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08 Communication

Last modified by Mora Zhou on 2023/12/21 15:52

The servo drive supports Modbus communication. Users could modify or view parameters and monitor servo drive status on the host controller configured with the debug tool.

Modbus communication

Hardware connection

The servo drive has a set of RS485 interface to support modbus communication. CN4 on the front panel is the communication interface. The signal description is shown in the figure:

8.Communication_html_60a881ea1b6f6b2f.png

Figure 8-1 RS485 connection diagram

The servo drive adopts half-duplex communication method of RS485. The 485 bus must adopt a hand-in-hand structure rather than a star structure or a bifurcated structure. The star structure or the bifurcated structure would generate a reflected signal, which affects the 485 communication.

The wiring must be shielded twisted pair, and stay away from strong electricity and not parallel with the power cord, nor tied together.

It should be noted that in a half-duplex connection, only one servo drive could communicate with the host controller at a time. If two or more servo drives upload data at the same time, bus contention would occur. Not only would it cause communication failure, but it may also cause some components to generate large currents, causing component damage.

8.Communication_html_93099e61c82f0599.jpg

Figure 8-2 RS485 communication network wiring diagram

The terminal of RS485 network should use 120Ω terminal resistance to weaken the signal reflection. Termination resistors couldnot be used in the middle of network.

No point in the RS485 network could be directly grounded. All equipment in the network must be well grounded through its own ground terminal. It should be noted that the ground wire couldnot form a closed loop under any circumstances.

When wiring, consider the drive capability of the computer / PLC and the distance between the computer / PLC and the servo drive. If the driving capacity is insufficient, a repeater needs to be added.

Modbus communication protocol

Modbus data frame format

The servo currently supports the RTU communication format. The typical data frame format is as follows:

Function code

The host controller reads/writes servo through the Modbus RTU format (03, 06 function code). The corresponding modbus function code is explained as follows:

Activity

CommandCode

Read 16-bit function code

0x03

Write16-bit function code

0x06

Read function code: 0x03

address

Function code

starting address

(high byte)

starting address

(low byte)

Read number

(high byte)

Read number

(low byte)

CRC checksum 

1 byte

03

1 byte

1 byte

1 byte

1 byte

2 bytes

Request format:

Correct response format:

address

Function code

return data Byte number

Register 1 High byte

Register 1 low byte

…

CRC checksum

1 byte

03

1 byte

1 byte

1 byte

1 byte

2 bytes

Write function code: 0x06

address

Function code

Register address

(high byte)

 Register address

(low byte)

Data high byte

Data low byte

CRC checksum

1 byte

06

1 byte

1 byt

1 byte

1 byte

2 bytes

address

Function code

Register address

(high byte)

 Register address

(low byte)

Data high byte

Data low byte

CRC checksum

1 byte

06

1 byte

1 byte

1 byte

1 byte

2 bytes

address

function

Error code

CRC checksum

1 byte

Command code+0x80

Error code

2 bytes

Error code

Code description

0x0001

illegal command code

0x0002

Illegal data address

0x0003

Illegal data

0x0004

Slave device fault

address

Function code

Starting address high byte

Starting address  low byte

Read number

(high byte)

 Read number

(low byte)

CRC low byte

CRC high byte

01

03

1E

1F

00

01

B3

E4

address

Function code

Byte number

data high byte

data low byte

CRC low byte

CRC high byte

01

03

02

 0C

26

3C

9E

address

Function code

Register address (high byte)

Register address (low byte)

Data high byte

Data low byte

CRC low byte

CRC high byte

01

06

01

0A

0B

B8

AF

76

address

Function code

Register address (high byte)

Register address (low byte)

Data high byte

Data low byte

CRC low byte

CRC high byte

01

06

01

0A

0B

B8

AF

76

Request format:

addressFunction code

Register address

(high byte)

 Register address

(low byte)

Data high byte

Data low byte

CRC checksum
1 byte061 byte1 byte1 byte1 byte2 bytes

Response format:

addressFunction code

Register address

(high byte)

 Register address

(low byte)

Data high byte

Data low byte

CRC checksum
1 byte061 byte1 byte1 byte1 byte2 bytes

If the setting is successful, the original text is returned

CRC Checksum

The servo adopts 16-bit CRC checksum, the host controller should use the same check rule, otherwise the CRC check would fail. The servo drive uses 16-bit CRC with low byte before high byte.

