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Changes for page 08 Communication

Last modified by Iris on 2025/07/24 15:23
From version 4.14
edited by Stone Wu
on 2022/07/07 15:34
Change comment: There is no comment for this version
To version 9.1
edited by Stone Wu
on 2022/08/30 09:58
Change comment: There is no comment for this version

Summary

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Parent
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1 -Servo.1 User Manual.02 VD2 SA Series.WebHome
1 +Servo.Manual.02 VD2 SA Series.WebHome
Content
... ... @@ -11,7 +11,7 @@
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>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/04%20Wiring/#HCommunicationsignalwiring]]__.
14 +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/Manual/02%20VD2%20SA%20Series/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  
... ... @@ -45,7 +45,7 @@
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" 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" 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**
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 51  == **Description of supported function codes** ==
... ... @@ -53,7 +53,7 @@
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
... ... @@ -68,9 +68,10 @@
68 68  
69 69  Correct response format:
70 70  
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
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
74 74  
75 75  **Write function code: 0x06**
76 76  
... ... @@ -90,8 +90,8 @@
90 90  
91 91  If the setting is successful, the original is returned
92 92  
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
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
95 95  
96 96  (% style="color:inherit; font-family:inherit; font-size:26px" %)**CRC check**
97 97  
... ... @@ -150,13 +150,13 @@
150 150  == **Error response frame** ==
151 151  
152 152  (% class="table-bordered" %)
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**
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**
154 154  |(% 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
155 155  
156 156  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.
157 157  
158 158  (% class="table-bordered" %)
159 -|(% style="text-align:center; vertical-align:middle" %)**Error code**|(% style="text-align:center; vertical-align:middle" %)**Coding description**
160 +|=(% style="text-align: center; vertical-align: middle;" %)**Error code**|=(% style="text-align: center; vertical-align: middle;" %)**Coding description**
160 160  |(% style="text-align:center; vertical-align:middle" %)0x0001|(% style="text-align:center; vertical-align:middle" %)Illegal command code
161 161  |(% style="text-align:center; vertical-align:middle" %)0x0002|(% style="text-align:center; vertical-align:middle" %)Illegal data address
162 162  |(% style="text-align:center; vertical-align:middle" %)0x0003|(% style="text-align:center; vertical-align:middle" %)Illegal data
... ... @@ -202,8 +202,6 @@
202 202  |**high byte**|**low byte**|**high byte**|**low byte**
203 203  |01|06|01|0A|0B|B8|AF, 76
204 204  
205 -
206 -
207 207  **10 Function code write**
208 208  
209 209  P07-09 set the 1st segment position to 2000, and this variable corresponds to the Modbus address: 1801 (0x0709).
... ... @@ -227,29 +227,26 @@
227 227  
228 228  Figure 8-3 Modbus communication parameter setting process
229 229  
230 -**(1) Set the servo address P12-1**
229 +**Set the servo address P12-1**
231 231  
232 232  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.
233 233  
234 -**(2) Set the serial port baud rate P12-2**
233 +**Set the serial port baud rate P12-2**
235 235  
236 236  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.
237 237  
238 -**(3) Set the serial port data format P12-3**
237 +**Set the serial port data format P12-3**
239 239  
240 240  The data bit check methods of servo communication are:
241 241  
242 -Odd parity
241 +* Odd parity
242 +* Even parity
243 +* No parity
244 +* The stop bit: 1 stop bit and 2 stop bits.
243 243  
244 -Even parity
245 -
246 -No parity
247 -
248 -The stop bit: 1 stop bit and 2 stop bits.
249 -
250 250  The data frame format of the servo and the host computer must be consistent, otherwise the communication cannot be carried out.
251 251  
252 -**(4) Set that whether the function code changed by Modbus communication is written into EEPROM in real time [P12-4]**
248 +**Set that whether the function code changed by Modbus communication is written into EEPROM in real time [P12-4]**
253 253  
254 254  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.
255 255  
... ... @@ -261,7 +261,7 @@
261 261  |(% style="text-align:center; vertical-align:middle" %)[[image:image-20220611153214-3.png]]
262 262  |After the EEPROM is damaged, the servo will have an non resettable fault!
263 263  
264 -**(5) Set the high and low order of the 32-bit monitoring data**
260 +**Set the high and low order of the 32-bit monitoring data**
265 265  
266 266  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!
267 267  
... ... @@ -270,51 +270,42 @@
270 270  The description of related function codes are as follows.
