Function Code	1 Byte	0x10
	Register Starting Address	2 Bytes	0x0A,0x0B
	Quantity of Registers	2 Bytes	0x00,0x01
	Byte Count	1 Byte	0x02
	Registers Value(1000)	2 Bytes	0x03,0xE8
	Modbus CRC16	2 Bytes	0x0C,0xC0
Response
Modbus RTU Data	Slave ID	1 Byte	0x01
	Function Code	1 Byte	0x10
	Register Starting Address	2 Bytes	0x0A,0x0B
	Quantity of Registers	2 Bytes	0x00,0x01
	Modbus CRC16	2 Bytes	0x73,0xD3

9. Soft emergency stop

	trigger soft emergency stop
Request
Modbus RTU Data	Slave ID (Linear Motor)	1 Byte	0x01
	Function Code	1 Byte	0x10
	Register Starting Address	2 Bytes	0x0A,0x0B
	Quantity of Registers	2 Bytes	0x00,0x01
	Byte Count	1 Byte	0x02
	Registers Value(1000)	2 Bytes	0x00,0x01
	Modbus CRC16	2 Bytes	0xCC,0xBE
Response
Modbus RTU Data	Slave ID	1 Byte	0x01
	Function Code	1 Byte	0x10
	Register Starting Address	2 Bytes	0x0A,0x0E
	Quantity of Registers	2 Bytes	0x00,0x01
	Modbus CRC16	2 Bytes	0x63,0xD2

10. get Linear Motor SN

	get Linear Motor SN
Request
Modbus RTU Data	Slave ID (Linear Motor)	1 Byte	0x01
	Function Code	1 Byte	0x03
	Register Starting Address	2 Bytes	0x0B,0x10
	Quantity of Registers	2 Bytes	0x00,0x02
	Modbus CRC16	2 Bytes	0xB5,0xDD
Response
Modbus RTU Data	Slave ID	1 Byte	0x01
	Function Code	1 Byte	0x03
	Byte Count	1 Byte	0x04
	Registers Value	2 Bytes	****
	Modbus CRC16	2 Bytes	****

11. get input SCI status

	get input SCI status
Request
Modbus RTU Data	Slave ID (Linear Motor)	1 Byte	0x01
	Function Code	1 Byte	0x03
	Register Starting Address	2 Bytes	0x0A,0x26
	Quantity of Registers	2 Bytes	0x00,0x01
	Modbus CRC16	2 Bytes	0x86,0x17
Response
Modbus RTU Data	Slave ID	1 Byte	0x01
	Function Code	1 Byte	0x03
	Byte Count	1 Byte	0x02
	Registers Value	2 Bytes	****
	Modbus CRC16	2 Bytes	****

12. get output SCO status

	get output SCO status
Request
Modbus RTU Data	Slave ID (Linear Motor)	1 Byte	0x01
	Function Code	1 Byte	0x03
	Register Starting Address	2 Bytes	0x0A,0x27
	Quantity of Registers	2 Bytes	0x00,0x01
	Modbus CRC16	2 Bytes	0xD7,0xD7
Response
Modbus RTU Data	Slave ID	1 Byte	0x01
	Function Code	1 Byte	0x03
	Byte Count	1 Byte	0x02
	Registers Value	2 Bytes	****
	Modbus CRC16	2 Bytes	****

get status area

address start from 0x0A20

	get status area
Request
Modbus RTU Data	Slave ID (Linear Motor)	1 Byte	0x01
	Function Code	1 Byte	0x03
	Register Starting Address	2 Bytes	0x0A,0x20
	Quantity of Registers	2 Bytes	0x00,0x08
	Modbus CRC16	2 Bytes	0x46,0x1E
Response
Modbus RTU Data	Slave ID	1 Byte	0x01
	Function Code	1 Byte	0x03
	Byte Count	1 Byte	0x10
	Registers Value	16 Bytes	****
	Modbus CRC16	2 Bytes	****

Registers Value - 16 Bytes: 00 00 0F A0 00 00 00 00 00 01 00 01 00 02 00 02

1-4 bytes: 00 00 0F A0 , current position(unit: number of pulses)

5-6 bytes: 00 00, get Linear Motor status(same as address 0x0000)

7-8 bytes: 00 00, error code

9-10 bytes: 00 01, enable status

11-12 bytes: 00 01, if get back to zero

12-14 bytes: 00 02, SCI status

15-16 bytes: 00 02, SCO status

7.Appendix ​

7.1 Appendix1 - Use Modbus-RTU communication Protocol to Control Linear Motor ​

7.1.1 Modbus RTU Communication Format ​

7.1.2 Read Linear Motor Register ​

7.1.3 Write Linear Motor Register ​

7.1.4 Modbus RTU Example ​