Changes for page 08 Communication

Last modified by Iris on 2025/07/24 15:23

From 8.1 to 7.1 From 13.2 to 13.1

From version 13.1

edited by Mora Zhou
on 2025/04/29 14:19

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To version 8.1

edited by Stone Wu
on 2022/08/30 09:53

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@@ -1,1 +1,1 @@
--XWiki.Mora
++XWiki.Stone

Content

@@ -2,12 +2,12 @@
  = **Modbus communication** =
--== Hardware wiring ==
++== **Hardware wiring** ==
  The position of RS485 communication port (take VD2B as an example) is as the figure below.
  (% style="text-align:center" %)
--[[image:image-20220608154248-1.png||class="img-thumbnail"]]
++[[image:image-20220608154248-1.png]]
  Figure 8-1 The position of RS485 communication port of VD2B drive
@@ -16,7 +16,7 @@
  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.
  (% class="table-bordered" %)
--(% class="warning" %)|(% style="text-align:center; vertical-align:middle" %)[[image:image-20220611153134-1.png]]
++|(% style="text-align:center; vertical-align:middle" %)[[image:image-20220611153134-1.png]]
  |(((
  ✎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!
@@ -24,7 +24,7 @@
  )))
  (% style="text-align:center" %)
--[[image:image-20220608174415-1.png||class="img-thumbnail"]]
++[[image:image-20220608174415-1.png]]
  Figure 8-2 RS485 communication network wiring diagram
@@ -33,7 +33,7 @@
  No point in the RS485 network can be directly grounded. All devices in the network must be well grounded through their own grounding terminals.
  (% class="table-bordered" %)
--(% class="warning" %)|(% style="text-align:center; vertical-align:middle" %)[[image:image-20220611153144-2.png]]
++|(% style="text-align:center; vertical-align:middle" %)[[image:image-20220611153144-2.png]]
  |Under no circumstances can the grounding wire form a closed loop.
  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 @@
  = **Modbus communication protocol analysis** =
--== Modbus data frame format ==
++== **Modbus data frame format** ==
  The VD2 series servo drives currently support the RTU communication format. The typical data frame format is shown in the table.
  (% class="table-bordered" %)
--|=(% 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**
++|(% 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**
  |(% 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
--== Supported function codes ==
++== **Description of supported function codes** ==
  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:
  (% class="table-bordered" %)
--|=(% style="text-align: center; vertical-align: middle;" %)**Operate**|=(% style="text-align: center; vertical-align: middle;" %)**Command code**
++|(% style="text-align:center; vertical-align:middle" %)**Operate**|(% style="text-align:center; vertical-align:middle" %)**Command code**
  |(% style="text-align:center; vertical-align:middle" %)Read 16-bit/32-bit function code|(% style="text-align:center; vertical-align:middle" %)0x03
  |(% style="text-align:center; vertical-align:middle" %)Write 16-bit function code|(% style="text-align:center; vertical-align:middle" %)0x06
  |(% style="text-align:center; vertical-align:middle" %)Write 32-bit function code|(% style="text-align:center; vertical-align:middle" %)0x10
@@ -62,16 +62,15 @@
  Request format:
--|=(% rowspan="2" %)**Address**|=(% rowspan="2" %)**Function code**|=(% colspan="2" %)**Initial address**|=(% colspan="2" %)**Number of reads**|=(% rowspan="2" %)**CRC check code**
--|=**high byte**|=**low byte**|=**high byte**|=**low byte**
++|(% rowspan="2" %)**Address**|(% rowspan="2" %)**Function code**|(% colspan="2" %)**Initial address**|(% colspan="2" %)**Number of reads**|(% rowspan="2" %)**CRC check code**
++|**high byte**|**low byte**|**high byte**|**low byte**
  |1 byte|03|1 byte|1 byte|1 byte|1 byte|2 bytes
  Correct response format:
--(% style="width:1055px" %)
--|=(% 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**
--|=(% style="width: 160px;" %)**high byte**|=(% style="width: 114px;" %)**low byte**
--|1 byte|03|(% style="width:279px" %)1 byte|(% style="width:160px" %)1 byte|(% style="width:114px" %)1 byte|(% style="width:98px" %)…|2 bytes
++|(% 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**
++|**high byte**|**low byte**