The CRC function is as follows:

Uint16 CRC16_Calc(Uint8 *pBuf, Uint16 uLen)
{
    Uint16 crc = 0xffff.
    Uint16 i.

 while(uLen--)
  {
    crc ^=(Uint16) *pBuf++.
   for(i=0. i<8. i++)
    {
     if(crc & 0x0001)
{
crc = (crc >> 1) ^ 0xa001.
}
else
{
crc = crc >> 1.
}
     
    }
  }

 return crc.
}

Error response frame

When an error occurs, set the function code bit7 issued by the host controller to 1, and return (such as 0x03 returns 0x83, 0x06 returns 0x86). the error code is described as follows:

addressfunctionError codeCRC checksum
1 byteCommand code+0x80Error code2 bytes

Communication Example

[03 function code]

Read the value of [U0-31] (bus voltage), the address of the modbus register corresponding to variable 7711 (0x1E1F)

Request format:

Error codeCode description
0x0001illegal command code
0x0002Illegal data address
0x0003Illegal data
0x0004Slave device fault

The slave response:

The read value is 0x0C26, representing a voltage of 311.0V.

[06 function code]

[P1-10]The maximum speed threshold is set to 3000 rpm. This variable corresponds to the modbus address is 266 (0x010A)

Request format:

addressFunction codeStarting address high byteStarting address  low byte

Read number

(high byte)

 Read number

(low byte)

CRC    low byte CRC high byte
01031E1F0001B3E4

The slave response:

addressFunction codeByte numberdata       high bytedata low byte CRC    low byte CRC high byte
0103020C263C 9E

Servo communication parameter setting

8.Communication_html_9841e9a0a6216d7c.jpg

Figure 8-3 Modbus communication parameter setting process

Set the station number of servo[P12-1]

When multiple servos are used together, each servo could only have a unique address, otherwise it would cause communication exception.

0: Broadcast address

1~247: slave address

Set the serial port baud rate[P12-2]

The baud rate set in the servo drive must be the same as that in the host controller. Otherwise,communication would fail.

Modbus data format[P12-3]

data check format:

  • odd
  • even
  • none

stop bit: 1 stop bit and 2 stop bits

The data format set in the servo drive must be the same as that in the host controller. Otherwise,communication would fail.

Set whether to store Modbus parameter modification to EEPROM [P12-4]

Code

name

property

Effective time

range

Defination

unit

Default setting

P12-1

Servo station No.

During running

Immediate

0~247

Set the station address of the servo drive.

-

1

P12-2

Baud rate

During running

Immediate

0~5

0-2400 bps.

 1-4800 bps.

 2-9600 bps.

 3-19200 bps.

 4-38400 bps.

 5-57600 bps

-

2

P12-3

Modbus data

format

During running

Immediate

0~3

0: 1 stop bit，none

 1: 1 stop bit，odd

2: 1 stop bit，even

3: 2 stop bits，none

-

0

P12-4

Update function

code values

written via

communication

to EEPROM

During running

Immediate

0~1

0-not write to EEPROM，volatile.

 1-write to EEPROM，non-volatile

-

0

When the host changes the servo function code through communication, it could choose to store it in EEPROM in real time, which has the function of saving after power-off.

If the value of the function code only needs to be changed once, and the value would be used afterwards, then we should enable “write into the EEPROM” function.

If you need to frequently change the value of the function code, it is recommended to disable this function, otherwise the EEPROM life would be reduced due to frequent erasure of the EEPROM.

