手持焊接:動態參數協議(中英)

Handheld welding: Dynamic parameter protocol


功能用于機器人通訊,直接修改調用內部參數

本協議兼容 Modbus RTU 規范。

The function is used for robot communication, which directly modifies the internal parameters of the call

This Agreement is compatible with the Modbus RTU specification.

一、基本數據格式

1.通訊模塊基本參數

First, the basic data format

1. Basic parameters of communication module

2.數據格式:發送、回執數據格式

2. Data format: send, receipt data format

地址碼:默認地址為 0x09 ,暫不支持修改

功能碼:0x03 讀 1 個或多個寄存器 對應的異?;貓坦δ艽a 0x83

0x10 寫 1 個或多個寄存器 對應的異?;貓坦δ艽a 0x90

數據區:n 個字節,雙字節時,高字節在前,低字節在后。

錯誤校驗碼:CRC-16/modbus, 高字節在前,低字節在后

Address code: The default address is 0x09, and modification is not supported at this time

Function code: 0x03 read the exception receipt function code 0x83 corresponding to 1 or more registers

0x10 write the exception receipt function code 0x90 for 1 or more registers

Data area: n bytes, double bytes, high byte first, low byte after.

Error checksum: CRC-16/modbus, high byte first, low byte after


錯誤響應功能碼見如下:

錯誤響應碼格式:

The error response function code is as follows:

Error response code format:

異常功能碼對應回執關系:

0x03—0x83 當功能值異常時,回執功能碼高位置 1,即:0x83

0x10—0x90 當功能值異常時,回執功能碼高位置 1,即:0x90

錯誤代碼:0x01 非法功能 0x02 非法的數據地址 0x03 非法數據值

Exception function code corresponds to receipt relationship:

0x03—0x83 When the function value is abnormal, the receipt function code is high at position 1, that is, 0x83

0x10—0x90 When the function value is abnormal, the receipt function code is high at 1, which is 0x90

Error code: 0x01 Illegal feature 0x02 Illegal data address 0x03 Illegal data value


功能碼 0x03-讀指令

描述:讀寄存器,字節指令操作,可讀單個或者多個;

發送指令:如下讀取峰值功率和占空比:

從機地址 0x09,寄存器起始地址 0x0002,讀 2 個寄存器

Function code 0x03 -Read Instruction

Description: Read registers, byte instruction operations, readable single or multiple;

Send instructions: Read the peak power and duty cycle as follows:

Slave address 0x09, register start address 0x0002, read 2 registers


3)成功響應:

3) Successful response:


錯誤響應:見錯誤響應碼格式

06H-寫單個寄存器

注:不單獨支持,通過如下“寫多個寄存器”指令實現

10H-寫多個寄存器

描述:寫 1 個或多個保持寄存器,字節指令操作,可寫多個;

例 1:單獨寫峰值功率 100w,

“峰值功率”寄存器起始地址為 0x0002,寫 1 個寄存器,2 個字節的數據,100w 對應的 16 進制為

0x0064

Error Response: See Error Response Code Format

06H - Write a single register

Note: Not supported separately, but implemented by the following "Write Multiple Registers" instruction

10H - Write multiple registers

Description: Write 1 or more hold registers, byte instruction operations, write multiple;

Example 1: Write the peak power of 100w alone,

The Peak Power register starts at 0x0002, writes 1 register, 2 bytes of data, and 100w corresponds to a hexadecimal

0x0064


例 2: 寫 pwm 頻率 2000hz,地址為 0x0004 0x0005 ,寄存器個數 2 個,數據字節數=2 個寄存器*

雙字節=4 字節, 即:2000 對應的 16 進制為 0x0000 07d0

Example 2: Write pwm frequency 2000hz, address 0x0004 0x0005, 2 registers, data bytes = 2 registers*

Double byte = 4 bytes, i.e. 2000 corresponds to hexadecimal of 0x0000 07d0



二、寄存器地址 (PLC 或組態地址,在 寄存器地址基礎上加十進制 40001,如 0x0000 對應

0x40001,0x0001 對應 0x40002)

Second, the register address (PLC or configuration address, in addition to the register address plus decimal 40001, such as 0x0000 corresponding

