Transcript
MODBUS Variables Table Scale Example Scale = 11.5 AMPS X = 11, Y = 5 Value = 80 80 decimal = 0x50 = 0000 0000 0101 0000 B integer part = 0000 0000 010 B = 2 decimal fractional part = 10000 B = 16 value = 2 + 16/2^5 = 2+16/32 = 2.5 AMPS
Scale X .Y indicates a binary fraction where… X specifies the number of integer bits Y specifies the number of fractional bits value = integer part + (fractional part / 2^Y)
Access RO - READ ONLY (MODBUS INPUT REGISTER) RW - READ/WRITE (MODBUS HOLDING REGISTER) RPW - READ/PROTECTED-WRITE (MODBUS HOLDING REGISTER) ID
Variable Name
2 3 4 5
Type
Access
NVM
Scale
Firmware Version (reserved) Disables Faults
UINT16 UINT16 UINT16 UINT16
RO RO RO RO
FALSE FALSE FALSE FALSE
0.01 Version
6 7
Hard Faults Soft Faults (warnings)
UINT16 UINT16
RO RO
FALSE FALSE
FAULTS_ENUM FAULTS_ENUM
8 9
Bus Voltage (Filtered) Bus Voltage (Filtered) (H)
UINT32 UINT16
RO RO
FALSE FALSE
11.21 11.5
VOLTS VOLTS
10 11
Board Temperature Board Temperature (H)
UINT32 UINT16
RO RO
FALSE FALSE
11.21 11.5
DEG C DEG C
12 13
Power Power (H)
UINT32 UINT16
RO RO
FALSE FALSE
11.21 11.5
AMPS^2 AMPS^2
14 15 100 102
Position Tracking Error Bus Voltage Active Input Functions Active Output Functions
INT16 UINT16 UINT32 UINT32
RO RO RO RO
FALSE FALSE FALSE FALSE
1.15 11.5
104 105
Active Inputs Active Outputs
UINT16 UINT16
RO RO
106
H/W Inputs
UINT16
107 200 201 202 203 204 206 208 209
H/W Outputs Analog Input (raw) Analog Output (raw) Analog Input Analog Input (calibrated) Analog Output Analog Position Target Analog Velocity Target Analog Current Target
UINT16 UINT16 UINT16 INT16 INT16 INT32 INT32 INT16 INT16
Units
Min
Max
Fw Min
Fw Max Description
VOLTS INPUT_FUNCTIONS_ENUM OUTPUT_FUNCTIONS_ENUM
Firmware Version in minor rev units (e.g. 213 >> Version 2.13) (reserved) Bitmap of sources keeping drive from becoming enabled Bitmap of all active faults. Bitmap of all active faults that are 'hard' faults. The drive will remain disabled while any hard faults are pending. Bitmap of all active faults that are 'soft' faults (warnings). Filtered bus voltage. The low word may usually be ignored as it contains only insignificant bits used for filtering. Filtered bus voltage. Filtered board temperature. The low word may usually be ignored as it contains only insignificant bits used for filtering. Filtered board temperature. Filtered power factor (square of continuous current). The low word may usually be ignored as it contains only insignificant bits used for filtering. Filtered power factor (square of continuous current). Position tracking error from sin/cos position feedback sensors. Tracking error is calculated as: 1 - (sin^2 + cos^2) Instantaneous bus voltage Bitmap of active input functions Bitmap of active output functions
FALSE FALSE
INPUTS_ENUM OUTPUTS_ENUM
Bitmap of unmasked active inputs (after input polarity interpretation) Bitmap of active outputs (before output polarity interpretation)
RO
FALSE
INPUTS_ENUM
RO RO RO RO RO RO RO RO RO
FALSE FALSE FALSE FALSE FALSE FALSE FALSE FALSE FALSE
Bitmap of active hardware inputs (before input polarity interpretation) Bitmap of active hardware outputs (after output polarity interpretation) Raw analog input from ADC Analog output DAC PWM on-time Analog input scaled to user calibration range Calibrated analog input scaled to volts or milliamps DAC output value Filtered analog target position command Filtered analog target velocity command Filtered analog target current command
DISABLING_SOURCES_ENUM FAULTS_ENUM
1.15 1.15 1.15 6.10 1.31 16.16 8.8 9.7
-32768
OUTPUTS_ENUM ADC PWM ON-TIME USER CAL VOLTS or mAmps REVS RPS AMPS
32767
0
0x7FFF
0
0x7FFFFFFF
1.12
ID 300 301
Variable Name Command Mode I Feedback (abs)
Type UINT16 UINT16
Access RO RO
NVM FALSE FALSE
Scale
302 303 304 306 308 310 311 312 313 314 315 316 317 318 319 320 322 400 401 402 404 406 408 500 501 502 503 504 505 506 507 508 510 512 514 515 516 517 518 519 520 521 522 523 524 525 526
I Continuous I Continuous (H) P command P feedback P error V command V command (H) V feedback V feedback (H) V error V error (H) V display V display (H) I display I display (H) Pos Limit Minus Pos Limit Plus Scope Flags Scope Timestamp Scope Variable Data 1 Scope Variable Data 2 Scope Variable Data 3 Scope Variable Data 4 Hall Sine Min Hall Sine Max Hall Cosine Min Hall Cosine Max Psine In Pcosine In Psine Out Pcosine Out Paccel Pvelocity PrevAngle PeAngle Electric Angle E sine E cosine IR (raw) IS (raw) IT (raw) IR IS IT IR (scaled) IS (scaled) IT (scaled)
UINT32 UINT16 INT32 INT32 INT32 INT32 INT16 INT32 INT16 UINT32 INT16 INT32 INT16 INT32 INT16 INT32 INT32 UINT16 UINT16 INT32 INT32 INT32 INT32 INT16 INT16 INT16 INT16 INT16 INT16 INT16 INT16 INT32 INT32 UINT32 UINT16 UINT16 INT16 INT16 INT16 INT16 INT16 INT16 INT16 INT16 INT16 INT16 INT16
RO RO RO RO RO RO RO RO RO RO RO RO RO RO RO RO RO RO RO RO RO RO RO RO RO RO RO RO RO RO RO RO RO RO RO RO RO RO RO RO RO RO RO RO RO RO RO
