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Changes for page 08 Communication

Last modified by Iris on 2025/07/24 15:23
From version 9.1
edited by Stone Wu
on 2022/08/30 09:58
Change comment: There is no comment for this version
To version 8.1
edited by Stone Wu
on 2022/08/30 09:53
Change comment: There is no comment for this version

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... ... @@ -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" 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**
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**
49 49  |(% style="text-align:center; vertical-align:middle; width:166px" %)1 byte|(% style="text-align:center; vertical-align:middle; width:189px" %)1 byte|(% style="text-align:center; vertical-align:middle; width:155px" %)N bytes|(% style="text-align:center; vertical-align:middle; width:158px" %)2 bytes
50 50  
51 51  == **Description of supported function codes** ==
... ... @@ -53,7 +53,7 @@
53 53  The host reads and writes data to the servo through Modbus RTU format (03, 06 function codes). The corresponding Modbus function codes are as follows:
54 54  
55 55  (% class="table-bordered" %)
56 -|=(% style="text-align: center; vertical-align: middle;" %)**Operate**|=(% style="text-align: center; vertical-align: middle;" %)**Command code**
56 +|(% style="text-align:center; vertical-align:middle" %)**Operate**|(% style="text-align:center; vertical-align:middle" %)**Command code**
57 57  |(% style="text-align:center; vertical-align:middle" %)Read 16-bit/32-bit function code|(% style="text-align:center; vertical-align:middle" %)0x03
58 58  |(% style="text-align:center; vertical-align:middle" %)Write 16-bit function code|(% style="text-align:center; vertical-align:middle" %)0x06
59 59  |(% style="text-align:center; vertical-align:middle" %)Write 32-bit function code|(% style="text-align:center; vertical-align:middle" %)0x10
... ... @@ -68,10 +68,9 @@
68 68  
69 69  Correct response format:
70 70  
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
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
75 75  
76 76  **Write function code: 0x06**
77 77  
... ... @@ -91,8 +91,8 @@
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**
95 -|(% style="width:114px" %)1 byte|(% style="width:127px" %)1 byte|(% style="width:104px" %)N bytes|(% style="width:180px" %)2 bytes
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
96 96  
97 97  (% style="color:inherit; font-family:inherit; font-size:26px" %)**CRC check**
98 98  
... ... @@ -151,13 +151,13 @@
151 151  == **Error response frame** ==
152 152  
153 153  (% class="table-bordered" %)
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**
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**
155 155  |(% 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
156 156  
157 157  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.
158 158  
159 159  (% class="table-bordered" %)
160 -|=(% style="text-align: center; vertical-align: middle;" %)**Error code**|=(% style="text-align: center; vertical-align: middle;" %)**Coding description**
159 +|(% style="text-align:center; vertical-align:middle" %)**Error code**|(% style="text-align:center; vertical-align:middle" %)**Coding description**
161 161  |(% style="text-align:center; vertical-align:middle" %)0x0001|(% style="text-align:center; vertical-align:middle" %)Illegal command code
162 162  |(% style="text-align:center; vertical-align:middle" %)0x0002|(% style="text-align:center; vertical-align:middle" %)Illegal data address
163 163  |(% style="text-align:center; vertical-align:middle" %)0x0003|(% style="text-align:center; vertical-align:middle" %)Illegal data
... ... @@ -226,15 +226,15 @@
226 226  
227 227  Figure 8-3 Modbus communication parameter setting process
228 228  
229 -**Set the servo address P12-1**
228 +**(1) 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.
232 232  
233 -**Set the serial port baud rate P12-2**
232 +**(2) 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 -**Set the serial port data format P12-3**
236 +**(3) 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 -**Set that whether the function code changed by Modbus communication is written into EEPROM in real time [P12-4]**
247 +**(4) 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  
... ... @@ -257,7 +257,7 @@
257 257  |(% 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 -**Set the high and low order of the 32-bit monitoring data**
259 +**(5) 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  
... ... @@ -266,42 +266,51 @@
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: 165px;" %)**Name**|=(% style="text-align: center; vertical-align: middle; width: 148px;" %)(((
268 +|(% 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" %)(((
270 270  **Setting method**
271 -)))|=(% style="text-align: center; vertical-align: middle; width: 165px;" %)(((
270 +)))|(% style="text-align:center; vertical-align:middle; width:186px" %)(((
272 272  **Effective time**
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" %)(((
272 +)))|(% 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**
273 +|(% 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" %)(((
275 275  Operation setting
276 -)))|(% style="text-align:center; vertical-align:middle; width:165px" %)(((
275 +)))|(% style="text-align:center; vertical-align:middle; width:186px" %)(((
277 277  Effective immediately
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" %)(((
277 +)))|(% 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" %)(((
278 +0-2400bps
279 +
280 +1-4800bps
281 +
282 +2-9600bps
283 +
284 +3-19200bps
285 +
286 +4-38400bps
287 +
288 +5-57600bp
289 +)))|(% style="text-align:center; vertical-align:middle; width:85px" %)-
290 +|(% 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" %)(((
287 287  Operation setting
288 -)))|(% style="text-align:center; vertical-align:middle; width:165px" %)(((
292 +)))|(% style="text-align:center; vertical-align:middle; width:186px" %)(((
289 289  Effective immediately
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" %)(((
294 +)))|(% 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" %)(((
295 +0: 1 stop bit, no parity
296 +
297 +1: 1 stop bit, odd parity
298 +
299 +2: 1 stop bit, even parity
300 +
301 +3: 2 stop bits, no parity
302 +)))|(% style="text-align:center; vertical-align:middle; width:85px" %)-
303 +|(% 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" %)(((
297 297  Operation setting
298 -)))|(% style="text-align:center; vertical-align:middle; width:165px" %)(((
305 +)))|(% style="text-align:center; vertical-align:middle; width:186px" %)(((
299 299  Effective immediately
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" %)-
307 +)))|(% 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" %)(((
308 +0: Do not write to EEPROM, and do not store after power failure;
304 304  
310 +1: Write to EEPROM, power-down storage.
311 +)))|(% style="text-align:center; vertical-align:middle; width:85px" %)-
312 +
305 305  = **Modbus communication variable address and value** =
306 306  
307 307  == **Variable address description** ==
... ... @@ -330,13 +330,17 @@
330 330  In order to facilitate actual use, this manual provides both decimal and hexadecimal address identification, it is shown in the following table:
331 331  
332 332  (% class="table-bordered" %)
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
341 +|(% style="text-align:center; vertical-align:middle" %)**Function code**|(% style="text-align:center; vertical-align:middle" %)(((
342 +**Modbus address**
339 339  
344 +**(Hexadecimal)**
345 +)))|(% style="text-align:center; vertical-align:middle" %)(((
346 +**Modbus address**
347 +
348 +**(Decimal)**
349 +)))|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Name**
350 +|(% 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
351 +
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  
342 342  == **Variable value type description** ==