Rockwell-automation 2071-Axx Kinetix 3 Component Servo Drive Serial Ho Manual de usuario descargar pdf (Pagina 24)

24 Rockwell Automation Publication 2071-RM001B-EN-P - April 2013

Chapter 1 Modbus Protocol

Monitoring Parameter (Function Code 0x04)

The Read or Multi-read of monitoring variables are possible through function

code 04 Read Input Register. All display parameters of the drive are mapped to

function code 04 range. The default address is 0x00.

Fault and Warning Status Parameter - Input Registers

Display Parameter - Input Registers (Default = 0)

Modbus Address Drive Name Unit

0 dis-00 Velocity Feedback rpm

1 dis-01 Velocity Command rpm

2 dis-02 Velocity Error rpm

3 dis-03 Torque Command 0.10%

4…5 dis-04 Position Feedback counts

6…7 dis-05 Position Command counts

8…9 dis-06 Position Error counts

10 dis-07 Pulse Command Frequency 0.1pps

11 dis-08 Electrical Angle 0.1'

12 dis-09 Mechanical Angle 0.1'

13 dis-10 Regeneration Load Ratio %

14 dis-11 DC-Link Voltage V

15 dis-12 Multi-Turn Data Turn number

16…17 dis-13 Offset in Velocity Command 0.1mV

18…19 dis-14 Torque Offset 0.1mV

20…24 dis-15 Input/Output Signal Status ?-

25…32 dis-16 Display Error History 8Alarm

33 dis-17 Display Software Version 1word

34…35 dis-18 Display Motor info 2word

36 dis-19 Analog Velocity Command Voltage 0.01V

37 dis-20 Analog Current Command Voltage 0.01V

38 dis-21 Drive Rated Output Power 1word

39…40 dis-22 Absolute Single Turn Data ?-

41…42 dis-23 Encoder Feedback Counter counts

43…99 Reserved - -

Fault and Warning Status Parameter - Input Registers (Default = 0)

Modbus Address Function Name Unit

100 Error Check Servo Error Code Word

101 Warning Check Servo Warning Code Word

102…199 Reserved - -

1 2 ... 19 20 21 22 23 24 25 26 27 28 29 ... 145 146

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Rockwell-automation 2071-Axx Kinetix 3 Component Servo Drive Serial Ho Manual de usuario Pagina 24