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Changes for page 08 Communication

Last modified by Iris on 2025/07/24 15:23
From version 10.1
edited by Stone Wu
on 2022/09/23 14:49
Change comment: There is no comment for this version
To version 8.1
edited by Stone Wu
on 2022/08/30 09:53
Change comment: There is no comment for this version

Summary

Details

Page properties
Content
... ... @@ -2,12 +2,12 @@
2 2  
3 3  = **Modbus communication** =
4 4  
5 -== Hardware wiring ==
5 +== **Hardware wiring** ==
6 6  
7 7  The position of RS485 communication port (take VD2B as an example) is as the figure below.
8 8  
9 9  (% style="text-align:center" %)
10 -[[image:image-20220608154248-1.png||class="img-thumbnail"]]
10 +[[image:image-20220608154248-1.png]]
11 11  
12 12  Figure 8-1 The position of RS485 communication port of VD2B drive
13 13  
... ... @@ -16,7 +16,7 @@
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 -(% class="warning" %)|(% style="text-align:center; vertical-align:middle" %)[[image:image-20220611153134-1.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  
... ... @@ -24,7 +24,7 @@
24 24  )))
25 25  
26 26  (% style="text-align:center" %)
27 -[[image:image-20220608174415-1.png||class="img-thumbnail"]]
27 +[[image:image-20220608174415-1.png]]
28 28  
29 29  Figure 8-2 RS485 communication network wiring diagram
30 30  
... ... @@ -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 -(% class="warning" %)|(% style="text-align:center; vertical-align:middle" %)[[image:image-20220611153144-2.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.
... ... @@ -40,20 +40,20 @@
40 40  
41 41  = **Modbus communication protocol analysis** =
42 42  
43 -== Modbus data frame format ==
43 +== **Modbus data frame format** ==
44 44  
45 45  The VD2 series servo drives currently support the RTU communication format. The typical data frame format is shown in the table.
46 46  
47 47  (% class="table-bordered" %)
48 -|=(% rowspan="2" scope="row" style="text-align: center; vertical-align: middle; width: 425px;" %)**There should be a message interval not less than 3.5 characters at the beginning**|=(% style="text-align: center; vertical-align: middle; width: 166px;" %)**Address**|=(% style="text-align: center; vertical-align: middle; width: 189px;" %)**Function code**|=(% style="text-align: center; vertical-align: middle; width: 155px;" %)**Data**|=(% style="text-align: center; vertical-align: middle; width: 158px;" %)**CRC check code**
48 +|(% rowspan="2" style="text-align:center; vertical-align:middle; width:425px" %)**There should be a message interval not less than 3.5 characters at the beginning**|(% style="text-align:center; vertical-align:middle; width:166px" %)**Address**|(% style="text-align:center; vertical-align:middle; width:189px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:155px" %)**Data**|(% style="text-align:center; vertical-align:middle; width:158px" %)**CRC check code**
49 49  |(% style="text-align:center; vertical-align:middle; width:166px" %)1 byte|(% style="text-align:center; vertical-align:middle; width:189px" %)1 byte|(% style="text-align:center; vertical-align:middle; width:155px" %)N bytes|(% style="text-align:center; vertical-align:middle; width:158px" %)2 bytes
50 50  
51 -== Supported function codes ==
51 +== **Description of supported function codes** ==
52 52  
53 53  The host reads and writes data to the servo through Modbus RTU format (03, 06 function codes). The corresponding Modbus function codes are as follows:
54 54  
55 55  (% class="table-bordered" %)
56 -|=(% style="text-align: center; vertical-align: middle;" %)**Operate**|=(% style="text-align: center; vertical-align: middle;" %)**Command code**
