Drives Parameters. Reference Manual P/N Revision: A6 Date: April 30, 2006 Control Techniques Drives, Inc

Transcription

1 Drives Parameters Reference Manual P/N Revision: A6 Date: April 30, 2006 Control Techniques Drives, Inc

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3 Drive Parameters Reference Manual Information furnished by Control Techniques Drives Inc. (Control Techniques) is believed to be accurate and reliable. However, no responsibility is assumed by Control Techniques for its use. Control Techniques reserves the right to change the design or operation of the equipment described herein and any associated motion products without notice. Control Techniques also assumes no responsibility for any errors that may appear in this document. Information in this document is subject to change without notice. P/N Revision: A6 Date: April 30, 2006 Control Techniques Drives, Inc

4 Control Techniques Drives, Inc Part Number: Revision: A6 Date: April 2006 Printed in United States of America Information in this document is subject to change without notice. No part of this document may be reproduced or transmitted in any form or by any means, electronic or mechanical, for any purpose, without the express written permission of Control Techniques. The following are trademarks of Control Techniques and may not be reproduced in any fashion without written approval of Control Techniques: EMERSON Motion Control, EMERSON Motion Control PowerTools, AXIMA, Motion Made Easy. Control Techniques is a division of EMERSON Co. Control Techniques, Inc. is not affiliated with Microsoft Corporation, owner of the Microsoft, Windows, and Windows NT trademarks. Modbus is a registered trademark of Gould, Inc. This document has been prepared to conform to the current released version of the product. Because of our extensive development efforts and our desire to further improve and enhance the product, inconsistencies may exist between the product and documentation in some instances. Call your customer support representative if you encounter an inconsistency. ii

5 Customer Support Control Techniques Technology Drive Eden Prairie, Minnesota U.S.A. Telephone: (952) or (800) It is Control Techniques goal to ensure your greatest possible satisfaction with the operation of our products. We are dedicated to providing fast, friendly, and accurate assistance. That is why we offer you so many ways to get the support you need. Whether it s by phone, fax or modem, you can access Control Techniques support information 24 hours a day, seven days a week. Our wide range of services include: FAX (952) You can FAX questions and comments to Control Techniques. Just send a FAX to the number listed above. Website and Website: info@emersonct.com If you have Internet capabilities, you also have access to technical support using our website. The website includes technical notes, frequently asked questions, release notes and other technical documentation. This direct technical support connection lets you request assistance and exchange software files electronically. Technical Support (952) or (800) service@emersonct.com Control Techniques Motion Made Easy products are backed by a team of professionals who will service your installation. Our technical support center in Eden Prairie, Minnesota is ready to help you solve those occasional problems over the telephone. Our technical support center is available 24 hours a day for emergency service to help speed any problem solving. Also, all hardware replacement parts, if needed, are available through our customer service organization. When you call, please be at your computer, with your documentation easily available, and be prepared to provide the following information: Product version number, found by choosing About from the Help menu The type of controller or product you are using iii

6 Exact wording of any messages that appear on your screen What you were doing when the problem occurred How you tried to solve the problem Need on-site help? Control Techniques provides service, in most cases, the next day. Just call Control Techniques technical support center when on-site service or maintenance is required. Training Services (952) or (800) Control Techniques maintains a highly trained staff of instructors to familiarize customers with Control Techniques Motion Made Easy products and their applications. A number of courses are offered, many of which can be taught in your plant upon request. Application Engineering (952) or (800) applengr@emersonct.com An experienced staff of factory application engineers provides complete customer support for tough or complex applications. Our engineers offer you a broad base of experience and knowledge of electronic motion control applications. Customer Service (Sales) (952) or (800) customer.service@emersonct.com Authorized Control Techniques distributors may place orders directly with our Customer Service department. Contact the Customer Service department at this number for the distributor nearest you. Document Conventions Manual conventions have been established to help you learn to use this manual quickly and easily. As much as possible, these conventions correspond to those found in other Microsoft Windows compatible software documentation. Menu names and options are printed in bold type: the File menu. Dialog box names begin with uppercase letters: the Axis Limits dialog box. Dialog box field names are in quotes: Field Name. Button names are in italic: OK button. Source code is printed in Courier font: Case ERMS. iv