FALSE FALSE FALSE FALSE FALSE FALSE FALSE FALSE FALSE FALSE FALSE FALSE FALSE FALSE FALSE FALSE FALSE FALSE FALSE FALSE FALSE FALSE FALSE FALSE FALSE FALSE FALSE FALSE FALSE FALSE FALSE FALSE FALSE FALSE FALSE FALSE FALSE FALSE FALSE FALSE FALSE FALSE FALSE FALSE FALSE FALSE FALSE
9.23 9.16 16.16 16.16 16.16 8.24 8.8 8.24 8.8 8.24 8.8 8.24 8.8 9.23 9.7 16.16 16.16
9.7
1.15 1.15 1.15 1.15 1.15 1.15 1.15 1.15 1.31 1.31 0.32 0.16 0.16 1.15 1.15 1.15 1.15 1.15 9.7 9.7 9.7 9.7 9.7 9.7
Units
Min
Max
Fw Min
COMMAND_MODE_ENUM AMPS AMPS AMPS REVS REVS REVS RPS RPS RPS RPS RPS RPS RPS RPS AMPS AMPS REVS REVS BITMAP uSec
REV/PWM_UPDATE^2 REV/PWM_UPDATE REV ELEC ANGLE ELEC ANGLE
ADC ADC ADC AMPS AMPS AMPS AMPS AMPS AMPS
1.12 1.12
Fw Max Description Current command mode of operation Absolute value of instantaneous feedback current. Continuous current. The low word may usually be ignored as it contains only insignificant bits used for filtering. Continuous current Position command Position feedback Position error (P command - P feedback) Velocity command Velocity command Velocity feedback Velocity feedback Velocity error Velocity error Filtered feedback velocity Filtered feedback velocity Filtered feedback current Filtered feedback current Runtime positive position limit in effect Runtime negative position limit in effect Reserved for data-scope flags Scope variable update timestamp Data-scope variable data Data-scope variable data Data-scope variable data Data-scope variable data Linear Hall minimum analog sine input since last reset Linear Hall maximum analog sine input since last reset Linear Hall minimum analog cosine input since last reset Linear Hall maximum analog cosine input since last reset Sine position tracking input angle Cosine position tracking input angle Sine position tracking output angle Cosine position tracking output angle Position tracking acceleration Position tracking velocity Position tracking rev angle Position tracking electrical angle Commutation electrical angle Sine electrical angle Cosine electrical angle R phase raw current feedback S phase raw current feedback T phase raw current feedback R phase current feedback or -(S+T) used for commutation S phase current feedback or -(R+T) used for commutation T phase current feedback or -(R+S) used for commutation R phase current feedback S phase current feedback T phase current feedback
ID 527 528 529 530 531 532 533 534 535 536 537 538 539 540 541 542 543 544 545 546 547 548 550 552 4000 4001 4100 4101 4102 4103 4104 4105 4106 4107 4108 4109 4200
Variable Name (reserved) ID command IQ command ID feedback IQ feedback ID error IQ error ID rotating IQ rotating ID voltage IQ voltage ID rotating voltage IQ rotating voltage R voltage S voltage T voltage Harmonic voltage R PWM S PWM T PWM (reserved) ID Controller IQ Controller P Controller Security Key Commands (reserved) (reserved) Scope Var 1 MODBUS ID Scope Var 1 Flags Scope Var 2 MODBUS ID Scope Var 2 Flags Scope Var 3 MODBUS ID Scope Var 3 Flags Scope Var 4 MODBUS ID Scope Var 4 Flags Serial Errors
Type UINT16 INT16 INT16 INT16 INT16 INT16 INT16 INT16 INT16 INT16 INT16 INT16 INT16 INT16 INT16 INT16 INT16 UINT16 UINT16 UINT16 UINT16 INT32 INT32 INT32 UINT16 UINT16 UINT16 UINT16 UINT16 UINT16 UINT16 UINT16 UINT16 UINT16 UINT16 UINT16 UINT16
Access RO RO RO RO RO RO RO RO RO RO RO RO RO RO RO RO RO RO RO RO RO RO RO RO RW RW RW RW RW RW RW RW RW RW RW RW RW
NVM FALSE FALSE FALSE FALSE FALSE FALSE FALSE FALSE FALSE FALSE FALSE FALSE FALSE FALSE FALSE FALSE FALSE FALSE FALSE FALSE FALSE FALSE FALSE FALSE FALSE FALSE FALSE FALSE FALSE FALSE FALSE FALSE FALSE FALSE FALSE FALSE FALSE
4201 4300
Serial Rx Unexpected Host Input Functions
UINT16 UINT32
RW RW
FALSE FALSE
4302
Host Disables
UINT16
RW
FALSE
BITMAP (Host Defined)
4303 4304
Host Command Mode Host Position Command
UINT16 INT32
RW RW
FALSE FALSE
16.16
COMMAND_MODE_ENUM REVS
Serial unexpected received characters count (write zero to clear) Host active Input Functions Host disabling flags (write zero to enable - any non-zero value will keep drive disabled) Host direct command mode (write zero to exit direct host command mode) Host direct target position command
4306
Host Velocity Command
INT16
RW
FALSE
8.8
RPS
Host direct velocity command or velocity limit for positioning mode
4307
Host Accel
UINT16
RW
FALSE
12.4
RPS/S
4308 4309 4310 4311
Host Current Host Voltage Host Input Inhibits Host Output Inhibits
INT16 INT16 UINT16 UINT16
RW RW RW RW
FALSE FALSE FALSE FALSE
9.7 11.5
AMPS VOLTS INPUTS_ENUM OUTPUTS_ENUM
Host acceleration limit for velocity or position command modes Host direct current command or current limit for position and velocity modes Host direct voltage command Host hardware input inhibits mask Host hardware output inhibits mask
Scale
Units
9.7 9.7 9.7 9.7 9.7 9.7 9.7 9.7 11.5 11.5 11.5 11.5 11.5 11.5 11.5 11.5 11.5 11.5 11.5 11.5 11.21 11.21 9.23
AMPS AMPS AMPS AMPS AMPS AMPS AMPS AMPS VOLTS VOLTS VOLTS VOLTS VOLTS VOLTS VOLTS VOLTS VOLTS VOLTS VOLTS VOLTS VOLTS VOLTS AMPS
Min
Max
0
65535
0
65535
0
65535
0
65535
EXEC_CMD_ENUM
VMONITOR_ENUM VMONITOR_ENUM VMONITOR_ENUM VMONITOR_ENUM SERIAL_ERROR_ENUM
INPUT_FUNCTIONS_ENUM 0