After the EEPROM is damaged, the servo would have a non-resettable fault!

Relevant function code:

CodenamepropertyEffective timerangeDefinationunitDefault setting
P12-1Servo station No.During runningImmediate0~247Set the station address of the servo drive.-1
P12-2Baud rateDuring runningImmediate0~50-2400 bps.
1-4800 bps.
2-9600 bps.
3-19200 bps.
4-38400 bps.
5-57600 bps		-2
P12-3

Modbus data

format

During runningImmediate0~3

0: 1 stop bit，none
1: 1 stop bit，odd

2: 1 stop bit，even

3:2 stop bits，none

-0
P12-4

Update function

code values

written via

communication

to EEPROM

During runningImmediate0~10-not write to EEPROM，volatile.
1-write to EEPROM，non-volatile		-0

Modbus communication variable address and description

Variable address

Modbus registers are divided into two categories,

The first type is the servo function code parameters (address: 0x0001 ~ 0x0D08), this part of the register is readable and writable (ie. supports 0x03 and 0x06)

The second type is the monitoring register of the servo (address: 0x1E01 ~ 0x2010), this part of the register is only readable (supports 0x03 function).

Code

Modbus address

 (hex)

Modbus address

 (dec) 

category

function

P0-1

0x0001

1

Basic setting

Control mode

Servo function code form: PXX-YY

That:

XX: Represents the function code group number,

YY: Represents the offset within the function code group.

During servo communication, the communication address of the function code is a 16-bit address, which is composed of the function code group number (higher 8 bits) + offset within the group (lower 8 bits). For example, the modbus address corresponding to P12-1 (servo address) is 0x0C01.

Modbus monitoring register form: Uxx-yy

That:

  • xx: Represents the monitoring register group number.
  • yy: Represents the offset within the monitoring quantity group.
  • During modbus communication, the starting address of the monitoring register is 0x1E01, and the conversion relationship of the address is similar to the representation of the function code.

For example, the corresponding modbus address of [U0-01] (servo status) is 0x1E01.

In order to facilitate practical use, the manual provides both decimal and hexadecimal address identification, the table format is as follows:

For detailed parameter address, please refer to the Chapter 11.

Value type description

When signed function codes (16-bit and 32-bit) are written, the pre-written data needs to be converted into hexadecimal. The conversion rule is as below:

Data is positive or 0: complement = true form

Data is negative: complement = 0xFFFF – complement of data absolute value +

0x0001

Example:

16-bit signed positive +100: the true form is 0x0064, and the complement is also 0x0064.

16-bit signed negative -100: the hexadecimal complement is: 0xFFFF – 0x0064 + 0x0001= FF9C

If it is an unsigned number, the source code is directly converted into a hexadecimal number. For example decimal 32768 is 0x8000.

Value unit description

Some values have units and decimals, such as 0.1%, 0.1Hz, 0.01ms. When reading and writing, the corresponding value conversion must be performed. The representation method is as follows:

When the unit is 0.1%: 1 represents 0.1%, 10 represents 1.0%, 1000 represents 100.0%,

Therefore, writing 1000 means setting as 100.0%. otherwise, if reading value is 1000, it means the value is 100.0%.

When the unit is 0.01ms: 1 represents 0.01ms, 50 represents 0.5ms, and 10000 represents 100ms.

Therefore, writing 1000 means setting as 10.00ms. otherwise, if reading value is 1000, it means the value is 10.00ms.

Other unit could be deduced in the same way.