7 In addition, you will find the following typographic conventions throughout this manual. This Represents bold italic ALL CAPITALS SMALL CAPS KEY1+KEY2 example: (Alt+F) KEY1,KEY2 example: (Alt,F) Characters that you must type exactly as they appear. For example, if you are directed to type a:setup, you should type all the bold characters exactly as they are printed. Placeholders for information you must provide. For example, if you are directed to type filename, you should type the actual name for a file instead of the word shown in italic type. Directory names, file names, key names, and acronyms. Non-printable ASCII control characters. A plus sign (+) between key names means to press and hold down the first key while you press the second key. A comma (,) between key names means to press and release the keys one after the other. Warning indicates a potentially hazardous situation that, if not avoided, could result in death or serious injury. Caution indicates a potentially hazardous situation that, if not avoided, may result in minor or moderate injury. Caution used without the safety alert symbol indicates a potentially hazardous situation that, if not avoided, may result in property damage. Note For the purpose of this manual and product, Note indicates essential information about the product or the respective part of the manual. FM Only For the purpose of this manual and product, FM symbol indicates information about the FM modules specifically. Epsilon Only For the purpose of this manual and product, the Epsilon symbol indicates information about the Epsilon drive specifically. v

8 EN Only For the purpose of this manual and product, the EN symbol indicates information about the EN drive specifically. Throughout this manual, the word drive refers to an EN, Epsilon or MDS drive. Safety Instructions General Warning Failure to follow safe installation guidelines can cause death or serious injury. The voltages used in the product can cause severe electric shock and/or burns and could be lethal. Extreme care is necessary at all times when working with or adjacent to the product. The installation must comply with all relevant safety legislation in the country of use. Qualified Person For the purpose of this manual and product, a qualified person is one who is familiar with the installation, construction and operation of the equipment and the hazards involved. In addition, this individual has the following qualifications: Is trained and authorized to energize, de-energize, clear and ground and tag circuits and equipment in accordance with established safety practices. Is trained in the proper care and use of protective equipment in accordance with established safety practices. Is trained in rendering first aid. vi

9 Drive Parameters Reference Manual Table of Contents Drive Parameters I 1 By Name By Modbus Address Drive Parameters II 21 By Name By Modbus Address Parameter Descriptions 49 Actual Operating Mode Actual Operating Mode Expanded Alternate Mode Enable Analog Input Analog Input Accel/Decel Limit Analog Input Filter Bandwidth Analog Input Full Scale Analog Input Zero Offset Analog Output - Channel (1, 2) Analog Output (1, 2) Offset Analog Output (1, 2) Scale Analog Output (1, 2) Select Axis Address Axis Name Back Off Sensor Before Homing Baud Rate Brake Release Input Brake Control Input Brake Output Bus Voltage Chain Count Chain Next Clear Fault Commutation Angle Correction Commutation Track Angle Commutation Voltage Current Chain Count DN Allocation Choice (Connections Established) DN Allocation Master Mac ID DN Baud Rate DN Bus Off Counter DN Bus Off Fault Count DN Bus Off Interrupt DN Comm Timeout Fault Count DN Device Type DN Duplicate MacID Fault Count DN FAB Master Receive Block DN FAB Master Send Block DN Host Mode DN MacID DN Master Receive Bitmap DN Master Receive FAB Type vii

10 Drive Parameters Reference Manual DN Master Send Bitmap DN Master Send FAB Type DN Module Status DN Network Status DN Receive Counter DN Status Major Recoverable Fault DN Status Major Unrecoverable Fault DN Status Minor Recoverable Fault DN Status Minor Unrecoverable Fault DN Transmit Counter DN Vendor ID Drive Ambient Temperature Drive Enable Input Line Status Encoder Output Scaling Encoder Output Scaling Enable End of Home Position Fault Count Fault Log Array Fault Status Bit Map Feedforwards Enable Firmware Revision FM Firmware Part Number FM Firmware Revision Option FM Serial Number Foldback RMS Following Error Following Error Enable Following Error Limit Friction Full Scale Torque Full Scale Velocity Heatsink RMS High Performance Gains Enable Home Acceleration Home Chain to Index Home Chain to Index Enable Home Deceleration Home Limit Distance Home Limit Distance Enable Home Offset Home Offset Enable Home Reference Home Smart Type Home Velocity In Motion Velocity In Position Time In Position Window Index Acceleration Index Control Index Count Index Deceleration Index Distance/Position Index Dwell Index Registration Offset Index Registration Window Enable Index Registration Window Start Index Registration Window End viii

