Reference Manual
Kinetix 3 Host Commands for Serial CommunicationCatalog Numbers 2071-AP0 2071-AP1 2071-AP2 2071-AP4 2071-AP8 2071-A10 2071-A15
Important User InformationSolid-state equipment has operational characteristics differing from those of electromechanical equipment Safety Guidelines for the Application Installation and Maintenance of Solid State Controls (publication SGI-11 available from your local Rockwell Automation sales office or online at httpwwwrockwellautomationcomliterature) describes some important differences between solid-state equipment and hard-wired electromechanical devices Because of this difference and also because of the wide variety of uses for solid-state equipment all persons responsible for applying this equipment must satisfy themselves that each intended application of this equipment is acceptable
In no event will Rockwell Automation Inc be responsible or liable for indirect or consequential damages resulting from the use or application of this equipment
The examples and diagrams in this manual are included solely for illustrative purposes Because of the many variables and requirements associated with any particular installation Rockwell Automation Inc cannot assume responsibility or liability for actual use based on the examples and diagrams
No patent liability is assumed by Rockwell Automation Inc with respect to use of information circuits equipment or software described in this manual
Reproduction of the contents of this manual in whole or in part without written permission of Rockwell Automation Inc is prohibited
Throughout this manual when necessary we use notes to make you aware of safety considerations
Allen-Bradley Kinetix MicroLogix Rockwell Software Rockwell Automation TechConnect and Ultra3000 are trademarks of Rockwell Automation Inc
Trademarks not belonging to Rockwell Automation are property of their respective companies
WARNING Identifies information about practices or circumstances that can cause an explosion in a hazardous environment which may lead to personal injury or death property damage or economic loss
ATTENTION Identifies information about practices or circumstances that can lead to personal injury or death property damage or economic loss Attentions help you identify a hazard avoid a hazard and recognize the consequence
SHOCK HAZARD Labels may be on or inside the equipment for example a drive or motor to alert people that dangerous voltage may be present
BURN HAZARD Labels may be on or inside the equipment for example a drive or motor to alert people that surfaces may reach dangerous temperatures
IMPORTANT Identifies information that is critical for successful application and understanding of the product
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 3
Table of Contents
Preface About This Publication 7Who Should Use This Manual 7Conventions Used in This Manual 7Additional Resources 7
Chapter 1Modbus Protocol Function Codes 9
Exception Codes 10Address Maps 11
Standard Parameters 11Indexing Parameters 13Save Flash Memory Parameter 21Monitoring Parameter (Function Code 0x04) 22Fault and Warning Status Parameter - Input Registers 22Output Function Status Parameter 23Running Parameter (Function Code 0x06 or 0x10) 24Input Function Parameter (Function Code 0x03 0x06 or 0x10) 25
Chapter 2Communication Protocol (RS-232ASCII)
Introduction 27Special Symbols 27Packet Structure 27Checksum 28
Chapter 3General Commands (ASCII) Read Parameter (SET) 29
Write Parameter (STR) 30Write Parameter (CHP) 30Indexing Command Extended (XCE) 31Read Indexing Parameter (XET) 31Write Indexing Parameter (XHP) 32Write Indexing Parameter (XTR) 32Fault Reset (RST) 33Monitor Variable (MDM) 33Triggered Data Collection (MOT) 34Variable Roll Monitoring (MOR) 36Automatic Task (TAT) 38Manual Task (TMN) 39Read Fault Contents (EHY) 40Jog (JOG) 40Read Drive Status (STS) 41Other Functions (ETC) 42Verify Software Version (VER) 43Verify Servo Connection (LIV) 43
4 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Table of Contents
Read Fault Detailed Data (DIE) 43Enable Drive (SVRON) 44Disable Drive (SVROF) 44Reset Drive (HWR) 44
Appendix AStandard Drive Parameters Parameter Groupings 45
Parameter Descriptions 46Group 0 - System Level 46Group 1 - Gain Control 66Group 2 - Speed Control 80Group 3 - Position Control 84Group 4 - Torque Controls 89Group 5 - Supplemental Drive Controls 91Group 6 - Supplemental Gain and Report Settings 97Group 7 - Manufacturing Settings 101Group 8 - Reserved Parameters 103Group 9 - Motor Controls 104
Appendix BIndexing Drive Parameters Parameter Groupings 115
Parameter Descriptions 116Group 0 - Indexing System 116Group 1 - Homing 120Group 2 - Indexing Options 127Group 3 - Index Move Profile 128Group 4 - Index PositionDistance 128Group 5 - Index Registration Distance 128Group 6 - Index Batch Count 128Group 7 - Index Dwell 129Group 8 - Index Velocity 129Group 9 - Index Move Profile 129Group 10 - Index Acceleration 130Group 11 - Index Deceleration 130Group 12 - Index Next Index 131
Appendix CWarnings and Fault Codes Warnings 133
Fault Codes 133
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 5
Table of Contents
Appendix DMonitor Variables Variables 135
Compiled Variables 137Variable 15 - Digital Inputs and Outputs 137Variable 25 - Digital Inputs 137Variable 26 - Digital Outputs 138Variable 29 - Indexing Inputs 138Variable 30 - Indexing Outputs 139
Index
6 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Table of Contents
Notes
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 7
Preface
About This Publication This manual describes the host command set for end-user interface with a Kinetix 3 drive via serial communication Use this manual for designing programming and troubleshooting host commands for serial communication with the Kinetix 3 drives
Who Should Use This Manual
This manual is intended for engineers programmers or technicians directly involved in the installation operation programming and field maintenance of a Kinetix 3 drive by using host mode commands
If you do not have a basic understanding of the Kinetix 3 drive contact your local Rockwell Automation sales representative before using this product for the availability of training courses
Conventions Used in This Manual
The conventions starting below are used throughout this manual bull Bulleted lists such as this one provide information not procedural stepsbull Numbered lists provide sequential steps or hierarchical information
Additional Resources These documents contain additional information concerning related Rockwell Automation products
You can view or download publications at httpwwwrockwellautomationcomliterature To order paper copies of technical documentation contact your local Rockwell Automation distributor or sales representative
Resource Description
Kinetix 3 Component Servo Drive Installation Instruction publication 2071-IN001
Mounting and wiring instructions and mounting dimensions
Kinetix 3 IO Breakout Board Installation Instructions publication 2071-IN002
Kinetix 3 Motor Feedback Breakout Board Installation Instructions publication 2071-IN003
Kinetix 3 Serial Communication Cables Installation Instructions publication 2090-IN019
Kinetix 3 Component Servo Drive User Manual publication 2071-UM001
Information on installing configuring starting up and troubleshooting for your Kinetix 3 servo drive system
Ultraware User Manual publication 2098-UM001
Information on configuring and operating Ultraware software with servo drives and motors
8 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Preface
Notes
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 9
Chapter 1
Modbus Protocol
This chapter defines the Modbus protocol as it applies to a Kinetix 3 drive
Function Codes The register number of MODBUS devices may begin with 0 or 1 Because this is determined by the MODBUS host you the customer have selected A 1 must be added to the register number if your controller requires it
The maximum number of parameters that can be read or written at the same time is the same as the number of MODBUS addresses which is the same as the number of the parameters in each group In other words all the parameters in each group can be read together or written together
Function Code Description
03(0x03) Read Holding Registers
04(0x04) Read Input Registers
06(0x06) Write Single Register
16(0x10) Write Multiple Register
10 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 1 Modbus Protocol
Exception Codes The Kinetix 3 Modbus protocol uses the following exception codes from the Modbus specifications
Exception Code
Name Meaning
0x01 Illegal Function The function code received in the query is not an allowable action for the slave
0x02 Illegal Data Address
The data address received in the query is not an allowable address for the slave
0x03 (1)
(1) Exception code 0x03 indicates an Illegal Data Value It means the length of data string is incorrect Exception code 14(0x0E) indicates an Illegal Data Range It means that data range exceeds the limit of the minimum or maximum value
Illegal Data Value
The length of query data field is not valid for the slave
0x06 Slave Device Busy
The slave is engaged in processing Run command The master should retransmit the message later when the slave is free
0x07 Illegal CRC Value
The CRC value received in the query is wrong value
0x0C Illegal Frame The byte length of the Query Reception frame is out of the limit
0x0D (2)
(2) Exception code 0x0D is generated if the master accesses a 32bit data address with function code 06 or either the high or low address of 32bit data with function code 10
Illegal Sequence
The data sequence received in the query is not an allowable write command for the slave
0x0E (1) Illegal Data Range
The value of query data field is not valid for the slave
0x0F (3)
(3) Exception code 15(0x0F) indicates an Illegal Command was issued It occurs when a received Run control cannot be executed at the moment
Illegal Command
The slave is in Run control and received an invalid command
0x10 (4)
(4) Exception code 16(0x10) is an Illegal Control It occurs when the Network Control Mode is not set but the drive requests a Run Control command or an IO Control command through the network
Illegal Control The slave is not in the Network mode but received a network control command
0x1F Servo Error Fail When the slave is Servo Error condition and receives a Servo ON command from master
0x21 Drive Type Fail When drive type of the slave is Indexing slave receives run command 02 03 04
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 11
Modbus Protocol Chapter 1
Address Maps All standard and indexing parameters (Pr-xxx or Inxxxx) require a unique register address The host computer assigns the initial address number and determines whether the register numbers begin with 0 or 1
Standard Parameters
Group 0 - System Level (1)
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
0 Pr-000 10 Pr-009 20 Pr-019 30 Pr-029
1 Pr-001[Lo] 11 Pr-010 21 Pr-020 31 Pr-030
2 Pr-001[Hi] 12 Pr-011 22 Pr-021 32 Pr-031
3 Pr-002 13 Pr-012 23 Pr-022 33 Pr-032
4 Pr-003 14 Pr-013 24 Pr-023 34hellip42 Reserved
5 Pr-004 15 Pr-014 25 Pr-024 43hellip99 Reserved
6 Pr-005 16 Pr-015 26 Pr-025
7 Pr-006 17 Pr-016 27 Pr-026
8 Pr-007 18 Pr-017 28 Pr-027
9 Pr-008 19 Pr-018 29 Pr-028
(1) Refer to Monitoring Parameter (Function Code 0x04) on page 22 for more detailed information on this parameter
Group 1 - Gain Control
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
100 (1) Pr-100 111 Pr-111 122 Pr-122 133 Pr-133
101 (1) Pr-101 112 Pr-112 123 Pr-123 134 Pr-134
102 Pr-102 113 Pr-113 124 Pr-124 135 Pr-135
103 Pr-103 114 Pr-114 125 Pr-125 136 Pr-136
104 Pr-104 115 Pr-115 126 Pr-126 137 Pr-137
105 Pr-105 116 Pr-116 127 Pr-127 138 Pr-138
106 Pr-106 117 Pr-117 128 Pr-128 139 Pr-139
107 Pr-107 118 Pr-118 129 Pr-129 140 Pr-140
108 Pr-108 119 Pr-119 130 Pr-130 141 Pr-141
109 Pr-109 120 Pr-120 131 Pr-131 142 Pr-142
110 Pr-110 121 Pr-121 132 Pr-132 143hellip199 Reserved
(1) Refer to Fault and Warning Status Parameter - Input Registers on page 22 for more detailed information on this parameter
12 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 1 Modbus Protocol
Group 2 - Speed Control
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
200 (1) Pr-200 206 Pr-204 212 Pr-210
201 (1) Pr-201 207 Pr-205 213 Pr-211
202 Pr-202[Lo] 208 Pr-206 214 Pr-212
203 Pr-202[Hi] 209 Pr-207 215 Pr-213
204 Pr-203[Lo] 210 Pr-208 216hellip299 Reserved
205 Pr-203[Hi] 211 Pr-209
(1) Refer to Output Function Status Parameter on page 23 for more detailed information on these parameters
Group 3 - Position Control
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
300 Pr-300 303 Pr-303 306 Pr-306 309hellip399 Reserved
301 Pr-301 304 Pr-304 307 Reserved
302 Pr-302 305 Pr-305 308 Pr-308
Group 4 - Torque Control
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
400 Pr-400 402 Pr-402 404 Pr-404 406 Pr-406
401 Pr-401 403 Pr-403 405 Pr-405 407hellip499 Reserved
Group 5 - Supplemental Drive Control
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
500 Pr-500 506 Pr-506 512 Pr-511 517 Pr-514[Hi]
501 Pr-501 507 Pr-507 513 Pr-512 518 Pr-515[Lo]
502 Pr-502 508 Pr-508 514 Pr-513 519 Pr-515[Hi]
503 Pr-503 509 Pr-509 514 Pr-513[Lo] 520 Pr-516[Lo]
504 Pr-504 510 Pr-510[Lo] 515 Pr-513[Hi] 521 Pr-516[Hi]
505 Pr-505 511 Pr-510[Hi] 516 Pr-514[Lo] 522hellip599 Reserved
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 13
Modbus Protocol Chapter 1
For parameters within the MODBUS address range of 600hellip4999 refer to the following parameters
bull Monitoring Parameter (Function Code 0x04) on page 22 for MODBUS Addresses 0hellip44
bull Fault and Warning Status Parameter - Input Registers on page 22 for MODBUS Addresses 100hellip101
bull Output Function Status Parameter on page 23 for MODBUS Addresses 2000hellip2016
bull Running Parameter (Function Code 0x06 or 0x10) on page 24 for MODBUS Addresses 2000hellip2016
bull Input Function Parameter (Function Code 0x03 0x06 or 0x10) on page 25 for MODBUS Addresses 3000hellip3002
Indexing Parameters
Group 0 - Indexing System
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
4000 Index 0 Distance Low
4005 Index 0 Accel Low
4001 Index 0 Distance High
4006 Index 0 Accel High
4002 Index 0 Velocity 4007 Index 0 Dwell
4003 Index 0 Decel Low
4008 Index 0 Option
4004 Index 0 Decel High
4009hellip4199 Reserved
Group 0 - Indexing System
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
5000 In0000 5006 In0003Hi