Modbus Register Address

Basic Setting

Code

Modbus Address

Function

Unit

Bits

Hex

Decimal

P0-1

0x0001

1

Contral mode

-

16

P0-4

0x0004

4

Rotation direction

-

16

P0-5

0x0005

5

Servo stop mode at S-ON off

-

16

P0-9

0x0009

9

Regenerative resistor setting

-

16

P0-10

0x000A

10

External regenerative resistor resistance

Ω

16

P0-11

0x000B

11

External regenerative resistor power

W

16

P0-12

0x000C

12

Position pulse type selection

-

16

P0-13

0x000D

13

Position pulse frequency

kHz

16

P0-14

0x000E

14

Position pulse anti-interference level

-

16

P0-16

0x0010

16

Number of pulses per revolution of the motor

Pul

16

P0-17

0x0011

17

Electronic gear 1 numerator

-

16

P0-18

0x0012

18

Electronic gear 1 denominator

-

16

P0-19

0x0013

19

Electronic gear 2 numerator

-

16

P0-20

0x0014

20

Electronic gear 2 denominator

-

16

P0-21

0x0015

21

Pulse frequency division output direction

-

16

P0-22

0x0016

22

Number of output pulses per revolution of the motor

Pul

16

P0-23

0x0017

23

OZ polarity of Z pulse output

-

16

P0-25

0x0019

25

Position deviation limit

Pul

16

Control Parameter

Code

Modbus Address

Function

Unit

Bits

Hex

Decimal

P1-1

0x0101

257

Speed reference source

-

16

P1-2

0x0102

258

Internal speed command

rpm

16

P1-3

0x0103

259

Acc. time

ms

16

P1-4

0x0104

260

Dec. time

ms

16

P1-7

0x0107

263

Torque reference source

-

16

P1-8

0x0108

264

Keypad setting value of torque reference

0.1%

16

P1-9

0x0109

265

Source of Speed Limit in Torque Mode

-

16

P1-10

0x010A

266

Maximum speed threshold

rpm

16

P1-11

0x010B

267

Warning speed threshold

rpm

16

P1-12

0x010C

268

Forward speed threshold

rpm

16

P1-13

0x010D

269

Backward speed threshold

rpm

16

P1-14

0x010E

270

Torque limit source

-

16

P1-15

0x010F

271

Forward rotation torque limit

0.1%

16

P1-16

0x0110

272

Backward rotation torque limit

0.1%

16

P1-19

0x0113

275

Torque saturation timeout

ms

16

P1-21

0x0115

277

Zero speed clamp function selection

rpm

16

P1-22

0x0116

278

Zero speed clamp speed threshold

rpm

16

Gain Adjustment

Code

Modbus Address

Function

Unit

Bits

Hex

Decimal

P2-1

0x0201

513

1st position loop gain

0.1Hz

16

P2-2

0x0202

514

1st speed loop gain

0.1Hz

16

P2-3

0x0203

515

1st speed loop integration time constant

0.1ms

16

P2-4

0x0204

516

2nd position loop gain

0.1Hz

16

P2-5

0x0205

517

2nd speed loop gain

0.1Hz

16

P2-6

0x0206

518

2nd speed loop integration time constant

0.1ms

16

P2-7

0x0207

519

Second gain switching mode

-

16

P2-9

0x0209

521

Speed feedforward gain

0.1%

16

P2-10

0x020A

522

Speed feedforward filter

0.01ms

16

P2-11

0x020B

523

Torque feedforward gain

0.1%

16

P2-12

0x020C

524

Torque feedforward filter

0.01ms

16

Auto-tuning Parameter

Code

Modbus Address

Function

Unit

Bits

Hex

Decimal

P3-1

0x0301

769

Load inertia ratio

0.01

16

P3-2

0x0302

770

Load level rigidity selection

-

16

P3-3

0x0303

771

Auto-tuning mode selection

-

16

P3-4

0x0304

772

Online inertia identification sensitivity

-

16

P3-5

0x0305

773