271 271  
272 272  (% class="table-bordered" %)
273 -|(% 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 +|=(% 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;" %)(((
274 274  **Setting method**
275 -)))|(% style="text-align:center; vertical-align:middle; width:186px" %)(((
271 +)))|=(% style="text-align: center; vertical-align: middle; width: 165px;" %)(((
276 276  **Effective time**
277 -)))|(% 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**
278 -|(% 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" %)(((
273 +)))|=(% 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**
274 +|(% 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" %)(((
279 279  Operation setting
280 -)))|(% style="text-align:center; vertical-align:middle; width:186px" %)(((
276 +)))|(% style="text-align:center; vertical-align:middle; width:165px" %)(((
281 281  Effective immediately
282 -)))|(% 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" %)(((
283 -0-2400bps
284 -
285 -1-4800bps
286 -
287 -2-9600bps
288 -
289 -3-19200bps
290 -
291 -4-38400bps
292 -
293 -5-57600bp
294 -)))|(% style="text-align:center; vertical-align:middle; width:189px" %)-
295 -|(% 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" %)(((
278 +)))|(% 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" %)(((
279 +* 0: 2400bps
280 +* 1: 4800bps
281 +* 2: 9600bps
282 +* 3: 19200bps
283 +* 4: 38400bps
284 +* 5: 57600bp
285 +)))|(% style="text-align:center; vertical-align:middle; width:69px" %)-
286 +|(% 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" %)(((
296 296  Operation setting
297 -)))|(% style="text-align:center; vertical-align:middle; width:186px" %)(((
288 +)))|(% style="text-align:center; vertical-align:middle; width:165px" %)(((
298 298  Effective immediately
299 -)))|(% 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" %)(((
300 -0: 1 stop bit, no parity
301 -
302 -1: 1 stop bit, odd parity
303 -
304 -2: 1 stop bit, even parity
305 -
306 -3: 2 stop bits, no parity
307 -)))|(% style="text-align:center; vertical-align:middle; width:189px" %)-
308 -|(% 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" %)(((
290 +)))|(% 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" %)(((
291 +* 0: 1 stop bit, no parity
292 +* 1: 1 stop bit, odd parity
293 +* 2: 1 stop bit, even parity
294 +* 3: 2 stop bits, no parity
295 +)))|(% style="text-align:center; vertical-align:middle; width:69px" %)-
296 +|(% 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" %)(((
309 309  Operation setting
310 -)))|(% style="text-align:center; vertical-align:middle; width:186px" %)(((
298 +)))|(% style="text-align:center; vertical-align:middle; width:165px" %)(((
311 311  Effective immediately
312 -)))|(% 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" %)(((
313 -0: Do not write to EEPROM, and do not store after power failure;
300 +)))|(% 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" %)(((
301 +* 0: Do not write to EEPROM, and do not store after power failure;
302 +* 1: Write to EEPROM, power-down storage.
303 +)))|(% style="text-align:center; vertical-align:middle; width:69px" %)-
314 314  
315 -1: Write to EEPROM, power-down storage.
316 -)))|(% style="text-align:center; vertical-align:middle; width:189px" %)-
317 -
318 318  = **Modbus communication variable address and value** =
319 319  
320 320  == **Variable address description** ==
... ... @@ -321,24 +321,21 @@
321 321  
322 322  Modbus registers are divided into two categories:
323 323  
324 -~1. The first category is servo function code parameters (address: 0x0001 to 0x0D08), this part of the register is readable and writable (that is, 0x03 and 0x06 are supported);
311 +1. The first category is servo function code parameters (address: 0x0001 to 0x0D08), this part of the register is readable and writable (that is, 0x03 and 0x06 are supported);
312 +1. The second category is the monitoring volume of the servo (address: 0x1E01 to 0x2010), this part of the register is only readable (0x03 function is supported).
325 325  
326 -2. The second category is the monitoring volume of the servo (address: 0x1E01 to 0x2010), this part of the register is only readable (0x03 function is supported).
327 -
328 328  **Servo function code representation: PXX-YY.**
329 329  
330 -XX: represents the function code group number,
316 +* XX: represents the function code group number,
317 +* YY: represents the bias within the function code group;;
331 331  
332 -YY: represents the bias within the function code group;;
333 -
334 334  During servo communication, the communication address of the function code is a 16-bit address, which is composed of the function code group number (high 8 bits) + group bias (low 8 bits), for example, the Modbus address corresponding to P12-1 (servo address) is 0x0C01.
