Rockwell Automation 2071-Axx User Manual
Reference Manual
Kinetix 3 Host Commands for Serial Communication
Catalog Numbers 2071-AP0, 2071-AP1, 2071-AP2, 2071-AP4, 2071-AP8, 2071-A10, 2071-A15
Important User Information
IMPORTANT
Solid-state equipment has operational characteristics differing from those of electromechanical equipment. Safety
Guidelines for the Application, Installation and Maintenance of Solid State Controls (publication SGI-1.1
your local Rockwell Automation sales office or online at http://www.rockwellautomation.com/literature/
important differences between solid-state equipment and hard-wired electromechanical devices. Because of this difference,
and also because of the wide variety of uses for solid-state equipment, all persons responsible for applying this equipment
must satisfy themselves that each intended application of this equipment is acceptable.
In no event will Rockwell Automation, Inc. be responsible or liable for indirect or consequential damages resulting from the
use or application of this equipment.
The examples and diagrams in this manual are included solely for illustrative purposes. Because of the many variables and
requirements associated with any particular installation, Rockwell Automation, Inc. cannot assume responsibility or
liability for actual use based on the examples and diagrams.
No patent liability is assumed by Rockwell Automation, Inc. with respect to use of information, circuits, equipment, or
software described in this manual.
Reproduction of the contents of this manual, in whole or in part, without written permission of Rockwell Automation,
Inc., is prohibited.
Throughout this manual, when necessary, we use notes to make you aware of safety considerations.
available from
) describes some
WARNING: Identifies information about practices or circumstances that can cause an explosion in a hazardous environment,
which may lead to personal injury or death, property damage, or economic loss.
ATTENTION: Identifies information about practices or circumstances that can lead to personal injury or death, property
damage, or economic loss. Attentions help you identify a hazard, avoid a hazard, and recognize the consequence.
SHOCK HAZARD: Labels may be on or inside the equipment, for example, a drive or motor, to alert people that dangerous
voltage may be present.
BURN HAZARD: Labels may be on or inside the equipment, for example, a drive or motor, to alert people that surfaces may
reach dangerous temperatures.
Identifies information that is critical for successful application and understanding of the product.
Allen-Bradley, Kinetix, MicroLogix, Rockwell Software, Rockwell Automation, TechConnect, and Ultra3000 are trademarks of Rockwell Automation, Inc.
Trademarks not belonging to Rockwell Automation are property of their respective companies.
Summary of Changes
This manual contains new and updated information. Changes throughout this
revision are marked by change bars, as shown to the right of this paragraph.
New and Updated Information
This table contains the changes made to this revision.
Top ic Pag e
Added the exception code Servo On Write Error
Renumbered the Modbus address and the Kinetix® 3 Parameters in Group 5 Supplemental Drive Control table
Updated Modbus address range of 600…4999 and bullets 15
Updated Group 0 to Special Index 15
Added Modbus 4009, Index 0 Next Index to the Indexing Parameters table 15
Added Group 1 - Homing 16
Added Important statement and parameter usage information 23
Added descriptive text to Monitoring Parameter (Function Code 0x04) 24
Updated the Special Symbols table 29
Updated the [Pr - 0.00] parameter range 48
Updated the [Pr - 0.01] parameter to reserved 48
Updated the [Pr - 0.04] parameter units to % 51
Updated the [Pr - 0.07] parameter range 55
Updated the [Pr - 1.01] parameter range 67
Updated the [Pr - 1.11] parameter range 70
Updated the [Pr - 1.13] parameter range 70
Updated the [Pr- 1.17] parameter default 72
Updated the [Pr - 1.34] parameter range 78
Updated the [Pr - 2.00] parameter range and default value 81
Updated the Group 2 - Speed Control Modbus addresses 81…84
Update the [Pr - 4.00] parameter units to 0.1% of rated continuous current/V 90
Updated the Group 5 - Supplemental Drive Controls Modbus Addresses 92 …96
Update the [Pr - 5.05] parameter range and default values 93
Updated Group 0 - Indexing System Modbus addresses 114…116
Update [IN01.09] range and default values 122
Updated hex values in Variables table 131
Updated Variable 15 digital outputs bit16 to D05 133
Updated Variable 26 Digital Outputs 134
12
14
Rockwell Automation Publication 2071-RM001B-EN-P - April 2013 3
Summary of Changes
Notes:
4 Rockwell Automation Publication 2071-RM001B-EN-P - April 2013
Table of Contents
Preface
Modbus Protocol
Communication Protocol (RS-232/
ASCII)
About This Publication. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Who Should Use This Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Conventions Used in This Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Chapter 1
Function Codes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Exception Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Address Maps. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Standard Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Indexing Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Save Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Monitoring Parameter (Function Code 0x04) . . . . . . . . . . . . . . . . . . 24
Fault and Warning Status Parameter - Input Registers . . . . . . . . . . 24
Output Function Status Parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
Running Parameter (Function Code 0x06 or 0x10) . . . . . . . . . . . . . 26
Input Function Parameter (Function Code 0x03, 0x06, or 0x10) . 26
Chapter 2
Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
Special Symbols . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
Packet Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
Checksum . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
General Commands (ASCII)
Chapter 3
Read Parameter (SET) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
Write Parameter (STR) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
Write Parameter (CHP) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
Indexing Command Extended (XCE) . . . . . . . . . . . . . . . . . . . . . . . . . 33
Read Indexing Parameter (XET) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
Write Indexing Parameter (XHP) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
Write Indexing Parameter (XTR) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
Fault Reset (RST) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Monitor Variable (MDM) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Triggered Data Collection (MOT) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
Variable Roll Monitoring (MOR) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
Automatic Task (TAT) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
Manual Task (TMN) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
Read Fault Contents (EHY) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
Jog (JOG) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
Read Drive Status (STS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
Other Functions (ETC) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
Verify Software Version (VER) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
Rockwell Automation Publication 2071-RM001B-EN-P - April 2013 5
Table of Contents
Verify Servo Connection (LIV) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
Read Fault Detailed Data (DIE) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
