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Chapter 4 Parameter settings and functions

45

Communication ports A1, B1 are only suitable for single module
communication, and the speed is fixed at 9600 bps.
Make sure that the address of each module is unique. If there is an
overlapping address, the modules with overlapping addresses will
not communicate properly, and may even affect the normal
communication of all products.

4.4.3 Communication Parity Bit Setting

The check digit is an additional bit for each character in the transmitted data. It is used to
verify the data loss and corruption. This parameter can be set to enable or disable the
check digit option.

SV (Set value)

Description

0

：

NONE

Do not use parity bits

1

：

Even

Set an even parity bit

2

：

Odd

Set 1 odd parity bit

Parameter

group

parameter

Predetermin

-ed area

Factory

default

Unit

commuication

address

Setting

Options

(communica

tion setting)

function

Parity bit

0

：

NONE,

1

：

EVEN,

2

：

ODD

NONE

-

400302(012DH)

4.4.4 Communication stop bit setting

Can set a stop character for transferring data

Parameter

group

Param

e-ter

Predeter

m-ined

area

Factory

default

Unit

commuicatio

n address

Setting Options

(communication
setting) function

Stop

bit

0

：

1bit

1

：

2bit

2

-

400303(012E)

4.4.5 Communication response waiting time setting

When setting communication with (PC, PLC, etc.), in order to reduce communication
errors, you can set the response waiting time and start working normally after the
response time.

Содержание CM-4TM

Страница 1: ...Coolmay Multi channel temperature control module CM 4TM User Manual Shenzhen coolmay Technology Co Ltd ...

Страница 2: ... Sensor connection 8 3 2 2 Power connection 9 3 2 3 Communication connection 9 3 3 Preparation and start 9 3 3 1 Overall sequence of operations 9 3 3 2 Set value status when power on 9 Chapter 4 Parameter settings and functions 28 4 1 Input 28 4 1 1 Input type and temperature range 28 4 1 2 Input type setting 29 4 1 3 Input sensor temperature unit setting 29 4 1 4 Input deviation correction settin...

Страница 3: ...apter 5 Troubleshooting method 51 5 1 error display 51 5 2 Communication troubleshooting method 51 5 3 Control troubleshooting methods 52 Chapter 6 Modbus RTU protocol 53 6 1 Read coil status Func 01 01H 53 6 2 Read Input Status Func 02 02H 54 6 3 Read hold memory Func 03 03H 55 6 4 Read input memory Func 04 04H 57 6 5 Preset a single memory Func 06 06H 58 6 6 Preset multiple memories Func 16 10H ...

Страница 4: ... RW R W 65 7 5 3 Master output function Func 03 06 16 RW R W 66 7 5 4 Initial setting function Func 03 06 16 RW R W 67 7 5 5 Set the master output function Func 03 06 16 RW R W 69 7 5 6 Setting options communication settings function Func 03 06 16 RW R W 70 ...

Страница 5: ...t authorization This manual is not included with the product Please download it from our website www coolmay com The contents of this manual may differ due to product changes or other reasons without prior notice Please leave us messages if you have any suggestions for this manual Descriptions of symbols in the communication manual Symbol Description Special function supplement Warning sign failur...

Страница 6: ... make sure to perform double safety measures before using Otherwise fire life threatening property damage may occur Installed on the panel otherwise it may cause electric shock Make sure to disconnect the power supply while checking or repairing otherwise it may cause electric shock Please check the polarity of the power supply before powering up otherwise it may cause fire Please do not disassemb...

Страница 7: ...ity of the sensor is connected correctly before using otherwise it may cause fire or explosion hazard Operation Precautions Please read the precautions carefully before using otherwise it may cause damage to the product or accident Power supply voltage and use environment Use the voltage within the rated range Ambient temperature 10 50 Power on the product for 20 minutes before using Install a swi...

Страница 8: ...se disconnect the power supply connect the new sensor and then power on the PC to modify the relevant parameters Install the filter on the controller In addition install the shield wire near the power supply Noise impact Product power line and high voltage line are separately routed to prevent impulse noise interference Please try to avoid high frequency noise interference in the environment such ...

Страница 9: ...gth 1 000VAC Up to 31 modules 124 channels 62 channels can be connected The expansion modules used do not need additional communication and power supply High speed sampling period 100ms Heating cooling simultaneous control Sensor status can be monitored by current transformer CT Communicate with PC via RS485 Modbus RTU Connector wiring is convenient for wiring and maintenance Sensor input interfac...