56 +|(% style="text-align:center; vertical-align:middle" %)**Operate**|(% style="text-align:center; vertical-align:middle" %)**Command code**
57 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 59  |(% style="text-align:center; vertical-align:middle" %)Write 32-bit function code|(% style="text-align:center; vertical-align:middle" %)0x10
... ... @@ -62,16 +62,15 @@
62 62  
63 63  Request format:
64 64  
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**
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 67  |1 byte|03|1 byte|1 byte|1 byte|1 byte|2 bytes
68 68  
69 69  Correct response format:
70 70  
71 -(% style="width:1055px" %)
72 -|=(% rowspan="2" %)**Address**|=(% rowspan="2" %)**Function code**|=(% rowspan="2" style="width: 279px;" %)**Number of bytes of returned data**|=(% colspan="2" style="width: 274px;" %)**Register 1**|=(% rowspan="2" style="width: 98px;" %)**…**|=(% rowspan="2" %)**CRC check code**
73 -|=(% style="width: 160px;" %)**high byte**|=(% style="width: 114px;" %)**low byte**
74 -|1 byte|03|(% style="width:279px" %)1 byte|(% style="width:160px" %)1 byte|(% style="width:114px" %)1 byte|(% style="width:98px" %)…|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
75 75  
76 76  **Write function code: 0x06**
77 77  
... ... @@ -85,16 +85,16 @@
85 85  
86 86  Response format:
87 87  
88 -|=(% rowspan="2" %)**Address**|=(% rowspan="2" %)**Function code**|=(% colspan="2" %)**Register address**|=(% colspan="2" %)**Data**|=(% rowspan="2" %)**CRC check code**
89 -|=**high byte**|=**low byte**|=**high byte**|=**low byte**
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**
90 90  |1 byte|06|1 byte|1 byte|1 byte|1 byte|2 bytes
91 91  
92 92  If the setting is successful, the original is returned
93 93  
94 -|=(% rowspan="2" style="width: 551px;" %)**There should be a message interval not less than 3.5 characters at the beginning**|=(% style="width: 114px;" %)**Address**|=(% style="width: 127px;" %)**Function code**|=(% style="width: 104px;" %)**Data**|=(% style="width: 180px;" %)**CRC check code**
95 -|(% style="width:114px" %)1 byte|(% style="width:127px" %)1 byte|(% style="width:104px" %)N bytes|(% style="width:180px" %)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
96 96  
97 -== (% style="color:inherit; font-family:inherit; font-size:26px" %)CRC check(%%) ==
96 +(% style="color:inherit; font-family:inherit; font-size:26px" %)**CRC check**
98 98  
99 99  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:
100 100  
... ... @@ -151,13 +151,13 @@
151 151  == **Error response frame** ==
152 152  
153 153  (% class="table-bordered" %)
154 -|=(% style="text-align: center; vertical-align: middle;" %)**Address**|=(% style="text-align: center; vertical-align: middle;" %)**Function code**|=(% style="text-align: center; vertical-align: middle;" %)**Error code**|=(% style="text-align: center; vertical-align: middle;" %)**CRC check code**
153 +|(% style="text-align:center; vertical-align:middle" %)**Address**|(% style="text-align:center; vertical-align:middle" %)**Function code**|(% style="text-align:center; vertical-align:middle" %)**Error code**|(% style="text-align:center; vertical-align:middle" %)**CRC check code**
155 155  |(% style="text-align:center; vertical-align:middle" %)1 byte|(% style="text-align:center; vertical-align:middle" %)Command code+0x80|(% style="text-align:center; vertical-align:middle" %)Error code|(% style="text-align:center; vertical-align:middle" %)2 bytes
156 156  
157 157  When an error occurs, set the function code bit7 issued by the host to 1, and return (for example, 0x03 returns 0x83, 0x06 returns 0x86); the description of the error code are as follows.