11 Index Type Index Velocity Inertia Ratio Infinite Chaining Input Function Active Off Array Input Function Always Active Array Input Function Mapping Input Function Status Array Input Functions Active Off Bitmap Input Functions Always Active Bitmap Input Functions Status Bit Map Input Line (#) Debounce Time Input Line (#) Debounced Status Array Input Line (#) Force On/Off Command Array Input Line (#) Force On/Off Enable Array Input Line (#) Raw Status Array Input Line (#) Status Array Input Lines Debounced Status Bit Map Input Lines Force On/Off Command Bit Map Input Lines Force On/Off Enable Bit Map Input Lines Raw Status Bit Map Input Lines Status Bit Map Jog Acceleration Jog Deceleration Jog Fast Velocity Jog Velocity Line Voltage Low DC Bus Fault Enable Low Pass Filter Enable Low Pass Filter Bandwidth Motion Command Motion Command Execute Array Motion State Motor Continuous Current Rating Motor Encoder Lines Per Revolution Motor Encoder Marker Angle Motor Encoder Reference Motion Motor Encoder U Angle Motor Inductance Motor Inertia Motor KE Motor Maximum Operating Speed Motor Peak Current Rating Motor Poles Motor Resistance Motor Type Operating Mode Alternate Operating Mode Default (Obsolete) Operating Mode Default Expanded Option 1 ID (Function Module) Output Function Mapping Output Function Status Array Output Functions Status Bit Map Output Line (#) Active Off Output Line (#) Force On/Off Command Output Line (#) Force On/Off Enable Output Line (#) Status Array ix

12 Drive Parameters Reference Manual Output Lines Active Off Bit Map Output Lines Force On/Off Command Bit Map Output Lines Force On/Off Enable Bit Map Output Lines Status Bit Map Over Current Diagnostic Counter Overspeed Velocity Limit Position Command Position Error Integral Enable Position Error Integral Time Constant Position Feedback Position Feedback (fractional part) Position Feedback (integral part) Position Feedback Encoder Positive Direction Power Up Count Power Up Time Power Up Time Total Predefined Setup Product Group Product ID Product Serial Number Product Sub-Group Pulse Interpretation Pulse Mode Filter Enable Pulse Mode Filter Bandwidth Pulse Mode Max Follower Acceleration Pulse Mode Max Follower Velocity Pulse Mode Ratio Pulses Pulse Mode Ratio Revolutions Pulse Mode Recovery Distance Enable Pulse Position Input Read NVM to RAM Response Rollover Position Enable Rollover Position Segment Display Character Setup of End Of Index Count Setup of Registration Limit Dist Hit Setup of End Of Chaining Count Shunt Power RMS Status of End Of Index Count Status of Registration Limit Dist Hit Status of End Of Chaining Count Stop All Motion Stop Deceleration Torque Command Torque Command Actual Torque Limit Enable Torque Limit Torque Mode Hysteresis Torque Mode Velocity Limit Enable Torque Mode Max Velocity Torque Preset Travel Limit Deceleration Update Predefined Setup User Accel Point User Defined Bitmap x

13 User Defined Bits User Defined Motor Name User Defined Registers User Time Base User Unit Point User Unit Rev User Unit STR User Velocity Point Velocity Command Velocity Command Analog Velocity Command Preset Velocity Feedback Velocity Preset (#) Velocity Preset (#) Accel/Decel Warmstart Execute Write RAM to NVM Modbus Interface 147 Drive Serial Specifications Drive Parameters Modbus Protocol Diagnostics Broadcast with Guaranteed Delivery Timing Query/Response Limitations Index 153 xi