Enable Drive (SVRON) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
Disable Drive (SVROF) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
Reset Drive (HWR) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
Appendix A
Standard Drive Parameters
Indexing Drive Parameters
Parameter Groupings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
Parameter Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
Group 0 - System Level . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
Group 1 - Gain Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
Group 2 - Speed Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
Group 3 - Position Control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
Group 4 - Torque Controls. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
Group 5 - Supplemental Drive Controls . . . . . . . . . . . . . . . . . . . . . . . . 92
Group 6 - Supplemental Gain and Report Settings. . . . . . . . . . . . . . . 97
Group 7 - Manufacturing Settings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
Group 8 - Reserved Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102
Group 9 - Motor Controls. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
Appendix B
Parameter Groupings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113
Parameter Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114
Group 0 - Indexing System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114
Group 1 - Homing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117
Group 2 - Indexing Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124
Group 3 - Index Move Profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125
Group 4 - Index Position/Distance . . . . . . . . . . . . . . . . . . . . . . . . . . . 125
Group 5 - Index Registration Distance . . . . . . . . . . . . . . . . . . . . . . . . 125
Group 6 - Index Batch Count . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125
Group 7 - Index Dwell . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126
Group 8 - Index Velocity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126
Group 9 - Index Move Profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126
Group 10 - Index Acceleration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127
Group 11 - Index Deceleration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127
Group 12 - Index Next Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128
Appendix C
Warnings and Fault Codes
Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129
Fault Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129
Appendix D
Monitor Variables
6 Rockwell Automation Publication 2071-RM001B-EN-P - April 2013
Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131
Compiled Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133
Variable 15 - Digital Inputs and Outputs . . . . . . . . . . . . . . . . . . . . . . 133
Table of Contents
Variable 25 - Digital Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133
Variable 26 - Digital Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134
Variable 29 - Indexing Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134
Variable 30 - Indexing Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 135
Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137
Rockwell Automation Publication 2071-RM001B-EN-P - April 2013 7
Table of Contents
Notes:
8 Rockwell Automation Publication 2071-RM001B-EN-P - April 2013
Preface
About This Publication
Who Should Use This Manual
Conventions Used in This Manual
This manual describes the host command set for end-user interface with a
Kinetix 3 drive via serial communication. Use this manual for designing,
programming, and troubleshooting host commands for serial communication
with the Kinetix 3 drives.
This manual is intended for engineers, programmers, or technicians directly
involved in the installation, operation, programming, and field maintenance of a
Kinetix 3 drive by using host mode commands.
If you do not have a basic understanding of the Kinetix 3 drive, contact your local
Rockwell Automation sales representative before using this product for the
availability of training courses.
The conventions starting below are used throughout this manual:
• Bulleted lists such as this one provide information, not procedural steps
• Numbered lists provide sequential steps or hierarchical information
Additional Resources
These documents contain additional information concerning related products
from Rockwell Automation.
Resource Description
Kinetix 3 Component Servo Drive Installation Instructions,
publication 2071-IN001
Kinetix 3 I/O Breakout Board Installation Instructions,
publication 2071-IN002
Kinetix 3 Motor Feedback Breakout Board Installation
Instructions, publication 2071-IN003
Kinetix 3 Serial Communication Cables Installation
Instructions, publication 2090-IN019
Kinetix 3 Component Servo Drive User Manual,
publication 2071-UM001
Ultraware User Manual, publication 2098-UM001
Information on configuring and operating Ultraware
Mounting and wiring instructions, and mounting
dimensions.
Information on installing, configuring, starting up, and
troubleshooting for your Kinetix 3 servo drive system.
software with servo drives and motors.
You can view or download publications at
http://www.rockwellautomation.com/literature
. To order paper copies of
technical documentation, contact your local Allen-Bradley distributor or
Rockwell Automation sales representative.
Rockwell Automation Publication 2071-RM001B-EN-P - April 2013 9
Preface
Notes:
10 Rockwell Automation Publication 2071-RM001B-EN-P - April 2013
Chapter 1
Modbus Protocol
This chapter defines the Modbus protocol as it applies to a Kinetix 3 drive.
Function Codes
The register number of Modbus devices may begin with 0 or 1, because this is
determined by the Modbus host you have selected. If your controller requires it, a
'1' must be added to the register number.
The maximum number of parameters that can be read or written at the same time
is the same as the number of Modbus addresses, which is the same as the number
of the parameters in each group. In other words, all the parameters in each group
can be read together or written together.
Function Code Description
03 (0x03) Read Holding Registers
04 (0x04) Read Input Registers
06 (0x06) Write Single Register
16 (0x10) Write Multiple Register
Rockwell Automation Publication 2071-RM001B-EN-P - April 2013 11
Chapter 1 Modbus Protocol
Exception Codes
The Kinetix 3 Modbus protocol uses the following exception codes from the Modbus
specifications.
Exception Code Name Meaning
0x01 Illegal Function The function code received in the query is not an allowable action for the
0x02 Illegal Data
(1)
0x03
0x06 Slave Device Busy The slave is engaged in processing Run command. The master should
0x07 Illegal CRC Value The CRC value received in the query is wrong value.
0x0C Illegal Frame The byte length of the Query Reception frame is out of the limit.
(2)
0x0D
(1)
0x0E
(3)
0x0F
(4)
0x10
0x1E Ser vo On Write
0x1F Servo Error Fail When the slave is Servo Error condition, and receives a Servo ON command
0x21 Drive Type Fail When drive type of the slave is Indexing, slave receives run command 02,
slave.
Address
Illegal Data Value The length of query data field is not valid for the slave.
Illegal Sequence The data sequence received in the query is not an allowable write command
Illegal Data Range The value of query data field is not valid for the slave.
Illegal Command The slave is in Run control and received an invalid command.
Illegal Control The slave is not in the Network mode, but received a net work control
Error
The data address received in the query is not an allowable address for the
slave.
retransmit the message later when the slave is free.
for the slave.
command.
