Ei ModbusRTU

Drives Parameters
Reference Manual
P/N 400504-01 Revision: A5 Date: October 18, 2002 Control Techniques Drives, Inc. 1999, 2002
Epsilon and EN 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 400504-01 Revision: A5 Date: October 18, 2002 Control Techniques Drives, Inc. 1999, 2002
Control Techniques Drives, Inc. 1999, 2002 Part Number: 400504-01 Revision: A5 Date: October 2002 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.
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Customer Support
Control Techniques 12005 Technology Drive Eden Prairie, Minnesota 55344-3620 U.S.A. Telephone: (952) 995-8000 or (800) 397-3786 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 its 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) 995-8099
You can FAX questions and comments to Control Techniques. Just send a FAX to the number listed above. Website and Email Website: www.emersonct.com Email: 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 Email: 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 (952) 995-8033 or (800) 397-3786 www.emersonct.com
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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 Email: training@emersonct.com 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 Email: 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) Email: 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. (952) 995-8000 or (800) 397-3786 (952) 995-8000 or (800) 397-3786 (952) 995-8000 or (800) 397-3786
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.
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In addition, you will find the following typographic conventions throughout this manual.
This bold italic ALL CAPITALS SMALL CAPS KEY1+KEY2 example: (Alt+F) KEY1,KEY2 example: (Alt,F) Represents 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.
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.
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Epsilon and EN Drive Parameters Reference Manual
Table of Contents
Drive Parameters I 1
By Name . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 By Modbus Address . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Drive Parameters II
21
By Name . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22 By Modbus Address . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
Parameter Descriptions
47
Actual Operating Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47 Actual Operating Mode Expanded . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47 Analog Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48 Analog Input Accel/Decel Limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48 Analog Input Bandwidth . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49 Analog Input Full Scale . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49 Analog Input Zero Offset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49 Analog Output - Channel (1, 2) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49 Analog Output (1, 2) Offset. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50 Analog Output (1, 2) Scale . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50 Analog Output (1, 2) Select. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51 Axis Address . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51 Axis Name . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52 Back Off Sensor Before Homing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52 Baud Rate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52 Brake Release Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52 Brake Control Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53 Brake Output. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53 Bus Voltage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53 Chain Count. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53 Chain Next. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54 Clear Fault. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54 Commutation Angle Correction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55 Commutation Track Angle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55 Commutation Voltage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55 Current Chain Count . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55 DN Allocation Choice (Connections Established) . . . . . . . . . . . . . . . . . . . . . . . . . . . 56 DN Allocation Master Mac ID . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
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Epsilon and EN Drive Parameters Reference Manual 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 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 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 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56 56 57 57 57 57 57 58 58 58 59 59 61 61 61 62 62 62 63 63 63 63 63 64 64 64 64 65 65 65 66 67 68 68 68 69 69 69 69 70 70 70
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Full Scale Torque . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71 Full Scale Velocity. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71 Heatsink RMS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71 High Performance Gains Enable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71 Home Acceleration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72 Home Deceleration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72 Home Limit Distance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72 Home Limit Distance Enable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73 Home Offset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73 Home Offset Enable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73 Home Reference. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74 Home Velocity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74 In Motion Velocity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75 Index Acceleration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75 Index Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76 Index Count . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77 Index Deceleration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77 Index Distance/Position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78 Index Dwell . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79 Index Registration Offset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80 Index Type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80 Index Velocity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82 Inertia Ratio . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82 Infinite Chaining . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83 Input Function Active Off Array . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83 Input Function Always Active Array . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84 Input Function Mapping 32 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85 Input Function Status Array . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88 Input Functions Active Off Bitmap . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89 Input Functions Always Active Bitmap . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89 Input Functions Status Bit Map . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90 Input Line (#) Debounce Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91 Input Line (#) Debounced Status Array. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92 Input Line (#) Force On/Off Command Array . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92 Input Line (#) Force On/Off Enable Array. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93 Input Line (#) Raw Status Array . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94 Input Line (#) Status Array . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94 Input Lines Debounced Status Bit Map. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95 Input Lines Force On/Off Command Bit Map . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96 Input Lines Force On/Off Enable Bit Map. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96 Input Lines Raw Status Bit Map . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97 Input Lines Status Bit Map . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
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Epsilon and EN Drive Parameters Reference Manual Jog Acceleration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98 Jog Deceleration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98 Jog Fast Velocity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99 Jog Velocity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99 Line Voltage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99 Low DC Bus Fault Enable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100 Motion Command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100 Motion Command Execute Array . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101 Motion State . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102 Motor Continuous Current Rating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102 Motor Encoder Lines Per Revolution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102 Motor Encoder Marker Angle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103 Motor Encoder Reference Motion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103 Motor Encoder U Angle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103 Motor Inductance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104 Motor Inertia . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104 Motor KE. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104 Motor Maximum Operating Speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104 Motor Peak Current Rating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105 Motor Poles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105 Motor Resistance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105 Motor Type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105 Operating Mode Alternate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106 Operating Mode Default (Obsolete). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107 Operating Mode Default Expanded . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107 Option 1 ID (Function Module) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108 Output Function Mapping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108 Output Function Status Array . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110 Output Functions Status Bit Map . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111 Output Line (#) Active Off . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112 Output Line (#) Force On/Off Command. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113 Output Line (#) Force On/Off Enable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113 Output Line (#) Status Array . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114 Output Lines Active Off Bit Map. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114 Output Lines Force On/Off Command Bit Map . . . . . . . . . . . . . . . . . . . . . . . . . . . 115 Output Lines Force On/Off Enable Bit Map . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115 Output Lines Status Bit Map . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116 Overspeed Velocity Limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116 Position Command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116 Position Error Integral Enable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117 Position Error Integral Time Constant . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117 Position Feedback. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117
Position Feedback (fractional part) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118 Position Feedback (integral part) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118 Position Feedback Encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118 Positive Direction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118 Power Up Count . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119 Power Up Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119 Power Up Time Total . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119 Predefined Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119 Product Group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121 Product ID . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121 Product Serial Number . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121 Product Sub-Group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122 Pulse Interpretation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122 Pulse Mode Ratio Pulses. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123 Pulse Mode Ratio Revolutions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123 Pulse Position Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123 Read NVM to RAM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123 Response . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124 Rollover Enable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124 Rollover Position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124 Segment Display Character . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124 Setup of End Of Index Count . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128 Setup of Registration Limit Dist Hit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128 Setup of End Of Chaining Count . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128 Shunt Power RMS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129 Status of End Of Index Count . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129 Status of Registration Limit Dist Hit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129 Status of End Of Chaining Count . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129 Stop All Motion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129 Stop Deceleration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130 Torque Command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130 Torque Command Actual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130 Torque Limit Enable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130 Torque Limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131 Torque Preset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131 Travel Limit Deceleration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131 Update Predefined Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132 User Accel Decimal Point . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132 User Defined Bitmap . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132 User Defined Bits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132 User Defined Motor Name . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133 User Defined Registers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133
xi
Epsilon and EN Drive Parameters Reference Manual User Time Base . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . User Unit Decimal Point . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . User Unit Rev . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . User Unit STR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . User Velocity Decimal Point . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Velocity Command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Velocity Command Analog . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Velocity Command Preset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Velocity Feedback . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Velocity Preset (#). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Velocity Preset (#) Accel/Decel. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Warmstart Execute . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Write RAM to NVM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133 133 134 134 134 134 135 135 135 135 136 136 137
Modbus Interface
139
139 139 140 142 143 143 144
Drive Serial Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Drive Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Modbus Protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Broadcast with Guaranteed Delivery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Timing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Query/Response Limitations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Index
145
xii
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 parameters name.
Modbus Address
The parameters Modbus address.
Type
Bit = Bit ENM = ENMerator S16 = Signed 16 U16 = Unsigned 16 S32 = Signed 32 U32 = Unsigned 32 STR = String BM16 = Bitmap 16 BM32 = Bitmap 32
Units
The parameters units value.
NVM (Non-Volatile Memory)