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15 Drives Parameters Reference Manual Drive Parameters I This section lists all programmable and feedback parameters available in Epsilon drives, EN drives, Modular Drive System (MDS) and Function Modules (FM-1 and FM-2). This section applies to all Eb, EN, FM-1, MDS firmware. All Ei and FM-2 firmware revision A9 or earlier, these are without advanced programming features. The tables provide the following information about each parameter: Name The parameter s name. Modbus Address Type Units The parameter s Modbus address. Bit = Bit ENM = ENMerator S16 = Signed 16 U16 = Unsigned 16 S32 = Signed 32 U32 = Unsigned 32 STR = String BM16 = Bitmap 16 BM32 = Bitmap 32 The parameter s units value. NVM (Non-Volatile Memory) Range Y = Parameter is written to the device s NVM. N = Parameter is NOT written to the device s NVM. The minimum and maximum values possible in the register. Resolution The resolution values found in the parameter tables are used to convert the values of the parameters into user units. To convert the value stored in the drive modbus register into user units, multiply the register value by the resolution. To convert from user units to a drive register value, divide by the resolution. RW = Read/Write RO = Read Only 1

16 Drives Parameters Reference Manual By Name Name Modbus Type Units NVM Range Eb Ei EN FM1 FM2 MDS Actual Operating Mode ENM N RO Eb Ei EN FM1 FM2 MDS Actual Operating Mode Expanded ENM N RO Eb EN FM1 MDS Analog Input S16 Volts N ± RO Eb EN FM1 MDS Analog Input Accel/Decel Limit US32 ms/krpm Y 0~ RW Eb EN FM1 MDS Analog Input Bandwidth US16 Hz Y 1~ RW Eb EN FM1 MDS Analog Input Full Scale S16 Volts Y ± RW Eb EN FM1 MDS Analog Input Zero Offset S16 Volts Y ± RW Eb EN FM1 MDS Analog Output - Channel S16 Volts N ± RO Eb Ei EN FM1 FM2 MDS Analog Output - Channel S16 Volts N ± RO Eb Ei EN FM1 FM2 MDS Analog Output 1 Offset S32 Y ± RW Eb Ei EN FM1 FM2 MDS Analog Output 1 Scale S32 Y ± RW Eb Ei EN FM1 FM2 MDS Analog Output 1 Select ENM Y RW Eb Ei EN FM1 FM2 MDS Analog Output 2 Offset S32 Y ± RW Eb Ei EN FM1 FM2 MDS Analog Output 2 Scale S32 Y ± RW Eb Ei EN FM1 FM2 MDS Analog Output 2 Select ENM Y RW Eb Ei EN FM1 FM2 MDS Axis Address US16 Y 1~99 1 RW Eb Ei EN FM1 FM2 MDS Axis Name STR Y RW Eb Ei EN FM1 FM2 MDS Back Off Sensor Before Homing ENM Y RW Ei FM2 Baud Rate ENM Baud Y RW Eb Ei EN FM1 FM2 MDS Bus Voltage US16 Volts N 20~ RO Eb Ei EN FM1 FM2 MDS Clear Fault 1007 BIT N RW Eb Ei EN FM1 FM2 MDS Commutation Angle Correction S16 Degrees N ±180 1 RO Eb Ei EN FM1 FM2 MDS Commutation Track Angle US16 Degrees N 0~359 1 RO Eb Ei EN FM1 FM2 MDS Commutation Voltage S16 % N ± RO Eb Ei EN FM1 FM2 MDS Custom Motor Flag ENM Y RO Eb Ei EN FM1 FM2 MDS Drive Ambient Temperature US16 Degree C Y 20~50 1 RW Eb Ei EN FM1 FM2 MDS Drive Overtemp Fault Count US16 counts Y RO Eb Ei MDS ENcoder H/W Fault Count US16 counts Y RO Eb Ei EN FM1 FM2 MDS ENcoder Output Scaling US16 lines/rev Y 1~ RW Eb Ei EN FM1 FM2 MDS ENcoder Output Scaling ENable ENM Y RW Eb Ei EN FM1 FM2 MDS ENcoder State Fault Count US16 counts Y RO Eb Ei EN FM1 FM2 MDS ENd of Home Position S32 revs Y ± RW Ei FM2 Fault 1 Power Up Count US16 counts Y RO Eb Ei EN FM1 FM2 MDS Fault 1 Power Up Time US32 minutes Y RO Eb Ei EN FM1 FM2 MDS Fault 1 Type ENM Y RO Eb Ei EN FM1 FM2 MDS Fault 10 Power Up Count US16 counts Y RO Eb Ei EN FM1 FM2 MDS Fault 10 Power Up Time US32 minutes Y RO Eb Ei EN FM1 FM2 MDS Fault 10 Type ENM Y RO Eb Ei EN FM1 FM2 MDS Fault 2 Power Up Count US16 counts Y RO Eb Ei EN FM1 FM2 MDS Fault 2 Power Up Time US32 minutes Y RO Eb Ei EN FM1 FM2 MDS Fault 2 Type ENM Y RO Eb Ei EN FM1 FM2 MDS Fault 3 Power Up Count US16 counts Y RO Eb Ei EN FM1 FM2 MDS Fault 3 Power Up Time US32 minutes Y RO Eb Ei EN FM1 FM2 MDS Fault 3 Type ENM Y RO Eb Ei EN FM1 FM2 MDS Fault 4 Power Up Count US16 counts Y RO Eb Ei EN FM1 FM2 MDS Fault 4 Power Up Time US32 minutes Y RO Eb Ei EN FM1 FM2 MDS Fault 4 Type ENM Y RO Eb Ei EN FM1 FM2 MDS Fault 5 Power Up Count US16 counts Y RO Eb Ei EN FM1 FM2 MDS Fault 5 Power Up Time US32 minutes Y RO Eb Ei EN FM1 FM2 MDS 2