5001 In0001Lo 5007 In0004
5002 In0001Hi 5008 In0005Lo
5003 In0002Lo 5009 In0005Hi
5004 In0002Hi 5010 In0006Lo
5005 In0003Lo 5011 In0006Hi
5012hellip5199 Reserved
14 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 1 Modbus Protocol
Group 2 ndash Index Option
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
5400 In0200 5416 In0216 5432 In0232 5448 In0248
5401 In0201 5417 In0217 5433 In0233 5449 In0249
5402 In0202 5418 In0218 5434 In0234 5450 In0250
5403 In0203 5419 In0219 5435 In0235 5451 In0251
5404 In0204 5420 In0220 5436 In0236 5452 In0252
5405 In0205 5421 In0221 5437 In0237 5453 In0253
5406 In0206 5422 In0222 5438 In0238 5454 In0254
5407 In0207 5423 In0223 5439 In0239 5455 In0255
5408 In0208 5424 In0224 5440 In0240 5456 In0256
5409 In0209 5425 In0225 5441 In0241 5457 In0257
5410 In0210 5426 In0226 5442 In0242 5458 In0258
5411 In0211 5427 In0227 5443 In0243 5459 In0259
5412 In0212 5428 In0228 5443 In0243 5460 In0260
5413 In0213 5429 In0229 5444 In0244 5461 In0261
5414 In0214 5430 In0230 5445 In0245 5462 In0262
5415 In0215 5431 In0231 5446 In0246 5463 In0263
5447 In0247 5464 hellip5599 Reserved
Group 3 - Reserved
MODBUS Address
Kinetix 3 Parameter
5600hellip5799 Reserved
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 15
Modbus Protocol Chapter 1
Group 4 ndash Index PositionDistance
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
5800 In0400Lo 5834 In0417Lo 5868 In0434Lo 5902 In0451Lo
5801 In0400Hi 5835 In0417 Hi 5869 In0434 Hi 5903 In0451Hi
5802 In0401Lo 5836 In0418Lo 5870 In0435Lo 5904 In0452Lo
5803 In0401Hi 5837 In0418 Hi 5871 In0435 Hi 5905 In0452Hi
5804 In0402Lo 5838 In0419Lo 5872 In0436Lo 5906 In0453Lo
5805 In0402Hi 5839 In0419 Hi 5873 In0436 Hi 5907 In0453Hi
5806 In0403Lo 5840 In0420Lo 5874 In0437Lo 5908 In0454Lo
5807 In0403Hi 5841 In0420 Hi 5875 In0437 Hi 5909 In0454Hi
5808 In0404Lo 5842 In0421Lo 5876 In0438Lo 5910 In0455Lo
5809 In0404Hi 5843 In0421 Hi 5877 In0438 Hi 5911 In0455Hi
5810 In0405Lo 5844 In0422Lo 5878 In0439Lo 5912 In0456Lo
5811 In0405Hi 5845 In0422 Hi 5879 In0439 Hi 5913 In0456Hi
5812 In0406Lo 5846 In0423Lo 5880 In0440Lo 5914 In0457Lo
5813 In0406Hi 5847 In0423 Hi 5881 In0440 Hi 5915 In0457Hi
5814 In0407Lo 5848 In0424Lo 5882 In0441Lo 5916 In0458Lo
5815 In0407Hi 5849 In0424 Hi 5883 In0441 Hi 5917 In0458Hi
5816 In0408Lo 5850 In0425Lo 5884 In0442Lo 5918 In0459Lo
5817 In0408Hi 5851 In0425 Hi 5885 In0442 Hi 5919 In0459Hi
5818 In0409Lo 5852 In0426Lo 5886 In0443Lo 5920 In0460Lo
5819 In0409Hi 5853 In0426 Hi 5887 In0443 Hi 5921 In0460Hi
5820 In0410Lo 5854 In0427Lo 5888 In0444Lo 5922 In0461Lo
5821 In0410Hi 5855 In0427 Hi 5889 In0444 Hi 5923 In0461Hi
5822 In0411Lo 5856 In0428Lo 5890 In0445Lo 5924 In0462Lo
5823 In0411Hi 5857 In0428 Hi 5891 In0445 Hi 5925 In0462Hi
5824 In0412Lo 5858 In0429Lo 5892 In0446Lo 5926 In0463Lo
5825 In0412Hi 5859 In0429 Hi 5893 In0446 Hi 5927 In0463Hi
5826 In0413Lo 5860 In0430Lo 5894 In0447Lo 5928hellip5999 Reserved
5827 In0413Hi 5861 In0430 Hi 5895 In0447Hi
5828 In0414Lo 5862 In0431Lo 5896 In0448Lo
5829 In0414Hi 5863 In0431 Hi 5897 In0448Hi
5830 In0415Lo 5864 In0432Lo 5898 In0449Lo
5831 In0415Hi 5865 In0432 Hi 5899 In0449Hi
5832 In0416Lo 5866 In0433Lo 5900 In0450Lo
5833 In0416 Hi 5867 In0433 Hi 5901 In0450Hi
16 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 1 Modbus Protocol
Group 5 - Reserved
MODBUS Address
Kinetix 3 Parameter
6000hellip6199 Reserved
Group 6 - Reserved
MODBUS Address
Kinetix 3 Parameter
6200hellip6399 Reserved
Group 7 ndash Index Dwell
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
6400 In0700 6417 In0717 6434 In0734 6451 In0751
6401 In0701 6418 In0718 6435 In0735 6452 In0752
6402 In0702 6419 In0719 6436 In0736 6453 In0753
6403 In0703 6420 In0720 6437 In0737 6454 In0754
6404 In0704 6421 In0721 6438 In0738 6455 In0755
6405 In0705 6422 In0722 6439 In0739 6456 In0756
6406 In0706 6423 In0723 6440 In0740 6457 In0757
6407 In0707 6424 In0724 6441 In0741 6458 In0758
6408 In0708 6425 In0725 6442 In0742 6459 In0759
6409 In0709 6426 In0726 6443 In0743 6460 In0760
6410 In0710 6427 In0727 6444 In0744 6461 In0761
6411 In0711 6428 In0728 6445 In0745 6462 In0762
6412 In0712 6429 In0729 6446 In0746 6463 In0763
6413 In0713 6430 In0730 6447 In0747 6464 hellip6599 Reserved
6414 In0714 6431 In0731 6448 In0748
6415 In0715 6432 In0732 6449 In0749
6416 In0716 6433 In0733 6450 In0750
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 17
Modbus Protocol Chapter 1
Group 8 ndash Index Velocity
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
6600 In0800 6616 In0816 6632 In0832 6648 In0848
6601 In0801 6617 In0817 6633 In0833 6649 In0849
6602 In0802 6618 In0818 6634 In0834 6650 In0850
6603 In0803 6619 In0819 6635 In0835 6651 In0851
6604 In0804 6620 In0820 6636 In0836 6652 In0852
6605 In0805 6621 In0821 6637 In0837 6653 In0853
6606 In0806 6622 In0822 6638 In0838 6654 In0854
6607 In0807 6623 In0823 6639 In0839 6655 In0855
6608 In0808 6624 In0824 6640 In0840 6656 In0856
6609 In0809 6625 In0825 6641 In0841 6657 In0857
6610 In0810 6626 In0826 6642 In0842 6658 In0858
6611 In0811 6627 In0827 6643 In0843 6659 In0859
6612 In0812 6628 In0828 6644 In0844 6660 In0860
6613 In0813 6629 In0829 6645 In0845 6661 In0861
6614 In0814 6630 In0830 6646 In0846 6662 In0862
6615 In0815 6631 In0831 6647 In0847 6663 In0863
6664 hellip6799 Reserved
Group 9 - Reserved
MODBUS Address
Kinetix 3 Parameter
6800hellip6999 Reserved
18 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 1 Modbus Protocol
Group 10 ndash Index Acceleration
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
7000 In1000Lo 7032 In1016Lo 7064 In1032Lo 7096 In1048Lo
7001 In1000Hi 7033 In1016 Hi 7065 In1032 Hi 7097 In1048 Hi
7002 In1001Lo 7034 In1017Lo 7066 In1033Lo 7098 In1049Lo
7003 In1001Hi 7035 In1017 Hi 7067 In1033 Hi 7099 In1049 Hi
7004 In1002Lo 7036 In1018Lo 7068 In1034Lo 7100 In1050Lo
7005 In1002Hi 7037 In1018 Hi 7069 In1034 Hi 7101 In1050 Hi
7006 In1003Lo 7038 In1019Lo 7070 In1035Lo 7102 In1051Lo
7007 In1003Hi 7039 In1019 Hi 7071 In1035 Hi 7103 In1051 Hi
7008 In1004Lo 7040 In1020Lo 7072 In1036Lo 7104 In1052Lo
7009 In1004Hi 7041 In1020 Hi 7073 In1036 Hi 7105 In1052 Hi
7010 In1005Lo 7042 In1021Lo 7074 In1037Lo 7106 In1053Lo
7011 In1005Hi 7043 In1021 Hi 7075 In1037 Hi 7107 In1053 Hi
7012 In1006Lo 7044 In1022Lo 7076 In1038Lo 7108 In1054Lo
7013 In1006Hi 7045 In1022 Hi 7077 In1038 Hi 7109 In1054 Hi
7014 In1007Lo 7046 In1023Lo 7078 In1039Lo 7110 In1055Lo
7015 In1007Hi 7047 In1023 Hi 7079 In1039 Hi 7111 In1055 Hi
7016 In1008Lo 7048 In1024Lo 7080 In1040Lo 7112 In1056Lo
7017 In1008Hi 7049 In1024 Hi 7081 In1040 Hi 7113 In1056 Hi
7018 In1009Lo 7050 In1025Lo 7082 In1041Lo 7114 In1057Lo
7019 In1009Hi 7051 In1025 Hi 7083 In1041 Hi 7115 In1057 Hi
7020 In1010Lo 7052 In1026Lo 7084 In1042Lo 7116 In1058Lo
7021 In1010Hi 7053 In1026 Hi 7085 In1042 Hi 7117 In1058 Hi
7022 In1011Lo 7054 In1027Lo 7086 In1043Lo 7118 In1059Lo
7023 In1011Hi 7055 In1027 Hi 7087 In1043 Hi 7119 In1059 Hi
7024 In1012Lo 7056 In1028Lo 7088 In1044Lo 7120 In1060Lo
7025 In1012Hi 7057 In1028 Hi 7089 In1044 Hi 7121 In1060 Hi
7026 In1013Lo 7058 In1029Lo 7090 In1045Lo 7122 In1061Lo
7027 In1013Hi 7059 In1029 Hi 7091 In1045 Hi 7123 In1061 Hi
7028 In1014Lo 7060 In1030Lo 7092 In1046Lo 7124 In1062Lo
7029 In1014Hi 7061 In1030 Hi 7093 In1046 Hi 7125 In1062 Hi
7030 In1015Lo 7062 In1031Lo 7094 In1047Lo 7126 In1063Lo
7031 In1015Hi 7063 In1031 Hi 7095 In1047 Hi 7127 In1063 Hi
7128 hellip7199 Reserved
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 19
Modbus Protocol Chapter 1
Group 11 ndash Index Deceleration
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
7200 In1100Lo 7232 In1116 Lo 7264 In1132Lo 7296 In1148Lo
7201 In1100Hi 7233 In1116 Hi 7265 In1132 Hi 7297 In1148 Hi
7202 In1101Lo 7234 In1117Lo 7266 In1133Lo 7298 In1149Lo
7203 In1101Hi 7235 In1117 Hi 7267 In1133 Hi 7299 In1149 Hi
7204 In1102Lo 7236 In1118Lo 7268 In1134Lo 7300 In1150Lo
7205 In1102Hi 7237 In1118 Hi 7269 In1134 Hi 7301 In1150 Hi
7206 In1103Lo 7238 In1119Lo 7270 In1135Lo 7302 In1151Lo
7207 In1103Hi 7239 In1119 Hi 7271 In1135 Hi 7303 In1151 Hi
7208 In1104Lo 7240 In1120Lo 7272 In1136Lo 7304 In1152Lo
7209 In1104Hi 7241 In1120 Hi 7273 In1136 Hi 7305 In1152 Hi
7210 In1105Lo 7242 In1121Lo 7274 In1137Lo 7306 In1153Lo
7211 In1105Hi 7243 In1121 Hi 7275 In1137 Hi 7307 In1153 Hi
7212 In1106Lo 7244 In1122Lo 7276 In1138Lo 7308 In1154Lo
7213 In1106Hi 7245 In1122 Hi 7277 In1138 Hi 7309 In1154 Hi
7214 In1107Lo 7246 In1123Lo 7278 In1139Lo 7310 In1155Lo
7215 In1107Hi 7247 In1123 Hi 7279 In1139 Hi 7311 In1155 Hi
7216 In1108Lo 7248 In1124Lo 7280 In1140Lo 7312 In1156Lo
7217 In1108Hi 7249 In1124 Hi 7281 In1140 Hi 7313 In1156 Hi
7218 In1109Lo 7250 In1125Lo 7282 In1141Lo 7314 In1157Lo
7219 In1109Hi 7251 In1125 Hi 7283 In1141 Hi 7315 In1157 Hi
7220 In1110Lo 7252 In1126Lo 7284 In1142Lo 7316 In1158Lo
7221 In1110Hi 7253 In1126 Hi 7285 In1142 Hi 7317 In1158 Hi
7222 In1111Lo 7254 In1127Lo 7286 In1143Lo 7318 In1159Lo
7223 In1111Hi 7255 In1127 Hi 7287 In1143 Hi 7319 In1159 Hi
7224 In1112Lo 7256 In1128Lo 7288 In1144Lo 7320 In1160Lo
7225 In1112Hi 7257 In1128 Hi 7289 In1144 Hi 7321 In1160 Hi
7226 In1113Lo 7258 In1129Lo 7290 In1145Lo 7322 In1161Lo
7227 In1113Hi 7259 In1129 Hi 7291 In1145 Hi 7323 In1161 Hi
7228 In1114Lo 7260 In1130Lo 7292 In1146Lo 7324 In1162Lo
7229 In1114Hi 7261 In1130 Hi 7293 In1146 Hi 7325 In1162 Hi
7230 In1115Lo 7262 In1131Lo 7294 In1147Lo 7326 In1163Lo
7231 In1115Hi 7263 In1131Hi 7295 In1147 Hi 7327 In1163 Hi
7328 hellip7399 Reserved
20 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 1 Modbus Protocol
Group 12 ndash Next Index
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
7400 In1200 7416 In1216 7432 In1232 7448 In1248
7401 In1201 7417 In1217 7433 In1233 7449 In1249
7402 In0702 7418 In1218 7434 In1234 7450 In1250
7403 In1203 7419 In1219 7435 In1235 7451 In1251
7404 In1204 7420 In1220 7436 In1236 7452 In1252
7405 In1205 7421 In1221 7437 In1237 7453 In1253
7406 In1206 7422 In1222 7438 In1238 7454 In1254
7407 In1207 7423 In1223 7439 In1239 7455 In1255
7408 In1208 7424 In1224 7440 In1240 7456 In1256
7409 In1209 7425 In1225 7441 In1241 7457 In1257
7410 In1210 7426 In1226 7442 In1242 7458 In1258
7411 In1211 7427 In1227 7443 In1243 7459 In1259
7412 In1212 7428 In1228 7444 In1244 7460 In1260
7413 In1213 7429 In1229 7445 In1245 7461 In1261
7414 In1214 7430 In1230 7446 In1246 7462 In1262
7415 In1215 7431 In1231 7447 In1247 7463 In1263
7464 hellip7599 Reserved
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 21
Modbus Protocol Chapter 1
Save Flash Memory Parameter
MODBUS Address
Data Status Description
9999 (decimal) 1 Write data into flash memory
22 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 1 Modbus Protocol
Monitoring Parameter (Function Code 0x04)
Fault and Warning Status Parameter - Input Registers
Display Parameter - Input Registers (Default = 0)
MODBUS Address
Drive Name Unit
0 dis-00 Velocity Feedback rpm
1 dis-01 Velocity Command rpm
2 dis-02 Velocity Error rpm
3 dis-03 Torque Command 010
4hellip5 dis-04 Position Feedback counts
6hellip7 dis-05 Position Command counts
8hellip9 dis-06 Position Error counts
10 dis-07 Pulse Command Frequency 01pps
11 dis-08 Electrical Angle 01
12 dis-09 Mechanical Angle 01
13 dis-10 Regeneration Load Ratio
14 dis-11 DC-Link Voltage V
15 dis-12 Multi-Turn Data Turn number
16hellip17 dis-13 Offset in Velocity Command 01mV
18hellip19 dis-14 Torque Offset 01mV
20hellip24 dis-15 InputOutput Signal Status -
25hellip32 dis-16 Display Error History 8Alarm
33 dis-17 Display Software Version 1word
34hellip35 dis-18 Display Motor info 2word
36 dis-19 Analog Velocity Command Voltage 001V
37 dis-20 Analog Current Command Voltage 001V
38 dis-21 Drive Rated Output Power 1word
39hellip40 dis-22 Absolute Single Turn Data -
41hellip42 dis-23 Encoder Feedback Counter counts
43hellip99 Reserved - -
Fault and Warning Status Parameter - Input Registers (Default = 0)
Modbus Address Function Name Unit
100 Error Check Servo Error Code Word
101 Warning Check Servo Warning Code Word
102hellip199 Reserved - -
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 23
Modbus Protocol Chapter 1
Output Function Status Parameter
Modbus Address
Output Function Description Unit Position [bits]
200 S_ALM Alarm Bit [0]
P-COM Within position window Bit [1]
TG-ON Up to speed Bit [2]
BK Brake control Bit [3]
V-COM Within Speed window Bit [4]
A-VLD Absolute position valid Bit [5]
RDY Drive Ready Bit [6]
T-LMT NEAR Current Limited Bit [7]
V-LMT WARN Velocity Limited Bit [8]
NEAR Near position Bit [9]
WARN Warning Bit [10]
Reserved - Bit [11]
Reserved - Bit [12]
IMO In Motion Bit [13]
I-DW In Dwell Bit [14]
HOMC Axis Homed Bit [15]
201 O_ISEL0 Index Select 0 Out Bit [0]
O_ISEL1 Index Select 1 Out Bit [1]
O_ISEL2 Index Select 2 Out Bit [2]
O_ISEL3 Index Select 3 Out Bit [3]
O_ISEL4 Index Select 4 Out Bit [4]
O_ISEL5 Index Select 5 Out Bit [5]
E_SEQU End of Sequence Bit [6]
Reserved - Bit [7hellip15]
24 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 1 Modbus Protocol
Running Parameter (Function Code 0x06 or 0x10)
Run Parameter - Holding Registers (Default = 2000)
Modbus Address
Attribute RUN Name Access Unit
2000 User Open run-00 Jog Operation 1 byte
2001 run-01 Off-Line Auto Tuning 1 bit
2002 run-02 Reserved -
2003 run-03 Auto Adjustment of Speed Command Offset
1 bit
2004 run-04 Auto Adjustment of Current Command Offset
1 bit
2005hellip2007 run-05hellip run-07 Reserved -
2008 run-08 Alarm Reset 1 bit
2009 run-09 Reserved -
2010 run-10 Absolute Encoder Reset 1 bit
2011 run-11 2-Group Gain Storing 1 bit
2012 run-12 Parameter Initialization 1 bit
2013hellip2015 run-13helliprun-15 Reserved -
2016 run-16 Hardware Reset 1 bit
2017hellip2099 run-17helliprun-99 Reserved -
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 25
Modbus Protocol Chapter 1
Input Function Parameter (Function Code 0x03 0x06 or 0x10)
Input Function Control - Holding Registers
Modbus Address
IO Function Description Unit Position Bit
3000 SV-ON Drive Enable bit 0
- Reserved - [1] and [2]
P-CON Integrator Inhibit bit [3]
A-RST Fault Reset bit [4]
N-CL Negative Current Limit bit [5]
P-CL Positive Current Limit bit [6]
C-SEL Operation Mode Override bit [7]
C-DIR Preset Direction bit [8]
C-SP1 Preset Select 1 bit [9]
C-SP2 Preset Select 2 bit [10]
C-SP3 Preset Select 3 bit [11]
C-SP4 Preset Select 4 bit [12]
INHIB Pause Follower bit [13]
G-SEL Alternate Gain Select bit [14]
PCLR Position clear bit [15]
3001 ABS-DT Position Strobe bit [0]
START Motor Moving Enable bit [1]
Z-CLP Zero Speed Clamp Enable bit [2]
