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VariableFrequencyDrive(M)_1734946688662.pdf
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console.log
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console.log
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manual.md
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manual.md
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### 6.10 Communication function parameters
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| F163 | Setting range | Unit | Ex-factory value | Alteration |
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|-|-|-|-|-|
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| Communication address | 0-250 | 1 | 1 | X |
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When RS-485 communication port control is set for the inverter, the position of each inverter shall be set via a parameter.
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0: No communication function
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01-250: Position of inverter
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| F164 | Setting range | Unit | Ex-factory value | Alteration |
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|-|-|-|-|-|
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| Communication transmission speed | 0-3 | 1 | 2 | X |
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0:4800 bit/s 1:9600 bit/s 2:19200 bit/s 3:38400 bit/s
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| F165 | Setting range | Unit | Ex-factory value | Alteration |
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|-|-|-|-|-|
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| Communication data mode | 0-5 | 1 | 3 | X |
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0: 8N1 For ASCII 1: 8E1 For ASCII 2: 8O1 For ASCII
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3: 8N1 For RTU 4: 8E1 For RTU 5: 8O1 For RTU
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example:
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```tekst
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1. 8N1 For ASCII F165=0 or 8N1 For RTU F165=3<br>
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2. 8E1 For ASCII F165=1 or 8E1 For RTU F165=4<br>
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3. 8O1 For ASCII F165=2 or 8O1 For RTU F165=5
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```
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| F166-F168 | Reserved |
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|-|-|
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| F169 | Setting range | Unit | Ex-factory value | Alteration |
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|-|-|-|-|-|
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| Given decimal point of communication frequency | 0: Communication 0201H egister adopts 1 bit decimal<br>1: Communication 0201H register adopts 2 bit decimal | 1 | 0 | X |
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F169 sets the decimal point position of the given communication frequency (0201h register)
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#### Summary
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(1) D100 series converters support RTU mode in standard Modbus protocol.
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RTU mode: Each 8bit data is composed of two hexadecimal characters of 4bit, for example: 64H (hex).
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| | RTU Mode|
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|-|-|
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| Start bit | 3.5 bits |
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|Slave address | 1 bit |
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| Modbus function NO. | 1 bit |
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| Data | n bit |
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| CHECK | CRC16（2 bit）|
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| End bit | 3.5 bits|
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Inverter parameters communication address indicate hexadecimal system, for example communication address of F100 is 0064H. Communication specific variables: including communication specific instruction variables and communication specific state variables, address starting from 0200H. Save of communication variables: rewrite inverter parameters (for example F100) to be stored in EEPROM.Still save after power failure. But parameters cannot be rewritten frequently, otherwise EEPROM memory may be damaged. Rewriting communication-specific variables (variables after 0200H) only modifies values in RAM. Do not save after power failure, it allow rewriting frequently. Data Types in Communication: because of data is hexadecimal integer, the smallest unit can be seen from the decimal point position of the parameters in the function table. For example, the minimum unit of F003 is 0.1Hz. Therefore, according to Modbus protocol, communication transmission 300 represents 30.0Hz. Rewritten, of F013 and F172 parameters can only by 06H function, not support by 10H function, and there is no response frame.
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**Supported Modbus Function**
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| Parameter | Function | Specification |
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|-|-|-|
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| 01H | Read parameter address status | Read from 1 to 32 |
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| 03H | Read holding register | Read from 1~20. Read all parameters,communication-specific variables |
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| 04H | Read input register | Read from 1~20. |
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| 05H | Write single parameter address | Write data FF00H，parameter address ON；write 0000H，parameter address OFF |
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| 06H | Write single holding register | All parameters and communication-specific variables can be rewritten |
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| 0FH | Write multiple parameter address | Write from 1~32. parameter address start from 0048H |
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| 10H | Write multiple holding registers | Rewritten from 1~20. All parameters and communication-specific variables can be rewritten
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### (1) Communication Address table
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**1. parameter address address table**
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Modbus mode include：01H (read parameter address status), 05H (write single parameter address), 0FH (write multiple parameter address)
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| parameter address | Name | R/W | Specification |
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|-|-|-|-|
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| 0000 | Operation | R | 0–Stop 1–Operating |
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| 0001 | JOG | R | 0–Invalid 1–JOG |
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| 0002 | Forward/reverse | R | 0–Forward 1–Reverse |
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| 0003 | In operation | R | 0–Stop 1–In operation |
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| 0004 | In jogging | R | 0–Invalid 1–In jogging |
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| 0005 | In forward/reverse rotation | R | 0–In forward rotation 1–In reverse rotation |
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| 0006 | In braking | R | 0–Invalid 1–In braking |
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| 0007 | Frequency tracking | R | 0–Invalid 1–Frequency tracking |
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| 0008-0047 | reserved |
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| 0048 | Operation | W | 0000—Invalid FF00（or 100， bit8 set 1-Valid |
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| 0049 | Forward | W | 0000—Invalid FF00-Valid |
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| 004A | Reverse | W | 0000—Invalid FF00-Valid |
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| 004B | Stop | W | 0000—Invalid FF00-Valid |
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| 004C | Forward/reverse switch | W | 0000—Invalid FF00-Valid |
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| 004D | JOG | W | 0000—Invalid FF00-Valid |
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| 004E | JOG Forward | W | 0000—Invalid FF00-Valid |
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| 004F | JOG Reverse | W | 0000—Invalid FF00-Valid |
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**2. Input register address table**
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All address only read. Modbus function include 04H (read input register).
