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Changes for page 08 Communication

Last modified by Iris on 2025/07/24 15:23
From version 7.1
edited by Stone Wu
on 2022/08/30 09:52
Change comment: There is no comment for this version
To version 12.1
edited by Mora Zhou
on 2024/07/17 14:19
Change comment: There is no comment for this version

Summary

Details

Page properties
Author
... ... @@ -1,1 +1,1 @@
1 -XWiki.Stone
1 +XWiki.Mora
Content
... ... @@ -2,21 +2,21 @@
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]]
10 +[[image:image-20220608154248-1.png||class="img-thumbnail"]]
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  
18 18  (% class="table-bordered" %)
19 -|(% style="text-align:center; vertical-align:middle" %)[[image:image-20220611153134-1.png]]
19 +(% class="warning" %)|(% 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]]
27 +[[image:image-20220608174415-1.png||class="img-thumbnail"]]
28 28  
29 29  Figure 8-2 RS485 communication network wiring diagram
30 30  
... ... @@ -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 +(% class="warning" %)|(% style="text-align:center; vertical-align:middle" %)[[image:image-20220611153144-2.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.
... ... @@ -40,20 +40,20 @@
40 40  
41 41  = **Modbus communication protocol analysis** =
42 42  
43 -== **Modbus data frame format** ==
43 +== Modbus data frame format ==
44 44  
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 -== **Description of supported function codes** ==
51 +== Supported function codes ==
52 52  
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
... ... @@ -62,15 +62,16 @@
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**
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 67  |1 byte|03|1 byte|1 byte|1 byte|1 byte|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
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  
... ... @@ -84,16 +84,16 @@
84 84  
85 85  Response format:
86 86  
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**
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**
89 89  |1 byte|06|1 byte|1 byte|1 byte|1 byte|2 bytes
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 -(% style="color:inherit; font-family:inherit; font-size:26px" %)**CRC check**
97 +== (% style="color:inherit; font-family:inherit; font-size:26px" %)CRC check(%%) ==
97 97  
98 98  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:
99 99  
... ... @@ -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
... ... @@ -164,8 +164,6 @@
164 164  
165 165  == **Communication example** ==
166 166  
167 -
168 -
169 169  **03 Function code read**
170 170  
171 171  Read the monitoring volume U0-31 bus voltage, the Modbus register address corresponding to this variable is 7716 (0x1E24)
... ... @@ -172,20 +172,18 @@
172 172  
173 173  Request format:
174 174  
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**
174 +|=(% rowspan="2" %)**Address**|=(% rowspan="2" %)**Function code**|=(% colspan="2" %)**Register address**|=(% colspan="2" %)**Data**|=(% rowspan="2" %)**CRC check code**
175 +|=**high byte**|=**low byte**|=**high byte**|=**low byte**
177 177  |01|03|1E|24|00|01|C2 29
178 178  
179 179  The slave responds normally:
180 180  
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**
180 +|=(% rowspan="2" %)**Address**|=(% rowspan="2" %)**Function code**|=(% rowspan="2" %)**Number of bytes**|=(% colspan="2" %)**Data**|=(% rowspan="2" %)**CRC high byte**
181 +|=**high byte**|=**low byte**
183 183  |01|03|02|0C|4F|FC B0
184 184  
185 185  For example: The value read is 0x0C4F, which means that the voltage is 315.1V.
186 186  
187 -
188 -
189 189  **06 Function Code Write**
190 190  
191 191  P1-10 the maximum speed threshold is set to 3000rpm. This variable corresponds to the Modbus address: 266 (0x010A)
... ... @@ -192,17 +192,16 @@
192 192  
193 193  Request format:
194 194  
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**
192 +|=(% rowspan="2" %)**Address**|=(% rowspan="2" %)**Function code**|=(% colspan="2" %)**Register address**|=(% colspan="2" %)**Data**|=(% rowspan="2" %)**CRC check code**
193 +|=**high byte**|=**low byte**|=**high byte**|=**low byte**
197 197  |01|06|01|0A|0B|B8|AF, 76
198 198  
199 199  The slave responds normally:
200 200  
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**
198 +|=(% rowspan="2" %)**Address**|=(% rowspan="2" %)**Function code**|=(% colspan="2" %)**Register address**|=(% colspan="2" %)**Data**|=(% rowspan="2" %)**CRC check code**
199 +|=**high byte**|=**low byte**|=**high byte**|=**low byte**
203 203  |01|06|01|0A|0B|B8|AF, 76
204 204  
205 -
206 206  **10 Function code write**
207 207  
208 208  P07-09 set the 1st segment position to 2000, and this variable corresponds to the Modbus address: 1801 (0x0709).