Number of inertia identification cycles

Revolution

16

P3-6

0x0306

774

Maximum speed of inertia identification

rpm

16

P3-7

0x0307

775

Parameter identification rotation direction

-

16

P3-8

0x0308

776

Parameter identification waiting time

ms

16

Vibration Inhabitation

Code

Modbus Address

Function

Unit

Bits

Hex

Decimal

P4-1

0x0401

1025

Pulse reference filtering method

-

16

P4-2

0x0402

1026

Position reference first-order low-pass filter

ms

16

P4-3

0x0403

1027

Position reference average filter time constant

ms

16

P4-4

0x0404

1028

Torque filter time constant

0.01

16

P4-5

0x0405

1029

1st notch frequency

Hz

16

P4-6

0x0406

1030

1st notch depth

-

16

P4-7

0x0407

1031

1st notch width

-

16

P4-8

0x0408

1032

2nd notch frequency

Hz

16

P4-9

0x0409

1033

2nd notch depth

-

16

P4-10

0x040A

1034

2nd notch width

-

16

Signal Input/Output

Code

Modbus Address

Function

Unit

Bits

Hex

Decimal

P5-1

0x0501

1281

AI_1 input bias

mV

16

P5-2

0x0502

1282

AI_1 input filter constant

0.01ms

16

P5-3

0x0503

1283

AI_1 dead zone

mV

16

P5-4

0x0504

1284

AI_1 zero shift

mV

16

P5-5

0x0505

1285

AI_2 input bias

mV

16

P5-6

0x0506

1286

AI_2 input filter constant

0.01ms

16

P5-7

0x0507

1287

AI_2 dead zone

mV

16

P5-8

0x0508

1288

AI_2 zero shift

mV

16

P5-9

0x0509

1289

the speed value corresponding to analog 10V

rpm

16

P5-10

0x050A

1290

the torque value corresponding to analog 10V

0.1%

16

P5-11

0x050B

1291

Positioning complete, positioning approach condition setting

-

16

P5-12

0x050C

1292

Positioning completion threshold

Pul

16

P5-13

0x050D

1293

Positioning approach threshold

Pul

16

P5-14

0x050E

1294

Set the positioning completion detection time window

ms

16

P5-15

0x050F

1295

Set the hold time of positioning completion output

ms

16

P5-16

0x0510

1296

Rotation speed detection threshold

rpm

16

P5-17

0x0511

1297

Speed consistent signal threshold

rpm

16

P5-18

0x0512

1298

Speed approaching signal threshold

rpm

16

P5-19

0x0513

1299

Zero speed output signal threshold

rpm

16

P5-20

0x0514

1300

Torque reached threshold

%

16

P5-21

0x0515

1301

Torque reached hysteresis

%

16

DI/DO Configuration

Code

Modbus Address

Function

Unit

Bits

Hex

Decimal

P6-01

0x0601

1537

High-speed DI port filtering time

1us

16

P6-02

0x0602

1538

DI_1 Channel function selection

-

16

P6-03

0x0603

1539

DI_1 Channel logic selection

-

16

P6-04

0x0604

1540

DI_1 Input source selection

-

16

P6-05

0x0605

1541

DI_2 Channel function selection

-

16

P6-06

0x0606

1542

DI_2 Channel logic selection

-

16

P6-07

0x0607

1543

DI_2 Input source selection

-

16

P6-08

0x0608

1544

DI_3 Channel function selection

-

16

P6-09

0x0609

1545

DI_3 Channel logic selection

-

16

P6-10

0x060A

1546

DI_3 Input source selection

-

16

P6-11

0x060B

1547

DI_4 Channel function selection

-

16

P6-12

0x060C

1548

DI_4 Channel logic selection

-

16

P6-13

0x060D

1549

DI_4 Input source selection

-

16

P6-14

0x060E

1550

DI_5 Channel function selection

-

16

P6-15

0x060F

1551

DI_5 Channel logic selection

