Technical Documentation

MODBUS Programming Guide

Technical Documentation

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Motor Controllers
Motor Controllers
- Technical Specifications
  Technical Specifications
  - Product
    
    Product
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    Mechanical Drawings
- Installation and Safety
  Installation and Safety
  - Pinout Specifications
    
    Pinout Specifications
- Software Configuration
  Software Configuration
  - Power
    Power
    
    Battery
    Battery
    
    Rated Limits
    
    Rated Limits
    
    Battery management System
    
    Battery management System
    
    Motor Setup
    
    Motor Setup
    
    Position Sensor Tuning
    
    Position Sensor Tuning
  - Command Sources & Control Model
    Command Sources & Control Model
    
    Throttle
    
    Throttle
    
    Pedal Sensor
    
    Pedal Sensor
    
    Pedal Sensor Tuning
    Pedal Sensor Tuning
    
    Pedal tuning
    
    Remote Motor Control
    
    Remote Motor Control
    
    Speed Regulator Modes
    
    Speed Regulator Modes
  - Features
    Features
    
    User Inputs
    User Inputs
    
    Assist Level
    
    Assist Level
    
    Cruise Control
    
    Cruise Control
    
    Display
    
    Display
    
    Engine Braking
    
    Engine Braking
    
    Plug Braking
    
    Plug Braking
    
    Regenerative Braking
    
    Regenerative Braking
    
    Reverse
    
    Reverse
    
    Sensors and Software
    Sensors and Software
    
    Motor Temperature
    
    Motor Temperature
    
    Motor Temperature and Cadence On Single Input
    
    Motor Temperature and Cadence On Single Input
    
    Hall Stall Fault
    
    Hall Stall Fault
    
    Alternate Speed Power
    
    Alternate Speed Power
    
    Field Weakening
    
    Field Weakening
    
    Minimum Motoring Torque
    
    Minimum Motoring Torque
    
    Rolling Start
    
    Rolling Start
    
    Speed Sensor
    
    Speed Sensor
    
    Walk Mode
    
    Walk Mode
    
    Parameter Read and Write Lock
    
    Parameter Read and Write Lock
  - System Tuning & Optimization
    System Tuning & Optimization
    
    Current Regulation Control Loop
    
    Current Regulation Control Loop
    
    PLL Regulation Control Loop
    
    PLL Regulation Control Loop
    
    Speed Regulation Control Loop
    
    Speed Regulation Control Loop
    
    Acceleration Control Loop
    
    Acceleration Control Loop
  - Communication Protocols
    Communication Protocols
    
    CANOpen
    
    CANOpen
    
    MODBUS
    
    MODBUS
  - Protection
    Protection
    
    Faults and Warnings Troubleshooting
    
    Faults and Warnings Troubleshooting
    
    Foldbacks
    Foldbacks
    
    Battery Foldbacks
    
    Battery Foldbacks
    
    Controller Temperature Foldbacks
    
    Controller Temperature Foldbacks
    
    Motor Foldbacks
    
    Motor Foldbacks
    
    Speed Based Foldback Powermap
    
    Speed Based Foldback Powermap
    
    POST Static/Dynamic Thresholds
    
    POST Static/Dynamic Thresholds
- Appendices
  Appendices
  - Firmware Release notes
    
    Firmware Release notes
Motors & Geardrives
Motors & Geardrives
- Cedar
  Cedar
  - Drawings
- Oak
  Oak
  - Drawings
- Timber
  Timber
  - Drawings
- Pine
  Pine
  - Drawings
Software Tools
Software Tools
- User Guides
  User Guides
  - BACDoor®3
    
    BACDoor®3
  - BACDoor® Mobile
    
    BACDoor® Mobile
  - BACDisplay™
    
    BACDisplay™
  - BACDoor® PC
    
    BACDoor® PC

MODBUS Programming Guide

ASI ModBus Protocol Rev 1.22

CRC calculator

An example crc calculator can be found here

Please make sure to use the values for CRC16 - Modbus.