Страница 10: ...nfirm whether the components are complete after your purchase If any defects or damage please contact the sales for after sale services Please note that the power communication connector is only included in the basic module Please visit the official website www coolmay com to download the user manual ...

Страница 11: ...ed flicker CH3 LED 9600bps flicker ON red flicker CH4 LED 19200bps flicker ON red flicker 38400bps flicker 1 After the power is on the LED indicator will flash once in sequence then locate the corresponding frequency with communication speed set earlier The LED flashes for 5 seconds cycle 1 second 2 The corresponding LED will flash while self tuning cycle 1 second 3 The power LED flickers while co...

Страница 12: ...Chapter 1 Product Introduction 4 1 3 2 Bottom wiring part ...

Страница 13: ...le 1 Temperatur e effect 2 RTD PV 0 5 or 2 greater 1 bit If thermocouple input 5 when lower than 100 thermocouple L U C G R S B PV 0 5 or 5 greater 1bit Thermocou ple Control output Relay 250VAC 3 A 1a SSR 22VDC 3V Max 30mA Communication output RS485 Modbus RTU protocol Control mode Heat cool ON OFF control P PI PD PID control Heat cool Lag RTD thermocouple 1 100 0 1 100 0 optional Proportional ba...

Страница 14: ... 35 85 RH Storage 35 85 RH Attachments Expansion connector Power communication connector Basic Module only Insulation type Double or reinforced insulation dielectric strength between the input and power sections 1kV Certificate CE UL Weight Approx 135 152g 1 Thermocouples K T N J E are below 100 C and L U Platinel II 2 C 1 or less When the thermocouple B is below 400 C the detection accuracy canno...

Страница 15: ...mocouple type connect B B When wiring the two wire resistors connect A and B When wiring the three wire resistor connect A B B Connecting the power communication terminals notice the polarity of the terminals Use AWG 28 16 wires for sensors or compensation wires When SSR output recommend AWG 24 and above cables When Relay output recommend AWG 20 and above cables ...

Страница 16: ...or connection Compensation wire connection When using a thermocouple sensor if you extend the wire use the same size compensation wire if you use different specifications The compensation wire may have a temperature error Try to choose a high performance compensation wire for more accurate temperature measurement Measurement error Do not connect the positive and negative polarity of the sensor Ple...

Страница 17: ...unication connection please refer to 1 3 1 introduction 3 3 Preparation and start 3 3 1 Overall sequence of operations Perform the following steps before operating the CM 4TM for the first time 1 All external devices sensors and loads are connected to the CM 4TM terminals 2 Modify the relevant parameters PC GP etc through the external connection device 3 Load the set parameters into the CM 4TM 4 A...

Страница 18: ...eep presets ONOFF Keep presets MV 0 0 Preset MV Keep presets 0 0 Stop MV Keep presets 0 0 Sensor Error MV Keep presets 1 The communication addresses involved in this manual are the addresses of channel 1 CH1 For the address of channel 2 channel 4 please refer to Chapters 6 and 7 ...

Страница 19: ...182 S PR 10 1 S PR 0 1750 32 3182 N NN 11 1 N NN 200 1300 328 2372 C TT 1 12 1 C TT 0 2300 32 4172 G TT 2 13 1 G TT 0 2300 32 4172 L IC 14 1 L IC H 200 900 328 1652 15 0 1 L IC L 200 0 900 0 328 0 1652 0 U CC 16 1 U CC H 200 400 328 752 17 0 1 U CC L 200 0 400 0 328 0 752 0 Platinel II 18 1 PLII 0 1400 32 2552 RTD JPt100 Ω 19 1 JPt100 H 200 600 328 1112 20 0 1 JPt100 L 200 0 600 0 328 0 1112 0 DPt...

Страница 20: ... parameters SV multi segment SV setting SV 0 SV 3 and input deviation correction are initialized to ensure that the measurement environment remains unchanged If the measured range is above or below the input range HHHH above LLLL lower will be displayed and OPEN will be displayed when the sensor is not connected or disconnected 4 1 3 Input sensor temperature unit setting When the input sensor type...

