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Changes for page 08 Communication

Last modified by Iris on 2025/07/24 15:23
From version 15.1
edited by Iris
on 2025/07/24 14:29
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
Author
... ... @@ -1,1 +1,1 @@
1 -XWiki.Iris
1 +XWiki.Stone
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  
... ... @@ -33,29 +33,27 @@
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]]
37 -|(((
38 -The grounding wire cannot form a closed loop under no circumstances.
39 -)))
36 +|(% style="text-align:center; vertical-align:middle" %)[[image:image-20220611153144-2.png]]
37 +|Under no circumstances can the grounding wire form a closed loop.
40 40  
41 41  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.
42 42  
43 43  = **Modbus communication protocol analysis** =
44 44  
45 -== Modbus data frame format ==
43 +== **Modbus data frame format** ==
46 46  
47 47  The VD2 series servo drives currently support the RTU communication format. The typical data frame format is shown in the table.
48 48  
49 49  (% class="table-bordered" %)
50 -|=(% 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**
51 51  |(% 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
52 52  
53 -== Supported function codes ==
51 +== **Description of supported function codes** ==
54 54  
55 55  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:
56 56  
57 57  (% class="table-bordered" %)
58 -|=(% 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**
59 59  |(% style="text-align:center; vertical-align:middle" %)Read 16-bit/32-bit function code|(% style="text-align:center; vertical-align:middle" %)0x03
60 60  |(% style="text-align:center; vertical-align:middle" %)Write 16-bit function code|(% style="text-align:center; vertical-align:middle" %)0x06
61 61  |(% style="text-align:center; vertical-align:middle" %)Write 32-bit function code|(% style="text-align:center; vertical-align:middle" %)0x10
... ... @@ -64,16 +64,15 @@
64 64  
65 65  Request format:
66 66  
67 -|=(% rowspan="2" %)**Address**|=(% rowspan="2" %)**Function code**|=(% colspan="2" %)**Initial address**|=(% colspan="2" %)**Number of reads**|=(% rowspan="2" %)**CRC check code**
68 -|=**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**
69 69  |1 byte|03|1 byte|1 byte|1 byte|1 byte|2 bytes
70 70  
71 71  Correct response format:
72 72  
73 -(% style="width:1055px" %)
74 -|=(% 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**
75 -|=(% style="width: 160px;" %)**high byte**|=(% style="width: 114px;" %)**low byte**
76 -|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
77 77  
78 78  **Write function code: 0x06**
79 79  
... ... @@ -87,16 +87,16 @@
87 87  
88 88  Response format:
89 89  
90 -|=(% rowspan="2" %)**Address**|=(% rowspan="2" %)**Function code**|=(% colspan="2" %)**Register address**|=(% colspan="2" %)**Data**|=(% rowspan="2" %)**CRC check code**
91 -|=**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**
92 92  |1 byte|06|1 byte|1 byte|1 byte|1 byte|2 bytes
93 93  
94 94  If the setting is successful, the original is returned
95 95  
96 -|=(% 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**
97 -|(% 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
98 98  
99 -== (% style="color:inherit; font-family:inherit; font-size:26px" %)CRC check(%%) ==
96 +(% style="color:inherit; font-family:inherit; font-size:26px" %)**CRC check**
100 100  
101 101  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:
102 102  
... ... @@ -153,13 +153,13 @@
153 153  == **Error response frame** ==
154 154  
155 155  (% class="table-bordered" %)
156 -|=(% 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**
157 157  |(% 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
158 158  
159 159  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.