65535
Fw Min
Fw Max Description (reserved) ID (flux) current vector command IQ (torque) current vector command ID (flux) current vector feedback IQ (torque) current vector feedback ID current vector error IQ current vector error ID current vector command in rotating reference frame IQ current vector command in rotating reference frame ID vector voltage command IQ vector voltage command ID vector voltage command in rotating reference frame IQ vector voltage command in rotating reference frame R 3-phase balanced voltage command S 3-phase balanced voltage command T 3-phase balanced voltage command 3rd Harmonic voltage component R phase PWM voltage (inludes 3rd harmonic) S phase PWM voltage (inludes 3rd harmonic) T phase PWM voltage (inludes 3rd harmonic) (reserved) ID current vector PI controller IQ current vector PI controller Position loop controller Security and non-volatile memory protection key Bitmap of direct execution commands to drive (reserved) (reserved) Scope monitor variable 1 MODBUS identifier Scope monitor variable 1 flags Scope monitor variable 2 MODBUS identifier Scope monitor variable 2 flags Scope monitor variable 3 MODBUS identifier Scope monitor variable 3 flags Scope monitor variable 4 MODBUS identifier Scope monitor variable 4 flags Serial diagnostics error flags (write zero to clear)
ID
Variable Name
Type
Access
NVM
Scale
Units
4312 4313
Host Outputs Factory Test Word
UINT16 UINT16
RW RW
FALSE FALSE
OUTPUTS_ENUM
5000 5100 5101 5102
Drive Name Options Power-up Delay Hard Fault Enables
STRING UINT16 UINT16 UINT16
RW RW RW RW
TRUE TRUE TRUE TRUE
ASCII OPTION_FLAGS_ENUM MS FAULTS_ENUM
5103 5104 5105 5106 5107 5200
Soft Fault Enables Default Command Mode Alternate Command Mode Fault Stop Enables Fault Move Enables User I Peak
UINT16 UINT16 UINT16 UINT16 UINT16 UINT16
RW RW RW RW RW RW
TRUE TRUE TRUE TRUE TRUE TRUE
9.7
FAULTS_ENUM COMMAND_MODE_ENUM COMMAND_MODE_ENUM FAULTS_ENUM FAULTS_ENUM AMPS
5201 5202
I Limit Time Position Error Limit
UINT16 UINT32
RW RW
TRUE TRUE
16.16
MS REVS
5204
In Position Window
UINT32
RW
TRUE
16.16
REVS
5206
Position Error Time
UINT16
RW
TRUE
5207 5208 5210 5212 5213 5214 5215 5216 5217 5300
In Position Time Pos Limit Minus Revs Pos Limit Plus Revs Pos Limit Minus Percent Pos Limit Plus Percent Pos Limit Velocity Pos Limit I Foldback Pos Limit I Peak Pos Limit I Peak Time Serial Flags
UINT16 INT32 INT32 UINT16 UINT16 UINT16 UINT16 UINT16 UINT16 UINT16
RW RW RW RW RW RW RW RW RW RW
TRUE TRUE TRUE TRUE TRUE TRUE TRUE TRUE TRUE TRUE
5301
Serial Axis ID
UINT16
RW
TRUE
5302
Serial Baud
UINT16
RW
TRUE
BITS/S
5303 5304 5305 5400 5401 5402 5403 6000 6001 6002 6004 6005 6006 6007 6008 6009 6010 6011 6012 6013 6014 6016 6017 6018 6019 6020 6021
Serial Rx Timeout Serial Frame Delay (reserved) Ploop KP Ploop KD Ploop KI Ploop KVF Stop Accel Home Flags Home Position Home Velocity Home Accel Home I Limit Jog Flags Jog Slow Velocity Jog Fast Velocity Jog Accel (reserved) (reserved) (reserved) Dedicated Move Position Dedicated Move Velocity Dedicated Move Accel Move 1 Flags Move 2 Flags Move 3 Flags Move 4 Flags
UINT16 UINT16 UINT16 UINT16 UINT16 UINT16 UINT16 UINT16 UINT16 INT32 UINT16 UINT16 UINT16 UINT16 UINT16 UINT16 UINT16 UINT16 UINT16 UINT16 INT32 UINT16 UINT16 UINT16 UINT16 UINT16 UINT16
RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW
TRUE TRUE TRUE TRUE TRUE TRUE TRUE TRUE TRUE TRUE TRUE TRUE TRUE TRUE TRUE TRUE TRUE TRUE TRUE TRUE TRUE TRUE TRUE TRUE TRUE TRUE TRUE
MS MS
Min
Max
Fw Min
1.12
1.12 1.12
MS
16.16 16.16 1.15 1.15 8.8 9.7 9.7
1.15 1.15 1.15 1.15 12.4 16.16 8.8 12.4 9.7 8.8 8.8 12.4
16.16 8.8 12.4
MS REVS REVS PERCENT PERCENT RPS AMPS AMPS MS SERIAL_FLAGS_ENUM
RPS/S HOME_FLAGS_ENUM REVS RPS RPS/S AMPS JOG_FLAGS_ENUM RPS RPS RPS/S
REVS RPS RPS/S MOVE_FLAGS_ENUM MOVE_FLAGS_ENUM MOVE_FLAGS_ENUM MOVE_FLAGS_ENUM
0 0 0 0 0
32767 32767 32767 32767 32767
1
247
1.12 1.12 1.12 1.12 1.12 1.12 1.12 1.12
32767 32767 32767 32767 32767
0 0 0
32767 32767 32767
0 0 0
32767 32767 32767
0 0
32767 32767
ASCII string name for Drive (16-chars max, NOT zero terminated) Bitmap of drive option flags Power-up delay and non-disabling fault recovery time (ms) Bitmap of faults that will cause a hard fault (disabling drive) Bitmap of faults that will cause a soft fault (warning) without disabling drive Default operating mode Alternate operating mode Bitmap of faults that will force a stop Bitmap of faults that will force a move to dedicated position User peak current limit In current limit hysteresis time before 'In Current Limit' output function goes active Position error limit to trigger positional error fault Position error window within which the 'In Position' output function will be active Time outside of position error limit required to trigger positional error fault Time within in-position window (without falling outside of window) required to activate 'In Position' output function Negative position limit Positive position limit Negative position limit as percent of analog input range Positive position limit as percent of analog input range Velocity limit used when past enabled position limit Current limit used when past enabled position limit Momentary peak current set when pos limit current limit hit Time (ms) pos limit peak current is held Bitmap of serial flag setup options MODBUS slave address ID (will not take effect until next power-up) MODBUS serial baud rate (4800,9600,19200,38400) (will not take effect until next power-up)