GEAR 2nd Electronic Gear Bank Selection bit [3]
R-ABS Reset multi-turn data of Absolute Encoder
bit [4]
- Reserved - [5]
SHOME Start Homing bit [6]
STOP Stop Indexing bit [7]
PAUSE Pause Indexing bit [8]
I-SEL0 Index Select 0 Input bit [9]
I-SEL1 Index Select 1 Input bit [10]
I-SEL2 Index Select 2 Input bit [11]
I-SEL3 Index Select 3 Input bit [12]
I-SEL4 Index Select 4 Input bit [13]
I-SEL5 Index Select 5 Input bit [14]
H_STOP Stop Homing bit [15]
3002 START_I Start Index bit [0]
BANK_SEL Gain Bank Select bit [1]
- Reserved - [2hellip15]
26 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 1 Modbus Protocol
Notes
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 27
Chapter 2
Communication Protocol (RS-232ASCII)
Introduction The drive command protocol is a client-server protocol A host computer is the server and each drive is a client This chapter provides details about the Special Symbols Packet Structure and Checksum in the serial communication protocol
Special Symbols Special symbols used in the host commands include the following
Packet Structure The packet structure is shown below
Some simple commands might not have the Data field (for example Fault Reset) Maximum packet size is 400 bytes Each letter and digit in Command and Data fields represents a single ASCII character
All commands begin with an STX and terminate with an ETX
If the drive receives the command without a communication error the response is in the same format as the host command Numeric parameters are encoded as strings
Symbol Value Description
STX 0x02 Start of Transmission
ETX 0x03 End of Transmission
ACK 0x06 Command Acknowledged
GS 0x29 Cannot change the value of the parameter while drive is enabled
RS 0x30 Value is out of range
US 0x31 Invalid command
NAK 0x15 Communication Error (Checksum Error)
CAN 0x18 Cancellation of Command (For example the drive will send CAN if the drive is already enabled but the JOG ON is requested)
Start ID HostResponse
Command Data Separator Checksum End
Symbol STX dd or $ SET orhellip d hellipd c c ETX
Bytes 1 2 1 3 0 - n 1 1 1
28 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 2 Communication Protocol (RS-232ASCII)
If the drive receives the hosts command with a communication error (for example parity or checksum errors) the drive sends an NAK The host should assume a communication error occurred if a response from the drive does not occur within a time-out period (generally 200 ms)
If drive does not recognize the command it sends a US response
Checksum The checksum range consists of ID to Separator fields Checksum is the ASCII hex code of the least significant digit from the sum of hexadecimal codes in the checksum range
For example this VER command has a checksum of 42 (ASCII hex code of B)
30H+31H+23H+56H+45H+52H+3AH = 1ABH The ASCII hex code of B is 42
However this VER command response also has a checksum of 35 (ASCII hex code of 5)
30H+31H+24H+56H+45H+52H+20H+31H+2EH+30H+32H+3AH = 295H The ASCII hex code of 5 is 35
Command STX 0 1 V E R B ETX
ASCII 2 30 31 23 56 45 52 3A 42 3
Command STX 0 1 amp V E R 9 0 2 5 ETX
ASCII 2 30 31 24 56 45 52 20 39 2E 30 32 3A 35 3
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 29
Chapter 3
General Commands (ASCII)
This chapter defines the general ASCII commands available to control a Kinetix 3 drive
Read Parameter (SET)
Attribute Value
Command SET
Description Read parameter value
Format STX ID SET PPP BSS ETX
Data Argument Description
PPP Parameter for example [Pr - 203] PPP=203=0x0CB Refer to this chapter Appendix A Standard Drive Parameters and Appendix B Indexing Drive Parameters for a available parameter descriptions
Response Format STX ID $SET V BSS ETX
Response Data Argument Description
V Bit-field type = 4 byte hexadecimal value Integer type = Signed integer of variable length
30 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 3 General Commands (ASCII)
Write Parameter (STR)
Write Parameter (CHP)
Attribute Value
Command STR
Description Write parameter value to RAM and then save data from RAM to flash memory
Format STX ID STR PPP V BSS ETX
Data Argument Description
PPP Parameter for example [Pr - 203] PPP=203=0x0CB Refer to Standard Drive Parameters beginning on page 45 for a description of available parameters Group 7 - Manufacturing Settings are product settings that are programmed during manufacturing
V Bit-field type = 4 byte hexadecimal value Normal type = Signed integer of variable length
Response Format ACK
Error Response If the drive is unable to change the variable because it is enabled it sends GS If the value is out of range RS is returned
Next Command STX ID STR BSS ETX
Usage Note To determine whether task is complete send STR without arguments
Response Format If task is not complete STX ID $BSY BSS ETX or If task is complete STX ID $TOK BSS ETX
Attribute Value
Command CHP
Description Write parameter value to RAM
Format STX ID CHP PPP V BSS ETX
Data Argument Description
PPP Parameter for example [Pr - 203] PPP=203=0x0CB Refer to Standard Drive Parameters beginning on page 45 for a description of available parameters Group 7 - Manufacturing Settings are product settings that are programmed during manufacturing
V Bit-field type = 4 byte hexadecimal value Normal type =Signed integer of variable length
Response Format ACK
Error Response If unable to change the variable because drive is enabled GS is sent If value is out of range RS is returned
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 31
General Commands (ASCII) Chapter 3
Indexing Command Extended (XCE)
Read Indexing Parameter (XET)
Attribute Value
Command XCE
Description Execute Indexing Control Panel command
Format STX ID XCE NNNNN amp VVVVV BSS ETX
Data Argument Description
NNNNN Index number 0hellip63Data Format 16-bit unsigned integer d
VVVVVV Indexing Function Command 0 = Start Homing 1 = Stop Homing 2 = Start IndexingData Format 16bit unsigned integer d
Response Format ACK If there is an error while executing the command the GS RS US NAK CAN exception code s can be used for the response
Usage Note This command executes only Indexing commands If the command to be executed is not specific to an Index number the NNNNN field should be 0
Attribute Value
Command XET
Description Read parameter value
Format STX ID XET PPPP BSS ETX
Data Argument Description
PPPP Parameter for example in the case of [IN0002] PPPP=0200 the two initial arguments (PPxx) indicate the indexing (Ix) group Refer to Indexing Drive Parameters beginning on page 115 for a description of available indexing parameters Group 7 - Manufacturing Settings are product settings that are programmed during manufacturing
Response Format STX ID $XET V BSS ETX
Response Data Argument Description
V Bit-field type = 4 byte hexadecimal value Integer type Signed integer of variable length
32 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 3 General Commands (ASCII)
Write Indexing Parameter (XHP)
Write Indexing Parameter (XTR)
Attribute Value
Command XHP
Description Write parameter value to RAM
Format STX ID XHP PPPP V BSS ETX
Data Argument Description
PPPP Parameter for example in the case of [IN0002] PPPP=0200 the two initial arguments (PPxx) indicate the indexing (Ix) group Refer to Indexing Drive Parameters beginning on page 115 for a description of available indexing parameters
V Bit-field type = 4 byte hexadecimal value Normal type = Signed integer of variable length
Response Format ACK
Error Response If the drive is unable to change the variable because it is enabled it sends GS If the value is out of range RS is returned
Attribute Value
Command XTR
Description Write parameter value to RAM and then saves data from RAM to flash memory
Format STX ID XTR PPPP V BSS ETX
Data Argument Description
PPPP Parameter In the case of [IN0002] PPPP=0200 the two initial arguments ((PPxx) indicate the indexing (Ix) group Refer to Indexing Drive Parameters beginning on page 115 for a description of available indexing parameters
V Bit-field type = 4 byte hexadecimal value Normal type = Signed integer of variable length
Response Format ACK
Error Response If the drive is unable to change the variable because it is enabled it sends GS If the value is out of range RS is returned
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 33
General Commands (ASCII) Chapter 3
Fault Reset (RST)
Monitor Variable (MDM)
Attribute Value
Command RST
Description Clear fault
Format STX ID RST BSS ETX
Response ACK
Usage Note Fault Reset will have no effect unless action was taken to resolve the fault Refer to Warnings and Fault Codes beginning on page 133 for a description of faults and warnings
Attribute Value
Command MDM
Description Monitor variables
Format STX ID MDM P1 P2 P3 P4 P5 BSS ETX
Data Argument Description
P1hellipP5 Variables to monitor
Usage Note MDM command can monitor up to five variables Refer to Monitor Variables on page 135 for the list of variables
Response Format STX ID $ MDM V1ampV2ampV3ampV4ampV5 BSS ETX
Response Data Argument Description
V1hellipV5 Variable values are 4 or 8 bytes signed See tables below for descriptions of specific variables
34 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 3 General Commands (ASCII)
Triggered Data Collection (MOT)
Attribute Value
Command MOT
Description Sets watches and reads trigger monitor
Format STX ID MOT Ch1 Ch2 Src SP Num Mode Pos Level BSS ETX
Data Argument Description
Ch1 Ch2 Input signals See Appendix A (variables 0x00hellip0x0F only)
Src Trigger Source (0x000hellip0x009 0x101hellip0x112) Refer to Monitor Variables on page 135 for the list of variables 0x101-0x10A DI1hellipDI10 0x10B Emergency Stop Input 0x10C-0x10E DO1hellipDO3 0x10F Safety Alarm Output 0x110-0x112 DO4hellipDO6
SP Sample Period Range 0x01hellip0x64 (02hellip20 ms)
Num Number of data points 10 Range 0x01hellip0x1E (1hellip30)
Mode Trigger mode 1 = Positive Edge 2 = Negative Edge
Pos Trigger Position (1hellip9) The percentage of data to be received before the trigger pointFor example if Pos = 3 then 30 of data received before the trigger point and 70 of data received after the trigger point
Level Trigger levelthreshold the value of the Trigger Source Values are 4 or 8 bytes signed
Usage Note This command is sent to the drive prior to monitoring or reading the Triggered Data Collection (MOT) command variants below See Figure 1 for command examples
Response ACK
Next Command MOT
Format STX ID MOT BSS ETX
Usage Note This command is sent to the drive to verify data is available
Response If data is not ready STX ID $ BSY BSS ETX If data is ready STX ID $ TOK BSS ETX
Next Command MOT
Format STX ID MOT NumD BSS ETX
Data Argument Description
NumD Data Point to retrieve the data from Range 00hellip(Num-1)
Usage Note This command can be used when previous command returned TOK Send ESC to stop data collection
Response Format STX ID $ MOT V1ampV2ampV20 BSS ETX
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 35
General Commands (ASCII) Chapter 3
Figure 1 - Triggered Data Collection (MOT) Command String Example
Attribute Value
Response Data Argument Description
V1hellipV20 Data transmission is done in blocks of 10 Because there are 2 channels 20 values are returned with values alternating between the first channel and the second channel Values are a signed integer of variable length (4 or 8 bytes)
Next Command STX ID ESC BSS ETX
Response ACK
MOR (setting)
ACK
MOT
$BSY
MOT
$TOK
MOT00
$MOT
PC Servo
Time lt200 ms
MOT29
$MOT
ESC
ACK
36 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 3 General Commands (ASCII)
Variable Roll Monitoring (MOR)
Attribute Value
Command MOR
Description Set up variable roll monitor
Format Data
STX ID MOR SP P1 P2 BSS ETX
Argument Description
SP Sampling period range 0x01hellip0x64 (01hellip100 ms)
P1 P2 Variables to monitor Range 0x00hellip0x1D
Usage Note Sets up the variable roll monitoring This command is sent to the drive prior to sending a Monitor Variable (MDM) command See Figure 2 for command examples
Response ACK
Next Command STX ID MOR BSS ETX
Usage Note Request to store data in the linear buffer (with a capacity of 100 data points) If the buffer is full and data has not been retrieved the buffer is emptied If data is requested before data is in the buffer the drive sends ACK
Response Format STX ID $ MOR V1ampV2amphellipVn BSS ETX
Response Data Argument Description
V1hellipVn Signed integer of variable length
Next Command STX ID ESC BSS ETX
Usage Note Send ESC to stop monitoring of the data
Response ACK
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 37
General Commands (ASCII) Chapter 3
Figure 2 - Variable Roll Monitoring (MOR) Command String Example
MOR (setting)
ACK
MOR
$MOR
MOR
$MOR
ESC
ACK
PC Servo
Time lt200 ms
38 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 3 General Commands (ASCII)
Automatic Task (TAT)
Figure 3 - Automatic Task (TAT) Command String Example
Attribute Value
Command TAT
Format STX ID TAT T1 BSS ETX
Data Argument Description
T1 Automatic task number See the following Values and Task Descriptions
Value Task Description
0x01 Auto Tuning
0x02 Move to Marker
0x03 Auto Adjustment of Velocity Command Offset
0x04 Auto Adjustment of Current Command Offset
0x07 Auto Adjustment of Current Feedback Offset
Response ACK
Usage Note Send TAT command without arguments to find out if a task is completed See Figure 3 for command examples
Next Command STX ID TAT BSS ETX
Response Format STX ID $ BSY BSS ETX - if task is not complete STX ID $ TOK BSS ETX - task is complete
TAT (setting)
ACK
TAT
$BSY
TAT
$TOK
PC Servo
Time lt200 ms
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 39
General Commands (ASCII) Chapter 3
Manual Task (TMN)
Figure 4 - Manual Task (TMN) Command String Example
Attribute Value
Command TMN
Format STX ID TMN 1 BSS ETX
Data Argument Description
T1 Manual task number See the following Values and Task Descriptions
Value Task Description
0x01 - Speed Command Offset - Decrement by 01 mV
0x02 + Speed Command Offset - Increment by 01 mV
0x03 Save Speed Command Offset change
0x04 - Current Command Offset - Decrement by 01 mV
0x05 + Current Command Offset - Increment by 01 mV
0x06 Save Current Command Offset change
0x07 Discard changes and exit
Response ACK
Usage Note Most manual tasks are complete by the time ACK is received Commands 0x03 and 0x06 may take longer because they save data to flash memory Send TMN command without arguments to find out if a task is completed See Figure 4 for command examples
Next Command STX ID TAT BSS ETX
