Technical Manual for EA350 Analog Pulse Type Servo Driver V101 Effect of P7-04 bit0 and P7-05 settings on the communication address and storage Parameter functions: Set the data high/low-position when the upper computer reads/writes a 32-bit function code. In actual applications, if a 16-bit function code reads/writes normally but a 32-bit function code reads/writes abnormally, this parameter needs to be changed. P7-09=0 : For read/write, the low 16 bits are before the high 16 bits P7-09=1 : For read/write, the high 16 bits are before the low 16 bits P7-09=2 : For read, the low 16 bits are before the high 16 bits; for write, the high 16 bits are before the low 16 bits P7-09=3 :
For read, the high 16 bits are before the low 16 bits; for write, the low 16 bits are before the high 16 bits Important: The sequence of high and low bits shall be set with reference to definition by the upper computer. The following shows a demonstration by reading a 32-bit function code P1-02=1234567 (in hexadecimal 0012 D687H). P7-09=0 (default value): The low 16 bits (D687H) are before the high 16 bits (0012H). Write P1-02 Upper computer sending command: 01 10 01 02 00 02 04 D6 87 00 12 CRCL CRCH Driver returning command: 01 10 01 02 00 02 CRCL CRCH Read P1-02 Upper computer sending command: 01 03 01 02 00 02 CRCL CRCH Driver returning command: 01 03 04 D6 87 00 12 CRCL CRCH P7-09=1:
The high 16 bits (0012H) are before the low 16 bits (D687H). Write P1-02 Upper computer sending command: 01 10 01 02 00 02 04 00 12 D6 87 CRCL CRCH Driver returning command: 01 10 01 02 00 02 CRCL CRCH Read P1-02 Upper computer sending command: 01 03 01 02 00 02 CRCL CRCH Driver returning command: 01 03 04 00 12 D6 87 CRCL CRCH Parameter functions: It is used for address mapping upon Modbus communication, and totally 10 groups of 16-bit parameters can be mapped (5 groups of 32-bit parameters). Two examples are given below for demonstration. Example 1 : P7-30 = 7654H, P7-31 = 2000H (d0-00 communication address).
When the address received by the driver is the original address (7654H), it will be processed by the program as a target address (2000H), i.e. actually the operation is made to the d0-00 function code. Example 2 : P7-32 = 7655H, P7-33 = 8906H (P9-06 communication address 1 + 8000H); P7-34 = 7656H, P7-34 = 8907H (P9-06 communication address 2 + 8000H). When the upper computer operates two consecutive addresses with 7655H as the starting address, it is equivalent to an operation to P9-06; in case of a write operation, data will not be saved to EEPROM in default. Example 3 :
Based on settings in examples 1 and 2, the upper computer can realize read/write operations to non-consecutive addresses by using 1 command (mapping of the initial address is required). Namely, when the upper computer reads 3 addresses starting from 7654H, the driver will return values of parameters d0-00 (16-bit) and P9-06 (32-bit). 1. The target address requires corresponding actual parameter; otherwise an error may occur upon communication; 2. Address mapping of a 32-bit parameter requires space of two consecutive groups; 3.
When 0x03/0x10 reads/writes n consecutive addresses, if the starting address has been mapped, then the remaining (n-1) addresses also require mapping, and target addresses of mapping can be non-consecutive.
Caution ☞ 195 Function Parameter MODBUS communication address P7-04 bit0 P7-05 0000H~3FxxH (0000H~3FxxH)+8000H 0 (default value) 1 (default value) Write to EEPROM, and save Write to RAM, without saving 0 0 Write to RAM, without saving Write to EEPROM, and save 1 1 Write to RAM, without saving Write to RAM, without saving 1 0 Write to RAM, without saving Write to RAM, without saving P7-09 Status sequence setting for high 32-bit function code upon Modbus communication Initial value 0 Communication address 0709H Unit - Time of taking effect With immediate effect Setting range 0~3 Data size 16bit Control mode P S T P7-30 Source address 1 of Modbus communication mapping Initial value FFFFH Communication address 071EH Unit - Time of taking effect With immediate effect Setting range 0000H~FFFFH Data size 16bit Control mode P S T P7-31 Target address 1 of Modbus communication mapping Initial value FFFFH Communication address 071FH Unit - Time of taking effect With immediate effect Setting range 0000H~FFFFH Data size 16bit Control mode P S T