Changes for page 08 Communication
Last modified by Iris on 2025/07/24 15:23
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... ... @@ -2,12 +2,12 @@ 2 2 3 3 = **Modbus communication** = 4 4 5 -== **Hardware wiring**==5 +== Hardware wiring == 6 6 7 7 The position of RS485 communication port (take VD2B as an example) is as the figure below. 8 8 9 9 (% style="text-align:center" %) 10 -[[image:image-20220608154248-1.png]] 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 ... ... @@ -16,7 +16,7 @@ 16 16 The servo drive adopts RS485 half-duplex communication mode. The 485 bus should adopt the hand-in-hand structure instead of the star structure or the bifurcated structure. The star structure or bifurcation structure will produce reflected signals, which will affect the 485 communication. 17 17 18 18 (% class="table-bordered" %) 19 -|(% 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. ... ... @@ -40,7 +40,7 @@ 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 ... ... @@ -48,7 +48,7 @@ 48 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 ... ... @@ -62,15 +62,15 @@ 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 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** 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 74 |1 byte|03|(% style="width:279px" %)1 byte|(% style="width:160px" %)1 byte|(% style="width:114px" %)1 byte|(% style="width:98px" %)…|2 bytes 75 75 76 76 **Write function code: 0x06** ... ... @@ -85,16 +85,16 @@ 85 85 86 86 Response format: 87 87 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** 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 90 |1 byte|06|1 byte|1 byte|1 byte|1 byte|2 bytes 91 91 92 92 If the setting is successful, the original is returned 93 93 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** 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 95 |(% style="width:114px" %)1 byte|(% style="width:127px" %)1 byte|(% style="width:104px" %)N bytes|(% style="width:180px" %)2 bytes 96 96 97 -(% style="color:inherit; font-family:inherit; font-size:26px" %) **CRC check**97 +== (% style="color:inherit; font-family:inherit; font-size:26px" %)CRC check(%%) == 98 98 99 99 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: 100 100 ... ... @@ -165,8 +165,6 @@ 165 165 166 166 == **Communication example** == 167 167 168 - 169 - 170 170 **03 Function code read** 171 171 172 172 Read the monitoring volume U0-31 bus voltage, the Modbus register address corresponding to this variable is 7716 (0x1E24) ... ... @@ -173,20 +173,18 @@ 173 173 174 174 Request format: 175 175 176 -|(% rowspan="2" %)**Address**|(% rowspan="2" %)**Function code**|(% colspan="2" %)**Register address**|(% colspan="2" %)**Data**|(% rowspan="2" %)**CRC check code** 177 -|**high byte**|**low byte**|**high byte**|**low byte** 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** 178 178 |01|03|1E|24|00|01|C2 29 179 179 180 180 The slave responds normally: 181 181 182 -|(% rowspan="2" %)**Address**|(% rowspan="2" %)**Function code**|(% rowspan="2" %)**Number of bytes**|(% colspan="2" %)**Data**|(% rowspan="2" %)**CRC high byte** 183 -|**high byte**|**low byte** 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** 184 184 |01|03|02|0C|4F|FC B0 185 185 186 186 For example: The value read is 0x0C4F, which means that the voltage is 315.1V. 187 187 188 - 189 - 190 190 **06 Function Code Write** 191 191 192 192 P1-10 the maximum speed threshold is set to 3000rpm. This variable corresponds to the Modbus address: 266 (0x010A) ... ... @@ -193,14 +193,14 @@ 193 193 194 194 Request format: 195 195 196 -|(% 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** 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** 198 198 |01|06|01|0A|0B|B8|AF, 76 199 199 200 200 The slave responds normally: 201 201 202 -|(% 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** 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** 204 204 |01|06|01|0A|0B|B8|AF, 76 205 205 206 206 **10 Function code write** ... ... @@ -209,23 +209,24 @@ 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 228 - 229 229 **Set the servo address P12-1** 230 230 231 231 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. ... ... @@ -254,7 +254,7 @@ 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! 259 259 260 260 **Set the high and low order of the 32-bit monitoring data** ... ... @@ -304,7 +304,7 @@ 304 304 305 305 = **Modbus communication variable address and value** = 306 306 307 -== **Variable address description** ==304 +== **Variable address** == 308 308 309 309 Modbus registers are divided into two categories: 310 310 ... ... @@ -339,7 +339,7 @@ 339 339 340 340 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]]__ 341 341 342 -== **Variable value type description** ==339 +== **Variable value type** == 343 343 344 344 When writing function codes with signed numbers, you need to convert the pre-written data into hexadecimal complements. The conversion rules are as follows: 345 345