Changes for page 08 Communication
Last modified by Iris on 2025/07/24 15:23
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... ... @@ -1,1 +1,1 @@ 1 -Servo. 2\.User Manual.06VD2 SA SeriesServo Drives Manual (Full V1\.1).WebHome1 +Servo.1 User Manual.02 VD2 SA Series.WebHome - Author
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... ... @@ -1,1 +1,1 @@ 1 -XWiki. admin1 +XWiki.Stone - Content
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... ... @@ -6,16 +6,17 @@ 6 6 7 7 The position of RS485 communication port (take VD2B as an example) is as the figure below. 8 8 9 -[[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_6583b880b8115df0.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_6583b880b8115df0.gif"]] 9 +(% style="text-align:center" %) 10 +[[image:image-20220608154248-1.png]] 10 10 11 11 Figure 8-1 The position of RS485 communication port of VD2B drive 12 12 13 -For the position of the RS485 communication port of other models, see __[[4.5 Communication signal wiring>>http:// 13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/04%20Wiring/#HCommunicationsignalwiring]]__.14 +For the position of the RS485 communication port of other models, see __[[4.5 Communication signal wiring>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/04%20Wiring/#HCommunicationsignalwiring]]__. 14 14 15 15 The servo drive adopts RS485 half-duplex communication mode. The 485 bus should adopt the hand-in-hand structure instead of the star structure or the bifurcated structure. The star structure or bifurcation structure will produce reflected signals, which will affect the 485 communication. 16 16 17 17 (% class="table-bordered" %) 18 -|(% style="text-align:center; vertical-align:middle" %)[[image: http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_6db94f5d0421f97a.png?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_6db94f5d0421f97a.png"]]19 +|(% style="text-align:center; vertical-align:middle" %)[[image:image-20220611153134-1.png]] 19 19 |((( 20 20 ✎The wiring must use shielded twisted pair, stay away from strong electricity, do not run in parallel with the power line, let alone bundle it together! 21 21 ... ... @@ -22,7 +22,8 @@ 22 22 ✎In a half-duplex connection, only one servo drive can communicate with the host computer at the same time. If two or more servo drives upload data at the same time, bus competition will occur. Not only will it lead to communication failure, it may also cause some components to generate large currents and damage the components. 23 23 ))) 24 24 25 -[[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_ec4180b4b0c8dd01.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_ec4180b4b0c8dd01.gif"]] 26 +(% style="text-align:center" %) 27 +[[image:image-20220608174415-1.png]] 26 26 27 27 Figure 8-2 RS485 communication network wiring diagram 28 28 ... ... @@ -31,7 +31,7 @@ 31 31 No point in the RS485 network can be directly grounded. All devices in the network must be well grounded through their own grounding terminals. 32 32 33 33 (% class="table-bordered" %) 34 -|(% style="text-align:center; vertical-align:middle" %)[[image: http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_6db94f5d0421f97a.png?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_6db94f5d0421f97a.png"]]36 +|(% style="text-align:center; vertical-align:middle" %)[[image:image-20220611153144-2.png]] 35 35 |Under no circumstances can the grounding wire form a closed loop. 36 36 37 37 When wiring, consider the drive capability of the computer/PLC and the distance between the computer/PLC and the servo drive. If the drive capacity is insufficient, a repeater is needed. ... ... @@ -52,58 +52,46 @@ 52 52 53 53 (% class="table-bordered" %) 54 54 |(% style="text-align:center; vertical-align:middle" %)**Operate**|(% style="text-align:center; vertical-align:middle" %)**Command code** 55 -|(% style="text-align:center; vertical-align:middle" %)Read 16-bit 57 +|(% style="text-align:center; vertical-align:middle" %)Read 16-bit/32-bit function code|(% style="text-align:center; vertical-align:middle" %)0x03 56 56 |(% style="text-align:center; vertical-align:middle" %)Write 16-bit function code|(% style="text-align:center; vertical-align:middle" %)0x06 59 +|(% style="text-align:center; vertical-align:middle" %)Write 32-bit function code|(% style="text-align:center; vertical-align:middle" %)0x10 57 57 58 -** (1)Read function code: 