Bit Socket Tray with Color Sensors Manual

Communication Protocol

Bit socket tray uses Modbus-RTU protocol.

If several bit socket trays are connected, send a message to one bit socket tray and do not send a message until a response is received. (Timeout: 200ms)

Modbus-RTU

Request Message

Data Length High

Data Length Low

CRC (RTU) Low

CRC (RTU) High

Slave address

Function Code

Address High

Address Low

1. Slave address: It means comm ID. 2. Function code: It means the kind of command. (4: read, 6: write) 3. Address: It means target address. (2 byte) 4. Data length: It means the number of data to be read. (2 byte) 5. CRC: Error detection

Data Length High

Data Length Low

CRC (RTU) Low

CRC (RTU) High

Slave Address

Function Code

Address High

Address Low

e.g. (Hex)

01

04

0C

80

00

01

33

72

Response Message

Data Byte Length

CRC (RTU) Low

CRC (RTU) High

Slave Address

Function Code

Data High

Data Low

1. Data byte length: Byte number of data 2. Data: value 1

Data Byte Length

CRC (RTU) Low

CRC (RTU) High

Slave Address

Function Code

Data High

Data Low

e.g. (Hex)

01

04

02

00

01

78

F0

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