Reference – Lenze E94P PositionServo Modbus User Manual
Page 37
37
P94MOD01C
Reference
Index
Name
Type
Format
EPM
Access
Description
Range
Unit
RAM
Registers
32bit
Integer
Access
4X
Register #
RAM
Register
32bit
Float
Access
4X
Register #
EPM
Reg Copy
32bit
Integer
Access
4X
Register #
EPM
Reg Copy
32bit
Float
Access
4X
Register #
RAM
Register
16bit
Signed
Integer
4X
Register #
EPM
INT16
4X
Register #
234
VAR_CAN_BAUD_EPM
W
Y
R/W
CAN Bus Parameter: Baud Rate: 1 - 8
1 - 10k; 2 - 20k; 3 - 50k; 4 - 125k
5 - 250k; 6 - 500k; 7 - 800k; 8 - 1000k
1 - 8
469
981
1493
2005
2283
2539
235
VAR_CAN_ADDR_EPM
W
Y
R/W
CAN Bus Parameter: Address
1-127
471
983
1495
2007
2284
2540
236
VAR_CAN_OPERMODE_
EPM
W
Y
R/W
CAN Bus Parameter: Boot-up Mode
(Operational State Control)
0 - enters into pre-operational state
1 - enters into operational state
2 - pseudo NMT: sends NMT Start Node
command after delay (set by variable 237)
0 - 2
473
985
1497
2009
2285
2541
237
VAR_CAN_OPERDELAY_
EPM
W
Y
R/W
CAN Bus Parameter: pseudo NMT mode
delay time in seconds
Refer to
variable 236
sec
475
987
1499
2011
2286
2542
238
VAR_CAN_ENABLE_EPM
W
Y
R/W
CAN Bus Parameter: Mode Control
0 - Disable CAN interface
1 - Enable CAN interface in DS301 mode
2 - Enable CAN interface in DS402 mode
3 - Enable DeviceNet
4 - Enable PROFIBUS DP
0 - 4
477
989
1501
2013
2287
2543
239
VAR_HOME_ACCEL
F
Y
R/W
Homing Mode: ACCEL rate
0 -
10000000.0
UU/sec2
479
991
1503
2015
2288
2544
240
VAR_HOME_OFFSET
F
Y
R/W
Homing Mode: Home Position Offset
-32767 to
+32767
UU
481
993
1505
2017
2289
2545
241
VAR_HOME_OFFSET_
PULSES
W
Y
R/W
Homing Mode: Home Position Offset in
encoder counts
+/-
2147418112
EC
483
995
1507
2019
2290
2546
242
VAR_HOME_FAST_VEL
F
Y
R/W
Homing Mode: Fast Velocity
-10000 to
+10000
UU/sec
485
997
1509
2021
2291
2547
243
VAR_HOME_SLOW_VEL
F
Y
R/W
Homing Mode: Slow Velocity
-10000 to
+10000
UU/sec
487
999
1511
2023
2292
2548
244
VAR_HOME_METHOD
W
Y
R/W
Homing Mode: Homing Method
1 - 35
489
1001
1513
2025
2293
2549
245
VAR_START_HOMING
W
N
W
Homing Mode: Start Homing
0 - No action; 1 - Start Homing
0 - 1
491
1003
1515
2027
2294
2550
246
VAR_HOME_SWITCH_
INPUT
W
Y
R/W
Homing Mode: Switch Input Assignment:
0-3: A1-A4
4-7: B1-B4
8-11: C1-C4
0-11
493
1005
1517
2029
2295
2551
247
VAR_M_VALIDATE_
MOTOR
W
N
W
Makes Drive accept Motor’s parameters
0 - No action
1 - Validate Motor Data
0 -1
495
1007
1519
2031
2296
2552
248
VAR_M_I2T
F
Y
R/W
Motor
497
1009
1521
2033
2297
2553
249
VAR_M_EABSOLUTE
F
Y
R/W
Motor
499
1011
1523
2035
2298
2554
250
VAR_M_ABSWAP
F
Y
R/W
Motor Encoder Feedback: B leads A
0 - No Action
1 - B leads A for forward checked (active)
0 - 1
501
1013
1525
2037
2299
2555
251
VAR_M_HALLS_INVERTED
F
Y
R/W
Motor Encoder Feedback: Halls
0 - No Action
1 - Inverted Halls Box checked (active)
0 - 1
503
1015
1527
2039
2300
2556
252
RESERVED
Do NOT use
505
1017
1529
2041
2301
2557
253
RESERVED
Do NOT use
507
1019
1531
2043
2302
2558
254
RESERVED
Do NOT use
509
1021
1533
2045
2303
2559
255
RESERVED
Do NOT use
511
1023
1535
2047
2304
2560
256
RESERVED
Do NOT use
513
1025
1537
2049
2305
2561
This is a condensed PID List to show the corresponding Modbus 4X Registers for PIDs 1-256. Modbus RTU
can not access beyond PID256. For the complete variable list refer to the PositionServo Programming Manual
(PM94P01 or PM94M01).