User guide

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9 RS485 Communication 81
9.1 Communication method 81
9.2 Cycle time 81
9.3 Commands 81
9.3.1 Commands (RX) 81
9.3.2 Answer commands (TX) 82
9.4 Status byte 82
9.5 Motor status byte 83
9.6 Checksum 83
9.7 “Speed” run command 83
9.7.1 Requirements 83
9.7.2 Answer 84
9.8 “Position” run command 84
9.8.1 Requirements 84
9.8.2 Answer 85
9.9 Save parameters 85
9.9.1 Request 85
9.9.2 Answer 85
9.9.3 Error flags 86
9.10 Write parameter 86
9.10.1 Request 86
9.10.2 Answer 86
9.10.3 Error flags 87
9.11 Read parameter 87
9.11.1 Request 87
9.11.2 Answer 87
9.11.3 Error flags 88
9.12 Read status word 88
9.12.1 Request 88
9.12.2 Answer 88
9.13 Load “Parameter default values” 88
9.13.1 Request 88
9.13.2 Answer 89
9.13.3 Error flags 89
9.14 Read software ID 89
9.14.1 Request 89
9.14.2 Response (without / with bootloader) 90
Contents