Installation manual
Appendix C: Application Notes 07/06 Danaher Motion
83 S200 Position Node with CANOpen/ DeviceNet
PDID
Index
Modbus
Address Name
Data
Type Rights
Default
Value Min Value
Max Value
Units Comments
1 2 ACC Long R/W 300000
1
12000000
RPM/S Velocity Loop Acceleration Limits
2 4 ACCR Long R/W 300000
1
12000000
RPM/S Jog and Homing Acceleration Limits
3 6 ACTFAULT Long R/W 1
0
1
See List What to do upon fault
4 8 ACTIVE Long RO -1
0
0
On/Off Returns 1 if drive active, else 0
6 12 AENA Long R/W 1
0
1
On/Off
Software Auto Enable: 1 Normal, 0 Disable at pow
er
up
34 68 DEC Long R/W 300000
1
12000000
RPM/S Velocity Loop Deceleration Limit
36 72 DECR Long R/W 300000
1
12000000
RPM/S Jog and Homing Deceleration Limits
37 74 DECSTOP Long R/W 300000
1
12000000
RPM/S Priority Stop Deceleration Rate (See Vel0)
41 82 DIPEAK Float RO 0
4294968
4294968
Amps Returns Drive's Peak Current (RMS) Rating
44 88 DREF Long R/W 0
0
34
CW/CCW Set Homing Direction
45 90 DRVSTAT Long RO 0
-1
-1
Bit Coded Return Drive Status Bit Word
50 100 ENCIN Long R/W 1024
16
32767
LPR Encoder Resolution for Encoder Feedback Systems
62 124 GEARI Long R/W 1024
-2.15E+09
2.147E+09
Counts
Gearing mode: Sets GEARI pulses within GEARO
motor turns
63 126 GEARMODE Long R/W 0
0
9
See List Sets Electronic Gearing Mode
64 128 GEARO Long R/W 1
0
2.147E+09
Counts
Gearing mode: Sets GEARI pulses within GEARO
motor turns
88 176 I Float RO 0
4294968
4294968
Amps Returns actual motor current
97 194 IN1 Long RO 0
0
0
On/Off Returns the state of DINP2
98 196
IN1MODE
Long R/W List Sets the function of DINP2
100 200 IN2 Long RO 0
0
0
On/Off Returns the state of DINP3
101 202
IN2MODE
Long R/W 17
0
90
List Sets function of DINP3
103 206 IN3 Long RO 0
0
0
On/Off Returns the state of DINP4
104 208
IN3MODE
Long R/W 9
0
90
List Sets function of DINP4
106 212 IN4 Long RO 0
0
0
On/Off Returns the state of DINP5
107 214
IN4MODE
Long R/W 0
0
90
List Sets function of DINP5
109 218 INPOS Long RO 0
0
0
On/Off
Returns the state of the IN Position bit of the Status
Register
110 220 IPEAK Float R/W 2.25
0
4.5
Amps Allows the user to lower the peak application current
122 244 LATCH2P32 Long RO 0
-1
-1
Counts Returns Positive edge latch position