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Changes for page 08 Communication

Last modified by Iris on 2025/07/24 15:23
From version 4.6
edited by Joey
on 2022/06/18 21:59
Change comment: Update document after refactoring.
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
Author
... ... @@ -1,1 +1,1 @@
1 -XWiki.Joey
1 +XWiki.Stone
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** ==
... ... @@ -53,59 +53,48 @@
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**
57 -|(% style="text-align:center; vertical-align:middle" %)Read 16-bit function code|(% style="text-align:center; vertical-align:middle" %)0x03
56 +|=(% style="text-align: center; vertical-align: middle;" %)**Operate**|=(% style="text-align: center; vertical-align: middle;" %)**Command code**
57 +|(% style="text-align:center; vertical-align:middle" %)Read 16-bit/32-bit function code|(% style="text-align:center; vertical-align:middle" %)0x03
58 58  |(% style="text-align:center; vertical-align:middle" %)Write 16-bit function code|(% style="text-align:center; vertical-align:middle" %)0x06
59 +|(% style="text-align:center; vertical-align:middle" %)Write 32-bit function code|(% style="text-align:center; vertical-align:middle" %)0x10
59 59  
60 -**(1) Read function code: 0x03**
61 +**Read function code: 0x03**
61 61  
62 62  Request format:
63 63  
64 -(% class="table-bordered" %)
65 -|(% style="text-align:center; vertical-align:middle; width:84px" %)**Address**|(% style="text-align:center; vertical-align:middle; width:104px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:179px" %)(((
66 -**Initial address high byte**
67 -)))|(% style="text-align:center; vertical-align:middle; width:162px" %)(((
68 -**Initial address low byte**
69 -)))|(% style="text-align:center; vertical-align:middle; width:194px" %)(((
70 -**Number of reads high byte**
71 -)))|(% style="text-align:center; vertical-align:middle; width:195px" %)(((
72 -**Number of reads low byte**
73 -)))|(% style="text-align:center; vertical-align:middle; width:158px" %)**CRC check code**
74 -|(% style="text-align:center; vertical-align:middle; width:84px" %)1 byte|(% style="text-align:center; vertical-align:middle; width:104px" %)03|(% style="text-align:center; vertical-align:middle; width:179px" %)1 byte|(% style="text-align:center; vertical-align:middle; width:162px" %)1 byte|(% style="text-align:center; vertical-align:middle; width:194px" %)1 byte|(% style="text-align:center; vertical-align:middle; width:195px" %)1 byte|(% style="text-align:center; vertical-align:middle; width:158px" %)2 bytes
65 +|(% rowspan="2" %)**Address**|(% rowspan="2" %)**Function code**|(% colspan="2" %)**Initial address**|(% colspan="2" %)**Number of reads**|(% rowspan="2" %)**CRC check code**
66 +|**high byte**|**low byte**|**high byte**|**low byte**
67 +|1 byte|03|1 byte|1 byte|1 byte|1 byte|2 bytes
75 75  
76 76  Correct response format:
77 77  
78 -(% class="table-bordered" %)
79 -|(% style="text-align:center; vertical-align:middle; width:85px" %)**Address**|(% style="text-align:center; vertical-align:middle; width:139px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:244px" %)(((
80 -**Return data number of bytes**
81 -)))|(% style="text-align:center; vertical-align:middle; width:203px" %)(((
82 -**Register 1 high byte**
83 -)))|(% style="text-align:center; vertical-align:middle; width:190px" %)(((
84 -**Register 1 low byte**
85 -)))|(% style="text-align:center; vertical-align:middle; width:72px" %)…|(% style="text-align:center; vertical-align:middle; width:143px" %)**CRC check code**
86 -|(% style="text-align:center; vertical-align:middle; width:85px" %)1 byte|(% style="text-align:center; vertical-align:middle; width:139px" %)03|(% style="text-align:center; vertical-align:middle; width:244px" %)1 byte|(% style="text-align:center; vertical-align:middle; width:203px" %)1 byte|(% style="text-align:center; vertical-align:middle; width:190px" %)1 byte|(% style="text-align:center; vertical-align:middle; width:72px" %)…|(% style="text-align:center; vertical-align:middle; width:143px" %)2 bytes
71 +(% 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