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**Fault Code table:**
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| Address | Name |
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|-|-|
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| 0000 | Output frequency |
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| 0001 | Set frequency |
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| 0002 | Output current |
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| 0003 | Output speed |
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| 0004 | DC voltage |
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| 0005 | AC voltage |
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| 0006 | temperature |
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| 0007 | Counter |
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| 0008 | PID target value |
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| 0009 | PID feedback value |
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| 000A | Current fault |
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| 000B | Total operating hours |
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| 000C | Output power |
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| 000D | X terminal state |
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|
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| Decimal | Fault code |
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||||||
|
|-|-|
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||||||
|
| 64 | E.OCS |
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||||||
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| 80 | E.oUS |
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||||||
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| 88 | E.LuS |
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| 92 | E.oHS |
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| 96 | E.oLS |
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||||||
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| 100 | E.oAS |
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| 104 | E.oTS |
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|
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||||||
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**Note 1:** The BIT0-BIT5 in X terminal state corresponds to the
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||||||
|
X1-X6 terminal , and 1 means terminal is closed.<br>
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**Note 2:** The fault code suffixes S, A, d and n are four consecutive
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numbers, such as 65 for E.OC.A.
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||||||
|
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||||||
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**3. Holding register address table**
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||||||
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|
Modbus functions include: 03H (read and hold register), 06H (write a single hold register), 10H (write multiple hold registers)
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||||||
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| Definition | Address | Specification |
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|-|-|-|
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| Internal parameters | 0000H～00FFH | Inverter parameter address，F000～F255
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| Communication Specific Instruction Variable | 0200H | Main control bit，BIT0-BIT7 mapping parameter address 0048H～004FH，BIT8 virtual input terminal enable
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| Communication Specific Instruction Variable | 0201H | Given frequency，given frequency address when F002=2
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| Communication Specific Instruction Variable | 0202H | Virtual input terminal1，BIT0-BIT15 corresponding digital input terminal function 01-16. Digital input terminal function 1-8 already exists in the main control bit, the modification here is invalid.
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| Communication Specific Instruction Variable | 0203H | Virtual input terminal 2, BIT0-BIT15 corresponding digital input terminal function 17-32
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| Communication Specific Instruction Variable | 0204H | EDO，Communication control digital output terminal, BIT3 corresponding (FA, FB, FC) relay terminal
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| Communication Specific Instruction Variable | 0205H | EAO，Communication control analog output terminal AO
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| Communication Specific Instruction Variable | 0206H～020FH | Reserved
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| Communication-specific state variables, read-only | 0210H | Main control bit，BIT0～BIT15 mapping parameter address 0000H～000FH
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| Communication-specific state variables, read-only | 0211H | Digital terminal status，BIT0-BIT5 corresponding X1-X6 , BIT11 corresponding (FA, FB, FC) relay
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| Communication-specific state variables, read-only | 0212H | Virtual Output State 1, BIT0-BIT15 corresponding to Digital Output Terminal Function 01～16.
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| Communication-specific state variables, read-only | 0213H | Virtual output state 2, BIT0-BIT15 corresponds to digital output terminal function 17-32.