158 158  
159 159  (% class="table-bordered" %)
160 -|=(% style="text-align: center; vertical-align: middle;" %)**Error code**|=(% style="text-align: center; vertical-align: middle;" %)**Coding description**
159 +|(% style="text-align:center; vertical-align:middle" %)**Error code**|(% style="text-align:center; vertical-align:middle" %)**Coding description**
161 161  |(% style="text-align:center; vertical-align:middle" %)0x0001|(% style="text-align:center; vertical-align:middle" %)Illegal command code
162 162  |(% style="text-align:center; vertical-align:middle" %)0x0002|(% style="text-align:center; vertical-align:middle" %)Illegal data address
163 163  |(% style="text-align:center; vertical-align:middle" %)0x0003|(% style="text-align:center; vertical-align:middle" %)Illegal data
... ... @@ -165,6 +165,8 @@
165 165  
166 166  == **Communication example** ==
167 167  
167 +
168 +
168 168  **03 Function code read**
169 169  
170 170  Read the monitoring volume U0-31 bus voltage, the Modbus register address corresponding to this variable is 7716 (0x1E24)
... ... @@ -171,18 +171,20 @@
171 171  
172 172  Request format:
173 173  
174 -|=(% rowspan="2" %)**Address**|=(% rowspan="2" %)**Function code**|=(% colspan="2" %)**Register address**|=(% colspan="2" %)**Data**|=(% rowspan="2" %)**CRC check code**
175 -|=**high byte**|=**low byte**|=**high byte**|=**low byte**
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**
176 176  |01|03|1E|24|00|01|C2 29
177 177  
178 178  The slave responds normally:
179 179  
180 -|=(% rowspan="2" %)**Address**|=(% rowspan="2" %)**Function code**|=(% rowspan="2" %)**Number of bytes**|=(% colspan="2" %)**Data**|=(% rowspan="2" %)**CRC high byte**
181 -|=**high byte**|=**low byte**
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**
182 182  |01|03|02|0C|4F|FC B0
183 183  
184 184  For example: The value read is 0x0C4F, which means that the voltage is 315.1V.
185 185  
187 +
188 +
186 186  **06 Function Code Write**
187 187  
188 188  P1-10 the maximum speed threshold is set to 3000rpm. This variable corresponds to the Modbus address: 266 (0x010A)
... ... @@ -189,14 +189,14 @@
189 189  
190 190  Request format:
191 191  
192 -|=(% rowspan="2" %)**Address**|=(% rowspan="2" %)**Function code**|=(% colspan="2" %)**Register address**|=(% colspan="2" %)**Data**|=(% rowspan="2" %)**CRC check code**
193 -|=**high byte**|=**low byte**|=**high byte**|=**low byte**
195 +|(% rowspan="2" %)**Address**|(% rowspan="2" %)**Function code**|(% colspan="2" %)**Register address**|(% colspan="2" %)**Data**|(% rowspan="2" %)**CRC check code**
196 +|**high byte**|**low byte**|**high byte**|**low byte**
194 194  |01|06|01|0A|0B|B8|AF, 76
195 195  
196 196  The slave responds normally:
197 197  
198 -|=(% rowspan="2" %)**Address**|=(% rowspan="2" %)**Function code**|=(% colspan="2" %)**Register address**|=(% colspan="2" %)**Data**|=(% rowspan="2" %)**CRC check code**
199 -|=**high byte**|=**low byte**|=**high byte**|=**low byte**
201 +|(% rowspan="2" %)**Address**|(% rowspan="2" %)**Function code**|(% colspan="2" %)**Register address**|(% colspan="2" %)**Data**|(% rowspan="2" %)**CRC check code**
202 +|**high byte**|**low byte**|**high byte**|**low byte**
200 200  |01|06|01|0A|0B|B8|AF, 76
201 201  
202 202  **10 Function code write**
... ... @@ -205,33 +205,32 @@
205 205  
206 206  Request format:
207 207  
208 -|=(% rowspan="2" %)**Address**|=(% rowspan="2" %)**Function code**|=(% colspan="2" %)**Initial address**|=(% colspan="2" %)**Number of register**|=(% rowspan="2" %)**Number of data**|=(% colspan="2" %)**Data 1**|=(% colspan="2" %)**Data 2**|=(% colspan="2" %)**CRC check code**
209 -|=**high byte**|=**low byte**|=**high byte**|=**low byte**|=**high byte**|=**low byte**|=**high byte**|=**low byte**|=**high byte**|=**low byte**
