Installation manual

Serial Communications and Modbus RTU 07/06 Danaher Motion
84 S200 Position Node with CANOpen/ DeviceNet
PDID
Index
Modbus
Address Name
Data
Type Rights
Default
Value Min Value Max Value Units Comments
123 246 LATCH2N32 Long RO 0 -1 -1 Counts Returns Negative Edge Latch Position
140 280 VLIM Long R/W 10000
0 10000 RPM Defines the maximum application velocity
141 282 MH Long WO 0
-128 127 Start Move to home
145 290 MJOG Long WO 0 -128 127 Start Jog at VJOG speed and ACCR / DECR Ramps
163 326 MSPEED Long R/W 10000
0 16000 RPM Motor's rated speed
174 348 O1 Long RO 0
0 1 On/Off Returns the state of DOUT1
177 354 O2 Long RO 0
0 1 On/Off Returns the state of DOUT2
180 360 OPMODE Long R/W 8
0 8 List Sets the drive's mode of operation
197 394 PE Long RO 0
-1 -1 Counts Returns the position error
198 396 PEINPOS Long R/W 4000 0 2.147E+09 Counts
Sets the allowable window condition for the In
Window for Pos flag, status bit, In Pos Output
199 398 PEMAX Long R/W 262144
-2.15E+09 2.147E+09 Counts Sets the maximum allowable position error
200 400 PFB Long RO -1
-1 -1 Counts Returns the Position Feedback value
201 402 PFB0 Long RO -1 -1 -1 Counts Returns the position counter of the external encoder
202 404 PGEARI Long R/W 65536 1 2.147E+09 NA
Numerator (with PGEARO) used in setting user
position and velocity units
203 406 PGEARO Long R/W 1 1 32768 NA
Denominator (with PGEARI) used in setting user
position and velocity units
210 420 PRD Long RO 0
-1 -1 Counts Returns the inter-revolution feedback position
215 430 PV Long RO 0 -1 -1 RPM
Returns the actual velocity as seen by the position
control loop
216 432 PVMAX Long R/W 10000 0 10000 RPM Sets the maximum velocity allowed in a motion task
221 442 READY Long RO 0 0 0 On/Off Returns the state of the software enable bit
228 456 REMOTE Long RO 0 0 0 On/Off
Returns the state of the hardware enable input,
DINP1
234 468 S Long WO 0
-128 127 Start Stop: Decel at DECSTOP and disable drive
240 480 SETREF Long WO 0
-128 127 Start Set present position as home
251 502 STAT Long RO 0
0 4.295E+09 Bits Returns a compressed 16-Bit status word
253 506 STATUS Long RO 0
0 4.295E+09 Bits Returns full status word
254 508 STOP Long WO 0
-128 127 Start Force velocity to 0