Y = Parameter is written to the devices NVM. N = Parameter is NOT written to the devices NVM.
Range
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.
Access
RW = Read/Write RO = Read Only
2
Name
30001 30004 32101 41205 - 41206 40603 40602 40601 32103 32104 40652 - 40653 40654 - 40655 40651 40657 - 40658 40659 - 40660 40656 40003 40005 - 40016 41116 40004 32042 1007 32038 32039 32040 42003 42045 40716 40702 42061 42062 40701 41108 - 41109 31038 31039 - 31040 31037 31002 S32 US16 US32 ENM US16 counts US16 ENM counts revs counts minutes US16 lines/rev US16 counts US16 counts US16 Degree C Y Y Y Y Y Y Y Y Y Y Y 214748.3647 0.0001 1~8192 1 ENM Y 20~50 1 S16 % N US16 Degrees N 0~359 200 S16 Degrees N 180 BIT N 1 1 0.1 US16 Volts N 20~500 0.1 ENM Baud Y ENM Y STR Y US16 Y 1~99 1 ENM Y S32 Y 2147483647 1 RW RW RW RW RW RW RO RW RO RO RO RO RW RO RO RW RW RO RW RO RO RO RO Eb Eb Eb Eb Eb Eb Eb Eb Eb Eb Eb Eb Eb Eb Eb Eb Eb S32 Y 2147483647 1 RW ENM Y RW Eb Eb Eb Eb Eb Eb S32 Y 2147483647 1 RW Eb Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei EN EN EN EN FM1 FM1 FM1 FM1 EN EN EN EN FM1 FM1 FM1 FM1 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 MDS MDS MDS MDS EN EN EN EN EN EN EN EN FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 S32 Y 2147483647 1 RW Eb Ei S16 Volts N 10 0.01 RO Eb Ei EN EN EN EN EN EN EN EN EN S16 Volts N 10 0.01 RO Eb Ei EN FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 S16 Volts Y 10 0.001 RW Eb EN FM1 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS S16 Volts Y 10 0.001 RW Eb EN FM1 US16 Hz Y 1~1000 1 RW Eb EN FM1 US32 ms/kRPM Y 0~32700 0.1 RW Eb EN FM1 MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS S16 Volts N 10 0.001 RO Eb EN FM1 MDS ENM N RO Eb EN FM1 MDS ENM N RO Eb Ei EN FM1 FM2 MDS
By Name
Modbus Type Units NVM Range Decimal Places Access Eb Ei EN FM1 FM2 MDS
Actual Operating Mode
Actual Operating Mode Expanded
Analog Input
Analog Input Accel/Decel Limit
Analog Input Bandwidth
Analog Input Full Scale
Analog Input Zero Offset
Analog Output - Channel 1
Analog Output 1 Offset
Analog Output 1 Scale
Analog Output 1 Select
Axis Address
Axis Name
Back Off Sensor Before Homing
Baud Rate
Bus Voltage
Clear Fault
Commutation Angle Correction
Commutation Track Angle
Commutation Voltage
Custom Motor Flag
Drive Ambient Temperature
Drive Overtemp Fault Count
ENcoder H/W Fault Count
ENcoder Output Scaling
ENcoder Output Scaling ENable
ENcoder State Fault Count
ENd of Home Position
Fault 1 Power Up Count
Fault 1 Power Up Time
Fault 1 Type
Name
31003 - 31004 31001 31034 31035 - 31036 31033 31030 31031 - 31032 31029 31026 31027 - 31028 31025 31022 31023 - 31024 31021 31018 31019 - 31020 31017 31014 31015 - 31016 31013 31010 31011 - 31012 31009 31006 31007 - 31008 31005 30401 - 30402 42026 39988 - 39989 39952 - 39957 39990 - 39991 49957 - 49962 32033 32028 - 32029 42031 40713 42032 - 42033 42023 US16 S32 ENM US16 S32 US16 counts revs % cont STR % cont revs STR STR STR ENM BM32 N Y N N N N N N Y Y Y Y 0.001~10 0~100 0.0001 0.01 0~300 10 0.1 0.0001 ENM Y US32 minutes Y US16 counts Y ENM Y US32 minutes Y US16 counts Y ENM Y US32 minutes Y US16 counts Y ENM Y US32 minutes Y US16 counts Y RO RO RO RO RO RO RO RO RO RO RO RO RO RW RO RO RO RO RO RO RW RO RW RW Eb Eb Eb Eb Eb Eb Ei Ei Ei Ei Ei Ei EN EN EN EN EN EN Eb Ei EN ENM Y RO US32 minutes Y RO Eb Eb Eb Eb Eb Eb Eb Eb Eb Eb Eb Eb Eb Eb Eb Eb Eb US16 counts Y RO Eb Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei ENM Y RO Eb Ei US32 minutes Y RO Eb Ei EN EN EN EN EN EN EN EN EN EN EN EN EN EN EN EN EN EN EN EN FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 MDS MDS MDS MDS MDS MDS US16 counts Y RO Eb Ei EN FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 ENM Y RO Eb Ei EN FM1 US32 minutes Y RO Eb Ei EN FM1 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 US16 counts Y RO Eb Ei EN FM1 FM2 ENM Y RO Eb Ei EN FM1 FM2 MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS US32 minutes Y RO Eb Ei EN FM1 FM2 MDS US16 counts Y RO Eb Ei EN FM1 FM2 MDS ENM Y RO Eb Ei EN FM1 FM2 MDS US32 minutes Y RO Eb Ei EN FM1 FM2 MDS
Modbus
Type
Units
NVM
Range
Decimal Places Access Eb Ei EN FM1 FM2 MDS
Fault 10 Type
Fault 2 Type
Fault 3 Type
Fault 4 Type
Fault 5 Type
Fault 6 Type
Fault 7 Type
Fault 8 Type
Fault 9 Type
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 Fault Count
Following Error Limit
Drive Parameters I By Name
Friction
4
Name
40605 40604 32041 40705 42025 41104 - 41105 41106 - 41107 41113 - 41114 41115 41110 - 41111 41112 41101 41102 - 41103 42035 43006 - 43007 43031 - 43032 43056 - 43057 43081 - 43082 43106 - 43107 43131 - 43132 43156 - 43157 43181 - 43182 43206 - 43207 43231 - 43232 43256 - 43257 43281 - 43282 43306 - 43307 43331 - 43332 43356 - 43357 43381 - 43382 43008 - 43009 43033 - 43034 43058 - 43059 43083 - 43084 43108 - 43109 43133 - 43134 43158 - 43159 43183 - 43184 US32 US32 US32 US32 US32 US32 US32 US32 US32 ms/kRPM ms/kRPM ms/kRPM ms/kRPM ms/kRPM ms/kRPM ms/kRPM ms/kRPM ms/kRPM US32 ms/kRPM US32 ms/kRPM Y Y Y Y Y Y Y Y Y Y Y US32 ms/kRPM Y US32 ms/kRPM Y US32 ms/kRPM Y 1~32700 1~32700 1~32700 1~32700 1~32700 1~32700 1~32700 1~32700 1~32700 1~32700 1~32700 1~32700 1~32700 1~32700 US32 ms/kRPM Y 1~32700 US32 ms/kRPM Y 1~32700 US32 ms/kRPM Y 1~32700 0.1 0.1 0.1 0.1 0.1 0.1 0.1 0.1 0.1 0.1 0.1 0.1 0.1 0.1 0.1 0.1 0.1 US32 ms/kRPM Y 1~32700 0.1 US32 ms/kRPM Y 1~32700 0.1 US32 ms/kRPM Y 1~32700 0.1 US32 ms/kRPM Y 1~32700 0.1 US32 ms/kRPM Y 1~32700 0.1 US32 ms/kRPM Y 1~32700 0.1 RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW US32 ms/kRPM Y 1~32700 0.1 RW US16 RPM Y 0~100 1 RW Eb S32 RPM Y 11000 0.1 RW Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei EN FM1 ENM Y RW Ei ENM Y RW Ei S32 revs Y 214748.3647 0.0001 RW Ei ENM Y RW Ei US32 revs Y 0~214748.3647 0.0001 RW Ei FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 MDS US32 ms/kRPM Y 1~32700 0.1 RW Ei FM2 US32 ms/kRPM Y 1~32700 0.1 RW Ei FM2 ENM Y RW Eb Ei EN FM1 FM2 MDS US16 counts Y RO Eb Ei EN FM1 FM2 MDS US16 % N 0~200 0.1 RO Eb Ei EN FM1 FM2 MDS US16 RPM Y 0~11000 1 RW Eb EN FM1 MDS US16 % cont Y 1~300 0.1 RW Eb EN FM1 MDS
Modbus
Type
Units
NVM
Range
Full Scale Torque
Full Scale Velocity
Heatsink RMS
High DC Bus Fault Count
High Performance Gains Enable
Home Acceleration
Home Deceleration
Home Limit Distance
Home Limit Distance Enable
Home Offset
Home Offset Enable
Home Reference
Home Velocity
In Motion Velocity
Index Acceleration 0
Index Deceleration 0
Name
43208 - 43209 43233 - 43234 43258 - 43259 43283 - 43284 43308 - 43309 43333 - 43334 43358 - 43359 43383 - 43384 43002 - 43003 43027 - 43028 43052 - 43053 43077 - 43078 43102 - 43103 43127 - 43128 43152 - 43153 43177 - 43178 43202 - 43203 43227 - 43228 43252 - 43253 43277 - 43278 43302 - 43303 43327 - 43328 43352 - 43353 43377 - 43378 43001 43026 43051 43076 43101 43126 43151 43176 43201 43226 43251 43276 43301 43326 ENM ENM ENM ENM ENM ENM ENM ENM ENM ENM ENM ENM Y Y Y Y Y Y Y Y Y Y Y Y ENM Y ENM Y S32 revs Y S32 revs Y S32 revs Y 214748.3647 214748.3647 214748.3647 S32 revs Y 214748.3647 S32 revs Y 214748.3647 0.0001 0.0001 0.0001 0.0001 0.0001 S32 revs Y 214748.3647 0.0001 S32 revs Y 214748.3647 0.0001 S32 revs Y 214748.3647 0.0001 S32 revs Y 214748.3647 0.0001 S32 revs Y 214748.3647 0.0001 RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW S32 revs Y 214748.3647 0.0001 RW S32 revs Y 214748.3647 0.0001 RW S32 revs Y 214748.3647 0.0001 RW Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei S32 revs Y 214748.3647 0.0001 RW Ei S32 revs Y 214748.3647 0.0001 RW Ei S32 revs Y 214748.3647 0.0001 RW Ei US32 ms/kRPM Y 1~32700 0.1 RW Ei US32 ms/kRPM Y 1~32700 0.1 RW Ei FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 US32 ms/kRPM Y 1~32700 0.1 RW Ei FM2 US32 ms/kRPM Y 1~32700 0.1 RW Ei FM2 US32 ms/kRPM Y 1~32700 0.1 RW Ei FM2 US32 ms/kRPM Y 1~32700 0.1 RW Ei FM2 US32 ms/kRPM Y 1~32700 0.1 RW Ei FM2 US32 ms/kRPM Y 1~32700 0.1 RW Ei FM2
Modbus
Type
Units
NVM
Range
Index Distance 0
Index Distance 1
Index Distance 2
Index Distance 3
Index Distance 4
Index Distance 5
Index Distance 6
Index Distance 7
Index Distance 8
Index Distance 9
Index Distance 10
Index Distance 11
Index Distance 12
Index Distance 13
Index Distance 14
Index Distance 15
Index Type 0
Index Type 1
Index Type 2
Index Type 3
Index Type 4
Index Type 5
Index Type 6
Index Type 7
Index Type 8
Index Type 9
Index Type 10
Index Type 11
Index Type 12
Index Type 13
6
Name
43351 43376 43004 - 43005 43029 - 43030 43054 - 43055 43079 - 43080 43104 - 43105 43129 - 43130 43154 - 43155 43179 - 43180 43204 - 43205 43229 - 43230 43254 - 43255 43279 - 43280 43304 - 43305 43329 - 43330 43354 - 43355 43379 - 43380 42021 40301 - 40302 129 - 160 257 - 288 40401 - 40402 40201 - 40232 10065 - 10096 30105 - 30106 40111 - 40123 10033 - 10048 2 - 15 18 - 31 10017 - 10031 10001 - 10015 30103 40101 40102 30102 30101 41155 - 41156 US16 US16 BM16 BM16 US32 ms/kRPM BM16 BIT BIT BIT BIT BIT N N N N N N N N N N Y 1~32700 0.1 US16 Y BM16 N 0~2000 0.1 BIT N ENM Y BM16 Y BIT N BIT N BM16 Y US16 Y 0~50 0.1 US32 RPM Y 0~11000 0.1 US32 RPM Y 0~11000 0.1 US32 RPM Y 0~11000 0.1 RW RW RW RW RW RW RW RW RW RO RO RW RO RW RW RO RO RO RW RW RO RO RW Eb Eb Eb Eb Eb Eb Eb Eb Eb Eb Eb Eb Eb Eb Eb Eb Eb Eb Eb US32 RPM Y 0~11000 0.1 RW US32 RPM Y 0~11000 0.1 RW US32 RPM Y 0~11000 0.1 RW Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei EN EN EN EN EN EN EN EN EN EN EN EN EN EN EN EN EN EN EN FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 US32 RPM Y 0~11000 0.1 RW Ei US32 RPM Y 0~11000 0.1 RW Ei US32 RPM Y 0~11000 0.1 RW Ei US32 RPM Y 0~11000 0.1 RW Ei US32 RPM Y 0~11000 0.1 RW Ei FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS US32 RPM Y 0~11000 0.1 RW Ei FM2 US32 RPM Y 0~11000 0.1 RW Ei FM2 US32 RPM Y 0~11000 0.1 RW Ei FM2 US32 RPM Y 0~11000 0.1 RW Ei FM2 US32 RPM Y 0~11000 0.1 RW Ei FM2 ENM Y RW Ei FM2 ENM Y RW Ei FM2
Modbus
Type
Units
NVM
Range
Index Type 14
Index Type 15
Index Velocity 0
Index Velocity 1
Index Velocity 2
Index Velocity 3
Index Velocity 4
Index Velocity 5
Index Velocity 6
Index Velocity 7
Index Velocity 8
Index Velocity 9
Index Velocity 10
Index Velocity 11
Index Velocity 12
Index Velocity 13
Index Velocity 14
Index Velocity 15
Inertia Ratio
Input Function Active Off Bit Map 32
Input Function Active Off Array
Input Function Always Active Array
Input Function Always Active Bit Map 32
Input Function Mapping 32
Input Function Status Array
Input Function Status Bit Map 32
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
Name
41157 - 41158 41153 - 41154 41151 - 41152 42002 42046 40704 42047 42048 41306 41311 41316 41321 41326 41331 41336 41341 1101 - 1108 32063 42116 42108 42109 42111 42110 42115 42112 42113 42118 40715 42117 42107 42114 40002 40712 40019 40001 40018 39985 40451 - 40482 US16 ENM ENM ENM US16 US16 ENM counts US16 ENM Ohms US16 Arms US16 counts US16 RPM Y Y Y Y Y Y Y Y Y Y N Y 0.1~50 0.01 1~100 0.01 US16 vrms/kRPM Y US16 Y US16 mH Y 1~100 0.00001~0.5 5~500 0~11000 US16 Degrees Y 0~359 ENM Y 1 0.1 0.00001 0.1 1 US16 Degrees Y 0~359 1 ENM Lines Y US16 Arms Y 0.1~100 0.01 ENM N BIT N ENM Y ENM Y RW RW RW RO RO RO RO RO RO RO RO RO RO RO RO RO RO RW RO RW RW RW RO RW Eb Eb Eb Eb Eb Eb Eb Eb Eb Eb Eb Eb Eb Eb Eb Eb Eb Eb Eb Eb Ei Ei Ei ENM Y RW ENM Y RW ENM Y RW Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei EN EN EN EN EN EN EN EN EN EN EN EN EN EN EN EN EN EN EN EN FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM2 FM2 FM2 ENM Y RW Ei ENM Y RW Ei ENM Y RW Ei US16 Hz Y 1-1000 1 RW Eb Ei EN FM1 ENM Y RW Eb Ei EN FM1 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS US16 counts Y RO Eb Ei EN FM1 FM2 ENM Y RW Eb Ei EN FM1 FM2 MDS MDS MDS MDS ENM Y RW Eb Ei EN FM1 FM2 MDS US32 RPM Y 0~11000 0.1 RW Ei FM2 US32 RPM Y 0~11000 0.1 RW Ei FM2 US32 ms/kRPM Y 1~32700 0.1 RW Ei FM2
Modbus
Type
Units
NVM
Range
Jog Deceleration
Jog Fast Velocity
Jog Velocity
Line Voltage
Low DC Bus Enable
Low DC Bus Fault Count
Low Pass Filter Enable (COMPFE)
Low Pass Filter Frequency (COMPF)
Motion Command 0
Motion Command 1
Motion Command 2
Motion Command 3
Motion Command 4
Motion Command 5
Motion Command 6
Motion Command 7
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 Overtemp Fault Count
Motor Peak Current Rating
Motor Poles
Motor Resistance
Motor Type
NVM Invalid Fault Count
Operating Mode Alternate
Operating Mode Default
Operating Mode Default Expanded
Option 1 ID (Function Module)
Output Function Mapping 32
8
Name
10097 - 10128 30107 - 30108 65 - 80 33 - 48 49 - 64 10049 - 10064 40105 40103 40104 30104 40709 42036 32036 - 32037 42028 42029 32026 - 32027 32023 32024 - 32025 40081 - 40082 42044 40703 40020 40711 40023 - 40024 40021 - 40022 40051 39982 39984 49903 - 49910 39983 41003 41004 41002 41001 32001 - 32002 1003 42024 30002 S16 S32 BIT US16 US16 US16 ENM counts revs counts ENM US16 STR US16 N Y N Y Y Y Y N N Y N 1~500 1 1~16384 2 1 0.0001 US16 N ENM N US32 hours Y US32 minutes N 0~429496729.5 0.1 US16 counts Y US16 counts Y US16 counts Y ENM Y S32 counts N S32 revs N US16 revs N 0~0.9999 0.0001 S32 revs N 214748.3647 0.0001 RO RO RO RW RW RO RO RO RO RO RW RO RO RO RO RW RW RW RW RO RW RW RO US16 ms Y 5~500 1 RW ENM Y RW Eb Eb Eb Eb Eb Eb Eb Eb Eb Eb Eb Eb Eb Eb Eb Eb Eb Eb Eb Eb Eb Eb Eb Eb Eb Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei S32 revs N 214748.3647 0.0001 RO Eb Ei Ei Ei Ei US16 RPM Y 0~13000 1 RW Eb Ei US16 counts Y RO Eb Ei EN EN EN EN EN EN EN EN EN EN EN EN EN EN EN EN EN EN EN EN EN EN EN EN EN EN EN EN BM16 N RO Eb Ei EN FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 US16 N RW Eb Ei EN FM1 US16 N RW Eb Ei EN FM1 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 BM16 Y RW Eb Ei EN FM1 FM2 BIT N RO Eb Ei EN FM1 FM2 MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS BIT N RW Eb Ei EN FM1 FM2 MDS BIT N RW Eb Ei EN FM1 FM2 MDS BIT N RW Eb Ei EN FM1 FM2 MDS BM16 N RO Eb Ei EN FM1 FM2 MDS BIT N RO Eb Ei EN FM1 FM2 MDS
Modbus
Type
Units
NVM
Range
Output Function Status Array
Output Function Status Bit Map 32
Output Line Active Off Array
Output Line Force On/Off Command Array
Output Line Force On/Off Enable Array
Output Line Status Array
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
Overspeed Fault Count
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 Stage Fault Count
Power Up Count
Power Up Self Test Fault Count
Power Up Time
Power Up Time Total
Predefined Setup
Product Group
Product ID
Product Serial Number
Product Sub-Group
Pulse Input Source Select
Pulse Interpretation
Pulse Mode Ratio Pulses
Pulse Mode Ratio Revolutions
Pulse Position Input
Read NVM to RAM
Response
Segment Display Character
Name
32032 40714 1151 41201 - 41202 32034 32035 42049 42050 42034 41401 41402 41403 41404 41405 41406 41407 41408 40708 40707 41203 - 41204 1004 49401 - 49402 9951 - 9982 42101 - 42106 49403 - 49418 32061 - 32062 32063 - 32064 32065 - 32066 32021 - 32022 41101 - 41102 41103 - 41104 41105 - 41106 41107 - 41108 41109 - 41110 41111 - 41112 41113 - 41114 41115 - 41116 41117 - 41118 US32 S32 US32 S32 US32 S32 S32 US32 RPM ms/kRPM RPM ms/kRPM RPM ms/kRPM RPM S32 RPM ms/kRPM S32 RPM S32 RPM S32 RPM N N N Y Y Y Y Y Y Y Y Y S32 RPM N US16 Y 13000 11000 11000 13000 11000 0~32700 11000 0~32700 11000 0~32700 11000 0~32700 11000 0.1 0.1 0.1 0.1 0.1 0.1 0.1 0.1 0.1 0.1 0.1 0.1 0.1 STR Y BIT Y US16 Y BIT N US32 ms/kRPM Y 1~5000 0.1 US16 counts Y US16 counts Y S16 % Y 300 0.1 S16 % Y 300 0.1 S16 % Y 300 0.1 RW RW RW RO RO RW RW RW RW RO RW RO RO RO RO RW RW RW RW RW RW RW RW RW Eb Eb Eb Eb Eb Eb Eb Eb Eb Eb Eb Eb Eb Eb Eb Eb Eb Eb Eb Eb Eb Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei EN EN EN EN EN EN EN EN EN EN EN EN EN EN EN EN EN EN EN EN EN S16 % Y 300 0.1 RW S16 % Y 300 0.1 RW S16 % Y 300 0.1 RW S16 % Y 300 0.1 RW S16 % Y 300 0.1 RW US16 % cont Y 0~300 1 RW Eb Ei EN FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS US16 %cont Y 0-300 1 RW Eb Ei EN FM1 US16 %cont Y 0-300 1 RW Eb Ei EN FM1 FM2 FM2 FM2 S16 % cont N 300 0.1 RO Eb Ei EN FM1 FM2 S16 % cont N 300 0.1 RO Eb Ei EN FM1 FM2 MDS MDS MDS MDS MDS US32 ms/kRPM Y 1~32700 0.1 RW Eb Ei EN FM1 FM2 MDS BIT N RW Ei FM2 US16 counts Y RO EN FM1 FM2 US16 % N 0~120 0.1 RO Eb Ei EN FM1 FM2 MDS
Modbus
Type
Units
NVM
Range
Shunt Power RMS
Shunt Power RMS Fault Count
Stop All Motion
Stop Deceleration
Torque Command
Torque Command Actual
Torque Level 1 (MSTL1)
Torque Limit
Torque Preset 0
Torque Preset 1
Torque Preset 2
Torque Preset 3
Torque Preset 4
Torque Preset 5
Torque Preset 6
Torque Preset 7
Travel Limit - Fault Count
Travel Limit + Fault Count
Travel Limit Deceleration
Update Predefined Setup
User Defined Bitmap
User Defined Bits
User Defined Motor Name
User Defined Registers
Velocity Command
Velocity Command Analog
Velocity Command Preset
Velocity Feedback
Velocity Preset 0
Velocity Preset 0 Accel/Decel
Velocity Preset 1
Velocity Preset 2
Velocity Preset 3
Velocity Preset 4
10
Name
41119 - 41120 41121 - 41122 41123 - 41124 41125 - 41126 41127 - 41128 41129 - 41130 41131 - 41132 1001 1002 BIT N RW Eb Ei EN FM1 BIT N RW Eb Ei EN FM1 FM2 FM2 US32 ms/kRPM Y 0~32700 0.1 RW Eb EN FM1 S32 RPM Y 11000 0.1 RW Eb EN FM1 MDS MDS MDS MDS US32 ms/kRPM Y 0~32700 0.1 RW Eb EN FM1 MDS S32 RPM Y 11000 0.1 RW Eb EN FM1 MDS US32 ms/kRPM Y 0~32700 0.1 RW Eb EN FM1 MDS S32 RPM Y 11000 0.1 RW Eb EN FM1 MDS US32 ms/kRPM Y 0~32700 0.1 RW Eb EN FM1 MDS
Modbus
Type
Units
NVM
Range
Velocity Preset 5
Velocity Preset 6
Velocity Preset 7
Warmstart Execute
Write RAM to NVM
By Modbus Address
Name
Input Line Force On/Off Command Array Input Line Force On/Off Enable Array Output Line Force On/Off Command Array Output Line Force On/Off Enable Array Output Line Active Off Array Input Function Active Off Array Input Function Always Active Array Warmstart Execute Write RAM to NVM Read NVM to RAM Update Predefined Setup Clear Fault Motion Command Execute Array Stop All Motion User Defined Bits Input Line Status Array Input Line Raw Status Array Input Line Debounced Status Array Output Line Status Array Input Function Status Array Output Function Status Array Actual Operating Mode Segment Display Character Actual Operating Mode Expanded Input Lines Status Bit Map Input Lines Raw Status Bit Map Input Lines Debounced Status Bit Map Output Lines Status Bit Map Input Function Status Bit Map 32 Output Function Status Bit Map 32 Fault Status Bit Map Fault 10 Type Fault 10 Power Up Count Fault 10 Power Up Time Fault 9 Type Fault 9 Power Up Count BM32 ENM US16 US32 ENM US16 counts counts minutes BM16 BM16 BM16 BM16 BM16 BM16 N N N N N N N Y Y Y Y Y ENM N US16 N ENM N BIT N BIT N BIT N BIT N BIT N BIT N BIT Y BIT N BIT N RW RW RW RO RO RO RO RO RO RO RO RO RO RO RO RO RO RO RO RO RO RO RO RO Eb Eb Eb Eb Eb Eb Eb Eb Eb Eb Eb Eb Eb Eb Eb Eb Eb Eb Eb Eb Eb Eb Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei BIT N RW BIT N RW Eb Eb BIT N RW Eb Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei EN EN EN EN EN EN EN EN EN EN EN EN EN EN EN EN EN EN EN EN EN EN FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 BIT N RW Eb Ei BIT N RW Eb Ei EN EN EN EN EN BIT N RW Eb Ei EN FM1 FM1 FM1 FM1 FM1 FM1 BIT N RW Eb Ei EN FM1 BIT N RW Eb Ei EN FM1 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS BIT N RW Eb Ei EN FM1 FM2 BIT N RW Eb Ei EN FM1 FM2 MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS BIT N RW Eb Ei EN FM1 FM2 MDS BIT N RW Eb Ei EN FM1 FM2 MDS
Modbus
2 - 15
Type
Units
NVM
Range
18 - 31
33 - 48
49 - 64
65 - 80
129 - 160 1001 1002 1003 1004 1007 1151
257 - 288
1101 - 1108
9951 - 9982
10001 - 10015
10017 - 10031
10033 - 10048
10049 - 10064
10065 - 10096 30001 30002 30004 30101 30102 30103 30104
10097 - 10128
30105 - 30106
30107 - 30108 31001 31002 31005 31006
30401 - 30402
31003 - 31004
Drive Parameters I By Modbus Address
11
12
Name
Fault 9 Power Up Time Fault 8 Type Fault 8 Power Up Count Fault 8 Power Up Time Fault 7 Type Fault 7 Power Up Count Fault 7 Power Up Time Fault 6 Type Fault 6 Power Up Count Fault 6 Power Up Time Fault 5 Type Fault 5 Power Up Count Fault 5 Power Up Time Fault 4 Type Fault 4 Power Up Count Fault 4 Power Up Time Fault 3 Type Fault 3 Power Up Count Fault 3 Power Up Time Fault 2 Type Fault 2 Power Up Count Fault 2 Power Up Time Fault 1 Type Fault 1 Power Up Count Fault 1 Power Up Time Pulse Position Input Velocity Feedback Position Feedback (fractional part) Position Feedback (integral part) Position Feedback Following Error Shunt Power RMS Foldback RMS Torque Command Torque Command Actual Position Command Commutation Angle Correction Commutation Track Angle S16 S16 S32 S16 US16 US16 US16 % % cont % cont % cont revs Degrees Degrees S32 revs S32 revs S32 revs US16 revs N N N N N N N N N N N 214748.3647 10 0~120 0~300 300 300 214748.3647 180 0~359 0.0001 0.0001 0.1 0.1 0.1 0.1 0.0001 1 1 S32 RPM N S32 counts N 13000 0~0.9999 0.1 0.0001 US32 minutes Y US16 counts Y ENM Y US32 minutes Y US16 counts Y ENM Y US32 minutes Y US16 counts Y ENM Y US32 minutes Y RO RO RO RO RO RO RO RO RO RO RO RO RO RO RO RO RO RO RO RO RO RO RO US16 counts Y RO ENM Y RO Eb Eb Eb Eb Eb Eb Eb Eb Eb Eb Eb Eb Eb Eb Eb Eb Eb Eb Eb Eb Eb Eb Eb Eb Eb Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei US32 minutes Y RO Eb Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei US16 counts Y RO Eb Ei ENM Y RO Eb Ei EN EN EN EN EN EN EN EN EN EN EN EN EN EN EN EN EN EN EN EN EN EN EN EN EN EN EN EN US32 minutes Y RO Eb Ei EN FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 US16 counts Y RO Eb Ei EN FM1 ENM Y RO Eb Ei EN FM1 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 US32 minutes Y RO Eb Ei EN FM1 FM2 US16 counts Y RO Eb Ei EN FM1 FM2 MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS ENM Y RO Eb Ei EN FM1 FM2 MDS US32 minutes Y RO Eb Ei EN FM1 FM2 MDS US16 counts Y RO Eb Ei EN FM1 FM2 MDS ENM Y RO Eb Ei EN FM1 FM2 MDS US32 minutes Y RO Eb Ei EN FM1 FM2 MDS
Modbus
Type
Units
NVM
Range
31007 - 31008 31009 31010 31013 31014 31017 31018 31021 31022 31025 31026 31029 31030 31033 31034 31037 31038
31011 - 31012
31015 - 31016
31019 - 31020
31023 - 31024
31027 - 31028
31031 - 31032
31035 - 31036
31039 - 31040
32001 - 32002 32023
32021 - 32022
32024 - 32025
32026 - 32027 32032 32033 32034 32035 32038 32039
32028 - 32029
32036 - 32037
Modbus
32040 32041 32042 Velocity Command Motion State Velocity Command Analog Velocity Command Preset Analog Input Analog Output - Channel 1 Analog Output - Channel 2 FM Firmware Part Number Product Group Product Sub-Group Product ID Option 1 ID (Function Module) Firmware Revision FM Firmware Revision Option Operating Mode Default Motor Type Axis Address Baud Rate Axis Name Operating Mode Default Expanded Operating Mode Alternate Power Up Count Power Up Time Total Power Up Time Predefined Setup Position Feedback Encoder Input Lines Force On/Off Command Bit Map Input Lines Force On/Off Enable Bit Map Output Lines Force On/Off Command Bit Map Output Lines Force On/Off Enable Bit Map Output Lines Active Off Bit Map Input Line Debounce Time Input Function Mapping 32 Input Function Active Off Bit Map 32 Input Function Always Active Bit Map 32 US16 BM16 US16 ENM BM16 BM16 US16 US16 US16 S32 counts ENM US32 minutes N N N N N N N Y Y Y Y Y 0~2000 0.1 US32 hours Y US16 counts Y 0~429496729.5 0.1 ENM Y ENM Y STR Y ENM Baud Y US16 Y 1~99 1 ENM Y ENM Y STR N STR N US16 N RO RO RO RW RW RW RW RW RW RW RO RO RO RW RW RW RW RW RW RW RW RW RW RW US16 N RO US16 N RO Eb Eb Eb Eb Eb Eb Eb Eb Eb Eb Eb Eb Eb Eb Eb Eb Eb Eb Eb Eb Eb Eb Eb Eb Eb Eb Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei US16 N RO Eb Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei STR N RO EN EN EN EN EN EN EN EN EN EN EN EN EN EN EN EN EN EN EN EN EN EN EN EN EN EN EN FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 S16 Volts N 10 0.01 RO Eb Ei EN S16 Volts N 10 0.01 RO Eb Ei EN FM1 FM1 FM1 FM1 FM1 FM1 FM1 S16 Volts N 10 0.001 RO Eb EN FM1 FM2 FM2 FM2 FM2 FM2 FM2 FM2 MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS S32 RPM N 11000 0.1 RO Eb EN FM1 S32 RPM N 11000 0.1 RO Eb Ei EN FM1 FM2 ENM N RO Ei FM2 MDS MDS MDS MDS MDS S32 RPM N 13000 0.1 RO Eb Ei EN FM1 FM2 MDS 32063 Bus Voltage US16 Volts N 20~500 0.1 RO Eb Ei EN FM1 FM2 MDS Heatsink RMS US16 % N 0~200 0.1 RO Eb Ei EN FM1 FM2 MDS Commutation Voltage S16 % N 200 0.1 RO Eb Ei EN FM1 FM2 MDS
Name
Type
Units
NVM
Range
32061 - 32062
32063 - 32064 32101 32103 32104 39982 39983 39984 39985
32065 - 32066
39952 - 39957
39988 - 39989 40001 40002 40003 40004 40018 40019 40020
39990 - 39991
40005 - 40016
40021 - 40022 40051 40101 40102 40103 40104 40105
40023 - 40024
40081 - 40082
40111 - 40123
40201 - 40232
40301 - 40302
40401 - 40402
13
14
Name
Output Function Mapping 32 Analog Input Zero Offset Analog Input Full Scale Analog Input Bandwidth Full Scale Velocity Full Scale Torque Analog Output 1 Select Analog Output 1 Offset Analog Output 1 Scale Analog Output 2 Select Analog Output 2 Offset Analog Output 2 Scale ENcoder State Fault Count ENcoder H/W Fault Count Power Stage Fault Count Low DC Bus Fault Count High DC Bus Fault Count Travel Limit + Fault Count Travel Limit - Fault Count Overspeed Fault Count Power Up Self Test Fault Count NVM Invalid Fault Count Following Error Fault Count Shunt Power RMS Fault Count Motor Overtemp Fault Count Drive Overtemp Fault Count Pulse Mode Ratio Revolutions Pulse Mode Ratio Pulses Pulse Input Source Select Pulse Interpretation Home Reference Velocity Preset 0 Home Velocity Velocity Preset 0 Accel/Decel Home Acceleration Velocity Preset 1 Home Deceleration Velocity Preset 1 Accel/Decel US32 US32 S32 US32 US32 S32 S32 RPM RPM ms/kRPM ms/kRPM RPM ms/kRPM ms/kRPM ENM ENM ENM US16 counts Y Y Y Y Y Y Y Y Y Y Y 11000 11000 0~32700 1~32700 11000 1~32700 0~32700 0.1 0.1 0.1 0.1 0.1 0.1 0.1 S16 revs Y US16 counts Y 2 1~16384 0.0001 1 US16 counts Y US16 counts Y US16 counts Y US16 counts Y US16 counts Y US16 counts Y US16 counts Y US16 counts Y US16 counts Y US16 counts Y RO RO RO RO RO RO RO RO RO RO RO RW RW RW RW RW RW RW RW RW RW RW RW Eb Eb Ei EN FM1 Eb Ei EN FM1 FM2 MDS Eb Ei EN FM1 FM2 MDS Eb Eb Eb Eb Eb Eb Ei EN FM1 FM2 MDS Ei Ei EN EN EN EN FM1 FM1 FM1 FM1 FM2 MDS US16 counts Y RO US16 counts Y RO Eb Eb Eb Eb Eb Eb Eb Eb Eb Eb US16 counts Y RO Eb Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei S32 Y 2147483647 1 RW Eb Ei S32 Y 2147483647 1 RW Eb Ei EN EN EN EN EN EN EN EN EN EN EN EN EN EN EN ENM Y RW Eb Ei EN FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 S32 Y 2147483647 1 RW Eb Ei EN FM1 S32 Y 2147483647 1 RW Eb Ei EN FM1 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 MDS MDS MDS MDS MDS MDS ENM Y RW Eb Ei EN FM1 FM2 US16 % cont Y 1~300 0.1 RW Eb EN FM1 MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS US16 RPM Y 0~11000 1 RW Eb EN FM1 MDS US16 Hz Y 1~1000 1 RW Eb EN FM1 MDS S16 Volts Y 10 0.001 RW Eb EN FM1 MDS S16 Volts Y 10 0.001 RW Eb EN FM1 MDS US16 Y RW Eb Ei EN FM1 FM2 MDS
Modbus
Type
Units
NVM
Range
40451 - 40482 40601 40602 40603 40604 40605 40651
40652 - 40653 40656
40654 - 40655
40657 - 40658 40701 40702 40703 40704 40705 40707 40708 40709 40711 40712 40713 40714 40715 40716 41001 41002 41003 41004 41101
40659 - 40660
41101 - 41102
41102 - 41103
41103 - 41104
41104 - 41105
41105 - 41106
41106 - 41107
41107 - 41108
Modbus
ENd of Home Position Velocity Preset 2 Home Offset Velocity Preset 2 Accel/Decel Home Offset Enable Home Limit Distance Velocity Preset 3 Home Limit Distance Enable Velocity Preset 3 Accel/Decel Back Off Sensor Before Homing Velocity Preset 4 Velocity Preset 4 Accel/Decel Velocity Preset 5 Velocity Preset 5 Accel/Decel Velocity Preset 6 Velocity Preset 6 Accel/Decel Velocity Preset 7 Velocity Preset 7 Accel/Decel Jog Velocity Jog Fast Velocity Jog Acceleration Jog Deceleration Stop Deceleration Travel Limit Deceleration Analog Input Accel/Decel Limit Motion Command 0 Motion Command 1 Motion Command 2 Motion Command 3 Motion Command 4 Motion Command 5 Motion Command 6 Motion Command 7 Torque Preset 0 Torque Preset 1 Torque Preset 2 Torque Preset 3 Torque Preset 4 ENM S16 S16 S16 S16 S16 % % % % % ENM ENM ENM ENM ENM ENM Y Y Y Y Y Y Y Y Y Y Y Y 300 300 300 300 300 0.1 0.1 0.1 0.1 0.1 ENM Y US32 ms/kRPM Y US32 ms/kRPM Y 1~5000 0~32700 US32 ms/kRPM Y 1~32700 US32 ms/kRPM Y 1~32700 US32 ms/kRPM Y 1~32700 0.1 0.1 0.1 0.1 0.1 US32 RPM Y 0~11000 0.1 US32 RPM Y 0~11000 0.1 US32 ms/kRPM Y 0~32700 0.1 S32 RPM Y 11000 0.1 US32 ms/kRPM Y 0~32700 0.1 S32 RPM Y 11000 0.1 RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW Eb Eb Eb Ei Ei Ei Ei Ei Ei Ei Ei FM1 FM1 FM1 FM1 FM1 US32 ms/kRPM Y 0~32700 0.1 RW S32 RPM Y 11000 0.1 RW Eb Eb Eb Eb Eb Eb Ei Ei Ei Ei Ei Ei EN EN EN FM1 FM1 FM1 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 US32 ms/kRPM Y 0~32700 0.1 RW Eb S32 RPM Y 11000 0.1 RW Eb ENM Y RW Ei EN EN EN EN EN EN EN EN FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM2 FM2 FM2 FM2 FM2 FM2 MDS MDS MDS US32 ms/kRPM Y 0~32700 0.1 RW Eb EN FM1 FM2 MDS MDS MDS MDS MDS MDS MDS MDS ENM Y RW Ei S32 RPM Y 11000 0.1 RW Eb EN FM1 FM2 MDS US32 revs Y 0~214748.3647 0.0001 RW Ei FM2 MDS ENM Y RW Ei FM2 US32 ms/kRPM Y 0~32700 0.1 RW Eb EN FM1 MDS S32 revs Y 214748.3647 0.0001 RW Ei FM2 S32 RPM Y 11000 0.1 RW Eb EN FM1 MDS S32 revs Y 214748.3647 0.0001 RW Ei FM2
Name
Type
Units
NVM
Range
41108 - 41109
41109 - 41110
41110 - 41111 41112
41111 - 41112
41113 - 41114 41115 41116
41113 - 41114
41115 - 41116
41117 - 41118
41119 - 41120
41121 - 41122
41123 - 41124
41125 - 41126
41127 - 41128
41129 - 41130
41131 - 41132
41151 - 41152
41153 - 41154
41155 - 41156
41157 - 41158
41201 - 41202
41203 - 41204 41306 41311 41316 41321 41326 41331 41336 41341 41401 41402 41403 41404 41405
41205 - 41206
15
16
Name
Torque Preset 5 Torque Preset 6 Torque Preset 7 Line Voltage Custom Motor Flag Inertia Ratio Friction Response High Performance Gains Enable Feedforwards Enable Position Error Integral Enable Position Error Integral Time Constant Following Error Enable Following Error Limit Torque Limit In Motion Velocity Overspeed Velocity Limit Positive Direction Drive Ambient Temperature Low DC Bus Enable Low Pass Filter Enable (COMPFE) Low Pass Filter Frequency (COMPF) Torque Level 1 (MSTL1) Torque Level 2 (MSTL2) ENcoder Output Scaling ENcoder Output Scaling ENable User Defined Motor Name Motor Poles Motor Encoder Lines Per Revolution Motor Encoder Marker Angle Motor Encoder U Angle Motor Encoder Reference Motion Motor Inertia Motor KE Motor Resistance Motor Inductance Motor Continuous Current Rating Motor Peak Current Rating US16 US16 US16 US16 US16 US16 vrms/kRPM Ohms mH Arms Arms ENM US16 Degrees US16 Degrees ENM Lines ENM Y Y Y Y Y Y Y Y Y Y Y 0.00001~0.5 5~500 0.1~50 1~100 0.1~100 1~100 0.00001 0.1 0.01 0.1 0.01 0.01 0~359 0~359 1 1 STR Y ENM Y US16 lines/rev Y 1~8192 US16 %cont Y 0-300 US16 %cont Y 0-300 US16 Hz Y 1-1000 1 1 1 1 ENM Y ENM Y US16 Degree C Y 20~50 1 ENM Y US16 RPM Y 0~13000 1 US16 RPM Y 0~100 1 RW RW RW RW RW RW RW RW RW RW RW RO RO RO RO RO RO RO RO RO RO RO RO US16 % cont Y 0~300 1 RW S32 revs Y 0.001~10 0.0001 RW Eb Eb Eb Eb Eb Eb Eb Eb Eb Eb Eb Eb Eb Eb Eb Eb Eb Eb Eb Eb Eb Eb Eb Eb Eb ENM Y RW Eb Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei US16 ms Y 5~500 1 RW Eb Ei ENM Y RW Eb Ei EN EN EN EN EN EN EN EN EN EN EN EN EN EN EN EN EN EN EN EN EN EN EN EN EN EN EN EN ENM Y RW Eb Ei EN FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 FM1 ENM Y RW Eb Ei EN FM1 US16 Y 1~500 1 RW Eb Ei EN FM1 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 US16 % cont Y 0~100 0.01 RW Eb Ei EN FM1 FM2 MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS MDS US16 Y 0~50 0.1 RW Eb Ei EN FM1 FM2 MDS ENM Y RO Eb Ei EN FM1 FM2 MDS ENM Y RW Eb Ei EN FM1 FM2 MDS S16 % Y 300 0.1 RW FM1 S16 % Y 300 0.1 RW FM1 S16 % Y 300 0.1 RW FM1
Modbus
41406 41407 41408 42002 42003 42021 42023 42024 42025 42026 42028 42029 42031 42034 42035 42036 42044 42045 42046 42047 42048 42049 42050 42061 42062 42107 42108 42109 42110 42111 42112 42113 42114 42115 42116 42117
Type
Units
NVM
Range
42032 - 42033
42101 - 42106
Modbus
42118 43001 Index Distance 0 Index Velocity 0 Index Acceleration 0 Index Deceleration 0 Index Type 1 Index Distance 1 Index Velocity 1 Index Acceleration 1 Index Deceleration 1 Index Type 2 Index Distance 2 Index Velocity 2 Index Acceleration 2 Index Deceleration 2 Index Type 3 Index Distance 3 Index Velocity 3 Index Acceleration 3 Index Deceleration 3 Index Type 4 Index Distance 4 Index Velocity 4 Index Acceleration 4 Index Deceleration 4 Index Type 5 Index Distance 5 Index Velocity 5 Index Acceleration 5 Index Deceleration 5 Index Type 6 Index Distance 6 Index Velocity 6 Index Acceleration 6 Index Deceleration 6 Index Type 7 Index Distance 7 S32 US32 US32 US32 ENM S32 revs ENM revs RPM ms/kRPM ms/kRPM US32 US32 US32 RPM ms/kRPM ms/kRPM S32 revs ENM Y Y Y Y Y Y Y Y Y Y Y Y 214748.3647 0.0001 214748.3647 0~11000 1~32700 1~32700 0.0001 0.1 0.1 0.1 214748.3647 0~11000 1~32700 1~32700 0.0001 0.1 0.1 0.1 US32 ms/kRPM Y US32 ms/kRPM Y US32 RPM Y 0~11000 1~32700 1~32700 S32 revs Y ENM Y 214748.3647 0.0001 0.1 0.1 0.1 US32 ms/kRPM Y 1~32700 0.1 US32 ms/kRPM Y 1~32700 0.1 US32 RPM Y 0~11000 0.1 S32 revs Y 214748.3647 0.0001 ENM Y US32 ms/kRPM Y 1~32700 0.1 US32 ms/kRPM Y 1~32700 0.1 RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW US32 RPM Y 0~11000 0.1 RW S32 revs Y 214748.3647 0.0001 RW ENM Y RW Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei US32 ms/kRPM Y 1~32700 0.1 RW Ei US32 ms/kRPM Y 1~32700 0.1 RW Ei US32 RPM Y 0~11000 0.1 RW Ei S32 revs Y 214748.3647 0.0001 RW Ei ENM Y RW Ei FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 US32 ms/kRPM Y 1~32700 0.1 RW Ei FM2 US32 ms/kRPM Y 1~32700 0.1 RW Ei FM2 US32 RPM Y 0~11000 0.1 RW Ei FM2 S32 revs Y 214748.3647 0.0001 RW Ei FM2 Index Type 0 ENM Y RW Ei FM2 Motor Maximum Operating Speed US16 RPM Y 0~11000 1 RO Eb Ei EN FM1 FM2 MDS
Name
Type
Units
NVM
Range
43002 - 43003
43004 - 43005
43006 - 43007 43026
43008 - 43009
43027 - 43028
43029 - 43030
43031 - 43032 43051
43033 - 43034
43052 - 43053
43054 - 43055
43056 - 43057 43076
43058 - 43059
43077 - 43078
43079 - 43080
43081 - 43082 43101
43083 - 43084
43102 - 43103
43104 - 43105
43106 - 43107 43126
43108 - 43109
43127 - 43128
43129 - 43130
43131 - 43132 43151
43133 - 43134
43152 - 43153
43154 - 43155
43156 - 43157 43176
43158 - 43159
43177 - 43178
17
18
Name
Index Velocity 7 Index Acceleration 7 Index Deceleration 7 Index Type 8 Index Distance 8 Index Velocity 8 Index Acceleration 8 Index Deceleration 8 Index Type 9 Index Distance 9 Index Velocity 9 Index Acceleration 9 Index Deceleration 9 Index Type 10 Index Distance 10 Index Velocity 10 Index Acceleration 10 Index Deceleration 10 Index Type 11 Index Distance 11 Index Velocity 11 Index Acceleration 11 Index Deceleration 11 Index Type 12 Index Distance 12 Index Velocity 12 Index Acceleration 12 Index Deceleration 12 Index Type 13 Index Distance 13 Index Velocity 13 Index Acceleration 13 Index Deceleration 13 Index Type 14 Index Distance 14 Index Velocity 14 Index Acceleration 14 Index Deceleration 14 ENM S32 US32 US32 US32 revs RPM ms/kRPM ms/kRPM US32 US32 US32 RPM ms/kRPM ms/kRPM S32 revs ENM US32 ms/kRPM Y Y Y Y Y Y Y Y Y Y Y 214748.3647 0~11000 1~32700 1~32700 0.0001 0.1 0.1 0.1 214748.3647 0~11000 1~32700 1~32700 0.0001 0.1 0.1 0.1 US32 ms/kRPM Y US32 RPM Y S32 revs Y 0~11000 1~32700 1~32700 ENM Y 214748.3647 0.0001 0.1 0.1 0.1 US32 ms/kRPM Y 1~32700 US32 ms/kRPM Y 1~32700 0.1 0.1 US32 RPM Y 0~11000 0.1 S32 revs Y 214748.3647 0.0001 ENM Y US32 ms/kRPM Y 1~32700 0.1 US32 ms/kRPM Y 1~32700 0.1 US32 RPM Y 0~11000 0.1 RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW S32 revs Y 214748.3647 0.0001 RW ENM Y RW US32 ms/kRPM Y 1~32700 0.1 RW Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei US32 ms/kRPM Y 1~32700 0.1 RW Ei US32 RPM Y 0~11000 0.1 RW Ei S32 revs Y 214748.3647 0.0001 RW Ei ENM Y RW Ei US32 ms/kRPM Y 1~32700 0.1 RW Ei FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 US32 ms/kRPM Y 1~32700 0.1 RW Ei FM2 US32 RPM Y 0~11000 0.1 RW Ei FM2 S32 revs Y 214748.3647 0.0001 RW Ei FM2 ENM Y RW Ei FM2 US32 ms/kRPM Y 1~32700 0.1 RW Ei FM2 US32 ms/kRPM Y 1~32700 0.1 RW Ei FM2 US32 RPM Y 0~11000 0.1 RW Ei FM2
Modbus
Type
Units
NVM
Range
43179 - 43180
43181 - 43182 43201
43183 - 43184
43202 - 43203
43204 - 43205
43206 - 43207 43226
43208 - 43209
43227 - 43228
43229 - 43230
43231 - 43232 43251
43233 - 43234
43252 - 43253
43254 - 43255
43256 - 43257 43276
43258 - 43259
43277 - 43278
43279 - 43280
43281 - 43282 43301
43283 - 43284
43302 - 43303
43304 - 43305
43306 - 43307 43326
43308 - 43309
43327 - 43328
43329 - 43330
43331 - 43332 43351
43333 - 43334
43352 - 43353
43354 - 43355
43356 - 43357
43358 - 43359
Modbus
43376 Index Distance 15 Index Velocity 15 Index Acceleration 15 Index Deceleration 15 User Defined Bitmap User Defined Registers Product Serial Number FM Serial Number STR N RO FM1 STR Y RO Eb Ei EN FM1 US16 Y RW Eb Ei EN FM1 FM2 FM2 FM2 US16 Y RW Eb Ei EN FM1 FM2 US32 ms/kRPM Y 1~32700 0.1 RW Ei FM2 MDS MDS MDS US32 ms/kRPM Y 1~32700 0.1 RW Ei FM2 US32 RPM Y 0~11000 0.1 RW Ei FM2 S32 revs Y 214748.3647 0.0001 RW Ei FM2 Index Type 15 ENM Y RW Ei FM2
Name
Type
Units
NVM
Range
43377 - 43378
43379 - 43380
43381 - 43382
43383 - 43384
49401 - 49402
49403 - 49418
49903 - 49910
49957 - 49962
19
20
Drive Parameters Reference Manual
Drive Parameters II
This section lists all programmable and feedback parameters available in Epsilon Ei, Ei-DN drives and FM-2 Function Modules (firmware revisions C1 or later). The tables provide the following information about each parameter:
Name
The parameters name.
Modbus Address
The parameters Modbus address.
Type
Bit = Bit ENM = ENMerator S16 = Signed 16 U16 = Unsigned 16 S32 = Signed 32 U32 = Unsigned 32 STR = String BM16 = Bitmap 16 BM32 = Bitmap 32
Units
The parameters units value.
NVM (Non-Volatile Memory)