Attempted to write to parameters that are inaccessible when the servo
drive is enabled.
from master.
03, 04.
(1) Exception code 0x03 indicates an Illegal Data Value. It means the length of data string is incorrect. Exception code 14(0x0E) indicates
an Illegal Data Range. It means that data range exceeds the limit of the minimum or maximum value.
(2) Exception code 0x0D is generated if the master accesses a 32-bit data address with function code 06 or either the high or low
address of 32-bit data with function code 10.
(3) Exception code 15(0x0F) indicates an Illegal Command was issued. It occurs when a received Run control cannot be executed at the
moment.
(4) Exception code 16(0x10) is an Illegal Control. It occurs when the Network Control Mode is not set, but the drive requests a Run
Control command or an I/O Control command through the network.
12 Rockwell Automation Publication 2071-RM001B-EN-P - April 2013
Modbus Protocol Chapter 1
Address Maps
All standard and indexing parameters (Pr-x.xx or Inxx.xx) require a unique
register address. The host computer assigns the initial address number and
determines whether the register numbers begin with 0 or 1.
Standard Parameters
Group 0 - System Level
Modbus
Address
0 Pr-0.00 10 Pr-0.09 20 Pr-0.19 30 Pr-0.29
1 Reserved 11 Pr-0.10 21 Pr-0.20 31 Pr-0.30
2 Reserved 12 Pr-0.11 22 Pr-0.21 32 Pr-0.31
3 Pr-0.02 13 Pr-0.12 23 Pr-0.22 33 Pr-0.32
4 Pr-0.03 14 Pr-0.13 24 Pr-0.23 34…42 Reserved
5 Pr-0.04 15 Pr-0.14 25 Pr-0.24 43…99 Reserved
6 Pr-0.05 16 Pr-0.15 26 Pr-0.25
7 Pr-0.06 17 Pr-0.16 27 Pr-0.26
8 Pr-0.07 18 Pr-0.17 28 Pr-0.27
9 Pr-0.08 19 Pr-0.18 29 Pr-0.28
Kinetix 3
Parameter
Modbus,
Address
Kinetix 3
Parameter
Modbus
Address
Kinetix 3
Parameter
Modbus
Address
Kinetix 3
Parameter
Group 1 - Gain Control
Modbus
Address
100 Pr-1.00 111 Pr-1.11 122 Pr-1.22 133 Pr-1.33
101 Pr-1.01 112 Pr-1.12 123 Pr-1.23 134 Pr-1.34
102 Pr-1.02 113 Pr-1.13 124 Pr-1.24 135 Pr-1.35
103 Pr-1.03 114 Pr-1.14 125 Pr-1.25 136 Pr-1.36
104 Pr-1.04 115 Pr-1.15 126 Pr-1.26 137 Pr-1.37
105 Pr-1.05 116 Pr-1.16 127 Pr-1.27 138 Pr-1.38
106 Pr-1.06 117 Pr-1.17 128 Pr-1.28 139 Pr-1.39
107 Pr-1.07 118 Pr-1.18 129 Pr-1.29 140 Pr-1.40
108 Pr-1.08 119 Pr-1.19 130 Pr-1.30 141 Pr-1.41
109 Pr-1.09 120 Pr-1.20 131 Pr-1.31 142 Pr-1.42
1 1 0 P r - 1 . 1 0 1 2 1 Pr - 1 . 2 1 1 3 2 P r - 1 . 3 2 1 4 3 … 1 9 9 R e s e r v e d
Kinetix 3
Parameter
Modbus
Address
Kinetix 3
Parameter
Modbus
Address
Kinetix 3
Parameter
Modbus
Address
Kinetix 3
Parameter
Rockwell Automation Publication 2071-RM001B-EN-P - April 2013 13
Chapter 1 Modbus Protocol
Group 2 - Speed Control
Modbus
Address
200 Pr-2.00 206 Pr-2.04 212 Pr-2.10
201 Pr-2.01 207 Pr-2.05 213 Pr-2.11
202 Pr-2.02[Lo] 208 Pr-2.06 214 Pr-2.12
203 Pr-2.02[Hi] 209 Pr-2.07 215 Pr-2.13
204 Pr-2.03[Lo] 210 Pr-2.08 216…299 Reserved
205 Pr-2.03[Hi] 211 Pr-2.09
Group 3 - Position Control
Modbus
Address
300 Pr-3.00 303 Pr-3.03 306 Pr-3.06 309…399 Reserved
301 Pr-3.01 304 Pr-3.04 307 Reserved
302 Pr-3.02 305 Pr-3.05 308 Pr-3.08
Kinetix 3
Parameter
Kinetix 3
Parameter
Modbus
Address
Modbus
Address
Kinetix 3
Parameter
Kinetix 3
Parameter
Modbus
Address
Modbus
Address
Kinetix 3
Parameter
Kinetix 3
Parameter
Modbus
Address
Kinetix 3
Parameter
Group 4 - Torque Control
Modbus
Address
400 Pr-4.00 402 Pr-4.02 404 Pr-4.04 406 Pr-4.06
401 Pr-4.01 403 Pr-4.03 405 Pr-4.05 407…499 Reserved
Group 5 - Supplemental Drive Control
Modbus
Address
500 Pr-5.00 506 Pr-5.06 512 Reserved 518 Pr-5.16[Lo]
501 Pr-5.01 507 Pr-5.07 513 Pr-5.12 519 Pr-5.16[Hi]