0 0 0 0 0 0 0
Fw Max Description Host direct active outputs mask (or'ed with user outputs if user outputs not masked) Reserved for factory test/calibration use
1.12
MODBUS extra inter-character delay time before end of request MODBUS extra inter-frame delay from receive to transmit (reserved) Position loop gain Position loop derivative (velocity loop proportional) Position loop integral Position loop gain velocity foldback Stop acceleration Bitmap of homing options Absolute position upon completion of home Homing velocity Homing acceleration Homing current limit Bitmap of jog options Jog velocity 1 Jog velocity 2 Jog acceleration (reserved) (reserved) (reserved) Dedicated move / Emergency move Position Dedicated move / Emergency move Velocity Dedicated move / Emergency move Acceleration Move 1 flags bitmap Move 2 flags bitmap Move 3 flags bitmap Move 4 flags bitmap
ID 6022 6024 6026 6028 6030 6031 6032 6033 6034 6035 6036 6037 6038 6039 6040 6041 6042 6043 6044 6045 7000 7001 7002 7004 7006 7008 7010 7012 7014 7016 7018 7020 7022 7024 7100 7101 7102 7103 7104 7105 7106 7108 7110 7111 7112 7113 7114 7115
Variable Name Move 1 Position/Distance Move 2 Position/Distance Move 3 Position/Distance Move 4 Position/Distance Move 1 Velocity Move 2 Velocity Move 3 Velocity Move 4 Velocity Move 1 Accel Move 2 Accel Move 3 Accel Move 4 Accel Move 1 Feed Velocity Move 2 Feed Velocity Move 3 Feed Velocity Move 4 Feed Velocity Move 1 Feed I Limit Move 2 Feed I Limit Move 3 Feed I Limit Move 4 Feed I Limit H/W Input Polarities H/W Output Polarities Input 1 Function Assignment Input 2 Function Assignment Input 3 Function Assignment Input 4 Function Assignment Input 5 Function Assignment Input 6 Function Assignment Input 7 Function Assignment Input 8 Function Assignment Output 1 Function Assignmen Output 2 Function Assignmen Output 3 Function Assignmen Output 4 Function Assignmen AIN Filter Coef AOUT Filter Coef AIN Cal Low AIN Cal High AOUT Cal Low AOUT Cal High AIN Position Minimum AIN Position Maximum AIN Velocity Minimum AIN Velocity Maximum AIN Current Minimum AIN Current Maximum AOUT MODBUS ID AOUT Flags
Type INT32 INT32 INT32 INT32 UINT16 UINT16 UINT16 UINT16 UINT16 UINT16 UINT16 UINT16 INT16 INT16 INT16 INT16 UINT16 UINT16 UINT16 UINT16 UINT16 UINT16 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT16 UINT16 INT16 INT16 INT16 UINT16 INT32 INT32 INT16 INT16 INT16 INT16 UINT16 UINT16
Access RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW
NVM TRUE TRUE TRUE TRUE TRUE TRUE TRUE TRUE TRUE TRUE TRUE TRUE TRUE TRUE TRUE TRUE TRUE TRUE TRUE TRUE TRUE TRUE TRUE TRUE TRUE TRUE TRUE TRUE TRUE TRUE TRUE TRUE TRUE TRUE TRUE TRUE TRUE TRUE TRUE TRUE TRUE TRUE TRUE TRUE TRUE TRUE TRUE TRUE
Scale 16.16 16.16 16.16 16.16 8.8 8.8 8.8 8.8 12.4 12.4 12.4 12.4 8.8 8.8 8.8 8.8 9.7 9.7 9.7 9.7
1.15 1.15 1.15 1.15 1.15 1.15 16.16 16.16 8.8 8.8 9.7 9.7
Units
REVS REVS REVS REVS RPS RPS RPS RPS RPS/S RPS/S RPS/S RPS/S RPS RPS RPS RPS AMPS AMPS AMPS AMPS INPUTS_ENUM OUTPUTS_ENUM INPUT_FUNCTIONS_ENUM INPUT_FUNCTIONS_ENUM INPUT_FUNCTIONS_ENUM INPUT_FUNCTIONS_ENUM INPUT_FUNCTIONS_ENUM INPUT_FUNCTIONS_ENUM INPUT_FUNCTIONS_ENUM INPUT_FUNCTIONS_ENUM OUTPUT_FUNCTIONS_ENUM OUTPUT_FUNCTIONS_ENUM OUTPUT_FUNCTIONS_ENUM OUTPUT_FUNCTIONS_ENUM
ADC ADC DAC DAC REVS REVS RPS RPS AMPS AMPS VMONITOR_ENUM
Min
Max
0 0 0 0 0 0 0 0 -32768 -32768 -32768 -32768 0 0 0 0
32767 32767 32767 32767 32767 32767 32767 32767 32767 32767 32767 32767 32767 32767 32767 32767
0 0 0 0 -32768 0
32767 32767 32767 32767 32767 32767
-32768 -32768 -32768 -32768 0
32767 32767 32767 32767 65535
Fw Min
Fw Max Description Move 1 Position/Distance Move 2 Position/Distance Move 3 Position/Distance Move 4 Position/Distance Move 1 Velocity Move 2 Velocity Move 3 Velocity Move 4 Velocity Move 1 Acceleration Move 2 Acceleration Move 3 Acceleration Move 4 Acceleration Move 1 Feed Velocity Move 2 Feed Velocity Move 3 Feed Velocity Move 4 Feed Velocity Move 1 Feed Current Limit Move 2 Feed Current Limit Move 3 Feed Current Limit Move 4 Feed Current Limit Bitmap of hardware input polarities Bitmap of hardware output polarities Input function assigned to Input 1 Input function assigned to Input 2 Input function assigned to Input 3 Input function assigned to Input 4 Input function assigned to Input 5 Input function assigned to Input 6 Input function assigned to Input 7 Input function assigned to Input 8 Output function assigned to Output 1 Output function assigned to Output 2 Output function assigned to Output 3 Output function assigned to Output 4 Analog input smoothing filter coefficient Analog output smoothing filter coefficient Analog input that maps to minimum analog command Analog input that maps to maximum analog command User low analog input calibration offset User high analog input calibration offset Minimum analog position command Maximum analog position command Minimum analog velocity command Maximum analog velocity command Minimum analog current command Maximum analog current command Modbus ID of variable monitored on analog output (0 if none) Flags for variable monitored on analog output