Y = Parameter is written to the devices NVM. N = Parameter is NOT written to the devices NVM.
Range
The minimum and maximum values possible in the register.
Decimal Places
For parameters in C1 or greater firmware, the user is able to specify the resolution of many parameters. Therefore, this parameter is dependent on how the user configured the system. Most parameters could be between 0 and 4 decimal places.
Access
RW = Read/Write RO = Read Only
21
22
Name
30001 32103 32104 40652 - 40653 40654 - 40655 40651 40657 - 40658 40659 - 40660 40656 40003 40005 - 40016 41116 40004 32042 42600 43015 43040 43065 43090 43115 43140 43165 43190 43215 43240 43265 43290 43315 43340 43365 43390 1007 32038 32039 32040 42602 BIT S16 US16 S16 US16 Degrees Degrees % S16 S16 S16 S16 S16 S16 S16 Y Y Y Y Y Y Y N N N N Y 180 0~359 200 0 to 65535 1 1 0.1 S16 Y S16 Y S16 Y 0 to 15 0 to 15 0 to 15 0 to 15 0 to 15 0 to 15 0 to 15 0 to 15 0 to 15 0 to 15 S16 Y 0 to 15 S16 Y 0 to 15 S16 Y 0 to 15 S16 Y 0 to 15 S16 Y 0 to 15 S16 Y 0 to 15 US16 Y 0 to 65535 US16 Volts N 20~500 0.1 ENM Baud Y RW RO RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RO RO RO RO ENM Y RW STR Y RW US16 Y 1~99 1 RW Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei ENM Y RW Ei S32 Y 2147483647 1 RW Ei S32 Y 2147483647 1 RW Ei FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 ENM Y RW Ei FM2 S32 Y 2147483647 1 RW Ei FM2 S32 Y 2147483647 1 RW Ei FM2 S16 Volts N 10 0.01 RO Ei FM2 Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN S16 Volts N 10 0.01 RO Ei FM2 Ei-DN ENM N RO Ei FM2 Ei-DN
By Name
Modbus Type Units NVM Range Decimal Places Access Ei FM2 Ei-DN
Actual Operating Mode
Axis Address
Axis Name
Back Off Sensor Before Homing
Baud Rate
Bus Voltage
Chain Count
Chain Next 0
Chain Next 1
Chain Next 2
Chain Next 3
Chain Next 4
Chain Next 5
Chain Next 6
Chain Next 7
Chain Next 8
Chain Next 9
Chain Next 10
Chain Next 11
Chain Next 12
Chain Next 13
Chain Next 14
Chain Next 15
Clear Fault
Commutation Angle Correction
Commutation Track Angle
Commutation Voltage
Current Chain Count
Name
42003 34003 34004 44002 34206 40722 34205 40720 34002 40721 34011 - 34014 34007 - 34010 44003 44001 34006 44005 34005 44004 34208 34207 34203 - 34204 14003 14004 14001 14002 34201-34202 34001 42045 40716 40702 42061 42062 40701 41108 - 41109 31038 31039 - 31040 31037 31034 US16 S32 US16 US32 ENM US16 counts ENM counts User Unit counts minutes US16 US16 counts lines/rev US16 counts US16 Degree C US16 US32 Counter N N Y Y Y Y Y Y Y Y Y Y Y -231 to 231-1 0 to 4 1~8192 1 20~50 1 BIT N 0 to 231-1 BIT N BIT N BIT N US32 Counts N ENM N 0 to 31 ENM N 0 to 31 ENM Y 0 to 4 US16 N ENM Y 0 to 3 US16 N US16 Y 0 to 63 RW RO RW RO RW RO RO RO RO RO RO RO RO RO RW RO RO RW RW RO RW RO RO RO RO Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 ENM Y RW US16 N RO US16 N RO US16 Counts Y RO US16 N RO US16 Counts Y RO ENM N RO US16 Counts Y RO US16 Counts N 0 to 255 RO Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN ENM Baud Y 0 to 2 RW Ei-DN US16 N 0 to 63 RO Ei-DN BM16 N RO Ei-DN ENM Y RO Ei FM2 Ei-DN
Modbus
Type
Units
NVM
Range
Decimal Places Access Ei FM2 Ei-DN
Custom Motor Flag
DN Allocation Choice
DN Allocation Master Mac ID
DN Baud Rate
DN Bus Off Counter
DN Bus Off Fault Count
DN Bus Off Interupt
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
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 Overtemp Fault Count
Encoder H/W Fault Count
Encoder Output Scaling
Encoder Output Scaling Enable
Encoder State Fault Count
End of Home Position
Fault 1 Type
Drive Parameters II By Name
23
24
Name
31035 - 31036 31033 31030 31031 - 31032 31029 31026 31027 - 31028 31025 31022 31023 - 31024 31021 31018 31019 - 31020 31017 31014 31015 - 31016 31013 31010 31011 - 31012 31009 31006 31007 - 31008 31005 31002 31003 - 31004 31001 30401 - 30402 42026 39988 - 39989 39952 - 39957 39990 - 39991 49957 - 49962 32033 32028 - 32029 42031 40713 42032 - 42033 42023 S32 ENM US16 S32 US16 counts User Unit % cont US16 STR % cont User Unit STR STR STR ENM BM32 N Y N N N N N N Y Y Y Y -231 to 231-1 0~100 0 to 4 0.01 0~300 -231 to 231-1 0.1 0 to 4 ENM Y US32 minutes Y US16 counts Y ENM Y US32 minutes Y US16 counts Y ENM Y US32 minutes Y US16 counts Y ENM Y US32 minutes Y US16 counts Y RO RO RO RO RO RO RO RO RO RO RO RO RO RW RO RO RO RO RO RO RW RO RW RW Ei Ei Ei Ei Ei Ei Ei ENM Y RO US32 minutes Y RO US16 counts Y RO Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN ENM Y RO Ei US32 minutes Y RO Ei US16 counts Y RO Ei FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 ENM Y RO Ei FM2 US32 minutes Y RO Ei FM2 US16 counts Y RO Ei FM2 ENM Y RO Ei FM2 Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN US32 minutes Y RO Ei FM2 Ei-DN US16 counts Y RO Ei FM2 Ei-DN ENM Y RO Ei FM2 Ei-DN US32 minutes Y RO Ei FM2 Ei-DN
Modbus
Type
Units
NVM
Range
Fault 2 Type
Fault 3 Type
Fault 4 Type
Fault 5 Type
Fault 6 Type
Fault 7 Type
Fault 8 Type
Fault 9 Type
Fault 10 Type
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 Fault Count
Following Error Limit
Friction
Name
32041 40705 42025 41104 - 41105 41106 - 41107 41113 - 41114 41115 41110 - 41111 0 to 4 RW RW -2 0~100 0 to 231-1 0 to 4 0 to 4 0 to 4 0 to 4 0 to 4 0 to 4 0 to Y Y Y Y ms/k User Unit or User Unit/s2 US32 US32 US32 ms/k User Unit or User Unit/s2 ms/k User Unit or User Unit/s2 43331 - 43332 Y Y Y 231-1 Y 0 to 231-1 0 to 231-1 0 to 231-1 0 to 231-1 0 to 231-1 0 to 231-1 0 to 231-1 0 to 4 0 to 4 0 to 4 0 to 4 0 to 4 0 to 4 0 to 4 0 to 4 0 to 231-1 0 to 2 -1 0 to 231-1 0 to 231-1 0 to 231-1
31 31
Modbus
US16 US16 ENM US32 US32 US32 ENM S32 RW Ei Ei Ei Ei RW RW RW RW RW RW RW RW RW RW RW RW RW RW Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei ENM ENM S32 US16 US32 Y Y Y Y Y Y US32 US32 US32 US32 US32 US32 US32 US32 US32 US32 ms/k User Unit or User Unit/s2 ms/k User Unit or User Unit/s2 ms/k User Unit or User Unit/s2 ms/k User Unit or User Unit/s2 ms/k User Unit or User Unit/s2 ms/k User Unit or User Unit/s2 ms/k User Unit or User Unit/s2 ms/k User Unit or User Unit/s2 ms/k User Unit or User Unit/s2 ms/k User Unit or User Unit/s2 ms/k User Unit or User Unit/s2 RPM Y 1 RW User Unit/m or User Unit/s Y to 231-1 0 to 4 RW Y Y User Unit Y -231 to 231-1 Y RW Ei User Unit Y 0 to 231-1 0 to 4 RW Ei FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 ms/k User Unit or User Unit/s2 Y 0 to 231-1 0 to 4 RW Ei FM2 ms/k User Unit or User Unit/s2 Y 0 to 231-1 0 to 4 RW Ei FM2 Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Y RW Ei FM2 Ei-DN counts Y RO Ei FM2 Ei-DN % N 0~200 0.1 RO Ei FM2 Ei-DN
Type
Units
NVM
Range
Heatsink RMS
High DC Bus Fault Count
High Performance Gains Enable
Home Acceleration
Home Deceleration
Home Limit Distance
Home Limit Distance Enable 41112 41101 41102 - 41103 42035 43006 - 43007 43031 - 43032 43056 - 43057 43081 - 43082 43106 - 43107 43131 - 43132 43156 - 43157 43181 - 43182 43206 - 43207 43231 - 43232 43256 - 43257 43281 - 43282 43306 - 43307
Home Offset
Home Offset Enable
Home Reference
Home Velocity
In Motion Velocity
25
26
Name
43356 - 43357 43381 - 43382 43014 43039 43064 43089 43114 43139 43164 43189 43214 43239 43264 43289 43314 43339 43364 43389 43013 43038 43063 43088 43113 43138 43163 43188 43213 43238 43263 43288 43313 43338 43363 43388 43008 - 43009 US16 US16 US16 US32 US16 US16 count count count count count ms/k User Unit or User Unit/s2 US16 count US16 count US16 count US16 count US16 count Y Y Y Y Y Y Y Y Y Y Y US16 count Y US16 count Y US16 count Y 0 to 65535 0 to 65535 0 to 65535 0 to 65535 0 to 65535 0 to 65535 0 to 65535 0 to 65535 0 to 65535 0 to 65535 0 to 65535 0 to 65535 0 to 65535 0 to 231-1 0 to 4 US16 count Y 0 to 65535 US16 count Y 0 to 65535 US16 count Y 0 to 65535 ENM Y ENM Y ENM Y ENM Y ENM Y RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW ENM Y RW ENM Y RW ENM Y RW Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei ENM Y RW Ei ENM Y RW Ei ENM Y RW Ei ENM Y RW Ei FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 ENM Y RW Ei FM2 ENM Y RW Ei FM2 ENM Y RW Ei FM2 Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN ENM Y RW Ei FM2 Ei-DN US32 ms/k User Unit or User Unit/s2 Y 0 to 231-1 0 to 4 RW Ei FM2 Ei-DN US32 ms/k User Unit or User Unit/s2 Y 0 to 231-1 0 to 4 RW Ei FM2 Ei-DN
Modbus
Type
Units
NVM
Range
Index Control 0
Index Control 1
Index Control 2
Index Control 3
Index Control 4
Index Control 5
Index Control 6
Index Control 7
Index Control 8
Index Control 9
Index Control 10
Index Control 11
Index Control 12
Index Control 13
Index Control 14
Index Control 15
Index Count 0
Index Count 1
Index Count 2
Index Count 3
Index Count 4
Index Count 5
Index Count 6
Index Count 7
Index Count 8
Index Count 9
Index Count 10
Index Count 11
Index Count 12
Index Count 13
Index Count 14
Index Count 15
Name
43033 - 43034 43058 - 43059 43083 - 43084 Y Y Y Y Y Y ms/k User Unit or User Unit/s2 Y Y Y Y Y Y Y Y Y Y Y Y Y Y User Unit User Unit S32 S32 S32 S32 User Unit User Unit User Unit User Unit Y Y Y Y Y Y 0 to 0 to 231-1 231-1 -231 to 231-1 -231 to 231-1 -231 to 231-1 -231 to 231-1 -231 to 231-1 -231 to 231-1 -231 to 231-1 User Unit -231 to 231-1 -231 to 231-1 S32 -231 to 231-1 -231 to 231-1 -231 to 231-1 -231 to 231-1 43302 - 43303 0 to 231-1 0 to 231-1 0 to 2 -1
31
Modbus
US32 US32 US32 0 to 4 0 to 4 0 to 4 0 to 4 0 to 4 0 to 4 0 to 4 0 to 4 0 to 4 0 to 4 0 to 4 0 to 4 0 to 4 0 to 4 0 to 4 0 to 4 0 to 4 0 to 4 0 to 4 0 to 4 0 to 4 0 to 4 0 to 4 0 to 4 0 to 4 0 to 4 RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei RW Ei RW Ei FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 RW Ei FM2 RW Ei FM2 US32 US32 US32 US32 US32 US32 US32 US32 US32 US32 US32 US32 S32 S32 S32 S32 S32 S32 S32 S32 User Unit User Unit User Unit User Unit User Unit User Unit ms/k User Unit or User Unit/s2 ms/k User Unit or User Unit/s2 ms/k User Unit or User Unit/s2 ms/k User Unit or User Unit/s2 ms/k User Unit or User Unit/s2 ms/k User Unit or User Unit/s2 0 to 231-1 0 to 231-1 0 to 231-1 ms/k User Unit or User Unit/s2 0 to 231-1 ms/k User Unit or User Unit/s2 0 to 231-1 ms/k User Unit or User Unit/s2 0 to 231-1 ms/k User Unit or User Unit/s2 0 to 231-1 ms/k User Unit or User Unit/s2 0 to 231-1 Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN ms/k User Unit or User Unit/s2 Y 0 to 231-1 0 to 4 RW Ei FM2 Ei-DN ms/k User Unit or User Unit/s2 Y 0 to 231-1 0 to 4 RW Ei FM2 Ei-DN
Type
Units
NVM
Range
Index Deceleration 3 43108 - 43109 43133 - 43134 43158 - 43159 43183 - 43184 43208 - 43209 43233 - 43234 43258 - 43259 43283 - 43284 43308 - 43309 43333 - 43334 43358 - 43359 43383 - 43384 43002 - 43003 43027 - 43028 43052 - 43053 43077 - 43078 43102 - 43103 43127 - 43128 43152 - 43153 43177 - 43178 43202 - 43203 43227 - 43228 43252 - 43253 43277 - 43278
Index Distance 0
Index Distance 1
Index Distance 2
Index Distance 3
Index Distance 4
Index Distance 5
Index Distance 6
Index Distance 7
Index Distance 8
Index Distance 9
Index Distance 10
Index Distance 11
Index Distance 12
27
28
Name
43327 - 43328 43352 - 43353 43377 - 43378 43012 43037 43062 43087 43112 43137 43162 43187 43212 43237 43262 43287 43312 43337 43362 43387 43001 43026 43051 43076 43101 43126 43151 43176 43201 43226 43251 43276 43301 43326 43351 43376 43004 - 43005 43029 - 43030 ENM ENM US32 US32 User Unit/m or User Uint/s User Unit/m or User Uint/s ENM ENM ENM ENM ENM ENM ENM Y Y Y Y Y Y Y Y Y Y Y ENM Y ENM Y ENM Y 0 to 4 0 to 4 0 to 4 0 to 4 0 to 4 0 to 4 0 to 4 0 to 4 0 to 4 0 to 4 0 to 4 0 to 4 0 to 231-1 0 to 231-1 ENM Y 0 to 4 ENM Y 0 to 4 ENM Y 0 to 4 ENM Y 0 to 4 US16 ms Y 0 to 65535 0 to 4 0 to 4 0 to 4 0 to 4 0 to 4 0 to 4 0 to 4 0 to 4 0 to 4 0 to 4 0 to 4 0 to 4 0 to 4 0 to 4 0 to 4 0 to 4 0 to 4 0 to 4 US16 ms Y 0 to 65535 US16 ms Y 0 to 65535 US16 ms Y 0 to 65535 US16 ms Y 0 to 65535 RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW US16 ms Y 0 to 65535 RW US16 ms Y 0 to 65535 RW US16 ms Y 0 to 65535 RW Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei US16 ms Y 0 to 65535 RW Ei US16 ms Y 0 to 65535 RW Ei US16 ms Y 0 to 65535 RW Ei FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 US16 ms Y 0 to 65535 RW Ei FM2 US16 ms Y 0 to 65535 RW Ei FM2 US16 ms Y 0 to 65535 RW Ei FM2 US16 ms Y 0 to 65535 RW Ei FM2 Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN US16 ms Y 0 to 65535 RW Ei FM2 Ei-DN S32 User Unit Y -231 to 231-1 0 to 4 RW Ei FM2 Ei-DN S32 User Unit Y -231 to 231-1 0 to 4 RW Ei FM2 Ei-DN S32 User Unit Y -231 to 0 to 4 RW Ei FM2 Ei-DN 231-1
Modbus
Type
Units
NVM
Range
Index Distance 13
Index Distance 14
Index Distance 15
Index Dwell 0
Index Dwell 1
Index Dwell 2
Index Dwell 3
Index Dwell 4
Index Dwell 5
Index Dwell 6
Index Dwell 7
Index Dwell 8
Index Dwell 9
Index Dwell 10
Index Dwell 11
Index Dwell 12
Index Dwell 13
Index Dwell 14
Index Dwell 15
Index Type 0
Index Type 1
Index Type 2
Index Type 3
Index Type 4
Index Type 5
Index Type 6
Index Type 7
Index Type 8
Index Type 9
Index Type 10
Index Type 11
Index Type 12
Index Type 13
Index Type 14
Index Type 15
Index Velocity 0
Index Velocity 1
Name
43054 - 43055 43079 - 43080 43104 - 43105 0 to 4 0 to 4 0 to 4 0 to 4 0 to 4 0 to 4 0 to 4 0 to 4 0 to 4 0 to 4 0 to 4 0 to 4 0~50 0.1 RW RW RW RW RW RW RW RW N Y N N N N Y N BIT BIT BIT BIT N N N N 0~2000 0.1 RW RW RO RO RO RO RW RO RW RW RO RO RW RW Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei RW Ei RW Ei FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 RW Ei FM2 RW Ei FM2 43129 - 43130 43154 - 43155 43179 - 43180 43204 - 43205 43229 - 43230 43254 - 43255 43279 - 43280 43304 - 43305 43329 - 43330 43354 - 43355 43379 - 43380 42021 42601 129 - 160 40201 - 40232 10065 - 10096 40301 - 40302 40401 - 40402 30105 - 30106 40111 - 40123 10033 - 10048 2 - 15 18 - 31 10017 - 10031 10001 - 10015 US16 BIT BM32 BM32 BM32 BIT ENM BIT ENM Y US16 Y US32 User Unit/m or User Uint/s Y US32 User Unit/m or User Uint/s Y 0 to 231-1 0 to 231-1 US32 User Unit/m or User Uint/s Y 0 to 2 -1
31
Modbus
US32 US32 US32 US32 US32 US32 US32 US32 US32 US32 US32 User Unit/m or User Uint/s Y 0 to 231-1 User Unit or User Unit/s Y 0 to 231-1 User Unit/m or User Uint/s Y 0 to 231-1 User Unit/m or User Uint/s Y 0 to 231-1 User Unit/m or User Uint/s Y 0 to 231-1 User Unit/m or User Uint/s Y 0 to 231-1 User Unit/m or User Uint/s Y 0 to 231-1 User Unit/m or User Uint/s Y 0 to 231-1 User Unit/m or User Uint/s Y 0 to 231-1 Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN User Unit/m or User Uint/s Y 0 to 231-1 0 to 4 RW Ei FM2 Ei-DN User Unit/m or User Uint/s Y 0 to 231-1 0 to 4 RW Ei FM2 Ei-DN
Type
Units
NVM
Range
Index Velocity 2
Index Velocity 3
Index Velocity 4
Index Velocity 5
Index Velocity 6
Index Velocity 7
Index Velocity 8
Index Velocity 9
Index Velocity 10
Index Velocity 11
Index Velocity 12
Index Velocity 13
Index Velocity 14
Index Velocity 15
Inertia Ratio
Infinite Chaining
Input Function Active Off Array
Input Function Mapping 32
Input Function Status Array
Input Functions Active Off Bit Map
Input Functions Always Active Bit Map
Input Functions 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
29
30
Name
30103 40101 40102 30102 30101 41155 - 41156 41157 - 41158 41153 - 41154 0 to 4 0 to 4 RW RW RW RO 1-1000 1 RW RW RW RW RW RW RW RW RW RW RO Y Y Y Y Degrees mH vrms/kRPM US16 US16 US16 RPM counts Arms Y Y Y Y Y Y Y 1~100 0.01 0~359 1~100 0.00001~0.5 5~500 0~11000 1 0.1 0.00001 0.1 1 0~359 1 0.1~100 0.01 RO RO RO RO RO RO RO RO RO RO RO Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei RW Ei RW Ei 41151 - 41152 42002 42047 42046 40704 42048 41306 41311 41316 41321 41326 41331 41336 41341 1101 - 1108 32063 42116 42108 42109 42111 42110 42115 42112 42113 42118 40715 42117 US16 US16 US16 US16 ENM US16 Degrees ENM Lines US16 Arms ENM N BIT N ENM Y ENM Y ENM Y ENM Y ENM Y ENM Y ENM Y ENM Y US16 Hz Y US16 counts Y ENM Y ENM Y ENM Y US32 User Unit/m or User Unit/s Y 0 to 231-1 US32 User Unit/m or User Unit/s Y 0 to 231-1 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 US32 ms/k User Unit or User Unit/s2 Y 0 to 231-1 0 to 4 RW Ei FM2 US32 ms/k User Unit or User Unit/s2 Y 0 to 231-1 0 to 4 RW Ei FM2 BM16 N RO Ei FM2 Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN BM16 N RO Ei FM2 Ei-DN US16 N RW Ei FM2 Ei-DN US16 N RW Ei FM2 Ei-DN BM16 N RO Ei FM2 Ei-DN
Modbus
Type
Units
NVM
Range
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 Pass Filter Enable (COMPFE)
Low DC Bus Enable
Low DC Bus Fault Count
Low Pass Filter Frequency (COMPF)
Motion Command 0
Motion Command 1
Motion Command 2
Motion Command 3
Motion Command 4
Motion Command 5
Motion Command 6
Motion Command 7
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 Overtemp Fault Count
Motor Peak Current Rating
Name
42107 42114 40002 40712 40001 39985 40451 - 40482 10097 - 10128 30107 - 30108 65 - 80 33 - 48 49 - 64 10049 - 10064 40105 40103 40104 30104 40709 42036 32036 - 32037 42028 42029 32026 - 32027 40081 - 40082 42044 40703 40020 40711 40023 - 40024 40021 - 40022 39982 39984 49903 - 49910 39983 1003 43010 - 43011 43035 - 43036 43060 - 43061 STR US16 BIT S32 S32 S32 User Unit User Unit User Unit US16 US16 US32 hours US32 minutes US16 counts US16 counts US16 counts Y Y Y N Y N N Y N N Y Y Y -231 to 231-1 -231 to 231-1 -231 to 231-1 0 to 4 0 to 4 0 to 4 0~429496729.5 0.1 ENM Y S32 counts N S32 User Unit N US16 ms Y 5~500 -231 to 231-1 ENM Y 1 0 to 4 S32 User Unit N -231 to 231-1 US16 RPM Y 0~13000 US16 counts Y 1 0 to 4 BM16 N US16 N US16 N BM16 Y RW RW RW RO RO RW RO RW RW RO RW RW RO RO RO RO RO RO RO RO RO RW RW RW RW BIT N RO BIT N RW BIT N RW Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei BIT N RW Ei BM32 N RO Ei BIT N RO Ei FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 US16 Y RW Ei FM2 US16 N RO Ei FM2 ENM Y RW Ei FM2 Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN US16 counts Y RO Ei FM2 Ei-DN ENM Y RW Ei FM2 Ei-DN US16 Ohms Y 0.1~50 0.01 RO Ei FM2 Ei-DN ENM Y RO Ei FM2 Ei-DN
Modbus
Type
Units
NVM
Range
Motor Poles
Motor Resistance
Motor Type
NVM Invalid Fault Count
Operating Mode Default
Option 1 ID (Function Module)
Output Function Mapping 32
Output Function Status Array
Output Function Status Bit Map
Output Line Active Off Array
Output Line Force On/Off Command Array
Output Line Force On/Off Enable Array
Output Line Status Array
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
Overspeed Fault Count
Overspeed Velocity Limit
Position Command
Position Error Integral Enable
Position Error Integral Time Constant
Position Feedback
Position Feedback Encoder
Positive Direction
Power Stage Fault Count
Power Up Count
Power Up Self Test Fault Count
Power Up Time
Power Up Time Total
Product Group
Product ID
Product Serial Number
Product Sub-Group
Read NVM to RAM
Registration Offset 0
31
32
Name
43085 - 43086 43110 - 43111 43135 - 43136 43160 - 43161 43185 - 43186 43210 - 43211 43235 - 43236 43260 - 43261 43285 - 43286 43310 - 43311 43335 - 43336 43360 - 43361 43385 - 43386 147 275 40219 10083 148 276 40220 10084 42024 41028 41026 - 41027 30002 40471 40469 40470 32032 40714 10117 10115 10116 1151 41201 - 41202 32034 32035 BIT US32 S16 S16 ms/k User Unit or User Unit/s2 % cont % cont BIT BIT BIT US16 counts US16 % ENM ENM Y Y N Y N N N N Y N N 0 to 2 -1 300 300
31
Modbus
S32 S32 S32 S32 S32 S32 S32 S32 S32 S32 S32 S32 S32 BIT BIT ENM BIT BIT BIT ENM BIT US16 ENM US32 US16 ENM Y N Y 0 to 231 Y 0 to 4 Hertz Y 1~500 N 1 Y Y Y N Y Y RW RW RO RW RW RW RO RW RW RW RO RW RW RW 0~120 0.1 RO RO RO RO RO RW 0 to 4 0.1 0.1 RW RO RO Ei Ei Ei Ei Ei Ei Ei Y RW User Unit Y -231 to 231-1 0 to 4 RW User Unit Y -231 to 231-1 0 to 4 RW Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei User Unit Y -231 to 231-1 0 to 4 RW Ei User Unit Y -231 to 231-1 0 to 4 RW Ei User Unit Y -231 to 231-1 0 to 4 RW Ei FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN User Unit Y -231 to 231-1 0 to 4 RW Ei FM2 User Unit Y -231 to 231-1 0 to 4 RW Ei FM2 User Unit Y -231 to 231-1 0 to 4 RW Ei FM2 User Unit Y -231 to 231-1 0 to 4 RW Ei FM2 Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN User Unit Y -231 to 231-1 0 to 4 RW Ei FM2 Ei-DN User Unit Y -231 to 231-1 0 to 4 RW Ei FM2 Ei-DN User Unit Y -231 to 231-1 0 to 4 RW Ei FM2 Ei-DN User Unit Y -231 to 0 to 4 RW Ei FM2 Ei-DN 231-1
Type
Units
NVM
Range
Registration Sensor 1 Active Off
Registration Sensor 1 Always Active
Registration Sensor 1 Mapping
Registration Sensor 1 Status
Registration Sensor 2 Active Off
Registration Sensor 2 Always Active
Registration Sensor 2 Mapping
Response
Rollover Enable
Rollover Position
Segment Display Character
Setup of End of Chaining Count
Setup of End of Index Count
Setup of Registration Limit Dist Hit
Shunt Power RMS
Shunt Power RMS Fault Count
Status of End of Chaining Count
Status of End Of Index Count
Status of Registration Limit Dist Hit
Stop All Motion
Stop Deceleration
Torque Command
Torque Command Actual
Name
42049 42050 42034 40708 40707 41203 - 41204 1004 41024 49401 - 49402 9951 - 9982 42101 - 42106 49403 - 49418 41025 41022 41021 41029 - 41031 41023 32061 - 32062 32021 - 32022 149 277 40221 10085 1001 1002 BIT BIT N N BIT N ENM Y BIT Y BIT Y S32 User Unit/m or User Unit/s N -231 to 231-1 S32 User Unit N -231 to 231-1 US16 Y 0 to 4 0 to 4 0 to 4 US32 Y US16 User Unit Y 0 to 65535 0 to 4 US16 Y 0 to 4 RW RW RW RW RO RO RW RW RW RO RW RW US16 Y 0 to 4 RW US16 Y RW STR Y RO Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei BIT Y RW Ei US16 Y RW Ei US16 Y 0 to 4 RW Ei BIT N RW Ei FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 US32 ms/k User Unit or User Unit/s2 Y 0 to 231-1 0 to 4 RW Ei FM2 US16 counts Y RO Ei FM2 Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN US16 counts Y RO Ei FM2 Ei-DN US16 % cont Y 0~300 1 RW Ei FM2 Ei-DN US16 %cont Y 0-300 1 RW Ei FM2 Ei-DN US16 %cont Y 0-300 1 RW Ei FM2 Ei-DN
Modbus
Type
Units
NVM
Range
Torque Limit
Travel Limit - Fault Count
Travel Limit + Fault Count
Travel Limit Deceleration
Update Predefined Setup
User Accel Decimal Point
User Defined Bitmap
User Defined Bits
User Defined Motor Name
User Defined Registers
User Time Base
User Unit Decimal Point
User Unit Rev
User Unit STR
User Velocity Decimal Point
Velocity Command
Velocity Feedback
Wait for Run Index Active Off
Wait for Run Index Always Active
Wait for Run Index Mapping
Wait for Run Index Status
Warmstart Execute
Write RAM to NVM
33
34
Name
Input Line Force On/Off Command Array Input Line Force On/Off Enable Array Output Line Force On/Off Command Array Output Line Force On/Off Enable Array Output Line Active Off Array Input Function Active Off Array Registration Sensor 1 Active Off Registration Sensor 2 Active Off Wait for Run Index Active Off Registration Sensor 1 Always Active Registration Sensor 2 Always Active Wait for Run Index Always Active Warmstart Execute Write RAM to NVM Read NVM to RAM Update Predefined Setup Clear Fault Motion Command Execute Array Stop All Motion User Defined Bits Input Line Status Array Input Line Raw Status Array Input Line Debounced Status Array Output Line Status Array Input Function Status Array Registration Sensor 1 Status Registration Sensor 2 Status Wait for Run Index Status Output Function Status Array Status of End Of Index Count Status of Registration Limit Dist Hit Status of End of Chaining Count DN Status Minor Recoverable Fault DN Statua Minor Unrecoverable Fault DN Status Major Recoverable Fault DN Status Major Unrecoverable Fault BIT BIT BIT BIT BIT BIT BIT BIT BIT BIT BIT BIT N N N N N N N N N N N N BIT N BIT N BIT N BIT N BIT Y BIT N BIT N BIT N BIT N BIT N BIT N BIT N RW RW RW RW RW RW RW RW RO RO RO RO RO RO RO RO RO RO RO RO RO RO RO RO BIT Y RW BIT Y RW BIT Y RW Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei BIT Y RW Ei BIT Y RW Ei BIT Y RW Ei FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 BIT N RW Ei FM2 BIT N RW Ei FM2 BIT N RW Ei FM2 BIT N RW Ei FM2 Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN BIT N RW Ei FM2 Ei-DN BIT N RW Ei FM2 Ei-DN
By Modbus Address
Type Units NVM Range Decimal Places Access Ei FM2 Ei-DN
Modbus
2 - 15
18 - 31
33 - 48
49 - 64
65 - 80 147 148 149 275 276 277
129 - 160
1001
1002
1003
1004
1007
1101 - 1108
1151
9951 - 9982
10001 - 10015
10017 - 10031
10033 - 10048
10049 - 10064
10065 - 10096
10083
10084
10085
10097 - 10128
10115
10116
10117
14001
14002
14003
14004
Modbus
Actual Operating Mode Segment Display Character Input Lines Status Bit Map Input Lines Raw Status Bit Map Input Lines Debounced Status Bit Map Output Lines Status Bit Map Input Functions Bit Map Output Function Status Bit Map Fault Status Bit Map Fault 10 Type Fault 10 Power Up Count Fault 10 Power Up Time Fault 9 Type Fault 9 Power Up Count Fault 9 Power Up Time Fault 8 Type Fault 8 Power Up Count Fault 8 Power Up Time Fault 7 Type Fault 7 Power Up Count Fault 7 Power Up Time Fault 6 Type Fault 6 Power Up Count Fault 6 Power Up Time Fault 5 Type Fault 5 Power Up Count Fault 5 Power Up Time Fault 4 Type Fault 4 Power Up Count Fault 4 Power Up Time Fault 3 Type Fault 3 Power Up Count Fault 3 Power Up Time Fault 2 Type Fault 2 Power Up Count Fault 2 Power Up Time Fault 1 Type Fault 1 Power Up Count US32 ENM US16 US32 ENM US16 counts counts minutes US16 ENM counts minutes US32 minutes US16 counts ENM US32 minutes US16 counts Y Y Y Y Y Y Y Y Y Y Y Y Y ENM Y US32 minutes Y US16 counts Y ENM Y US32 minutes Y US16 counts Y ENM Y US32 minutes Y US16 counts Y ENM Y US32 minutes Y US16 counts Y RO RO RO RO RO RO RO RO RO RO RO RO RO RO RO RO RO RO RO RO RO RO RO RO RO ENM Y RO US32 minutes Y RO US16 counts Y RO Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei ENM Y RO Ei BM32 N RO Ei BM32 N RO Ei FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 BM32 N RO Ei FM2 BM16 N RO Ei FM2 BM16 N RO Ei FM2 Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN BM16 N RO Ei FM2 Ei-DN BM16 N RO Ei FM2 Ei-DN US16 N RO Ei FM2 Ei-DN ENM N RO Ei FM2 Ei-DN
Name
Type
Units
NVM
Range
30001
30002
30101
30102
30103
30104
30105 - 30106
30107 - 30108
30401 - 30402
31001
31002
31003 - 31004
31005
31006
31007 - 31008
31009
31010
31011 - 31012
31013
31014
31015 - 31016
31017
31018
31019 - 31020
31021
31022
31023 - 31024
31025
31026
31027 - 31028
31029
31030
31031 - 31032
31033
31034
31035 - 31036
31037
Drive Parameters II By Modbus Address
31038
35
36
Name
Fault 1 Power Up Time Velocity Feedback 0 to 4 0 to 4 0 to 4 0.1 0.1 0.1 0.1 0 to 4 1 1 0.1 0.1 0.1 0 to 4 0.01 0.01 RO RO 10 10 RO RO RO RO RO 0 to 63 RO RO RO RO RO N N N Counts N N N N N US16 US16 US16 N N N 0 to 255 0 to 31 0 to 31 0 to 231-1 RO RO RO RO RO RO RO RO RO RO RO Ei Ei Ei Ei FM2 FM2 FM2 FM2 FM2 Ei-DN Ei-DN Ei-DN Ei-DN RO RO RO Ei Ei Ei Ei Ei Ei Ei RO Ei RO Ei RO Ei RO Ei FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 RO Ei FM2 RO Ei FM2 RO Ei FM2 Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN RO Ei FM2 Ei-DN RO Ei FM2 Ei-DN RO Ei FM2 Ei-DN Position Feedback Following Error Shunt Power RMS Foldback RMS Torque Command Torque Command Actual Position Command Commutation Angle Correction Commutation Track Angle Commutation Voltage Heatsink RMS Bus Voltage Velocity Command Motion State Analog Output - Channel 1 Analog Output - Channel 2 DN Vendor ID DN Device Type DN Allocation Choice DN Allocation Master Mac ID DN Master Send Bitmap DN Master Receive Bitmap DN FAB Master Send Block DN FAB Master Receive Block DN Transmit Counter DN Receive Counter DN Bus Off Interupt DN Bus Off Counter DN Network Status DN Module Status FM Firmware Part Number Product Group Product Sub-Group Product ID Option 1 ID (Function Module) STR US16 ENM ENM US16 ENM US32 Counts US32 Counter US16 N US16 N US16 N US16 N US16 N BM16 N US16 N US16 N S16 Volts N S16 Volts N ENM N S32 User Unit N -231 to 231-1 US16 Volts N 20~500 US16 % N 0~200 S16 % N 200 US16 Degrees N 0~359 S16 Degrees N 180 S32 User Unit N -231 to 231-1 S16 % cont N 300 S16 % cont N 300 US16 % cont N 0~300 US16 % N 0~120 S32 User Unit N -231 to 231-1 S32 User Unit N -231 to 231-1 S32 User Unit/m or User Unit/s N -231 to 231-1 US32 minutes Y RO Ei FM2 Ei-DN
Modbus
Type
Units
NVM
Range
31039 - 31040
32021 - 32022
32026 - 32027
32028 - 32029
32032
32033
32034
32035
32036 - 32037
32038
32039
32040
32041
32042
32061 - 32062
32063
32103
32104
34001
34002
34003
34004
34005
34006
34007 - 34010
34011 - 34014
34201-34202
34203 - 34204
34205
34206
34207
34208
39952 - 39957
39982
39983
39984
39985
Modbus
Firmware Revision FM Firmware Revision Option Operating Mode Default Motor Type Axis Address Baud Rate Axis Name Power Up Count Power Up Time Total Power Up Time Position Feedback Encoder Input Lines Force On/Off Command Bit Map Input Lines Force On/Off Enable Bit Map Output Lines Force On/Off Command Bit Map Output Lines Force On/Off Enable Bit Map Output Lines Active Off Bit Map Input Line Debounce Time Input Function Mapping 32 Registration Sensor 1 Mapping Registration Sensor 2 Mapping Wait for Run Index Mapping Input Functions Active Off Bit Map Input Functions Always Active Bit Map Output Function Mapping 32 Setup of End of Index Count Setup of Registration Limit Dist Hit Setup of End of Chaining Count Analog Output 1 Select Analog Output 1 Offset Analog Output 1 Scale Analog Output 2 Select Analog Output 2 Offset Analog Output 2 Scale Encoder State Fault Count Encoder H/W Fault Count Power Stage Fault Count Low DC Bus Fault Count High DC Bus Fault Count S32 US16 US16 US16 US16 US16 counts counts counts counts counts S32 ENM S32 S32 ENM ENM ENM Y Y Y Y Y Y Y Y Y Y Y Y Y 2147483647 2147483647 1 1 2147483647 2147483647 1 1 ENM Y US16 Y BM32 N BM32 N ENM Y ENM Y ENM Y ENM Y US16 Y 0~2000 0.1 BM16 Y US16 N US16 N RW RW RW RW RW RW RW RW RO RO RW RW RW RW RW RW RW RW RW RW RO RO RO RO RO US16 N RW US16 N RW S32 counts N RW Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei US32 minutes N RO Ei US32 hours Y 0~429496729.5 0.1 RO Ei US16 counts Y RO Ei FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 STR Y RW Ei FM2 ENM Baud Y RW Ei FM2 US16 Y 1~99 1 RW Ei FM2 Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN ENM Y RW Ei FM2 Ei-DN ENM Y RW Ei FM2 Ei-DN STR N RO Ei FM2 Ei-DN STR N RO Ei Ei-DN
Name
Type
Units
NVM
Range
39988 - 39989
39990 - 39991
40001
40002
40003
40004
40005 - 40016
40020
40021 - 40022
40023 - 40024
40081 - 40082
40101
40102
40103
40104
40105
40111 - 40123
40201 - 40232
40219
40220
40221
40301 - 40302
40401 - 40402
40451 - 40482
40469
40470
40471
40651
40652 - 40653
40654 - 40655
40656
40657 - 40658
40659 - 40660
40701
40702
40703
40704
40705
37
38
Name
Travel Limit + Fault Count Travel Limit - Fault Count Overspeed Fault Count Power Up Self Test Fault Count NVM Invalid Fault Count Following Error Fault Count Shunt Power RMS Fault Count Motor Overtemp Fault Count Drive Overtemp Fault Count DN Comm Timeout Fault Count DN Duplicate MacID Fault Count DN Bus Off Fault Count User Unit Rev User Unit Decimal Point User Velocity Decimal Point User Accel Decimal Point User Time Base Rollover Position Rollover Enable User Unit STR Home Reference Home Velocity Home Acceleration Home Deceleration End of Home Position Home Offset Home Offset Enable Home Limit Distance Home Limit Distance Enable Back Off Sensor Before Homing Jog Velocity Jog Fast Velocity Jog Acceleration US32 US32 US32 ENM User Unit/m or User Unit/s User Unit/m or User Unit/s ms/k User Unit or User Unit/s2 ENM US32 User Unit ENM S32 User Unit S32 User Unit Y Y Y Y Y Y Y Y Y 0 to 231-1 0 to 231-1 0 to 231-1 0 to 4 0 to 4 0 to 4 0 to 231-1 0 to 4 US32 ms/k User Unit or User Unit/s2 Y US32 ms/k User Unit or User Unit/s2 Y 0 to 231-1 0 to 2 -1 -231 to 231-1 -231 to 231-1
31
Modbus
US16 US16 US16 US16 US16 US16 US16 US16 US16 US16 US16 US16 US16 US16 US16 US16 US16 US32 ENM US32 ENM S32 User Unit/m or User Unit/s Y -231 to 231-1 Y 0 to 4 0 to 4 0 to 4 0 to 4 0 to 4 Y Y Y 0 to 231 0 to 4 Y 0 to 4 Y 0 to 4 Y 0 to 4 RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW Y 0 to 4 RW User Unit Y 0 to 65535 0 to 4 RW Counts Y RO Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 Counts Y RO Counts Y RO counts Y RO Ei counts Y RO Ei FM2 counts Y RO FM2 Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN counts Y RO Ei FM2 counts Y RO Ei FM2 Ei-DN Ei-DN counts Y RO Ei FM2 Ei-DN counts Y RO Ei FM2 Ei-DN counts Y RO Ei FM2 Ei-DN counts Y RO Ei FM2 Ei-DN
Type
Units
NVM
Range
40707
40708
40709
40711
40712
40713
40714
40715
40716
40720
40721
40722
41021
41022
41023
41024
41025
41026 - 41027
41028
41029 - 41031
41101
41102 - 41103
41104 - 41105
41106 - 41107
41108 - 41109
41110 - 41111
41112
41113 - 41114
41115
41116
41151 - 41152
41153 - 41154
41155 - 41156
Modbus
Jog Deceleration Stop Deceleration Travel Limit Deceleration Y Y Y Y Y Y Y Y Y Y Y Y % cont Hertz Y Y Y ms Y User Unit % cont RPM RPM Degree C Y Y Y Y Y Y Hz %cont US16 US16 ENM STR ENM %cont lines/rev Y Y Y Y Y Y Y 1-1000 0-300 0-300 1~8192 1 1 1 1 20~50 1 Y Y -231 to 231-1 0~300 0~100 0~13000 0 to 4 1 1 1 Y 5~500 1 Y 1~500 1 Y 0~100 0.01 0~50 0.1 RW RO RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RO RO RW RW RW Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei RW Ei RW Ei RW Ei FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 RW Ei FM2 RW Ei FM2 0 to 4 RW Ei FM2 Motion Command 0 Motion Command 1 Motion Command 2 Motion Command 3 Motion Command 4 Motion Command 5 Motion Command 6 Motion Command 7 Line Voltage Custom Motor Flag Inertia Ratio Friction Response High Performance Gains Enable Feedforwards Enable Position Error Integral Enable Position Error Integral Time Constant Following Error Enable Following Error Limit Torque Limit In Motion Velocity Overspeed Velocity Limit Positive Direction Drive Ambient Temperature Low DC Bus Enable Low Pass Filter Enable (COMPFE) Low Pass Filter Frequency (COMPF) Torque Level 1 (MSTL1) Torque Level 2 (MSTL2) Encoder Output Scaling Encoder Output Scaling Enable User Defined Motor Name Motor Poles US16 US16 ENM ENM US16 ENM US16 US16 US16 S32 ENM US16 ENM ENM ENM US16 US16 US16 ENM ENM ENM ENM ENM ENM ENM ENM ENM ENM US32 ms/k User Unit or User Unit/s2 0 to 231-1 Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN US32 ms/k User Unit or User Unit/s2 Y 0 to 231-1 0 to 4 RW Ei FM2 Ei-DN US32 ms/k User Unit or User Unit/s2 Y 0 to 231-1 0 to 4 RW Ei FM2 Ei-DN
Name
Type
Units
NVM
Range
41157 - 41158
41201 - 41202
41203 - 41204
41306
41311
41316
41321
41326
41331
41336
41341
42002
42003
42021
42023
42024
42025
42026
42028
42029
42031
42032 - 42033
42034
42035
42036
42044
42045
42046
42047
42048
42049
42050
42061
42062
42101 - 42106
42107
39
40
Name
Motor Encoder Lines Per Revolution Motor Encoder Marker Angle Motor Encoder U Angle Motor Encoder Reference Motion Motor Inertia Motor KE Motor Resistance Motor Inductance Motor Continuous Current Rating Motor Peak Current Rating Motor Maximum Operating Speed Chain Count Infinite Chaining Current Chain Count Index Type 0 Index Distance 0 Index Velocity 0 Index Acceleration 0 Index Deceleration 0 Registration Offset 0 Index Dwell 0 Index Count 0 Index Control 0 Chain Next 0 Index Type 1 Index Distance 1 Index Velocity 1 Index Acceleration 1 Index Deceleration 1 Registration Offset 1 Index Dwell 1 Index Count 1 Index Control 1 Chain Next 1 S32 US16 US16 ENM S16 US32 US32 US32 User Unit/m or User Uint/s ms/k User Unit or User Unit/s2 ms/k User Unit or User Unit/s2 User Unit ms count S32 User Unit ENM Y Y Y Y Y Y Y Y Y Y 0 to 15 S16 Y ENM Y 0 to 15 0 to 4 -231 to 231-1 0 to 231-1 0 to 231-1 0 to 231-1 -231 to 231-1 0 to 65535 0 to 65535 0 to 4 0 to 4 0 to 4 0 to 4 0 to 4 0 to 4 US16 count Y US16 ms Y 0 to 65535 0 to 65535 S32 User Unit Y -2
31
Modbus
ENM US16 US16 ENM US16 US16 US16 US16 US16 US16 US16 US16 ENM US16 ENM S32 US32 US32 US32 to 2 -1
31
Type
Lines Degrees Degrees Y Y vrms/kRPM Ohms mH Arms Arms RPM Y Y Y Y User Unit User Unit/m or User Uint/s Y Y Y 0 to 231-1 0 to 2 -1
31
Units
Y Y Y RO 0.00001~0.5 5~500 0.1~50 1~100 0.1~100 1~100 0~11000 0 to 65535 RW 0 to 65535 0 to 4 -231 to 231-1 0 to 4 0 to 4 0 to 4 0 to 4 0 to 4 0 to 2 -1
31
NVM
RO 0~359 0~359 Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN FM2 Ei-DN 0.00001 0.1 0.01 0.1 0.01 0.01 1 RW RO 0 to 4 RW RO RO RO RO RO RO RO 1 RO Ei FM2 Ei-DN 1 RO Ei FM2 Ei-DN Ei FM2 Ei-DN
Range
42108
42109
42110
42111 Y Y Y Y Y Y
42112
42113
42114
42115
42116
42117
42118
42600
42601
42602 Y
43001
43002 - 43003
43004 - 43005 ms/k User Unit or User Unit/s2 ms/k User Unit or User Unit/s2
43006 - 43007
43008 - 43009
43010 - 43011
43012
43013
43014
43015
43026
43027 - 43028
43029 - 43030
43031 - 43032
43033 - 43034
43035 - 43036
43037
43038
43039
43040
Modbus
Index Type 2 Index Distance 2 Index Velocity 2 Index Acceleration 2 Y Y Y Y Y Y Y Y User Unit 0 to 4 0 to 4 0 to 4 0 to 4 0 to 4 User Unit/m or User Uint/s Y Y Y Y Y Y Y Y Y User Unit User Unit/m or User Uint/s ms/k User Unit or User Unit/s2 ms/k User Unit or User Unit/s2 User Unit ms US16 ENM S16 ENM S32 User Unit count Y Y Y Y Y Y Y Y Y Y Y 0 to 15 0 to 4 -231 to 231-1 0 to 4 0 to 4 0 to 15 0 to 4 -231 to 231-1 0 to 2 -1 0 to 231-1 0 to 231-1 -231 to 231-1 0 to 65535 0 to 65535
31
Name
ENM S32 US32 US32 0 to 4 0 to 4 0 to 4 RW RW RW 0 to 15 0 to 4 -231 to 231-1 0 to 231-1 0 to 231-1 0 to 2 -1 -231 to 231-1 0 to 65535 0 to 65535
31
Type
Y User Unit User Unit/m or User Uint/s Y 0 to 231-1 RW RW RW Ei Ei Ei Ei Ei Ei RW RW RW RW RW RW RW RW 0 to 4 0 to 4 0 to 4 0 to 4 0 to 4 0 to 4 RW RW RW RW RW RW RW RW RW RW RW RW Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 Ei FM2 Ei FM2 0 to 231-1 -231 to 231-1 0 to 65535 0 to 65535 RW 0 to 4 RW RW Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN 0 to 231-1 0 to 4 RW Ei FM2 Ei-DN ms/k User Unit or User Unit/s2 ms/k User Unit or User Unit/s2 User Unit ms count Y -231 to 231-1 0 to 4 RW Ei FM2 Ei-DN 0 to 4 0 to 4 RW Ei FM2 Ei-DN
Units
NVM
Range
43051
43052 - 43053
43054 - 43055
43056 - 43057 Index Deceleration 2 Registration Offset 2 Index Dwell 2 Index Count 2 Index Control 2 Chain Next 2 Index Type 3 Index Distance 3 Index Velocity 3 Index Acceleration 3 Index Deceleration 3 Registration Offset 3 Index Dwell 3 Index Count 3 Index Control 3 Chain Next 3 Index Type 4 Index Distance 4 Index Velocity 4 Index Acceleration 4 Index Deceleration 4 Registration Offset 4 Index Dwell 4 Index Count 4 Index Control 4 Chain Next 4 Index Type 5 Index Distance 5 US16 S32 US32 US32 US32 S32 ENM S16 ENM US16 count US16 ms S32 User Unit US32 ms/k User Unit or User Unit/s2 US32 ms/k User Unit or User Unit/s2 US32 S32 Y ENM S16 ENM US16 US16 S32 US32
43058 - 43059
43060 - 43061
43062
43063
43064
43065
43076
43077 - 43078
43079 - 43080
43081 - 43082
43083 - 43084
43085 - 43086
43087
43088
43089
43090
43101
43102 - 43103
43104 - 43105
43106 - 43107
43108 - 43109
43110 - 43111
43112
43113
43114
43115
43126
41
43127 - 43128
42
Name
Index Velocity 5 Index Acceleration 5 Index Deceleration 5 Y Y Y Y Y Y Y User Unit User Unit/m or User Uint/s Y Y Y Y Y Y Y Y Y User Unit User Unit/m or User Uint/s Y Y Y Y Y Y Y Y ENM S32 US32 User Unit User Unit/m or User Uint/s Y Y Y 0 to 15 0 to 4 -231 to 231-1 0 to 2
31-1
Modbus
US32 US32 US32 0 to 4 0 to 4 RW RW RW 0 to 15 0 to 4 -231 to 231-1 0 to 4 0 to 4 0 to 4 0 to 4 0 to 4 RW RW RW RW RW RW 0 to 15 0 to 4 -231 to 231-1 0 to 231-1 0 to 231-1 0 to 2 -1 -231 to 231-1 0 to 65535 0 to 65535
31
Type
User Unit/m or User Uint/s Y Y 0 to 231-1 RW RW Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei RW 0 to 4 0 to 4 0 to 4 0 to 4 0 to 4 0 to 4 RW RW RW RW RW RW RW RW RW RW 0 to 4 0 to 4 0 to 4 RW RW RW Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 Ei FM2 Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei FM2 Ei-DN -231 to 0 to 65535 0 to 65535 RW 0 to 4 RW RW RW 231-1 0 to 231-1 0 to 4 RW Ei FM2 Ei-DN 0 to 231-1 0 to 4 RW Ei FM2 Ei-DN ms/k User Unit or User Unit/s2 ms/k User Unit or User Unit/s2 User Unit ms count
Units
NVM
Range
43129 - 43130
43131 - 43132
43133 - 43134 Registration Offset 5 Index Dwell 5 Index Count 5 Index Control 5 Chain Next 5 Index Type 6 Index Distance 6 Index Velocity 6 Index Acceleration 6 Index Deceleration 6 Registration Offset 6 Index Dwell 6 Index Count 6 Index Control 6 Chain Next 6 Index Type 7 Index Distance 7 Index Velocity 7 Index Acceleration 7 Index Deceleration 7 Registration Offset 7 Index Dwell 7 Index Count 7 Index Control 7 Chain Next 7 Index Type 8 Index Distance 8 Index Velocity 8 S16 ENM US16 US16 ms count S32 User Unit US32 ms/k User Unit or User Unit/s2 US32 ms/k User Unit or User Unit/s2 US32 S32 Y ENM S16 ENM US16 count 0 to 65535 US16 ms 0 to 65535 S32 User Unit -231 to 231-1 US32 ms/k User Unit or User Unit/s2 0 to 231-1 US32 ms/k User Unit or User Unit/s2 0 to 231-1 US32 0 to 231-1 S32 Y ENM S16 ENM US16 US16 S32
43135 - 43136
43137
43138
43139
43140
43151
43152 - 43153
43154 - 43155
43156 - 43157
43158 - 43159
43160 - 43161
43162
43163
43164
43165
43176
43177 - 43178
43179 - 43180
43181 - 43182
43183 - 43184
43185 - 43186
43187
43188
43189
43190
43201
43202 - 43203
43204 - 43205
Modbus
Index Acceleration 8 Index Deceleration 8 Registration Offset 8 Index Dwell 8 Index Count 8 Index Control 8 Chain Next 8 Index Type 9 Index Distance 9 Index Velocity 9 Index Acceleration 9 Index Deceleration 9 Registration Offset 9 Index Dwell 9 Index Count 9 Index Control 9 Chain Next 9 Index Type 10 Index Distance 10 Index Velocity 10 Index Acceleration 10 Index Deceleration 10 Registration Offset 10 Index Dwell 10 Index Count 10 Index Control 10 Chain Next 10 Index Type 11 Index Distance 11 Index Velocity 11 Index Acceleration 11 ENM S32 US32 US32 User Unit User Unit or User Unit/s ms/k User Unit or User Unit/s2 S16 ENM US16 count US16 ms S32 User Unit US32 ms/k User Unit or User Unit/s2 Y Y Y Y Y Y Y Y Y Y 0 to 15 0 to 4 -231 to 231-1 0 to 231-1 0 to 231-1 0 to 4 0 to 4 0 to 4 0 to 4 US32 ms/k User Unit or User Unit/s2 Y US32 User Unit/m or User Uint/s Y 0 to S32 User Unit Y -231 to 231-1 231-1
31
Name
US32 US32 S32 US16 US16 ENM S16 ENM S32 US32 US32 US32 S32 US16 US16 ENM S16 ENM Y 0 to 4 Y 0 to 15 0 to 4 0 to 4 0 to 4 0 to 4 0 to 231-1 -231 to 231-1 0 to 65535 0 to 65535 0 to 4 0 to 4 Y count Y 0 to 65535 ms Y 0 to 65535 User Unit Y -231 to 231-1 0 to 4 ms/k User Unit or User Unit/s2 Y 0 to 231-1 0 to 4 RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW ms/k User Unit or User Unit/s2 Y 0 to 231-1 0 to 4 RW User Unit/m or User Uint/s Y 0 to 231-1 0 to 4 RW Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei User Unit Y -231 to 231-1 0 to 4 RW Ei Y 0 to 4 0 to 4 RW Ei Y 0 to 15 RW Ei FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 Y RW Ei FM2 count Y 0 to 65535 RW Ei FM2 ms Y 0 to 65535 RW Ei FM2 Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN User Unit Y -231 to 231-1 0 to 4 RW Ei FM2 Ei-DN Y 0 to 231-1 0 to 4 RW Ei FM2 Ei-DN ms/k User Unit or User Unit/s2 Y 0 to 231-1 0 to 4 RW Ei FM2 Ei-DN
Type
Units
NVM
Range
43206 - 43207
43208 - 43209
43210 - 43211
43212
43213
43214
43215
43226
43227 - 43228
43229 - 43230
43231 - 43232
43233 - 43234
43235 - 43236
43237
43238
43239
43240
43251
43252 - 43253
43254 - 43255
43256 - 43257
0 to 2 -1
43258 - 43259
43260 - 43261
43262
43263
43264
43265
43276
43277 - 43278
43279 - 43280
43281 - 43282
43
44
Name
Index Deceleration 11 Registration Offset 11 Index Dwell 11 Index Count 11 Index Control 11 Chain Next 11 Index Type 12 Index Distance 12 Index Velocity 12 Index Acceleration 12 Index Deceleration 12 Registration Offset 12 0 to 4 Index Dwell 12 Index Count 12 Index Control 12 Chain Next 12 Index Type 13 Index Distance 13 Index Velocity 13 Index Acceleration 13 Index Deceleration 13 Registration Offset 13 Index Dwell 13 Index Count 13 Index Control 13 Chain Next 13 Index Type 14 Index Distance 14 Index Velocity 14 Index Acceleration 14 Index Deceleration 14 US32 US32 US32 S32 ENM User Unit User Unit/m or User Uint/s ms/k User Unit or User Unit/s2 ms/k User Unit or User Unit/s2 S16 ENM US16 count US16 ms S32 User Unit Y Y Y Y Y Y Y Y Y Y 0 to 15 0 to 4 -231 to 231-1 0 to 231-1 0 to 231-1 0 to 231-1 0 to 4 0 to 4 0 to 4 0 to 4 0 to 4 US32 ms/k User Unit or User Unit/s2 Y US32 ms/k User Unit or User Unit/s2 Y 0 to 2 -1 0 to 231-1 -2
31 31
Modbus
US32 S32 US16 US16 ENM S16 ENM S32 US32 US32 US32 S32 US16 US16 ENM S16 ENM S32 US32 User Unit/m or User Uint/s Y 0 to 2 -1
31
Type
ms/k User Unit or User Unit/s2 Y Y Y Y Y Y Y User Unit User Unit/m or User Uint/s Y Y Y Y Y Y Y Y Y User Unit Y -231 to 231-1 0 to 4 0 to 15 0 to 4 0 to 4 0 to 4 0 to 4 0 to 4 to 2 -1 0 to 65535 0 to 65535
31
Units
0 to 231-1 0 to 4 0 to 4 RW RW RW 0 to 15 0 to 4 -231 to 231-1 0 to 4 0 to 4 0 to 4 0 to 4 RW RW RW RW RW RW RW RW RW RW 0 to 4 RW RW RW RW RW RW RW RW RW RW RW Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei Ei RW Ei RW Ei RW Ei 0 to 0 to 0 to -231 to 231-1 0 to 65535 0 to 65535 231-1 231-1 231-1 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 0 to 4 RW Ei FM2 RW Ei FM2 Ei FM2 Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei FM2 Ei-DN Ei FM2 Ei-DN RW Ei FM2 Ei-DN RW Ei FM2 Ei-DN -231 to 231-1 0 to 65535 0 to 65535
NVM
Range
43283 - 43284 User Unit ms count
43285 - 43286
43287
43288
43289
43290 Y
43301
43302 - 43303
43304 - 43305 ms/k User Unit or User Unit/s2 ms/k User Unit or User Unit/s2 User Unit ms count
43306 - 43307
43308 - 43309
43310 - 43311
43312
43313
43314
43315
43326
43327 - 43328
43329 - 43330
43331 - 43332
43333 - 43334
43335 - 43336
43337
43338
43339
43340
43351
43352 - 43353
43354 - 43355
43356 - 43357
43358 - 43359
Modbus
Registration Offset 14 Index Dwell 14 Index Count 14 Index Control 14 Chain Next 14 Index Type 15 Index Distance 15 Index Velocity 15 Index Acceleration 15 Index Deceleration 15 Registration Offset 15 Index Dwell 15 Index Count 15 Index Control 15 Chain Next 15 DN MacId DN Baud Rate DN Host Mode DN Master Send FAB Type DN Master Receive FAB Type User Defined Bitmap User Defined Registers Product Serial Number FM Serial Number STR N STR Y US16 Y US16 Y ENM Y 0 to 3 ENM Y 0 to 4 ENM Y ENM Baud Y 0 to 2 US16 Y 0 to 63 S16 Y 0 to 15 ENM Y US16 count Y 0 to 65535 US16 ms Y 0 to 65535 RW RW RW RW RW RW RW RW RW RW RW RO RO Ei Ei Ei FM2 FM2 FM2 FM2 S32 User Unit Y -231 to 0 to 4 RW 231-1 US32 ms/k User Unit or User Unit/s2 Y 0 to 231-1 0 to 4 RW Ei Ei Ei Ei Ei Ei US32 ms/k User Unit or User Unit/s2 Y 0 to 231-1 0 to 4 RW Ei US32 User Unit/m or User Uint/s Y 0 to 231-1 0 to 4 RW Ei FM2 FM2 FM2 FM2 FM2 FM2 FM2 FM2 S32 User Unit Y -231 to 231-1 0 to 4 RW Ei FM2 ENM Y 0 to 4 0 to 4 RW Ei FM2 S16 Y 0 to 15 RW Ei FM2 Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN Ei-DN ENM Y RW Ei FM2 Ei-DN US16 count Y 0 to 65535 RW Ei FM2 Ei-DN US16 ms Y 0 to 65535 RW Ei FM2 Ei-DN S32 User Unit Y -231 to 231-1 0 to 4 RW Ei FM2 Ei-DN
Name
Type
Units
NVM
Range
43360 - 43361
43362
43363
43364
43365
43376
43377 - 43378
43379 - 43380
43381 - 43382
43383 - 43384
43385 - 43386
43387
43388
43389
43390
44001
44002
44003
44004
44005
49401 - 49402
49403 - 49418
49903 - 49910
49957 - 49962
45
46
This section lists all programmable and feedback parameters available. The parameters are listed alphabetically giving the range, units, default value, type, Modbus address, description and access rights. Actual Operating Mode Eb, Ei, Ei-DN, EN, FM-1, FM-2, MDS
Range Units Default Type ENM Group Status NVM No Decimal Places
30001
Access RO
This parameter returns the actual (or current) operating mode or state of the drive. This is determined by the Operating Mode Default, Input Functions that override the operating mode, fault conditions, function modules, or disabling the drive. For example, if the drive is in a fault condition or is disabled, this parameter will return a 0 or a 9 respectively. The table below shows the possible operating modes and drive states. See also the Actual Operating Mode Expanded parameter.
Bit 0 1 2 3 4 5 6 7 8 Eb, EN, FM-1, MDS Disabled Torque Velocity Analog Velocity Preset Velocity Summation Pulse Pulse Pulse Direction Pulse Quadrature Function Module Ei, Ei-DN, FM-2 Disabled Ready Fault Homing Indexing Jogging Decelerating
Actual Operating Mode Expanded Eb, EN, FM-1, MDS