502 Pr-5.02 508 Pr-5.08 514 Pr-5.13 520…599 Reserved
503 Pr-5.03 509 Pr-5.09 515 Pr-5.14
504 Pr-5.04 510 Pr-5.10[Lo] 516 Pr-5.15[Lo]
505 Pr-5.05 511 Pr-5.10[Hi] 517 Pr-5.15[Hi]
Kinetix 3
Parameter
Kinetix 3
Parameter
Modbus
Address
Modbus
Address
Kinetix 3
Parameter
Kinetix 3
Parameter
Modbus
Address
Modbus
Address
Kinetix 3
Parameter
Kinetix 3
Parameter
Modbus
Address
Modbus
Address
Kinetix 3
Parameter
Kinetix 3
Parameter
14 Rockwell Automation Publication 2071-RM001B-EN-P - April 2013
Indexing Parameters
Special Index Group 0
Modbus
Address
4000 Index 0 Distance
4001 Index 0 Distance
4002 Index 0 Velocity 4007 Index 0 Dwell
4003 Index 0 Decel Low 4008 Index 0 Option
4004 Index 0 Decel High 4009 Index 0 Next Index
Group 0 - Indexing System
Modbus
Address
5000 In00.00 5006 In00.03.Hi
5001 In00.01.Lo 5007 In00.04
5002 In00.01.Hi 5008 In00.05.Lo
5003 In00.02.Lo 5009 In00.05.Hi
5004 In00.02.Hi 5010 In00.06.Lo
5005 In00.03.Lo 5011 In00.06.Hi
Kinetix 3
Parameter
Low
High
Kinetix 3
Parameter
Modbus
Address
4005 Index 0 Accel Low
4006 Index 0 Accel High
4010…4199 Reserved
Modbus
Address
5012…5199 Reserved
Kinetix 3
Parameter
Kinetix 3
Parameter
Modbus Protocol Chapter 1
Rockwell Automation Publication 2071-RM001B-EN-P - April 2013 15
Chapter 1 Modbus Protocol
Group 1 - Index Homing
Modbus
Address
Kinetix 3
Parameter
Modbus
Address
Kinetix 3
Parameter
Modbus
Address
Kinetix 3
Parameter
5200 In01.00 5206 In01.05.Lo 5212 In01.08.Hi
5201 In01.01 5207 In01.05.Hi 5213 In01.09
5202 In01.02 5208 In01.06 5214 In01.10
5203 In01.03 5209 In01.07.Lo 5215 In01.11
5204 In01.04.Lo 5210 In01.07.Hi 5216 In01.12.Lo
5205 In01.04.Hi 5211 In01.08.Lo 5217 In01.12.Hi
5218…5399 Reserved
Group 2 – Index Option
Modbus
Address
Kinetix 3
Parame ter
Modbus
Address
Kinetix 3
Parameter
Modbus
Address
Kinetix 3
Parameter
Modbus
Address
Kinetix 3
Parame ter
5400 In02.00 5416 In02.16 5432 In02.32 5448 In02.48
5401 In02.01 5417 In02.17 5433 In02.33 5449 In02.49
5402 In02.02 5418 In02.18 5434 In02.34 5450 In02.50
5403 In02.03 5419 In02.19 5435 In02.35 5451 In02.51
5404 In02.04 5420 In02.20 5436 In02.36 5452 In02.52
5405 In02.05 5421 In02.21 5437 In02.37 5453 In02.53
5406 In02.06 5422 In02.22 5438 In02.38 5454 In02.54
5407 In02.07 5423 In02.23 5439 In02.39 5455 In02.55
5408 In02.08 5424 In02.24 5440 In02.40 5456 In02.56
5409 In02.09 5425 In02.25 5441 In02.41 5457 In02.57
5410 In02.10 5426 In02.26 5442 In02.42 5458 In02.58
5411 In02.11 5427 In02.27 5443 In02.43 5459 In02.59
5412 In02.12 5428 In02.28 5443 In02.43 5460 In02.60
5413 In02.13 5429 In02.29 5444 In02.44 5461 In02.61
5414 In02.14 5430 In02.30 5445 In02.45 5462 In02.62
5415 In02.15 5431 In02.31 5446 In02.46 5463 In02.63
5447 In02.47 5464 …5599 Reserved
Group 3 - Reserved
Modbus
Address
Kinetix 3
Parameter
5600…5799 Reserved
16 Rockwell Automation Publication 2071-RM001B-EN-P - April 2013
Modbus Protocol Chapter 1
Group 4 – Index Position/Distance
Modbus
Address
5800 In04.00.Lo 5834 In04.17.Lo 5868 In04.34.Lo 5902 In04.51.Lo
5801 In04.00.Hi 5835 In04.17. Hi 5869 In04.34. Hi 5903 In04.51.Hi
5802 In04.01.Lo 5836 In04.18.Lo 5870 In04.35.Lo 5904 In04.52.Lo
5803 In04.01.Hi 5837 In04.18. Hi 5871 In04.35. Hi 5905 In04.52.Hi
5804 In04.02.Lo 5838 In04.19.Lo 5872 In04.36.Lo 5906 In04.53.Lo
5805 In04.02.Hi 5839 In04.19. Hi 5873 In04.36. Hi 5907 In04.53.Hi
5806 In04.03.Lo 5840 In04.20.Lo 5874 In04.37.Lo 5908 In04.54.Lo
5807 In04.03.Hi 5841 In04.20. Hi 5875 In04.37. Hi 5909 In04.54.Hi
5808 In04.04.Lo 5842 In04.21.Lo 5876 In04.38.Lo 5910 In04.55.Lo
5809 In04.04.Hi 5843 In04.21. Hi 5877 In04.38. Hi 5911 In04.55.Hi