ID 7116 7118 7120 7121 7122
Variable Name AOUT Variable Minimum AOUT Variable Maximum Analog Velocity Analog Position Accel Analog Velocity Accel
Type INT32 INT32 UINT16 UINT16 UINT16
Access RW RW RW RW RW
NVM TRUE TRUE TRUE TRUE TRUE
9000
Part Number
STRING
RPW
TRUE
9016
Serial Number
STRING
RPW
TRUE
9100 9116 9117 9118 9119 9120 9121 9200 9201 9202 9203 9204 9205 9206 9207 9300 9301 9302 9303 9304 9305 9306 9307 9308 9309 9310 9311 9312 9313 9314 9315 9317 9318 9319 9320 9321 9322 9323 9324 9325 9400 9401 9402 9403
Model Electrical Cycles Per Rev R L KE KT J Low Voltage Trip High Voltage Trip Board Temperature Trip I trip I peak I continuous Power Filter Coef Ain 20ma Trip Level Vbus Offset Vbus Scale Board Temp Offset Board Temp Scale Psine Zero Psine Scale Pcosine Zero Pcosine Scale Rphase Offset Rphase Scale Sphase Offset Sphase Scale Tphase Offset Tphase Scale AOUT Zero Calibration Electric Angle Offset Vloop Bandwidth Ain Vlow Ain Vhigh Ain Vlow Raw Ain Vhigh Raw Ain Ilow Ain Ihigh Ain IlowRaw Ain IhighRaw Position tracking gain Position tracking damping Iloop KP Iloop KI
STRING UINT16 UINT16 UINT16 UINT16 UINT16 UINT16 UINT16 UINT16 UINT16 UINT16 UINT16 UINT16 UINT16 UINT16 INT16 UINT16 INT16 UINT16 INT16 INT16 INT16 INT16 INT16 INT16 INT16 INT16 INT16 INT16 INT16 UINT16 UINT16 INT16 INT16 INT16 INT16 INT16 INT16 INT16 INT16 UINT16 UINT16 UINT16 UINT16
RPW RPW RPW RPW RPW RPW RPW RPW RPW RPW RPW RPW RPW RPW RPW RPW RPW RPW RPW RPW RPW RPW RPW RPW RPW RPW RPW RPW RPW RPW RPW RPW RPW RPW RPW RPW RPW RPW RPW RPW RPW RPW RPW RPW
TRUE TRUE TRUE TRUE TRUE TRUE TRUE TRUE TRUE TRUE TRUE TRUE TRUE TRUE TRUE TRUE TRUE TRUE TRUE TRUE TRUE TRUE TRUE TRUE TRUE TRUE TRUE TRUE TRUE TRUE TRUE TRUE TRUE TRUE TRUE TRUE TRUE TRUE TRUE TRUE TRUE TRUE TRUE TRUE
Scale
Units
8.8 12.4 12.4
8.8 8.8 6.10 0.18 11.5 11.5 11.5 9.7 9.7 9.7 1.15 6.10 11.5 11.5 11.5 11.5 1.15 3.13 1.15 3.13 10.6 10.6 10.6 1.15 0.16 0 6.10 6.10 1.15 1.15 6.10 6.10 1.15 1.15 1.15 1.15 1.15 1.15
Min
Max
Fw Min
RPS RPS/S RPS/S
0 0 0
32767 32767 32767
1.14
CYCLES OHMS L-L mH L-L Vrms/KRPM Nm/AMP kg-m^2 VOLTS VOLTS DEG C AMPS AMPS AMPS
1
5
0
32767
mAmps VOLTS VOLTS/ADC DEG C DEG C/ADC
1.12
ADC BITS AMPS FULL SCALE ADC BITS AMPS FULL SCALE ADC BITS AMPS FULL SCALE 2PI RADIANS
-32768 0 0
32767 65535 32767
0 0 0 0
32767 32767 32767 32767
VOLTS VOLTS ADC ADC mAmps mAmps ADC ADC
1.12 1.12 1.12 1.12 1.12 1.12 1.12 1.12 1.12
Fw Max Description Minimum value of variable monitored on analog output Maximum value of variable monitored on analog output Velocity limit for analog positioning operating mode Accel limit for analog position mode (or analog velocity pre 1.14) Accel limit for analog velocity mode ASCII string name for Board Part Number (16-chars max, NOT zero terminated) ASCII string name for Board Serial Number (16-chars max, NOT zero terminated) ASCII string name for Actuator Model (16-chars max, NOT zero terminated) Actuator electrical cycles per mechanical rev (poles/2) Actuator winding resistance Actuator winding inductance 1.10 Actuator voltage constant (back EMF) (unused) Actuator torque constant Actuator inertia Low voltage fault trip point High voltage fault trip point Board thermistor fault trip point Peak current fault trip point Peak current command limit Continuous current command limit Power filter smoothing coefficient Analog current input loss of signal trip point Bus voltage calibration offset Bus voltage calibration scale Board thermistor calibration offset Board theremistor calibration scale Linear Hall sine calibration offset Linear Hall sine calibration scale Linear Hall cosine calibration offset Linear Hall cosine calibration scale R phase calibration zero offset R phase calibration scale S phase calibration zero offset S phase calibration scale T phase calibration zero offset T phase calibration scale Analog output zero calibration offset Electrical angle commutation offset Final pos loop current command filter bandwidth factor Calibrated voltage corresponding to Ain VlowRaw Calibrated voltage corresponding to Ain VHighRaw Raw ADC value corresponding to Ain Vlow Raw ADC value corresponding to Ain Vhigh Calibrated current corresponding to Ain IlowRaw Calibrated current corresponding to Ain IhighRaw Raw ADC value corresponding to Ain Ilow Raw ADC value corresponding to Ain Ihigh Linear Halls position tracking gain Linear Halls position tracking damping factor Current loop proportional gain Current loop integral gain
ENUMERATED VALUES These tables specify the specific values expected for bitmapped or enumerated value parameters.
