Rockwell Automation 2071-Axx Kinetix 3 Component Servo Drive Serial Host Command Reference Manual - Manual (Page 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 - -