335 335  
336 336  **Servo monitor volume representation: Uxx-yy.**
337 337  
338 -xx: represents the monitoring volume group number,
323 +* xx: represents the monitoring volume group number,
324 +* yy: represents the bias within the monitoring volume group;
339 339  
340 -yy: represents the bias within the monitoring volume group;
341 -
342 342  During Modbus communication, the starting address of the monitoring volume is 0x1E01, and the conversion relationship of the address is similar to the representation way of the function code.
343 343  
344 344  For example, U0-01 (servo status) corresponds to the Modbus address is 0x1E01.
... ... @@ -346,35 +346,33 @@
346 346  In order to facilitate actual use, this manual provides both decimal and hexadecimal address identification, it is shown in the following table:
347 347  
348 348  (% class="table-bordered" %)
349 -|(% style="text-align:center; vertical-align:middle" %)**Function code**|(% style="text-align:center; vertical-align:middle" %)(((
350 -**Modbus address**
333 +|=(% style="text-align: center; vertical-align: middle; width: 162px;" %)**Function code**|=(% style="text-align: center; vertical-align: middle; width: 302px;" %)(((
334 +**Modbus address (Hexadecimal)**
335 +)))|=(% style="text-align: center; vertical-align: middle; width: 278px;" %)(((
336 +**Modbus address (Decimal)**
337 +)))|=(% style="text-align: center; vertical-align: middle; width: 192px;" %)**Category**|=(% style="text-align: center; vertical-align: middle; width: 142px;" %)**Name**
338 +|(% 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
351 351  
352 -**(Hexadecimal)**
353 -)))|(% style="text-align:center; vertical-align:middle" %)(((
354 -**Modbus address**
340 +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]]__
355 355  
356 -**(Decimal)**
357 -)))|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Name**
358 -|(% 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
359 -
360 -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]]__
361 -
362 362  == **Variable value type description** ==
363 363  
364 364  When writing function codes with signed numbers, you need to convert the pre-written data into hexadecimal complements. The conversion rules are as follows:
365 365  
366 -~1. The data is positive or 0: complement code = original code
346 +1. The data is positive or 0: complement code = original code
347 +1. The data is negative: complement code = 0xFFFF-absolute value of data + 0x0001
367 367  
368 -2. The data is negative: complement code = 0xFFFF-absolute value of data + 0x0001
349 +For example:
369 369  
370 -For example,The 16-bit signed positive number +100, the original code is 0x0064, and the complement is: 0x0064. The 16-bit signed positive number -100, its hexadecimal complement is: 0xFFFF-0x0064 + 0x0001 = 0xFF9C.
351 +* The 16-bit signed positive number +100, the original code is 0x0064, and the complement is: 0x0064.
352 +* The 16-bit signed positive number -100, its hexadecimal complement is: 0xFFFF-0x0064 + 0x0001 = 0xFF9C.
353 +* If it is an unsigned number, just pass it directly according to its original code. For example, if the decimal number is 32768, write 0x8000 directly.
371 371  
372 -If it is an unsigned number, just pass it directly according to its original code. For example, if the decimal number is 32768, write 0x8000 directly.
373 -
374 374  == **Numerical unit description** ==
375 375  
376 376  Some values have units and decimals, such as 0.1%, 0.1Hz, 0.01ms, and the corresponding value conversion is required when reading and writing. The methods are as follows:
377 377  
378 -~1. When the unit is 0.1%: 1 represents 0.1%, 10 represents 1.0%, 1000 represents 100.0%. Therefore, writing 1000 means setting to 100.0%; on the contrary, if it is reading 1000, it means that the value is 100.0%;
359 +1. When the unit is 0.1%: 1 represents 0.1%, 10 represents 1.0%, 1000 represents 100.0%. Therefore, writing 1000 means setting to 100.0%; on the contrary, if it is reading 1000, it means that the value is 100.0%;
360 +1. When the unit is 0.01ms: 1 means 0.01ms, 50 means 0.5ms, 10000 means 100ms. Therefore, writing 1000 means setting to 10.00ms; on the contrary, if 1000 is read, it means 10.00ms;
379 379  
380 -2. When the unit is 0.01ms: 1 means 0.01ms, 50 means 0.5ms, 10000 means 100ms. Therefore, writing 1000 means setting to 10.00ms; on the contrary, if 1000 is read, it means 10.00ms; The other units can be deduced by this, and integer remains unchanged.
362 +The other units can be deduced by this, and integer remains unchanged.