FAULTS_ENUM
This table specifies the bit values for fault setup and status variables.
Name NONE PEAK_CURRENT CONTINUOUS_CURRENT POSITION_TRACKING SWITCH_NOT_FOUND LOW_BUS_VOLTAGE HIGH_BUS_VOLTAGE POSITION_ERROR BOARD_TEMPERATURE ACTUATOR_TEMPERATURE LOSS_OF_SIGNAL INVALID_USER_PARAMETERS INVALID_SYSTEM_PARAMETERS RESTART
Value 0x0000 0x0001 0x0002 0x0004 0x0008 0x0010 0x0020 0x0040 0x0080 0x0100 0x0200 0x2000 0x4000 0x8000
Description None Instantaneous system peak current limit exceeded Continuous current exceeds rated current SIN/COS position signals from actuator detected illegal state or runtime tracking error Move or Home termination input did not occur before current limit reached DC Bus under minimum required operating voltage DC Bus over maximum allowed operating voltage Position error has exceed position error window for position error time limit Board thermistor reading over maximum allowed temperature reading Actuator over-temperature switch active 20ma analog current input below trip level CRC error in non-volatile user parameters CRC error in non-volatile system parameters Unexpected DSP restart while powered on
INPUTS_ENUM
This table specifies the bit values for hardware inputs status and polarities variables.
Name NONE INPUT_1 INPUT_2 INPUT_3 INPUT_4 INPUT_5 INPUT_6 INPUT_7 INPUT_8
Value 0x0000 0x0001 0x0002 0x0004 0x0008 0x0010 0x0020 0x0040 0x0080
Description None Hardware Input 1 Hardware Input 2 Hardware Input 3 Hardware Input 4 Hardware Input 5 Hardware Input 6 Hardware Input 7 Hardware Input 8
OUTPUTS_ENUM
This table specifies the bit values for hardware outputs status and polarities variables.
Name NONE OUTPUT_1 OUTPUT_2 OUTPUT_3 OUTPUT_4
Value 0x0000 0x0001 0x0002 0x0004 0x0008
Description None Hardware Output 1 Hardware Output 2 Hardware Output 3 Hardware Output 4
INPUT_FUNCTIONS_ENUM This table specifies the values used to designate input functionality. These values are used for both assigning functionality to hardware inputs and for specifying direct host (simulated) active input functions or monitoring active input functions.
Name NONE ENABLE_MOMENTARY ENABLE_MAINTAINED STOP PAUSE JOG_POSITIVE JOG_NEGATIVE JOG FAST ALTERNATE_MODE HOME DEDICATED_MOVE DEFINE_HOME TEACH_ENABLE MOVE1_MAINTAINED MOVE2_MAINTAINED MOVE3_MAINTAINED MOVE4_MAINTAINED MOVE1_MOMENTARY MOVE2_MOMENTARY MOVE3_MOMENTARY MOVE4_MOMENTARY SWITCH_1 SWITCH_2 SWITCH_3 SWITCH_4 MOVE1_TEACH MOVE2_TEACH MOVE3_TEACH MOVE4_TEACH
RESET_FAULTS
Value 0x00000000 0x00000001 0x00000002 0x00000004 0x00000008 0x00000010 0x00000020 0x00000040 0x00000080 0x00000100 0x00000200 0x00000400 0x00000800 0x00001000 0x00002000 0x00004000 0x00008000 0x00010000 0x00020000 0x00040000 0x00080000 0x00100000 0x00200000 0x00400000 0x00800000 0x01000000 0x02000000 0x04000000 0x08000000 0x10000000 0x20000000 0x40000000 0x80000000
Description No input function assignment / no input functions active Momentary (edge triggered) drive enable Maintained (level sensitive) drive enable Stop motion (level sensitive) Pause index and home motion (level sensitive) Jog in positive direction (level sensitive) Jog in negative direction (level sensitive) Select 2nd (normally faster) speed for jog (level sensitive) Select alternate operating mode (level sensitive Execute Home motion (edge triggered) Execute Move to Dedicated Position (level sensitive) Define current position as Home position (edge triggered) Enable MOVEx_TEACH input functions (level sensitive) Execute Move1 motion (level sensitive) Execute Move2 motion (level sensitive) Execute Move3 motion (level sensitive) Execute Move4 motion (level sensitive) Execute Move1 motion (edge triggered) Execute Move2 motion (edge triggered) Execute Move3 motion (edge triggered) Execute Move4 motion (edge triggered) Home or Move termination input 1 (level sensitive) Home or Move termination input 2 (level sensitive) Home or Move termination input 3 (edge triggered) Home or Move termination input 4 (edge triggered) Set Move 1 position to current feedback position and save current user parameters (edge triggered) Set Move 2 position to current feedback position and save current user parameters (edge triggered) Set Move 3 position to current feedback position and save current user parameters (edge triggered) Set Move 4 position to current feedback position and save current user parameters (edge triggered) (reserved) (reserved) Clear active faults (edge triggered) (reserved)
OUTPUT_FUNCTIONS_ENUM This table specifies the values used to designate ouput functionality. These values are used for both assigning output status functionality to hardware outputs and for monitoring of active ouput function status flags.