17 Drive Parameters I Name Modbus Type Units NVM Range Eb Ei EN FM1 FM2 MDS Fault 5 Type ENM Y RO Eb Ei EN FM1 FM2 MDS Fault 6 Power Up Count US16 counts Y RO Eb Ei EN FM1 FM2 MDS Fault 6 Power Up Time US32 minutes Y RO Eb Ei EN FM1 FM2 MDS Fault 6 Type ENM Y RO Eb Ei EN FM1 FM2 MDS Fault 7 Power Up Count US16 counts Y RO Eb Ei EN FM1 FM2 MDS Fault 7 Power Up Time US32 minutes Y RO Eb Ei EN FM1 FM2 MDS Fault 7 Type ENM Y RO Eb Ei EN FM1 FM2 MDS Fault 8 Power Up Count US16 counts Y RO Eb Ei EN FM1 FM2 MDS Fault 8 Power Up Time US32 minutes Y RO Eb Ei EN FM1 FM2 MDS Fault 8 Type ENM Y RO Eb Ei EN FM1 FM2 MDS Fault 9 Power Up Count US16 counts Y RO Eb Ei EN FM1 FM2 MDS Fault 9 Power Up Time US32 minutes Y RO Eb Ei EN FM1 FM2 MDS Fault 9 Type ENM Y RO Eb Ei EN FM1 FM2 MDS Fault Status Bit Map BM32 N RO Eb Ei EN FM1 FM2 MDS Feedforwards Enable ENM Y RW Eb Ei EN FM1 FM2 MDS Firmware Revision STR N RO Eb Ei EN MDS FM Firmware Part Number STR N RO FM1 FM2 FM Firmware Revision Option STR N RO Eb Ei EN FM1 FM2 MDS FM Serial Number STR N RO FM1 FM2 Foldback RMS US16 % cont N 0~ RO Eb Ei EN FM1 FM2 MDS Following Error S32 revs N ± RO Eb Ei EN FM1 FM2 MDS Following Error Enable ENM Y RW Eb Ei EN FM1 FM2 MDS Following Error Fault Count US16 counts Y RO Eb Ei EN FM1 FM2 MDS Following Error Limit S32 revs Y 0.001~ RW Eb Ei EN FM1 FM2 MDS Friction US16 % cont Y 0~ RW Eb Ei EN FM1 FM2 Full Scale Torque US16 % cont Y 1~ RW Eb EN FM1 MDS Full Scale Velocity US16 RPM Y 0~ RW Eb EN FM1 MDS Heatsink RMS US16 % N 0~ RO Eb Ei EN FM1 FM2 MDS High DC Bus Fault Count US16 counts Y RO Eb Ei EN FM1 FM2 MDS High Performance Gains Enable ENM Y RW Eb Ei EN FM1 FM2 MDS Home Acceleration US32 ms/krpm Y 1~ RW Ei FM2 Home Deceleration US32 ms/krpm Y 1~ RW Ei FM2 Home Limit Distance US32 revs Y 0~ RW Ei FM2 Home Limit Distance Enable ENM Y RW Ei FM2 Home Offset S32 revs Y ± RW Ei FM2 Home Offset Enable ENM Y RW Ei FM2 Home Reference ENM Y RW Ei FM2 Home Velocity S32 RPM Y ± RW Ei FM2 In Motion Velocity US16 RPM Y 0~100 1 RW Eb Ei EN FM1 FM2 MDS Index Acceleration US32 ms/krpm Y 1~ RW Ei FM2 Index Acceleration US32 ms/krpm Y 1~ RW Ei FM2 Index Acceleration US32 ms/krpm Y 1~ RW Ei FM2 Index Acceleration US32 ms/krpm Y 1~ RW Ei FM2 Index Acceleration US32 ms/krpm Y 1~ RW Ei FM2 Index Acceleration US32 ms/krpm Y 1~ RW Ei FM2 Index Acceleration US32 ms/krpm Y 1~ RW Ei FM2 Index Acceleration US32 ms/krpm Y 1~ RW Ei FM2 Index Acceleration US32 ms/krpm Y 1~ RW Ei FM2 Index Acceleration US32 ms/krpm Y 1~ RW Ei FM2 Index Acceleration US32 ms/krpm Y 1~ RW Ei FM2 3