87 87  
88 -**(2) Write function code: 0x06**
76 +**Write function code: 0x06**
89 89  
90 90  Request format:
91 91  
92 -(% class="table-bordered" %)
93 -|(% style="text-align:center; vertical-align:middle" %)**Address**|(% style="text-align:center; vertical-align:middle" %)**Function code**|(% style="text-align:center; vertical-align:middle" %)**Register address high byte**|(% style="text-align:center; vertical-align:middle" %)**Register address low byte**|(% style="text-align:center; vertical-align:middle" %)**Data high byte**|(% style="text-align:center; vertical-align:middle" %)**Data low byte**|(% style="text-align:center; vertical-align:middle" %)**CRC check code**
94 -|(% style="text-align:center; vertical-align:middle" %)1 byte|(% style="text-align:center; vertical-align:middle" %)06|(% style="text-align:center; vertical-align:middle" %)1 byte|(% style="text-align:center; vertical-align:middle" %)1 byte|(% style="text-align:center; vertical-align:middle" %)1 byte|(% style="text-align:center; vertical-align:middle" %)1 byte|(% style="text-align:center; vertical-align:middle" %)2 bytes
80 +|(% rowspan="2" %)**Address**|(% rowspan="2" %)**Function code**|(% colspan="2" %)(((
81 +**Register address**
82 +)))|(% colspan="2" %)**Data**|(% rowspan="2" %)**CRC check code**
83 +|**high byte**|**low byte**|**high byte**|**low byte**
84 +|1 byte|06|1 byte|1 byte|1 byte|1 byte|2 bytes
95 95  
96 96  Response format:
97 97  
98 -(% class="table-bordered" %)
99 -|(% style="text-align:center; vertical-align:middle" %)**Address**|(% style="text-align:center; vertical-align:middle" %)**Function code**|(% style="text-align:center; vertical-align:middle" %)**Register address high byte**|(% style="text-align:center; vertical-align:middle" %)**Register address low byte**|(% style="text-align:center; vertical-align:middle" %)**Data high byte**|(% style="text-align:center; vertical-align:middle" %)**Data low byte**|(% style="text-align:center; vertical-align:middle" %)**CRC check code**
100 -|(% style="text-align:center; vertical-align:middle" %)1 byte|(% style="text-align:center; vertical-align:middle" %)06|(% style="text-align:center; vertical-align:middle" %)1 byte|(% style="text-align:center; vertical-align:middle" %)1 byte|(% style="text-align:center; vertical-align:middle" %)1 byte|(% style="text-align:center; vertical-align:middle" %)1 byte|(% style="text-align:center; vertical-align:middle" %)2 bytes
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**
90 +|1 byte|06|1 byte|1 byte|1 byte|1 byte|2 bytes
101 101  
102 102  If the setting is successful, the original is returned
103 103  
104 -(% class="table-bordered" %)
105 -|(% rowspan="2" style="text-align:center; vertical-align:middle" %)**There should be a message interval not less than 3.5 characters at the beginning**|(% style="text-align:center; vertical-align:middle" %)**Address**|(% style="text-align:center; vertical-align:middle" %)**Function code**|(% style="text-align:center; vertical-align:middle" %)**Data**|(% style="text-align:center; vertical-align:middle" %)**CRC check code**
106 -|(% style="text-align:center; vertical-align:middle" %)1 byte|(% style="text-align:center; vertical-align:middle" %)1 byte|(% style="text-align:center; vertical-align:middle" %)N bytes|(% style="text-align:center; vertical-align:middle" %)2 bytes
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
107 107  
108 -== **CRC check** ==
97 +(% style="color:inherit; font-family:inherit; font-size:26px" %)**CRC check**
109 109  
110 110  The servo uses a 16-bit CRC check, and the host computer must also use the same check rule, otherwise the CRC check will make mistake. When transmitting, the low bit is in the front and the high bit is at the back. The CRC code are as follows:
111 111  
... ... @@ -162,13 +162,13 @@
162 162  == **Error response frame** ==
163 163  
164 164  (% class="table-bordered" %)
165 -|(% 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**
166 166  |(% 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
167 167  
168 168  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.
