User manual

Modbus RTU 15MN744
Example of a request to write two registers starting at 2 to 00 0A and 01 02 hex:
Request Response
Field Name (Hex) Field Name (Hex)
Function 10 Function 10
Starting Address Hi 00 Starting Address Hi 00
Starting Address Low 01 Starting Address Low 01
Quantity of Registers Hi 00 Quantity of Registers Hi 00
Quantity of Registers Lo 02 Quantity of Registers Lo 02
Byte Count 04
Registers Value Hi (Low Byte) 00
Registers Value Lo (Low Byte) 0A
Registers Value Hi (High Byte) 01
Registers Value Lo (High Byte) 02
Holding Register Table
This section contains a detailed list of the holding registers supported by the H2 Modbus Interface.
The list includes the holding register address, name, type, class, data field and description, and a detailed
specification of the required and returned data.
The type field is simply Read (R), Write (W), or Read/Write (R/W).
The class field is V (Closed Loop Vector), I (Inverter or Open Loop Vector) or S (Servo).
The data field is one of INT32, UINT32 or FLOAT32 as defined in the table above.
The description field gives information regarding the use of the register. When possible the data range, scale,
units, etc. are also given. An asterisk is used to indicate default power up values where applicable.
Table 9 Holding Register Table
Modbus
Ref
Holding Registers
Name Class Type Data Description
40001
40002
Control Mode VIS R UNIT32
1
Mode of Operation for the Drive. Must use coils to configure modes.
40003
40004
Control Source VIS R/W UNIT32
1
Sets Reference Sources for Drive
40005
40006
Control Command VIS R/W UNIT32
1
Executes Drive Commands
40007
40008
Drive Status 1 VIS R UNIT32
1
Drive Status 1
40009
40010
Drive Status 2 VIS R UNIT32
1
Drive Status 2
40011
40012
Position Reference VS R, R/W FLOAT32
1
Holds current Position Reference. R/W in Network Mode.
Units = quadrature counts. Scaling = 1; 4x feedback counts per rev
40013
40014
Hz Speed
Reference
I R, R/W FLOAT32
1
Holds current Hz Speed Reference. R/W in Network Mode.
Min = 0; Max = 500Hz. Resolution: 0.01Hz
40015
40016
RPM Speed
Reference
VS R, R/W FLOAT32
1
Holds current RPM Speed reference. R/W in Network Mode.
Units: RPM. Min = 0; Max = 30000 RPM; Resolution: Varies* (0.01RPM minimum)
40017
40018
Torque Reference VS R, R/W FLOAT32
1
Holds current Torque reference. R/W in Network Mode.
Scaling: ±100% = programmed current limit.. Resolution: 0.01%
40019
40020
Process Reference VIS R, R/W FLOAT32
1
Holds current Process Control Reference R/W in Network Mode.
Scaling: ±100% = ±28bits Internal. Resolution: 0.01%
40021
40022
Process Feedback VIS R, R/W FLOAT32
1
Holds current Process Control Feedback. R/W in Network Mode.
Scaling: ±100%. Resolution: 0.01%
40023
40024
Process Feed
Forward
VIS R, R/W FLOAT32
1
Holds current Process Control Feed Forward. R/W in Network Mode.
Scaling: ±100%. Resolution: 0.01%
40025
40026
Position Speed VS R, R/W FLOAT32
1
Holds current Positioning Speed Reference. R/W in Network Mode. Max speed
used for positioning commands. Also referred to as feed rate or target velocity.
Units: RPM Min = 0; Max = 30000 RPM; Resolution: Varies* (0.01RPM minimum)
40027
40028
Position Feed
Forward
S R, R/W FLOAT32
1
Holds current Position Tracking Feedforward. R/W in Network Mode.
Optional commanded velocity used to reduce error in tracking command.
Units: RPM Min = 0; Max = 30000 RPM; Resolution: Varies* (0.01RPM minimum)
40029
40030
Current Limit VS R, R/W FLOAT32
1
Holds most recent Current Limit. R/W in Network Mode.
Units: % Range: 0 - 100% of programmed drive peak current