5810 In04.05.Lo 5844 In04.22.Lo 5878 In04.39.Lo 5912 In04.56.Lo
5811 In04.05.Hi 5845 In04.22. Hi 5879 In04.39. Hi 5913 In04.56.Hi
5812 In04.06.Lo 5846 In04.23.Lo 5880 In04.40.Lo 5914 In04.57.Lo
5813 In04.06.Hi 5847 In04.23. Hi 5881 In04.40. Hi 5915 In04.57.Hi
5814 In04.07.Lo 5848 In04.24.Lo 5882 In04.41.Lo 5916 In04.58.Lo
5815 In04.07.Hi 5849 In04.24. Hi 5883 In04.41. Hi 5917 In04.58.Hi
5816 In04.08.Lo 5850 In04.25.Lo 5884 In04.42.Lo 5918 In04.59.Lo
5817 In04.08.Hi 5851 In04.25. Hi 5885 In04.42. Hi 5919 In04.59.Hi
5818 In04.09.Lo 5852 In04.26.Lo 5886 In04.43.Lo 5920 In04.60.Lo
5819 In04.09.Hi 5853 In04.26. Hi 5887 In04.43. Hi 5921 In04.60.Hi
5820 In04.10.Lo 5854 In04.27.Lo 5888 In04.44.Lo 5922 In04.61.Lo
5821 In04.10.Hi 5855 In04.27. Hi 5889 In04.44. Hi 5923 In04.61.Hi
5822 In04.11.Lo 5856 In04.28.Lo 5890 In04.45.Lo 5924 In04.62.Lo
5823 In04.11.Hi 5857 In04.28. Hi 5891 In04.45. Hi 5925 In04.62.Hi
5824 In04.12.Lo 5858 In04.29.Lo 5892 In04.46.Lo 5926 In04.63.Lo
5825 In04.12.Hi 5859 In04.29. Hi 5893 In04.46. Hi 5927 In04.63.Hi
5826 In04.13.Lo 5860 In04.30.Lo 5894 In04.47.Lo 5928…5999 Reserved
5827 In04.13.Hi 5861 In04.30. Hi 5895 In04.47.Hi
5828 In04.14.Lo 5862 In04.31.Lo 5896 In04.48.Lo
5829 In04.14.Hi 5863 In04.31. Hi 5897 In04.48.Hi
5830 In04.15.Lo 5864 In04.32.Lo 5898 In04.49.Lo
5831 In04.15.Hi 5865 In04.32. Hi 5899 In04.49.Hi
5832 In04.16.Lo 5866 In04.33.Lo 5900 In04.50.Lo
5833 In04.16. Hi 5867 In04.33. Hi 5901 In04.50.Hi
Kinetix 3
Parameter
Modbus
Address
Kinetix 3
Parameter
Modbus
Address
Kinetix 3
Parame ter
Modbus
Address
Kinetix 3
Parameter
Rockwell Automation Publication 2071-RM001B-EN-P - April 2013 17
Chapter 1 Modbus Protocol
Group 5 - Reserved
Modbus
Address
6000…6199 Reserved
Group 6 - Reserved
Modbus
Address
6200…6399 Reserved
Group 7 – Index Dwell
Modbus
Address
6400 In07.00 6417 In07.17 6434 In07.34 6451 In07.51
6401 In07.01 6418 In07.18 6435 In07.35 6452 In07.52
6402 In07.02 6419 In07.19 6436 In07.36 6453 In07.53
6403 In07.03 6420 In07.20 6437 In07.37 6454 In07.54
6404 In07.04 6421 In07.21 6438 In07.38 6455 In07.55
6405 In07.05 6422 In07.22 6439 In07.39 6456 In07.56
6406 In07.06 6423 In07.23 6440 In07.40 6457 In07.57
6407 In07.07 6424 In07.24 6441 In07.41 6458 In07.58
6408 In07.08 6425 In07.25 6442 In07.42 6459 In07.59
6409 In07.09 6426 In07.26 6443 In07.43 6460 In07.60
6410 In07.10 6427 In07.27 6444 In07.44 6461 In07.61
6411 In07.11 6428 In07.28 6445 In07.45 6462 In07.62
6412 In07.12 6429 In07.29 6446 In07.46 6463 In07.63
6413 In07.13 6430 In07.30 6447 In07.47 6464 …6599 Reserved
6414 In07.14 6431 In07.31 6448 In07.48
6415 In07.15 6432 In07.32 6449 In07.49
6416 In07.16 6433 In07.33 6450 In07.50
Kinetix 3
Parameter
Kinetix 3
Parameter
Kinetix 3
Parameter
Modbus
Address
Kinetix 3
Parameter
Modbus
Address
Kinetix 3
Parameter
Modbus
Address
Kinetix 3
Parameter
18 Rockwell Automation Publication 2071-RM001B-EN-P - April 2013
Modbus Protocol Chapter 1
Group 8 – Index Velocity
Modbus
Address
6600 In08.00 6616 In08.16 6632 In08.32 6648 In08.48
6601 In08.01 6617 In08.17 6633 In08.33 6649 In08.49
6602 In08.02 6618 In08.18 6634 In08.34 6650 In08.50
6603 In08.03 6619 In08.19 6635 In08.35 6651 In08.51
6604 In08.04 6620 In08.20 6636 In08.36 6652 In08.52
6605 In08.05 6621 In08.21 6637 In08.37 6653 In08.53
6606 In08.06 6622 In08.22 6638 In08.38 6654 In08.54
6607 In08.07 6623 In08.23 6639 In08.39 6655 In08.55
6608 In08.08 6624 In08.24 6640 In08.40 6656 In08.56
6609 In08.09 6625 In08.25 6641 In08.41 6657 In08.57
6610 In08.10 6626 In08.26 6642 In08.42 6658 In08.58