169 169  
170 170  (% class="table-bordered" %)
171 -|(% 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**
172 172  |(% style="text-align:center; vertical-align:middle" %)0x0001|(% style="text-align:center; vertical-align:middle" %)Illegal command code
173 173  |(% style="text-align:center; vertical-align:middle" %)0x0002|(% style="text-align:center; vertical-align:middle" %)Illegal data address
174 174  |(% style="text-align:center; vertical-align:middle" %)0x0003|(% style="text-align:center; vertical-align:middle" %)Illegal data
... ... @@ -176,39 +176,60 @@
176 176  
177 177  == **Communication example** ==
178 178  
179 -**03 Function Code Read**
180 180  
169 +
170 +**03 Function code read**
171 +
181 181  Read the monitoring volume U0-31 bus voltage, the Modbus register address corresponding to this variable is 7716 (0x1E24)
182 182  
183 183  Request format:
184 184  
185 -(% class="table-bordered" %)
186 -|(% style="text-align:center; vertical-align:middle" %)**Address**|(% style="text-align:center; vertical-align:middle" %)**Function code**|(% style="text-align:center; vertical-align:middle" %)**Register address high byte**|(% style="text-align:center; vertical-align:middle" %)**Register address low byte**|(% style="text-align:center; vertical-align:middle" %)**Data high byte**|(% style="text-align:center; vertical-align:middle" %)**Data low byte**|(% style="text-align:center; vertical-align:middle" %)**CRC check code**
187 -|(% style="text-align:center; vertical-align:middle" %)1 byte|(% style="text-align:center; vertical-align:middle" %)06|(% style="text-align:center; vertical-align:middle" %)1 byte|(% style="text-align:center; vertical-align:middle" %)1 byte|(% style="text-align:center; vertical-align:middle" %)1 byte|(% style="text-align:center; vertical-align:middle" %)1 byte|(% style="text-align:center; vertical-align:middle" %)2 bytes
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**
178 +|01|03|1E|24|00|01|C2 29
188 188  
189 189  The slave responds normally:
190 190  
191 -(% class="table-bordered" %)
192 -|(% style="text-align:center; vertical-align:middle" %)**Address**|(% style="text-align:center; vertical-align:middle" %)**Function code**|(% style="text-align:center; vertical-align:middle" %)**Number of bytes**|(% style="text-align:center; vertical-align:middle" %)**Data high byte**|(% style="text-align:center; vertical-align:middle" %)**Data low byte**|(% style="text-align:center; vertical-align:middle" %)**CRC low byte**|(% style="text-align:center; vertical-align:middle" %)**CRC high byte**
193 -|(% style="text-align:center; vertical-align:middle" %)01|(% style="text-align:center; vertical-align:middle" %)03|(% style="text-align:center; vertical-align:middle" %)02|(% style="text-align:center; vertical-align:middle" %)0C|(% style="text-align:center; vertical-align:middle" %)26|(% style="text-align:center; vertical-align:middle" %)3C|(% style="text-align:center; vertical-align:middle" %)9E
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**
184 +|01|03|02|0C|4F|FC B0
194 194  
195 -The value read is 0x0C26, which means that the voltage is 311.0V.　
186 +For example: The value read is 0x0C4F, which means that the voltage is 315.1V.
196 196  
188 +
189 +
197 197  **06 Function Code Write**
198 198  
199 -P1-10 the maximum speed threshold is set to 3000rpm. This variable corresponds to the Modbus address: 266 (0x010A)
192 +P1-10 the maximum speed threshold is set to 3000rpm. This variable corresponds to the Modbus address: 266 (0x010A)
200 200  
201 201  Request format:
202 202  
203 -(% class="table-bordered" %)
204 -|(% style="text-align:center; vertical-align:middle" %)**Address**|(% style="text-align:center; vertical-align:middle" %)**Function code**|(% style="text-align:center; vertical-align:middle" %)**Register address high byte**|(% style="text-align:center; vertical-align:middle" %)**Register address low byte**|(% style="text-align:center; vertical-align:middle" %)**Data high byte**|(% style="text-align:center; vertical-align:middle" %)**Data low byte**|(% style="text-align:center; vertical-align:middle" %)**CRC low byte**
205 -|(% style="text-align:center; vertical-align:middle" %)01|(% style="text-align:center; vertical-align:middle" %)06|(% style="text-align:center; vertical-align:middle" %)01|(% style="text-align:center; vertical-align:middle" %)0A|(% style="text-align:center; vertical-align:middle" %)0B|(% style="text-align:center; vertical-align:middle" %)B8|(% style="text-align:center; vertical-align:middle" %)AF
196 +|(% rowspan="2" %)**Address**|(% rowspan="2" %)**Function code**|(% colspan="2" %)**Register address**|(% colspan="2" %)**Data**|(% rowspan="2" %)**CRC check code**
197 +|**high byte**|**low byte**|**high byte**|**low byte**
198 +|01|06|01|0A|0B|B8|AF, 76
206 206  
207 207  The slave responds normally:
208 208  
209 -|(% style="text-align:center; vertical-align:middle" %)**Address**|(% style="text-align:center; vertical-align:middle" %)**Function code**|(% style="text-align:center; vertical-align:middle" %)**Register address high byte**|(% style="text-align:center; vertical-align:middle" %)**Register address low byte**|(% style="text-align:center; vertical-align:middle" %)**Data high byte**|(% style="text-align:center; vertical-align:middle" %)**Data low byte**|(% style="text-align:center; vertical-align:middle" %)**CRC low byte**
210 -|(% style="text-align:center; vertical-align:middle" %)01|(% style="text-align:center; vertical-align:middle" %)06|(% style="text-align:center; vertical-align:middle" %)01|(% style="text-align:center; vertical-align:middle" %)0A|(% style="text-align:center; vertical-align:middle" %)0B|(% style="text-align:center; vertical-align:middle" %)B8|(% style="text-align:center; vertical-align:middle" %)AF
202 +|(% rowspan="2" %)**Address**|(% rowspan="2" %)**Function code**|(% colspan="2" %)**Register address**|(% colspan="2" %)**Data**|(% rowspan="2" %)**CRC check code**
203 +|**high byte**|**low byte**|**high byte**|**low byte**
204 +|01|06|01|0A|0B|B8|AF, 76
211 211  
206 +**10 Function code write**
207 +
208 +P07-09 set the 1st segment position to 2000, and this variable corresponds to the Modbus address: 1801 (0x0709).