Страница 21: ... the input deviation value to 2 and the display temperature to 80 C Make sure the actual temperature detected is correcr otherwise it will cause a larger error Most sensors have sensitivity grading and higher sensitivity sensors are relatively expensive Therefore most sensors with medium sensitivity measure the sensitivity difference of each sensor and then set the input deviation value to ensure ...

Страница 22: ...ault Unit Com address Default setting function SV Lower limit set See the explanation below 200 400155 009AH SV Upper limitset 1350 400156 009BH SV lower limit sensor lower limit range SV upper limit value 1 bit SV upper limit SV lower limit value 1 bit sensor upper limit range If the upper lower limits are set to exceed the sensor range the set value will not be saved and the value before the set...

Страница 23: ...rol mode When the PV display value is higher than SV set value the output control load cooler operates Heating Cooling Control Heating Cooling Control Heating Cooling controls the same load action The heating cooling mode can control the same object with different PID values and can also set the same PID value control It is also possible to select the relay output SSR output or current output depe...

Страница 24: ...gative value according Paramet er group Associated parameter Parame ter Setting range Factory default Unit Communicati on address Master output functions PID PID PID ON OFF ON OFF PID CH1 dead zone proportional band proportional band 0 0 bit 400108 006BH ON OFF ON OFF 999 0 999 0 Set to 0 when no overlap dead zone is used If the input is displayed in decimal the display range is 999 9 999 9 When t...

Страница 25: ...V Upper limits MV Lower limits 0 1 100 0 100 0 400115 0072H Heating Cooling CH1 MV Lower limits 100 0 0 0 100 0 400114 0071H CH1 MV Upper limits 0 0 100 0 100 0 400115 0072H The amount of operation during the self tuning process The amount of operation during manual control includes the amount of operation when the control is stopped the amount of operation when the sensor is faulty and the initia...

Страница 26: ...nction can achieve slow heating When SV set value is operated based on the slope setting value based on PV display value and the value of SV or slope is changed the SV operation amount changes according to the corresponding change amount Determine the SV control object and set the corresponding slope according to the SV variation hereinafter referred to as RAMP SV The amount of change in the rise ...

Страница 27: ... Setting range Factory default Unit Com address Master control output function PID CH1 operation volume 0 Auto MV 1 Manual MV Auto MV 400202 00C9H Parameter Group Parameter Setting range Factory Default Unit Com address Monitoring function CH1 automatic manual control 0 automatic 1 manual Auto 400004 0003H Auto manual function can be switched freely by controlling the switch Auto manual control re...

Страница 28: ...PR MV manual preset MV the initial MV can be manually modified Parameter Group Associated parameter Parameter Setting range Factory default Unit Com address Master contr ol output fun ction Heating cooling PID CH1 Manual operation Initial operation 0 0 100 0 0 0 400203 00CAH Heating cooling PID 100 0 Cooling 0 0 100 0 Heating 0 0 0 1 100 0When heating and cooling control the heating operation amou...

Страница 29: ... according to the heating and cooling capacity and thermal characteristics the response frequency between the controller and the sensor the installation environment and other relevant factors Parameter Group Associated parameter Parameter Setting range Factory default Unit Com address Initial setting function heating cooling CH1 control way 0 PID 1 ON OFF 0 PID 400158 009DH heating cooling 0 PID P...

Страница 30: ...ol When PID control is selected the derivative time is set to 0 Proportional Derivative PD Control When PID control is selected the integration time is set to 0 When using the multi segment SV function the PID values of SV0 SV3 are the same Proportional band settings When PV display value is within the proportional band P range ON OFF needs to adjust the proportional period T so the time period of...

Страница 31: ...ter group Associated parameter Parameter Setting range Factory defualt Unit Com address Master control output function Heating PID CH1 Heating differential time 0 9999 0 Sec 400106 0069H Cooling PID CH1 Cooling differential time 400107 006AH This function can t be used if the integration time is set to 0 Control cycle setting Under the control of the relay or SSR output the output is kept for a fi...

Страница 32: ...e is set to 0 the manual correction parameter value can be modified Manual adjustment cannot be set during heating and cooling control the parameter is automatically set to 0 Only applicable integration time is set to 0 only in P or PD control Automatically change to standard control P PD control when switching heating and cooling control is 50 4 3 4 Self tuning During PID control the required PID...