6611 In08.11 6627 In08.27 6643 In08.43 6659 In08.59
6612 In08.12 6628 In08.28 6644 In08.44 6660 In08.60
6613 In08.13 6629 In08.29 6645 In08.45 6661 In08.61
6614 In08.14 6630 In08.30 6646 In08.46 6662 In08.62
6615 In08.15 6631 In08.31 6647 In08.47 6663 In08.63
Kinetix 3
Parameter
Modbus
Address
Kinetix 3
Parameter
Modbus
Address
Kinetix 3
Parameter
Modbus
Address
6664 …6799 Reserved
Kinetix 3
Parameter
Group 9 - Reserved
Modbus
Address
6800…6999 Reserved
Kinetix 3
Parameter
Rockwell Automation Publication 2071-RM001B-EN-P - April 2013 19
Chapter 1 Modbus Protocol
Group 10 – Index Acceleration
Modbus
Address
7000 In10.00.Lo 7032 In10.16.Lo 7064 In10.32.Lo 7096 In10.48.Lo
7001 In10.00.Hi 7033 In10.16. Hi 7065 In10.32. Hi 7097 In10.48. Hi
7002 In10.01.Lo 7034 In10.17.Lo 7066 In10.33.Lo 7098 In10.49.Lo
7003 In10.01.Hi 7035 In10.17. Hi 7067 In10.33. Hi 7099 In10.49. Hi
7004 In10.02.Lo 7036 In10.18.Lo 7068 In10.34.Lo 7100 In10.50.Lo
7005 In10.02.Hi 7037 In10.18. Hi 7069 In10.34. Hi 7101 In10.50. Hi
7006 In10.03.Lo 7038 In10.19.Lo 7070 In10.35.Lo 7102 In10.51.Lo
7007 In10.03.Hi 7039 In10.19. Hi 7071 In10.35. Hi 7103 In10.51. Hi
7008 In10.04.Lo 7040 In10.20.Lo 7072 In10.36.Lo 7104 In10.52.Lo
7009 In10.04.Hi 7041 In10.20. Hi 7073 In10.36. Hi 7105 In10.52. Hi
7010 In10.05.Lo 7042 In10.21.Lo 7074 In10.37.Lo 7106 In10.53.Lo
7011 In10.05.Hi 7043 In10.21. Hi 7075 In10.37. Hi 7107 In10.53. Hi
7012 In10.06.Lo 7044 In10.22.Lo 7076 In10.38.Lo 7108 In10.54.Lo
7013 In10.06.Hi 7045 In10.22. Hi 7077 In10.38. Hi 7109 In10.54. Hi
7014 In10.07.Lo 7046 In10.23.Lo 7078 In10.39.Lo 7110 In10.55.Lo
7015 In10.07.Hi 7047 In10.23. Hi 7079 In10.39. Hi 7111 In10.55. Hi
7016 In10.08.Lo 7048 In10.24.Lo 7080 In10.40.Lo 7112 In10.56.Lo
7017 In10.08.Hi 7049 In10.24. Hi 7081 In10.40. Hi 7113 In10.56. Hi
7018 In10.09.Lo 7050 In10.25.Lo 7082 In10.41.Lo 7114 In10.57.Lo
7019 In10.09.Hi 7051 In10.25. Hi 7083 In10.41. Hi 7115 In10.57. Hi
7020 In10.10.Lo 7052 In10.26.Lo 7084 In10.42.Lo 7116 In10.58.Lo
7021 In10.10.Hi 7053 In10.26. Hi 7085 In10.42. Hi 7117 In10.58. Hi
7022 In10.11.Lo 7054 In10.27.Lo 7086 In10.43.Lo 7118 In10.59.Lo
7023 In10.11.Hi 7055 In10.27. Hi 7087 In10.43. Hi 7119 In10.59. Hi
7024 In10.12.Lo 7056 In10.28.Lo 7088 In10.44.Lo 7120 In10.60.Lo
7025 In10.12.Hi 7057 In10.28. Hi 7089 In10.44. Hi 7121 In10.60. Hi
7026 In10.13.Lo 7058 In10.29.Lo 7090 In10.45.Lo 7122 In10.61.Lo
7027 In10.13.Hi 7059 In10.29. Hi 7091 In10.45. Hi 7123 In10.61. Hi
7028 In10.14.Lo 7060 In10.30.Lo 7092 In10.46.Lo 7124 In10.62.Lo
7029 In10.14.Hi 7061 In10.30. Hi 7093 In10.46. Hi 7125 In10.62. Hi
7030 In10.15.Lo 7062 In10.31.Lo 7094 In10.47.Lo 7126 In10.63.Lo
7031 In10.15.Hi 7063 In10.31. Hi 7095 In10.47. Hi 7127 In10.63. Hi
Kinetix 3
Parameter
Modbus
Address
Kinetix 3
Parameter
Modbus
Address
Kinetix 3
Parameter
Modbus
Address
7128 …7199 Reserved
Kinetix 3
Parameter
20 Rockwell Automation Publication 2071-RM001B-EN-P - April 2013
Modbus Protocol Chapter 1
Group 11 – Index Deceleration
Modbus
Address
7200 In11.00.Lo 7232 In11.16. Lo 7264 In11.32.Lo 7296 In11.48.Lo
7201 In11.00.Hi 7233 In11.16. Hi 7265 In11.32. Hi 7297 In11.48. Hi
7202 In11.01.Lo 7234 In11.17.Lo 7266 In11.33.Lo 7298 In11.49.Lo
7203 In11.01.Hi 7235 In11.17. Hi 7267 In11.33. Hi 7299 In11.49. Hi
7204 In11.02.Lo 7236 In11.18.Lo 7268 In11.34.Lo 7300 In11.50.Lo
7205 In11.02.Hi 7237 In11.18. Hi 7269 In11.34. Hi 7301 In11.50. Hi
7206 In11.03.Lo 7238 In11.19.Lo 7270 In11.35.Lo 7302 In11.51.Lo
7207 In11.03.Hi 7239 In11.19. Hi 7271 In11.35. Hi 7303 In11.51. Hi