160 160  
161 161  (% class="table-bordered" %)
162 -|=(% 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**
163 163  |(% style="text-align:center; vertical-align:middle" %)0x0001|(% style="text-align:center; vertical-align:middle" %)Illegal command code
164 164  |(% style="text-align:center; vertical-align:middle" %)0x0002|(% style="text-align:center; vertical-align:middle" %)Illegal data address
165 165  |(% style="text-align:center; vertical-align:middle" %)0x0003|(% style="text-align:center; vertical-align:middle" %)Illegal data
... ... @@ -167,6 +167,8 @@
167 167  
168 168  == **Communication example** ==
169 169  
167 +
168 +
170 170  **03 Function code read**
171 171  
172 172  Read the monitoring volume U0-31 bus voltage, the Modbus register address corresponding to this variable is 7716 (0x1E24)
... ... @@ -173,18 +173,20 @@
173 173  
174 174  Request format:
175 175  
176 -|=(% rowspan="2" %)**Address**|=(% rowspan="2" %)**Function code**|=(% colspan="2" %)**Register address**|=(% colspan="2" %)**Data**|=(% rowspan="2" %)**CRC check code**
177 -|=**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**
178 178  |01|03|1E|24|00|01|C2 29
179 179  
180 180  The slave responds normally:
181 181  
182 -|=(% rowspan="2" %)**Address**|=(% rowspan="2" %)**Function code**|=(% rowspan="2" %)**Number of bytes**|=(% colspan="2" %)**Data**|=(% rowspan="2" %)**CRC high byte**
183 -|=**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**
184 184  |01|03|02|0C|4F|FC B0
185 185  
186 186  For example: The value read is 0x0C4F, which means that the voltage is 315.1V.
187 187  
187 +
188 +
188 188  **06 Function Code Write**
189 189  
190 190  P1-10 the maximum speed threshold is set to 3000rpm. This variable corresponds to the Modbus address: 266 (0x010A)
... ... @@ -191,14 +191,14 @@
191 191  
192 192  Request format:
193 193  
194 -|=(% rowspan="2" %)**Address**|=(% rowspan="2" %)**Function code**|=(% colspan="2" %)**Register address**|=(% colspan="2" %)**Data**|=(% rowspan="2" %)**CRC check code**
195 -|=**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**
196 196  |01|06|01|0A|0B|B8|AF, 76
197 197  
198 198  The slave responds normally:
199 199  
200 -|=(% rowspan="2" %)**Address**|=(% rowspan="2" %)**Function code**|=(% colspan="2" %)**Register address**|=(% colspan="2" %)**Data**|=(% rowspan="2" %)**CRC check code**
201 -|=**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**
202 202  |01|06|01|0A|0B|B8|AF, 76
203 203  
204 204  **10 Function code write**
... ... @@ -207,33 +207,32 @@
207 207  
208 208  Request format:
209 209  
210 -|=(% 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**
211 -|=**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**
212 212  |01|10|07|09|00|02|04|00|00|07|D0|16|59
213 213  
214 214  The slave responds normally:
215 215  
216 -|=(% rowspan="2" %)**Address**|=(% rowspan="2" %)**Function code**|=(% colspan="2" %)**Register address**|=(% colspan="2" %)**Data**|=(% colspan="2" %)**CRC check code**
217 -|=**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**
218 218  |01|10|07|09|00|02|90|BE
219 219  
220 220  = **Servo communication parameter setting** =
221 221  
222 222  (% style="text-align:center" %)
223 -(((
224 -(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
225 -[[Figure 8-3 Modbus communication parameter setting process>>image:image-20220608174504-2.png||id="Iimage-20220608174504-2.png"]]
226 -)))
224 +[[image:image-20220608174504-2.png]]
227 227  
228 -**Set the servo address P12-1**
226 +Figure 8-3 Modbus communication parameter setting process
229 229  
228 +**(1) Set the servo address P12-1**
229 +
230 230  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.
231 231  
232 -**Set the serial port baud rate P12-2**
232 +**(2) Set the serial port baud rate P12-2**
233 233  
234 234  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.
235 235  
236 -**Set the serial port data format P12-3**
236 +**(3) Set the serial port data format P12-3**
237 237  
238 238  The data bit check methods of servo communication are:
239 239  
... ... @@ -244,7 +244,7 @@
244 244  
245 245  The data frame format of the servo and the host computer must be consistent, otherwise the communication cannot be carried out.
246 246  
247 -**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]**
248 248  
249 249  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.
250 250  
... ... @@ -253,10 +253,10 @@
253 253  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.
254 254  
255 255  (% class="table-bordered" %)
256 -(% 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]]
257 257  |After the EEPROM is damaged, the servo will have an non resettable fault!
258 258  
259 -**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**
260 260  
261 261  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!