0x03**61 +**Read function code: 0x03** 59 59 60 60 Request format: 61 61 62 -(% class="table-bordered" %) 63 -|(% style="text-align:center; vertical-align:middle; width:84px" %)**Address**|(% style="text-align:center; vertical-align:middle; width:104px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:179px" %)((( 64 -**Initial address high byte** 65 -)))|(% style="text-align:center; vertical-align:middle; width:162px" %)((( 66 -**Initial address low byte** 67 -)))|(% style="text-align:center; vertical-align:middle; width:194px" %)((( 68 -**Number of reads high byte** 69 -)))|(% style="text-align:center; vertical-align:middle; width:195px" %)((( 70 -**Number of reads low byte** 71 -)))|(% style="text-align:center; vertical-align:middle; width:158px" %)**CRC check code** 72 -|(% style="text-align:center; vertical-align:middle; width:84px" %)1 byte|(% style="text-align:center; vertical-align:middle; width:104px" %)03|(% style="text-align:center; vertical-align:middle; width:179px" %)1 byte|(% style="text-align:center; vertical-align:middle; width:162px" %)1 byte|(% style="text-align:center; vertical-align:middle; width:194px" %)1 byte|(% style="text-align:center; vertical-align:middle; width:195px" %)1 byte|(% style="text-align:center; vertical-align:middle; width:158px" %)2 bytes 65 +|(% rowspan="2" %)**Address**|(% rowspan="2" %)**Function code**|(% colspan="2" %)**Initial address**|(% colspan="2" %)**Number of reads**|(% rowspan="2" %)**CRC check code** 66 +|**high byte**|**low byte**|**high byte**|**low byte** 67 +|1 byte|03|1 byte|1 byte|1 byte|1 byte|2 bytes 73 73 74 74 Correct response format: 75 75 76 -(% class="table-bordered" %) 77 -|(% style="text-align:center; vertical-align:middle; width:85px" %)**Address**|(% style="text-align:center; vertical-align:middle; width:139px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:244px" %)((( 78 -**Return data number of bytes** 79 -)))|(% style="text-align:center; vertical-align:middle; width:203px" %)((( 80 -**Register 1 high byte** 81 -)))|(% style="text-align:center; vertical-align:middle; width:190px" %)((( 82 -**Register 1 low byte** 83 -)))|(% style="text-align:center; vertical-align:middle; width:72px" %)…|(% style="text-align:center; vertical-align:middle; width:143px" %)**CRC check code** 84 -|(% style="text-align:center; vertical-align:middle; width:85px" %)1 byte|(% style="text-align:center; vertical-align:middle; width:139px" %)03|(% style="text-align:center; vertical-align:middle; width:244px" %)1 byte|(% style="text-align:center; vertical-align:middle; width:203px" %)1 byte|(% style="text-align:center; vertical-align:middle; width:190px" %)1 byte|(% style="text-align:center; vertical-align:middle; width:72px" %)…|(% style="text-align:center; vertical-align:middle; width:143px" %)2 bytes 71 +|(% rowspan="2" %)**Address**|(% rowspan="2" %)**Function code**|(% rowspan="2" %)**Number of bytes of returned data**|(% colspan="2" %)**Register 1**|(% rowspan="2" %)**…**|(% rowspan="2" %)**CRC check code** 72 +|**high byte**|**low byte** 73 +|1 byte|03|1 byte|1 byte|1 byte|…|2 bytes 85 85 86 -** (2)Write function code: 0x06**75 +**Write function code: 0x06** 87 87 88 88 Request format: 89 89 90 -(% class="table-bordered" %) 91 -|(% style="text-align:center; vertical-align:middle" %)**Address**|(% style="text-align:center; vertical-align:middle" %)**Function code**|(% style="text-align:center; vertical-align:middle" %)**Register address high byte**|(% style="text-align:center; vertical-align:middle" %)**Register address low byte**|(% style="text-align:center; vertical-align:middle" %)**Data high byte**|(% style="text-align:center; vertical-align:middle" %)**Data low byte**|(% style="text-align:center; vertical-align:middle" %)**CRC check code** 92 -|(% style="text-align:center; vertical-align:middle" %)1 byte|(% style="text-align:center; vertical-align:middle" %)06|(% style="text-align:center; vertical-align:middle" %)1 byte|(% style="text-align:center; vertical-align:middle" %)1 byte|(% style="text-align:center; vertical-align:middle" %)1 byte|(% style="text-align:center; vertical-align:middle" %)1 byte|(% style="text-align:center; vertical-align:middle" %)2 bytes 79 +|(% rowspan="2" %)**Address**|(% rowspan="2" %)**Function code**|(% colspan="2" %)((( 80 +**Register address** 81 +)))|(% colspan="2" %)**Data**|(% rowspan="2" %)**CRC check code** 82 +|**high byte**|**low byte**|**high