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| Communication-specific state variables, read-only | 0214H-021FH | Reserved
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| Communication-specific state variables, read-only | 0220H～022DH | Mapping input registers (addresses 0000H-000DH)
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| Communication-specific state variables, read-only | 022EH | AI1. Analog input value 1（0～100.00%）
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| Communication-specific state variables, read-only | 022FH | AI2. Analog input value 2（0～100.00%）
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| Communication-specific state variables, read-only | 0230H | PFI. Pulse input value
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||||||
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| Communication-specific state variables, read-only | 0231H～023FH | Reserved
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||||||
|
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||||||
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(1) For example
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1. Setting No.01 inverter given frequency is 300.0Hz, Application Function Code 06H. Given frequency is communication port (F002=2)
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||||||
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**Master command message：**
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|
| | RTU Mode |
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||||||
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|-|-|
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||||||
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| Mute interval | |
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| Slave address | 01H |
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| Modbus function NO. | 06H |
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| High bit of register address | 02H |
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| Low bit of register address | 01H |
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| High bit of written data | 0BH |
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| Low bit of written data | B8H |
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| Check | DEH (CRC low bit)<br>F0H (CRC high bit)
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| END | Mute |
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**Slave response:** frequency is set to 300.0Hz, returns the same data as the master requests.
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**Note 1:** When F002 = 2, use 06H or 10H function to rewrite frequency, address is 0201H, EPROM is not operated at this time. If the rewriting frequency is to be written to EEPROM, the F003 value needs to be rewritten.
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**Note 2:** Calculations of check bits RTU mode adopts CRC method. The C language code of CRC16 is as follows：
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```C
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|
unsigned char data // Indicators of information buffer
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|
unsigned char length //Number of bytes in the information buffer
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||||||
|
unsigned int crc_chk(unsigned char data,unsigned char length)
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||||||
|
{
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int j;
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unsigned int reg_crc=0xffff;
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|
while(length--)
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||||||
|
{
|
||||||
|
reg_crc^=*data++;
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||||||
|
for(j=0;j<8;j++)
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|
{
|
||||||
|
if(reg_crc&0x01)
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reg_crc=(reg_crc>>1)^0xa001;
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else
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reg_crc=reg_crc>>1;
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|
}
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|
}
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return reg_crc;
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}
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|
```
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2. Make No. 01 inverter run, function code 05H or 06H. Requirement control mode is communication port (F001=2). 0FH and 10H can also achieve this function as multi-write modes.
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|
|
||||||
|
See the following examples for their formats.
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||||||
|
**Master command message：**
|
||||||
|
|
||||||
|
| | Write parameter address | Write hold register |
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||||||
|
|-|-|-|
|
||||||
|
| Slave address | 01H | 01H |
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| Modbus function number | 05H | 06H |
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| High bit of parameter address/register address | 00H | 02H |
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| Low bit of parameter address/register address | 48H | 00H |
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|
| High bit of write data | FFH | 00H |
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||||||
|
| Low bit of write data | 00H | 01H |
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||||||
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| CRC | —— | —— |
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||||||
|
|
||||||
|
**Slave response:** inverter is forward operation and returns the same data as the master requests.
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|
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|
3. Read 01 slave running status, function code 01H or 03H.
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||||||
|
|
||||||
|
**Master command message：**
|
||||||
|
|
||||||
|
| | Read parameter address | Read hold register |
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||||||
|
|-|-|-|
|
||||||
|
|Slave address | 01H | 01H
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||||||
|
|Modbus function number | 01H | 03H
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||||||
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|High bit of parameter address/register start address | 00H | 02H
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||||||
|
|Low bit of parameter address/register start address | 00H | 10H
|
||||||
|
|Read parameter address/register quantity (high bit) | 00H | 00H
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||||||
|
|Read parameter address/register quantity (low bit) | 08H | 01H
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||||||
|
|CRC | —— | ——
|
||||||
|
|
||||||
|
**Slave response:** 09H to 00001001B，comparing with the parameter address table, it indicates that inverter on command and operating.
|
||||||
|
|
||||||
|
| | Read parameter address | Read hold register |
|
||||||
|
|-|-|-|
|
||||||
|
| Slave address | 01H | 01H |
|
||||||
|
| Modbus function number | 01H | 03H |
|
||||||
|
| Byte number | 01H | 02H |
|
||||||
|
| Read data | 09H | 00H<br>09H |
|
||||||
|
| CRC | —— | —— |
|
||||||
|
|
||||||
|
4. Read the operating frequency and setting frequency of No. 01 inverter, function code 04H or 03H.
|
||||||
|
|
||||||
|
**Master command message:**
|
||||||
|
|
||||||
|
| | Read input register | Read hold register |
|
||||||
|
|-|-|-|
|
||||||
|
| Slave address | 01H | 01H |
|
||||||
|
| Modbus function number | 04H | 03H |
|
||||||
|
| High bit of input/hold register start address | 00H | 02H |
|
||||||
|
| Low bit of input/hold register start address | 00H | 20H |
|
||||||
|
| Read byte number(high bit) | 00H | 00H |
|
||||||
|
| Read byte number(low bit) | 02H | 02H |
|
||||||
|
| CRC | —— | —— |
|
||||||
|
|
||||||
|
**Slave response:** The return content indicates that the current frequency of inverter is 0.0Hz and the set frequency is 50.0Hz.