Response Format STX ID $ BSY BSS ETX - if task is not complete STX ID $ TOK BSS ETX - task is complete
TMN (setting)
ACK
TMN
$BSY
TMN
$TOK
PC Servo
Time lt200 ms
40 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 3 General Commands (ASCII)
Read Fault Contents (EHY)
Jog (JOG)
Attribute Value
Command EHY
Description Read faults See Read Fault Detailed Data (DIE) on page 43 for alternative fault data
Format STX ID EHY F1 BSS ETX
Data Argument Description
F1 Fault Number Range is 0x01hellip0x08 where latest fault status is stored in 0x01 and oldest fault is stored in 0x08
Response Format STX ID $ EHYE FCode FChars BSS ETX
Data Data Description
FCode Fault Code See Appendix C for a list of fault codes
FChars Fault Name Abbreviated See Appendix C
Usage Note Use this command to find out more about one of the eight faults To receive all fault statuses use EHY command below
Attribute Value
Command EHY
Description Read all fault codes
Format STX ID EHY BSS ETX
Data Argument Description
Asterik () means all faults
Response Format STX ID $ EHY Fcode1ampFcode2ampFcode8 BSS ETX
Data Data Description
Fcode1hellipFcode8 Fault Code See Appendix C for a list of fault codes
Attribute Value
Command JOG
Description Jog forward or reverse
Format STX ID JOG P1 BSS ETX
Data Argument Description
P1 0 = prepare for jog operation + = jog forward - (dash) = jog reverse
Response ACK
Usage Note To keep jogging send JOG command more than once within 500 ms To end Jog mode send SVROF
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 41
General Commands (ASCII) Chapter 3
Read Drive Status (STS)
Attribute Value
Command STS
Description Read status
Format STX ID STS BSS ETX
Response Format STX ID $ STS Mode S1 S2 S3 S4 S5 SS FChars BSS ETX
Response Data Arguments Description
Mode One of these operating modes F = Follower mode S = Analog Velocity mode P = Preset Velocity mode C = Analog Current mode D = Dual Current Command mode PF PS PC FS FC SC = Mixed modes Refer to [Pr - 000] Operations Mode on page 46 for additional information
S1 S1 means In Follower mode 1 = In Position 0 = Not In Position In Analog Velocity or Preset Velocity modes 1 = In Speed Window 0 = not In Speed Window If position or speed data is not available S1= 0
S2 One of the following 1 = Up to Speed 0 = Not Up to Speed If speed data is not available S2=0
S3 One of the following 1 = Drive is Enabled 0 = Drive is Disabled
S4 One of the following 1 = Positive Overtravel is active 0 = Positive Overtravel is inactive
S5 One of the following 1 = Negative Overtravel is active 0 = Negative Overtravel is inactive
SS One of the following Edd = fault occurred (See Appendix C)
dd = 2 byte error code 0x00hellip0xFF Wdd = warning occurred (See Appendix C)
dd = 2 byte warning code RDY = no errors or warnings
FChars Abbreviation of the faultwarning name In the case of Estop fault Fchars = ESTOP FChars size is 5 bytes when fault occurs and 3 bytes when warning occurs
42 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 3 General Commands (ASCII)
Other Functions (ETC)
Attribute Value
Command ETC
Format STX ID ETC F1 BSS ETX
Data Argument Description
F1 Manual task number See the following Values and Task Descriptions
Value Task Description
0x09 Clear Fault History
0x0A Reset Absolute Encoder (1)
(1) Resetting of an absolute (17-bit) encoder is possible only when the drive is disabled The command Reset Absolute Encoder sets the rotation data to 0 and clears all encoder related faults and warnings
0x0B Store 2-Group Gain
0x0C Reset to Factory settings (2)
(2) Parameters in the table below are not affected by the Reset to Factory settings
0x0D Test Run
0x0E Upgrade Firmware
0x0F Erase Manufacturing Information
Response ACK
Usage Note Send ETC command without arguments to find out if a task is completed
Next Command STX ID ETC BSS ETX
Response Format STX ID $ BSY BSS ETX - if task is not complete orSTX ID $ TOK BSS ETX - task is complete
Parameter Number Description
600 Analog Velocity Command Offset
601 Analog Current Command Offset
602 U Phase Current Sensing Offset
603 W Phase Current Sensing Offset
700hellip707 Group 7 - Manufacturing Settings
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 43
General Commands (ASCII) Chapter 3
Verify Software Version (VER)
Verify Servo Connection (LIV)
Read Fault Detailed Data (DIE)
Attribute Value
Command VER
Description Verify software version
Format STX ID VER BSS ETX
Response Format STX ID $ VER V BSS ETX
Response Data Argument Description
V Firmware version Size 5 bytes including a space Example STX01$VER 100BSS ETX
Attribute Value
Command LIV
Description Verify servo connection
Format STX ID LIV BSS ETX
Response Format ACK if there is a connection
Attribute Value
Command DIE
Description Read detailed fault data stored in [Pr - 607] Fault Detail Data Selection 1 Sample period in microseconds = [Pr - 607] 200) See Read Fault Contents (EHY) on page 40 for alternative fault data
Format STX ID DIE A1 A2 BSS ETX
Data Argument Description
A1 Channel to get the data for Range 1hellip4 Channels are stored in [Pr - 607]hellip[Pr - 610] Fault Detail Data Selection 4
A2 Data Number Range 0hellip50 0 means all data
Usage Note Send DIE 02 00 to receive all the data for A1= 02 Send DIE 00 01 to receive data for data number 1 of 4 variables DIE 00 00 is invalid
Response Format STX ID $ DIE D1ampD2ampDN BSS ETX
Error Response STX ID $ DIE FFFF BSS ETX means data number is invalid
Response Data Argument Description
D1hellipDn Detailed data where n depends on A1 and A2 If A1=00 and A2 = 01 then n = 4 If A1=01hellip04 and A2 = 01hellip50 then n=1 If A1=01hellip04 and A2 = 00 then n= 50
44 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 3 General Commands (ASCII)
Enable Drive (SVRON)
Disable Drive (SVROF)
Reset Drive (HWR)
Attribute Value
Command SVRON
Description Enables the drive
Format STX ID SVRON BSS ETX
Response ACK
Attribute Value
Command SVROF
Description Disables the drive
Format STX ID SVROF BSS ETX
Response ACK
Attribute Value
Command HWR
Description Reset the drive by using watchdog counter
Format STX ID HWR BSS ETX
Response ACK
Usage Note Stops the watchdog timer allowing a hardware signal to reboot (reset) the drive
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 45
Appendix A
Standard Drive Parameters
Parameters control Kinetix 3 drive operations They are grouped by the type of drive Standard or Indexing and the settings they define
Descriptions of Indexing Drive Parameters begin on page 115
Parameter Groupings Standard drive parameters are grouped into these drive settings bull Group 0 - Basic drive system and IO settings bull Group 1 - Gain and gain tuning settings bull Group 2 - Velocity control settings bull Group 3 - Position control settings bull Group 4 - Torque control settings bull Group 5 - Supplementary drive system and IO settings bull Group 6 - Supplementary gain settings and fault reports bull Group 7 - Factory default settings bull Group 8 - Parameters reserved bull Group 9 - Motor and drive operating mode parameters
46 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
Parameter Descriptions Parameter descriptions list the size of each parameter and the data options within the parameter
Descriptions of Indexing Drive Parameters begin on page 115
Group 0 - System Level
[Pr - 000] Operations Mode
Ultraware Name Operation Modes (MainOverride)
Range 0hellip12
Display (Value) Normal operating mode Override operating mode
F (1) Follower Follower
S (2) Analog Velocity Input Analog Velocity Input
C (3) Analog Current Input Analog Current Input
SF (4) Analog Velocity Input Follower
CF (5) Analog Current Input Follower
CS (6) Analog Current Input Analog Velocity Input
P (7) Preset Velocity Preset Velocity
PF (8) Preset Velocity Follower
PS (9) Preset Velocity Analog Velocity Input
PC (10) Preset Velocity Analog Current Input
D (11) Reserved Reserved
I (12) Indexing Indexing
Default 1
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
MODBUS Address 0
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 47
Standard Drive Parameters Appendix A
[Pr - 001] Motor Configuration
Data Size 6 digits
Ultraware Name Motor configuration
Digit 0 Encoder type
Range Value Description
0x0hellip0xf Each number define a corresponding encoder type 9 line or 17-bit serial for example
Default 0x1 = 9 line
Digit 1hellip2 Rated power
Range Value Description
A5010204081015 501002004008001000 or 1500 Watts
Default 04 = 400 W
Digit 3hellip4 Motor type
Range Value Description
Motor type Motor initial ID
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
MODBUS Address 1
When Enabled Servo-Off -gt Setting
Applicable Operating Mode All
MODBUS Address Pr-001[Lo] = 1 Pr-001[Hi] = 2
48 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 002] Motor Basic Modes
Data Size 4 digits
Digit 0 Fault and Disable Braking
Ultraware Name Stopping Functions Fault and Disable Braking
Range Value Description
0x0 Brake and hold
0x1 Brake and release
0x2 Free stop
0x3 Free stop and hold
Default 0
Digit 1 Overtravel stop method
Ultraware Name Stopping Functions Over Travel Stop Method
Range Value Description
0x0 Stop by change of mode to Normal Current Set stopping current with Overtravel Current Limit parameter [Pr - 405]
0x1 Dynamic Brake
Default 0
Digit 2 Motor Forward Dir
Ultraware Name Command Polarity
Range Value Description
0x0 The command signal is not inverted so that a positive command value results in clockwise rotation as viewed from shaft end
0x1 The command signal is inverted so that a positive command value results in counter-clockwise rotation s viewed from shaft end
Default 0
Digit 3 Power input
Ultraware Name AC Line Loss Check
Range Value Description
0x0 Enables the following bull 50hellip400W drive Enable
single-phase open check bull 800hellip15kW drive Enable
three-phase open check
0x1 Disable
0x2 Single-phase input
Default 0
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 49
Standard Drive Parameters Appendix A
When Enabled Servo-Off -gt Setting
Applicable Operating Mode All
MODBUS Address 3
[Pr - 003] Auto Tuning Functions
Data Size 4 digits
Digit 0 Off-line Tuning Mode
Ultraware Name Off-line Tuning Mode
Range Value Description
0x0 Inertia Moment Estimation
0x1 Inertia Moment Estimation and Resonant Frequency Detection
0x2 Resonance frequency Detection
Default 1
Digit 1 Reserved
Digit 2 Autotuning Speed
Ultraware Name Autotuning Speed
Range 2hellip9
Default 7
Units rpm100
Digit 3 Dynamic Tuning Response Speed
Ultraware Name Online Tuning Response
Range Value Description
0x0 Off
0x1 Slowest
0x2 Slower
0x3 Slow
0x4 Medium-Slow
0x5 Medium
0x6 Medium-Fast
0x7 Fast
0x8 Faster
0x9 Fastest
Default 0
Units -
When Enabled Servo-Off -gt Setting
Applicable Operating Mode All
MODBUS Address 4
[Pr - 002] Motor Basic Modes (Continued)
50 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 004] Inertia Ratio
Description Load Inertia Motor Inertia
Ultraware Name Inertia Ratio
Range 0hellip6000
Default 100
Units (Load inertiaMotor inertia) 100
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 5
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 51
Standard Drive Parameters Appendix A
[Pr - 005] Auxiliary Function Selection 1
Applicable Operating Mode All
Data Size 4 digits
Digit 0 Encoder Back-up Battery
Ultraware Name Encoder Back-up Battery
Range Value Description
0x0 Battery Installed
0x1 Battery Not Installed
Default 0
Digit 1 Velocity Observer
Ultraware Name Velocity Observer
Range Value Description
0x0 Disable
0x1 Enable
Default 0
Digit 2 Alternative Gain Change Enable
Ultraware Name Gain Change Enable
Range Value Description
0x0 Disable
0x1 Enable
Default 0x0
Digit 3 Emergency stop input
Range Value Description
0x0 Disable
0x1 Enable
Default 0
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
MODBUS Address 6
52 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 006] Auxiliary Function Selection 2
Applicable Operating Mode All
Data Size 3 digits
Digit 0 Automatic Motor Identification
Ultraware Name Auto Motor Identification
Range Value Description
0x0 Disabled
0x1 Enabled
Default 1
Digit 1 Incremental Feedback Loss (Encoder Line Break Detection)
Ultraware Name Incremental Feedback Loss
Range Value Description
0x0 Monitored
0x1 Ignored
Default 0
Digit 2 Mode of Gain Switching
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 53
Standard Drive Parameters Appendix A
Range Value Description
0 Fixed to the 1st gain
1 Fixed to 2nd gain
2 2nd gain selection when the gain switching input is turned on
3 2nd gain selection when the toque command is larger than the set-up levels of the gain control switching and hysteresis of control switching
4 2nd gain selection when the command speed is larger than the set-up levels of the gain control switching and hysteresis of control switching
5 2nd gain selection when the positional deviation is larger than the setup set-up levels of the gain control switching and hysteresis of control switching
6 2nd gain selection when more then one command pulse exist between 200usec
7 2nd gain selection when the positional deviation counter value exceeds the set-up of the positioning complete range
8 2nd gain selection when the motor actual speed exceeds the set-up levels of the gain control switching and hysteresis of control switching)Switches to the 2nd gain while the position command exists
9 Switches to the 1st gain when no-position command status lasts for the set up of delay time of gain switching [x 200usec] and the speed falls slower than the set-up levels of the gain control switching level and hysteresis of control switching
Default 0
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 7
[Pr - 006] Auxiliary Function Selection 2 (Continued)
54 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 007] Drive Address
Applicable Operating Mode All
Ultraware Name Drive Address
Range 1hellip247
Default 1
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 8
[Pr - 008] Password
Applicable Operating Mode All
Ultraware Name Drive Password
Range 0hellip9999Usage Note Unprotected Code 777
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 9
[Pr - 009] Serial Port Configuration
Applicable Operating Mode All
Data Size 4 digits
Digit 0 Baud Rate
Ultraware Name Baud Rate
Range Value Description
0x0 9600 bps
0x1 14400 bps
0x2 19200 bps
0x3 38400 bps
0x4 56000 bps
0x5 57600 bps
Default 0x5
Digit 1 Data bits Parity Stop bit
Ultraware Name Data bits Parity Stop bit
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 55
