Skip to Content

Changes for page 08 Communication

Last modified by Iris on 2025/07/24 15:23
From version 4.7
edited by Stone Wu
on 2022/07/07 15:15
Change comment: There is no comment for this version
To version 1.3
edited by Joey
on 2022/06/08 17:44
Change comment: There is no comment for this version

Summary

Details

Page properties
Parent
... ... @@ -1,1 +1,1 @@
1 -Servo.1 User Manual.02 VD2 SA Series.WebHome
1 +Servo.2\. User Manual.06 VD2 SA Series Servo Drives Manual (Full V1\.1).WebHome
Author
... ... @@ -1,1 +1,1 @@
1 -XWiki.Stone
1 +XWiki.Joey
Content
... ... @@ -11,12 +11,12 @@
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>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/04%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  
18 18  (% class="table-bordered" %)
19 -|(% style="text-align:center; vertical-align:middle" %)[[image:image-20220611153134-1.png]]
19 +|(% style="text-align:center; vertical-align:middle" %)[[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_6db94f5d0421f97a.png?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_6db94f5d0421f97a.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  
... ... @@ -33,7 +33,7 @@
33 33  No point in the RS485 network can be directly grounded. All devices in the network must be well grounded through their own grounding terminals.
34 34  
35 35  (% class="table-bordered" %)
36 -|(% style="text-align:center; vertical-align:middle" %)[[image:image-20220611153144-2.png]]
36 +|(% style="text-align:center; vertical-align:middle" %)[[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_6db94f5d0421f97a.png?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_6db94f5d0421f97a.png"]]
37 37  |Under no circumstances can the grounding wire form a closed loop.
38 38  
39 39  When wiring, consider the drive capability of the computer/PLC and the distance between the computer/PLC and the servo drive. If the drive capacity is insufficient, a repeater is needed.
... ... @@ -54,44 +54,58 @@
54 54  
55 55  (% class="table-bordered" %)
56 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
57 +|(% style="text-align:center; vertical-align:middle" %)Read 16-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
60 60  
61 -**Read function code: 0x03**
60 +**(1) Read function code: 0x03**
62 62  
63 63  Request format:
64 64  
65 -|(% rowspan="2" %)**Address**|(% rowspan="2" %)**Function code**|(% colspan="2" %)**Initial address**|(% colspan="2" %)**Number of reads**|(% rowspan="2" %)**CRC check code**
66 -|**high byte**|**low byte**|**high byte**|**low byte**
67 -|1 byte|03|1 byte|1 byte|1 byte|1 byte|2 bytes
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
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
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
74 74  
75 -**Write function code: 0x06**
88 +**(2) Write function code: 0x06**
76 76  
77 77  Request format:
78 78  
79 -|(% rowspan="2" %)**Address**|(% rowspan="2" %)**Function code**|(% colspan="2" %)**Initial address**|(% colspan="2" %)**Number of reads**|(% rowspan="2" %)**CRC check code**
80 -|**high byte**|**low byte**|**high byte**|**low byte**
81 -|1 byte|06|1 byte|1 byte|1 byte|1 byte|2 bytes
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
82 82  
83 83  Response format:
84 84  
85 -|(% rowspan="2" %)**Address**|(% rowspan="2" %)**Function code**|(% colspan="2" %)**Initial address**|(% colspan="2" %)**Number of reads**|(% rowspan="2" %)**CRC check code**
86 -|**high byte**|**low byte**|**high byte**|**low byte**
87 -|1 byte|06|1 byte|1 byte|1 byte|1 byte|2 bytes
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 88  
89 89  If the setting is successful, the original is returned
90 90  
91 -|(% rowspan="2" %)**There should be a message interval not less than 3.5 characters at the beginning**|**Address**|**Function code**|**Data**|**CRC check code**
92 -|1 byte|1 byte|N bytes|2 bytes
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
93 93  
94 -(% style="color:inherit; font-family:inherit; font-size:26px" %)**CRC check**
108 +== **CRC check** ==
95 95  
96 96  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:
97 97  
... ... @@ -233,7 +233,7 @@
233 233  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.
234 234  
235 235  (% class="table-bordered" %)
236 -|(% style="text-align:center; vertical-align:middle" %)[[image:image-20220611153214-3.png]]
250 +|(% style="text-align:center; vertical-align:middle" %)[[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_6db94f5d0421f97a.png?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_6db94f5d0421f97a.png"]]