|
||||||
|
|
||||||
|
| | Read input register | Read hold register |
|
||||||
|
|-|-|-|
|
||||||
|
| Slave address | 01H | 01H |
|
||||||
|
| Modbus function number | 04H | 03H |
|
||||||
|
| Return byte number | 04H | 04H |
|
||||||
|
| High bit of first register content | 00H | 00H |
|
||||||
|
| Low bit of first register content | 00H | 00H |
|
||||||
|
| High bit of second register content | 01H | 01H |
|
||||||
|
| Low bit of second register content | F4H | F4H |
|
||||||
|
| CRC | —— | —— |
|
||||||
|
|
||||||
|
5. Write 20.0s for F014, 15.0s for F015 and 10H for function code.
|
||||||
|
|
||||||
|
**Master command message:**
|
||||||
|
| | |
|
||||||
|
|-|-|
|
||||||
|
| Slave address | 01H |
|
||||||
|
| Modbus function number | 10H |
|
||||||
|
| Start address (high bit) | 00H |
|
||||||
|
| Start address (low bit) | 0EH |
|
||||||
|
| Register number(high bit) | 00H |
|
||||||
|
| Register number(low bit) | 02H |
|
||||||
|
| Byte number | 04H |
|
||||||
|
| High bit of first number | 00H |
|
||||||
|
| Low bit of first register content | C8H |
|
||||||
|
| High bit of second register content | 00H |
|
||||||
|
| High bit of second register content | 96H |
|
||||||
|
| CRC | —— |
|
||||||
|
|
||||||
|
**Slave response:**
|
||||||
|
|
||||||
|
| | |
|
||||||
|
|-|-|
|
||||||
|
| Slave address | 01H |
|
||||||
|
| Modbus function number | 10H |
|
||||||
|
| Start address (high bit) | 00H |
|
||||||
|
| Start address (low bit) | 0EH |
|
||||||
|
| Register number(high bit) | 00H |
|
||||||
|
| Register number(low bit) | 02H |
|
||||||
|
| CRC | —— |
|
||||||
|
|
||||||
|
**Abnormal response frame:** When the slave station cannot complete the request sent by the master station, the abnormal response frame is returned. The frame format is as follows:
|
||||||
|
|
||||||
|
* 1 bit
|
||||||
|
* 1 bit（Modbus function number+80H）
|
||||||
|
* 1 bit:
|
||||||
|
- 01：Modbus function number that cannot be processed
|
||||||
|
- 02：Unreasonable data address
|
||||||
|
- 03：Out-of-range data values
|
||||||
|
- 04：Operation failure (write read-only parameters, change
|
||||||
|
|
||||||
|
parameters that cannot be changed during operation, etc.)
|
||||||
|
* ——
|
||||||
483
modbus.md
Normal file
483
modbus.md
Normal file
@@ -0,0 +1,483 @@
|
|||||||
|
# Vevor D100 VFD - Modbus RTU Reverse Engineering Notes
|
||||||
|
|
||||||
|
## Hardware
|
||||||
|
|
||||||
|
* VFD: Vevor D100
|
||||||
|
* Interface: RS485
|
||||||
|
* Connection: USB-RS485 adapter
|
||||||
|
* LinuxCNC version: 2.9.8
|
||||||
|
|
||||||
|
## Communication Settings
|
||||||
|
|
||||||
|
Configured on VFD:
|
||||||
|
|
||||||
|
| Parameter | Value |
|
||||||
|
| ------------- | ---------- |
|
||||||
|
| Slave Address | 1 |
|
||||||
|
| Baud Rate | 9600 |
|
||||||
|
| Data Bits | 8 |
|
||||||
|
| Parity | None |
|
||||||
|
| Stop Bits | 1 |
|
||||||
|
| Protocol | Modbus RTU |
|
||||||
|
|
||||||
|
---
|
||||||
|
|
||||||
|
# Addressing
|
||||||
|
|
||||||
|
The VFD documentation uses hexadecimal Modbus addresses.