211 +|(% rowspan="2" %)**Address**|(% rowspan="2" %)**Function code**|(% colspan="2" %)**Initial address**|(% colspan="2" %)**Number of register**|(% rowspan="2" %)**Number of data**|(% colspan="2" %)**Data 1**|(% colspan="2" %)**Data 2**|(% colspan="2" %)**CRC check code**
212 +|**high byte**|**low byte**|**high byte**|**low byte**|**high byte**|**low byte**|**high byte**|**low byte**|**high byte**|**low byte**
210 210  |01|10|07|09|00|02|04|00|00|07|D0|16|59
211 211  
212 212  The slave responds normally:
213 213  
214 -|=(% rowspan="2" %)**Address**|=(% rowspan="2" %)**Function code**|=(% colspan="2" %)**Register address**|=(% colspan="2" %)**Data**|=(% colspan="2" %)**CRC check code**
215 -|=**high byte**|=**low byte**|=**high byte**|=**low byte**|=**high byte**|=**low byte**
217 +|(% rowspan="2" %)**Address**|(% rowspan="2" %)**Function code**|(% colspan="2" %)**Register address**|(% colspan="2" %)**Data**|(% colspan="2" %)**CRC check code**
218 +|**high byte**|**low byte**|**high byte**|**low byte**|**high byte**|**low byte**
216 216  |01|10|07|09|00|02|90|BE
217 217  
218 218  = **Servo communication parameter setting** =
219 219  
220 220  (% style="text-align:center" %)
221 -(((
222 -(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
223 -[[Figure 8-3 Modbus communication parameter setting process>>image:image-20220608174504-2.png||id="Iimage-20220608174504-2.png"]]
224 -)))
224 +[[image:image-20220608174504-2.png]]
225 225  
226 -**Set the servo address P12-1**
226 +Figure 8-3 Modbus communication parameter setting process
227 227  
228 +**(1) Set the servo address P12-1**
229 +
228 228  When multiple servos are in network communication, each servo can only have a unique address, otherwise it will cause abnormal communication and fail to communicate.
229 229  
230 -**Set the serial port baud rate P12-2**
232 +**(2) Set the serial port baud rate P12-2**
231 231  
232 232  The communication rate of the servo and the communication rate of the host computer must be set consistently, otherwise the communication cannot be carried out.
233 233  
234 -**Set the serial port data format P12-3**
236 +**(3) Set the serial port data format P12-3**
235 235  
236 236  The data bit check methods of servo communication are:
237 237  
... ... @@ -242,7 +242,7 @@
242 242  
243 243  The data frame format of the servo and the host computer must be consistent, otherwise the communication cannot be carried out.
244 244  
245 -**Set that whether the function code changed by Modbus communication is written into EEPROM in real time [P12-4]**
247 +**(4) Set that whether the function code changed by Modbus communication is written into EEPROM in real time [P12-4]**
246 246  
247 247  When the host computer modifies the servo function code through communication, it can choose to store it in EEPROM in real time, which has the function of power-off storage.
248 248  
... ... @@ -251,10 +251,10 @@
251 251  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.
252 252  
253 253  (% class="table-bordered" %)
254 -(% class="warning" %)|(% style="text-align:center; vertical-align:middle" %)[[image:image-20220611153214-3.png]]
256 +|(% style="text-align:center; vertical-align:middle" %)[[image:image-20220611153214-3.png]]
255 255  |After the EEPROM is damaged, the servo will have an non resettable fault!
256 256  
257 -**Set the high and low order of the 32-bit monitoring data**
259 +**(5) Set the high and low order of the 32-bit monitoring data**
258 258  
259 259  Part of the monitoring volume is 32-bit length and occupies 2 consecutive bias numbers. The user needs to set the order of the data high bit and low bit correctly, otherwise it will cause data reading and writing errors!