byte**|**low byte** 83 +|1 byte|06|1 byte|1 byte|1 byte|1 byte|2 bytes 93 93 94 94 Response format: 95 95 96 -(% class="table-bordered" %)97 -| (% style="text-align:center; vertical-align:middle" %)**Address**|(% style="text-align:center; vertical-align:middle" %)**Function code**|(% style="text-align:center; vertical-align:middle" %)**Register addresshigh byte**|(% style="text-align:center; vertical-align:middle" %)**Register addresslow byte**|(% style="text-align:center; vertical-align:middle" %)**Datahigh byte**|(% style="text-align:center; vertical-align:middle" %)**Datalow byte**|(% style="text-align:center; vertical-align:middle" %)**CRC check code**98 -| (% style="text-align:center; vertical-align:middle" %)1 byte|(% style="text-align:center; vertical-align:middle" %)06|(% style="text-align:center; vertical-align:middle" %)1 byte|(% style="text-align:center; vertical-align:middle" %)1 byte|(% style="text-align:center; vertical-align:middle" %)1 byte|(% style="text-align:center; vertical-align:middle" %)1 byte|(% style="text-align:center; vertical-align:middle" %)2 bytes87 +|(% rowspan="2" %)**Address**|(% rowspan="2" %)**Function code**|(% colspan="2" %)**Register address**|(% colspan="2" %)**Data**|(% rowspan="2" %)**CRC check code** 88 +|**high byte**|**low byte**|**high byte**|**low byte** 89 +|1 byte|06|1 byte|1 byte|1 byte|1 byte|2 bytes 99 99 100 100 If the setting is successful, the original is returned 101 101 102 -(% class="table-bordered" %) 103 -|(% rowspan="2" style="text-align:center; vertical-align:middle" %)**There should be a message interval not less than 3.5 characters at the beginning**|(% style="text-align:center; vertical-align:middle" %)**Address**|(% style="text-align:center; vertical-align:middle" %)**Function code**|(% style="text-align:center; vertical-align:middle" %)**Data**|(% style="text-align:center; vertical-align:middle" %)**CRC check code** 104 -|(% style="text-align:center; vertical-align:middle" %)1 byte|(% style="text-align:center; vertical-align:middle" %)1 byte|(% style="text-align:center; vertical-align:middle" %)N bytes|(% style="text-align:center; vertical-align:middle" %)2 bytes 93 +|(% rowspan="2" %)**There should be a message interval not less than 3.5 characters at the beginning**|**Address**|**Function code**|**Data**|**CRC check code** 94 +|1 byte|1 byte|N bytes|2 bytes 105 105 106 -= =**CRC check**==96 +(% style="color:inherit; font-family:inherit; font-size:26px" %)**CRC check** 107 107 108 108 The servo uses a 16-bit CRC check, and the host computer must also use the same check rule, otherwise the CRC check will make mistake. When transmitting, the low bit is in the front and the high bit is at the back. The CRC code are as follows: 109 109 ... ... @@ -174,23 +174,25 @@ 174 174 175 175 == **Communication example** == 176 176 177 -**03 Function Code Read** 178 178 168 + 169 +**03 Function code read** 170 + 179 179 Read the monitoring volume U0-31 bus voltage, the Modbus register address corresponding to this variable is 7716 (0x1E24) 180 180 181 181 Request format: 182 182 183 -(% class="table-bordered" %)184 -| (% style="text-align:center; vertical-align:middle" %)**Address**|(% style="text-align:center; vertical-align:middle" %)**Function code**|(% style="text-align:center; vertical-align:middle" %)**Register addresshigh byte**|(% style="text-align:center; vertical-align:middle" %)**Register addresslow byte**|(% style="text-align:center; vertical-align:middle" %)**Datahigh byte**|(% style="text-align:center; vertical-align:middle" %)**Datalow byte**|(% style="text-align:center; vertical-align:middle" %)**CRC check code**185 -| (% style="text-align:center; vertical-align:middle" %)1byte|(% style="text-align:center; vertical-align:middle" %)06|(% style="text-align:center; vertical-align:middle" %)1byte|(% style="text-align:center; vertical-align:middle" %)1 byte|(% style="text-align:center; vertical-align:middle" %)1 byte|(% style="text-align:center; vertical-align:middle" %)1byte|(% style="text-align:center; vertical-align:middle" %)2bytes175 +|(% rowspan="2" %)**Address**|(% rowspan="2" %)**Function code**|(% colspan="2" %)**Register address**|(% colspan="2" %)**Data**|(% rowspan="2" %)**CRC check code** 176 +|**high byte**|**low byte**|**high byte**|**low byte** 177 +|01|03|1E|24|00|01|C2 29 186 186 187 187 The slave responds normally: 188 188 189 -(% class="table-bordered" %)190 -| (% style="text-align:center; vertical-align:middle" %)**Address**|(% style="text-align:center; vertical-align:middle" %)**Function code**|(% style="text-align:center; vertical-align:middle" %)**Number of bytes**|(% style="text-align:center; vertical-align:middle" %)**Datahigh byte**|(% style="text-align:center; vertical-align:middle" %)**Datalow byte**|(% style="text-align:center; vertical-align:middle" %)**CRC low byte**|(% style="text-align:center; vertical-align:middle" %)**CRC high byte**191 -| (% style="text-align:center; vertical-align:middle" %)01|(% style="text-align:center; vertical-align:middle" %)03|(% style="text-align:center; vertical-align:middle" %)02|(% style="text-align:center; vertical-align:middle" %)0C|(% style="text-align:center; vertical-align:middle" %)26|(% style="text-align:center; vertical-align:middle" %)3C|(%style="text-align:center; vertical-align:middle" %)9E181 +|(% rowspan="2" %)**Address**|(% rowspan="2" %)**Function code**|(% rowspan="2" %)**Number of bytes**|(% colspan="2" %)**Data**|(% rowspan="2" %)**CRC high byte** 182 +|**high byte**|**low byte** 183 +|01|03|02|0C|4F|FC B0 192 192 193 -The value read is 0x0C 26, which means that the voltage is 311.0V.185 +For example: The value read is 0x0C4F, which means that the voltage is 315.1V. 194 194 195 195 **06 Function Code Write** 196 196 ... ... @@ -209,7 +209,8 @@ 209 209 210 210 = **Servo communication parameter setting** = 211 211 212 -[[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_fd76131f4dd0361c.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_fd76131f4dd0361c.gif"]] 204 +(% style="text-align:center" %) 205 +[[image:image-20220608174504-2.png]] 213 213 214 214 Figure 8-3 Modbus communication parameter setting process 215 215 ... ... @@ -244,7 +244,7 @@ 244 244 If you need to change the value of the function code frequently, it is recommended to turn off the function of real-time writing to EERPOM of function code, otherwise the EEPROM will be shortened due to frequent erasing and writing of the EEPROM. 245 245 246 246 (% class="table-bordered" %) 247 -|(% style="text-align:center; vertical-align:middle" %)[[image: http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_6db94f5d0421f97a.png?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_6db94f5d0421f97a.png"]]240 +|(% style="text-align:center; vertical-align:middle" %)[[image:image-20220611153214-3.png]] 248 248 |After the EEPROM is damaged, the servo will have an non resettable fault! 249 249 250 250 **(5) Set the high and low order of the 32-bit monitoring data** ... ... @@ -256,16 +256,16 @@ 256 256 The description of related function codes are as follows. 257 257 258 258 (% class="table-bordered" %) 259 -|(% style="text-align:center; vertical-align:middle; width:121px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:205px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:1 35px" %)(((252 +|(% style="text-align:center; vertical-align:middle; width:121px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:205px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:187px" %)((( 260 260 **Setting method** 261 -)))|(% style="text-align:center; vertical-align:middle; width:1 71px" %)(((254 +)))|(% style="text-align:center; vertical-align:middle; width:186px" %)((( 262 262 **Effective time** 263 -)))|(% style="text-align:center; vertical-align:middle; width:1 15px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:61px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:347px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**264 -|(% style="text-align:center; vertical-align:middle; width:121px" %)P12-02|(% style="text-align:center; vertical-align:middle; width:205px" %)Baud rate|(% style="text-align:center; vertical-align:middle; width:1 35px" %)(((256 +)))|(% style="text-align:center; vertical-align:middle; width:130px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:132px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:335px" %)**Definition**|(% style="text-align:center; vertical-align:middle; width:189px" %)**Unit** 257 +|(% style="text-align:center; vertical-align:middle; width:121px" %)P12-02|(% style="text-align:center; vertical-align:middle; width:205px" %)Baud rate|(% style="text-align:center; vertical-align:middle; width:187px" %)((( 265 265 Operation setting 266 -)))|(% style="text-align:center; vertical-align:middle; width:1 71px" %)(((259 +)))|(% style="text-align:center; vertical-align:middle; width:186px" %)((( 267 267 Effective immediately 268 -)))|(% style="text-align:center; vertical-align:middle; width:1 15px" %)2|(% style="text-align:center; vertical-align:middle; width:61px" %)0 to 5|(% style="width:347px" %)(((261 +)))|(% style="text-align:center; vertical-align:middle; width:130px" %)2|(% style="text-align:center; vertical-align:middle; width:132px" %)0 to 5|(% style="width:335px" %)((( 269 269 0-2400bps 270 270 271 271 1-4800bps ... ... @@ -277,12 +277,12 @@ 277 277 4-38400bps 278 278 279 279 5-57600bp 280 -)))|(% style="text-align:center; vertical-align:middle" %)- 281 -|(% style="text-align:center; vertical-align:middle; width:121px" %)P12-03|(% style="text-align:center; vertical-align:middle; width:205px" %)Serial data format|(% style="text-align:center; vertical-align:middle; width:1 35px" %)(((273 +)))|(% style="text-align:center; vertical-align:middle; width:189px" %)- 274 +|(% style="text-align:center; vertical-align:middle; width:121px" %)P12-03|(% style="text-align:center; vertical-align:middle; width:205px" %)Serial data format|(% style="text-align:center; vertical-align:middle; width:187px" %)((( 282 282 Operation setting 283 -)))|(% style="text-align:center; vertical-align:middle; width:1 71px" %)(((276 +)))|(% style="text-align:center; vertical-align:middle; width:186px" %)((( 284 284 Effective immediately 285 -)))|(% style="text-align:center; vertical-align:middle; width:1 15px" %)0|(% style="text-align:center; vertical-align:middle; width:61px" %)0 to 3|(% style="width:347px" %)(((278 +)))|(% style="text-align:center; vertical-align:middle; width:130px" %)0|(% style="text-align:center; vertical-align:middle; width:132px" %)0 to 3|(% style="width:335px" %)((( 286 286 0: 1 stop bit, no parity 287 287 288 288 1: 1 stop bit, odd parity ... ... @@ -290,16 +290,16 @@ 290 290 2: 1 stop bit, even parity 291 291 292 292 3: 2 stop bits, no parity 293 -)))|(% style="text-align:center; vertical-align:middle" %)- 294 -|(% style="text-align:center; vertical-align:middle; width:121px" %)P12-04|(% style="text-align:center; vertical-align:middle; width:205px" %)Modbus communication data is written into EEPROM|(% style="text-align:center; vertical-align:middle; width:1 35px" %)(((286 +)))|(% style="text-align:center; vertical-align:middle; width:189px" %)- 287 +|(% style="text-align:center; vertical-align:middle; width:121px" %)P12-04|(% style="text-align:center; vertical-align:middle; width:205px" %)Modbus communication data is written into EEPROM|(% style="text-align:center; vertical-align:middle; width:187px" %)((( 295 295 Operation setting 296 -)))|(% style="text-align:center; vertical-align:middle; width:1 71px" %)(((289 +)))|(% style="text-align:center; vertical-align:middle; width:186px" %)((( 297 297 Effective immediately 298 -)))|(% style="text-align:center; vertical-align:middle; width:1 15px" %)0|(% style="text-align:center; vertical-align:middle; width:61px" %)0 to 1|(% style="width:347px" %)(((291 +)))|(% style="text-align:center; vertical-align:middle; width:130px" %)0|(% style="text-align:center; vertical-align:middle; width:132px" %)0 to 1|(% style="width:335px" %)((( 299 299 0: Do not write to EEPROM, and do not store after power failure; 300 300 301 301 1: Write to EEPROM, power-down storage. 302 -)))|(% style="text-align:center; vertical-align:middle" %)- 295 +)))|(% style="text-align:center; vertical-align:middle; width:189px" %)- 303 303 304 304 = **Modbus communication variable address and value** = 305 305 ... ... @@ -343,7 +343,7 @@ 343 343 )))|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Name** 344 344 |(% style="text-align:center; vertical-align:middle" %)P0-1|(% style="text-align:center; vertical-align:middle" %)0x0001|(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)Basic settings|(% style="text-align:center; vertical-align:middle" %)Control mode 345 345 346 -For detailed parameter addresses, please refer to __[["11.1 Lists of parameters".>>http:// 13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/11%20Appendix/#HListsofparameters]]__339 +For detailed parameter addresses, please refer to __[["11.1 Lists of parameters".>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/11%20Appendix/#HListsofparameters]]__ 347 347 348 348 == **Variable value type description** == 349 349
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