18 Drives Parameters Reference Manual Name Modbus Type Units NVM Range Eb Ei EN FM1 FM2 MDS Index Acceleration US32 ms/krpm Y 1~ RW Ei FM2 Index Acceleration US32 ms/krpm Y 1~ RW Ei FM2 Index Acceleration US32 ms/krpm Y 1~ RW Ei FM2 Index Acceleration US32 ms/krpm Y 1~ RW Ei FM2 Index Acceleration US32 ms/krpm Y 1~ RW Ei FM2 Index Deceleration US32 ms/krpm Y 1~ RW Ei FM2 Index Deceleration US32 ms/krpm Y 1~ RW Ei FM2 Index Deceleration US32 ms/krpm Y 1~ RW Ei FM2 Index Deceleration US32 ms/krpm Y 1~ RW Ei FM2 Index Deceleration US32 ms/krpm Y 1~ RW Ei FM2 Index Deceleration US32 ms/krpm Y 1~ RW Ei FM2 Index Deceleration US32 ms/krpm Y 1~ RW Ei FM2 Index Deceleration US32 ms/krpm Y 1~ RW Ei FM2 Index Deceleration US32 ms/krpm Y 1~ RW Ei FM2 Index Deceleration US32 ms/krpm Y 1~ RW Ei FM2 Index Deceleration US32 ms/krpm Y 1~ RW Ei FM2 Index Deceleration US32 ms/krpm Y 1~ RW Ei FM2 Index Deceleration US32 ms/krpm Y 1~ RW Ei FM2 Index Deceleration US32 ms/krpm Y 1~ RW Ei FM2 Index Deceleration US32 ms/krpm Y 1~ RW Ei FM2 Index Deceleration US32 ms/krpm Y 1~ RW Ei FM2 Index Distance S32 revs Y ± RW Ei FM2 Index Distance S32 revs Y ± RW Ei FM2 Index Distance S32 revs Y ± RW Ei FM2 Index Distance S32 revs Y ± RW Ei FM2 Index Distance S32 revs Y ± RW Ei FM2 Index Distance S32 revs Y ± RW Ei FM2 Index Distance S32 revs Y ± RW Ei FM2 Index Distance S32 revs Y ± RW Ei FM2 Index Distance S32 revs Y ± RW Ei FM2 Index Distance S32 revs Y ± RW Ei FM2 Index Distance S32 revs Y ± RW Ei FM2 Index Distance S32 revs Y ± RW Ei FM2 Index Distance S32 revs Y ± RW Ei FM2 Index Distance S32 revs Y ± RW Ei FM2 Index Distance S32 revs Y ± RW Ei FM2 Index Distance S32 revs Y ± RW Ei FM2 Index Type ENM Y RW Ei FM2 Index Type ENM Y RW Ei FM2 Index Type ENM Y RW Ei FM2 Index Type ENM Y RW Ei FM2 Index Type ENM Y RW Ei FM2 Index Type ENM Y RW Ei FM2 Index Type ENM Y RW Ei FM2 Index Type ENM Y RW Ei FM2 Index Type ENM Y RW Ei FM2 Index Type ENM Y RW Ei FM2 Index Type ENM Y RW Ei FM2 Index Type ENM Y RW Ei FM2 Index Type ENM Y RW Ei FM2 4

