Modbus协议

主要信息

串口参数: 115200, 8, 1, N

Modbus参数: Modbus RTU, 仅支持0x03 & 0x10操作

协议表

地址	操作类型	描述	数值类型	值定义
0x0000	R/W	ID	uint16	1-247
0x0001	R/W	Serial Number	uint16
0x0002	R/W	Hardware Ver.	uint16	Hi: Major, Low: Minor
0x0003	R/W	Circuit Ver.	uint16	Hi: Major, Low: Minor
0x0004	R/W	Firmware Ver.	uint16	Hi: Major, Low: Minor
0x0005	R/W	Set current pos as zero	uint16	1: set
0x0006	R/W	Rotate speed	uint16	0 to 30, unit: °/s
0x0007	R/W	Target value of yaw	int16	-6000 to 6000, unit: 0.01°
0x0008	R/W	Target value of pitch	int16	-6000 to 6000, unit: 0.01°
0x0009		reserved
0x0010	R	raw data of yaw encoder	int16
0x0011	R	raw data of pitch encoder	int16
0x0012		reserved
0x0013		reserved
0x000a	R	Error code of driver	uint16	0: no error, Hi: = yaw, Low: pitch
0x000b	R	Error code of encoder	uint16	0: no error, Hi: = yaw, Low: pitch
0x000c	R	Current yaw value	int16	unit: 0.01°
0x000d	R	Current pitch value	int16	unit: 0.01°
0x000e	R	Temperature of yaw motor	int16	unit: 0.1℃
0x000f	R	Temperature of pitch motor	int16	unit: 0.1℃