Страница 33: ...d Even if the temperature is higher or lower than the input range the operation continues during the auto tuning process During the auto tuning process related parameters can only be viewed and cannot be modified When auto tuning is in progress if the digital input DI 1 DI 2 is run stop or auto manual and the sensor has an error the auto tuning ends automatically Auto tuning is not available durin...

Страница 34: ...dard Maximum connection 31 address 01 31 way of communication 2 wire half duplex Communication synchronization asynchronous Asynchronous Communication effective distance Max 800m BPS Communicati on rate 2400 4800 9600 19200 38400 bps Communication response time 5 ms 99 ms Start bit 1 bit fixed Data bit 8 bit fixed Parity bit None odd even Stop bit 1 2bit protocol Modbus RTU 4 4 1 Communication add...

Страница 35: ...a transmission speed At power on the LED corresponding to the current set frequency flashes for 5 seconds 1 second period For the specific LED lamp position please refer to 1 3 1 LED BPS Bits second 2400 4800 9600 19200 38400 Communication ports A and B can be used for communication of multiple modules After changing the communication speed you need to power on again power OFF power ON OFF 0 0 0 0...

Страница 36: ...heck digit option SV Set value Description 0 NONE Do not use parity bits 1 Even Set an even parity bit 2 Odd Set 1 odd parity bit Parameter group parameter Predetermin ed area Factory default Unit commuication address Setting Options communica tion setting function Parity bit 0 NONE 1 EVEN 2 ODD NONE 400302 012DH 4 4 4 Communication stop bit setting Can set a stop character for transferring data P...

Страница 37: ...fault Unit communication address Setting Options Commu nication write 0 allow 1 forbid allow 400305 0130H The communication write function does not affect the read parameters 4 5 Additional features 4 5 1 Monitoring function Monitor control output operation Monitor and display the current control output operation amount Monitor heating operation Monitor and display the current heating operation am...

Страница 38: ...FF and 100 0 ON under ON OFF control Under PID control the control output operation can be selected between 0 0 100 0 Paramet er group Associated parameter Param eter Setting range Factory default Unit Communica tion address Master control Output Features Heati ng Cooli ng PID CH1 stop Operati on volume 0 0 100 0 0 0 400205 00CCH ON OFF 0 0 OFF 100 0 ON Heati ng Cooli ng PID 100 0 Cooling 100 0 he...

Страница 39: ... on address Master control Output Features CH1 Multi channel SV 0 1EA 1 2EA 2 4EA 0 400201 00C8H operating control operation Features Multi channel SV CH1Mu lti chan nel SV 0 SV 0 1 SV 1 2 SV 0 3 SV 1 SV 0 400052 0033H operating control operation Features Multi channel SV CH1 SV 0 setting value SV Lower limit SV Upper limit 0 400053 0034H Multi channel SV CH1 SV 1 setting value SV Lower limit SV U...

Страница 40: ...n power is turned on or in the standard heating cooling mode the heating output is 0 the HHHH is displayed when the cooling output is 100 the heating output is 100 and the LLLL is displayed when the cooling output is 0 Manually control the output priority order Heating Cooling _MV Stop_MV Sensor Error _MV Automatic control output priority Stop _MV Sensor Error _MV Heating Refrigeration _MV Sensor ...

Страница 41: ...Chapter 4 Parameter settings and functions 50 If Yes is selected in the parameter all parameters will be restored to factory defaults However the communication parameters are not initialized ...

Страница 42: ...d light on CH1 LED Red light flashes 0 5 second period CH2 LED Red light flashes 0 5 second period CH3 LED Red light flashes 0 5 second period CH4 LED Red light flashes 0 5 second period Communication output decimal number Communication output 31000 Communication output 30000 upper limit Communication output 30000 lower limit For PC only display OPEN display HHHH upper limit display LLLL lower lim...

Страница 43: ...tion settings are correct Check that the product is properly connected to the external device 5 3 Control troubleshooting methods The control output does not work when using the product Check that the product front panel output LEDs are working properly If the output LED does not work check each parameter If the output LED is working properly check that the controller output terminals relay SSR ar...

Страница 44: ... address function Number of bytes data data data Error check CRC16 Low High 1Byte 1Byte 1Byte 1Byte 1Byte 1Byte 1Byte 1Byte CRC16 For example When the master side reads the output status of 10 coils 000001 0000H to 000010 0009H from the slave side address 17 ON 1 OFF 0 Inquiry master side Salve address function initial address Numbers of data Error check CRC16 High Low High Low Low High 11 H 01 H ...