++|1 byte|03|1 byte|1 byte|1 byte|…|2 bytes
  **Write function code: 0x06**
@@ -85,16 +85,16 @@
  Response format:
--|=(% rowspan="2" %)**Address**|=(% rowspan="2" %)**Function code**|=(% colspan="2" %)**Register address**|=(% colspan="2" %)**Data**|=(% rowspan="2" %)**CRC check code**
--|=**high byte**|=**low byte**|=**high byte**|=**low byte**
++|(% rowspan="2" %)**Address**|(% rowspan="2" %)**Function code**|(% colspan="2" %)**Register address**|(% colspan="2" %)**Data**|(% rowspan="2" %)**CRC check code**
++|**high byte**|**low byte**|**high byte**|**low byte**
  |1 byte|06|1 byte|1 byte|1 byte|1 byte|2 bytes
  If the setting is successful, the original is returned
--|=(% 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**
--|(% style="width:114px" %)1 byte|(% style="width:127px" %)1 byte|(% style="width:104px" %)N bytes|(% style="width:180px" %)2 bytes
++|(% rowspan="2" %)**There should be a message interval not less than 3.5 characters at the beginning**|**Address**|**Function code**|**Data**|**CRC check code**
++|1 byte|1 byte|N bytes|2 bytes
--== (% style="color:inherit; font-family:inherit; font-size:26px" %)CRC check(%%) ==
++(% style="color:inherit; font-family:inherit; font-size:26px" %)**CRC check**
  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:
@@ -151,13 +151,13 @@
  == **Error response frame** ==
  (% class="table-bordered" %)
--|=(% 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**
++|(% 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**
  |(% 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
  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.
  (% class="table-bordered" %)
--|=(% style="text-align: center; vertical-align: middle;" %)**Error code**|=(% style="text-align: center; vertical-align: middle;" %)**Coding description**
++|(% style="text-align:center; vertical-align:middle" %)**Error code**|(% style="text-align:center; vertical-align:middle" %)**Coding description**
  |(% style="text-align:center; vertical-align:middle" %)0x0001|(% style="text-align:center; vertical-align:middle" %)Illegal command code
  |(% style="text-align:center; vertical-align:middle" %)0x0002|(% style="text-align:center; vertical-align:middle" %)Illegal data address
  |(% style="text-align:center; vertical-align:middle" %)0x0003|(% style="text-align:center; vertical-align:middle" %)Illegal data
@@ -165,6 +165,8 @@
  == **Communication example** ==
++
++
  **03 Function code read**
  Read the monitoring volume U0-31 bus voltage, the Modbus register address corresponding to this variable is 7716 (0x1E24)
@@ -171,18 +171,20 @@
  Request format:
--|=(% rowspan="2" %)**Address**|=(% rowspan="2" %)**Function code**|=(% colspan="2" %)**Register address**|=(% colspan="2" %)**Data**|=(% rowspan="2" %)**CRC check code**
--|=**high byte**|=**low byte**|=**high byte**|=**low byte**
++|(% rowspan="2" %)**Address**|(% rowspan="2" %)**Function code**|(% colspan="2" %)**Register address**|(% colspan="2" %)**Data**|(% rowspan="2" %)**CRC check code**
++|**high byte**|**low byte**|**high byte**|**low byte**
  |01|03|1E|24|00|01|C2 29
  The slave responds normally:
--|=(% rowspan="2" %)**Address**|=(% rowspan="2" %)**Function code**|=(% rowspan="2" %)**Number of bytes**|=(% colspan="2" %)**Data**|=(% rowspan="2" %)**CRC high byte**
--|=**high byte**|=**low byte**
++|(% rowspan="2" %)**Address**|(% rowspan="2" %)**Function code**|(% rowspan="2" %)**Number of bytes**|(% colspan="2" %)**Data**|(% rowspan="2" %)**CRC high byte**
++|**high byte**|**low byte**
  |01|03|02|0C|4F|FC B0
  For example: The value read is 0x0C4F, which means that the voltage is 315.1V.
++
++
  **06 Function Code Write**
  P1-10 the maximum speed threshold is set to 3000rpm. This variable corresponds to the Modbus address: 266 (0x010A)
@@ -189,14 +189,14 @@
  Request format:
--|=(% rowspan="2" %)**Address**|=(% rowspan="2" %)**Function code**|=(% colspan="2" %)**Register address**|=(% colspan="2" %)**Data**|=(% rowspan="2" %)**CRC check code**
--|=**high byte**|=**low byte**|=**high byte**|=**low byte**
++|(% rowspan="2" %)**Address**|(% rowspan="2" %)**Function code**|(% colspan="2" %)**Register address**|(% colspan="2" %)**Data**|(% rowspan="2" %)**CRC check code**
++|**high byte**|**low byte**|**high byte**|**low byte**