Name NONE ENABLED HOMED READY FAULT WARNING FAULT_OR_WARNING IN_CURRENT_LIMIT OVER_RATED_CURRENT STOPPED PAUSED JOGGING JOGGING_POSITIVE JOGGING_NEGATIVE DEFAULT_MODE ALTERNATE_MODE HOMING DEDICATED_MOVE AT_HOME AT_DEDICATED_POSITION MOVE_ACTIVE MOVE1_ACTIVE MOVE2_ACTIVE MOVE3_ACTIVE MOVE4_ACTIVE AT_MOVE1 AT_MOVE2 AT_MOVE3 AT_MOVE4 IN_POSITION POSITION_LIMIT
Value 0x00000000 0x00000001 0x00000002 0x00000004 0x00000008 0x00000010 0x00000020 0x00000040 0x00000080 0x00000100 0x00000200 0x00000400 0x00000800 0x00001000 0x00002000 0x00004000 0x00008000 0x00010000 0x00020000 0x00040000 0x00080000 0x00100000 0x00200000 0x00400000 0x00800000 0x01000000 0x02000000 0x04000000 0x08000000 0x10000000 0x20000000 0x40000000 0x80000000
Description No output function assignment / no output status functions active Drive is enabled Absolute position has been established Drive is enabled and absolute position has been established A unmasked (hard) fault is pending (disabling drive) A masked (soft) fault is active A fault is active (hard or soft) Drive's current command is being limited by system or user current limit Current feedback is over rated current Drive is enabled motion is stopped by active STOP input function Move, Dedicated Move, or Home is active and motion is held by active PAUSE input function Drive is enabled and JOG (positive or negative) is active Drive is enabled and JOG POSITIVE is active Drive is enabled and JOG NEGATIVE is active Drive is enabled and the default operating mode is active Drive is enabled and the alternate operating mode is active Drive is enabled and home motion is active Drive is enabled and the dedicated move is active The drive is IN_POSITION at the defined home position The drive is IN_POSITION at the dedicated move position The drive is enabled a MOVE (1 to 4) is active The drive is enabled and MOVE1 is active The drive is enabled and MOVE2 is active The drive is enabled and MOVE3 is active The drive is enabled and MOVE4 is active The drive is IN_POSITION at MOVE1 position or past MOVE1 position if a feed move The drive is IN_POSITION at MOVE2 position or past MOVE2 position if a feed move The drive is IN_POSITION at MOVE3 position or past MOVE3 position if a feed move The drive is IN_POSITION at MOVE4 position or past MOVE4 position if a feed move Drive is enabled, at zero command velocity, and has been within position error window for position error time Outside of position limit range (reserved) (reserved)
DISABLING_SOURCES_ENUM
This table specifies the bit values for sources disabling the drive.
Name NO_DISABLES INPUT_FUNCTION_DISABLE HOST_DISABLE HARD_FAULT_DISABLE POWER_UP_DISABLE INTERNAL_DISABLE
Value 0x0000 0x0001 0x0002 0x0004 0x4000 0x8000
Description None - drive will be enabled unless the operating command mode is CMDMD_DISABLED. Disabled by inactive enable input function Disabled by non-zero host disabling flags Disabled by active fault mapped as hard fault Disabled during internal power-up initialization Disabled internally
COMMAND_MODE_ENUM This table defines the command mode options available for the Default, Alternate, and Host operating modes. Locking and voltage modes are used internally for test and calibration. When the Host command mode is set to anything other than CMDMD_DISABLED, the specified Host comand mode will take priority over the default or alternate operating mode in effect.
Name CMDMD_DISABLED CMDMD_IO CMDMD_ANALOG_POSITION CMDMD_ANALOG_VELOCITY CMDMD_ANALOG_CURRENT CMDMD_HOST_POSITION CMDMD_HOST_VELOCITY CMDMD_HOST_CURRENT CMDMD_HOST_ILOCK CMDMD_HOST_VLOCK CMDMD_HOST_VOLTAGE
Value 0 1 2 3 4 5 6 7 8 9 10
Description No active command mode (drive will stay disabled) Command from motion input functions (Move, Jog, …) Position command from analog input Velocity command from analog input Current command from analog input Position command from Host (using Host velocity, acceleration, and Host current as limit) Velocity command from Host (using Host acceleration and Host current from current limit) Torque current command from Host Locking current command from Host Direct voltage command from Host Locking voltage command from Host
OPTION_FLAGS_ENUM
This table specifies the bit value definitions for the User Options parameter.
Name OPTIONS_NONE OPTIONS_AUTO_ENABLE OPTIONS_TEACH_ENABLE OPTIONS_20MA_ANALOG_IN OPTIONS_POLARITY PLIMIT_MINUS_ENABLE PLIMIT_PLUS_ENABLE PLIMIT_PERCENT DEDICATED_MOVE_DISABLE
Value 0x0000 0x0001 0x0002 0x0004 0x0008 0x0010 0x0020 0x0040 0x0080
Description None - no options selected Enable without requiring active Enable input function Enable Move Teach Inputs without requiring active Teach Enable input function Analog input is 20milliamp current loop (Analog input is voltage input if this flag is not set) Reverse drive direction sense (position, velocity, current) Enable negative direction position limit Enable positive direction position limit Set position limits as percent of analog position range Disable drive upon completion of a dedicated move
SERIAL_FLAGS_ENUM
This table specifies the bit value definitions for the Serial Options parameter.