260 260  
... ... @@ -263,45 +263,54 @@
263 263  The description of related function codes are as follows.
264 264  
265 265  (% class="table-bordered" %)
266 -|=(% style="text-align: center; vertical-align: middle; width: 121px;" %)**Function code**|=(% style="text-align: center; vertical-align: middle; width: 165px;" %)**Name**|=(% style="text-align: center; vertical-align: middle; width: 148px;" %)(((
268 +|(% 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" %)(((
267 267  **Setting method**
268 -)))|=(% style="text-align: center; vertical-align: middle; width: 165px;" %)(((
270 +)))|(% style="text-align:center; vertical-align:middle; width:186px" %)(((
269 269  **Effective time**
270 -)))|=(% style="text-align: center; vertical-align: middle; width: 109px;" %)**Default value**|=(% style="text-align: center; vertical-align: middle; width: 85px;" %)**Range**|=(% style="text-align: center; vertical-align: middle; width: 224px;" %)**Definition**|=(% style="text-align: center; vertical-align: middle; width: 69px;" %)**Unit**
271 -|(% style="text-align:center; vertical-align:middle; width:121px" %)P12-02|(% style="text-align:center; vertical-align:middle; width:165px" %)Baud rate|(% style="text-align:center; vertical-align:middle; width:148px" %)(((
272 +)))|(% 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:252px" %)**Definition**|(% style="text-align:center; vertical-align:middle; width:85px" %)**Unit**
273 +|(% 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" %)(((
272 272  Operation setting
273 -)))|(% style="text-align:center; vertical-align:middle; width:165px" %)(((
275 +)))|(% style="text-align:center; vertical-align:middle; width:186px" %)(((
274 274  Effective immediately
275 -)))|(% style="text-align:center; vertical-align:middle; width:109px" %)2|(% style="text-align:center; vertical-align:middle; width:85px" %)0 to 5|(% style="width:224px" %)(((
276 -* 0: 2400bps
277 -* 1: 4800bps
278 -* 2: 9600bps
279 -* 3: 19200bps
280 -* 4: 38400bps
281 -* 5: 57600bp
282 -)))|(% style="text-align:center; vertical-align:middle; width:69px" %)-
283 -|(% style="text-align:center; vertical-align:middle; width:121px" %)P12-03|(% style="text-align:center; vertical-align:middle; width:165px" %)Serial data format|(% style="text-align:center; vertical-align:middle; width:148px" %)(((
277 +)))|(% style="text-align:center; vertical-align:middle; width:130px" %)2|(% style="text-align:center; vertical-align:middle; width:132px" %)0 to 5|(% style="width:252px" %)(((
278 +0-2400bps
279 +
280 +1-4800bps
281 +
282 +2-9600bps
283 +
284 +3-19200bps
285 +
286 +4-38400bps
287 +
288 +5-57600bp
289 +)))|(% style="text-align:center; vertical-align:middle; width:85px" %)-
290 +|(% 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" %)(((
284 284  Operation setting
285 -)))|(% style="text-align:center; vertical-align:middle; width:165px" %)(((
292 +)))|(% style="text-align:center; vertical-align:middle; width:186px" %)(((
286 286  Effective immediately
287 -)))|(% style="text-align:center; vertical-align:middle; width:109px" %)0|(% style="text-align:center; vertical-align:middle; width:85px" %)0 to 3|(% style="width:224px" %)(((
288 -* 0: 1 stop bit, no parity
289 -* 1: 1 stop bit, odd parity
290 -* 2: 1 stop bit, even parity
291 -* 3: 2 stop bits, no parity
292 -)))|(% style="text-align:center; vertical-align:middle; width:69px" %)-
293 -|(% style="text-align:center; vertical-align:middle; width:121px" %)P12-04|(% style="text-align:center; vertical-align:middle; width:165px" %)Modbus communication data is written into EEPROM|(% style="text-align:center; vertical-align:middle; width:148px" %)(((
294 +)))|(% style="text-align:center; vertical-align:middle; width:130px" %)0|(% style="text-align:center; vertical-align:middle; width:132px" %)0 to 3|(% style="width:252px" %)(((
295 +0: 1 stop bit, no parity
296 +
297 +1: 1 stop bit, odd parity
298 +
299 +2: 1 stop bit, even parity
300 +
301 +3: 2 stop bits, no parity
302 +)))|(% style="text-align:center; vertical-align:middle; width:85px" %)-
303 +|(% 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" %)(((
294 294  Operation setting
295 -)))|(% style="text-align:center; vertical-align:middle; width:165px" %)(((
305 +)))|(% style="text-align:center; vertical-align:middle; width:186px" %)(((
296 296  Effective immediately
297 -)))|(% style="text-align:center; vertical-align:middle; width:109px" %)0|(% style="text-align:center; vertical-align:middle; width:85px" %)0 to 1|(% style="width:224px" %)(((
298 -* 0: Do not write to EEPROM, and do not store after power failure;
299 -* 1: Write to EEPROM, power-down storage.