|
||||||
|
|
||||||
|
Practical testing with `mbpoll` showed that mbpoll uses addresses shifted by +1 relative to the addresses shown in the manual.
|
||||||
|
|
||||||
|
Formula:
|
||||||
|
|
||||||
|
```text
|
||||||
|
mbpoll_address = documented_hex_address + 1
|
||||||
|
```
|
||||||
|
|
||||||
|
Examples:
|
||||||
|
|
||||||
|
| Documentation | Hex | mbpoll |
|
||||||
|
| ------------- | --- | ------ |
|
||||||
|
| 0200H | 512 | 513 |
|
||||||
|
| 0201H | 513 | 514 |
|
||||||
|
| 0210H | 528 | 529 |
|
||||||
|
| 0220H | 544 | 545 |
|
||||||
|
| 0221H | 545 | 546 |
|
||||||
|
| 0222H | 546 | 547 |
|
||||||
|
| 0223H | 547 | 548 |
|
||||||
|
|
||||||
|
---
|
||||||
|
|
||||||
|
# Frequency Command
|
||||||
|
|
||||||
|
Parameter:
|
||||||
|
|
||||||
|
```text
|
||||||
|
0201H = Given Frequency
|
||||||
|
```
|
||||||
|
|
||||||
|
mbpoll address:
|
||||||
|
|
||||||
|
```text
|
||||||
|
514
|
||||||
|
```
|
||||||
|
|
||||||
|
Manual example:
|
||||||
|
|
||||||
|
```text
|
||||||
|
01 06 02 01 0B B8
|
||||||
|
```
|
||||||
|
|
||||||
|
which means:
|
||||||
|
|
||||||
|
```text
|
||||||
|
3000 decimal = 300.0 Hz
|
||||||
|
```
|
||||||
|
|
||||||
|
---
|
||||||
|
|
||||||
|
## F169
|
||||||
|
|
||||||
|
Parameter:
|
||||||
|
|
||||||
|
```text
|
||||||
|
F169 = Given decimal point of communication frequency
|
||||||
|
```
|
||||||
|
|
||||||
|
Configured value:
|
||||||
|
|
||||||
|
```text
|
||||||
|
F169 = 0
|
||||||
|
```
|
||||||
|
|
||||||
|
Meaning:
|
||||||
|
|
||||||
|
```text
|
||||||
|
0201 = frequency * 10
|
||||||
|
```
|
||||||
|
|
||||||
|
Examples:
|
||||||
|
|
||||||
|
| Frequency | Register Value |
|
||||||
|
| --------- | -------------- |
|
||||||
|
| 10.0 Hz | 100 |
|
||||||
|
| 25.0 Hz | 250 |
|
||||||
|
| 50.0 Hz | 500 |
|
||||||
|
| 100.0 Hz | 1000 |
|
||||||
|
| 300.0 Hz | 3000 |
|
||||||
|
|
||||||
|
---
|
||||||
|
|
||||||
|
# Verified Read Registers
|
||||||
|
|
||||||
|
## 0210H - Main Control Status
|
||||||
|
|
||||||
|
mbpoll:
|
||||||
|
|
||||||
|
```text
|
||||||
|
529
|
||||||
|
```
|
||||||
|
|
||||||
|
Documentation:
|
||||||
|
|
||||||
|
```text
|
||||||
|
0210H
|
||||||
|
Main control bit
|
||||||
|
BIT0-BIT15 mapping parameter address 0000H-000FH
|
||||||
|
```
|
||||||
|
|
||||||
|
Verified values:
|
||||||
|
|
||||||
|
### Stopped
|
||||||
|
|
||||||
|
```text
|
||||||
|
0210 = 0
|
||||||
|
```
|
||||||
|
|
||||||
|
Binary:
|
||||||
|
|
||||||
|
```text
|
||||||
|
0000 0000 0000 0000
|
||||||
|
```
|
||||||
|
|
||||||
|
### Running Forward
|
||||||
|
|
||||||
|
```text
|
||||||
|
0210 = 9
|
||||||
|
```
|
||||||
|
|