Страница 45: ... Low Low High 1Byte 1Byte 1Byte 1Byte 1Byte 1Byte 1Byte 1Byte CRC16 2 answer slave side Slave address function Number of bytes Data Data Data Error check CRC16 Low High 1Byte 1Byte 1Byte 1Byte 1Byte 1Byte 1Byte 1Byte CRC16 The master side reads the output state of the ten coils 10001 0000H to 100010 0009H from the slave side address 17 ON 1 OFF 0 Inquiry master side Slave address function initial ...

Страница 46: ... Inquiry master side Slave address function initial address Numbers of data Error check CRC16 High Low High Low Low High 1Byte 1Byte 1Byte 1Byte 1Byte 1Byte 1Byte 1Byte CRC16 2 answer salve side Slave addre s s Func t ion Numbe r of bytes data data data Error check CRC16 Hig h Low High Low High Low Low High 1Byte 1Byt e 1Byte 1By te 1Byt e 1Byt e 1Byt e 1Byt e 1Byt e 1Byte 1Byte CRC16 Examples The...

Страница 47: ...High Low High Low Low High 11 H 03 H 00 H 00 H 00 H 02 H H H If the values from the side 400001 0000H 400002 0001H are 555 22B H and 100 64 H respectively answer salve side Slave addres s functio n Numbe r of bytes data data Error check CRC16 High Low High Low Low High 11 H 03 H 04 H 02 H 2B H 00 H 64 H H H ...

Страница 48: ...er of bytes Data Data Data Error check CRC16 Low High 1Byte 1Byte 1Byte 1Byte 1Byte 1Byte 1Byte 1Byte CRC16 For example The master side reads the values of the two input memories 300001 0000H to 300002 0001H from the slave side address 17 Inquiry master side Slave address Functio n Initial address Data quantity Error check CRC16 High Low High Low Low High 11 H 04 H 00 H 00 H 00 H 02 H H H If the v...

Страница 49: ... CRC16 High Low High Low Low High 1Byte 1Byte 1Byte 1Byte 1Byte 1Byte 1Byte 1Byte CRC16 2 Answer slave side Slave address Functio n Memory address Preset data Error check CRC16 High Low High Low Low High 1Byte 1Byte 1Byte 1Byte 1Byte 1Byte 1Byte 1Byte CRC16 For example The master side writes 10 A H to the holding memory 400001 0000H of the slave side address 17 Inquiry master side Slave address Fu...

Страница 50: ...r side Slav e addr ess Func tion Initial address Memory quantity Num ber of byte Data Data Error check CRC16 High Low High Low High Low High Low Low High 1Byt e 1Byt e 1Byt e 1Byt e 1Byt e 1Byt e 1Byt e 1Byt e 1Byt e 1Byt e 1Byt e 1Byt e 1Byt e CRC16 2 Answer slave side Slave address Functio n Initial address Memory quantity Error check CRC16 High Low High Low Low High 1Byte 1Byte 1Byte 1Byte 1Byt...

Страница 51: ...instead of using multiple memory write functions However in the PC loader the minimum maximum or base value of the parameter is preset by inputting the specification 6 7 Exception response error code If an exception occurs after the setting 1 accepts the highest level of the command function a response command is sent and each exception code is transmitted Slave addre ss Functi on 80H Error code E...

Страница 52: ...e master side reads the output state of the non existing coil 001001 03E8 H ON 1 OFF 0 from the slave side address 17 Inquire master side Slave address function Initial address Data quantity Error check CRC16 High Low High Low Low High 11 H 01 H 03 H E8 H 00 H 01 H H H Answer slave side Slave addre ss Functi on 80H Error code Error check CRC16 Low High 11 H 81 H 02 H H H ...

Страница 53: ...uto tuning run stop 0 OFF 1 ON OFF 000005 0004 CH3 Control output CH3 Control output run stop 0 RUN 1 STOP RUN 000006 0005 CH3 Auto tuning CH3 Auto tuning run stop 0 OFF 1 ON OFF 000007 0006 CH4 Control output CH4 Control output run stop 0 RUN 1 STOP RUN 000008 0007 CH4 Auto tuning CH4 Auto tuning run stop 0 OFF 1 ON OFF 000009 0008 000050 0031 Reserved 7 2 Read input status Func 02 RW R NO addres...