Standard Drive Parameters Appendix A
Range Value Description
0x0 8 No 1
0x1 8 Even 1
0x2 8 Odd 1
0x3 8 No 2
0x4 8 Even 2
0x5 8 Odd 2
Default 0x0
Digit 2 Protocol
Ultraware Name Protocol
Range Value Description
0x0 ASCII
0x1 MODBUS-RTU
Default 0
Digit 3 Communication Method
Ultraware Name Communication Method
Range Value Description
0 0x0 RS232
1 Ox1 RS485
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 10
[Pr - 010] Allocation of Input Signals 1
Range for all digits 0hellipB where 0 is Off B is On and 1hellipA are digital inputs
Data Size 4 digits
Digit Description Default Unmapped IO Status
0 Drive enable (SV-ON) 0x1 ON
1 Positive overtravel (P-OT) 0xb ON
2 Negative overtravel (N-OT) 0xb ON
3 Integrator inhibit (CON) 0x4 OFF
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 010]hellip[Pr - 021] on page 60
Applicable Operating Mode All
MODBUS Address 11
[Pr - 009] Serial Port Configuration (Continued)
56 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 011] Allocation of Input Signals 2
Range for all digits 0hellipB where 0 is Off B is On and 1hellipA are digital inputs
Data Size 4 digits
Digit Description Default Unmapped IO Status
0 Fault reset (A-RST) 0x5 OFF
1 Negative current limit (N-TL) 0x6 OFF
2 Positive current limit (P-TL) 0x7 OFF
3 Operation mode override (C-SEL)
0x0 OFF
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 010]hellip[Pr - 021] on page 60
Applicable Operating Mode All
MODBUS Address 12
[Pr - 012] Allocation of Input Signals 3
Range for all digits 0hellipB where 0 is Off B is On and 1hellipA are digital inputs
Data Size 4 digits
Digit Description Default Unmapped IO Status
0 Preset direction (C-DIR) 0x0 OFF
1 Preset select 1 (C-SP1) 0x0 OFF
2 Preset select 2 (C-SP2) 0x0 OFF
3 Preset select 3 (C-SP3) 0x0 OFF
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 010]hellip[Pr - 021] on page 60
Applicable Operating Mode All
MODBUS Address 13
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 57
Standard Drive Parameters Appendix A
[Pr - 013] Allocation of Input Signals 4
Range for all digits 0hellipB where 0 is Off B is On and 1hellipA are digital inputs
Data Size 4 digits
Digit Description Default Unmapped IO Status
0 Zero speed clamp enable (Z-CLP)
0x0 OFF
1 Pause follower (INHIBIT) 0x0 OFF
2 Alternate gain select (G-SEL) 0x0 OFF
3 Position clear (PCLR) 0x0 OFF
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 010]hellip[Pr - 021] on page 60
Applicable Operating Mode All
MODBUS Address 14
[Pr - 014] Allocation of Input Signals 5
Range for all digits 0hellipB where 0 is Off B is On and 1hellipA are digital inputs
Data Size 4 digits
Digit Description Default Unmapped IO Status
0 Position strobe (ABS-DT) 0x0 OFF
1 Motor moving enable (START) 0x0 OFF
2 Analog speed command select (C-SP4)
0x0 OFF
3 2nd electronic gear bank selection (GEAR)
0x0 OFF
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 010]hellip[Pr - 021] on page 60
Applicable Operating Mode All
MODBUS Address 15
58 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 015] Allocation of Input Signals 6
Data Size 4 digits
Digit Description Default Unmapped IO Status
0 Reset multi-turn data of absolute encoder (R_ABS)
0x0 OFF
1 Gain bank select (BANK_SEL) 0x0 OFF
2 Reserved 0x0 OFF
3 Reserved 0x0 OFF
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 010]hellip[Pr - 021] on page 60
Applicable Operating Mode All
MODBUS Address 16
[Pr - 016] Allocation of Input Signals 7
Data Size 4 digits
Digit Description Default Unmapped IO Status
0 Home sensor (H_SENS) 0x0 OFF
1 Start homing (SHOME) 0x0 OFF
2 Stop indexing (STOP) 0x0 OFF
3 Pause indexing (PAUSE) 0x0 OFF
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 010]hellip[Pr - 021] on page 60
Applicable Operating Mode Indexing
MODBUS Address 17
[Pr - 017] Allocation of Input Signals 8
Data Size 4 digits
Digit Description Default Unmapped IO Status
0 Index select 0 input (I_SEL0) 0x0 OFF
1 Index select 1 input (I_SEL1) 0x0 OFF
2 Index select 2 input (I_SEL2) 0x0 OFF
3 Index select 3 input (I_SEL3) 0x0 OFF
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 010]hellip[Pr - 021] on page 60
Applicable Operating Mode Indexing
MODBUS Address 18
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 59
Standard Drive Parameters Appendix A
[Pr - 018] Allocation of Input Signals 9
Data Size 4 digits
Digit Description Default Unmapped IO Status
0 Index select 4 input (I_SEL4) 0x0 OFF
1 Index select 5 input (I_SEL5) 0x0 OFF
2 Stop homing (H_STOP) 0x0 OFF
3 Start index (START_I) 0x0 OFF
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 010]hellip[Pr - 021] on page 60
Applicable Operating Mode Indexing
MODBUS Address 19
[Pr - 019] Allocation of Input Signals 10
Data Size 4 digits
Digit Description Default Unmapped IO Status
0 Reserved 0x0 OFF
1 Reserved 0x0 OFF
2 Reserved 0x0 OFF
3 Reserved 0x0 OFF
When Enabled Reserved
Applicable Operating Mode Indexing
MODBUS Address 20
[Pr - 020] Allocation of Input Signals 11
Data Size 4 digits
Digit Description Default Unmapped IO Status
0 Reserved 0x0 OFF
1 Reserved 0x0 OFF
2 Reserved 0x0 OFF
3 Reserved 0x0 OFF
When Enabled Reserved
Applicable Operating Mode Indexing
MODBUS Address 21
60 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
Table 1 - Setting Values for Parameters [Pr - 010]hellip[Pr - 021]
[Pr - 021] Allocation of Input Signals 12
Data Size 4 digits
Digit Description Default Unmapped IO Status
0 Reserved 0x0 OFF
1 Reserved 0x0 OFF
2 Reserved 0x0 OFF
3 Reserved 0x0 OFF
When Enabled Reserved
Applicable Operating Mode Indexing
MODBUS Address 22
Setting Value (1)
1 Setting values are reserved (not available) for [Pr - 019] and [Pr - 020]
B A 9 6 7 6 5 4 3 2 1 0
Input Channel No
Input Signal
19 9 8 7 6 5 4 3 2 1 Input Signal
CN1 Pin No On 26 27 29 9 8 7 6 5 4 3 Off
[Pr - 022] Allocation of Output Signals 1
Range for all digits 0hellip3 where 0 is Off and 1hellip6 are digital outputs
Data Size 4 digits
Digit Description Default
0 Within position window (P-COM)
0x1
1 Up to speed (TG-ON) 0x2
2 Brake control (BK) 0x3
3 Within speed window (V-COM) 0x0
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 022]hellip[Pr - 032] on page 65
Applicable Operating Mode All
MODBUS Address 23
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 61
Standard Drive Parameters Appendix A
[Pr - 023] Allocation of Output Signals 2
Range for all digits 0hellip3 where 0 is Off and 1hellip6 are digital outputs
Data Size 4 digits
Digit Description Default
0 Current limited (T_LMT) 0x0
1 Velocity limited (V-LMT) 0x0
2 Near position (NEAR) 0x0
3 Warning (WARN) 0x0
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 022]hellip[Pr - 032] on page 65
Applicable Operating Mode All
MODBUS Address 24
[Pr - 024] Allocation of Output Signals 3
Range for all digits 0hellip3 where 0 is Off and 1hellip6 are digital outputs
Data Size 4 digits
Digit Description Default
0 Absolute position valid (A_VLD) 0x0
1 Ready 0x0
2 Reserved 0x0
3 Reserved 0x0
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 022]hellip[Pr - 032] on page 65
Applicable Operating Mode All
MODBUS Address 25
62 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 025] Allocation of Output Signals 4
Range for all digits 0hellip3 where 0 is Off and 1hellip6 are digital outputs
Data Size 4 digits
Digit Description Default
0 In Motion (IMO) 0x0
1 In Dwell (I_DW) 0x0
2 Axis Homed (HOMC) 0x0
3 Index Select 0 Out (O_ISEL0) 0x0
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 022]hellip[Pr - 032] on page 65
Applicable Operating Mode Indexing
MODBUS Address 26
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 63
Standard Drive Parameters Appendix A
[Pr - 026] Allocation of Output Signals 5
Range for all digits 0hellip3 where 0 is Off and 1hellip6 are digital outputs
Data Size 4 digits
Digit Description Default
0 Index Select 1 Out (O_ISEL1) 0x0
1 Index Select 2 Out (O_ISEL2) 0x0
2 Index Select 3 Out (O_ISEL3) 0x0
3 Index Select 4 Out (O_ISEL4) 0x0
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 022]hellip[Pr - 032] on page 65
Applicable Operating Mode Indexing
MODBUS Address 27
[Pr - 027] Allocation of Output Signals 6
Range for all digits 0hellip3 where 0 is Off and 1hellip6 are digital outputs
Data Size 4 digits
Digit Description Default
0 Index Select 5 Out (O_ISEL5) 0x0
1 End of Sequence (E_SEQU) 0x0
2 Reserved 0x0
3 Reserved 0x0
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 022]hellip[Pr - 032] on page 65
Applicable Operating Mode Indexing
MODBUS Address 28
[Pr - 028] Allocation of Output Signals 7
Range for all digits 0hellip3 where 0 is Off and 1hellip6 are digital outputs
Data Size 4 digits
Digit Description Default
0 Reserved 0x0
1 Reserved 0x0
2 Reserved 0x0
3 Reserved 0x0
When Enabled Reserved
Applicable Operating Mode Indexing
MODBUS Address 29
64 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 029] Allocation of Output Signals 8
Range for all digits 0hellip3 where 0 is Off and 1hellip6 are digital outputs
Data Size 4 digits
Digit Description Default
0 Reserved 0x0
1 Reserved 0x0
2 Reserved 0x0
3 Reserved 0x0
When Enabled Reserved
Applicable Operating Mode Indexing
MODBUS Address 30
[Pr - 030] Allocation of Output Signals 9
Range for all digits 0hellip3 where 0 is Off and 1hellip6 are digital outputs
Data Size 4 digits
Digit Description Default
0 Reserved 0x0
1 Reserved 0x0
2 Reserved 0x0
3 Reserved 0x0
When Enabled Reserved
Applicable Operating Mode Indexing
MODBUS Address 31
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 65
Standard Drive Parameters Appendix A
Table 2 - Setting Values for Parameters [Pr - 022]hellip[Pr - 032]
[Pr - 031] Allocation of Output Signals 10
Range for all digits 0hellip3 where 0 is Off and 1hellip6 are digital outputs
Data Size 4 digits
Digit Description Default
0 Reserved 0x0
1 Reserved 0x0
2 Reserved 0x0
3 Reserved 0x0
When Enabled Reserved
Applicable Operating Mode Indexing
MODBUS Address 32
[Pr - 032] IO Control Authority
Applicable Operating Mode All
Data Size 2 digits
Digit 0 MODBUS Input Function Control
Ultraware Name MODBUS Input Function Control
Range Value Description
0x0 Disable
0x1 Enable
Default 0
Digits 1 MODBUS Run Function Control
Ultraware Name MODBUS Run Function Control
Range Value Description
0x0 Disable
0x1 Enable
Default 0
When Enabled Servo-Off -gt Setting (1)
1 Refer to the Setting Values for Parameters [Pr - 022]hellip[Pr - 032] table immediately below
Applicable Operating Mode All
MODBUS Address 33
Setting Value (1)
1 Setting Values are reserved (not available) for [Pr - 028] and [Pr - 031]
6 5 4 3 2 1 0
Input Channel No AL 3 AL 2 DO1 DO3 DO2 DO1 Input Signal
CN1 Pin No 39 38 37 4748 4344 4142 Off
66 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
Group 1 - Gain Control
[Pr - 100] Velocity Regulator Response Level
Ultraware Name Velocity Regulator Response level
Range 1hellip150
Default 50
Units
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 100
[Pr - 101] System Gain
Ultraware Name Velocity Regulator Response level
Range 1hellip150
Default 50
Units Hz
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 101
[Pr - 102] Velocity Regulator P Gain
Ultraware Name Main Velocity Regulator Gains Proportional Gain
Range 0hellip10000
Default 60
Units -
Applicable Operating Mode
When Enabled Immediately
Applicable Operating Mode Follower Analog Speed Preset
MODBUS Address 102
[Pr - 103] Velocity Regulator I Gain
Ultraware Name Main Velocity Regulator Gains Integral Gain
Range 0hellip60000
Default 26
Units -
When Enabled Immediately
Applicable Operating Mode Follower Analog Speed Preset
MODBUS Address 103
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 67
Standard Drive Parameters Appendix A
[Pr - 104] Velocity Regulator D gain
Ultraware Name Main Velocity Regulator Gains Derivative Gain
Range 0hellip1000
Default 0
Units -
When Enabled Immediately
Applicable Operating Mode Follower Analog Speed Preset
MODBUS Address 104
[Pr - 105] Velocity Error Filter
Ultraware Name Calibration Error Filter Bandwidth
Range 0hellip2500
Default 30
Units Hz
When Enabled Immediately
Applicable Operating Mode Follower Analog Speed Preset
MODBUS Address 105
[Pr - 106] Position Regulator Kp Gain
Ultraware Name Main Position Regulator Gains Kp
Range 0hellip700
Default 20
Units Hz
When Enabled Immediately
Applicable Operating Mode Follower Analog Speed Preset
MODBUS Address 106
68 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 107] Current Command Lowpass Filter Bandwidth
Ultraware Name Main Current Regulator Gains Low Pass Filter Bandwidth
Range 0hellip10000
Default 300
Units Hz
Applicable Operating Mode All
When Enabled Immediately
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 107
[Pr - 108] Velocity Command Lowpass Filter Bandwidth
Ultraware Name Main Velocity Regulator Gains Low Pass Filter Bandwidth
Range 0hellip10000
Default 1000
Units Hz
When Enabled Immediately
Applicable Operating Mode Follower Analog Speed Preset
MODBUS Address 108
[Pr - 109] Position Command Lowpass Filter Bandwidth
Ultraware Name Main Position Regulator Gains Low Pass Filter Bandwidth
Range 0hellip1000
Default 0
Units Hz
When Enabled Immediately
Applicable Operating Mode Follower
MODBUS Address 109
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 69
Standard Drive Parameters Appendix A
[Pr - 110] 1st Resonant Frequency Suppression Filter
Ultraware Name Main Current Regulator Gains 1st Resonant Frequency Suppression Filter
Description Suppresses Vibration by cutting off Current Command in assigned frequency band
Range 0hellip10000
Default 10000
Units Hz
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 110
[Pr - 111] 1st Resonant Frequency Suppression Filter Width
Ultraware Name Main Current Regulator Gains 1st Resonant Frequency Suppression Filter Width
Description Set up the notch width of 1st resonance suppressing filter in 20 steps Higher the setup larger the notch width you can obtain
Range 0hellip20
Default 10
Units
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 111
[Pr - 112] 2nd Resonant Frequency Suppression Filter
Ultraware Name 2nd Main Current Regulator Gains 2nd Resonant Frequency Suppression Filter
Description Suppresses Vibration by cutting off Current Command in assigned frequency band
Range 0hellip10000
Default 10000
Units Hz
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 112
70 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 113] 2nd Resonant Frequency Suppression Filter Width
Ultraware Name Main Current Regulator Gains 2nd Resonant Frequency Suppression Filter Width