  |01|06|01|0A|0B|B8|AF, 76
  The slave responds normally:
--|=(% rowspan="2" %)**Address**|=(% rowspan="2" %)**Function code**|=(% colspan="2" %)**Register address**|=(% colspan="2" %)**Data**|=(% rowspan="2" %)**CRC check code**
--|=**high byte**|=**low byte**|=**high byte**|=**low byte**
++|(% rowspan="2" %)**Address**|(% rowspan="2" %)**Function code**|(% colspan="2" %)**Register address**|(% colspan="2" %)**Data**|(% rowspan="2" %)**CRC check code**
++|**high byte**|**low byte**|**high byte**|**low byte**
  |01|06|01|0A|0B|B8|AF, 76
  **10 Function code write**
@@ -205,33 +205,32 @@
  Request format:
--|=(% 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**
--|=**high byte**|=**low byte**|=**high byte**|=**low byte**|=**high byte**|=**low byte**|=**high byte**|=**low byte**|=**high byte**|=**low byte**
++|(% 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**
++|**high byte**|**low byte**|**high byte**|**low byte**|**high byte**|**low byte**|**high byte**|**low byte**|**high byte**|**low byte**
  |01|10|07|09|00|02|04|00|00|07|D0|16|59
  The slave responds normally:
--|=(% rowspan="2" %)**Address**|=(% rowspan="2" %)**Function code**|=(% colspan="2" %)**Register address**|=(% colspan="2" %)**Data**|=(% colspan="2" %)**CRC check code**
--|=**high byte**|=**low byte**|=**high byte**|=**low byte**|=**high byte**|=**low byte**
++|(% rowspan="2" %)**Address**|(% rowspan="2" %)**Function code**|(% colspan="2" %)**Register address**|(% colspan="2" %)**Data**|(% colspan="2" %)**CRC check code**
++|**high byte**|**low byte**|**high byte**|**low byte**|**high byte**|**low byte**
  |01|10|07|09|00|02|90|BE
  = **Servo communication parameter setting** =
  (% style="text-align:center" %)
--(((
--(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
--[[Figure 8-3 Modbus communication parameter setting process>>image:image-20220608174504-2.png||id="Iimage-20220608174504-2.png"]]
--)))
++[[image:image-20220608174504-2.png]]
--**Set the servo address P12-1**
++Figure 8-3 Modbus communication parameter setting process
++**(1) Set the servo address P12-1**
++
  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.
--**Set the serial port baud rate P12-2**
++**(2) Set the serial port baud rate P12-2**
  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.
--**Set the serial port data format P12-3**
++**(3) Set the serial port data format P12-3**
  The data bit check methods of servo communication are:
@@ -242,7 +242,7 @@
  The data frame format of the servo and the host computer must be consistent, otherwise the communication cannot be carried out.
--**Set that whether the function code changed by Modbus communication is written into EEPROM in real time [P12-4]**
++**(4) Set that whether the function code changed by Modbus communication is written into EEPROM in real time [P12-4]**
  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.
@@ -251,10 +251,10 @@
  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.
  (% class="table-bordered" %)
--(% class="warning" %)|(% style="text-align:center; vertical-align:middle" %)[[image:image-20220611153214-3.png]]
++|(% style="text-align:center; vertical-align:middle" %)[[image:image-20220611153214-3.png]]
  |After the EEPROM is damaged, the servo will have an non resettable fault!
--**Set the high and low order of the 32-bit monitoring data**
++**(5) Set the high and low order of the 32-bit monitoring data**
  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!
@@ -263,35 +263,33 @@
  The description of related function codes are as follows.
  (% class="table-bordered" %)
--|=(% 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;" %)(((
++|(% 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" %)(((
  **Setting method**
--)))|=(% style="text-align: center; vertical-align: middle; width: 165px;" %)(((
++)))|(% style="text-align:center; vertical-align:middle; width:186px" %)(((
  **Effective time**
--)))|=(% 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**
--|(% 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" %)(((
++)))|(% 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**
++|(% 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" %)(((
  Operation setting
--)))|(% style="text-align:center; vertical-align:middle; width:165px" %)(((