-

16

P6-16

0x0610

1552

DI_5 Input source selection

-

16

P6-17

0x0611

1553

DI_6 Channel function selection

-

16

P6-18

0x0612

1554

DI_6 Channel logic selection

-

16

P6-19

0x0613

1555

DI_6 Input source selection

-

16

P6-20

0x0614

1556

DI_7 Channel function selection

-

16

P6-21

0x0615

1557

DI_7 Channel logic selection

-

16

P6-22

0x0616

1558

DI_7 Input source selection

-

16

P6-23

0x0617

1559

DI_8 Channel function selection

-

16

P6-24

0x0618

1560

DI_8 Channel logic selection

-

16

P6-25

0x0619

1561

DI_8 Input source selection

-

16

P6-26

0x061A

1562

DO_1 Channel function selection

-

16

P6-27

0x061B

1563

DO_1 Channel logic selection

-

16

P6-28

0x061C

1564

DO_2 Channel function selection

-

16

P6-29

0x061D

1565

DO_2 Channel logic selection

-

16

P6-30

0x061E

1566

DO_3 Channel function selection

-

16

P6-31

0x061F

1567

DO_3 Channel logic selection

-

16

P6-32

0x0620

1568

DO_4 Channel function selection

-

16

P6-33

0x0621

1569

DO_4 Channel logic selection

-

16

Auxiliary Function

Code

Modbus Address

Function

Unit

Bits

Hex

Decimal

P10-1

0x0A01

2561

JOG sped

rpm

16

P10-2

0x0A02

2562

Restore factory setting

-

16

P10-4

0x0A04

2564

Motor overload protection time coefficient

%

16

Communication Parameter

Code

Modbus Address

Function

Unit

Bits

Hex

Decimal

P12-1

0x0C01

3073

Servo station number

-

16

P12-2

0x0C02

3074

baudrate

-

16

P12-3

0x0C03

3075

Serial data format

-

16

P12-4

0x0C04

3076

Write modbus communication data to EEPROM

-

1

VDI

Code

Modbus Address

Function

Unit

Bits

Hex

Decimal

P13-1

0x0D01

3329

VDI_1 input value

-

16

P13-2

0x0D02

3330

VDI_2 input value

-

16

P13-3

0x0D03

3331

VDI_3 input value

-

16

P13-4

0x0D04

3332

VDI_4 input value

-

16

P13-5

0x0D05

3333

VDI_5 input value

-

16

P13-6

0x0D06

3334

VDI_6 input value

-

16

P13-7

0x0D07

3335

VDI_7 input value

-

16

P13-8

0x0D08

3336

VDI_8 input value

-

16

Monitoring Parameter

Code

Modbus Address

Function

Unit

Bits

Hex

Decimal

U0-01

0x1E01

7681

Servo state

-

16

U0-02

0x1E02

7682

Servo motor speed

rpm

16

U0-03

0x1E03

7683

Enter speed command

rpm

16

U0-04

0x1E04

7684

Speed corresponding to input position reference

rpm

16

U0-05

0x1E05

7685

Pulse deviation

Pul

32

U0-07

0x1E07

7687

Pulse deviation *10000

Pul

32

U0-09

0x1E09

7689

input pulse number

Pul

32

U0-11

0x1E0B

7691

input pulse number *10000

Pul

32

U0-13

0x1E0D

7693

Encoder accumulative position

Pul

32

U0-15

0x1E0F

7695

Encoder accumulative position *10000

Pul

32

U0-17

0x1E11

7697

DI input signal state

-

32

U0-19

0x1E13

7699

DO output signal state

-

32

U0-21

0x1E15

7701

AI1 input voltage value

V

16

U0-22

0x1E16

7702

AI2 input voltage value

V

16

U0-23

0x1E17

7703

vibration frequency

Hz

16

U0-24

0x1E18

7704

Vibration amplitude

rpm

16

U0-25

0x1E19

7705

forward torque limitation

%

16

U0-26

0x1E1A

7706

backward torque limitation

%

16

U0-27

0x1E1B

7707

forward speed limitation

rpm

16

U0-28

0x1E1C

7708

backward speed limitation

rpm