... ... @@ -209,32 +209,33 @@
209 209  
210 210  Request format:
211 211  
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**
208 +|=(% 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**
209 +|=**high byte**|=**low byte**|=**high byte**|=**low byte**|=**high byte**|=**low byte**|=**high byte**|=**low byte**|=**high byte**|=**low byte**
214 214  |01|10|07|09|00|02|04|00|00|07|D0|16|59
215 215  
216 216  The slave responds normally:
217 217  
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**
214 +|=(% rowspan="2" %)**Address**|=(% rowspan="2" %)**Function code**|=(% colspan="2" %)**Register address**|=(% colspan="2" %)**Data**|=(% colspan="2" %)**CRC check code**
215 +|=**high byte**|=**low byte**|=**high byte**|=**low byte**|=**high byte**|=**low byte**
220 220  |01|10|07|09|00|02|90|BE
221 221  
222 222  = **Servo communication parameter setting** =
223 223  
224 224  (% style="text-align:center" %)
225 -[[image:image-20220608174504-2.png]]
221 +(((
222 +(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
223 +[[Figure 8-3 Modbus communication parameter setting process>>image:image-20220608174504-2.png||id="Iimage-20220608174504-2.png"]]
224 +)))
226 226  
227 -Figure 8-3 Modbus communication parameter setting process
226 +**Set the servo address P12-1**
228 228  
229 -**(1) Set the servo address P12-1**
230 -
231 231  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.
232 232  
233 -**(2) Set the serial port baud rate P12-2**
230 +**Set the serial port baud rate P12-2**
234 234  
235 235  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.
236 236  
237 -**(3) Set the serial port data format P12-3**
234 +**Set the serial port data format P12-3**
238 238  
239 239  The data bit check methods of servo communication are:
240 240  
... ... @@ -245,7 +245,7 @@
245 245  
246 246  The data frame format of the servo and the host computer must be consistent, otherwise the communication cannot be carried out.
247 247  
248 -**(4) Set that whether the function code changed by Modbus communication is written into EEPROM in real time [P12-4]**
245 +**Set that whether the function code changed by Modbus communication is written into EEPROM in real time [P12-4]**
249 249  
250 250  When the host computer modifies the servo function code through communication, it can choose to store it in EEPROM in real time, which has the function of power-off storage.
251 251  
... ... @@ -254,10 +254,10 @@
254 254  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.
255 255  
256 256  (% class="table-bordered" %)
257 -|(% style="text-align:center; vertical-align:middle" %)[[image:image-20220611153214-3.png]]
254 +(% class="warning" %)|(% style="text-align:center; vertical-align:middle" %)[[image:image-20220611153214-3.png]]
258 258  |After the EEPROM is damaged, the servo will have an non resettable fault!
259 259  
260 -**(5) Set the high and low order of the 32-bit monitoring data**
257 +**Set the high and low order of the 32-bit monitoring data**
261 261  
262 262  Part of the monitoring volume is 32-bit length and occupies 2 consecutive bias numbers. The user needs to set the order of the data high bit and low bit correctly, otherwise it will cause data reading and writing errors!
263 263  
... ... @@ -266,54 +266,58 @@
266 266  The description of related function codes are as follows.