||||||
|
Binary:
|
||||||
|
|
||||||
|
```text
|
||||||
|
0000 0000 0000 1001
|
||||||
|
```
|
||||||
|
|
||||||
|
Meaning:
|
||||||
|
|
||||||
|
```text
|
||||||
|
BIT0 = Operation
|
||||||
|
BIT3 = In operation
|
||||||
|
```
|
||||||
|
|
||||||
|
### Running Reverse
|
||||||
|
|
||||||
|
```text
|
||||||
|
0210 = 13
|
||||||
|
```
|
||||||
|
|
||||||
|
Binary:
|
||||||
|
|
||||||
|
```text
|
||||||
|
0000 0000 0000 1101
|
||||||
|
```
|
||||||
|
|
||||||
|
Meaning:
|
||||||
|
|
||||||
|
```text
|
||||||
|
BIT0 = Operation
|
||||||
|
BIT2 = Reverse
|
||||||
|
BIT3 = In operation
|
||||||
|
```
|
||||||
|
|
||||||
|
### Stopped After Reverse
|
||||||
|
|
||||||
|
```text
|
||||||
|
0210 = 4
|
||||||
|
```
|
||||||
|
|
||||||
|
Binary:
|
||||||
|
|
||||||
|
```text
|
||||||
|
0000 0000 0000 0100
|
||||||
|
```
|
||||||
|
|
||||||
|
Meaning:
|
||||||
|
|
||||||
|
```text
|
||||||
|
BIT2 = Reverse selected
|
||||||
|
```
|
||||||
|
|
||||||
|
---
|
||||||
|
|
||||||
|
## 0220H Block
|
||||||
|
|
||||||
|
mbpoll start address:
|
||||||
|
|
||||||
|
```text
|
||||||
|
545
|
||||||
|
```
|
||||||
|
|
||||||
|
Read command:
|
||||||
|
|
||||||
|
```bash
|
||||||
|
mbpoll -m rtu -a 1 -b 9600 -P none -t 4 -r 545 -c 4 /dev/ttyUSB0
|
||||||
|
```
|
||||||
|
|
||||||
|
Mapping:
|
||||||
|
|
||||||
|
| Address | Function |
|
||||||
|
| ------- | ---------------- |
|
||||||
|
| 0220H | Output Frequency |
|
||||||
|
| 0221H | Set Frequency |
|
||||||
|
| 0222H | Output Current |
|
||||||
|
| 0223H | Output Speed |
|
||||||
|
|
||||||
|
mbpoll:
|
||||||
|
|
||||||
|
| Address | Register |
|
||||||
|
| ------- | ---------------- |
|
||||||
|
| 545 | Output Frequency |
|
||||||
|
| 546 | Set Frequency |
|
||||||
|
| 547 | Output Current |
|
||||||
|
| 548 | Output Speed |
|
||||||
|
|
||||||
|
Verified example while running:
|
||||||
|
|
||||||
|
| Register | Value |
|
||||||
|
| -------- | ----- |
|
||||||
|
| 545 | 1266 |
|
||||||
|
| 546 | 1267 |
|
||||||
|
| 547 | 214 |
|
||||||
|
| 548 | 7602 |
|
||||||
|
|
||||||
|
Interpreted as:
|
||||||
|
|
||||||
|
| Parameter | Value |
|
||||||
|
| ---------------- | -------- |
|
||||||
|
| Output Frequency | 126.6 Hz |
|
||||||
|
| Set Frequency | 126.7 Hz |
|
||||||
|
| Output Current | 21.4 A |
|
||||||
|
| Output Speed | 7602 RPM |
|
||||||
|
|
||||||
|
---
|
||||||
|
|
||||||
|
# 0200H Main Control Register
|
||||||
|
|
||||||
|
Documentation:
|
||||||
|
|
||||||
|
```text
|
||||||
|
0200H Main control bit
|
||||||
|
BIT0-BIT7 mapping parameter address 0048H-004FH
|
||||||
|
```
|
||||||
|
|
||||||
|
Bit mapping:
|
||||||
|
|