19 Drive Parameters I Name Modbus Type Units NVM Range Eb Ei EN FM1 FM2 MDS Index Type ENM Y RW Ei FM2 Index Type ENM Y RW Ei FM2 Index Type ENM Y RW Ei FM2 Index Velocity US32 RPM Y 0~ RW Ei FM2 Index Velocity US32 RPM Y 0~ RW Ei FM2 Index Velocity US32 RPM Y 0~ RW Ei FM2 Index Velocity US32 RPM Y 0~ RW Ei FM2 Index Velocity US32 RPM Y 0~ RW Ei FM2 Index Velocity US32 RPM Y 0~ RW Ei FM2 Index Velocity US32 RPM Y 0~ RW Ei FM2 Index Velocity US32 RPM Y 0~ RW Ei FM2 Index Velocity US32 RPM Y 0~ RW Ei FM2 Index Velocity US32 RPM Y 0~ RW Ei FM2 Index Velocity US32 RPM Y 0~ RW Ei FM2 Index Velocity US32 RPM Y 0~ RW Ei FM2 Index Velocity US32 RPM Y 0~ RW Ei FM2 Index Velocity US32 RPM Y 0~ RW Ei FM2 Index Velocity US32 RPM Y 0~ RW Ei FM2 Index Velocity US32 RPM Y 0~ RW Ei FM2 Inertia Ratio US16 Y 0~ RW Eb Ei EN FM1 FM2 MDS Input Function Active Off Bit Map BM16 Y RW Eb Ei EN FM1 FM2 MDS Input Function Active Off Array BIT N RW Eb Ei EN FM1 FM2 MDS Input Function Always Active Array BIT N RW Eb Ei EN FM1 FM2 MDS Input Function Always Active Bit Map BM16 Y RW Eb Ei EN FM1 FM2 MDS Input Function Mapping ENM Y RW Eb Ei EN FM1 FM2 MDS Input Function Status Array BIT N RO Eb Ei EN FM1 FM2 MDS Input Function Status Bit Map BM16 N RO Eb Ei EN FM1 FM2 MDS Input Line Debounce Time US16 Y 0~ RW Eb Ei EN FM1 FM2 MDS Input Line Debounced Status Array BIT N RO Eb Ei EN FM1 FM2 MDS Input Line Force On/Off Command Array 2-15 BIT N RW Eb Ei EN FM1 FM2 MDS Input Line Force On/Off Enable Array BIT N RW Eb Ei EN FM1 FM2 MDS Input Line Raw Status Array BIT N RO Eb Ei EN FM1 FM2 MDS Input Line Status Array BIT N RO Eb Ei EN FM1 FM2 MDS Input Lines Debounced Status Bit Map BM16 N RO Eb Ei EN FM1 FM2 MDS Input Lines Force On/Off Command Bit Map US16 N RW Eb Ei EN FM1 FM2 MDS Input Lines Force On/Off Enable Bit Map US16 N RW Eb Ei EN FM1 FM2 MDS Input Lines Raw Status Bit Map BM16 N RO Eb Ei EN FM1 FM2 MDS Input Lines Status Bit Map BM16 N RO Eb Ei EN FM1 FM2 MDS Jog Acceleration US32 ms/krpm Y 1~ RW Ei FM2 Jog Deceleration US32 ms/krpm Y 1~ RW Ei FM2 Jog Fast Velocity US32 RPM Y 0~ RW Ei FM2 Jog Velocity US32 RPM Y 0~ RW Ei FM2 Line Voltage ENM Y RW Eb Ei EN FM1 FM2 MDS Low DC Bus Enable ENM Y RW Eb Ei EN FM1 FM2 MDS Low DC Bus Fault Count US16 counts Y RO Eb Ei EN FM1 FM2 MDS Low Pass Filter Enable (COMPFE) ENM Y RW Eb Ei EN FM1 FM2 MDS Low Pass Filter Frequency (COMPF) US16 Hz Y RW Eb Ei EN FM1 FM2 MDS Motion Command ENM Y RW Ei FM2 Motion Command ENM Y RW Ei FM2 Motion Command ENM Y RW Ei FM2 5

