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Changes for page 08 Communication

Last modified by Iris on 2025/07/24 15:23
From version 1.3
edited by Joey
on 2022/06/08 17:44
Change comment: There is no comment for this version
To version 4.10
edited by Stone Wu
on 2022/07/07 15:23
Change comment: There is no comment for this version

Summary

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Parent
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1 -Servo.2\. User Manual.06 VD2 SA Series Servo Drives Manual (Full V1\.1).WebHome
1 +Servo.1 User Manual.02 VD2 SA Series.WebHome
Author
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1 -XWiki.Joey
1 +XWiki.Stone
Content
... ... @@ -11,12 +11,12 @@
11 11  
12 12  Figure 8-1 The position of RS485 communication port of VD2B drive
13 13  
14 -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]]__.
15 15  
16 16  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.
17 17  
18 18  (% class="table-bordered" %)
19 -|(% 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]]
20 20  |(((
21 21  ✎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!
22 22  
... ... @@ -33,7 +33,7 @@
33 33  No point in the RS485 network can be directly grounded. All devices in the network must be well grounded through their own grounding terminals.
34 34  
35 35  (% class="table-bordered" %)
36 -|(% 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]]
37 37  |Under no circumstances can the grounding wire form a closed loop.
38 38  
39 39  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.
... ... @@ -54,58 +54,46 @@
54 54  
55 55  (% class="table-bordered" %)
56 56  |(% style="text-align:center; vertical-align:middle" %)**Operate**|(% style="text-align:center; vertical-align:middle" %)**Command code**
57 -|(% style="text-align:center; vertical-align:middle" %)Read 16-bit function code|(% style="text-align:center; vertical-align:middle" %)0x03
57 +|(% style="text-align:center; vertical-align:middle" %)Read 16-bit/32-bit function code|(% style="text-align:center; vertical-align:middle" %)0x03
58 58  |(% 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
59 59  
60 -**(1) Read function code: 0x03**
61 +**Read function code: 0x03**
61 61  
62 62  Request format:
63 63  
64 -(% class="table-bordered" %)
65 -|(% 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" %)(((
66 -**Initial address high byte**
67 -)))|(% style="text-align:center; vertical-align:middle; width:162px" %)(((
68 -**Initial address low byte**
69 -)))|(% style="text-align:center; vertical-align:middle; width:194px" %)(((
70 -**Number of reads high byte**
71 -)))|(% style="text-align:center; vertical-align:middle; width:195px" %)(((
72 -**Number of reads low byte**
73 -)))|(% style="text-align:center; vertical-align:middle; width:158px" %)**CRC check code**
74 -|(% 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
75 75  
76 76  Correct response format:
77 77  
78 -(% class="table-bordered" %)
79 -|(% 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" %)(((
80 -**Return data number of bytes**
81 -)))|(% style="text-align:center; vertical-align:middle; width:203px" %)(((
82 -**Register 1 high byte**
83 -)))|(% style="text-align:center; vertical-align:middle; width:190px" %)(((
84 -**Register 1 low byte**
85 -)))|(% style="text-align:center; vertical-align:middle; width:72px" %)…|(% style="text-align:center; vertical-align:middle; width:143px" %)**CRC check code**
86 -|(% 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
87 87  
88 -**(2) Write function code: 0x06**
75 +**Write function code: 0x06**
89 89  
90 90  Request format:
91 91  
92 -(% class="table-bordered" %)
93 -|(% 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**
94 -|(% 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
95 95  
96 96  Response format:
97 97  
98 -(% class="table-bordered" %)
99 -|(% 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**
100 -|(% 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
87 +|(% 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
101 101  
102 102  If the setting is successful, the original is returned
103 103  
104 -(% class="table-bordered" %)
105 -|(% 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**
106 -|(% 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
107 107  
108 -== **CRC check** ==
96 +(% style="color:inherit; font-family:inherit; font-size:26px" %)**CRC check**
109 109  
110 110  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:
111 111  
... ... @@ -176,23 +176,25 @@
176 176  
177 177  == **Communication example** ==
178 178  
179 -**03 Function Code Read**
180 180  
168 +
169 +**03 Function code read**
170 +