7208 In11.04.Lo 7240 In11.20.Lo 7272 In11.36.Lo 7304 In11.52.Lo
7209 In11.04.Hi 7241 In11.20. Hi 7273 In11.36. Hi 7305 In11.52. Hi
7210 In11.05.Lo 7242 In11.21.Lo 7274 In11.37.Lo 7306 In11.53.Lo
7211 In11.05.Hi 7243 In11.21. Hi 7275 In11.37. Hi 7307 In11.53. Hi
7212 In11.06.Lo 7244 In11.22.Lo 7276 In11.38.Lo 7308 In11.54.Lo
7213 In11.06.Hi 7245 In11.22. Hi 7277 In11.38. Hi 7309 In11.54. Hi
7214 In11.07.Lo 7246 In11.23.Lo 7278 In11.39.Lo 7310 In11.55.Lo
7215 In11.07.Hi 7247 In11.23. Hi 7279 In11.39. Hi 7311 In11.55. Hi
7216 In11.08.Lo 7248 In11.24.Lo 7280 In11.40.Lo 7312 In11.56.Lo
7217 In11.08.Hi 7249 In11.24. Hi 7281 In11.40. Hi 7313 In11.56. Hi
7218 In11.09.Lo 7250 In11.25.Lo 7282 In11.41.Lo 7314 In11.57.Lo
7219 In11.09.Hi 7251 In11.25. Hi 7283 In11.41. Hi 7315 In11.57. Hi
7220 In11.10.Lo 7252 In11.26.Lo 7284 In11.42.Lo 7316 In11.58.Lo
7221 In11.10.Hi 7253 In11.26. Hi 7285 In11.42. Hi 7317 In11.58. Hi
7222 In11.11.Lo 7254 In11.27.Lo 7286 In11.43.Lo 7318 In11.59.Lo
7223 In11.11.Hi 7255 In11.27. Hi 7287 In11.43. Hi 7319 In11.59. Hi
7224 In11.12.Lo 7256 In11.28.Lo 7288 In11.44.Lo 7320 In11.60.Lo
7225 In11.12.Hi 7257 In11.28. Hi 7289 In11.44. Hi 7321 In11.60. Hi
7226 In11.13.Lo 7258 In11.29.Lo 7290 In11.45.Lo 7322 In11.61.Lo
7227 In11.13.Hi 7259 In11.29. Hi 7291 In11.45. Hi 7323 In11.61. Hi
7228 In11.14.Lo 7260 In11.30.Lo 7292 In11.46.Lo 7324 In11.62.Lo
7229 In11.14.Hi 7261 In11.30. Hi 7293 In11.46. Hi 7325 In11.62. Hi
7230 In11.15.Lo 7262 In11.31.Lo 7294 In11.47.Lo 7326 In11.63.Lo
7231 In11.15.Hi 7263 In11.31.Hi 7295 In11.47. Hi 7327 In11.63. Hi
Kinetix 3
Parameter
Modbus
Address
Kinetix 3
Parameter
Modbus
Address
Kinetix 3
Parame ter
Modbus
Address
7328 …7399 Reserved
Kinetix 3
Parameter
Rockwell Automation Publication 2071-RM001B-EN-P - April 2013 21
Chapter 1 Modbus Protocol
Group 12 – Next Index
Modbus
Address
7400 In12.00 7416 In12.16 7432 In12.32 7448 In12.48
7401 In12.01 7417 In12.17 7433 In12.33 7449 In12.49
7402 In07.02 7418 In12.18 7434 In12.34 7450 In12.50
7403 In12.03 7419 In12.19 7435 In12.35 7451 In12.51
7404 In12.04 7420 In12.20 7436 In12.36 7452 In12.52
7405 In12.05 7421 In12.21 7437 In12.37 7453 In12.53
7406 In12.06 7422 In12.22 7438 In12.38 7454 In12.54
7407 In12.07 7423 In12.23 7439 In12.39 7455 In12.55
7408 In12.08 7424 In12.24 7440 In12.40 7456 In12.56
7409 In12.09 7425 In12.25 7441 In12.41 7457 In12.57
7410 In12.10 7426 In12.26 7442 In12.42 7458 In12.58
7411 In12.11 7427 In12.27 7443 In12.43 7459 In12.59
7412 In12.12 7428 In12.28 7444 In12.44 7460 In12.60
7413 In12.13 7429 In12.29 7445 In12.45 7461 In12.61
7414 In12.14 7430 In12.30 7446 In12.46 7462 In12.62
7415 In12.15 7431 In12.31 7447 In12.47 7463 In12.63
Kinetix 3
Parameter
Modbus
Address
Kinetix 3
Parameter
Modbus
Address
Kinetix 3
Parameter
Modbus
Address
7464 …7599 Reserved
Kinetix 3
Parameter
22 Rockwell Automation Publication 2071-RM001B-EN-P - April 2013
Modbus Protocol Chapter 1
IMPORTANT
Save Parameters
When the Standard and Indexing parameters are written by using function code
0x06, their values are stored to the volatile RAM temporarily and are lost after
powering off. To permanently store the parameters values in the nonvolatile flash
memory, write a 1 to the address 9999, by using the function code 0x06, 0x10.
Nonvolatile memory is limited to 100,000 erase/program cycles.
Modbus Address Data Status Description
9999 (decimal) 1 Write data into nonvolatile memory
Rockwell Automation Publication 2071-RM001B-EN-P - April 2013 23
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.