30004
Access RO
This parameter returns the actual (or current) operating mode or state of the drive. This is determined by the Operating Mode Default, Input Functions that override the operating mode
47
Drives Parameters Reference Manual expanded, fault conditions, function modules, or disabling the drive. The table below shows the possible operating modes and drive states.
Bit 0 1 2 3 4 5 6 10 20 21 30 21 40 50 51 52 Operating Mode/Drive State Disabled Reaching (Ei, Ei-DN, FM-2 only) Fault Homing Index Jogging Decelerating Fault Torque Analog Torque Preset Velocity Analog (FM-1 only) Velocity Preset Pulse* Velocity Analog + Velocity Preset Pulse Direction + Velocity Analog (FM-1 only) Pulse Direction + Velocity Preset (FM-1 only)
See Pulse Interpretation for information about Pulse/Pulse, Pulse Direction and Pulse Quadrature.
This parameter always mirrors the Actual Operating Mode parameter and vice versa. This parameter displays all the three Pulse submodes and Pulse mode. Analog Input Eb, EN, FM-1, MDS
Range 10 Units Volts Default Type S16 Group Analog Inputs NVM No Decimal Places 0.001
32101
Access RO
The analog voltage signal that is received on pins 14 and 15 of the command connector and is used to calculate the Analog Velocity Command or the Analog Torque Command depending on the Actual Operating Mode Expanded. Analog Input Accel/Decel Limit Eb, EN, FM-1, MDS
Range 0-32700 Units ms/kRPM Default Type US32 Group Analog Inputs NVM Yes
41205-41206
Decimal Places 0.1 Access RW
This sets the maximum ramp that is possible in Analog Velocity mode. It includes maximum accel ramp when stop or limit switch input is released with an analog command applied.
48
Parameter Descriptions Analog Input Bandwidth Eb, EN, FM-1, MDS

Range 1-1000 Units Hertz Default 1000 Type US16 Group Analog Inputs NVM Yes Decimal Places 1
40603
Access RW
This sets the low pass filter cutoff frequency which is applied to the Analog Input. Signals above the bandwidth will be filtered at a rate of 20 db decade. This is not a limit but sets the rate of change of the Velocity Command or Analog Command. Analog Input Full Scale Eb, EN, FM-1, MDS
Range 10 Units Volts Default Type S16 Group Analog Inputs NVM Yes Decimal Places 0.001
40602
Access RW
This specifies the voltage required to command Full Scale Velocity or Full Scale Torque for the Velocity Analog and Torque operating modes, respectively. Analog Input Zero Offset EN, Eb, FM-1,MDS
Range 10 Units Volts Default 0 Type S16 Group Analog Inputs NVM Yes Decimal Places 0.001
40601
Access RW
This is used to null any Analog Command offset. Applicable in Velocity Analog or Torque operating modes. Analog Output - Channel (1, 2) Eb, Ei, Ei-DN, EN, FM-1, FM-2, MDS
Range 10 Units Volts Default Type S16 Group Analog Out NVM No Decimal Places 0.01
See table
Access RO
This displays the value in volts of the signal being output at Analog Output Channel 1 or 2. See Analog Output Offset, Analog Output Select, Analog Output Scale.
Channel# 1 2 Modbus Address 32103 32104
See Analog Output Select.
49
Drives Parameters Reference Manual Analog Output (1, 2) Offset Eb, Ei, Ei-DN, EN, FM-1, FM-2, MDS
Range 2147483647 Units Default 0 Type S32 Group Analog Out NVM Yes Decimal Places 1
See table
Access RW
The purpose of this parameter is to adjust the meaning of a zero volt output. This parameter is typically used with the Analog Output Scale to adjust Analog Output voltage to provide a larger range or increased accuracy.
Channel # 1 2 Modbus Address 40652-40653 40657-40658
The range and units of the Analog Output Offset are determined by the source selected with the Analog Output Select as shown in the table below.
Analog Output Select Velocity Command Velocity Feedback Torque Command Torque Feedback Following Error RPM RPM % of Continuous Torque % of Continuous Torque Revs/Volts Units 13,000 13,000 300 300 Range
Analog Output (1, 2) Scale Eb, Ei, Ei-DN, EN, FM-1, FM-2,MDS
Range 2147483647 Units Default Type S32 Group Analog Out NVM Yes Decimal Places 1
See table
Access RW
The purpose of this parameter is to adjust the scaling of the analog output in units/volts. This parameter is typically used with the Analog Output Offset to adjust Analog Output voltage to provide a larger range or improved accuracy.
Output# 1 2 Modbus Address 40654-40655 40659-40660
The range and units of the Analog Output Scale are determined by the analog output source selected with the Analog Output Select as shown in the table below.
Analog Output Select Velocity Command Velocity Feedback Units RPM RPM
50
Analog Output Select Torque Command Torque Feedback Following Error Units % of Continuous Torque % of Continuous Torque Revs/Volts
Analog Output (1, 2) Select Eb, Ei, Ei-DN, EN, FM-1, FM-2, MDS
Range Units Default Type ENM Group Analog Out NVM Yes Decimal Places
See table
Access RW
This selects the source of Analog Output Channel (1, 2).