181 181  Read the monitoring volume U0-31 bus voltage, the Modbus register address corresponding to this variable is 7716 (0x1E24)
182 182  
183 183  Request format:
184 184  
185 -(% class="table-bordered" %)
186 -|(% 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**
187 -|(% 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
175 +|(% 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
188 188  
189 189  The slave responds normally:
190 190  
191 -(% class="table-bordered" %)
192 -|(% 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" %)**Data high byte**|(% style="text-align:center; vertical-align:middle" %)**Data low byte**|(% style="text-align:center; vertical-align:middle" %)**CRC low byte**|(% style="text-align:center; vertical-align:middle" %)**CRC high byte**
193 -|(% 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" %)9E
181 +|(% 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
194 194  
195 -The value read is 0x0C26, which means that the voltage is 311.0V.　
185 +For example: The value read is 0x0C4F, which means that the voltage is 315.1V.
196 196  
197 197  **06 Function Code Write**
198 198  
... ... @@ -247,7 +247,7 @@
247 247  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.
248 248  
249 249  (% class="table-bordered" %)
250 -|(% 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]]
251 251  |After the EEPROM is damaged, the servo will have an non resettable fault!
252 252  
253 253  **(5) Set the high and low order of the 32-bit monitoring data**
... ... @@ -259,16 +259,16 @@
259 259  The description of related function codes are as follows.
260 260  
261 261  (% class="table-bordered" %)
262 -|(% 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:135px" %)(((
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" %)(((
263 263  **Setting method**
264 -)))|(% style="text-align:center; vertical-align:middle; width:171px" %)(((
254 +)))|(% style="text-align:center; vertical-align:middle; width:186px" %)(((
265 265  **Effective time**
266 -)))|(% style="text-align:center; vertical-align:middle; width:115px" %)**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**
267 -|(% 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:135px" %)(((
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" %)(((
268 268  Operation setting
269 -)))|(% style="text-align:center; vertical-align:middle; width:171px" %)(((
259 +)))|(% style="text-align:center; vertical-align:middle; width:186px" %)(((
270 270  Effective immediately
271 -)))|(% style="text-align:center; vertical-align:middle; width:115px" %)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" %)(((
272 272  0-2400bps
273 273  
274 274  1-4800bps
... ... @@ -280,12 +280,12 @@
280 280  4-38400bps
281 281  
282 282  5-57600bp
283 -)))|(% style="text-align:center; vertical-align:middle" %)-
284 -|(% 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:135px" %)(((
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" %)(((
285 285  Operation setting
286 -)))|(% style="text-align:center; vertical-align:middle; width:171px" %)(((
276 +)))|(% style="text-align:center; vertical-align:middle; width:186px" %)(((
287 287  Effective immediately
288 -)))|(% style="text-align:center; vertical-align:middle; width:115px" %)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" %)(((
289 289  0: 1 stop bit, no parity
290 290  
291 291  1: 1 stop bit, odd parity
... ... @@ -293,16 +293,16 @@
293 293  2: 1 stop bit, even parity
294 294  
295 295  3: 2 stop bits, no parity
296 -)))|(% style="text-align:center; vertical-align:middle" %)-
297 -|(% 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:135px" %)(((
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" %)(((
298 298  Operation setting
299 -)))|(% style="text-align:center; vertical-align:middle; width:171px" %)(((
289 +)))|(% style="text-align:center; vertical-align:middle; width:186px" %)(((
300 300  Effective immediately
301 -)))|(% style="text-align:center; vertical-align:middle; width:115px" %)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" %)(((
302 302  0: Do not write to EEPROM, and do not store after power failure;
303 303  
304 304  1: Write to EEPROM, power-down storage.
305 -)))|(% style="text-align:center; vertical-align:middle" %)-
295 +)))|(% style="text-align:center; vertical-align:middle; width:189px" %)-
306 306  
307 307  = **Modbus communication variable address and value** =
308 308  
... ... @@ -346,7 +346,7 @@
346 346  )))|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Name**
347 347  |(% 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
348 348  
349 -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]]__
350 350  
351 351  == **Variable value type description** ==
352 352  
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