||||||
|
| Coil | Name | Bit | Decimal |
|
||||||
|
| ---- | ---------------------- | ---- | ------- |
|
||||||
|
| 0048 | Operation | BIT0 | 1 |
|
||||||
|
| 0049 | Forward | BIT1 | 2 |
|
||||||
|
| 004A | Reverse | BIT2 | 4 |
|
||||||
|
| 004B | Stop | BIT3 | 8 |
|
||||||
|
| 004C | Forward/Reverse Switch | BIT4 | 16 |
|
||||||
|
| 004D | JOG | BIT5 | 32 |
|
||||||
|
| 004E | JOG Forward | BIT6 | 64 |
|
||||||
|
| 004F | JOG Reverse | BIT7 | 128 |
|
||||||
|
|
||||||
|
---
|
||||||
|
|
||||||
|
# Verified Control Commands
|
||||||
|
|
||||||
|
Control register:
|
||||||
|
|
||||||
|
```text
|
||||||
|
0200H
|
||||||
|
```
|
||||||
|
|
||||||
|
mbpoll address:
|
||||||
|
|
||||||
|
```text
|
||||||
|
513
|
||||||
|
```
|
||||||
|
|
||||||
|
---
|
||||||
|
|
||||||
|
## Forward Run
|
||||||
|
|
||||||
|
Command:
|
||||||
|
|
||||||
|
```bash
|
||||||
|
mbpoll -m rtu -a 1 -b 9600 -P none -t 4 -r 513 /dev/ttyUSB0 2
|
||||||
|
```
|
||||||
|
|
||||||
|
Writes:
|
||||||
|
|
||||||
|
```text
|
||||||
|
0200 = 2
|
||||||
|
```
|
||||||
|
|
||||||
|
Result:
|
||||||
|
|
||||||
|
```text
|
||||||
|
Forward Run
|
||||||
|
```
|
||||||
|
|
||||||
|
---
|
||||||
|
|
||||||
|
## Reverse Run
|
||||||
|
|
||||||
|
Command:
|
||||||
|
|
||||||
|
```bash
|
||||||
|
mbpoll -m rtu -a 1 -b 9600 -P none -t 4 -r 513 /dev/ttyUSB0 4
|
||||||
|
```
|
||||||
|
|
||||||
|
Writes:
|
||||||
|
|
||||||
|
```text
|
||||||
|
0200 = 4
|
||||||
|
```
|
||||||
|
|
||||||
|
Result:
|
||||||
|
|
||||||
|
```text
|
||||||
|
Reverse Run
|
||||||
|
```
|
||||||
|
|
||||||
|
---
|
||||||
|
|
||||||
|
## Stop
|
||||||
|
|
||||||
|
Command:
|
||||||
|
|
||||||
|
```bash
|
||||||
|
mbpoll -m rtu -a 1 -b 9600 -P none -t 4 -r 513 /dev/ttyUSB0 8
|
||||||
|
```
|
||||||
|
|
||||||
|
Writes:
|
||||||
|
|
||||||
|
```text
|
||||||
|
0200 = 8
|
||||||
|
```
|
||||||
|
|
||||||
|
Result:
|
||||||
|
|
||||||
|
```text
|
||||||
|
Stop
|
||||||
|
```
|
||||||
|
|
||||||
|
---
|
||||||
|
|
||||||
|
## Toggle Direction
|
||||||
|
|
||||||
|
Command:
|
||||||
|
|
||||||
|
```bash
|
||||||
|
mbpoll -m rtu -a 1 -b 9600 -P none -t 4 -r 513 /dev/ttyUSB0 16
|
||||||
|
```
|
||||||
|
|
||||||
|
Writes:
|
||||||
|
|
||||||
|
```text
|
||||||
|
0200 = 16
|
||||||
|
```
|
||||||
|
|
||||||
|
Result:
|
||||||
|
|
||||||
|
```text
|
||||||
|
Toggle Direction
|
||||||
|
```
|
||||||
|
|
||||||
|
Important:
|
||||||
|
|
||||||
|
The toggle works only on a rising edge.
|
||||||
|
|
||||||
|
To trigger it again:
|
||||||
|
|
||||||
|
```text
|
||||||
|
0200 = 0
|
||||||
|
0200 = 16
|
||||||
|
```
|
||||||
|
|
||||||
|
must be sent.