Description Set up the notch width of 2nd resonance suppressing filter in 20 steps The higher the setup larger the notch width you can obtain
Range 0hellip20
Default 10
Units -
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 113
[Pr - 114] 2nd Resonant Frequency Suppression Filter Depth
Ultraware Name Main Current Regulator Gains 2nd Resonant Frequency Suppression Filter Depth
Description Set up the 2nd notch depth of the resonance suppressing filter The higher the setup the shallower the notch depth and the smaller the phase delay you can obtain
Range 0hellip100
Default 100
Units -
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 114
[Pr - 115] Position Regulator Kff gain
Ultraware Name Main Position Regulator Gains Kff
Range 0hellip100
Default 0
Units
When Enabled Immediately
Applicable Operating Mode Follower
MODBUS Address 115
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 71
Standard Drive Parameters Appendix A
[Pr - 116] Position Regulator Kff Bandwidth
Ultraware Name Main Position Regulator Gains Kff Low Pass Filter Bandwidth
Range 0hellip2500
Default 200
Units Hz
When Enabled Immediately
Applicable Operating Mode Follower
MODBUS Address 116
[Pr - 117] Velocity Regulator I Gain Mode
Ultraware Name Main Velocity Regulator Gains I Gain Mode
Description During transient response Speed Response Overshoot can be suppressed by a speed controller change from a Proportional Integral (PI) controller into a Proportional (P) controller It reduces position completion time during position control
Range Value Description
0x0 Do not use PPI Mode Conversion
0x1 When Current Command exceeds Current Value in [Pr - 118] Speed Controller is changed from PI Controller to P Controller
0x2 When Speed Command exceeds Speed Value in [Pr - 118] Speed Controller is changed from PI Controller to P Controller
0x3 When Position error exceeds Position error Value in [Pr - 118] Speed Controller is changed from PI Controller to P Controller
0x4 Automatically velocity controller is changed from PI Controller to P Controller
Default 3
When Enabled Servo-Off -gt Setting
Applicable Operating Mode All
MODBUS Address 117
72 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 118] Velocity Regulator I Gain Disable Threshold
Ultraware Name Main Velocity Regulator Gains I Gain Disable Threshold
Range 0hellip3000
Default 100
Units If [Pr - 117] = 1 units are of rated continuous current
If [Pr - 117] = 2 units are rpm for rotary motors mmsec for linear motors
If [Pr - 117] = 3 units are Counts
When Enabled Follower Analog Velocity Preset
Applicable Operating Mode Immediately
MODBUS Address 118
[Pr - 119] Position Regulator High Error Output Offset
Ultraware Name Main Position Regulator Gains High Error Output Offset
Range 0hellip450
Default 0
Units Rotary rpm Linear mmsec
When Enabled All
Applicable Operating Mode Immediately
MODBUS Address 119
[Pr - 120] Position Regulator High Error Output Threshold
Ultraware Name Main Position Regulator Gains High Error Output Threshold
Range 0hellip50000
Default 1000
Units Counts
When Enabled All
Applicable Operating Mode Immediately
MODBUS Address 120
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 73
Standard Drive Parameters Appendix A
[Pr - 121] Current Regulator Bandwidth Reduction Scale
Ultraware Name Main Current Regulator Gains Gain
Range Value Description
0x0 High bandwidth
0x1 Medium bandwidth (06667 high)
0x2 Low bandwidth (03334 high)
Default 0x1
When Enabled All
Applicable Operating Mode Immediately
MODBUS Address 121
[Pr - 122] On-line Vibration Mode
Data Size 1 digits
Digit 0 On-line Vibration Suppression Mode
Ultraware Name On-line Vibration Suppression Mode
Range Value Description
0x0 Disable
0x1 Normal and High Velocity Mode
0x2 Slow Velocity Mode without initial value
Default 0x0
Digit 1 On-line Vibration Suppression Gain
Ultraware Name On-line Vibration Suppression Gain
Range Value Description
0x0 Low
0x1 High
Default 0x0
When Enabled All
Applicable Operating Mode Servo-Off -gt Setting
MODBUS Address 122
74 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 123] Velocity Regulator Configuration
Applicable Operating Mode All
Data Size 1 digits
Digit 0 Velocity Command Filter on Follower
Ultraware Name Velocity Command Filter on Follower
Range Value Description
0x0 Disable
0x1 Enable
Default 0x0
When Enabled Immediately
Applicable Operating Mode Servo-Off -gt Setting
MODBUS Address 123
[Pr - 124] Delay Time of Gain Switching
Ultraware Name Gain Switching Delay Time of Gain Switching
Range 0hellip10000
Default 0
Units X 200usec
When Enabled Immediately
Applicable Operating Mode Follower Analog Velocity Preset
MODBUS Address 124
[Pr - 125] Level of Gain Switching
Ultraware Name Gain Switching Level of Gain Switching
Range 0hellip10000
Default 0
Units -
When Enabled Immediately
Applicable Operating Mode Follower Analog Velocity Preset
MODBUS Address 125
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 75
Standard Drive Parameters Appendix A
[Pr - 126] Hysteresis of Gain Switching
Ultraware Name Gain Switching Hysteresis of Gain Switching
Range 0hellip10000
Default 0
Units -
When Enabled Immediately
Applicable Operating Mode Follower Analog Velocity Preset
MODBUS Address 126
[Pr - 127] Position Gain Switching Time
Ultraware Name Gain Switching Level of Gain Switching
Range 0hellip10000
Default 0
Units x 200usec
When Enabled Immediately
Applicable Operating Mode Follower Analog Velocity Preset
MODBUS Address 127
[Pr - 128] 2nd Velocity Regulator P Gain
Ultraware Name 2nd Regulator Gain P
Range 0hellip10000
Default 60
Units -
When Enabled Immediately
Applicable Operating Mode Follower Analog Velocity Preset
MODBUS Address 128
[Pr - 129] 2nd Velocity Regulator I Gain
Ultraware Name 2nd Regulator Gain Integrator Gain
Range 0hellip60000
Default 26
Units -
When Enabled Immediately
Applicable Operating Mode Follower Analog Velocity Preset
MODBUS Address 129
76 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 130] 2nd Position Regulator Kp Gain
Ultraware Name 2nd Regulator Gain Kp
Range 0hellip700
Default 20
Units Hz
When Enabled Immediately
Applicable Operating Mode Position
MODBUS Address 130
[Pr - 131] 2nd Current Command Lowpass Filter Bandwidth
Ultraware Name 2nd Regulator Gain Low Pass Bandwidth (IReg)
Range 0hellip10000
Default 300
Units Hz
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 131
[Pr - 132] 2nd Velocity Command Lowpass Filter Bandwidth
Ultraware Name 2nd Regulator Gain Low Pass Bandwidth (VReg)
Range 0hellip10000
Default 1000
Units Hz
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 132
[Pr - 133] 3rd Velocity Regulator P Gain
Ultraware Name 3rd Regulator Gain P Gain
Range 0hellip10000
Default 60
Units -
When Enabled Immediately
Applicable Operating Mode Follower Analog Velocity Preset
MODBUS Address 133
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 77
Standard Drive Parameters Appendix A
[Pr - 134] 3rd Velocity Regulator I Gain
Ultraware Name 3rd Regulator Gain Integrator Gain
Range 0hellip10000
Default 26
Units -
When Enabled Immediately Immediately
Applicable Operating Mode Follower Analog Velocity Preset
MODBUS Address 134
[Pr - 135] 3rd Position Regulator Kp Gain
Ultraware Name 3rd Regulator Gain Kp
Range 0hellip700
Default 20
Units Hz
When Enabled Immediately
Applicable Operating Mode Position
MODBUS Address 135
[Pr - 136] 3rd Current Command Lowpass Filter Bandwidth
Ultraware Name 3rd Regulator Gain Low Pass Bandwidth (IReg)
Range 0hellip10000
Default 300
Units Hz
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 136
[Pr - 137] 3rd Velocity Command Lowpass Filter Bandwidth
Ultraware Name 3rd Regulator Gain Low Pass Bandwidth (VReg)
Range 0hellip10000
Default 1000
Units Hz
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 137
78 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 138] 4th Velocity Regulator P Gain
Ultraware Name 4th Regulator Gain P
Range 0hellip10000
Default 60
Units -
When Enabled Immediately
Applicable Operating Mode Follower Analog Velocity Preset
MODBUS Address 138
[Pr - 139] 4th Velocity Regulator I Gain
Ultraware Name 4th Regulator Gain Integrator Gain
Range 0hellip60000
Default 26
Units
When Enabled Immediately
Applicable Operating Mode Follower Analog Velocity Preset
MODBUS Address 139
[Pr - 140] 4th Position Regulator Kp Gain
Ultraware Name 4th Regulator Gain Kp
Range 0hellip700
Default 20
Units Hz
When Enabled Immediately
Applicable Operating Mode Position
MODBUS Address 140
[Pr - 141] 4th Current Command Lowpass Filter Bandwidth
Ultraware Name 4th Regulator Gain Low Pass Bandwidth (IReg)
Range 0hellip10000
Default 300
Units Hz
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 141
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 79
Standard Drive Parameters Appendix A
[Pr - 142] 4th Velocity Command Lowpass Filter Bandwidth
Ultraware Name 4th Regulator Gain Low Pass Bandwidth (VReg)
Range 0hellip10000
Default 1000
Units Hz
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 142
80 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
Group 2 - Speed Control
[Pr - 200] Velocity Scale
Ultraware Name Velocity Scale
Range 100hellip20000
Default 5000
Units rpmV for rotary motors mmsec for linear motors
When Enabled Servo-Off -gt Setting
Applicable Operating Mode Analog Velocity
MODBUS Address 200 (1)
1 Refer to Output Function Status Parameter on page 23 for more detailed information on these parameters
[Pr - 201] Jog Velocity Command
Ultraware Name Velocity Control Panel Velocity Command
Range 0hellip6000
Default 50
Units rpm for rotary motors mmsec for linear motors
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 201
[Pr - 202] Acceleration
Ultraware Name Acceleration Limits Acceleration
Range 1hellip2147483647
Default 41667
Units 10-2Revsec2 for rotary mmsec2 for linear
When Enabled Immediately
Applicable Operating Mode Analog Velocity Input Preset Velocity
MODBUS Address 202
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 81
Standard Drive Parameters Appendix A
[Pr - 203] Deceleration
Ultraware Name Acceleration Limits Deceleration
Range 1hellip2147483647
Default 41667
Units 10-2Revsec2 for rotary mmsec2 for linear
When Enabled Immediately
Applicable Operating Mode Analog Velocity Input Preset Velocity
MODBUS Address 203
[Pr - 204] S-Curve Time
Ultraware Name Acceleration Limits S-Curve Time
Range 0hellip5000
Default 0
Units Ms
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 204
[Pr - 205] Preset Velocity 1
Ultraware Name Preset Velocity 1
Range -6000hellip6000
Default 0
Units rpm for rotary motors mmsec for linear motors
When Enabled Immediately
Applicable Operating Mode Preset
MODBUS Address 205
Pr - 206] Preset Velocity 2
Ultraware Name Preset Velocity 2
Range -6000hellip6000
Default 0
Units rpm for rotary motors mmsec for linear motors
When Enabled Immediately
Applicable Operating Mode Preset
MODBUS Address 206
82 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
Pr - 207] Preset Velocity 3
Ultraware Name Preset Velocity 3
Range -6000hellip6000
Default 0
Units rpm for rotary motors mmsec for linear motors
When Enabled Immediately
Applicable Operating Mode Preset
MODBUS Address 207
[Pr - 208] Preset Velocity 4
Ultraware Name Preset Velocity 4
Range -6000hellip6000
Default 0
Units rpm for rotary motors mmsec for linear motors
When Enabled Immediately
Applicable Operating Mode Preset
MODBUS Address 208
[Pr - 209] Preset Velocity 5
Ultraware Name Preset Velocity 5
Range -6000hellip6000
Default 0
Units rpm for rotary motors mmsec for linear motors
When Enabled Immediately
Applicable Operating Mode Preset
MODBUS Address 209
[Pr - 210] Preset Velocity 6
Ultraware Name Preset Velocity 6
Control Index 6
Range -6000hellip6000
Default 0
Units rpm for rotary motors mmsec for linear motors
When Enabled Immediately
Applicable Operating Mode Preset
MODBUS Address 210
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 83
Standard Drive Parameters Appendix A
[Pr - 211] Preset Velocity 7
Ultraware Name Preset Velocity 7
Range -6000hellip6000
Default 0
Units rpm for rotary motors mmsec for linear motors
When Enabled Immediately
Applicable Operating Mode Preset
MODBUS Address 211
[Pr - 212] Manual Velocity Limit
Ultraware Name Manual Velocity limit
Range 1hellip6000
Default 5000
Units rpm for rotary motors mmsec for linear motors
When Enabled Servo-Off -gt Setting
Applicable Operating Mode Follower Analog Velocity Preset
MODBUS Address 212
[Pr - 213] Velocity Limit Mode
Ultraware Name Velocity Limits Velocity Limit Mode
Range Value Description
0x0 Disabled
0x1 Limited by [Pr - 212]
0x2 Limited by Analog Speed Command Value (except Analog Speed Mode)
0x3 Limited by lesser one between [Pr - 212] and Analog Speed Command
Default 0
When Enabled Servo-Off -gt Setting
Applicable Operating Mode All
MODBUS Address 213
84 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
Group 3 - Position Control
[Pr - 300] Follower
Data Size 4 digits
Digit 0 Command Type
Ultraware Name Command Type
Range Value Description
0x0 Step UpStep Down Positive logic
0x1 Step UpStep Down Negative logic
0x2 StepDirection Positive Logic
0x3 StepDirection Negative Logic
0x4 Auxiliary Encoder x1
0x5 Auxiliary Encoder x2
0x6 Auxiliary Encoder x4
Default 0x0
Note For Command types 0x4 0x5 and 0x6Motor Counts = Master Lines MULT helliphelliphellip (4 Para301) Para302where MULT is 1 2 or 4 for command types 0x4 0x5 and 0x6 respectively
Applicable Operating Mode Follower
Digit 1 Controller Output Type
Ultraware Name Controller Output Type
Range Value Description
0x0 Use Low speed Line Drive Output in Host Controller for isolated electrical connection
0x1 Use Open Collector in Host Controller
0x2 Use High Frequency Line Drive Output in Host Controller
Default 0x0
Applicable Operating Mode Follower
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 85
Standard Drive Parameters Appendix A
Digit 2 Encoder Output Forward Direction
Ultraware Name Encoder Output Forward Direction
Range Value Description
0x0 During Forward Rotation Encoder Output Phase A have a lead of 90ordm over Phase B
0x1 During Forward Rotation Encoder Output Phase B have a lead of 90ordm over Phase A
Default 0x0
Applicable Operating Mode All
Digit 3 1st Gear ratio change
Ultraware Name 1st Gear ratio change
Range Value Description
0x0 Enable Only on Drive Disabled
0x1 Always Enable
Default 0x0
When Enabled Servo-Off -gt Setting
Applicable Operating Mode Follower
MODBUS Address 300
[Pr - 301] 1st Gear Ratio Follower Counts