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
Fault and Warning Status Parameter - Input Registers (Default = 0)
Modbus Address Function Name Unit
100 Error Ch eck Ser vo Error Code Word
101 Warni ng Ch eck Se rvo War ning Code Wo rd
102…199 Reserved - -
24 Rockwell Automation Publication 2071-RM001B-EN-P - April 2013
Output Function Status Parameter
Modbus Protocol Chapter 1
Modbus
Address
200 /S_ALM Alarm Bit [0]
201 /O_ISEL0 Index Select 0 Out Bit [0]
Output Function Description Unit Position
/P-COM Within position window Bit [1]
/TG-ON Up to speed Bit [2]
BK Brake control Bit [3]
/V-COM Within Speed window Bit [4]
/A-VLD Absolute position valid Bit [5]
/RDY Drive Ready Bit [6]
/T-LMT /NEAR Current Limited Bit [7]
/V-LMT /WARN Velocity Limited Bit [8]
/NEAR Near position Bit [9]
/WARN Warning Bit [10]
Reserved - Bit [11]
Reserved - Bit [12]
/IMO In Motion Bit [13]
/I-DW In Dwell Bit [14]
/HOMC Axis Homed Bit [15]
/O_ISEL1 Index Select 1 Out Bit [1]
/O_ISEL2 Index Select 2 Out Bit [2]
/O_ISEL3 Index Select 3 Out Bit [3]
/O_ISEL4 Index Select 4 Out Bit [4]
/O_ISEL5 Index Select 5 Out Bit [5]
/E_SEQU End of Sequence Bit [6]
Reserved - Bit [7…15]
[bits]
Rockwell Automation Publication 2071-RM001B-EN-P - April 2013 25
Chapter 1 Modbus Protocol
Running Parameter (Function Code 0x06 or 0x10)
Run Parameter - Holding Registers (Default = 2000)
Modbus
Address
2000 User Open run-00 Jog Operation 1-byte
2001 run-01 Off-Line Auto Tuning 1 bit
2002 run-02 Reserved -
2003 run-03 Auto Adjustment of Speed Command
2004 run-04 Auto Adjustment of Current
2005…2007 run-05… run-07 Reserved -
2008 run-08 Alarm Reset 1 bit
2009 run-09 Reserved -
2010 run-10 Absolute Encoder Reset 1 bit
2011 run-11 2-Group Gain Storing 1 bit
2012 run-12 Parameter Initialization 1 bit
2013…2015 run-13…run-15 Reserved -
2016 run-16 Hardware Reset 1 bit
20 17 …2 09 9 ru n- 17 …ru n- 99 R ese r ved -
Attribute RUN Name Access Unit
1 bit
Offset
1 bit
Command Offset
Input Function Parameter (Function Code 0x03, 0x06, or 0x10)
Input Function Control - Holding Registers
Modbus
Address
3000 /SV-ON Drive Enable bit 0
I/O Function Description Unit Position
- Reserved - [1] and [2]
/P-CON Integrator Inhibit bit [3]
/A-RST Fault Reset bit [4]
/N-CL Negative Current Limit bit [5]
/P-CL Positive Current Limit bit [6]
/C-SEL Operation Mode Override bit [7]
/C-DIR Preset Direction bit [8]
/C-SP1 Preset Select 1 bit [9]
/C-SP2 Preset Select 2 bit [10]
/C-SP3 Preset Select 3 bit [11]
/C-SP4 Preset Select 4 bit [12]
/INHIB Pause Follower bit [13]
/G-SEL Alternate Gain Select bit [14]
/PCLR Position clear bit [15]
Bit
26 Rockwell Automation Publication 2071-RM001B-EN-P - April 2013
Modbus Protocol Chapter 1
Input Function Control - Holding Registers
Modbus
Address
3001 /ABS-DT Position Strobe bit [0]
3002 /START_I Start Index bit [0]
I/O Function Description Unit Position
/START Motor Moving Enable bit [1]
/Z-CLP Zero Speed Clamp Enable bit [2]
/GEAR 2nd Electronic Gear Bank Select ion bit [3]
/R-ABS Reset multi-turn data of Absolute Encoder bit [4]
- Reserved - [5]
/SHOME Start Homing bit [6]
/STOP Stop Indexing bit [7]
/PAUSE Pause Indexing bit [8]
/I-SEL0 Index Select 0 Input bit [9]
/I-SEL1 Index Select 1 Input bit [10]
/I-SEL2 Index Select 2 Input bit [11]
/I-SEL3 Index Select 3 Input bit [12]
/I-SEL4 Index Select 4 Input bit [13]
/I-SEL5 Index Select 5 Input bit [14]
/H_STOP Stop Homing bit [15]
/BANK_SEL Gain Bank Select bit [1]
- Reserved - [2…15]
Bit
Rockwell Automation Publication 2071-RM001B-EN-P - April 2013 27
Chapter 1 Modbus Protocol
Notes:
28 Rockwell Automation Publication 2071-RM001B-EN-P - April 2013
Communication Protocol (RS-232/ASCII)
Chapter 2
Introduction
Special Symbols
The drive command protocol is a client-server protocol. A host computer is the
server, and each drive is a client. This chapter provides details about the Special
Symbols, Packet Structure, and Checksum in the serial communication protocol.
Special symbols used in the host commands include the following.
Symbol Value Description
STX 0x02 Start of text
ETX 0x03 End of text
ACK 0x06 A cknowle dged
BEL 0x07 Acknowledge alarm
NAK 0x15 Not acknowledged
CAN 0x18 Cancellation of command (For example, the drive sends CAN if the drive is already enabled,
but the JOG ON is requested.)
ETB 0x17 End of block
GS 0x1D Cannot save parameter
RS 0x1E Range over
US 0x1F Undefined
Packet Structure
Start ID Host/
Symbol STX dd # or $ SET or… d …d : c c ETX
Bytes 1 2 1 3 0 - n 1 1 1
The packet structure is shown below.
Command D ata Separator Checksum End
Response
Some simple commands might not have the Data field (for example, Fault Reset).
Maximum packet size is 400 bytes. Each letter and digit in Command and Data
fields represents a single ASCII character.
All commands begin with an STX
, and terminate with an ETX.
If the drive receives the command without a communication error, the response is
in the same format as the host command. Numeric parameters are encoded as
strings.
Rockwell Automation Publication 2071-RM001B-EN-P - April 2013 29
Chapter 2 Communication Protocol (RS-232/ASCII)
If the drive receives the host's command with a communication error (for
example, parity or checksum errors), the drive sends an NAK
. The host should
assume a communication error occurred if a response from the drive does not
occur within a time-out period (generally 200 ms).
Checksum
If drive does not recognize the command, it sends a US
The checksum range consists of ID to Separator fields. Checksum is the ASCII
response.
hex code of the least significant digit from the sum of hexadecimal codes in the
checksum range.
For example, this VER command has a checksum of 42 (ASCII hex code of B).
Command STX01#VER: BETX
ASCII 2 3031235645523A423
30H+31H+23H+56H+45H+52H+3AH = 1ABH
The ASCII hex code of B is 42.
However, this VER command response also has a checksum of 35 (ASCII hex
code of 5).
Command STX01&VER 9. 02: 5ETX
ASCII 2 30312456455220392E30323A353
30H+31H+24H+56H+45H+52H+20H+31H+2EH+30H+32H+3AH = 295H
The ASCII hex code of 5 is 35.
30 Rockwell Automation Publication 2071-RM001B-EN-P - April 2013
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