Output # 1 2 Modbus Address 40651 40656
The source parameter choices are:

Bits 0 1 2 3 4 5 6 Description Volts (factory test use only) Bits (factory test use only) Velocity Command Velocity Feedback Torque Command Torque Feedback Following Error
The value of the source parameter is scaled by the Analog Output Scale and Analog Output Offset. Axis Address Eb, Ei, Ei-DN, EN, FM-1, FM-2, MDS
Range 1-99 Units Default 1 Type US16 Group Communications NVM Yes Decimal Places 1
40003
Access RW
This defines the Modbus address of the device.
51
Drives Parameters Reference Manual Axis Name Eb, Ei, Ei-DN, EN, FM-1, FM-2, MDS
Range Units Default Type STR Group Setup NVM Yes
40005-40016
Decimal Places Access RW
This parameter is the user specified name of the drive which may be modified by PowerTools. The limit is 24 characters. This parameter occupies twelve consecutive 16 bit registers (40005 to 40016). Each register stores two characters. Back Off Sensor Before Homing Ei, Ei-DN, FM-2
Range Units Default 1 Type ENM Group Home NVM Yes Decimal Places
41116
Access RW
This flag effects the drives behavior when the home sensor is active at the time the home is initiated. If the flag is enabled and the sensor is active, the drive will back off the sensor. It does this by moving the direction opposite to that specified by the sign of the home velocity. It continues moving in this direction until the sensor deactivates. It then decelerates to a stop and performs a home. If the sensor is inactive, this parameter has no effect on the home operation.
Bit 0 1 Action Disable Enable
Baud Rate Eb, Ei, Ei-DN, EN, FM-1, FM-2, MDS

Range 9600-19200 Units baud Default 19200 Type ENM Group Communications NVM Yes Decimal Places
40004
Access RW
This defines the Modbus serial communication baud rate. Brake Release Input Eb, Ei, Ei-DN, EN, FM-1, FM-2
Range Units Default Type Bit Group Communications NVM No Decimal Places
10072
Access RO
The Brake Release Input function will release the brake under all conditions. When this input function is "On", the Brake output function will be "On" (i.e., release brake). This input function overrides all other brake control, thus allowing the brake to be released while a fault is active or the power stage is disabled. See also Brake Output function.
52
Parameter Descriptions Brake Control Input Eb, Ei, Ei-DN, EN, FM-1, FM-2
10073
Access RO
This input function, when active, will engage the brake unless overridden by the Brake Release Input function. This input lets you externally engage the brake while allowing the drive to also control the brake during fault and disabled conditions. Brake Output Eb, Ei, Ei-DN, EN, FM-1, FM-2
10104
Access RO
The Brake Output function is used to control the motor holding brake. If the Brake output function is "Off", the brake is mechanically engaged. When the brake is engaged, the diagnostic display on the front of the drive will display a b. The drive outputs are limited to 150 mA capacity, therefore, a suppressed relay is required to control motor coil. Control Techniques offers a relay, model BRM-1 with a 150 mA maximum. Bus Voltage Eb, Ei, Ei-DN, EN, FM-1, FM-2, MDS
Range 20 to 500 Units Volts Default Type US16 Group Status NVM No Decimal Places 0.1
32042
Access RO
This displays the actual Bus Voltage or the DC power bus. Chain Count Ei, Ei-DN, FM-2 Firmware C1 or Later
Range 0 to 65535 Units Default 1 Type US16 Group Index NVM Yes Decimal Places 1
42600
Access RW
This displays how many times the chain is to run.
53
Drives Parameters Reference Manual Chain Next Ei, Ei-DN, FM-2 Firmware C1 or Later
Range 0 to 15 Units Default 0 Type S16 Group Index NVM Yes Decimal Places 1
See Table
Access RW
This specifies the index that the specific index will be chained to. For example, if Index0 is chained to Index5, address 43015 will be equal to 5.
Index Number 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 Modbus Address 43015 43040 43065 43090 43115 43140 43165 43190 43215 43240 43265 43290 43315 43340 43365 43390
Clear Fault Eb, Ei, Ei-DN, EN, FM-1, FM-2, MDS

Range Units Default Type BIT Group Status NVM No Decimal Places
1007
Access RW
This coil provides the ability to clear all active faults. The operation is executed upon the rising edge of this coil. The coil is automatically cleared when the execution is complete.
54
Parameter Descriptions Commutation Angle Correction Eb, Ei, Ei-DN, EN, FM-1, FM-2, MDS
Range 180 Units degrees Default Type S16 Group Motor NVM No Decimal Places 1
32038
Access RO
The difference between the electrical angle as determined at power-up from the U, V and W commutation tracks and the electrical angle as determined from the marker pulse. This value will be zero until the marker pulse is detected. Commutation Track Angle Eb, Ei, Ei-DN, EN, FM-1, FM-2,MDS
Range 0-359 Units degrees Default Type US16 Group Motor NVM No Decimal Places 1
32039
Access RO
This parameter is derived directly from the state of the commutation tracks and the Encoder U Electrical Angle parameter. Commutation Voltage Eb, Ei, Ei-DN, EN, FM-1, FM-2, MDS
Range 200 Units % of 1/2 bus voltage Default Type S16 Group Motor NVM No Decimal Places 0.1
32040
Access RO
This parameter is used to determine commutation angle accuracy. When queried it returns the value of the direct axis voltage. The value is given as a percentage of 1/2 the bus voltage. Current Chain Count Ei, Ei-DN, FM-2 Firmware C1 or Later
Range 0 to 65535 Units Default 0 Type US16 Group Index NVM Yes Decimal Places 1
33001
Access RO
This parameter displays the remaining chain count during the chain. It is equal to the chain count, minus the number of times the chain has run. For example, if the chain count is 5 and it has only performed the chain once, this parameter would be equal to 4.
55
Drives Parameters Reference Manual DN Allocation Choice (Connections Established) Ei-DN

Range 0,1 Units Default Type BM16 Group DeviceNet NVM No Decimal Places
34003
Access RO
This parameter monitors the status of the established connections and displays the corresponding bitmap. Bit 0 = Explict Message and Bit 1 = Polled. DN Allocation Master Mac ID Ei-DN
Range 0 to 63 Units Default 63 Type US16 Group DeviceNet NVM No Decimal Places
34004
Access RO
This parameter displays the MacID of the master used to control the Ei-DN. The DN Allocation Master MacID parameter defaults to 63 when no master is controlling it. DN Baud Rate Ei-DN
Range 0 to 2 Units baud Default Type ENM Group DeviceNet NVM Yes Decimal Places
44002
Access RW
Three standard baud rates can be configured for the DeviceNet network: 125k, 250k, and 500k. The baud rate is also read/write accessible with the one touch configuration located directly on the drive.
Value 0 1 2 Baud Rate 125k 250k 500k
DN Bus Off Counter Ei-DN

Range 0 to 255 Units counts Default Type US16 Group DeviceNet NVM No Decimal Places
34206
Access RO
The Bus-Off counter counts the number of bus failures since power up in order to safeguard against a network that goes down. This information is used for troubleshooting the Ei-DN.
56
Parameter Descriptions DN Bus Off Fault Count Ei-DN

Range 0-231-1 Units Default Type US16 Group DeviceNet NVM Yes Res.
40722
Access RO
This parameter indicates the total number of Bus Off Faults that have occurred on the DeviceNet network. DN Bus Off Interrupt Ei-DN
Range 0,1 Units Default Type ENM Group DeviceNet NVM No Decimal Places
34205
Access RO
Ten Bus-Offs in a row initiate the Bus Off Interrupt (Major fault). DN Comm Timeout Fault Count Ei-DN
Range 0-215-1 Units Counts Default Type US16 Group DeviceNet NVM Yes Res.
40720
Access RO
This parameter indicates the total number of Communication Timeout Faults that have occurred on the DeviceNet network. DN Device Type Ei-DN
Range Units 0 Default Type US16 Group DeviceNet NVM No Decimal Places
34002
Access RO
DN Device Type indicates the ODVA (Open DeviceNet Vendors Association) definition for devices. The Ei-DN is hard-coded as a DN Device Type of 0. DN Duplicate MacID Fault Count Ei-DN
Range 0-215-1 Units Counts Default Type US16 Group DeviceNet NVM Yes Res.
40721
Access RO
The DN Duplicate MacID Fault Count indicates the total number of duplicate MacID faults that have occurred on the DeviceNet network.
57
Drives Parameters Reference Manual DN FAB Master Receive Block Ei-DN

Range Units Default Type US16 Group DeviceNet NVM No
34011-34014
Res. Access RO
The DN FAB Master Receive Block displays the polled data being transferred from the drive to the master via the Master Receive Fixed Assembly Block (FAB).
Word Word 0 Word 1 Word 2 Word 3 Modbus Address 34011 34012 34013 34014
DN FAB Master Send Block Ei-DN

Range N/A Units Default Type US16 Group DeviceNet NVM No
34007-34010
Res. Access RO
The DN FAB Master Send Block displays the polled data being transferred from the drive to the master via the Master Send Fixed Assembly Block (FAB).
Word Word 0 Word 1 Word 2 Word 3 Modbus Address 34007 34008 34009 34010
DN Host Mode Ei-DN

Range 0,1 Units Default Type ENM Group DeviceNet NVM Yes Res.
44003
Access RW
Enabling the "Host Mode" gives the host (DeviceNet Master) exclusive control of the following parameters: Index Select and Index Initiate Jog +, Jog -, Jog Fast Home Initiate Define Home Brake Control and Release
58
Parameter Descriptions All other functions will be logically OR'ed with inputs and Modbus when in Host mode. Host mode is useful when access to the hardwire I/O needs to be switched from "DeviceNet only" to "DeviceNet I/O" or "Hardware I/O". DN MacID Ei-DN
Range 0 to 63 Units Default Type US16 Group DeviceNet NVM Yes Res.
44001
Access RW
The DN MacID is the node address of the Ei-DN on the DeviceNet network. The range of this number is 0-63. DN Master Receive Bitmap Ei-DN
Range Units Default Type US16 Group DeviceNet NVM No Res.
34006
Access RO
This parameter returns the values for the selected master receive bits.
Master Receive Assembly Block - Index Sel (Predef)
Word
0
Bit 15
End of Index
Bit 14
End of Chaining Count
Bit 13
End of Index Count
Bit 12
End of Index Motion
Bit 11
Travel Limit -
Bit 10
Travel Limit +
Bit 9
Reg Limit Distance Hit
Bit 8
Brake Release
Bit 7
Enable State
Bit 6
In - Motion
Bit 5
In + Motion
Bit 4
At Velocity
Bit 3
End of Home
Bit 2
Torque Limit
Bit 1
Fault
Bit 0
Drive OK
Reserved
Reserved
Reserved
Input Word Select Data Pointer
Registration Sensor 1 Status Data Low Word
Home Sensor Status
Absolute Position Valid
Home Limit Dist Hit
Motion State Bit 2
Motion State Bit 1
Motion State Bit 0 LS Bit
2 3 MS Bit
Data High Word
Master Send Assembly Block - Index Sel (Predef)

Word
0
Bit 15
Index Select Bit 3 Reserved
Bit 14
Bit 13
Index Select Bit 1 Reset
Bit 12
Index Select Bit 0
Bit 11
Jog -
Bit 10
Jog +
Bit 9
Home Initiate
Bit 8
Start Index
Bit 7
DN Bit 7 MS
Bit 6
DN Bit 6 MS
Bit 5
DN Bit MS 5 Define Home
Bit 4
DN Bit MS 4
Bit 3
DN Bit MS 3
Bit 2
DN Bit MS 2
Bit 1
DN Bit MS 1
Bit 0
DN Bit MS 0
1 2 3
Output Word Select Data Pointer Data Low Word
Enable
Stop
Input Word Select Data Pointer LS Bit
MS Bit
Data High Word
Master Receive Assembly Block - Index Sel (User Def)

Word
0
Bit 15
DN Bit 15 MR
Bit 14
DN Bit 14 MR
Bit 13
DN Bit 13 MR
Bit 12
DN Bit 12 MR
Bit 11
DN Bit 11 MR
Bit 10
DN Bit 10 MR
Bit 9
DN Bit 9 MR
Bit 8
DN Bit 8 MS
Bit 7
DN Bit 7 MR Index Select Bit 3
Bit 6
Bit 5
Bit 4
Bit 3
DN Bit 3 MR Enable State
Bit 2
DN Bit 2 MR Motion State Bit 2
Bit 1
DN Bit 1 MR Motion State Bit 1
Bit 0
DN Bit 0 MR Motion State Bit 0 LS Bit
Reserved
Reserved
Reserved
2 3 MS Bit
Data Low Word Data High Word
59
Drives Parameters Reference Manual Master Send Assembly Block - Index Sel (User Def)
Word
0
Bit 15
Bit 14
Bit 13
Bit 12
Index Select Bit 0
Bit 11
DN Bit 11 MS
Bit 10
DN Bit 10 MS
Bit 9
DN Bit 9 MS
Bit 8
DN Bit 8 MS
Bit 7
DN Bit 7 MS Reserved
Bit 6
Bit 5
DN Bit 5 MS Enable
Bit 4
DN Bit 4 MS
Bit 3
DN Bit 3 MS
Bit 2
DN Bit 2 MS
Bit 1
DN Bit 1 MS
Bit 0
DN Bit 0 MS
1 2 3
MS Bit
Data High Word
Master Receive Assembly Block - Index Type

Word
0
Bit 15
DN Bit 7 MR
Bit 14
DN Bit 6 MR
Bit 13
DN Bit 5 MR
Bit 12
DN Bit 4 MR
Bit 11
DN Bit 3 MR
Bit 10
DN Bit 2 MR
Bit 9
DN Bit 1 MR
Bit 8
DN Bit 0 MR
Bit 7
Enable State
Bit 6
Bit 5
Home Limit Distance Hit
Bit 4
Reg Limit Distance Hit Travel Limit -
Bit 3
End of Home
Bit 2
Torque Limit
Bit 1
Fault
Bit 0
Drive OK
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Travel Limit +
Motion State Bit 2
Motion State Bit 1
Motion State Bit 0 LS Bit
2 3 MS Bit
Master Send Assembly Block - Index Type

Word
0
Bit 15
Bit 14
Bit 13
Bit 12
DN Bit 4 MS
Bit 11
DN Bit 3 MS
Bit 10
DN Bit 2 MS
Bit 9
DN Bit 1 MS
Bit 8
DN Bit 0 MS
Bit 7
Enable
Bit 6
Reset
Bit 5
Stop
Bit 4
Home Initiate
Bit 3
Index Type Bit 2
Bit 2
Index Type Bit 1
Bit 1
Index Type Bit 0
Bit 0
Start Index
1 2 3
Jog Fast
Jog -
Jog +
MS Bit
Data High Word
Master Receive Assembly Block - Position Control

Word
0
Bit 15
Bit 14
Bit 13
Bit 12
Bit 11
Bit 10
Bit 9
Bit 8
Bit 7
Enable
Bit 6
Valid Data = 1 Ignore Data = 0
Bit 5
Bit 4
Stop Input
Bit 3
Fault
Bit 2
End of Index Motion CCW Hardware Limit (Travel Limit -)
Bit 1
Reserved
Bit 0
Trajectory Started
Reserved
Reserved
Response Assembly Code)
Command Error
Reserved
Trajectory Start Echo
Reserved
Reserved
CW Hardware Limit (Travel Limit +)
Drive OK
2 3 MS Bit
LS Bit
Master Send Assembly Block - Position Control

Word
0
Bit 15
Bit 14
Bit 13
Bit 12
Bit 11
Bit 10
Bit 9
Bit 8
Bit 7
Enable
Bit 6
Valid Data = 1 Ignore Data = 0 Reserved
Bit 5
Reserved
Bit 4
Stop
Bit 3
Reserved
Bit 2
Absolute=0 Incremental=1
Bit 1
Reserved
Bit 0
Start Trajectory
Reserved
1 2 3 MS Bit
Reserved
Response Assembly Code Data Low Word
Command Assembly Code LS Bit
Data High Word
60
Parameter Descriptions Master Send Assembly Block - No Operation

Word
0 1 2 3
Bit 15
Bit 14
Bit 13
Bit 12
Bit 11
Bit 10
Bit 9
Bit 8
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
DN Master Receive FAB Type Ei-DN

Range 0-3 Units Default Type ENM Group DeviceNet NVM Yes Res.
44005
Access RW
The DN Master Receive FAB Type displays the chosen fixed assembly block configuration as shown.
Value 0 1 2 3 Master Receive FAB Type Index Select (Predef) Index Select (Userdef) Index Type Position Control
DN Master Send Bitmap Ei-DN

34005
Access RO
This parameter returns the values for the selected master send bits. DN Master Send FAB Type Ei-DN
Range 0-4 Units Default Type ENM Group DeviceNet NVM Yes Res.
44004
Access RW
The DN Master Send FAB Type displays the chosen fixed assembly block configuration as shown. (Refer also to Ei-DN DeviceNet Reference Manual (P/N 400501-08)).
Value 0 1 2 3 4 Master Receive FAB Type Index Select (Predef) Index Select (Userdef) Index Type Position Control No Operation
61
Drives Parameters Reference Manual DN Module Status Ei-DN

Range 0-5 Units Default Type ENM Group DeviceNet NVM No Res.
34208
Access RO
The DN Module status indicates the ODVA specific status of the DN device as follows:
Value 1 2 3 4 5 Module Status No Power Operational Standby Minor Fault Major Fault
DN Network Status Ei-DN

Range 0-5 Units Default Type ENM Group DeviceNet NVM No Res.
34207
Access RO
The DN Network status indicates the ODVA specific status of the DeviceNet network as follows:
Value 1 2 3 4 5 Network Status No Power Not Connected Connected Timeout Link Failure
DN Receive Counter Ei-DN

Range 0-231-1 Units Counts Default Type US32 Group DeviceNet NVM No
34203-34204
Res. Access RO
The DN Receive Counter keeps a running total of all DeviceNet packets successfully received from the Ei-DN on the DeviceNet network.
62
Parameter Descriptions DN Status Major Recoverable Fault Ei-DN

Range True/False Units Default Type BIT Group DeviceNet NVM No Res.
14003
Access RO
A major recoverable fault disables the bridge and then re-enables the bridge when the fault has cleared. At the present, no major recoverable faults are defined in the Ei-DN. DN Status Major Unrecoverable Fault Ei-DN
14004
Access RO
A major unrecoverable fault is implemented on the Ei-DN when one of the following faults occur: Power Stage Module, Invalid Configuration, Power Up Self Test, NVM Invalid, Motor Overtemp, Drive Overtemp, Duplicate MacID, and Bus-Off. Major Unrecoverable faults disable the bridge and require a cycle of power to reset. DN Status Minor Recoverable Fault Ei-DN
14001
Access RO
A minor Recoverable fault occurs when the drive experiences a connection timeout. This fault will not disable the bridge and will clear after the fault clears. DN Status Minor Unrecoverable Fault Ei-DN
14002
Access RO
A minor unrecoverable fault will initiate when any of the following faults occur: Encoder State, Encoder H/W, Low DC Bus, High DC Bus, Overspeed, Following Error, Shunt Power RMS. Minor unrecoverable faults can only be reset with a cycle of power to the drive. DN Transmit Counter Ei-DN
Range 0-231-1 Units Counts Default Type US32 Group DeviceNet NVM No
34201-34202
Res. Access RO
The DN Transmit Counter keeps a running total of all DeviceNet packets successfully transmitted to the Master on the DeviceNet network.
63
Drives Parameters Reference Manual DN Vendor ID Ei-DN

34001
Access RO
DN Vendor ID indicates the ODVA (Open DeviceNet Vendors Association) vendor specific number. The Motion Made Easy Vendor ID is 553. Drive Ambient Temperature Eb, Ei, Ei-DN, EN, FM-1, FM-2
Range 20-50 Units degrees C Default Type US16 Group Setup NVM Yes Decimal Places 1
42045
Access RW
The value entered here should reflect the ambient air temperature near the drive heatsink during normal operation. This will determine the amount of regenerative power that can be dissipated by the EN drives internal shunt resistor. When that calculated value is exceeded by the Shunt Power RMS parameter a shunt fault will trigger. Valid only for EN-208 and EN-214 drives. Drive Enable Input Line Status Eb, Ei, Ei-DN, EN, FM-1, FM-2, MDS
Range 0 or 1 Units Default Type BIT Group Input Functions NVM No Decimal Places
10001
Access RO
This displays the status of the Drive Enable Input Line. Encoder Output Scaling Eb, Ei, Ei-DN, EN, FM-1, FM-2, MDS
Range 1-8192 Units lines/revs Default 2048 Type US16 Group Motor NVM Yes Decimal Places 1
42061
Access RW
This parameter allows you to change the drive encoder output resolution in increments of 1 line per revolution up to the density of the encoder in the motor. If the Encoder Output Scaling is set to a value higher than the motor encoder density, the drive encoder output density will equal that of the motor encoder.
64
Parameter Descriptions Encoder Output Scaling Enable Eb, Ei, Ei-DN, EN, FM-1, FM-2, MDS
Range Units Default 0 Type ENM Group Motor NVM Yes Decimal Places
42062
Access RW
This enables the Encoder Output Scaling feature.

Value 0 1 Action Disable Enable
End of Home Position Ei, FM-2 Firmware A9 or Earlier

Range 214748.3647 Units revs Default 0 Type S32 Group Home NVM Yes
41108-41109
Ei, Ei-DN, FM-2 Firmware C1 or Later

Range -2
31
41108-41109
Group NVM Yes Decimal Places 0 to 4 Access RW
Units User unit
Default
Type S32
to 2 -1
31
The End of Home Position defines the home position in the machine coordinate system. At the completion of the home cycle, the Absolute Position, Position Command and Position Feedback are set equal to the End of Home Position. Fault Count Eb, Ei, Ei-DN, EN, FM-1, FM-2, MDS
Range Units counts Default Type US16 Group Fault Counts NVM Yes Decimal Places
See table
Access RO
The total number of times a particular fault has occurred since product shipment. The table below shows the possible drive faults and their Modbus addresses.
Fault Encoder State Encoder H/W Power Stage Low DC Bus High DC Bus Watchdog Timer (EN, FM-1 and FM-2 only) Travel Limit + Modbus Address 40701 40702 40703 40704 40705 40706 40707
65

Fault Travel Limit Overspeed Invalid Configuration (EN, FM-1 and FM-2 only) Power Up Self Test NVM Invalid Following Error Invalid Configuration (EN, FM-1 and FM-2) Motor Overtemp Drive Overtemp (Eb, Ei, Ei-DN and MDS only) Modbus Address 40708 40709 40710 40711 40712 40713 40714 40715 40716
Fault Log Array Eb, Ei, Ei-DN, EN, FM-1, FM-2,MDS

Range Type Count Time counts minutes Units Default Type ENM US16 US32 Group Fault Log Fault Log Fault Log NVM Yes Yes Yes Decimal Places
See table
Access RO RO RO
The drive records the last ten faults that occurred, the time they occurred (in 0.1 hour increments since power-up), the number of times the drive was powered-up when a particular fault occurred and the type of each fault. The table below lists the Modbus addresses for the Fault Type, Power Up Count and Power Up Time parameters for faults 1 through 10 in the register. Log Fault Number 10 is the most recent fault that occurred.
Fault Log Entry Number 10 9 8 7 6 5 4 3 2 1 Modbus Address Fault Type 31001 31005 31009 31013 31017 31021 31025 31029 31033 31037 Power Up Count 31002 31006 31010 31014 31018 31022 31026 31030 31034 31038 Power Up Time 31003 - 31004 31007 - 31008 31011 - 31012 31015 - 31016 31019 - 31020 31023 - 31024 31027 - 31028 31031 - 31032 31035 - 31036 31039 - 31040
66
Parameter Descriptions The following table lists the fault types which identify the type of fault that occurred.
ENM 0 1 2 3 4 5 7 8 9 10 11 12 13 14 15 16 Description No Fault Encoder State Encoder Hardware Power Module Low DC Bus High DC Bus Travel Fault + Travel Fault Overspeed Invalid Configuration Power Up Test NVM Invalid Max Following Error RMS Shunt Motor Overtemp Drive Overtemp
Fault Status Bit Map Eb, Ei, Ei-DN, EN, FM-1, FM-2, MDS
Range Units Default Type BM32 Group Status NVM No
30401-30402
Decimal Places Access RO
This parameter returns the current state of all hardware and software faults. The table below shows each fault and the associated bit number.
Bit 0 1 3 4 5 17 18 19 20 21 22 Fault Name Encoder State Encoder H/W Power Stage Low DC Bus High DC Bus Travel Limit + Travel Limit Overspeed Invalid Configuration Power Up Self Test NVM Invalid Modbus Address 40701 40702 40703 40704 40705 40707 40708 40709 40710 40711 40712 EN Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Eb Yes Yes Ei Yes Yes Ei-DN Yes Yes FM-1 Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes FM-2 Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes MDS Yes Yes
67

Modbus Address 40713 40714 40715 40716
Bit
Fault Name Following Error Shunt Power RMS Motor Overtemp Drive Overtemp
EN Yes Yes Yes
Eb Yes
Ei Yes
Ei-DN Yes
FM-1 Yes Yes
FM-2 Yes Yes Yes
MDS Yes
Yes Yes
Yes Yes
Yes Yes
Yes
Yes Yes
Feedforwards Enable Eb, Ei, Ei-DN, EN, FM-1, FM-2, MDS

Range Units Default Type ENM Group Tuning NVM Yes Decimal Places
42026
Access RW
When feedforwards are enabled, the accuracy of the Inertia and Friction are very important. If the Inertia is larger than the actual inertia, the result could be a significant overshoot during ramping. If the Inertia is smaller than the actual inertia, following error during ramping will be reduced but not eliminated. If the Friction is greater than the actual friction, it may result in velocity error or instability. If the Friction is less than the actual friction, velocity error will be reduced but not eliminated.
This parameter enables the Feedforward Gains when set to 1. Normally set to "0". Firmware Revision Eb, Ei, Ei-DN, EN, MDS
Range Units Default Type STR Group Status NVM No
39988-39989
This parameter returns the firmware revision currently installed in the EN Drive. Example: A1 where the dashes are two spaces. FM Firmware Part Number FM-1, FM-2
39952-39957
This parameter gives the part number of the FM firmware.
68
Parameter Descriptions FM Firmware Revision Option Eb, Ei, Ei-DN, EN, FM-1, FM-2, MDS
39990-39991
This parameter returns the firmware revision currently installed in the FM. Example: A1-- where the dashes are two spaces. FM Serial Number FM-1, FM-2
Range Units Default Type STR Group ID NVM No
49957-49962
This parameter gives the serial number of the FM. Foldback RMS Eb, Ei, Ei-DN, EN, FM-1, FM-2, MDS
Range 0-300 Units % of continuous torque Default Type US16 Group Status NVM No Decimal Places 0.1
32033
Access RO
This parameter accurately models the thermal heating and cooling of the drive. When this parameter reaches 100 percent, current foldback will be activated. Following Error Eb, EN, FM-1 All Firmware and Ei, FM-2 Firmware A9 of Earlier
Range 10 Units Revs Default Type S32 Group Position NVM No
32028-32029
Access RO
Decimal Places 0.0001

Range -2
31
32028-32029
Group Position NVM No Decimal Places 0 to 4 Access RO
Units User unit
Default
Type S32
to 2 -1
31
The Following Error is the difference between the Position Command and the Position Feedback. It is positive when the Position Command is greater than the Position Feedback.
69
Drives Parameters Reference Manual Following Error Enable Eb, Ei, Ei-DN, EN, FM-1, FM-2, MDS
Range Units Default 1 Type ENM Group Position NVM Yes Decimal Places
42031
Access RW
When set to 1, a following error fault will be generated if the absolute value of the Following Error exceeds the Following Error Limit. If set to 0, no following error faults will be generated by the drive.
Following Error Limit Eb, EN, FM-1, MDS, All Firmware and Ei, FM-2 Firmware A9 or Earlier 42032-42033
Range 0.001-10 Units revs Default 0.02 Type S32 Group Position NVM Yes Decimal Places 0.0001 Access RW

Range -231 to 231-1 Units User unit Default Type S32 Group NVM Yes
42032-42033
Decimal Places 0 to 4 Access RW
This parameter is used when the Following Error Enable is enabled. This limit is compared to the absolute value of the Following Error and if the Following Error is greater a following error fault will be generated. Friction Eb, Ei, Ei-DN, EN, FM-1, FM-2, MDS
Range 0-100 Units % of continuous torque increase per 100 RPM Default 0 Type US16 Group Tuning NVM Yes Decimal Places 0.01
42023
Access RW
This parameter is characterized in terms of the rate of friction increase per 100 motor RPM. If estimated, always use a conservative (less than or equal to actual) estimate. If the friction is completely unknown, a value of zero should be used. A typical value used here is less than one percent.
70
Parameter Descriptions Full Scale Torque Eb, EN, FM-1, MDS

Range 1-300 Units % of continuous torque Default 300 Type US16 Group Torque NVM Yes Decimal Places 0.1
40605
Access RW
This parameter specifies the Torque Command when the Analog Input voltage is equal to the Analog Full Scale parameter. It is not a limit, but sets the proportion of torque to analog input. Full Scale Velocity Eb, EN, FM-1, MDS
Range 0-11000 Units RPM Default Type US16 Group Velocity NVM Yes Decimal Places 1
40604
Access RW
This parameter specifies the Velocity Command when the Analog Input voltage is equal to the Analog Full Scale parameter. The Full Scale Velocity parameter is used in the Velocity Analog or Velocity Summation operating modes. Heatsink RMS Eb, Ei, Ei-DN, EN, FM-1, FM-2, MDS
Range 0-200 Units % Default Type US16 Group Status NVM No Decimal Places 0.1
32041
Access RO
This parameter displays the effective heatsink utilization based on the power dissipated by the input bridge rectifier and the output power stage. The value of 100 percent is the maximum continuous power dissipation available at 40oC (104oF) ambient temperature with zero shunt activity. High Performance Gains Enable Eb, EN, FM-1, MDS, Ei, Ei-DN, FM-2
Range Units Default Type ENM Group Tuning NVM Yes Decimal Places
42025
Access RW
Enables High Performance Gains when set to 1. See the Tuning Section of the Reference Manual for more information.
71
Drives Parameters Reference Manual Home Acceleration Ei, FM-2 Firmware A9 or Earlier
Range 1-32700 Units ms/kRPM Default 1000 Type US32 Group Home NVM Yes
41104-41105

Range 0 to 231-1 Units ms/k User unit or user unit/s2 Default Type S32 Group NVM No
41104-41105
This parameter specifies the acceleration value to be used during the home. Home Deceleration Ei, FM-2 Firmware A9 or Earlier
Range 1-32700 Units ms/kRPM Default 1000 Type US32 Group Home NVM Yes
41106-41107

Range 0 to 231-1 Units ms/k User unit or user unit/s2 Default Type S32 Group NVM No
41106-41107
This parameter specifies the deceleration value to be used during the home. Home Limit Distance Ei, FM-2 Firmware A9 or Earlier
Range 0-214748.3647 Units revs Default 0 Type US32 Group Home NVM Yes
41113-41114

Range 0 to 231-1 Units User unit Default Type US32 Group NVM Yes
41113-41114
This parameter places an upper limit on the distance the motor will travel during the home if no sensor is found.
72
Parameter Descriptions Home Limit Distance Enable Ei, Ei-DN, FM-2

Range Units Default Type ENM Group Home NVM Yes Decimal Places
41115
Access RW
This parameter enables the Home Limit Distance. If this parameter is set to 0, there is no limit to the distance the motor will travel during a home routine.
Home Offset Ei, FM-2 Firmware A9 or Earlier

Range 214748.3647 Units revs Default 0 Type S32 Group Home NVM Yes
41110-41111

Range -231 to 231-1 Units User unit Default Type S32 Group NVM Yes
41110-41111
The Home Offset designates the location of the home position in the machine coordinate system relative to the Home Reference. During the homing routine, after the home reference is detected, the FM-2 moves the motor the Home Offset distance. This may be a calculated value or a specified value. A calculated offset is the distance required to decelerate to a stop from the home velocity. Home Offset Enable Ei, Ei-DN, FM-2
41112
Access RW
This parameter is a flag which, when set, indicates that the specified Home Offset should be used. If the flag is not set the drive will calculate an offset automatically from the home velocity and home deceleration.
73
Drives Parameters Reference Manual Home Reference Ei, Ei-DN, FM-2

41101
Access RW
The Home Reference determines how the reference position is established. The parameter can have one of three different values: Sensor, Marker, Sensor and Marker.
Value 0 1 2 Action Sensor Marker Sensor/Marker
Sensor is used when the Home Reference is to be Sensor. The active going edge of the Home Sensor input function is used to establish the reference position. When the Home Reference is to be Marker, the rising edge of the motor encoders marker channel is used to establish the reference position. When the Home Reference is a combination of Sensor and Marker, the reference position is established using the first marker rising edge after the Home Sensor input function goes active.
Home Velocity Ei, FM-2 Firmware A9 or Earlier

Range 11000 Units RPM Default -100 Type S32 Group Home NVM Yes
41102-41103

Range -231 to 231-1 Units User unit/m or user unit/s Default Type S32 Group NVM Yes
41102-41103
This parameter specifies the target velocity used for homing. Use a positive value to make the drive home in the positive direction and a negative value to make the drive home in the negative direction.
74
Parameter Descriptions In Motion Velocity Eb, Ei, Ei-DN, EN, FM-1, FM-2, MDS
Range 0-100 Units RPM Default 10 Type US16 Group Velocity NVM Yes Decimal Places 1
42035
Access RW
This parameter sets the activation point for both the In CW Motion and In CCW Motion output functions. The value of this parameter defines the motor velocity which will activate the output function. Exactly half of this value defines the motor velocity which will make the output function inactive. Index Acceleration Ei, FM-2 Firmware A9 or Earlier
Range 1-32700 Units ms/kRPM Default 1000 Type US32 Group Index NVM Yes Decimal Places 0.1
See table
Access RW

Range 0 to 231-1 Units ms/k User unit or user unit/s2 Default Type US32 Group NVM Yes Decimal Places 0 to 4
See table
Access RW
The Acceleration parameter specifies the acceleration value to be used during the index.
Index Number 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 Modbus Address 43006-43007 43031-43032 43056-43057 43081-43082 43106-43107 43131-43132 43156-43157 43181-43182 43206-43207 43231-43232 43256-43257 43281-43282 43306-43307 43331-43332 43356-43357 43381-43382
75
Drives Parameters Reference Manual Index Control Ei, Ei-DN, FM-2 Firmware C1 or Later
Range 0-65535 Units Default Type US16 Group Index NVM Yes Decimal Places 1
See Table
Access RW
This parameter gives details about the index, such as registration sensor, chain control, and offset type.
See the control bit list table below to determine which index control attributes are active. For example, if the index is a registration type to torque level 1 and the repeat count is infinite, control bits 2 and 4 would be active. This is 10100 in binary and 20 in decimal format.
Control Bit 0 1 2 3 4 5 6 7 8 9-15 Parameter Sensor 1 Sensor 2 Torque Level 1 Torque Level 2 Infinite Index Chain - Stop Chain - Start Next Index Chain - Wait For Run Next Index Input Calculated Offset Unused
76
Parameter Descriptions Index Count Ei, Ei-DN, FM-2 Firmware C1 or Later

Range 0 to 65535 Units Default 1 Type US16 Group NVM Yes Decimal Places 1
See Table
Access RW
This specifies the number of times the index will repeat itself.
Index Deceleration Ei, FM-2 Firmware Revision A9 or Earlier

Range 1-32700 Units ms/kRPM Default 1000 Type US32 Group Index NVM Yes Decimal Places 0.1
See table
Access RW

Range 0 to 231-1 Units ms/k User unit or user unit/s2 Default Type US32 Group NVM Yes Decimal Places 0 to 4
See table
Access RW
The Deceleration parameter specifies the deceleration value to be used during the index.
Index Number 0 1 Modbus Address 43008-43009 43033-43034
77

Index Number 2 3 4 5 6 7 8 9 10 11 12 13 14 15 Modbus Address 43058-43059 43083-43084 43108-43109 43133-43134 43158-43159 43183-43184 43208-43209 43233-43234 43258-43259 43283-43284 43308-43309 43333-43334 43358-43359 43383-43384
Index Distance/Position Ei, FM-2 Firmware A9 or Earlier

Range 214748.3647 Units revs Default 0 Type S32 Group Index NVM Yes Decimal Places 0.0001
See table
Access RW

Range -231 to 231-1 Units user unit Default Type S32 Group NVM Yes Decimal Places 0 to 4
See table
Access RW
This parameter is either Index Distance or Index Position depending on whether you have chosen Incremental or Absolute, respectively, as the Index Type. The Distance/Position parameter specifies the distance the index will travel (incremental index) or the absolute position the index will move to (absolute index).
Index Number 0 1 2 3 4 5 6 7 8 Modbus Address 43002-43003 43027-43028 43052-43053 43077-43078 43102-43103 43127-43128 43152-43153 43177-43178 43202-43203
78
Index Number 9 10 11 12 13 14 15 Modbus Address 43227-43228 43252-43253 43277-43278 43302-43303 43327-43328 43352-43353 43377-43378
Index Dwell Ei, Ei-DN, FM-2 Firmware C1 or Later