|
||||||
|
|
||||||
|
---
|
||||||
|
|
||||||
|
# LinuxCNC Relevant Registers
|
||||||
|
|
||||||
|
## Write
|
||||||
|
|
||||||
|
| Function | Documented | mbpoll |
|
||||||
|
| --------------- | ---------- | ------ |
|
||||||
|
| Main Control | 0200H | 513 |
|
||||||
|
| Given Frequency | 0201H | 514 |
|
||||||
|
|
||||||
|
## Read
|
||||||
|
|
||||||
|
| Function | Documented | mbpoll |
|
||||||
|
| ---------------- | ---------- | ------ |
|
||||||
|
| Status | 0210H | 529 |
|
||||||
|
| Output Frequency | 0220H | 545 |
|
||||||
|
| Set Frequency | 0221H | 546 |
|
||||||
|
| Output Current | 0222H | 547 |
|
||||||
|
| Output Speed | 0223H | 548 |
|
||||||
|
|
||||||
|
---
|
||||||
|
|
||||||
|
# RapidChange ATC Notes
|
||||||
|
|
||||||
|
Useful registers for future ATC implementation:
|
||||||
|
|
||||||
|
## Current
|
||||||
|
|
||||||
|
```text
|
||||||
|
0222H
|
||||||
|
```
|
||||||
|
|
||||||
|
Can potentially be used to detect:
|
||||||
|
|
||||||
|
```text
|
||||||
|
tool tightening
|
||||||
|
tool loosening
|
||||||
|
stall condition
|
||||||
|
```
|
||||||
|
|
||||||
|
based on current increase.
|
||||||
|
|
||||||
|
## Status
|
||||||
|
|
||||||
|
```text
|
||||||
|
0210H
|
||||||
|
```
|
||||||
|
|
||||||
|
Can be used instead of fixed delays.
|
||||||
|
|
||||||
|
Example:
|
||||||
|
|
||||||
|
Wait until:
|
||||||
|
|
||||||
|
```text
|
||||||
|
BIT3 = 0
|
||||||
|
```
|
||||||
|
|
||||||
|
before moving after spindle stop.
|
||||||
|
|
||||||
|
This is more reliable than:
|
||||||
|
|
||||||
|
```text
|
||||||
|
G4 P2
|
||||||
|
```
|
||||||
|
|
||||||
|
fixed delay logic.
|
||||||
|
|
||||||
|
---
|
||||||
|
|
||||||
|
# Known Issues
|
||||||
|
|
||||||
|
RS485 communication becomes less reliable when spindle is running.
|
||||||
|
|
||||||
|
Observed:
|
||||||
|
|
||||||
|
```text
|
||||||
|
Timeouts
|
||||||
|
CRC errors
|
||||||
|
Dropped frames
|
||||||
|
```
|
||||||
|
|
||||||
|
Likely causes:
|
||||||
|
|
||||||
|
* EMI from spindle motor cables
|
||||||
|
* insufficient cable separation
|
||||||
|
* missing shield grounding
|
||||||
|
* missing termination resistor
|
||||||
|
|
||||||
|
Communication is stable when spindle is stopped.
|
||||||
22
q.md
Normal file
22
q.md
Normal file
@@ -0,0 +1,22 @@
|
|||||||
|
1) parameter address address table
|
||||||
|
Modbus mode include：01H (read parameter address status), 05H (write single parameter address), 0FH (write multiple parameter address)
|
||||||
|
|
||||||
|
| parameter address | Name | R/W | Specification |
|
||||||
|
|-------------------|------|-----|---------------|
|
||||||
|
| 0000 | Operation | R | 0–Stop 1–Operating |
|
||||||
|
| 0001 | JOG | R | 0–Invalid 1–JOG |
|
||||||
|
| 0002 | Forward/reverse | R | 0–Forward 1–Reverse |
|
||||||
|
| 0003 | In operation | R | 0–Stop 1–In operation |
|
||||||
|
| 0004 | In jogging | R | 0–Invalid 1–In jogging |
|
||||||
|
| 0005 | In forward/reverse rotation | R | 0–In forward rotation 1–In reverse rotation |
|
||||||
|
| 0006 | In braking | R | 0–Invalid 1–In braking |
|
||||||
|
| 0007 | Frequency tracking | R | 0–Invalid 1–Frequency tracking |
|
||||||
|
| 0008-0047 | reserve |
|
||||||
|
| 0048 | Operation | W | 0000—Invalid FF00 (or 100， bit8 set 1)-Valid |
|
||||||
|
| 0049 | Forward | W | 0000—Invalid FF00-Valid |
|
||||||
|
| 004A | Reverse | W | 0000—Invalid FF00-Valid |
|
||||||
|
| 004B | Stop | W | 0000—Invalid FF00-Valid |
|
||||||
|
| 004C | Forward/reverse switch | W | 0000—Invalid FF00-Valid |
|
||||||
|
| 004D | JOG | W | 0000—Invalid FF00-Valid |
|
||||||
|
| 004E | JOG Forward | W | 0000—Invalid FF00-Valid |
|
||||||
|
| 004F | JOG Reverse | W | 0000—Invalid FF00-Valid |
|
||||||
Reference in New Issue
Block a user