Installation manual
Serial Communications and Modbus RTU 07/06 Danaher Motion
86 S200 Position Node with CANOpen/ DeviceNet
PDID
Index
Modbus
Address Name
Data
Type Rights
Default
Value Min Value
Max Value
Units Comments
511 1022
IN8MODE
Long R/W 9
0
90
List Sets function of DINP9
513 1026 IN9 Long RO 0
0
1
On/Off Returns the state of DINP10
514 1028
IN9MODE
Long R/W 9
0
90
List Sets function of DINP10
549 1098 O3 Long R/W 0
0
1
On/Off
Returns the state of DOUT3 or if O3MODE=0 can
turn on or off DOUT3
550 1100 O3MODE Long R/W 0
0
100
List Sets the function of DOUT3
551 1102 O3TRIG Long R/W 0
-2.15E+09
2.147E+09
Sets trigger level associated with O3MODE
1008 2016 Motor.Name String R/W ASCII Motor Name String
1009 2018 KVP Float R/W 0.014
0.001
110.769
A/(rad/s) Velocity Loop Proportional gain
1010 2020 KVI Float R/W 100
0
3000
Hz Velocity Loop Integrator Rate
1011 2022 ILmtPlus Long R/W 50
0
100
% Positive Current Limit
1012 2024 ILmtMinus Long R/W 50
0
100
% Negative Current Limit
1013 2026 BU.Error.code Long RO 0
0
4.295E+09
List Base Unit Error Code
1014 2028 OC.Error.code Long RO 0
0
4.295E+09
List Position Node fault code
1015 2030 Warning.Code Long RO 0
0
4.295E+09
List Position Node Warning Code
1017 2034 DPoles Long R/W 10
2
254
Pole-pairs Motor's pole pair
1025 2050 KPP Float R/W 16
0
300
(rad/s)/rad Position Loop Proportional gain
1026 2052 KVFF Long R/W 100
0
1000
%
Position Loop Velocity Feed forward tuning
parameter
1027 2054 KTFF Long R/W 1
0
1000
%
Position Loop Acceleration Feed Forward tuning
parameter
1028 2056 AVGTIME Long R/W 0
0
4.295E+09
Reads
Sets the number of reads used to average data over
for presentation to the user.
1404 2808 Digital.Inputs Long RO 0
0
4.295E+09
Bit Coded
Returns DINP2-DINP10 in one word weighted
2^INx
1453 2906 Motor.Lqll Float R/W 0
0
255
Henry Motor Q-Axis inductance
1454 2908 Motor.Ldll Float R/W 0
0
255
Henry Motor D-Axis Inductance
1455 2910 Motor.KVPAuto Float R/W 0
0
255
Arms/rad/sec
1456 2912 Motor.MIpeak Float R/W 0
0
255
Arms Motor's Peak Rated Current
1457 2914 Motor.MIcont Float R/W 0
0
255
Arms Motor's continuous rated current
1458 2916 Motor.MTF0 Float R/W 0
0
255
Hz
1502 3004 Error.code 0
-2.15E+09
2.147E+09
1620 3240 EncOut(BU) Long R/W 3
0
15
List Sets Encoder Output Resolution
1642 3284 HSTemp(BU) Float RO 0
0
0
Degrees C Returns the temperature of the drive heat sink