++)))|(% style="text-align:center; vertical-align:middle; width:186px" %)(((
  Effective immediately
--)))|(% style="text-align:center; vertical-align:middle; width:109px" %)2|(% style="text-align:center; vertical-align:middle; width:85px" %)0 to 6|(% style="width:224px" %)(((
--0: 2400bps
++)))|(% 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" %)(((
++0-2400bps
--1: 4800bps
++1-4800bps
--2: 9600bps
++2-9600bps
--3: 19200bps
++3-19200bps
--4: 38400bps
++4-38400bps
--5: 57600bp
--
--6:115200bps
--)))|(% style="text-align:center; vertical-align:middle; width:69px" %)-
--|(% 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" %)(((
++5-57600bp
++)))|(% style="text-align:center; vertical-align:middle; width:85px" %)-
++|(% 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" %)(((
  Operation setting
--)))|(% style="text-align:center; vertical-align:middle; width:165px" %)(((
++)))|(% style="text-align:center; vertical-align:middle; width:186px" %)(((
  Effective immediately
--)))|(% 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" %)(((
++)))|(% 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" %)(((
 : 1 stop bit, no parity
 : 1 stop bit, odd parity
@@ -299,33 +299,20 @@
 : 1 stop bit, even parity
 : 2 stop bits, no parity
--)))|(% style="text-align:center; vertical-align:middle; width:69px" %)-
--|(% 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" %)(((
++)))|(% style="text-align:center; vertical-align:middle; width:85px" %)-
++|(% 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" %)(((
  Operation setting
--)))|(% style="text-align:center; vertical-align:middle; width:165px" %)(((
++)))|(% style="text-align:center; vertical-align:middle; width:186px" %)(((
  Effective immediately
--)))|(% 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" %)(((
++)))|(% 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" %)(((
 : Do not write to EEPROM, and do not store after power failure;
 : Write to EEPROM, power-down storage.
--)))|(% style="text-align:center; vertical-align:middle; width:69px" %)-
--|P12-06|Modbus 32-bit variable big endian and little endian|(((
--Operation
++)))|(% style="text-align:center; vertical-align:middle; width:85px" %)-
--setting
--)))|(((
--Effective
--
--immediately
--)))|0|0-1|(((
--0: Big-endian mode, the lower address stores the higher 16 bits of data, and the higher address stores the lower 16 bits of data
--
--1: Little-endian mode, the lower address stores the lower 16 bits of data, and the higher address stores the higher 16 bits of data
--)))|-
--
  = **Modbus communication variable address and value** =
--== **Variable address** ==
++== **Variable address description** ==
  Modbus registers are divided into two categories:
@@ -351,16 +351,20 @@
  In order to facilitate actual use, this manual provides both decimal and hexadecimal address identification, it is shown in the following table:
  (% class="table-bordered" %)
--|=(% style="text-align: center; vertical-align: middle; width: 162px;" %)**Function code**|=(% style="text-align: center; vertical-align: middle; width: 302px;" %)(((
--**Modbus address (Hexadecimal)**
--)))|=(% style="text-align: center; vertical-align: middle; width: 278px;" %)(((
--**Modbus address (Decimal)**
--)))|=(% style="text-align: center; vertical-align: middle; width: 192px;" %)**Category**|=(% style="text-align: center; vertical-align: middle; width: 142px;" %)**Name**
--|(% 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
++|(% style="text-align:center; vertical-align:middle" %)**Function code**|(% style="text-align:center; vertical-align:middle" %)(((
++**Modbus address**
++**(Hexadecimal)**
++)))|(% style="text-align:center; vertical-align:middle" %)(((
++**Modbus address**
++
++**(Decimal)**
++)))|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Name**
++|(% 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
++
  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]]__
--== **Variable value type** ==
++== **Variable value type description** ==
  When writing function codes with signed numbers, you need to convert the pre-written data into hexadecimal complements. The conversion rules are as follows:

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