Name SERIAL_NONE SERIAL_ODD_PARITY SERIAL_NO_PARITY SERIAL_TWO_STOP SERIAL_RX_WARN
Value 0x0000 0x0001 0x0002 0x0004 0x0008
Description None - no options selected Odd parity (if SERIAL_NO_PARITY is NOT set) Enable Move Teach Inputs without requiring active Teach Enable input function 2 stop bits (default is 1) Warn (but accept) chars received before frame idle time has been met
HOME_FLAGS_ENUM
This table specifies the bit value definitions for the Home Flags parameter.
Name HOME_NONE HOME_DIR_POSITIVE HOME_ILIMIT HOME_SWITCH_1 HOME_SWITCH_2 HOME_SWITCH_3 HOME_SWITCH_4 HOME_ILIMIT_AND_SWITCH_1
Value 0x0000 0x0001 0x0080 0x0100 0x0200 0x0400 0x0800 0x0180
Description None - no options selected Home direction is positive (+) Terminate Home when home current limit is reached Terminate Home on Input Function Switch 1 Terminate Home on Input Function Switch 2 Terminate Home on Input Function Switch 3 Terminate Home on Input Function Switch 4 Terminate Home when home current limit is reached and Switch 1 active
HOME_ILIMIT_AND_SWITCH_2 HOME_ILIMIT_AND_SWITCH_3 HOME_ILIMIT_AND_SWITCH_4 HOME_REQUIRE_DEFAULT HOME_REQUIRE_ALTERNATE HOME_AUTO_EXECUTE
0x0280 0x0480 0x0880 0x1000 0x2000 0x8000
Terminate Home when home current limit is reached and Switch 2 active Terminate Home when home current limit is reached and rising edge of Switch 3 Terminate Home when home current limit and rising edig of Switch 4 Require Home before allowing default command operating mode Require Home before allowing alternate command operating mode Execute Home on enable if absolute position has not yet been established
JOG_FLAGS_ENUM
This table specifies the bit value definitions for the Jog Flags parameter.
Name JOG_NONE JOG_ILIMIT JOG_OVERRIDE_DEFAULT JOG_OVERRIDE_ALTERNATE
Value 0x0000 0x0001 0x1000 0x2000
Description None - no options selected Set position limit foldback current limit during jog Allow JOG input functions to override default command operating mode Allow JOG input functions to override alternate command operating mode
MOVE_FLAGS_ENUM
This table specifies the bit value definitions for all Move Flags parameters.
Name MOVE_NONE MOVE_DIR_FORCE_POSITIVE MOVE_DIR_FORCE_NEGATIVE MOVE_INCREMENTAL MOVE_FEED_POSITIVE MOVE_FEED_NEGATIVE MOVE_IFAULT MOVE_ILIMIT MOVE_SWITCH_1 MOVE_SWITCH_2 MOVE_SWITCH_3 MOVE_SWITCH_4
Value 0x0000 0x0001 0x0002 0x0004 0x0010 0x0020 0x0040 0x0080 0x0100 0x0200 0x0400 0x0800
Description None - no options selected Allow absolute move only in positive direction Allow absolute move only in negative direction Move is for incremental distance (Move Position parameter is distance rather than position) Feed in positive direction upon completion of move to position or move for distance Feed in negative direction upon completion of move to position or move for distance Fault if feed current limit hit during feed part of move Terminate feed part of Move when feed current limit is reached Terminate feed part of Move on Input Function Switch 1 Terminate feed part of Move on Input Function Switch 2 Terminate feed part of Move on Input Function Switch 3 Terminate feed part of Move on Input Function Switch 4
VMONITOR_ENUM
This table specifies the bit value definitions for variable monitoring flags. These flags are used by AOUT flags.
Name VMONITOR_NONE VMONITOR_32_BIT
Value 0x0000 0x0001
Description None - no options selected Variable is 32-bit variable
EXEC_CMD_ENUM This table specifies the bit value definitions for direct execution Command word. Any flags set are automatically cleard when the action has been completed so the Command variable may be monitored after writing to determine when action has finished. The EXEC_CMD_ERROR flag will be set if any requested command was unable to complete successfully. This error flag is never cleared by the system but will be cleared only when the Command variable is set to a new value.
Name EXEC_CMD_RESTART EXEC_CMD_WRITE_NVMEM EXEC_CMD_WRITE_SYS_NVMEM EXEC_CMD_RESET_MIN_MAX EXEC_CMD_DEFAULT_USER EXEC_CMD_DEFAULT_SYS EXEC_CMD_ERROR
Value 0x0001 0x0002 0x0004 0x0008 0x2000 0x4000 0x8000
Description Restart drive from cold-start Write user parameters from RAM to user area of non-volatile memory Write system parameters from RAM to system area of non-volatile memory Resets min/max monitor variables Sets RAM user parameters to default values Sets RAM system parameters to default values Command error flag (set on command error but never cleared by drive)
SERIAL_ERROR_ENUM
This table specifies the bit value definitions for the Serial Errors variable. These flags are set but never cleared by the drive. The Host may clear them directly by writing a zero to Serial Errors.
Name SERIAL_ERROR_NONE SERIAL_ERROR_RX_COUNT SERIAL_ERROR_CRC SERIAL_ERROR_RX_OVERFLOW SERIAL_ERROR_PARITY SERIAL_ERROR_FRAMING SERIAL_ERROR_NOISE SERIAL_ERROR_OVERRUN
Value 0x0000 0x0001 0x0002 0x0004 0x0100 0x0200 0x0400 0x0800
Description None - no errors observed since last clear of Serial Errors MODBUS request received had too few characters MODBUS request CRC error observed Receive character buffer overflow Parity error Framing error H/W noise on RX line Internal UART RX overrun