262 262  
... ... @@ -265,35 +265,33 @@
265 265  The description of related function codes are as follows.
266 266  
267 267  (% class="table-bordered" %)
268 -|=(% 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" %)(((
269 269  **Setting method**
270 -)))|=(% style="text-align: center; vertical-align: middle; width: 165px;" %)(((
270 +)))|(% style="text-align:center; vertical-align:middle; width:186px" %)(((
271 271  **Effective time**
272 -)))|=(% 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**
273 -|(% 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" %)(((
274 274  Operation setting
275 -)))|(% style="text-align:center; vertical-align:middle; width:165px" %)(((
275 +)))|(% style="text-align:center; vertical-align:middle; width:186px" %)(((
276 276  Effective immediately
277 -)))|(% 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" %)(((
278 -0: 2400bps
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
279 279  
280 -1: 4800bps
280 +1-4800bps
281 281  
282 -2: 9600bps
282 +2-9600bps
283 283  
284 -3: 19200bps
284 +3-19200bps
285 285  
286 -4: 38400bps
286 +4-38400bps
287 287  
288 -5: 57600bp
289 -
290 -6:115200bps
291 -)))|(% style="text-align:center; vertical-align:middle; width:69px" %)-
292 -|(% 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" %)(((
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" %)(((
293 293  Operation setting
294 -)))|(% style="text-align:center; vertical-align:middle; width:165px" %)(((
292 +)))|(% style="text-align:center; vertical-align:middle; width:186px" %)(((
295 295  Effective immediately
296 -)))|(% 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" %)(((
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" %)(((
297 297  0: 1 stop bit, no parity
298 298  
299 299  1: 1 stop bit, odd parity
... ... @@ -301,33 +301,20 @@
301 301  2: 1 stop bit, even parity
302 302  
303 303  3: 2 stop bits, no parity
304 -)))|(% style="text-align:center; vertical-align:middle; width:69px" %)-
305 -|(% 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" %)(((
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" %)(((
306 306  Operation setting
307 -)))|(% style="text-align:center; vertical-align:middle; width:165px" %)(((
305 +)))|(% style="text-align:center; vertical-align:middle; width:186px" %)(((
308 308  Effective immediately
309 -)))|(% 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" %)(((
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" %)(((
310 310  0: Do not write to EEPROM, and do not store after power failure;
311 311  
312 312  1: Write to EEPROM, power-down storage.
313 -)))|(% style="text-align:center; vertical-align:middle; width:69px" %)-
314 -|P12-06|Modbus 32-bit variable big endian and little endian|(((
315 -Operation
311 +)))|(% style="text-align:center; vertical-align:middle; width:85px" %)-
316 316  
317 -setting
318 -)))|(((
319 -Effective
320 -
321 -immediately
322 -)))|0|0-1|(((
323 -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
324 -
325 -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
326 -)))|-
327 -
328 328  = **Modbus communication variable address and value** =
329 329  
330 -== **Variable address** ==
315 +== **Variable address description** ==
331 331  
332 332  Modbus registers are divided into two categories:
333 333  
... ... @@ -353,16 +353,20 @@
353 353  In order to facilitate actual use, this manual provides both decimal and hexadecimal address identification, it is shown in the following table:
354 354  
355 355  (% class="table-bordered" %)
356 -|=(% style="text-align: center; vertical-align: middle; width: 162px;" %)**Function code**|=(% style="text-align: center; vertical-align: middle; width: 302px;" %)(((
357 -**Modbus address (Hexadecimal)**
358 -)))|=(% style="text-align: center; vertical-align: middle; width: 278px;" %)(((
359 -**Modbus address (Decimal)**
360 -)))|=(% style="text-align: center; vertical-align: middle; width: 192px;" %)**Category**|=(% style="text-align: center; vertical-align: middle; width: 142px;" %)**Name**
361 -|(% style="text-align:center; vertical-align:middle; width:162px" %)P00-01|(% 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**
362 362  
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 +
363 363  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]]__
364 364  
365 -== **Variable value type** ==
354 +== **Variable value type description** ==
366 366  
367 367  When writing function codes with signed numbers, you need to convert the pre-written data into hexadecimal complements. The conversion rules are as follows:
368 368