20 Drives Parameters Reference Manual Name Modbus Type Units NVM Range Motion Command ENM Y RW Ei FM2 Motion Command ENM Y RW Ei FM2 Motion Command ENM Y RW Ei FM2 Motion Command ENM Y RW Ei FM2 Motion Command ENM Y RW Ei FM2 Motion Command Execute Array BIT N RW Ei FM2 Motion State ENM N RO Ei FM2 Motor Continuous Current Rating US16 Arms Y 0.1~ RO Eb Ei EN FM1 FM2 MDS Motor Encoder Lines Per Revolution ENM Lines Y RO Eb Ei EN FM1 FM2 MDS Motor Encoder Marker Angle US16 Degrees Y 0~359 1 RO Eb Ei EN FM1 FM2 MDS Motor Encoder Reference Motion ENM Y RO Eb Ei EN FM1 FM2 MDS Motor Encoder U Angle US16 Degrees Y 0~359 1 RO Eb Ei EN FM1 FM2 MDS Motor Inductance US16 mh Y 1~ RO Eb Ei EN FM1 FM2 MDS Motor Inertia US16 Y ~ RO Eb Ei EN FM1 FM2 MDS Motor KE US16 vrms/ krpm Y 5~ RO Eb Ei EN FM1 FM2 MDS Motor Maximum Operating Speed US16 RPM Y 0~ RO Eb Ei EN FM1 FM2 MDS Motor Overtemp Fault Count US16 counts Y RO Eb Ei EN FM1 FM2 MDS Motor Peak Current Rating US16 Arms Y 1~ RO Eb Ei EN FM1 FM2 MDS Motor Poles ENM Y RO Eb Ei EN FM1 FM2 MDS Motor Resistance US16 Ohms Y 0.1~ RO Eb Ei EN FM1 FM2 MDS Motor Type ENM Y RW Eb Ei EN FM1 FM2 MDS NVM Invalid Fault Count US16 counts Y RO Eb Ei EN FM1 FM2 MDS Operating Mode Alternate ENM Y RW Eb EN FM1 MDS Operating Mode Default ENM Y RW Eb Ei EN FM1 FM2 MDS Operating Mode Default Expanded ENM Y RW Eb EN FM1 MDS Option 1 ID (Function Module) US16 N RO Eb Ei EN FM1 FM2 MDS Output Function Mapping US16 Y RW Eb Ei EN FM1 FM2 MDS Output Function Status Array BIT N RO Eb Ei EN FM1 FM2 MDS Output Function Status Bit Map BM16 N RO Eb Ei EN FM1 FM2 MDS Output Line Active Off Array BIT N RW Eb Ei EN FM1 FM2 MDS Output Line Force On/Off Command Array BIT N RW Eb Ei EN FM1 FM2 MDS Output Line Force On/Off Enable Array BIT N RW Eb Ei EN FM1 FM2 MDS Output Line Status Array BIT N RO Eb Ei EN FM1 FM2 MDS Output Lines Active Off Bit Map BM16 Y RW Eb Ei EN FM1 FM2 MDS Output Lines Force On/Off Command Bit Map Eb Ei EN FM1 FM2 MDS US16 N RW Eb Ei EN FM1 FM2 MDS Output Lines Force On/Off Enable Bit Map US16 N RW Eb Ei EN FM1 FM2 MDS Output Lines Status Bit Map BM16 N RO Eb Ei EN FM1 FM2 MDS Overspeed Fault Count US16 counts Y RO Eb Ei EN FM1 FM2 MDS Overspeed Velocity Limit US16 RPM Y 0~ RW Eb Ei EN FM1 FM2 MDS Position Command S32 revs N ± RO Eb Ei EN FM1 FM2 MDS Position Error Integral Enable ENM Y RW Eb Ei EN FM1 FM2 MDS Position Error Integral Time Constant US16 ms Y 5~500 1 RW Eb Ei EN FM1 FM2 MDS Position Feedback S32 revs N ± RO Eb Ei EN FM1 FM2 MDS Position Feedback (fractional part) US16 revs N 0~ RO Eb EN FM1 MDS Position Feedback (integral part) S32 revs N RO Eb EN FM1 MDS Position Feedback Encoder S32 counts N RW Eb Ei EN FM1 FM2 MDS Positive Direction ENM Y RW Eb Ei EN FM1 FM2 MDS Power Stage Fault Count US16 counts Y RO Eb Ei EN FM1 FM2 MDS Power Up Count US16 counts Y RO Eb Ei EN FM1 FM2 MDS 6