267 267  
268 268  (% class="table-bordered" %)
269 -|(% 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" %)(((
266 +|=(% 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;" %)(((
270 270  **Setting method**
271 -)))|(% style="text-align:center; vertical-align:middle; width:186px" %)(((
268 +)))|=(% style="text-align: center; vertical-align: middle; width: 165px;" %)(((
272 272  **Effective time**
273 -)))|(% 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**
274 -|(% 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" %)(((
270 +)))|=(% 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**
271 +|(% 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" %)(((
275 275  Operation setting
276 -)))|(% style="text-align:center; vertical-align:middle; width:186px" %)(((
273 +)))|(% style="text-align:center; vertical-align:middle; width:165px" %)(((
277 277  Effective immediately
278 -)))|(% 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" %)(((
279 -0-2400bps
280 -
281 -1-4800bps
282 -
283 -2-9600bps
284 -
285 -3-19200bps
286 -
287 -4-38400bps
288 -
289 -5-57600bp
290 -)))|(% style="text-align:center; vertical-align:middle; width:85px" %)-
291 -|(% 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" %)(((
275 +)))|(% 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" %)(((
276 +* 0: 2400bps
277 +* 1: 4800bps
278 +* 2: 9600bps
279 +* 3: 19200bps
280 +* 4: 38400bps
281 +* 5: 57600bp
282 +)))|(% style="text-align:center; vertical-align:middle; width:69px" %)-
283 +|(% 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" %)(((
292 292  Operation setting
293 -)))|(% style="text-align:center; vertical-align:middle; width:186px" %)(((
285 +)))|(% style="text-align:center; vertical-align:middle; width:165px" %)(((
294 294  Effective immediately
295 -)))|(% 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" %)(((
296 -0: 1 stop bit, no parity
297 -
298 -1: 1 stop bit, odd parity
299 -
300 -2: 1 stop bit, even parity
301 -
302 -3: 2 stop bits, no parity
303 -)))|(% style="text-align:center; vertical-align:middle; width:85px" %)-
304 -|(% 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" %)(((
287 +)))|(% 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" %)(((
288 +* 0: 1 stop bit, no parity
289 +* 1: 1 stop bit, odd parity
290 +* 2: 1 stop bit, even parity
291 +* 3: 2 stop bits, no parity
292 +)))|(% style="text-align:center; vertical-align:middle; width:69px" %)-
293 +|(% 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" %)(((
305 305  Operation setting
306 -)))|(% style="text-align:center; vertical-align:middle; width:186px" %)(((
295 +)))|(% style="text-align:center; vertical-align:middle; width:165px" %)(((
307 307  Effective immediately
308 -)))|(% 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" %)(((
309 -0: Do not write to EEPROM, and do not store after power failure;
297 +)))|(% 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" %)(((
298 +* 0: Do not write to EEPROM, and do not store after power failure;
299 +* 1: Write to EEPROM, power-down storage.
300 +)))|(% style="text-align:center; vertical-align:middle; width:69px" %)-
301 +|P12-06|Modbus 32-bit variable big endian and little endian|(((
302 +Operation
310 310  
311 -1: Write to EEPROM, power-down storage.
312 -)))|(% style="text-align:center; vertical-align:middle; width:85px" %)-
304 +setting
305 +)))|(((
306 +Effective
313 313  
308 +immediately
309 +)))|0|0-1|(((
310 +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
311 +
312 +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
313 +)))|-
314 +
314 314  = **Modbus communication variable address and value** =
315 315  
316 -== **Variable address description** ==
317 +== **Variable address** ==
317 317  
318 318  Modbus registers are divided into two categories:
319 319  
... ... @@ -339,20 +339,16 @@
339 339  In order to facilitate actual use, this manual provides both decimal and hexadecimal address identification, it is shown in the following table:
340 340  
341 341  (% class="table-bordered" %)
342 -|(% style="text-align:center; vertical-align:middle" %)**Function code**|(% style="text-align:center; vertical-align:middle" %)(((
343 -**Modbus address**
343 +|=(% style="text-align: center; vertical-align: middle; width: 162px;" %)**Function code**|=(% style="text-align: center; vertical-align: middle; width: 302px;" %)(((
344 +**Modbus address (Hexadecimal)**
345 +)))|=(% style="text-align: center; vertical-align: middle; width: 278px;" %)(((
346 +**Modbus address (Decimal)**
347 +)))|=(% style="text-align: center; vertical-align: middle; width: 192px;" %)**Category**|=(% style="text-align: center; vertical-align: middle; width: 142px;" %)**Name**
348 +|(% 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
344 344  
345 -**(Hexadecimal)**
346 -)))|(% style="text-align:center; vertical-align:middle" %)(((
347 -**Modbus address**
348 -
349 -**(Decimal)**
350 -)))|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Name**
351 -|(% 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
352 -
353 353  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]]__
354 354  
355 -== **Variable value type description** ==
352 +== **Variable value type** ==
356 356  
357 357  When writing function codes with signed numbers, you need to convert the pre-written data into hexadecimal complements. The conversion rules are as follows:
358 358