Write Multiple Registers (16)
This function code is used to write all registers of one drive parameter.
Request
|
Header |
Transaction Identifier |
2 Bytes |
Used for transaction pairing. A Modbus server returns in the response the transaction identifier from the request. |
|
Protocol Identifier |
2 Bytes |
0 = Modbus Protocol |
|
|
Length |
2 Bytes |
Number of following bytes including the unit identifier. |
|
|
Unit Identifier / Slave ID |
1 Byte |
Used by gateway devices. As AKD2G is not a gateway device, this is not used by the drive. It is recommended to send 0xFF for the unit identifier. |
|
|
Data |
Function Code |
1 Byte |
0x10 |
|
Starting Address |
2 Bytes |
0 to 299. See Mapping. |
|
|
Quantity of Registers |
2 Bytes |
1 to 123. How many 16-bit values registers to write. |
|
|
Byte Count |
1 Byte |
How many data bytes follow. This is twice the Quantity of Registers. 2 x N* |
|
|
Register Value |
2 × N* Bytes |
Data |
*N = Quantity of Registers
Normal Response
|
Header |
Transaction Identifier |
2 Bytes |
Used for transaction pairing. A Modbus server returns in the response the transaction identifier from the request. |
|
Protocol Identifier |
2 Bytes |
0 = Modbus Protocol |
|
|
Length |
2 Bytes |
Number of following bytes including the unit identifier. |
|
|
Unit Identifier / Slave ID |
1 Byte |
Used by gateway devices. As AKD2G is not a gateway device, the drive returns in the response the unit identifier from the request. |
|
|
Data |
Function Code |
1 Byte |
0x10 |
|
Starting Address |
2 Bytes |
0 to 299. Reflecting the address from the request. |
|
|
Quantity of Registers |
2 Bytes |
2 or 4 |
Error Response
|
Header |
Transaction Identifier |
2 Bytes |
Used for transaction pairing. A Modbus server returns in the response the transaction identifier from the request. |
|
Protocol Identifier |
2 Bytes |
0 = Modbus Protocol |
|
|
Length |
2 Bytes |
3 = Number of following bytes including the unit identifier. |
|
|
Unit Identifier / Slave ID |
1 Byte |
Used by gateway devices. As AKD2G is not a gateway device, the drive returns in the response the unit identifier from the request. |
|
|
Data |
Function Code |
1 Byte |
0x90 |
|
Exception Code |
1 Byte |
Example
Following is an example of setting the homing velocity, AXIS1.HOME.V, starting at address 122 (0x007A) to a value of 300000 (0x0004 93E0).
Request
|
Header |
Transaction Identifier |
nn nn |
|
Protocol Identifier |
00 00 |
|
|
Length |
00 0B |
|
|
Unit Identifier / Slave ID |
FF |
|
|
Data |
Function |
10 |
|
Starting Address |
00 7A |
|
|
Quantity of Registers |
00 02 |
|
|
Byte Count |
04 |
|
|
Register 122 |
00 04 |
|
|
Register 123 |
93 E0 |
Response
|
Header |
Transaction Identifier |
nn nn |
|
Protocol Identifier |
00 00 |
|
|
Length |
00 06 |
|
|
Unit Identifier / Slave ID |
FF |
|
|
Data |
Function |
10 |
|
Starting Address |
00 7A |
|
|
Quantity of Registers |
00 02 |