Range 0 to 65535 Units ms Default 0 Type US16 Group INDEX NVM Yes Decimal Places 1
See table
Access RW
This specifies the amount of time after index motion prior to the end of the index output.
79
Drives Parameters Reference Manual Index Registration Offset Ei, Ei-DN, FM-2 Firmware C1 or Later
Range -2
31
See Table
Units User Unit
Default
Type S32
to 2 -1
31
This specifies the additional Registration Offset distance to travel after the registration trigger is seen.
Index Type Ei, FM-2 Firmware A9 or Earlier

Range Units Default Type ENM Group Index NVM Yes Decimal Places
See table
Access RW

Range 0 to 4 Units Default Type ENM Group NVM Yes Decimal Places 0 to 4
See table
Access RW
Absolute indexes are used in applications where the motor must travel to a specific position, regardless of where the motor is when the index is initiated.
Value 0 Action Incremental
80
Value 1 2 3 4 Action Absolute Registration Rotary Plus Rotary Minus
An Incremental index will move the motor a specified distance in the + or - direction regardless of the starting position. The direction of the incremental index motion is determined by the sign (+ or -) of the Index Distance. A Registration index moves until a registration sensor is seen or until the index travels to the registration limit distance. Rotary Plus and Minus indexes are similar to absolute indexes, but are forced in a specific direction.
81
Drives Parameters Reference Manual Index Velocity Ei, FM-2 Firmware A9 or Earlier
Range 0-11000 Units RPM Default 100 Type US32 Group Index NVM Yes Decimal Places 0.1
See table
Access RW

Range 0 to 231-1 Units user unit/m or user unit/s Default Type US32 Group NVM Yes Decimal Places 0 to 4
See table
Access RW
The Index Velocity parameter specifies the maximum velocity to be used for the index.
Inertia Ratio Eb, Ei, Ei-DN, EN, MDS, FM-1, FM-2

Range 0-50 Units Default Type US16 Group Tuning NVM Yes Decimal Places 0.1
42021
Access RW
This specifies the Load to Motor Inertia ratio. For example, a value of 25.0 specifies the load inertia is equal to 25 times the motor inertia.
82
Parameter Descriptions Infinite Chaining Ei, Ei-DN, FM-2 Firmware C1 or Later

Range Units Default Type ENM Group Index NVM Yes Decimal Places
42601
Access RW
This parameter tells the Chain to run forever. Input Function Active Off Array Eb, Ei, Ei-DN, EN, FM-1, FM-2, MDS
Range 0 or 1 Units Default 0 Type BIT Group Input Functions NVM No Decimal Places
See table
Access RW
This parameter allows you to change the Active On/Off state of each input function. Making an input function "Active On" means that it will be active when 10 to 30 VDC is applied to the input line and inactive when no voltage is applied to the input line. Making an input function "Active Off" means that it will be active when no voltage is applied to the input line and inactive when 10 to 30 VDC is being applied. This can also be accomplished with the Input Function Active Off Bitmap. The last written setup will be the valid setup.
Modbus Address 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 EN, Eb, MDS Travel Limit + Travel Limit Stop Velocity Preset Line #1 Velocity Preset Line #2 Torque Limit Enable Torque Mode Enable Brake Release Brake Control Reset Velocity Preset Line #3 Ei, Ei-DN Travel Limit + Travel Limit Stop Home Initiate Home Sensor Torque Limit Enable Define Home Brake Release Brake Control Reset Jog + Jog Jog Fast Index Initiate Index Select 0 Index Select 1 Index Select 2 Index Select 3 Registration Sensor 1 FM-1 Travel Limit + Travel Limit Stop Velocity Preset Line #1 Velocity Preset Line #2 Torque Limit Enable Alternate Operating Mode Brake Release Brake Control Reset Velocity Preset Line #3 Torque Preset Line #1 Torque Preset Line #2 Torque Preset Line #3 FM-2 Travel Limit + Travel Limit Stop Home Initiate Home Sensor Torque Limit Enable Define Home Brake Release Brake Control Reset Jog + Jog Jog Fast Index Initiate Index Select 0 Index Select 1 Index Select 2 Index Select 3 Registration Sensor 1
83

Modbus Address 148 149
EN, Eb, MDS
Ei, Ei-DN Registration Sensor 2 Run Next Index
FM-1
FM-2 Registration Sensor 2 Run Next Index
Input Function Always Active Array Eb, Ei, Ei-DN, EN, FM-1, FM-2, MDS
Range Units Default Type BIT Group Input Functions NVM No Decimal Places
See table
Access RW
This parameter, when on, forces an input function to be always active. When off, the input function state is determined by the Input Line Debounce Status and Input Function Active Off setup. The table below lists the input functions available and their associated Modbus address. This can also be accomplished using Input Function Always Active Bit Map. The last written setup will be the valid setup.
Modbus Address 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 EN, Eb, MDS Travel Limit + Travel Limit Stop Velocity Preset Line #1 Velocity Preset Line #2 Torque Limit Enable Torque Mode Enable Brake Release Brake Control Reset Velocity Preset Line #3 Ei, Ei-DN Travel Limit + Travel Limit Stop Home Initiate Home Sensor Torque Limit Enable Define Home Brake Release Brake Control Reset Jog + Jog Jog Fast Index Initiate Index Select 0 Index Select 1 Index Select 2 Index Select 3 Registration Sensor 1 Registration Sensor 2 Run Next Index FM-1 Travel Limit + Travel Limit Stop Velocity Preset Line #1 Velocity Preset Line #2 Torque Limit Enable Alternate Operating Mode Brake Release Brake Control Reset Velocity Preset Line #3 Torque Preset Line #1 Torque Preset Line #2 Torque Preset Line #3 FM-2 Travel Limit + Travel Limit Stop Home Initiate Home Sensor Torque Limit Enable Define Home Brake Release Brake Control Reset Jog + Jog Jog Fast Index Initiate Index Select 0 Index Select 1 Index Select 2 Index Select 3 Registration Sensor 1 Registration Sensor 2 Run Next Index
84
Parameter Descriptions Input Function Mapping 32 Eb, Ei, Ei-DN, EN, FM-1, FM-2, MDS
Range Units Default 0 Type ENM Group Input Functions NVM Yes Decimal Places
See table
Access
The values in the parameters listed below define the input lines associated with the input functions. If more than one input function is assigned to a single input line, all functions assigned will be active when that input line is active. For example, when the value of parameter #40203 = 3, the Stop input function will be assigned to input line #3.
Modbus Address 40201 40202 40203 40204 40205 40206 40207 40208 40209 40210 40211 40212 40213 40214 40215 40216 40217 40218 40219 40220 40221
EN, Eb, MDS Travel Limit + Travel Limit Stop Velocity Preset Line #1 Velocity Preset Line #2 Torque Limit Enable Torque Mode Enable Brake Release Brake Control Reset Velocity Preset Line #3
Eb Travel Limit + Travel Limit Stop Velocity Preset Line #1 Velocity Preset Line #2 Torque Limit Enable Torque Mode Enable Brake Release Brake Control Reset Velocity Preset Line #3
FM-1 Travel Limit + Travel Limit Stop Velocity Preset Line #1 Velocity Preset Line #2 Torque Limit Enable Alternate Operating Mode Brake Release Brake Control Reset Velocity Preset Line #3 Torque Preset Line #1 Torque Preset Line #2 Torque Preset Line #3
Ei, Ei-DN, FM-2 Travel Limit + Travel Limit Stop Home Initiate Home Sensor Torque Limit Enable Define Home Brake Release Brake Control Reset Jog + Jog Jog Fast Index Initiate Index Select 0 Index Select 1 Index Select 2 Index Select 3 Registration Sensor 1 Registration Sensor 2 Run Next Index
85
Input Function Alternate Operating Mode
Description The FM-1 permits two different operating modes to be setup. The Main Operating Mode and the Alternate Operating mode. The Alternate Operating mode is invoked by activating the input function Alternate Operating Mode. The changeover to the Alternate Operating mode occurs in less than 400 microseconds. This input function, when active, will engage the brake unless overridden by the Brake Release input function. This input function lets you externally engage the brake, while also allowing the drive to control the brake during fault and disabled conditions. This input function will release the brake under all conditions. If this input function is active, the brake output function is switched to active (i.e. release brake). This overrides all other brake control, thus allowing the brake to be released while a fault is active or the power stage is disabled. This input function is used to set the absolute position to zero. On the rising edge of this input function, the absolute position is set to zero and the Absolute Position Valid output function is activated. This input function is used to initiate a home routine. The home is initiated on the rising edge of this input function. The drive will not initiate a home routine if there is an Index or Jog in progress or the stop input function is active. The Home Initiate Input function cannot be set Active Off. This input function defines the sensor used for homing. It is required if you are homing to a sensor or a sensor and marker. This function is edge sensitive. The sensor position is defined when the device senses the rising edge of the sensor. This input function initiates the selected index. The index to be initiated is specified using the index select input functions 0 through 3. If none of the index select functions are assigned then index #0 will be initiated. This input function cannot be set Active Off. The Index Select Input functions are used to specify the index to be initiated with the Index Initiate input function. The format of the Index Select functions (0 through 3) is binary. That is, the first line, Index Select 0, has the value of 1, the second, Index Select 1, a value of 2, the third, Index Select 2, a value of 4, the fourth, Index Select 3, a value of 8. The index number selected is the sum of the values of the active index select functions. This input function causes the drive to jog in the positive direction. It cannot be set Active Off. This input function will have no effect if the device is already performing a home or an index, or if the stop input function is active or if the Travel Limit + Input function is active. This input function causes the drive to jog in the negative direction. It cannot be set Active Off. This input function will have no affect if the device is already performing a home or an index, or if the stop input function is active. This input function is used in conjunction with the Jog+ and Jog- functions to specify the desired jog speed. When it is not active and Jog + or Jog - is activated, the drive will jog at the velocity specified by the Jog Velocity parameter. When it is active and Jog + or Jog - is activated, the drive will jog at the velocity specified by the Jog Fast Velocity parameter. Registration Index will run at velocity until the registration sensor or torque level is seen. After registration sensor, registration offset is performed. Registration Index will run at velocity until the registration sensor or torque level is seen. After registration sensor, registration offset is performed. This input is used to reset fault conditions and is logically ORed with the Reset button. A rising edge pulse is required to reset faults.
Brake Control
Brake Release
Define Home
Home Initiate
Home Sensor
Index Initiate
Index Select 0, 1, 2 and 3
Jog +
Jog -
Jog Fast
Registration Sensor 1 Registration Sensor 2 Reset
86
Input Function Run Next Index Description If two indexes are chained together using the when this index is complete then...wait for run next index input function, the index will complete and wait for this input function to be activated before chaining to the next index. This input function causes the motor to decelerate to zero velocity using the Stop Deceleration ramp. Once stopped, the position will be maintained as long as the Stop input function remains active. This input function, when active, causes the Torque Command to be limited to the value of the Torque Limit parameter. This input function, when active, causes the drive change operating mode to torque mode. When this input function is deactivated the default operating mode is enabled with no transitional ramping. These input functions cause the drive to decelerate the motor to zero velocity using the Travel Limit Deceleration ramp. The Velocity Preset Lines are used to select one of the four pre-defined velocities using the binary selection patterns shown below. If you select a different Preset Velocity, the drive will immediately ramp to the new velocity using the new acceleration ramp without stopping
Stop Torque Limit Enable Torque Mode Enable Travel Limit + Travel Limit Velocity Preset Lines 1, 2 and 3
This table shows the input line assignment values.

Value 0 1 2 3 4 5 6 7 8 9 10 11 12 EN, MDS Unmapped Input Line 1 Input Line 2 Input Line 3 Input Line 4 FM Input Line 1 FM Input Line 2 FM Input Line 3 FM Input Line 4 FM Input Line 5 FM Input Line 6 FM Input Line 7 FM Input Line 8 Input Line 1 Input Line 2 Input Line 3 Input Line 4 Input Line 5 Input Line 6 Input Line 7 Input Line 8 Input Line 9 Input Line 10 Input Line 11 Input Line 12 Input Line 1 Input Line 2 Input Line 3 Input Line 4 Ei, Ei-DN Eb
87
Drives Parameters Reference Manual Input Function Status Array Eb, Ei, Ei-DN, EN, FM-1, FM-2, MDS
Range 0 or 1 Units Default Type BIT Group Input Functions NVM No Decimal Places
See table
Access RO
This returns the status of the selected input function. The table below lists the input functions and their associated Modbus address.
Modbus Address 10065 10066 10067 10068 10069 10070 10071 10072 10073 10074 10075 10076 10077 10078 10079 10080 10081 10082 10083 10084 10085 EN, Eb, MDS Travel Limit + Travel Limit Stop Velocity Preset Line #1 Velocity Preset Line #2 Torque Limit Enable Torque Mode Enable Brake Release Brake Control Reset Velocity Preset Line #3 Ei, Ei-DN Travel Limit + Travel Limit Stop Home Initiate Home Sensor Torque Limit Enable Define Home Brake Release Brake Control Reset Jog + Jog Jog Fast Index Initiate Index Select 0 Index Select 1 Index Select 2 Index Select 3 Registration Sensor 1 Registration Sensor 2 Run Next Index FM-1 Travel Limit + Travel Limit Stop Velocity Preset Line #1 Velocity Preset Line #2 Torque Limit Enable Alternate Operating Mode Brake Release Brake Control Reset Velocity Preset Line #3 Torque Preset Line #1 Torque Preset Line #2 Torque Preset Line #3 FM-2 Travel Limit + Travel Limit Stop Home Initiate Home Sensor Torque Limit Enable Define Home Brake Release Brake Control Reset Jog + Jog Jog Fast Index Initiate Index Select 0 Index Select 1 Index Select 2 Index Select 3 Registration Sensor 1 Registration Sensor 1 Run Next Index
88
Parameter Descriptions Input Functions Active Off Bitmap Ei, Ei-DN, EN, FM-1, FM-2, MDS
Range Units Default Type BM32 Group Input Functions NVM Yes
40301-40302
This bitmap parameter contains the Active Off bits for all Input Functions. The table below shows each Input Function and its associated bit number. This can also be accomplished using Input Function Active Off Array. The last written setup will be the valid setup.
Bit 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 Input Function Travel Limit + Travel Limit Stop Home Initiate Home Sensor Torque Limit Enable Define Home Brake Release Brake Control Reset Jog + Jog Jog Fast Index Initiate Index Select 0 Index Select 1 Index Select 2 Index Select 3 Registration Sensor 1 Registration Sensor 2 Run Next Index
Input Functions Always Active Bitmap Eb, Ei, Ei-DN, EN, FM-1, FM-2, MDS
Range Units Default Type BM16 Group Input Functions NVM Yes
40401-40402
This bitmap parameter contains the Always Active bits for all input functions. The table below shows each input function and its associated bit number and numeric value. This can also be
89
Drives Parameters Reference Manual accomplished using Input Function Always Active Array. The last written setup will be the valid setup
Bit 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 Input Function Travel Limit + Travel Limit Stop Home Initiate Home Sensor Torque Limit Enable Define Home Brake Release Brake Control Reset Jog + Jog Jog Fast Index Initiate Index Select 0 Index Select 1 Index Select 2 Index Select 3 Registration Sensor 1 Registration Sensor 2 Run Next Index
Input Functions Status Bit Map Eb, Ei, Ei-DN, EN, FM-1, FM-2, MDS
Range Units Default Type BM16 Group Input Functions NVM No
30105-30106
This bitmap parameter returns the status input bits for all input functions. The table below shows each input function and its associated bit number.
Bit 0 1 2 3 4 Input Function Travel Limit + Travel Limit Stop Home Initiate Home Sensor
90
Bit 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 Input Function Torque Limit Enable Define Home Brake Release Brake Control Reset Jog + Jog Jog Fast Index Initiate Index Select 0 Index Select 1 Index Select 2 Index Select 3 Registration Sensor 1 Registration Sensor 2 Run Next Index
Input Line (#) Debounce Time Eb, Ei, Ei-DN, EN, FM-1, FM-2, MDS
Range 0-2000 Units msec Default Type US16 Group Digital Inputs NVM Yes Decimal Places 0.1
See table
Access RW
This displays the Input line debounce time in milliseconds. The table below lists the Modbus address for the available input lines.
FM-1, FM-2 Drive Enable Input Line 1 Input Line 2 Input Line 3 Input Line 4 FM In Line 1 FM In Line 2 FM In Line 3 FM In Line 4 FM In Line 5 FM In Line 6
Ei, Ei-DN Drive Enable Input Line 1 Input Line 2 Input Line 3 Input Line 4 Input Line 5 Input Line 6 Input Line 7 Input Line 8 Input Line 9 Input Line 10
EN, Eb, MDS Drive Enable Input Line 1 Input Line 2 Input Line3 Input Line 4
Modbus Address 40111 40112 40113 40114 40115 40116 40117 40118 40119 40120 40121
91

FM-1, FM-2 FM In Line 7 FM In Line 8 Ei, Ei-DN Input Line 11 Input Line 12 EN, Eb, MDS Modbus Address 40122 40123
Input Line (#) Debounced Status Array Eb, Ei, Ei-DN, EN, FM-1, FM-2, MDS
Range Units Default Type Bit Group Digital Inputs NVM No Decimal Places
See table
Access RO
This returns the status of an input line after the raw input has been debounced. The table below lists the Modbus address for the available input lines.
FM-1, FM-2 Drive Enable * Input Line 1 Input Line 2 Input Line 3 Input Line 4 FM In Line 1 FM In Line 2 FM In Line 3 FM In Line 4 FM In Line 5 FM In Line 6 FM In Line 7 FM In Line 8 Ei, Ei-DN Drive Enable * Input Line 1 Input Line 2 Input Line 3 Input Line 4 Input Line 5 Input Line 6 Input Line 7 Input Line 8 Input Line 9 Input Line 10 Input Line 11 Input Line 12 EN, Eb, MDS Drive Enable * Input Line 1 Input Line 2 Input Line 3 Input Line 4 Modbus Address 10033 10034 10035 10036 10037 10038 10039 10040 10041 10042 10043 10044 10045
Drive Enable is not debounced on drive with firmware Rev. A5 or later.
Input Line (#) Force On/Off Command Array Eb, Ei, Ei-DN, EN, FM-1, FM-2, MDS
Range Units Default 0 Type BIT Group Digital Inputs NVM No Decimal Places
See table
Access RW
These parameters are only used when the associated Input Line Force On/Off Enable parameter is active. This can also be accomplished using the Input Lines Force On/Off Command Bit Map. The setup that was last written will be the valid setup (See Input Lines Force On/Off Command Bit Map below). These are not stored in NVM.
92
Parameter Descriptions The table below shows the Modbus address for drive input lines 1 through 4 and FM-2 input lines 1 through 8.
FM-1, FM-2 Input Line 1 Input Line 2 Input Line 3 Input Line 4 FM In Line 1 FM In Line 2 FM In Line 3 FM In Line 4 FM In Line 5 FM In Line 6 FM In Line 7 FM In Line 8 Ei, Ei-DN Input Line 1 Input Line 2 Input Line 3 Input Line 4 Input Line 5 Input Line 6 Input Line 7 Input Line 8 Input Line 9 Input Line 10 Input Line 11 Input Line 12 EN, Eb, MDS Input Line 1 Input Line 2 Input Line 3 Input Line 4 Modbus Address 2 3 4 5 6 7 8 9 10 11 12 13
Input Line (#) Force On/Off Enable Array Eb, Ei, Ei-DN, EN, FM-1, FM-2, MDS
Range Units Default 0 Type BIT Group Digital Inputs NVM No Decimal Places
See table
Access RW
When active, this enables the use of the associated Input Line Force On/Off Command. If one of these parameters is inactive its associated Input Line Force On/Off Command is not used. The last written setup will be the valid setup (See Input Lines Force On/Off Enable Bit Map below). The table below shows the Modbus address for input lines 1 through 4 and FM-2 input lines 1 through 8.
FM-1, FM-2 Input Line 1 Input Line 2 Input Line 3 Input Line 4 FM In Line 1 FM In Line 2 FM In Line 3 FM In Line 4 FM In Line 5 FM In Line 6 FM In Line 7 Ei Input Line 1 Input Line 2 Input Line 3 Input Line 4 Input Line 5 Input Line 6 Input Line 7 Input Line 8 Input Line 9 Input Line 10 Input Line 11 EN, Eb, MDS Input Line 1 Input Line 2 Input Line 3 Input Line 4 Modbus Address 18 19 20 21 22 23 24 25 26 27 28
93

FM-1, FM-2 FM In Line 8 Ei Input Line 12 EN, Eb, MDS Modbus Address 29
Input Line (#) Raw Status Array Eb, Ei, Ei-DN, EN, FM-1, FM-2, MDS
Range Units Default Type BIT Group Digital Inputs NVM No Decimal Places
See table
Access RO
This is the raw (non-debounced) status of an input line.

FM-1, FM-2 Drive Enable Input Line 1 Input Line 2 Input Line 3 Input Line 4 FM In Line 1 FM In Line 2 FM In Line 3 FM In Line 4 FM In Line 5 FM In Line 6 FM In Line 7 FM In Line 8 Ei, Ei-DN Drive Enable Input Line 1 Input Line 2 Input Line 3 Input Line 4 Input Line 5 Input Line 6 Input Line 7 Input Line 8 Input Line 9 Input Line 10 Input Line 11 Input Line 12 EN, Eb, MDS Drive Enable Input Line 1 Input Line 2 Input Line 3 Input Line 4 Modbus Address 10017 10018 10019 10020 10021 10022 10023 10024 10025 10026 10027 10028 10029
Input Line (#) Status Array Eb, Ei, Ei-DN, EN, FM-1, FM-2, MDS
Range 0 or 1 Units Default Type BIT Group Digital Inputs NVM No Decimal Places
See table
Access RO
This returns the status of the selected input line after debouncing and forcing.
FM-1, FM-2 Enable Input * Input Line 1 Input Line 2 Input Line 3 Input Line 4 FM In Line 1 FM In Line 2 Ei, Ei-DN Enable Input * Input Line 1 Input Line 2 Input Line 3 Input Line 4 Input Line 5 Input Line 6 EN, Eb, MDS Enable Input * Input Line 1 Input Line 2 Input Line 3 Input Line 4 Modbus Address 10001 10002 10003 10004 10005 10006 10007
94
FM-1, FM-2 FM In Line 3 FM In Line 4 FM In Line 5 FM In Line 6 FM In Line 7 FM In Line 8 Ei, Ei-DN Input Line 7 Input Line 8 Input Line 9 Input Line 10 Input Line 11 Input Line 12 EN, Eb, MDS Modbus Address 10008 10009 10010 10011 10012 10013
Enable Input line cannot be forced. Enable Input line cannot be debounced on drive with firmware Rev. A5 or later.
Input Lines Debounced Status Bit Map Eb, Ei, Ei-DN, EN, FM-1, FM-2, MDS
Range Units Default Type BM16 Group Digital Inputs NVM No Decimal Places
30103
Access RO
This bitmap parameter returns the debounced status of all 12 input lines and the Drive Enable. The table below shows the associated bit number of each input line.
Bit 0 1 2 3 4 5 6 7 8 9 10 11 12 FM-1, FM-2 Drive Enable Input Line 1 Input Line 2 Input Line 3 Input Line 4 FM In Line 1 FM In Line 2 FM In Line 3 FM In Line 4 FM In Line 5 FM In Line 6 FM In Line 7 FM In Line 8 Ei, Ei-DN Drive Enable Input Line 1 Input Line 2 Input Line 3 Input Line 4 Input Line 5 Input Line 6 Input Line 7 Input Line 8 Input Line 9 Input Line 10 Input Line 11 Input Line 12 EN, Eb, MDS Drive Enable Input Line 1 Input Line 2 Input Line 3 Input Line 4
95
Drives Parameters Reference Manual Input Lines Force On/Off Command Bit Map Eb, Ei, Ei-DN, EN, FM-1, FM-2, MDS
Range Units Default Type US16 Group Digital Inputs NVM No Decimal Places
40101
Access RW
Bit 1 2 3 4 5 6 7 8 9 10 11 12
FM-1, FM-2 Input Line 1 Input Line 2 Input Line 3 Input Line 4 FM Input Line 1 FM Input Line 2 FM Input Line 3 FM Input Line 4 FM Input Line 5 FM Input Line 6 FM Input Line 7 FM Input Line 8
Ei, Ei-DN Input Line 1 Input Line 2 Input Line 3 Input Line 4 Input Line 5 Input Line 6 Input Line 7 Input Line 8 Input Line 9 Input Line 10 Input Line 11 Input Line 12
EN, Eb, MDS Input Line 1 Input Line 2 Input Line 3 Input Line 4
Input Lines Force On/Off Enable Bit Map Eb, Ei, Ei-DN, EN, FM-1, FM-2, MDS
Range Units Default 0 Type US16 Group Digital Inputs NVM No Decimal Places
40102
Access RW
This bitmap parameter contains the Input Lines Force On/Off Enable of all twelve input lines. If a bit is inactive, its associated Input Line Force On/Off Command is not used. This can also be accomplished using the Input Lines Force On/Off Enable parameter. The last written setup will be the valid setup (see also, Input Lines Force On/Off Enable above). The table below shows the associated bit number of each input line.
Bit 1 2 3 4 5 6 7 FM-1, FM-2 Input Line 1 Input Line 2 Input Line 3 Input Line 4 FM In Line 1 FM In Line 2 FM In Line 3 Ei, Ei-DN Input Line 1 Input Line 2 Input Line 3 Input Line 4 Input Line 5 Input Line 6 Input Line 7 En, Eb, MDS Input Line 1 Input Line 2 Input Line 3 Input Line 4
96
Bit 8 9 10 11 12 FM-1, FM-2 FM In Line 4 FM In Line 5 FM In Line 6 FM In Line 7 FM In Line 8 Ei, Ei-DN Input Line 8 Input Line 9 Input Line 10 Input Line 11 Input Line 12 En, Eb, MDS
Input Lines Raw Status Bit Map Eb, Ei, Ei-DN, EN, FM-1, FM-2, MDS
Range Units Default Type BM16 Group Digital Inputs NVM No Decimal Places
30102
Access RO
This bitmap parameter returns the non-debounced status of all 12 input lines and the Drive Enable. The table below shows the associated bit number of each input line.
Bit 0 1 2 3 4 5 6 7 8 9 10 11 12 FM-1, FM-2 Drive Enable Input Line 1 Input Line 2 Input Line 3 Input Line 4 FM In Line 1 FM In Line 2 FM In Line 3 FM In Line 4 FM In Line 5 FM In Line 6 FM In Line 7 FM In Line 8 Ei, EI-DN Drive Enable Input Line 1 Input Line 2 Input Line 3 Input Line 4 Input Line 5 Input Line 6 Input Line 7 Input Line 8 Input Line 9 Input Line 10 Input Line 11 Input Line 12 EN, Eb, MDS Drive Enable Input Line 1 Input Line 2 Input Line 3 Input Line 4
Input Lines Status Bit Map Eb, EN, Ei, Ei-DN, MDS, FM-1, FM-2
Range 0 or 1 Units Default Type BM16 Group Digital Inputs NVM No Decimal Places
30101
Access RO
This bitmap parameter returns the status of all input lines after debouncing and forcing. The table below shows each input line and its associated bit number.
Bit 0 FM-1, FM-2 Enable Input Ei, Ei-DN Enable Input EN, Eb, MDS Enable Input
97

Bit 1 2 3 4 5 6 7 8 9 10 11 12 FM-1, FM-2 Input Line 1 Input Line 2 Input Line 3 Input Line 4 FM Input Line 1 FM Input Line 2 FM Input Line 3 FM Input Line 4 FM Input Line 5 FM Input Line 6 FM Input Line 7 FM Input Line 8 Ei, Ei-DN Input Line 1 Input Line 2 Input Line 3 Input Line 4 Input Line 5 Input Line 6 Input Line 7 Input Line 8 Input Line 9 Input Line 10 Input Line 11 Input Line 12 EN, Eb, MDS Input Line 1 Input Line 2 Input Line 3 Input Line 4
Jog Acceleration Ei, FM-2 Firmware A9 or Earlier

Range 1-32700 Units ms/kRPM Default 1000 Type US32 Group Jog NVM Yes
41155-41156

Range 0 to 231-1 Units ms/k User unit/m or user unit/s2 Default Type US32 Group NVM Yes
41155-41156
This parameter specifies the acceleration value to be used during the jog. Jog Deceleration Ei, FM-2 Firmware A9 or Earlier
Range 1-32700 Units ms/kRPM Default 1000 Type US32 Group Jog NVM Yes
41157-41158

41157-41158
This parameter specifies the deceleration value to be used during the jog.
98
Parameter Descriptions Jog Fast Velocity Ei, FM-2 Firmware A9 or Earlier

Range 0-5000 Units RPM Default 500 Type US32 Group Jog NVM Yes
41153-41154

Range 0 to 231-1 Units User unit/m or user unit/s Default Type US32 Group NVM Yes
41153-41154
This parameter specifies the velocity used for fast jogging with the Jog Fast input function in conjunction with the Jog + or Jog - input functions or the Jog +/- Fast Motion Command. Jog Velocity Ei, FM-2 Firmware A9 or Earlier
Range 0-5000 Units RPM Default 100 Type US32 Group Jog NVM Yes
41151-41152

Range 0 to 231-1 Units User unit/m or user unit/s Default Type US32 Group NVM Yes
41151-41152
This parameter specifies the velocity used for jogging with the Jog + or Jog - input functions or the Jog +/- Fast Motion Command. Line Voltage Eb, Ei, Ei-DN, EN, FM-1, FM-2
Range Units VAC Default 230 Type ENM Group Setup NVM Yes Decimal Places
42002
Access RW
The Line Voltage is used to calculate critical internal gains. Two values are possible, 115 or 230 VAC. A value of 115 VAC should not be used if the actual line voltage is 230, otherwise damage to the EN drive may result. The default value is 230 VAC.
Value 115 230 Action 115 volts 230 volts
99
Note
The drive only reads this parameter on power-up, so a Warm Start Execute or power off must follow a write to this parameter. Low DC Bus Fault Enable Eb, Ei, Ei-DN, EN, FM-1, FM-2, MDS
Range Units Default 1 Type ENM Group Setup NVM Yes Decimal Places
42046
Access RW
Setting this bit enables the low DC bus fault which will generate a fault when the Epsilon drives DC bus drops to 60 VDC.
Motion Command Ei, Ei-DN, FM-2

Range Units Default Type ENM Group Motion Commands NVM Yes Decimal Places
See table
Access RW
These Modbus registers are used to setup the initiation of motion. They consist of opcodes which specify the type of motion to initiate, and arguments which specify details such as which index to initiate. Motion is initiated with the associated bits in the Motion Command Execute Array below.
Motion Command Number 0 1 2 3 4 5 Modbus Address 41306 41307 41311 41312 41316 41317 41321 41322 41326 41327 41331 41332 Function Opcode Argument Opcode Argument Opcode Argument Opcode Argument Opcode Argument Opcode Argument Default 3 (Stop) 0 1 (Home) 0 2 (Index) 0 6 (Jog +) 0 7 (Jog -) 0 8 (Jog + Fast) 0
100
Motion Command 6 7 41336 41337 41341 41342 Opcode Argument Opcode Argument 9 (Jog - Fast) 0 0 0
Opcode Value 0 1 2 3 4 5 6 7 8 9 Name No Command Home Initiate Index Initiate Stop Start Jogging Stop Jogging Jog + Jog Jog + Fast Jog - Fast Value N/A N/A 0 to 15 N/A 0 1 2 3 N/A N/A N/A N/A N/A
Argument Description N/A N/A Determines the index that is initiated N/A Jog + Jog + Fast Jog Jog - Fast N/A N/A N/A N/A N/A
Motion Command Execute Array Ei, Ei-DN, FM-2

Range Units Default Type BIT Group Motion Commands NVM No Decimal Places
See table
Access RW
These Modbus registers initiate the functions setup with the Motion Command Array.
Function Initiate Motion Command 0 Initiate Motion Command 1 Initiate Motion Command 2 Initiate Motion Command 3 Initiate Motion Command 4 Initiate Motion Command 5 Initiate Motion Command 6 Initiate Motion Command 7 Motion Command Default Stop Home Index Jog + Jog Jog + Fast Jog - Fast Not Used Modbus Address 1101 1102 1103 1104 1105 1106 1107 1108
101
Drives Parameters Reference Manual Motion State Ei, Ei-DN, FM-2