Ultraware Name 1st Gear Ratio Numerator
Range 1hellip65535
Default 4
Units
When Enabled Servo-Off -gt Setting
Applicable Operating Mode Follower
MODBUS Address 301
[Pr - 300] (Continued) Follower
86 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 302] 1st Gear Ratio Master Counts
Ultraware Name 1st Gear Ratio Denominator
Range 1hellip65535
Default 1
Units
When Enabled Servo-Off -gt Setting
Applicable Operating Mode Follower
MODBUS Address 302
[Pr - 303] Encoder Output Ratio Output Counts
Ultraware Name Output Ratio Numerator
Range 1hellip32768
Default 1
Units
When Enabled Servo-Off -gt Setting
Applicable Operating Mode All
MODBUS Address 303
[Pr - 304] Encoder Output Ratio Motor Counts
Ultraware Name Output Ratio Numerator
Range 1hellip32768
Default 1
Units
When Enabled Servo-Off -gt Setting
Applicable Operating Mode All
MODBUS Address 304
[Pr - 305] 2nd Gear Ratio Follower Counts
Ultraware Name 2nd Gear Ratio Numerator
Range 1hellip65535
Default 4
Units
When Enabled Servo-Off -gt Setting
Applicable Operating Mode Follower
MODBUS Address 305
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 87
Standard Drive Parameters Appendix A
[Pr - 306] 2nd Gear Ratio Master Counts
Ultraware Name 2nd Gear Ratio Denominator
Range 1hellip65535
Default 1
Units
When Enabled Servo-Off -gt Setting
Applicable Operating Mode Follower
MODBUS Address 306
[Pr - 307] Reserved
When Enabled Reserved for future use
88 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 308] Digital Filter Cut-off Frequency
Data Size 3 digits
Digit 0 Low drive input
Value Description
0x0 hellip0x7 0 3MHz
1 175MHz
2 15MHz
3 1MHz
4 075MHz
5 0625MHz
6 0562MHz
7 0525MHz
Default = 1
Digit 1 Open collector input
Value Description
0x0 hellip0x7 0 3MHz
1 175MHz
2 15MHz
3 1MHz
4 075MHz
5 0625MHz
6 0562MHz
7 0525MHz
Default = 5
Digit 2 High frequency line drive input
0x0 hellip0x7 0 3MHz
1 175MHz
2 15MHz
3 1MHz
4 075MHz
5 0625MHz
6 0562MHz
7 0525MHz
Default = 0
When Enabled Servo-Off -gt Setting
Applicable Operating Mode All
MODBUS Address 308
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 89
Standard Drive Parameters Appendix A
Group 4 - Torque Controls
[Pr - 400] Current Scale
Ultraware Name Current Scale
Range 0hellip1000
Default 333
Units of rated continuous currentV
When Enabled Servo-Off -gt Setting
Applicable Operating Mode Analog Current command Dual current Command
MODBUS Address 400
[Pr - 401] Positive Internal Current Limit
Ultraware Name Current Limits Positive Internal
Range 0hellip500
Default 300
Units of motor rated continuous current
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 401
[Pr - 402] Negative Internal Current Limit
Ultraware Name Current Limits Negative Internal
Range 0hellip500
Default 300
Units of motor rated continuous current
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 402
[Pr - 403] Positive External Current Limit
Ultraware Name Current Limits Positive External
Range 0hellip500
Default 100
Units of motor rated continuous current
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 403
90 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[
Pr - 404] Negative External Current Limit
Ultraware Name Current Limits Negative External
Range 0hellip500
Default 100
Units of motor rated continuous current
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 404
[Pr - 405] Overtravel Current Limit
Ultraware Name Stopping Functions Maximum Stopping Current
Range 0hellip500
Default 300
Units of motor rated continuous current
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 405
[Pr - 406] Initial Current Bias
Ultraware Name Initial Current Bias
Description Constant current applied when the drive enables Meant to hold vertical loads
Range -100hellip100
Default 0
Units of motor rated continuous current
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 406
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 91
Standard Drive Parameters Appendix A
Group 5 - Supplemental Drive Controls
[Pr - 500] In Position Size
Ultraware Name Position Functions In Position Size
Description If position error lt In Position Size for 1 ms and the In Position Size output signal is assigned the In Position output is turned ON
Range 0hellip2500
Default 10
Units Counts
When Enabled Immediately
Applicable Operating Mode Follower
MODBUS Address 500
[Pr - 501] Reserved
When Enabled Reserved for future use
[Pr - 502] Near Position Size
Ultraware Name Position Functions Near Position Size
Description If position error lt Near Position Size and the Near Position output signal is assigned the Near Position output is turned ON
Range 0hellip2500
Default 20
Units Counts
When Enabled Immediately
Applicable Operating Mode Follower
MODBUS Address 502
92 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 503] Speed Window
Ultraware Name Speed Functions Speed Window
Description If the speed error lt Speed Window for 10 ms and the Within Speed Window output signal is assigned then the Within Speed Window output is turned ON
Range 0hellip1000
Default 10
Units rpm for rotary motors mmsec for linear motors
When Enabled Immediately
Applicable Operating Mode Follower Analog Velocity Input Preset
MODBUS Address 503
[Pr - 504] Up to Speed
Ultraware Name Speed Functions Up to Speed
Description If the motor speed gt Up to Speed and the Up to Speed output signal is assigned then the Up to Speed output is turned ON
Range 1hellip5000
Default 20
Units rpm for rotary motors mmsec for linear motors
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 504
[Pr - 505] Zero Clamp
Ultraware Name Speed Functions Zero Clamp
Description If the Analog Speed command lt Zero Clamp then the Analog Speed command is ignored and the Motor Speed command is set to zero
Range 1hellip5000
Default 20
Units rpm for rotary motors mmsec for linear motors
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 505
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 93
Standard Drive Parameters Appendix A
[Pr - 506] Brake Inactive Delay
Ultraware Name Digital Outputs Brake Inactive Delay
Description Brake Inactive delay is the time from when the drive is enabled to when the brake is released
Range 0hellip10000
Default 0
Units ms
When Enabled Immediately
Applicable Operating Mode Servo-Off -gt Setting
MODBUS Address 506
[Pr - 507] Disable Delay
Ultraware Name Stopping Functions Disable Delay
Description Disable Delay is the time from when the Drive Disable command is received to when the Drive Disable command is actually executed
Range 0hellip10000
Default 0
Units ms
When Enabled All
Applicable Operating Mode Servo-Off -gt Setting
MODBUS Address 507
[Pr - 508] Brake Active Delay
Ultraware Name Digital Outputs Brake Active Delay
Description Brake Active Delay is the time from when the drive is disabled to when the break starts operating
Range 0hellip10000
Default 500
Units ms
When Enabled All
Applicable Operating Mode Servo-Off -gt Setting
MODBUS Address 508
94 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 509] Disabled Braking Speed
Ultraware Name Stopping Functions Braking Application Speed
Description The Disabled Braking Speed is the feedback speed below which the motor break is engaged after disabling the drive
Range 0hellip1000
Default 100
Units rpm for rotary motors mmsec for linear motors
When Enabled All
Applicable Operating Mode Servo-Off -gt Setting
MODBUS Address 509
[Pr - 510] Following Error Limit
Ultraware Name Following Error Limit
Description A following error fault occurs when the difference between position command and actual position is greater than this parameter
Range 0hellip2147483647
Default 99999
Units Counts
When Enabled Immediately
Applicable Operating Mode Follower
MODBUS Address 510
[Pr - 511] Reserved
When Enabled Reserved for future use
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 95
Standard Drive Parameters Appendix A
[Pr - 512] AC line loss fault delay
Ultraware Name AC Line Loss Fault Delay
Description The AC Line Loss Fault is inhibited for this amount of time when a loss of AC power is detected
Range 20hellip1000
Default 20
Units ms
When Enabled Servo-Off -gt Setting
Applicable Operating Mode All
MODBUS Address 513
[Pr - 513] Analog Output CH1 Selection
Ultraware Name Analog Output 1 Signal
Range 0hellip28 (except 15232526)
Default 0
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 514
[Pr - 514] Analog Output CH2 Selection
Ultraware Name Analog Output 2 Signal
Range 0hellip28 (except 15232526)
Default 1
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 516
[Pr - 515] Analog Output CH1 Scale
Ultraware Name Analog Output 1 Scale
Range 1 hellip99999
Units Units depend on the channel selected in [Pr - 513]
Default 500
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 518
96 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 516] Analog Output CH2 Scale
Ultraware Name Analog Output 2 Scale
Range 1hellip99999
Units Units depends on the channel selected in [Pr - 514]
Default 500
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 520
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 97
Standard Drive Parameters Appendix A
Group 6 - Supplemental Gain and Report Settings
[Pr - 600] Analog Velocity Command Offset
Ultraware Name Velocity Command Offset
Range -10000hellip10000
Default 0
Units 01 mV
When Enabled Servo-Off -gt Setting (ENG Mode)
Applicable Operating Mode Analog Velocity Command
[Pr - 601] Analog Current Command Offset
Ultraware Name Current Command Offset
Range -10000hellip10000
Default 0
Units 01 mV
When Enabled Servo-Off -gt Setting (ENG Mode)
Applicable Operating Mode Analog Current Command
[Pr - 602] U Phase Current Sensing Offset
Ultraware Name Calibration U Phase Current Offset
Range -60000hellip60000
Default 0
Units 001 mA
When Enabled Servo-Off -gt Setting (ENG Mode)
Applicable Operating Mode All
[Pr - 603] W Phase Current Sensing Offset
Ultraware Name Calibration W Phase Current Offset
Range -60000hellip60000
Default 0
Units 001 mA
When Enabled Servo-Off -gt Setting (ENG Mode)
Applicable Operating Mode All
98 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 604] A lead B Swap
Ultraware Name A lead B Swap
Description Select A-lead-B or B-lead-A
Data Size 1 digit
Range Value Description
0 Disable
1 Enable
Default 0
Unit -
When Enabled Servo-Off -gt Setting -gt After power cycle (ENG Mode)
Applicable Operating Mode All
[Pr - 605] Dynamic Brake Circuit Protection
Ultraware Name Dynamic Brake Circuit Protection
Description The Dynamic Brake Circuit Protection is inhibited that the motor DB braking current is too large for the drive
Data Size 1 digit
Range Value Description
0 Disable
1 Enable
Default 1
Units -
When Enabled Servo-Off -gt Setting (ENG Mode)
Applicable Operating Mode All
[Pr - 606] Fault Detail Sampling Period
Ultraware Name Fault Detail Setup Sample Period
Range 1hellip100
Default 5
Units 02 ms
When Enabled Immediately (ENG Mode)
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 99
Standard Drive Parameters Appendix A
[Pr - 607] Fault Detail Data Selection 1
Ultraware Name Fault Detail Setup Channel A
Description Refer to Monitor Variables on page 135 for more information on the range options
Range 0hellip28 (except 15 23 25 and 26)
Default 0
When Enabled Immediately (ENG Mode)
[Pr - 608] Fault Detail Data Selection 2
Ultraware Name Fault Detail Setup Channel B
Description Refer to Monitor Variables on page 135 for more information on the range options
Range 0hellip28 (except 15 23 25 and 26)
Default 3
When Enabled Immediately (ENG Mode)
[Pr - 609] Fault Detail Data Selection 3
Ultraware Name Fault Detail Setup Channel C
Description Refer to Monitor Variables on page 135 for more information on the range options
Range 0hellip28 (except 15 23 25 and 26)
Default 11
When Enabled Immediately (ENG Mode)
[Pr - 610] Fault Detail Data Selection 4
Ultraware Name Fault Detail Setup Channel D
Description Refer to Monitor Variables on page 135 for more information on the range options
Range 0hellip28 (except 15 23 25 and 26)
Default 16
When Enabled Immediately (ENG Mode)
100 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 611] 1st Resonant Frequency Suppression Filter
Ultraware Name Main Current Regulator Gains 1st Resonant Frequency Suppression Filter
Description Suppresses Vibration by cutting off Current Command in assigned frequency band
Range 0hellip10000
Default 10000
Units Hz
When Enabled Immediately (Read Parameter for ENG)
Applicable Operating Mode All
[Pr - 612] 2nd Resonant Frequency Suppression Filter
Ultraware Name Main Current Regulator Gains 1st Resonant Frequency Suppression Filter
Description Suppresses Vibration by cutting off Current Command in assigned frequency band
Range 0hellip10000
Default 10000
Units Hz
When Enabled Immediately (Read Parameter for ENG)
Applicable Operating Mode All
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 101
Standard Drive Parameters Appendix A
Group 7 - Manufacturing Settings
This parameter group includes product settings that are programmed during the manufacturing process
IMPORTANT Group 7 - Manufacturing Settings are programmed at the factory Do not modify these settings as they provide a common drive setup that is useful when you bull develop a drive system or troubleshooting a drive or bull seek assistance through Rockwell Automation Technical
Support
[Pr - 700] Drive Capacity
Ultraware Name Drive Model
Range 50hellip1500
Default Factory settings determine default
Units W
When Enabled Servo-Off -gt Setting -gt After power cycle (ENG mode)
Applicable Operating Mode All
[Pr - 701] DC Bus Voltage Offset
Ultraware Name Calibration DC Bus Voltage Offset
Range -100hellip100
Default 0
Units V
When Enabled Servo-Off -gt Setting -gt After power cycle (ENG mode)
Applicable Operating Mode All
[Pr - 702] Reservedl
When Enabled Reserved for future use
102 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 703] Analog Monitor Output CH1 Offset
Ultraware Name Calibration Analog Output CH1 Offset
Range -1000hellip1000
Default 0
Units mV
When Enabled Servo-Off -gt Setting -gt After power cycle (ENG mode)
Applicable Operating Mode All
[Pr - 704] Analog Monitor Output CH1 Scaling
Ultraware Name Calibration Analog Output CH1 Scale
Range -1000hellip1000
Default 0
Units -
When Enabled Servo-Off -gt Setting -gt After power cycle (ENG mode)
Applicable Operating Mode All
[Pr - 705] Analog Monitor Output CH2 Offset
Ultraware Name Calibration Analog Output CH2 Offset
Range -1000hellip1000
Default 0
Units mV
When Enabled Servo-Off -gt Setting -gt After power cycle (ENG mode)