209 +
210 +Request format:
211 +
212 +|(% 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**
213 +|**high byte**|**low byte**|**high byte**|**low byte**|**high byte**|**low byte**|**high byte**|**low byte**|**high byte**|**low byte**
214 +|01|10|07|09|00|02|04|00|00|07|D0|16|59
215 +
216 +The slave responds normally:
217 +
218 +|(% rowspan="2" %)**Address**|(% rowspan="2" %)**Function code**|(% colspan="2" %)**Register address**|(% colspan="2" %)**Data**|(% colspan="2" %)**CRC check code**
219 +|**high byte**|**low byte**|**high byte**|**low byte**|**high byte**|**low byte**
220 +|01|10|07|09|00|02|90|BE
221 +
212 212  = **Servo communication parameter setting** =
213 213  
214 214  (% style="text-align:center" %)
... ... @@ -216,29 +216,26 @@
216 216  
217 217  Figure 8-3 Modbus communication parameter setting process
218 218  
219 -**(1) Set the servo address P12-1**
229 +**Set the servo address P12-1**
220 220  
221 221  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.
222 222  
223 -**(2) Set the serial port baud rate P12-2**
233 +**Set the serial port baud rate P12-2**
224 224  
225 225  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.
226 226  
227 -**(3) Set the serial port data format P12-3**
237 +**Set the serial port data format P12-3**
228 228  
229 229  The data bit check methods of servo communication are:
230 230  
231 -Odd parity
241 +* Odd parity
242 +* Even parity
243 +* No parity
244 +* The stop bit: 1 stop bit and 2 stop bits.
232 232  
233 -Even parity
234 -
235 -No parity
236 -
237 -The stop bit: 1 stop bit and 2 stop bits.
238 -
239 239  The data frame format of the servo and the host computer must be consistent, otherwise the communication cannot be carried out.
240 240  
241 -**(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]**
242 242  
243 243  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.
244 244  
... ... @@ -250,7 +250,7 @@
250 250  |(% style="text-align:center; vertical-align:middle" %)[[image:image-20220611153214-3.png]]
251 251  |After the EEPROM is damaged, the servo will have an non resettable fault!
252 252  
253 -**(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**
254 254  
255 255  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!
256 256  
... ... @@ -259,51 +259,42 @@
259 259  The description of related function codes are as follows.