32063
Access RO
This parameter returns the motion state.

Value 0 1 2 3 4 Motion State Ready Homing Indexing Jogging Decelerating
Motor Continuous Current Rating Eb, Ei, Ei-DN, EN, FM-1, FM-2, MDS
Range 1-30 Units ARMS Default Type US16 Group User Def. Motor NVM Yes Decimal Places 0.01
42116
Access RO
This user defined motor parameter specifies the continuous current rating for the motor in ARMS and can only be entered using the motor.ddf file. This parameter is valid and active only when a user defined motor is selected. Motor Encoder Lines Per Revolution Eb, Ei, Ei-DN, EN, FM-1, FM-2, MDS
Range Units lines Default 2048 Type US16 Group User Def. Motor NVM Yes Decimal Places
42108
Access RO
This user defined motor parameter specifies the number of Encoder Lines Per Revolution of the encoder and can only be entered in the motor.ddf file.
Value 1000 1024 2000 2048 2500 4096 8192 Action 1000 1024 2000 2048 2500 4096 8192
This parameter is valid and active only when a user defined motor is selected.
102
Parameter Descriptions Motor Encoder Marker Angle Eb, Ei, Ei-DN, EN, FM-1, FM-2, MDS
Range 0-359 Units degrees Default Type US16 Group User Def. Motor NVM Yes Decimal Places 1
42109
Access RO
This user defined motor parameter specifies the electrical angle between the rising edge of the Z channel and the zero electrical position (defined as the peak of Vts) and can only be entered using the motor.ddf file. This parameter is valid and active only when a user defined motor is selected. Motor Encoder Reference Motion Eb, Ei, Ei-DN, EN, FM-1, FM-2
Range 0 or 1 Units Default 0 Type ENM Group User Def. Motor NVM Yes Decimal Places
42111
Access RO
This parameter relates to the phase relationship between encoder channels A, B, U, V and W. If A leads B when turning the motor CCW then set this parameter to 0 (CCW). Refer to the Epsilon Eb and EN Drives Reference Manual (P/N 400501-01) for User Defined Motor Setup instructions.
Value 0 1 Action CCW CW
This parameter can only be entered using the motor.ddf file and is valid and active only when a user defined motor is selected. Motor Encoder U Angle Eb, Ei, Ei-DN, EN, FM-1, FM-2, MDS
Range 0-359 Units degrees Default Type US16 Group User Def. Motor NVM Yes Decimal Places 1
42110
Access RO
This user defined motor parameter specifies the electrical angle between the rising edge of U and the zero position (defined as the peak of Vts). This parameter is valid and active only when a user defined motor is selected.
103
Drives Parameters Reference Manual Motor Inductance Eb, Ei, Ei-DN, EN, FM-1, FM-2, MDS
Range 1-100 Units millihenries Default Type US16 Group User Def. Motor NVM Yes Decimal Places 0.1
42115
Access RO
This user defined motor parameter specifies the phase to phase inductance for the motor and can only be entered using the motor.ddf file. This parameter is valid and active only when a user defined motor is selected. Motor Inertia Eb, Ei, Ei-DN, EN, FM-1, FM-2, MDS
Range 0.00001-0.5 Units lb-in-sec2 Default Type US16 Group User Def. Motor NVM Yes Decimal Places 0.00001
42112
Access RO
This user defined motor parameter specifies the motor inertia and can only be entered using the motor.ddf file. This parameter is valid and active only when a user defined motor is selected. Motor KE Eb, Ei, Ei-DN, EN, FM-1, FM-2, MDS
Range 5-500 Units VRMS/kRPM Default Type US16 Group User Def. Motor NVM Yes Decimal Places 0.1
42113
Access RO
This user defined motor parameter specifies the motors KE value and can only be entered using the motor.ddf file. This parameter is valid and active only when a user defined motor is selected. Motor Maximum Operating Speed Eb, Ei, Ei-DN, EN, FM-1, FM-2, MDS
Range 0-11000 Units RPM Default Type US16 Group User Def. Motor NVM Yes Decimal Places 1
42118
Access RO
This user defined motor parameter specifies the maximum operating speed of the motor and can only be entered using the motor.ddf file. This parameter is valid and active only when a user defined motor is selected.
104
Parameter Descriptions Motor Peak Current Rating Eb, Ei, Ei-DN, EN, FM-1, FM-2, MDS
Range 1-100 Units ARMS Default Type US16 Group User Def. Motor NVM Yes Decimal Places 0.01
42117
Access RO
This user defined motor parameter specifies the peak current rating for the motor and can only be entered using the motor.ddf file. This parameter is valid and active only when a user defined motor is selected. Motor Poles Eb, Ei, Ei-DN, EN, FM-1, FM-2, MDS
Range 2, 4, 6, 8, 10, 12, 14, 16 Units Default Type ENM Group User Def. Motor NVM Yes Decimal Places
42107
Access RO
This user defined motor parameter specifies the number of magnetic pole pairs in the motor and can only be entered using the motor.ddf file. This parameter is valid and active only when a user defined motor is selected. Motor Resistance Eb, Ei, Ei-DN, EN, FM-1, FM-2, MDS
Range 0.1-50 Units ohms Default Type US16 Group User Def. Motor NVM Yes Decimal Places 0.01
42114
Access RO
This user defined motor parameter specifies the phase to phase resistance for the motor and can only be entered using the motor.ddf file. This parameter is valid and active only when a user defined motor is selected. Motor Type Eb, Ei, Ei-DN, EN, FM-1, FM-2, MDS
Range Units Default Type ENM Group Motor NVM Yes Decimal Places
40002
Access RW
This parameter selects the Control Techniques motor type. The drive uses the selected motor to setup the internal drive loops. The defined motor types are:
Value 0 1 2 3 Motor MG-205 MG-208 MG-316 MG-340 Value 44 45 46 47 Motor NT-345 NT345B NT-355 NT-355B
105

Value 4 5 6 11 12 13 14 15 16 17 18 19 20 21 22 23 30 31 40 41 42 43 Motor MG-455 MG-490 MG-4120 75EZA400 75EZB400 75EZC400 75EZD400 95EZB300 95EZC300 95EZD300 115EZC250 115EZD250 115EZE250 55EZA500 55EZB500 55EZC500 NT-207 NT-212 NT-320 NT-320B NT-330 NT-330B Value 60 61 62 63 64 65 68 70 71 72 73 80 81 82 83 84 85 86 87 88 89 Motor MH-455 MH-490 MH-4120 MH-6120 MH-6200 MH-6300 MH-8750 MH-340 MH-316 MH-8500 MH-8250 95UMB 115UMB 115UMD 142UMB 142UMD 190UMA 190UMB 190UMC 190UMD 95UMD
Note
The drive only reads this parameter on power-up, so a Warm Start Execute or power off must follow a write to this parameter. Operating Mode Alternate Eb, EN, FM-1, MDS
Range Units Default Type ENM Group Setup NVM Yes Decimal Places
40019
Access RW
This parameter shows the user selected operating mode. The table below shows the possible alternate operating modes and their associated values.
Value 20 21 Operating Mode/Drive State Torque Analog Torque Preset
106
Value 30 31 40 50 51 52 Operating Mode/Drive State Velocity Analog Velocity Preset Pulse (FM-1 only) Velocity Analog + Velocity Preset Pulse Direction + Velocity Analog (FM-1 only) Pulse Direction + Velocity Preset (FM-1 only)
This is the operating mode selected when the Alternate Operating Mode Input function is selected. Operating Mode Default (Obsolete) Eb, Ei, Ei-DN, EN, FM-1, FM-2, MDS
Range 0 or 1 Units Default 0 Type ENM Group Setup NVM Yes Decimal Places
40001
Access RW
This parameter shows the user selected default operating mode. The table below shows the possible operating modes and their associated values (See Actual Operating Mode).
Value 0 1 2 3 4 5 6 7 Eb, EN, FM-1, MDS Disabled Torque Velocity Analog Velocity Preset Velocity Summation Pulse Pulse Pulse Direction Pulse Quadrature FM-2, Ei, Ei-DN Disabled FM2 (only has 1 operating mode)
Operating Mode Default Expanded Eb, EN, FM-1, MDS

Range Units Default Type ENM Group Setup NVM Yes Decimal Places
40018
Access RW
This parameter is the user selected default operating mode. The table below shows the possible operating modes and their associated values. See Actual Operating Mode Expanded. Operating Mode Default and Operating Mode Default Expanded are a image of each other in all modes except Pulse mode and the Pulse Summation mode. When Operating mode default is set to a mode the Operating Mode Default Expanded is set by the drive to same settings and vice versa.
Value 0 Disabled Operating Mode/Drive State Product Eb, EN, FM-1, MDS
107

Value 20 21 30 31 40 50 51 52 Operating Mode/Drive State Torque Analog Torque Preset Velocity Analog Velocity Preset Pulse (FM-1 only) Velocity Analog + Velocity Preset Pulse Direction + Velocity Analog (FM-1 only) Pulse Direction + Velocity Preset (FM-1 only) Eb, EN FM-1, MDS Eb, EN, FM-1, MDS Eb, EN, FM-1, MDS Eb, EN, FM-1, MDS Eb, EN, FM-1, MDS FM-1 FM-1 Product
Option 1 ID (Function Module) Eb, Ei, Ei-DN, EN, FM-1, FM-2, MDS
Range Units Default Type US16 Group ID NVM No Decimal Places
39985
Access RO
Output Function Mapping Eb, Ei, Ei-DN, EN, FM-1, FM-2, MDS
Range Units Default Type US16 Group Output Functions NVM Yes Decimal Places
See table
Access RW
The values in the parameters listed below define the output lines which are associated with the output functions. If more than one output function is assigned to a single output line, the status of that output line will be the logic ORing of all the functions assigned (i.e., if any of the functions are On, the output will be active). Example: When the value of parameter 40451 = 1, the Drive Ok output function will be assigned to Output Line #1.
Modbus Address 40451 40452 40453 40454 40455 40456 40457 40458 40459 40460 40461 Eb, EN, FM-1, MDS Drive OK In + Motion In - Motion At Velocity Fault Travel Limit + Travel Limit Brake Torque Limit Active Shunt Active Foldback Active Ei, Ei-DN. FM-2 Drive OK In + Motion In - Motion At Velocity Fault Travel Limit + Travel Limit Brake Torque Limit Active Shunt Active Foldback Active
108
Modbus Address 40462 40463 40464 40465 40466 40467 40468 40469 40470 40471 40472 Output Function Absolute Position Valid Power Stage Enable Torque Level 1 Active Torque Level 2 Active Eb, EN, FM-1, MDS Velocity Limiting Active Ei, Ei-DN. FM-2 Home Limit Distance Hit Absolute Position Valid End of Index End of Home Power Stage Enable Torque Level 1 Active Torque Level 2 Active End of Index Count Reg. Limit Distance Hit End of Chaining Count End of Index Motion Description This output is activated when either the Define Home input function is activated or the End of Home output function is activated. This output is deactivated if the drive is rebooted, an encoder fault occurs, the device is powered down, or a home is reinitiated. This output function is active whenever the motor is at the desired velocity (i.e., acceleration or deceleration is complete). This output is only associated with Velocity Preset Velocities. This output function is used to control the motor holding brake. If the Brake output is Off, the brake is mechanically engaged. This output function is active whenever no fault condition exists. Travel Limits and the Drive Enable have no effect on this output function. This output function activates when an index chain has repeated itself the number of times specified in the Chain Count parameter. It remains active until the next chain is initiated. This output function activates at the end of an Homing Motion. It remains active until the next time a home is initiated. This output function activates at the end of an Index Dwell. It remains active until another index is initiated. This output function activates when an index has repeated itself the number of times specified in the Index Repeat Count parameter. It remains active until the next index is initiated. This output function activates when index motion is complete and prior to the beginning of the Index Dwell. It remains active until the next index is initiated. This output function is active whenever a drive fault condition exists. The Travel Limits will also cause this output function to be active. This output function is active when the drive is limiting motor current. If the RMS Foldback value exceeds 100 percent of the continuous rating, the current foldback algorithm will limit the current delivered to the motor to 80 percent of the continuous rating. This output function indicates that no home reference was sensed during the move to the Home Limit Distance.
At Velocity Brake Drive OK End of Chaining Count End of Home End of Index End of Index Count End of Index Motion Fault
Foldback Active
Home Limit Distance Hit
109

Output Function In + Motion In - Motion Description These output functions are active whenever the motor is turning at a velocity greater than the In Motion Velocity parameter in the + or - direction respectively. Default value of In Motion Velocity is 10 RPM. Hysteresis is used to avoid a high frequency toggling of this output function. This function is deactivated when the motor velocity is less than 1/2 of the In Motion Velocity parameter. This output is active when the drive is OK and enabled. It will go inactive when anything happens to disable the output power stage. This output function activates if a registration index travels the full Registration Limit Distance without seeing the registration trigger (sensor or torque level). It remains active until the next index is initiated. This is a real time indicator of the internal shunt activity. For EN-204 and Epsilon drives this output can be used to control all external shunt control switches. This output is active if the Torque Command exceeds the specified Torque Limit value. Refer to the Torque Limit description later in this chapter. These outputs are active when the associated Travel Limit input function are active. This output function is active when the Actual Velocity Command is being limited. The velocity limit is dependent upon the maximum motor speed for the Motor Type selected. If the Actual Velocity Command exceeds the velocity limit, the command will be limited and the Velocity Limiting Active output function will be active.
Power Stage Enabled Registration Limit Distance Hit Shunt Active Torque Limit Active Travel Limit + Travel Limit Velocity Limiting Active
The table below shows the output line assignment values.

Value 1 2 3 4 5 6 7 FM-1, FM-2 Output Line 1 Output Line 2 Output Line 3 FM Output Line 1 FM Output Line 2 FM Output Line 3 FM Output Line 4 Ei, Ei-DN, Output Line 1 Output Line 2 Output Line 3 Output Line 4 Output Line 5 Output Line 6 Output Line 7 EN, Eb, MDS Output Line 1 Output Line 2 Output Line 3
Output Function Status Array Eb, Ei, Ei-DN, EN, FM-1, FM-2, MDS
Range 0 or 1 Units Default Type Bit Group Output Functions NVM No Decimal Places
See table
Access RO
This returns the status of the selected output function. The table below lists the output functions available and their associated Modbus address.
Modbus Address 10097 10098 10099 10100 Eb, EN, FM-1, MDS Drive OK In + Motion In - Motion At Velocity Ei, Ei-DN, FM-2 Drive OK In + Motion In - Motion At Velocity
110
Modbus Address 10101 10102 10103 10104 10105 10106 10107 10108 10109 10110 10111 10112 10113 10114 10115 10116 10117 10118 Power Stage Enable Torque Level 1 Active Torque Level 2 Active Fault Travel Limit + Travel Limit Brake Torque Limit Active Shunt Active Foldback Active Velocity Limiting Active Eb, EN, FM-1, MDS Fault Travel Limit + Travel Limit Brake Torque Limit Active Shunt Active Foldback Active Home Limit Distance Hit Absolute Position Valid End of Index End of Home Power Stage Enable Torque Level 1 Active Torque Level 2 Active End of Index Count Reg. Limit Distance Hit End of Chaining Count End of Index Motion Ei, Ei-DN, FM-2
Output Functions Status Bit Map Eb, Ei, Ei-DN, EN, FM-1, FM-2, MDS
Range Units Default Type BM16 Group Output Functions NVM No
30107-30108
This bitmap parameter returns the Status bits for all output functions. The table below shows the associated bit for each output function.
Bit 0 1 2 3 4 5 6 7 8 9 Output Function Drive OK In + Motion In - Motion At Velocity Fault Travel Limit + Travel Limit Brake Torque Limit Active Shunt Active
111

Bit 10 11 12 13 14 15 16 17 18 19 20 21 Output Function Foldback Active Home Limit Distance Hit Absolute Position Valid End of Index End of Home Drive OK In + Motion In - Motion End of Index Count Reg. Limit Distance Hit End of Chaining Count End of Index Motion
Output Line (#) Active Off Eb, Ei, Ei-DN, EN, FM-1, FM-2, MDS
Range Units Default Type BIT Group Digital Outputs NVM Yes Decimal Places
See table
Access RW
If these parameters are set to 1, the result of the ORed output function states assigned to the line will be active off. This can also be accomplished using the Output Lines Active Off Bit Map. The last written setup will be the valid setup.
FM-1 & FM-2 Output Line 1 Output Line 2 Output Line 3 FM Output Line 1 FM Output Line 2 FM Output Line 3 FM Output Line 4 Ei, Ei-DN Output Line 1 Output Line 2 Output Line 3 Output Line 4 Output Line 5 Output Line 6 Output Line 7 EN, Eb, MDS Output Line 1 Output Line 2 Output Line 3 Modbus Address 65 66 67 68 69 70 71
112
Parameter Descriptions Output Line (#) Force On/Off Command Eb, Ei, Ei-DN, EN, FM-1, FM-2, MDS
Range Units Default Type BIT Group Digital Outputs NVM No Decimal Places
See table
Access RW
This parameter is used only the when the associated Output Line Force On/Off Enable is active. This can also be accomplished using the Output Line Force On/Off Command Bit Map. The setup that was last written will be the valid setup.
FM-1, FM-2 Output Line 1 Output Line 2 Output Line 3 FM Output Line 1 FM Output Line 2 FM Output Line 3 FM Output Line 4 Ei, Ei-DN Output Line 1 Output Line 2 Output Line 3 Output Line 4 Output Line 5 Output Line 6 Output Line 7 EN, Eb, MDS Output Line 1 Output Line 2 Output Line 3 Modbus Address 33 34 35 36 37 38 39
Output Line (#) Force On/Off Enable Eb, Ei, Ei-DN, EN, FM-1, FM-2
Range 0 or 1 Units Default 0 Type BIT Group Digital Outputs NVM No Decimal Places
See table
Access RW
These parameters, when active, enables the use of the associated Output Line Force On/Off Command. If the parameter is inactive, the associated Output Line Force On/Off Command is not used. This can also be accomplished using the Output Lines Force On/Off Enable Bit Map. The last written setup will be the valid setup.
FM-1, FM-2 Output Line 1 Output Line 2 Output Line 3 FM Output Line 1 FM Output Line 2 FM Output Line 3 FM Output Line 4 EI, EI-DN Output Line 1 Output Line 2 Output Line 3 Output Line 4 Output Line 5 Output Line 6 Output Line 7 EN, Eb, MDS Output Line 1 Output Line 2 Output Line 3 Modbus Address 49 50 51 52 53 54 55
113
Drives Parameters Reference Manual Output Line (#) Status Array Eb, Ei, Ei-DN, EN, FM-1, FM-2, MDS
Range Units Default Type BIT Group Digital Outputs NVM No Decimal Places
See table
Access RO
This returns the status of the selected output line.

FM-1, FM-2 Output Line 1 Output Line 2 Output Line 3 FM Output Line 1 FM Output Line 2 FM Output Line 3 FM Output Line 4 Ei, Ei-DN Output Line 1 Output Line 2 Output Line 3 Output Line 4 Output Line 5 Output Line 6 Output Line 7 Eb, EN, MDS Output Line 1 Output Line 2 Output Line 3 Modbus Address 10049 10050 10051 10052 10053 10054 10055
Output Lines Active Off Bit Map Eb, Ei, Ei-DN, EN, FM-1, FM-2, MDS
Range Units Default Type BM16 Group Digital Outputs NVM Yes Decimal Places
40105
Access RW
This bitmap parameter contains the Active Off bits for all output lines. The table below shows each output line and its associated bit number. This can also be accomplished using the Output Line Active Off. The last written setup will be the valid setup.
Bit 0 1 2 3 4 5 6 FM-1, FM2 Output Line 1 Output Line 2 Output Line 3 FM Output Line 1 FM Output Line 2 FM Output Line 3 FM Output Line 4 Ei, Ei-DN Output Line 1 Output Line 2 Output Line 3 Output Line 4 Output Line 5 Output Line 6 Output Line 7 EN, Eb, MDS Output Line 1 Output Line 2 Output Line 3
114
Parameter Descriptions Output Lines Force On/Off Command Bit Map Eb, Ei, Ei-DN, EN, FM-1, FM-2, MDS
Range Units Default Type US16 Group Digital Outputs NVM No Decimal Places
40103
Access RW
This bitmap parameter is used to change the force On/Off status of all output lines. The table below shows each output line and the associated bit number. This can also be accomplished using the Output Line Force On/Off Command. The last written setup will be the valid setup.
Output Lines Force On/Off Enable Bit Map Eb, Ei, Ei-DN, EN, FM-1, FM-2, MDS
Range Units Default Type US16 Group Digital Outputs NVM No Decimal Places
40104
Access RW
This bitmap parameter is used to change the Output Line Force On/Off Enable of output lines. The table below shows each output line and its associated bit number. This can also be accomplished using the Output Line Force On/Off Enable. The last written setup will be the valid setup.
115
Drives Parameters Reference Manual Output Lines Status Bit Map Eb, Ei, Ei-DN, EN, FM-1, FM-2, MDS
Range Units Default Type BM16 Group Digital Outputs NVM No Decimal Places
30104
Access RO
This bitmap parameter returns the Status bits for all output lines. The table below shows each output line and its associated bit number.
Bit 0 1 2 3 4 5 6 FM-1, FM-2 Output Line 1 Output Line 2 Output Line 3 FM Output Line 1 FM Output Line 2 FM Output Line 3 FM Output Line 4 Ei, Ei-DN Output Line 1 Output Line 2 Output Line 3 Output Line 4 Output Line 5 Output Line 6 Output Line 7 EN, Eb, MDS Output Line 1 Output Line 2 Output Line 3
Overspeed Velocity Limit Eb, Ei, Ei-DN, EN, FM-1, FM-2, MDS
Range 0-13000 Units RPM Default 6000 Type US16 Group Velocity NVM Yes Decimal Places 1
42036
Access RW
The overspeed velocity limit will cause an overspeed velocity fault if the motor velocity exceeds this value. Position Command Eb, EN, FM-1, MDS All Firmware and Ei, FM-2 Firmware A9 or Earlier 32036-32037
Range 214748.3647 Units revs Default Type S32 Group Position NVM No Decimal Places 0.0001 Access RO

Range -231 to 231-1 Units User unit Default Type S32 Group NVM No
32036-32037
Decimal Places 0 to 4 Access RO
This is the commanded position generated by either the pulse command or velocity command. In Pulse Summation mode it is the sum total position command by both pulse and velocity commands
116
Parameter Descriptions Position Error Integral Enable Eb, Ei, Ei-DN, EN, MDS, FM-1, FM-2
Range Units Default 0 Type ENM Group Tuning NVM Yes Decimal Places
42028
Access RW
This enables the Position Error Integral. See also Position Error Integral Time Constant.
Position Error Integral Time Constant Eb, Ei, Ei-DN, EN, FM-1, FM-2, MDS
Range 5-500 Units msec Default 50 Type US16 Group Tuning NVM Yes Decimal Places 1
42029
Access RW
Position Error Integral is a control term which can be used to compensate for the continuous disturbance torques required in some applications (e.g., to hold a vertical load against gravity). It is also useful in low speed applications which have high friction. The user configures this control term using the Position Error Integral Time Constant parameter. This parameter determines how quickly the drive will correct for in-position following error. The time constant is in milliseconds and defines how long it will take to decrease the following error to 37 percent of the original value. In certain circumstances the value actually used by the drive will be greater than the value specified here. Minimum Time Constant = 1000/Response For example, with response set to 50, the minimum time constant value is 1000/50 or 20 msec. Position Feedback Eb, EN, FM-1, MDS All Firmware and Ei, FM-2 Firmware A9 or Earlier 32026-32027
Range 214748.3647 Units revs Default Type S32 Group Position NVM No Decimal Places 0.0001 Access RO

Range -2
31
32026-32027
Group NVM No Decimal Places 0 to 4 Access RO
Units User unit
Default
Type S32
to 2 -1
31
This parameter defines the motor position in revolutions and fractions since this parameter was set to zero upon power up.
117
Drives Parameters Reference Manual Position Feedback (fractional part) Eb, EN, FM-1, MDS
Range 0-0.9999 Units revs Default Type US16 Group Position NVM No Decimal Places 0.0001
32023
Access RO
This parameter defines the motor position in fractions of a motor revolution since this parameter was set to zero upon power up. This parameter may be used with the motor position integral part to calculate the exact total Motor Position since power up. Position Feedback (integral part) Eb, EN, FM-1, MDS
Range Units revs Default Type S32 Group Position NVM No
32024-32025
This parameter defines the motor position in whole completed revolutions since this parameter was set to zero upon power up. This parameter may be used with the Position Feedback (fractional part) to calculate the exact total motor position since power up. Position Feedback Encoder Eb, Ei, Ei-DN, EN, FM-1, FM-2, MDS
Range 2147483647 Units counts Default Type S32 Group Position NVM No
40081-40082
This displays the motor position in encoder counts since power up when the value was set to zero.
FM Only
This is also set to zero when the Absolute Position Valid output function is activated. This parameter can be rewritten any time after power up. Positive Direction Eb, Ei, Ei-DN, EN, FM-1, FM-2, MDS
Range Units Default 1 Type ENM Group Setup NVM Yes Decimal Places
42044
Access RW
This parameter is used the select which direction of motor rotation is considered to be motion in the positive direction (increasing absolute position). Motor rotation direction is viewed from the shaft end of the motor.
Value 0 Action CCW
118
Value 1 Action CW
Power Up Count Eb, Ei, Ei-DN, EN, FM-1, FM-2, MDS

Range 0-65535 Units counts Default Type US16 Group Status NVM Yes Decimal Places
40020
Access RO
This displays the number of times the drive has been powered up since product shipment. Power Up Time Eb, Ei, Ei-DN, EN, FM-1, FM-2, MDS
Range Units minutes Default Type US32 Group Status NVM No
40023-40024
This displays the time elapsed since the last power up. Power Up Time Total Eb, Ei, Ei-DN, EN, FM-1, FM-2, MDS
Range 0.0-429496729.5 Units hours Default Type US32 Group Status NVM Yes
40021-40022
Decimal Places 0.1 Access RO
This displays the total power up time of the EN Drive since product shipment. Predefined Setup Eb, EN, FM-1, MDS
Range Units Default Type ENM Group Setup NVM No Decimal Places
40051
Access RW
This is used to select one of eight drive setups. You can also select a predefined setup using the Quick Touch Setup procedure on drives with firmware Rev. B2 or earlier. The setup selected with this parameter takes effect only after the Update Predefined Setup coil is activated. The possible values are:
Value 0 1 2
Operating Mode Disabled Analog Velocity A Analog Torque A
119

Value 3 4 5 6 7 Operating Mode AXIMA Analog Velocity AXIMA Analog Torque Analog Velocity B Analog Torque B Pulse Direction
120
Parameter Descriptions Product Group Eb, Ei, Ei-DN, EN, FM-1, FM-2, MDS
39982
Access RO
This parameter is always set to 1, which defines the Control Techniques product family this device belongs to.
Drive Model Eb, Ei, Ei-DN, EN, FM-1, FM-2, MDS AXIMA FX LX MX Group 1 2 3 4 5
Product ID Eb, Ei, Ei-DN, EN, MDS, FM-1, FM-2

39984
Access RO
The Product ID defines the type of product within the Product Sub-Group.
Drive Model EN-204 EN-208 EN-214 ID 1 2 3 Drive Model Eb-202 Eb-203 Eb-205 ID 1 2 3 Drive Model Ei-202 Ei-203 Ei-205 ID 1 2 3 Drive Model Ei-DN-202 Ei-DN-203 Ei-DN-205 ID 1 2 3 Drive Model MD-404 MD-407 MD-410 MD-420 MD-434 ID 11 12 13 14 15
Product Serial Number Eb, Ei, Ei-DN, EN, FM-1, FM-2, MDS
Range Units Default Type STR Group ID NVM Yes
49903-49910
This displays the factory assigned serial number of the drive.
121
Drives Parameters Reference Manual Product Sub-Group Eb, Ei, Ei-DN, EN, FM-1, FM-2, MDS
39983
Access RO
The Product Sub-Group defines the product within the Product Group. The EN Drive always reports a product sub-group of 1. The Product Option ID defines the type of product option.
Option No option FM-P FM-1 FM-2 FM-3 FM-4 Ei Ei-DN Eb EN MDS ID 1 2 3 4 5 6 4 8 1 1 1
Pulse Interpretation Eb, EN, FM-1, MDS

Range Units Default Type ENM Group Position NVM Yes Decimal Places
41004
Access RW
This is used in conjunction with operating mode default extended parameter when setting Pulse mode setup.
Value 0 1 2 Action Pulse Quadrature Pulse Pulse Pulse Direction
122
Parameter Descriptions Pulse Mode Ratio Pulses Eb, EN, FM-1, MDS
Range 1-16384 Units counts Default 8192 Type US16 Group Position NVM Yes Decimal Places 1
41002
Access RW
This defines the number of command pulses it will take to move the motor the distance specified in the Pulse Mode Ratio Revolutions. Pulse Mode Ratio Revolutions Eb, EN, FM-1, MDS
Range 2 Units revs Default 1 Type S16 Group Position NVM Yes Decimal Places 0.0001
41001
Access RW
This defines the distance the motor will move when the number of pulses specified by the Pulse Mode Ratio Counts are input. Pulse Position Input Eb, EN, FM-1, MDS
Range Units counts Default Type S32 Group Position NVM No
32001-32002
This parameter returns the total number of actual pulses received on the pulse input hardware. This value is active in all operating modes. Read NVM to RAM Eb, Ei, Ei-DN, EN, FM-1, FM-2, MDS
Range Units Default Type BIT Group Memory NVM No Decimal Places
1003
Access RW
Also called Read FM NVM to RAM. This coil provides the ability to read the parameters stored in the drives NVM (Non Volatile Memory) into the drive RAM (active). The operation is executed on the rising edge of this coil. The coil is automatically cleared when the execution is complete.
123
Drives Parameters Reference Manual Response Eb, Ei, Ei-DN, EN, FM-1, FM-2, MDS
Range 1-500 Units hertz Default 50 Type US16 Group Tuning NVM Yes Decimal Places 1
42024
Access RW
The Response adjusts the velocity loop bandwidth. In general, it affects how quickly the drive will respond to commands, load disturbances and velocity corrections. A good value to start at is 50 Hz. Rollover Enable Ei, Ei-DN, FM-2 Firmware C1 or Later
Range Units Default Type ENM Group NVM Yes Decimal Places
41028
Access RW
If Rotary Rollover is enabled, Position Command and Position Feedback will rollover to zero at the specified Rotary Rollover value. Rollover Position Ei, Ei-DN, FM-2 Firmware C1 or Later
Range 0 to 2
31
41026-41027
Units
Default
Type US32
This sets the position in User Units for the Rotary Rollover point. If Rotary Rollover is enabled, Position Command and Position Feedback will rollover to zero at the specified Rotary Rollover value. Segment Display Character Eb, Ei, Ei-DN, EN, FM-1, FM-2, MDS
Range Units Default Type US16 Group Status NVM No Decimal Places
30002
Access RO
The ASCII value of the character displayed on the front of the drive.
Display
Fault/Condition Ready (FM-2 only)
Description The FM-2 and EN drive system is functioning normally and is ready to execute a motion command.
ASCII
Dec
Hex
82
52
124
Display Fault/Condition Indexing (FM-2 only) Description Index in progress. Other motion commands do not function. ASCII Dec Hex
88
58
Jogging (FM-2 only)
Jog function in progress. Other motion commands do not function.
74
4A
Drive Overtemp (Eb only)
Epsilon drives have an internal sensor which can detect over temperature conditions.
65
41
Brake Engaged (Brake Output "Off")
Motor brake is mechanically engaged. this character will only appear if the Brake Output function is assigned to an output line.
98
62
Disabled
Power Stage is disabled
100
64
Position (EN and Eb only)
Waiting for command (Pulse mode)
80
50
Velocity (EN and Eb only)
Velocity mode operation
86
56
Torque (EN and Eb only)
Torque mode operation
84
54
Summation (FM-1 only)
Summation mode operation
43
2B
Homing (FM-2 only)
Home cycle in progress. Other motion commands do not function.
104
68
125