16

U0-29

0x1E1D

7709

Mechanical angle

°

16

U0-30

0x1E1E

7710

Electric angle

°

16

U0-31

0x1E1F

7711

Bus voltage

V

16

U0-32

0x1E20

7712

Module temperature

℃

16

U0-33

0x1E21

7713

Instantaneous output power

W

32

U0-35

0x1E23

7715

total power-on time: hour

h

32

U0-37

0x1E25

7717

total power-on time:min

min

16

U0-38

0x1E26

7718

total power-on time:sec

s

16

U0-39

0x1E27

7719

Output load percentage

%

16

U0-40

0x1E28

7720

Power-on time: hour

h

32

U0-42

0x1E2A

7722

Power-on time: min

min

16

U0-43

0x1E2B

7723

Power-on time: sec

s

16

U0-44

0x1E2C

7724

Instantaneous braking resistance power

W

32

U0-46

0x1E2E

7726

Average braking resistance power

W

32

U0-48

0x1E30

7728

Power-on times

Times

32

U0-50

0x1E32

7730

Motor cumulative turns (x1)

Revolution

16

U0-51

0x1E33

7731

Motor cumulative turns (x10e4)

Revolution

16

U0-52

0x1E34

7732

Motor cumulative turns (x10e8)

Revolution

16

U0-53

0x1E35

7733

Motor model code

-

16

U1-01

0x1F01

7937

Current fault code

-

16

U1-02

0x1F02

7938

Current alarm code

-

16

U1-03

0x1F03

7939

phase U current upon displayed fault

A

16

U1-04

0x1F04

7940

phase V current upon displayed fault

A

16

U1-05

0x1F05

7941

Bus voltage upon displayed fault

V

16

U1-06

0x1F06

7942

IGBT temperature upon displayed fault

℃

16

U1-07

0x1F07

7943

Torque component when fault occured

%

16

U1-08

0x1F08

7944

Excitation component when fault occurred

%

16

U1-09

0x1F09

7945

Position deviation when fault occurred

Pul

32

U1-11

0x1F0B

7947

Speed value when fault occurred

rpm

16

U1-12

0x1F0C

7948

the time when fault occurred

s

32

U1-14

0x1F0E

7950

Number of faults

-

16

U1-15

0x1F0F

7951

Number of warnings

-

16

U1-16

0x1F10

7952

Total number of historical faults

-

16

U1-17

0x1F11

7953

Total number of historical alarm

-

16

U1-18

0x1F12

7954

Last 2nd fault code

-

16

U1-19

0x1F13

7955

Last 3rd fault code

-

16

U1-20

0x1F14

7956

Last 4th fault code

-

16

U1-21

0x1F15

7957

Last 5th fault code

-

16

U1-22

0x1F16

7958

Last 6th fault code

-

16

U1-23

0x1F17

7959

Last 2nd alarm code

-

16

U1-24

0x1F18

7960

Last 3rd alarm code

-

16

U1-25

0x1F19

7961

Last 4th alarm code

-

16

U1-26

0x1F1A

7962

Last 5th alarm code

-

16

U1-27

0x1F1B

7963

Last 6th alarm code

-

16

U2-01

0x2001

8193

Product series

-

16

U2-02

0x2002

8194

model

-

16

U2-03

0x2003

8195

Model

-

16

U2-04

0x2004

8196

Firmware version

-

16

U2-05

0x2005

8197

Hardware version

-

16

U2-06

0x2006

8198

date of manufacture:year

year

16

U2-07

0x2007

8199

date of manufacture:month

Month

16

U2-08

0x2008

8200

date of manufacture:day

day

16

U2-09

0x2009

8201

Device serial number 1

-

16

U2-10

0x200A

8202

Device serial number 2

-

16

U2-11

0x200B

8203

Device serial number 3

-

16

U2-12

0x200C

8204

Device serial number 4

-

16

U2-13

0x200D

8205

Device serial number 5

-

16

U2-14

0x200E

8206

Device serial number 6

-

16

U2-15

0x200F

8207

Device serial number 7

-

16

U2-16

0x2010

8208

Device serial number 8

-

16