260 260  
261 261  (% class="table-bordered" %)
262 -|(% style="text-align:center; vertical-align:middle; width:121px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:205px" %)**Name**|(% style="text-align:center; vertical-align:middle; width: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;" %)(((
263 263  **Setting method**
264 -)))|(% style="text-align:center; vertical-align:middle; width:186px" %)(((
271 +)))|=(% style="text-align: center; vertical-align: middle; width: 165px;" %)(((
265 265  **Effective time**
266 -)))|(% 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**
267 -|(% style="text-align:center; vertical-align:middle; width:121px" %)P12-02|(% style="text-align:center; vertical-align:middle; width:205px" %)Baud rate|(% style="text-align:center; vertical-align:middle; width: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" %)(((
268 268  Operation setting
269 -)))|(% style="text-align:center; vertical-align:middle; width:186px" %)(((
276 +)))|(% style="text-align:center; vertical-align:middle; width:165px" %)(((
270 270  Effective immediately
271 -)))|(% style="text-align:center; vertical-align:middle; width:130px" %)2|(% style="text-align:center; vertical-align:middle; width:132px" %)0 to 5|(% style="width:335px" %)(((
272 -0-2400bps
273 -
274 -1-4800bps
275 -
276 -2-9600bps
277 -
278 -3-19200bps
279 -
280 -4-38400bps
281 -
282 -5-57600bp
283 -)))|(% style="text-align:center; vertical-align:middle; width:189px" %)-
284 -|(% style="text-align:center; vertical-align:middle; width:121px" %)P12-03|(% style="text-align:center; vertical-align:middle; width:205px" %)Serial data format|(% style="text-align:center; vertical-align:middle; width: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" %)(((
285 285  Operation setting
286 -)))|(% style="text-align:center; vertical-align:middle; width:186px" %)(((
288 +)))|(% style="text-align:center; vertical-align:middle; width:165px" %)(((
287 287  Effective immediately
288 -)))|(% style="text-align:center; vertical-align:middle; width:130px" %)0|(% style="text-align:center; vertical-align:middle; width:132px" %)0 to 3|(% style="width:335px" %)(((
289 -0: 1 stop bit, no parity
290 -
291 -1: 1 stop bit, odd parity
292 -
293 -2: 1 stop bit, even parity
294 -
295 -3: 2 stop bits, no parity
296 -)))|(% style="text-align:center; vertical-align:middle; width:189px" %)-
297 -|(% style="text-align:center; vertical-align:middle; width:121px" %)P12-04|(% style="text-align:center; vertical-align:middle; width:205px" %)Modbus communication data is written into EEPROM|(% style="text-align:center; vertical-align:middle; width: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" %)(((
298 298  Operation setting
299 -)))|(% style="text-align:center; vertical-align:middle; width:186px" %)(((
298 +)))|(% style="text-align:center; vertical-align:middle; width:165px" %)(((
300 300  Effective immediately
301 -)))|(% style="text-align:center; vertical-align:middle; width:130px" %)0|(% style="text-align:center; vertical-align:middle; width:132px" %)0 to 1|(% style="width:335px" %)(((
302 -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" %)-
303 303  
304 -1: Write to EEPROM, power-down storage.
305 -)))|(% style="text-align:center; vertical-align:middle; width:189px" %)-
306 -
307 307  = **Modbus communication variable address and value** =
308 308  
309 309  == **Variable address description** ==
... ... @@ -310,24 +310,21 @@
310 310  
311 311  Modbus registers are divided into two categories:
312 312  
313 -~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).
314 314  
315 -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).
316 -
317 317  **Servo function code representation: PXX-YY.**
318 318  
319 -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;;
320 320  
321 -YY: represents the bias within the function code group;;
322 -
323 323  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.
324 324  
325 325  **Servo monitor volume representation: Uxx-yy.**
326 326  
327 -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;
328 328  
329 -yy: represents the bias within the monitoring volume group;
330 -
331 331  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.
332 332  
333 333  For example, U0-01 (servo status) corresponds to the Modbus address is 0x1E01.
... ... @@ -335,35 +335,33 @@
335 335  In order to facilitate actual use, this manual provides both decimal and hexadecimal address identification, it is shown in the following table:
336 336  
337 337  (% class="table-bordered" %)
338 -|(% style="text-align:center; vertical-align:middle" %)**Function code**|(% style="text-align:center; vertical-align:middle" %)(((
339 -**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
340 340  
341 -**(Hexadecimal)**
342 -)))|(% style="text-align:center; vertical-align:middle" %)(((
343 -**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]]__
344 344  
345 -**(Decimal)**
346 -)))|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Name**
347 -|(% style="text-align:center; vertical-align:middle" %)P0-1|(% style="text-align:center; vertical-align:middle" %)0x0001|(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)Basic settings|(% style="text-align:center; vertical-align:middle" %)Control mode
348 -
349 -For detailed parameter addresses, please refer to __[["11.1 Lists of parameters".>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/11%20Appendix/#HListsofparameters]]__
350 -
351 351  == **Variable value type description** ==
352 352  
353 353  When writing function codes with signed numbers, you need to convert the pre-written data into hexadecimal complements. The conversion rules are as follows:
354 354  
355 -~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
356 356  
357 -2. The data is negative: complement code = 0xFFFF-absolute value of data + 0x0001
349 +For example:
358 358  
359 -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.
360 360  
361 -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.
362 -
363 363  == **Numerical unit description** ==
364 364  
365 365  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:
366 366  
367 -~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;
368 368  
369 -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.