Display Fault/Condition Description ASCII Dec Hex
Stop or Travel Limit Decel
Stop or Travel Limit Decel in progress.
92
5C
Flash Invalid
This fault indicates that the Firmware Checksum has failed. Use the Tools/Program Flash menu item from PowerTools to reprogram/upgrade the firmware stored in flash memory. If this problem persists, call Control Techniques. A common cause would be an interrupted F/W Flash upgrade (cable disconnected in the middle of an upgrade process).
42
2A
Ready
Drive enabled, no Stop input
46
2E
Power Up Test
This fault indicates that the power-up self-test has failed. This fault cannot be reset with the reset command or reset button.
73
49
NVM Invalid
At power-up the drive tests the integrity of the nonvolatile memory. This fault is generated if the contents of the non-volatile memory are invalid. The FM was not on this drive during its previous power-up and it is not known if the setup data in the FM matches the drive and motor to which the FM is now attached. This can also happen when a FM is removed from a drive and the drive is powered-up. To reset the fault, create or open a configuration file with the correct drive and motor selections and download the configuration to the FM or drive. If you are certain that the setup data in the FM or drive matches the system configuration, press and hold the EN drives Reset button for 10 seconds (until the fault is cleared). Damage may occur to the drive, motor or both if the fault is cleared using the Reset button when the setup data in the FM does not match the current drive and motor. This fault is generated when a power stage overtemperature, over-current or loss of power stage logic supply occurs. This can be the result of a motor short to ground, a short in the motor windings, a motor cable short or the failure of a switching transistor. It can also occur if the drive enable input is cycled "Off" and "On" rapidly (>10 Hz).
78
4E
Invalid Configuration
85
55
Power Module
90
5A
126
Display Fault/Condition Description This fault will occur whenever the voltage on the DC bus exceeds 440 VDC. The most likely cause of this fault would be an open shunt fuse, a high AC line condition or an application that requires an external shunt (e.g., a large load with rapid deceleration). This fault will occur whenever the voltage on the DC bus drops below 96 volts for EN and 60 volts for Epsilon. The most likely cause of this fault is a reduction (or loss) of AC power. A 50 ms debounce time is used with this fault to avoid faults caused by intermittent power disruption. This can be disabled on the Epsilon drive. Certain encoder states and state transitions are invalid and will cause the drive to report an encoder state fault. This is usually the result of noisy encoder feedback caused by poor shielding. If any pair of encoder lines are in the same state, an encoder line fault is generated. The most likely cause is a missing or bad encoder connection. ASCII Dec Hex
High DC Bus
72
48
Low DC Bus
117
75
Encoder State
57
39
Encoder Hardware
69
45
Motor Overtemp
This fault is generated when the motor thermal switch is open due to motor over-temperature or incorrect wiring.
77
4D
RMS Shunt Power (Not used by Eb)
This fault is generated when RMS shunt power dissipation is greater than the design rating of the internal shunt. Only on the EN-208 and EN-218 drives. This fault occurs in one of two circumstances: When the actual motor speed exceeds the Overspeed Velocity Limit parameter. This parameter can be accessed with PowerTools software. If the combination of command pulse frequency and Pulse Ratio can generate a motor command speed in excess of the fixed limit of 13000 RPM, an Overspeed Fault will be activated. In Pulse Mode operation and any Summation mode which uses Pulse Mode, the input pulse command frequency is monitored and this calculation is made. For example: with a Pulse Ratio of 10 pulses per motor revolution, the first pulse received will cause an Overspeed fault even before there is any motor motion. This fault is generated when the following error exceeds the following error limit (default following error limit is 0.2 revs). With PowerTools you can change the Following Error Limit value or disable it in the Position tab.
83
53
Overspeed
111
6F
Max. Following Error (Position mode only)
70
46
127

Display Fault/Condition Description This fault is caused when either the + or - Travel Limit input function is active. The motor loading has exceeded its design capacity as indicated by the Foldback RMS value reaching 100 percent. This causes the available drive current to be reduced to 80 percent of the motor rating. When the loading is reduced for long enough for the Foldback RMS value to drop to 70 percent, full drive current will once again be available. The motor has stalled (<100 RPM) and is requiring current of more than the stall design of the drive for longer than 100 ms. The drive current is limited to 80% of the drive stall capacity until the loading is reduced or the motor turns at faster than 100 RPM. This is a normal condition during power up of the drive. It will last for less than 1 second. If this display persists. call Control Techniques for service advice. ASCII Dec Hex
Travel Limit +/-
76
4C
RMS Foldback
67
43
Stall Foldback
99
63
All "On"
Setup of End Of Index Count Ei, Ei-DN, FM-2 Firmware C1 or Later

Range Units Default Type ENM Group NVM Yes Res.
40469
Access RW
This displays when the Index Count has completed. Setup of Registration Limit Dist Hit Ei, Ei-DN, FM-2 Firmware C1 or Later
40470
Access RW
This displays when the Registration Index Distance Limit has hit. Setup of End Of Chaining Count Ei, Ei-DN, FM-2 Firmware C1 or Later
40471
Access RW
This displays when the Chaining Count has completed.
128
Parameter Descriptions Shunt Power RMS Eb, Ei, Ei-DN, EN, FM-1, FM-2
Range 0-120 Units % of maximum capacity Default Type US16 Group Status NVM No Decimal Places 0.1
32032
Access RO
This applies to the EN-208 and EN-214, but not the EN-204. This parameter models the thermal heating and cooling of the drive internal shunt. This parameter indicates the percent of shunt capacity utilization. When this value reaches 100 percent, the drive will generate an RMS Shunt Power Fault in drives with firmware Rev. A4 or later. The maximum safe level of shunt power is based on Drive Ambient Temperature parameter and the power being delivered by the drive as shown in Heatsink Power RMS. It is also possible to get a Shunt Fault at a value exceeding 100 percent. Status of End Of Index Count Ei, Ei-DN, FM-2 Firmware C1 or Later
Range Units Default Type BIT Group NVM No Res.
10115
Access RO
This displays when the Index Count has completed. Status of Registration Limit Dist Hit Ei, Ei-DN, FM-2 Firmware C1 or Later
10116
Access RO
This displays when the Registration Index Distance Limit has hit. Status of End Of Chaining Count Ei, Ei-DN, FM-2 Firmware C1 or Later
10117
Access RO
This displays when the Chaining Count has completed. Stop All Motion Ei, Ei-DN, FM-2
Range Units Default Type BIT Group Execution NVM No Decimal Places
1151
Access RW
When set to 1, it is the same as having the Stop Input function active. Motion cannot be initiated.
129
Drives Parameters Reference Manual Stop Deceleration Eb, EN, FM-1, MDS All Firmware and Ei, FM-2 Firmware A9 or Earlier 41201-41202
Range 1-32700 Units ms/kRPM Default 100 Type US32 Group Velocity NVM Yes Decimal Places 0.1 Access RW

41201-41202
This parameter defines the deceleration ramp used to decelerate the motor to zero velocity when a Stop input function is activated. Torque Command Eb, Ei, Ei-DN, EN, FM-1, FM-2, MDS
Range 300 Units % of continuous torque Default Type S16 Group Torque NVM No Decimal Places 0.1
32034
Access RO
This parameter returns the torque command value before limiting. The torque command may be limited by either the Torque Limit (if the Torque Limit Enable input function is active) or current foldback. Torque Command Actual Eb, Ei, Ei-DN, EN, FM-1, FM-2, MDS
Range 300 Units % of continuous torque Default Type S16 Group Torque NVM No Decimal Places 0.1
32035
Access RO
This displays the percent of torque being commanded to the motor. This value is the result after the Torque Command after being limited by the current foldback and the Torque Limit value (if active). Torque Limit Enable This enables the Torque Limit.
130
Parameter Descriptions Torque Limit Eb, Ei, Ei-DN, EN, FM-1, FM-2, MDS
Range 0-300 Units % of continuous torque Default Type US16 Group Torque NVM Yes Decimal Places 1
42034
Access RW
This value is the level which the Torque Command will be limited to when the Torque Limit input function is active. To make the Torque Limit always active, set the Torque Limit Input Function to be Always Active. Torque Preset FM-1
Range 300 Units % Default Type S16 Group Torque NVM Yes Decimal Places 0.1
See table
Access RW
Value 0 1 2 3 4 5 6 7
Modbus Address 41401 41402 41403 41404 41405 41406 41407 41408
Travel Limit Deceleration Eb, EN, FM-1, MDS All Firmware and Ei, FM-2 Firmware A9 or Earlier 41203-41204
Range 1-5000 Units ms/kRPM Default 100 Type US32 Group Velocity NVM Yes Decimal Places 0.1 Access RW

41203-41204
This parameter defines the ramp used to decelerate the motor to zero velocity when a Travel Limit input function is activated.
131
Drives Parameters Reference Manual Update Predefined Setup Eb, Ei, Ei-DN, EN, FM-1, FM-2. MDS
Range Units Default Type BIT Group Setup NVM No Decimal Places
1004
Access RW
This coil provides the ability to update the drive parameters based on the Predefined Setup parameter. The operation is executed on the rising edge of this coil. The coil is automatically cleared when the execution is complete. User Accel Decimal Point Ei, Ei-DN, FM-2 Firmware C1 or Later
Range 0 to 4 Units Default Type US16 Group NVM Yes Decimal Places
41024
Access RW
This will specify the number of digits after the decimal place to be used in all Acceleration/ deceleration parameters. User Defined Bitmap Ei, Ei-DN, FM-2
Range Units Default Type US16 Group User Def. NVM Yes
49401-49402
These are used for the bitmap of the user bits found in User Defined Bits. The value of the bits in the User Defined Bitmap mirror the value of the User Defined Bits. User Defined Bits Ei, Ei-DN, FM-2
Range Units Default Type BIT Group User Def. NVM Yes Decimal Places
9951-9982
Access RW
These are 32 bits for use by you for storing miscellaneous data. These bits are not used by the FM2 in any way. A common use would be with operator interface panels. Modbus address range is 09951 to 09982. These bits are also reflected in the User Defined Bitmap. The value of the User Defined Bits mirror the value of the bits in the User Defined Bitmap.
132
Parameter Descriptions User Defined Motor Name Eb, Ei, Ei-DN, EN, FM-1, FM-2, MDS
Range Units Default Type STR Group User Def. Motor NVM Yes
42101-42106
This is a user defined motor parameter and is typically entered using the motor.ddf used by PowerTools. This parameter specifies the user defined motor name. This parameter is valid and active only when a user defined motor is selected. Up to 24 ASCII characters may be used. User Defined Registers Eb, EN, Ei, Ei-DN, FM-1,FM-2, MDS
Range Units Default Type US16 Group User Def. NVM Yes
49403-49418
These are 16 - 16-bit registers or 8 - 32-bit registers (or any combination of 16-bit and 32-bit registers) for storing miscellaneous data. These registers are not used by the FM-2 in any way. A common use would be with operator interface panels. These can be used for Signed 16 bit, Unsigned 16 bit, Signed 32 bit or Unsigned 32 bit registers. User Time Base Ei, Ei-DN, FM-2 Firmware C1 or Later
41025
Access RW
The default time scale is minutes. If the selected time scale is seconds, then the velocity units will appear as user units/sec. If the selected time scale is minutes, the velocity units will appear as user units/minute. User Unit Decimal Point Ei, Ei-DN, FM-2 Firmware C1 or Later
41022
Access RW
This parameter specifies how many digits after the decimal place appear in the User Unit Rev parameter (see below).
133
Drives Parameters Reference Manual User Unit Rev Ei, Ei-DN, FM-2 Firmware C1 or Later
Range 0 to 65535 Units User Unit Default Type US16 Group NVM Yes Decimal Places 0 to 4
41021
Access RW
This will specify the number of user units in 1.0000 motor revolution. This parameter also determines the resolution of distance/position parameters for the entire configuration. The number of decimal places specified there sets the maximum resolution. User Unit STR Ei, Ei-DN, FM-2 Firmware C1 or Later
Range Units Default Type US32 Group NVM Yes
41029-41031
This is the character STR for the user units name. User Velocity Decimal Point Ei, Ei-DN, FM-2 Firmware C1 or Later
41023
Access RW
This will specify the number of digits after the decimal place to be used in all Velocity parameters. Velocity Command Eb, EN, FM-1, MDS All Firmware and Ei, FM-2 Firmware A9 or Earlier 32061-32062
Range 13000 Units RPM Default Type S32 Group Velocity NVM No Decimal Places 0.1 Access RO

Range -2
31
32061-32062
Group NVM No Decimal Places 0 to 4 Access RO
Units User unit
Default
Type S32
to 2 -1
31
The Velocity Command is the final command received by the velocity loop.
134
Parameter Descriptions Velocity Command Analog Eb, EN, FM-1, MDS

Range 11000 Units RPM Default 0 Type S32 Group Velocity NVM No
32063-32064
This is the velocity command generated by the analog input in Velocity Analog or Velocity Summation modes. This parameter is a result of the Analog Input, Analog Full Scale, Analog Zero Offset and the Full Scale Velocity. Velocity Command Preset Eb, EN, FM-1, MDS
Range 11000 Units RPM Default Type S32 Group Velocity NVM No
32065-32066
This parameter is equal to the velocity of the selected Velocity Preset. During acceleration and deceleration ramps this parameter reflects the instantaneous velocity command. Velocity Feedback Eb, EN, FM-1, MDS All Firmware and Ei, FM-2 Firmware A9 or Earlier 32021-32022
Range 13000 Units RPM Default Type S32 Group Velocity NVM No Decimal Places 0.1 Access RO

Range -231 to 231-1 Units User unit/m or user unit/s Default Type S32 Group Velocity NVM No
32021-32022
Decimal Places 0 to 4 Access RO
This parameter is the actual motor velocity feedback. Velocity Preset (#) EN, Eb, FM-1. MDS
Range 5000 Units RPM Default 0 Type S32 Group Velocity NVM Yes Decimal Places 0.1
See table
Access RW
The Velocity Presets target velocities. The Velocity Presets are selected according to the following table.
Velocity Preset 3 Input Function Status* 0 0 Velocity Preset 2 Input Function Status 0 0 Velocity Preset 1 Input Function Status 0 1 Velocity Selection Preset #0 Preset #1 Modbus Address 41101-41102 41105-41106
135

Velocity Preset 3 Input Function Status* 0 0 1 1 1 1 Velocity Preset 2 Input Function Status 1 1 0 0 1 1 Velocity Preset 1 Input Function Status 0 1 0 1 0 1 Modbus Address 41109-41110 41113-41114 41117-41118 41121-41122 41125-41126 41129-41130
Velocity Selection Preset #2 Preset #3 Preset #4 Preset #5 Preset #6 Preset #7
Velocity Preset (#) Accel/Decel Eb, EN, FM-1, MDS

Range 0-32700 Units ms/kRPM Default 1000 Type US32 Group Velocity NVM Yes Decimal Places 0.1
See table
Access RW
The Acceleration or Deceleration ramp used to change the Preset Velocity commands to go between the selected Velocity Preset. The Velocity Preset Accel/Decel values are selected according to the following table.
Velocity Preset 3 Input Function Status* 0 0 0 0 1 1 1 1 Velocity Preset 2 Input Function Status 0 0 1 1 0 0 1 1 Velocity Preset 1 Input Function Status 0 1 0 1 0 1 0 1 Velocity Preset Accel/ Decel Selection Preset #0 Preset #1 Preset #2 Preset #3 Preset #4 Preset #5 Preset #6 Preset #7 Modbus Address 41103-41104 41107-41108 41111-41112 41115-41116 41119-41120 41123-41124 41127-41128 41131-41132
Warmstart Execute Eb, EN, FM-1, FM-2, MDS, Ei, Ei-DN

Range Units Default Type BIT Group Execution NVM No Decimal Places
1001
Access RW
This coil provides the ability to reboot the drive without requiring a power cycle. This coil is used by the PowerTools software if certain parameters are changed. These include Motor Type and Line Voltage which take effect only upon a reboot. The operation is executed upon the rising edge of this coil. The coil is automatically cleared when the execution is complete.
136
Parameter Descriptions Write RAM to NVM Eb, EN, FM-1, FM-2, MDS, Ei, Ei-DN
Range Units Default Type BIT Group Memory NVM No Decimal Places
1002
Access RW
Also called Write FM RAM to NVM. This coil provides the ability to write the active drive parameters located in RAM to the drives NVM (Non Volatile Memory). The operation is executed upon the rising edge of this coil. The coil is automatically cleared when the execution is complete.
137
138
Modbus Interface
Control Techniques drives supports Modbus protocol. Specifically, the Modbus Slave in RTU (Remote Terminal Unit) mode only. Modbus ASCII is not supported. The Modbus protocol defines a message structure that Modbus Masters use to communicate with Modbus Slaves. This protocol may be used with either an RS-232C or RS-485 hardware layer. Modbus Masters may transmit data to the drive or may request data from the drive using the protocol. Drive specific implementation issues are explained in detail in this section.
Drive Serial Specifications

Drives are assigned a Slave address with a range of 1 to 99. Address 1 is the default. This address may be setup with the PowerTools software. Address 0 is reserved for broadcast queries and cannot be assigned. All drives will receive queries sent to address 0. However, no response will be generated. The drive may communicate at either 19.2k or 9600 baud (default is 19.2k). The table below defines the number of start, stop and data bits and are not available for user setup.
Note
Modbus addresses can be viewed at any time by pressing and holding the reset button on the front of the drive for two to three seconds.
Communications Specifications Start Bits Data Bits Stop Bits Parity Bits 1 8 2 none
Drive Parameters
Each drive parameter has been assigned a Modbus address and may be accessed using the Modbus protocol. These fixed and pre-assigned addresses conform to the Modbus protocol standard for bit and numeric, read only and read/write data. See the Modbus Address table for a list of Modbus addresses. Modbus addresses are five digit decimal numbers. The first digit indicates the data and access types and the next four digits indicate the parameter number. Modbus addresses are divided into four regions depending on data access and size.
Address 00001 to 09999 Modbus Type Coil Access R/W Size 1 bit
139

Address 10001 to 19999 30001 to 39999 40001 to 49999 Modbus Type Input Input Register Holding Register Access R/O R/O R/W Size 1 bit 16 bit 16 bit
Modbus Protocol
This section describes the details of the Control Techniques Modbus implementation including function codes, data format, execution commands and broadcast messaging. It is provided for those users who are creating a custom Modbus driver (master) to interface with a drive.
Applicable Documents
Modicon Modbus Protocol Reference Guide (PI-MBUS-300 Rev. G) Published November 1994. (MPRG)
Function Codes
Function codes are defined by the Modbus protocol. The drive supports all common function codes used to access bit and register data. Each function code is defined to access specific data types.
Bit Data
Bit data consists of coils (0xxxx) and inputs (1xxxx). To provide access to this data the following Modbus standard function codes are supported:
Function Code 1 2 5 15 Description Read coil status Read input status Force (write) single coil Force (write) multiple coils
Note
If the read address is not assigned to a drive parameter, the data that is returned is meaningless and unknown. If a write address is not assigned to a drive parameter, the data is not written.
140
Modbus Interface
Register Data
Register data includes input registers (3xxxx) and holding registers (4xxxx).
Function Code 3 4 6 16 Description Read holding registers Read input registers Preset write single register Preset write multiple registers
32 Bit Data
Modbus registers are 16 bits, but many of the drive parameters require 32 bits. To resolve this, the drive always stores 32 bit parameters into two consecutive 16 bit registers, as follows. The Most Significant Word (MSW), (bits 16 to 31) is stored in the first (lower) address, and the Least Significant Word (LSW), (bits 0 to 15) is stored in the second (higher) address. For example: The value, 1234567816, is stored as follows: First word:123416 Second word: 567816
STR Data
STR data can also require more than one Modbus register to represent it. Strings are packed two characters per register. The Most Significant Character (MSC), (bits 8 to 15) of the first word contains the first character of the STR, and the Least Significant Character (LSC), (bits 0 to 7) of the first word contains the second character of the STR, and so on. For example: The STR, EPSILON (4516 5016 5316 4916 4C16 4F16 4E16 2016), is stored as follows: First word: 455016 Second word: 534916 Third word: 4C4F16 Fourth word: 4E2016
Execution Commands
Execution commands are accomplished through the use of coils. Examples of execution commands are; save to NVM, restore from NVM, reset faults. These commands are executed following the rising edge of the assigned coil.
141
Drives Parameters Reference Manual Upon completion of the command, the coil will automatically be reset to Off, making it possible for the Master to confirm completion of the command. If, for some reason, the execution command cannot be performed, an exception will be returned and the coil will remain cleared.
Exceptions
The EN drive will throw a Modbus exception if it detects any invalid data or addresses in the query. A Modbus exception is indicated by the Slave by setting the Most Significant Bit (MSB, bit 7) of the function code in its response. The byte following the function code will then contain the exception code. The drive supports only one exception code: 3 - Illegal Data Value, which is thrown in either of the following two situations. 1. 2. If the query attempts to read or write outside the valid Modbus range (x0001 through x9999). If a query attempts to write an out-of-range value to a holding register or coil.
In either case, no data will be written to the coil or holding register. For case 2 above, if the query writes multiple registers or coils, the EN drive makes every attempt to not accept any of the data, but this is not guaranteed. Care must be taken when writing to only half of a 32 bit parameter, since the drive performs its out-of-range test on the entire parameter (i.e., it combines the old and new halves prior to the test). Unmapped registers r coils may be written to without consequence (i.e., no exception is returned, and the data is simply ignored). Registers or coils identified as reserved should never be written to, as the result will most likely be undesirable and may be dangerous.
Diagnostics
The EN drive provides diagnostics through the diagnostics function code (8). The diagnostics sub-functions supported are listed below.
Code 00 10 12 13 Name Return Query Data Clear Counters Return Bus Communication Error Count Return Bus Exception Error Count Comments This sub-function code provides a simple loopback. Loopback is useful to validate the integrity of the communications interface The EN drive clears all counters when this code is received. All counters are also cleared on power up. This counter is incremented when a CRC error was encountered and the first character received was the slaves address or a broadcast query. This counter is incremented when any exception occurs.
142
Modbus Interface
Code 14 15 18 Name Return Slave Message Count Return Slave No Response Count Return Bus Character Overrun Count Comments This counter is incremented when a broadcast query or a query addressed to the device was received and processed. This counter is incremented when a query is received with an unsupported function code. This counter is incremented for both serial overrun and framing errors.
Broadcast with Guaranteed Delivery

The EN drive supports broadcast queries. Broadcast queries are queries sent to address 0. Broadcast queries are generated by the Master, received and processed by all slave devices. EN drives never issue responses to broadcast messages. Guaranteed delivery is possible by using the drives diagnostic counters to validate message processing. In order to verify the delivery, acceptance and processing of broadcast queries the following procedure should be used. This example assumes two drives at address 1 and 2. 1. 2. 3. 4. Send Function Code 8 Sub-Function Code 10 (clear counters) to Address 1. Send Function Code 8 Sub-Function Code 10 (clear counters) to Address 2. Using Function Code 5, 6, 15, 16 write the new data to address 0 (broadcast). Repeat as necessary. Send Function Code 8 Sub-Function Code 14 (return slave message count) to Address 1. If the number returned is equal to the number of broadcast queries, the data was reliably delivered. Send Function Code 8 Sub-Function Code 14 (return slave message count) to Address 2. If the number returned is equal to the number of broadcast queries, the data was reliably delivered.
5.
Note
Slave Address and/or Baud Rate cannot be modified with a broadcast queries.
Timing
The Modbus Master must conform to the following timing requirements: The Modbus Master must allow for a response delay of up to 150 milliseconds (measured from the end of the last request character transmitted to the beginning of the first query character). Response delays of 4 to 10 milliseconds are typical.
143
Drives Parameters Reference Manual The Modbus Master and Slave are allowed to insert gaps of up to 10 milliseconds between characters within the same query or response. The Modbus Master may begin transmitting a new query to the same Slave immediately following the receipt of a complete response from the Slave. The Modbus Master must insert a gap of at least 10 milliseconds after it transmits a broadcast query. The Modbus Master must insert a gap of at least 10 milliseconds before transmission of a query to a different Slave than the last message.
Query/Response Limitations
The table below show the maximum amount of data that can be requested in a Master query, or returned in a Slave response. All function codes and quantities are in decimal.
Function Code 1 2 3 4 5 6 8 15 16 Description Read Coil Status Read Input Status Read Holding Registers Read Input Registers Force Single Coil Preset Single Register Diagnostics Force Multiple Coils Preset Multiple Registers Maximum 2000 coils 2000 inputs 125 registers 125 registers 1 coil 1 register N/A 800 coils 100 registers
Note
Slave Address and/or Baud Rate cannot be modified with broadcast queries.
Changes to Communication Parameters

If the Slave address and/or baud rate parameters are changed using a Modbus query from the Master, the Slave will issue its response using the current slave address and baud rate then change to the new Slave address and/or baud rate following this response.
144
Index
A
Actual Operating Mode, 47 Actual Operating Mode Expanded, 47 Analog Input, 48 Analog Input Accel/Decel Limit, 48 Analog Input Bandwidth, 49 Analog Input Full Scale, 49 Analog Input Zero Offset, 49 Analog Output - Channel (1, 2), 49 Analog Output (1, 2) Offset, 50 Analog Output (1, 2) Scale, 50 Analog Output (1, 2) Select, 51 Axis Address, 51 Axis Name, 52
D
DN Allocation Choice, 56 DN Allocation Master Mac ID, 56 DN Baud Rate, 56 DN Bus Off Counter, 56 DN Bus Off Interrupt, 57 DN Comm Timeout Fault Count, 57 DN Device Type, 57 DN Duplicate MacID Fault Count, 57 DN FAB Master Receive Block, 58 DN FAB Master Send Block, 58 DN Host Mode, 58 DN MacID, 59 DN Master Receive Bitmap, 59 DN Master Receive FAB Type, 61 DN Master Send Bitmap, 61 DN Master Send FAB Type, 61 DN Module Status, 62 DN Network Status, 62 DN Receive Counter, 62 DN Status Major Recoverable Fault, 63 DN Status Major Unrecoverable Fault, 63 DN Status Minor Recoverable Fault, 63 DN Status Minor Unrecoverable Fault, 63 DN Transmit Counter, 63 DN Vendor ID, 64 Drive Ambient Temperature, 64 Drive Enable Input Line Status, 64
B
Back Off Sensor Before Homing, 52 Baud Rate, 52 Brake Control Input, 53 Brake Output, 53 Brake Release Input, 52 Bus Voltage, 53
C
Chain Count, 53 Chain Next, 54 Clear Fault, 54 Commutation Angle Correction, 55 Commutation Track Angle, 55 Commutation Voltage, 55 Current Chain Count, 55
E
Encoder Output Scaling, 64 Encoder Output Scaling Enable, 65 End of Home Position, 65
145
F
Fault Count, 65 Fault Log Array, 66 Fault Status Bit Map, 67 Feedforwards Enable, 68 Firmware Revision, 68 FM Firmware Part Number, 68 FM Firmware Revision Option, 69 FM Serial Number, 69 Foldback RMS, 69 Following Error, 69 Following Error Enable, 70 Following Error Limit, 70 Friction, 70 Full Scale Torque, 71 Full Scale Velocity, 71
H
Heatsink RMS, 71 High Performance Gains Enable, 71 Home Acceleration, 72 Home Deceleration, 72 Home Limit Distance, 72 Home Limit Distance Enable, 73 Home Offset, 73 Home Offset Enable, 73 Home Reference, 74 Home Velocity, 74
Index Dwell, 79 Index Registration Offset, 80 Index Type, 80 Index Velocity, 82 Inertia Ratio, 82 Infinite Chaining, 83 Input Function Active Off Array, 83 Input Function Always Active Array, 84 Input Function Mapping, 85 Input Function Status Array, 88 Input Functions Active Off Bitmap, 89 Input Functions Always Active Bitmap, 89 Input Functions Status Bit Map, 90 Input Line (#) Debounce Time, 91 Input Line (#) Debounced Status Array, 92 Input Line (#) Force On/Off Command Array, 92 Input Line (#) Force On/Off Enable Array, 93 Input Line (#) Raw Status Array, 94 Input Line (#) Status Array, 94 Input Lines Debounced Status Bit Map, 95 Input Lines Force On/Off Command Bit Map, 96 Input Lines Force On/Off Enable Bit Map, 96 Input Lines Raw Status Bit Map, 97 Input Lines Status Bit Map, 97
I
In Motion Velocity, 75 Index Acceleration, 75 Index Control, 76 Index Count, 77 Index Deceleration, 77 Index Distance/Position, 78
J
Jog Acceleration, 98 Jog Deceleration, 98 Jog Fast Velocity, 99 Jog Velocity, 99
146
Index
L
Line Voltage, 99 Low DC Bus Fault Enable, 100
Output Lines Force On/Off Command Bit Map, 115 Output Lines Force On/Off Enable Bit Map, 115 Output Lines Status Bit Map, 116 Overspeed Velocity Limit, 116
M
Motion Command, 100 Motion Command Execute Array, 101 Motion State, 102 Motor Continuous Current Rating, 102 Motor Encoder Lines Per Revolution, 102 Motor Encoder Marker Angle, 103 Motor Encoder Reference Motion, 103 Motor Encoder U Angle, 103 Motor Inductance, 104 Motor Inertia, 104 Motor KE, 104 Motor Maximum Operating Speed, 104 Motor Peak Current Rating, 105 Motor Poles, 105 Motor Resistance, 105 Motor Type, 105
P
Position Command, 116 Position Error Integral Enable, 117 Position Error Integral Time Constant, 117 Position Feedback, 117 Position Feedback (fractional part), 118 Position Feedback (integral part), 118 Position Feedback Encoder, 118 Positive Direction, 118 Power Up Count, 119 Power Up Time, 119 Power Up Time Total, 119 Predefined Setup, 119 Product Group, 121 Product ID, 121 Product Serial Number, 121 Product Sub-Group, 122 Pulse Interpretation, 122 Pulse Mode Ratio Pulses, 123 Pulse Mode Ratio Revolutions, 123 Pulse Position Input, 123
O
Operating Mode Alternate, 106 Operating Mode Default (Obsolete), 107 Operating Mode Default Expanded, 107 Option 1 ID (Function Module, 108 Output Function Mapping, 108 Output Function Status Array, 110 Output Functions Status Bit Map, 111 Output Line (#) Active Off, 112 Output Line (#) Force On/Off Command, 113 Output Line (#) Force On/Off Enable, 113 Output Line (#) Status Array, 114 Output Lines Active Off Bit Map, 114
R
Read NVM to RAM, 123 Response, 124 Rollover Enable, 124 Rollover Position, 124
147
S
Segment Display Character, 124 Setup of End Of Chaining Count, 128 Setup of End Of Index Count, 128 Setup of Registration Limit Dist Hit, 128 Shunt Power RMS, 129 Status of End Of Chaining Count, 129 Status of End Of Index Count, 129 Status of Registration Limit Dist Hit, 129 Stop All Motion, 129 Stop Deceleration, 130
V
Velocity Command, 134 Velocity Command Analog, 135 Velocity Command Preset, 135 Velocity Feedback, 135 Velocity Preset (#), 135 Velocity Preset (#) Accel/Decel, 136
W
Warmstart Execute, 136 Write RAM to NVM, 137
T
Torque Command, 130 Torque Command Actual, 130 Torque Limit, 131 Torque Limit Enable, 130 Torque Preset, 131 Travel Limit Deceleration, 131
U
Update Predefined Setup, 132 User Accel Decimal Point, 132 User Defined Bitmap, 132 User Defined Bits, 132 User Defined Motor Name, 133 User Defined Registers, 133 User Time Base, 133 User Unit Decimal Point, 133 User Unit Rev, 134 User Unit STR, 134 User Velocity Decimal Point, 134
148
Since 1979, the Motion Made Easy products, designed and manufactured in Minnesota U.S.A., are renowned in the motion control industry for their ease of use, reliability and high performance. For more information about Control Techniques Motion Made Easy products and services, call (800) 397-3786 or contact our website at www.emersonct.com. Control Techniques Drives, Inc Division of EMERSON Co. 12005 Technology Drive Eden Prairie, Minnesota 55344 U.S.A. Customer Service Phone: (952) 995-8000 or (800) 397-3786 Fax: (952) 995-8129 Technical Support Phone: (952) 995-8033 or (800) 397-3786 Fax (952) 9995-8020 Printed in U.S.A.

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Drives Parameters

Epsilon and EN Drive Parameters Reference Manual

Epsilon and EN Drive Parameters Reference Manual

By Name . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22 By Modbus Address . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

Drives Parameters Reference Manual

NVM (Non-Volatile Memory)

Actual Operating Mode

Actual Operating Mode Expanded

Analog Input Accel/Decel Limit

Analog Input Bandwidth

Analog Input Full Scale

Analog Input Zero Offset

Analog Output - Channel 1

Analog Output - Channel 2

Analog Output 1 Offset

Analog Output 1 Scale

Drives Parameters Reference Manual

Analog Output 1 Select

Analog Output 2 Offset

Analog Output 2 Scale

Analog Output 2 Select

Back Off Sensor Before Homing

Commutation Angle Correction

Commutation Track Angle

Custom Motor Flag

Drive Ambient Temperature

Drive Overtemp Fault Count

ENcoder H/W Fault Count

ENcoder Output Scaling

ENcoder Output Scaling ENable

ENcoder State Fault Count

ENd of Home Position

Fault 1 Power Up Count

Fault 1 Power Up Time

Fault 10 Power Up Count

Decimal Places Access Eb Ei EN FM1 FM2 MDS

Fault 10 Power Up Time

Fault 2 Power Up Count

Fault 2 Power Up Time

Fault 3 Power Up Count

Fault 3 Power Up Time

Fault 4 Power Up Count

Fault 4 Power Up Time

Fault 5 Power Up Count

Fault 5 Power Up Time

Fault 6 Power Up Count

Fault 6 Power Up Time

Fault 7 Power Up Count

Fault 7 Power Up Time

Fault 8 Power Up Count

Fault 8 Power Up Time

Fault 9 Power Up Count

Fault 9 Power Up Time

Fault Status Bit Map

FM Firmware Part Number

FM Firmware Revision Option

Following Error Enable

Following Error Fault Count

Following Error Limit

Drive Parameters I By Name

Decimal Places Access Eb Ei EN FM1 FM2 MDS

Full Scale Torque