Страница 54: ...06C Model name 5 300110 006D Model name 6 300111 006E Model name 7 300112 006F Model name 8 300113 0070 Model name 9 300114 0071 Model name 10 300115 0072 Reserved 300116 0073 Reserved 300117 0074 Reserved 300118 0075 Coil status start address 0000 300119 0076 Coil state quantity 0 300120 0077 Input status start address 0000 300121 0078 Input state quantity 0 300122 0079 Holding memory start addre...

Страница 55: ...r limit SV Upper limit 0 301005 03EC CH1 Heating _MV Heating MV 0 0 100 0 301006 03ED CH1 Cooling_MV Cooling MV 0 0 100 0 301007 03EE 301012 03F3 CH2 parameter same as above CH1 301013 03F4 301018 03F9 CH3 parameter same as above CH1 301019 03FA 301024 03FF CH4 parameter same as above CH1 301025 0400 CH1 LED output 0 OFF 1 ON CH2 LED output 0 OFF 1 ON CH3 LED output 0 OFF 1 ON CH4 LED output 0 OFF...

Страница 56: ...e limit SV Upper limit 0 400002 0001 CH1 Heating_ MV Heating MV 0 0 100 0 400003 0002 CH1 Cooling _MV Cooling MV 0 0 100 0 400004 0003 CH1 Auto Manual control Auto Manual control 0 Auto 1 Manual Auto 400005 0004 400050 0031 CH1 Reserved 401001 03E8 401050 0419 CH2 parameter same as above CH1 402001 07D0 402050 0801 CH3 parameter same as above CH1 403001 0BB8 403050 0BE9 CH4 parameter same as above...

Страница 57: ...1 7 5 3 Master output function Func 03 06 16 RW R W NO address Parameter Description Determination area Unit Factory default 400101 0064 CH1Auto tuning Auto tuning execution stop 0 OFF 1 ON OFF 400102 0065 CH1 Heating proportional zone Heating proportional zone 0 1 999 9 10 400103 0066 CH1 Cooling proportional Cooling proportional zone 0 1 999 9 10 400104 0067 CH1Heating integration time Heating i...

Страница 58: ... Heating Cooling Control 0 0 100 400115 0072 CH1 MV Upper limit MV Upper limit set value MV Lower limit 0 1 100 0 0 100 100 400116 0073 CH1 Rising slope Rising slope set 0 9999 0 400117 0074 CH1 Falling slope Falling slope set 0 9999 0 400118 0075 CH1 slope time Slope time unit 0 second 1 minute 2 hour minute 400119 0076 400150 0095 CH1 Reserved 401101 044C 401150 047D CH2 parameter same as above ...

Страница 59: ...on 0 Heating 1 Cooling 2 Heating Cooling 0 400158 009D CH1 Control mode Control temperature mode Standard control mode 0 PID 1 ONOFF 0 Heating Cooling control mode 0 PID PID 1 PID ONOFF 2 ONOFF PID 3 ONOFF ONOFF 0 400159 009E CH1 Auto tuning type Auto tuning type 0 TUN1 1 TUN2 TUN1 400160 009F CH1 Heating control cycle Heating control cycle 0 1 120 0 Sec 20 0 RY 2 0 SSR 400161 00A0 CH1 Cooling con...

Страница 60: ...0CB CH1 Sensor error The operation volume when the sensor is in error 1 standard control mode 1 PID control 0 0 100 0 2 ON OFF control 0 0 OFF 100 0 ON 2 heating cooling control 1 PID control 100 0 cooling 100 0 heating 2 ON OFF control 100 0 cooling ON 0 0 OFF 100 0 heating ON 0 0 400205 00CC CH1 stop operation volume When the control is stopped the operation volume 1 standard control mode 1 PID ...

Страница 61: ...unication speed 0 2400 1 4800 2 9600 3 19200 4 38400 9600 400302 012D Parity bit Communication parity bit 0 None 1 Even 2 Odd None 400303 012E Stop bit Communication stop bit 0 1 1 2 2 400304 012F Response time Communication response time 5 99 ms 20 400305 0130 Communication write Communication write permission prohibition 0 permission 1 prohibition permission 400306 0131 Parameter initialization ...

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