300 -)))|(% style="text-align:center; vertical-align:middle; width:69px" %)-
307 +)))|(% style="text-align:center; vertical-align:middle; width:130px" %)0|(% style="text-align:center; vertical-align:middle; width:132px" %)0 to 1|(% style="width:252px" %)(((
308 +0: Do not write to EEPROM, and do not store after power failure;
301 301  
310 +1: Write to EEPROM, power-down storage.
311 +)))|(% style="text-align:center; vertical-align:middle; width:85px" %)-
312 +
302 302  = **Modbus communication variable address and value** =
303 303  
304 -== **Variable address** ==
315 +== **Variable address description** ==
305 305  
306 306  Modbus registers are divided into two categories:
307 307  
... ... @@ -327,16 +327,20 @@
327 327  In order to facilitate actual use, this manual provides both decimal and hexadecimal address identification, it is shown in the following table:
328 328  
329 329  (% class="table-bordered" %)
330 -|=(% style="text-align: center; vertical-align: middle; width: 162px;" %)**Function code**|=(% style="text-align: center; vertical-align: middle; width: 302px;" %)(((
331 -**Modbus address (Hexadecimal)**
332 -)))|=(% style="text-align: center; vertical-align: middle; width: 278px;" %)(((
333 -**Modbus address (Decimal)**
334 -)))|=(% style="text-align: center; vertical-align: middle; width: 192px;" %)**Category**|=(% style="text-align: center; vertical-align: middle; width: 142px;" %)**Name**
335 -|(% style="text-align:center; vertical-align:middle; width:162px" %)P0-1|(% style="text-align:center; vertical-align:middle; width:302px" %)0x0001|(% style="text-align:center; vertical-align:middle; width:278px" %)1|(% style="text-align:center; vertical-align:middle; width:192px" %)Basic settings|(% style="text-align:center; vertical-align:middle; width:142px" %)Control mode
341 +|(% style="text-align:center; vertical-align:middle" %)**Function code**|(% style="text-align:center; vertical-align:middle" %)(((
342 +**Modbus address**
336 336  
344 +**(Hexadecimal)**
345 +)))|(% style="text-align:center; vertical-align:middle" %)(((
346 +**Modbus address**
347 +
348 +**(Decimal)**
349 +)))|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Name**
350 +|(% 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
351 +
337 337  For detailed parameter addresses, please refer to __[["11.1 Lists of parameters".>>https://docs.we-con.com.cn/bin/view/Servo/Manual/02%20VD2%20SA%20Series/11%20Appendix/#HListsofparameters]]__
338 338  
339 -== **Variable value type** ==
354 +== **Variable value type description** ==
340 340  
341 341  When writing function codes with signed numbers, you need to convert the pre-written data into hexadecimal complements. The conversion rules are as follows:
342 342