237 237  |After the EEPROM is damaged, the servo will have an non resettable fault!
238 238  
239 239  **(5) Set the high and low order of the 32-bit monitoring data**
... ... @@ -245,16 +245,16 @@
245 245  The description of related function codes are as follows.
246 246  
247 247  (% class="table-bordered" %)
248 -|(% 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" %)(((
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:135px" %)(((
249 249  **Setting method**
250 -)))|(% style="text-align:center; vertical-align:middle; width:186px" %)(((
264 +)))|(% style="text-align:center; vertical-align:middle; width:171px" %)(((
251 251  **Effective time**
252 -)))|(% 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**
253 -|(% 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" %)(((
266 +)))|(% style="text-align:center; vertical-align:middle; width:115px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:61px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:347px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**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:135px" %)(((
254 254  Operation setting
255 -)))|(% style="text-align:center; vertical-align:middle; width:186px" %)(((
269 +)))|(% style="text-align:center; vertical-align:middle; width:171px" %)(((
256 256  Effective immediately
257 -)))|(% 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" %)(((
271 +)))|(% style="text-align:center; vertical-align:middle; width:115px" %)2|(% style="text-align:center; vertical-align:middle; width:61px" %)0 to 5|(% style="width:347px" %)(((
258 258  0-2400bps
259 259  
260 260  1-4800bps
... ... @@ -266,12 +266,12 @@
266 266  4-38400bps
267 267  
268 268  5-57600bp
269 -)))|(% style="text-align:center; vertical-align:middle; width:189px" %)-
270 -|(% 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" %)(((
283 +)))|(% style="text-align:center; vertical-align:middle" %)-
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:135px" %)(((
271 271  Operation setting
272 -)))|(% style="text-align:center; vertical-align:middle; width:186px" %)(((
286 +)))|(% style="text-align:center; vertical-align:middle; width:171px" %)(((
273 273  Effective immediately
274 -)))|(% 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" %)(((
288 +)))|(% style="text-align:center; vertical-align:middle; width:115px" %)0|(% style="text-align:center; vertical-align:middle; width:61px" %)0 to 3|(% style="width:347px" %)(((
275 275  0: 1 stop bit, no parity
276 276  
277 277  1: 1 stop bit, odd parity
... ... @@ -279,16 +279,16 @@
279 279  2: 1 stop bit, even parity
280 280  
281 281  3: 2 stop bits, no parity
282 -)))|(% style="text-align:center; vertical-align:middle; width:189px" %)-
283 -|(% 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" %)(((
296 +)))|(% style="text-align:center; vertical-align:middle" %)-
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:135px" %)(((
284 284  Operation setting
285 -)))|(% style="text-align:center; vertical-align:middle; width:186px" %)(((
299 +)))|(% style="text-align:center; vertical-align:middle; width:171px" %)(((
286 286  Effective immediately
287 -)))|(% 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" %)(((
301 +)))|(% style="text-align:center; vertical-align:middle; width:115px" %)0|(% style="text-align:center; vertical-align:middle; width:61px" %)0 to 1|(% style="width:347px" %)(((
288 288  0: Do not write to EEPROM, and do not store after power failure;
289 289  
290 290  1: Write to EEPROM, power-down storage.
291 -)))|(% style="text-align:center; vertical-align:middle; width:189px" %)-
305 +)))|(% style="text-align:center; vertical-align:middle" %)-
292 292  
293 293  = **Modbus communication variable address and value** =
294 294  
... ... @@ -332,7 +332,7 @@
332 332  )))|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Name**
333 333  |(% 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
334 334  
335 -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]]__
349 +For detailed parameter addresses, please refer to __[["11.1 Lists of parameters".>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/11%20Appendix/#HListsofparameters]]__
336 336  
337 337  == **Variable value type description** ==
338 338  
image-20220611153134-1.png
Author
... ... @@ -1,1 +1,0 @@
1 -XWiki.Joey
Size
... ... @@ -1,1 +1,0 @@
1 -3.8 KB
Content
image-20220611153144-2.png
Author
... ... @@ -1,1 +1,0 @@
1 -XWiki.Joey
Size
... ... @@ -1,1 +1,0 @@
1 -3.8 KB
Content
image-20220611153214-3.png
Author
... ... @@ -1,1 +1,0 @@
1 -XWiki.Joey
Size
... ... @@ -1,1 +1,0 @@
1 -3.8 KB
Content