MODBUS/TCP Fieldbus manual - Koco Motion GmbH

Revision R020111
5 Register Map
5-6
MODBUS/TCP Fieldbus manual
Function Address Bytes Description Range Default MCode
Set control bounds 0x0091 1 The control bounds are limits which configure
the hybrid circuitry for best speed or torque
performance. For torque mode operation
the control bounds are preset for best torque
performance.
0 – 1.1 full steps (best torque performance).
1 – 1.3 full steps (best overall performance).
2 – 1.5 full steps (best overall performance).
3 – 1.7 full steps (best speed performance).
0 – 3 1 CB
Set calibration
current
0x0092 1 Sets the calibration current in percent (%). 1 – 100 100 CC
Clear locked rotor 0x0093 1 Will clear a locked rotor fault, re-enable the
output bridge and initiate a timed calibration.
— — CF
Calibration time 0x0094 2 Sets the time in milliseconds which the hybrid
circuitry will calibrate the rotor/stator relationship.
2 – 65535 200 CT
Lead limits 0x0095 –
0x0096
4 Sets the rotor lead limit in motor steps 0 – 2147483647 102400 LD
Lag limits 0x0097 –
0x0098
4 Sets the rotor lag limit in motor steps 0 – 2147483647 102400 LG
Position lead/lag 0x0099 –
0x009A
4 Represent the number of counts that the rotor
leads or lags the stator.
A positive value indicates position lag. A negative
value indicates position lead
Locked rotor 0x009B 1 Indicates the state of the rotor as locked (1) or
unlocked (0).
Locked rotor timeout 0X009C –
0x009D
Make up frequency 0x009E –
0x009F
2 Sets the time in milliseconds in which the output
bridge will disable after a locked rotor condition
is detected.
4 Sets the frequency in Hz at which missed steps
are re-inserted into the move profile if make up
mode = 1.
Make up 0x00A0 1 Sets the mode for make up steps.
0 = Off
1 = Make up steps at make up freq. (0x009E)
2 = Make up steps at system speed
–2147483647 to
+2147483647
— LL
0/1 0 LR
2 – 65535 2000 LT
306 – 5000000 768000 MF
0 – 2 0 MU
Start calibration 0x00A1 1 Start calibration process — — SC
Set system speed 0x00A2 1 Sets maximum response frequency for fixed or
variable current modes (AS=1 or 2)
Frequency = 10 MHz / (SS+2)
0 – 255 0 SS
Reserved 0x00A3 –
0x00A4
— Reserved — — —
Torque direction 0x00A5 1 Sets the torque direction plus (1 – CW) or minus
(0 – CCW) as seen facing the motor shaft.
0 – 1 1 TD
Set torque 0x00A6 1 Sets the motor torque in percent for torque mode
operation.
1 – 100 25 TQ
Set torque speed 0x00A7 Determines the system speed for torque mode
(AS=3) The device will perform the following
calculation based upon the value of TS:
Oscillator frequency = 10 MHz / (TS+2)
0 – 255 0 TS