0x40001, 0x0001 corresponds to 0x40002)



三、使用說明

1.數據間隔:波特率默認為 19200,數據發送 最小時間間隔為 20ms。

2.參數生效:新數據更新后,屏幕界面會立即更新,若設備正處在焊接工作狀態,參數會立

即生效,否則進入工作狀態時才進行實際生效。

3.參數保存:數據都是作為臨時參數,掉電不保存,高頻參數變化時,不推薦進行參數實時

保存,容易影響數據發送效率和 flash 壽命。若要保存,發送保存指令,保存指令后,屏幕

工藝界面數據會更新。

3. Instructions for use

1. Data interval: The baud rate defaults to 19200, and the minimum time interval for data sending is 20ms.

2. Parameters take effect: After the new data is updated, the screen interface will be updated immediately, if the equipment is in the welding work state, the parameters will stand

that is, it takes effect, otherwise it will only take effect when it enters the working state.

3. Parameter preservation: The data is used as a temporary parameter, the power failure is not saved, and when the high-frequency parameters change, it is not recommended to carry out the parameter in real time

Saving, easy to affect the data transmission efficiency and flash life. To save, send a save instruction, after saving the instruction, on the screen

Process interface data is updated.


三、常用指令舉例

1. 單獨 掃描寬度 設置

1mm 發送:09 10 00 01 00 01 02 00 0a 46 40

2mm 發送:09 10 00 01 00 01 02 00 14 4e c0

3mm 發送:09 10 00 01 00 01 02 00 1e 49 40

4.1mm 發送:09 10 00 01 00 01 02 00 28 5f c0

5mm 發送:09 10 00 01 00 01 02 00 32 94 41

3. Examples of commonly used directives

1. Separate Scan width setting

1mm Send: 09 10 00 01 00 01 02 00 0a 46 40

2mm send: 09 10 00 01 00 01 02 00 14 4e c0

3mm Send: 09 10 00 01 00 01 02 00 1e 49 40

4.1mm Send: 09 10 00 01 00 01 02 00 28 5f c0

5mm Send: 09 10 00 01 00 01 02 00 32 94 41


2.單獨峰值功率 設置

100W: 09 10 00 02 00 01 02 00 64 99 c1

200W:09 10 00 02 00 01 02 00 c8 e4 c1

300W:09 10 00 02 00 01 02 01 2c 3f c0

400W:09 10 00 02 00 01 02 01 90 8e c1

500W:09 10 00 02 00 01 02 01 f4 65 c0

600W:09 10 00 02 00 01 02 02 58 e8 c0

2. Individual peak power settings

100W: 09 10 00 02 00 01 02 00 64 99 c1

200W:09 10 00 02 00 01 02 00 c8 e4 c1

300W:09 10 00 02 00 01 02 01 2c 3f c0

400W:09 10 00 02 00 01 02 01 90 8e c1

500W:09 10 00 02 00 01 02 01 f4 65 c0

600W:09 10 00 02 00 01 02 02 58 e8 c0


3.單獨占空比 設置

50%占空比:09 10 00 03 00 01 02 00 32 76 40

3. Separate duty cycle settings

50% duty cycle: 09 10 00 03 00 01 02 00 32 76 40


4.單獨脈沖頻率 設置

2000HZ: 09 10 00 04 00 02 04 00 00 07 d0 90 db

4. Individual pulse frequency settings

2000HZ: 09 10 00 04 00 02 04 00 00 07 d0 90 db


5.同時設置掃描寬度和掃描速度

1mm 100mm/s:09 10 00 00 00 02 04 03 e8 00 0a b8 d9

2mm 200mm/s:09 10 00 00 00 02 04 07 d0 00 14 4d d9

3mm 300mm/s:09 10 00 00 00 02 04 0b b8 00 1e c6 db

5. Set the scanning width and scanning speed at the same time

1mm 100mm/s:09 10 00 00 00 02 04 03 e8 00 0a b8 d9

2mm 200mm/s:09 10 00 00 00 02 04 07 d0 00 14 4d d9

3mm 300mm/s:09 10 00 00 00 02 04 0b b8 00 1e c6 db