Applicable Operating Mode All
[Pr - 706] Analog Monitor Output CH2 Scaling
Ultraware Name Calibration Analog Output CH2 Scale
Range -1000hellip1000
Default 0
Units -
When Enabled Servo-Off -gt Setting -gt After power cycle (ENG mode)
Applicable Operating Mode All
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 103
Standard Drive Parameters Appendix A
Group 8 - Reserved Parameters
Group 8 parameters are reserved
[Pr - 707] DC Bus Measurement Scaling Calibration
Ultraware Name Calibration DC Bus ADC Calibration
Description This parameter is a calibration adjustment to the ideal ADC scaling The scaling adjustment range is -100 to +100 so the ADC scaling can be adjusted from 2 the ideal scaling to zero
Range -1000hellip1000
Default 0 (no adjustment)
Units 0001
When Enabled Servo-Off -gt Setting -gt After power cycle (ENG mode)
Applicable Operating Mode All
104 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
Group 9 - Motor Controls
[Pr - 900] Standard Motor Flag
Ultraware Name General Motor Flag
Range Value Description
0 Custom
1 Standard
Default 1
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 901] Motor Type
Ultraware Name General Motor Type
Range Value Description
0 Rotary
1 Linear
2 Reserved
3 Reserved
Default 0
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 902] Motor Resistance
Ultraware Name Electrical Resistance
Range 1hellip65535
Units Ohms 256
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 903] Motor Inductance
Ultraware Name Electrical Inductance
Range 1hellip65535
Units mH 256
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 105
Standard Drive Parameters Appendix A
[Pr - 904] Motor Intermittent Current
Ultraware Name Ratings Intermittent Current
Range 1hellip32767
Units A 128
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 905] Motor Continuous Current
Ultraware Name Ratings Continuous Current
Range 1hellip32767
Units A 128
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 906] Motor Rated Voltage
Ultraware Name Electrical Rated Voltage
Range 10hellip1000
Units V
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 907] Encoder Type
Ultraware Name Feedback Encoder
Range
Value Description
1 Incremental
4 Serial Incremental
5 Serial Absolute
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 908] Hall Offset
Ultraware Name Feedback Hall Input Offset
Range 0hellip359
Units Electrical degree
When Enabled Servo-Off -gt Setting -gt After power cycle
106 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 909] Current Constant
Ultraware Name General Torque Constant
Range 1hellip65535
Units N m A 4096
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 910] Motor Inertia
Ultraware Name General Inertia
Range 1hellip2147483647
Units Kgcm2 65536
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 911] PolesRevolution
Ultraware Name General PolesRevolution
Range 2hellip100
Units Poles
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 912] Encoder Lines Revolution
Ultraware Name General LinesRevolution
Range 100hellip1000000
Units Poles
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 913] Maximum Rotary Speed
Ultraware Name Ratings Maximum Speed
Range 10hellip32767
Units rpm
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 107
Standard Drive Parameters Appendix A
[Pr - 914] Force Constant
Ultraware Name General Force Constant
Range 1hellip32767
Units 16
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 915] Motor Mass
Ultraware Name General Mass
Range 1 hellip2147483647
Units Kg 65536
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 916] Electrical Cycle Length
Ultraware Name General Electrical Cycle
Range 100hellip10000
Units mm 10
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 917] Encoder Lines Meter
Ultraware Name Feedback LinesMeter
Range 4000hellip10000000
Units Lines
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 918] Maximum Linear Speed
Ultraware Name Ratings Maximum Speed
Range 32hellip32767
Units m s 256
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
108 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 919] Motor Thermal Protection Enable
Ultraware Name Thermal Software Protection
Range 0 = Disabled
1 = Enabled
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 920] Motor Thermostat
Ultraware Name Thermal Integral Thermostat
Range 0 = Disabled
1 = Enabled
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 921] Motor Thermal Resistance Winding to Encoder
Ultraware Name Thermal Rth (w-e)
Range 1hellip2147483647
Units degCWatt 65536
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 922] Motor Thermal Capacitance Winding to Encoder
Ultraware Name Thermal Cth (w-e)
Range 1hellip2147483647
Units JdegC 256
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 923] Motor Thermal Resistance Winding to Ambient
Ultraware Name Thermal Rth (w-a)
Range 1hellip2147483647
Units degCWatt 65536
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 109
Standard Drive Parameters Appendix A
[Pr - 924] Motor Thermal Capacitance Winding to Ambient
Ultraware Name Thermal Cth (w-a)
Range 1hellip2147483647
Units JdegC 256
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 925] Commutation Type
Ultraware Name Feedback Commutation
Range
Value Description
0 Brush
1 Trapezoidal
2 Sinusoidal
Applicable Operating Mode All
[Pr - 926] Start-up Commutation
Ultraware Name Feedback Sinusoidal Startup
Range Value Description
0 Self Sensing
1 Hall Inputs
2 Serial
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 927] Integral Limits
Ultraware Name General Integral Limits
Range 0hellip1
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
110 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 929 hellip Pr - 949] Reserved
When Enabled Reserved for future use
[Pr - 950] Motor Model
Ultraware Name Motor Model
Range 32 bytes character string
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 951] Drive Name
Ultraware Name Name
Range 32 bytes character string
Applicable Operating Mode All
[Pr - 952] Position Scaling Data
Ultraware Name Motor Encoder Units Position Scale
Range 8 bytes character string
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 953] Position Scaling Label
Ultraware Name Motor Encoder Units Position Label
Range 16 bytes character string
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
Pr - 954] Velocity Scaling Data
Ultraware Name Motor Encoder Units Velocity Scale
Range 8 bytes character string
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 111
Standard Drive Parameters Appendix A
[Pr - 955] Velocity Scaling Label
Ultraware Name Motor Encoder Units Velocity Label
Range 16 bytes character string
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 956] Acceleration Scaling Data
Ultraware Name Motor Encoder Units Acceleration Scale
Range 8 bytes character string
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 957] Acceleration Scaling Label
Ultraware Name Motor Encoder Units Acceleration Label
Range 16 bytes character string
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
112 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 958] Scope Config
Range 32 bytes character string
Data Size 21 digits
Applicable Operating Mode All
Digits Digits Description
0hellip1 Channel A Signal See Monitor Variables
2hellip3 Channel B Signal See Monitor Variables
4 Channel A Scale Type
0hellip1 0 - Auto (Default) 1- Manual
5 Channel B Scale Type
0hellip1 0 - Auto (Default) 1 - Manual
6hellip7 Sample Period
8hellip9 Samples per division
10hellip12 Trigger Signal See Monitor Variables
13 Trigger Mode
0 - Immediate
1 - Falling Edge
2 -Rising Edge
14 Pretrigger Percentage (10)
15hellip22 Trigger Threshold
Default 0x00000000000000100510011E05000100
When Enabled Servo-Off -gt Setting -gt After power cycle
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 113
Standard Drive Parameters Appendix A
[Pr - 959] Scope Scaling
Range 32 bytes character string
Data Size 32 digits
Digits Digits Description
0hellip7 Channel A Scale
8hellip15 Channel A Offset
16hellip23 Channel B Scale
24hellip31 Channel B Offset
Default 0x00000000000000000000000000000000
Ultraware Name Displayed Units
Range 1 byte character string
0 = Metric
1 = English
2 = User units
Default 0
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 960] Displayed Units
Ultraware Name Displayed Units
Range 1 byte character string
0 = Metric
1 = English
2 = User units
Default 0
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
114 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
Notes
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 115
Appendix B
Indexing Drive Parameters
Parameters control Kinetix 3 drive operations They are grouped by the type of drive Indexing or Standard and the drive settings they define
Descriptions of Standard Drive Parameters begin on page 45
Parameter Groupings Indexing drive parameters are grouped into these drive settings bull Group 0 - Indexing drive system and IO settings bull Group 1 - Homing controls bull Group 2 - Indexing operations bull Group 3 - Indexing move profiling bull Group 4 - Indexing position and distance setting bull Group 5 - Registration settings bull Group 6 - Batch count operations bull Group 7 - Dwell settings bull Group 8 - Velocity settings bull Group 9 - Move profile settings bull Group 10 - Acceleration settings bull Group 11 - Deceleration settings bull Group 12 - Next Index settings
116 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix B Indexing Drive Parameters
Parameter Descriptions Parameter descriptions list the size of each parameter and the data options within the parameter
Descriptions for Standard Drive Parameters begin on page 45
Group 0 - Indexing System
[IN0000] Auto Start Indexing
Ultraware Name Auto Start Indexing
Description When this field is set to ON the drive will begin executing the selected index whenever the drive enables
Range Value Description
0 OFF
1 ON
Default 0
Units NA
Access Set
Changeable Status Always
When Enabled Power Cycling
Applicable Operating Mode Indexing
MODBUS Address 5000
[IN0001] Abort Index Deceleration
Ultraware Name Abort Index Decel
Description The deceleration used to stop motion when the Stop Index input terminates an index move
Range Value Description
1 hellip2147483647 10minus2 Revsec2 for rotary mmsec2 for linear
Default 6250
Access Set
Changeable Status Always
When Enabled Power Cycling
Applicable Operating Mode Indexing
MODBUS Address 5001
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 117
Indexing Drive Parameters Appendix B
[IN0002] Positive Deceleration Distance
Ultraware Name Positive Deceleration Distance
Range Value Description
0 hellip2147483647 The stopping distance used when the drive encounters a positive overtravel limit
Default 0
Units Counts
Access Set
Changeable Status Always
When Enabled Always
Applicable Operating Mode Indexing
MODBUS Address 5002 hellip5003
[IN0003] Negative Deceleration Distance
Ultraware Name Negative Deceleration Distance
Range Value Description
0 hellip2147483647 The stopping distance used when the drive encounters a negative overtravel limit
Default 0
Units Counts
Access Set
Changeable Status Always
When Enabled Always
Applicable Operating Mode Indexing
Ultraware Name Positive Deceleration Distance
MODBUS Address 5004 hellip5005
118 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix B Indexing Drive Parameters
[IN0004] Enable Software Limits
Ultraware Name Enable Software Limits
Description Controls software overtravel limits of the axis
Range Value Description
0 Off Turns off software overtravel limit checking
1 On Causes the drive to compare the motor feedback position to the Positive and Negative Software Limits below to determine if the drive has exceeded an overtravel limit
Default 0
Units NA
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5006
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 119
Indexing Drive Parameters Appendix B
[IN0005] Positive Software Limit
Ultraware Name Positive Software Limit
Description If the motor feedback position is greater than this value the drive has exceeded the software overtravel limit
Range Value Description
-2147483647 hellip2147483647
Positive software overtravel limit
Default 2147483647
Units Counts
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5007
[IN0006] Negative Software Limit
Ultraware Name Negative Software Limit
Description If the motor feedback position is greater than this value the drive has exceeded the software overtravel limit
Range Value Description
-2147483647 hellip2147483647
Negative software overtravel limit
Default -2147483647
Units Counts
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5008
120 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix B Indexing Drive Parameters
Group 1 - Homing
[IN0100] Homing Type
Ultraware Name Homing Type
Description Select the type of homing operation the drive will perform
Range Value Description
0 Home to Present Position
1 To Home sensorBack to Marker (default)
2 To LimitBack to Marker
3 To Home sensorFwd to Marker
4 To LimitFwd to Marker
5 Home to Current Value
6 Home to Current ValueBack to Marker
7 To Home Sensor Move Fwd to Marker
8 Home to Marker
Default 1
Units NA
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5200
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 121
Indexing Drive Parameters Appendix B
[IN0101] Auto Start Homing on Enable
Ultraware Name Auto Start Homing on Enable
Description Causes the drive to begin the homing procedure automatically when the drive is enabled
Range Value Description
0 Active Automatically starts homing every time the drive is enabled
1 Active After Reset Only automatically starts homing when a drive is enabled if the drive has not already been homed
2 Inactive
Default 2
Units NA
Access Set
Changeable Status Always
When Enabled Power cycling
Applicable Operating Mode Indexing
MODBUS Address 5201
[IN0102] Homing Velocity
Ultraware Name Homing Velocity
Description The commanded velocity used during homing The sign of the this value (+-) indicates the direction of motion during homing
Range Value Description
-6000 hellip6000 rpm for rotary motors mmsec for linear motors
Default 100
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5202
122 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix B Indexing Drive Parameters
[IN0103] Creep Velocity
Ultraware Name Creep Velocity
Description For the To Sensor then Back to Marker Homing Type the velocity used for all remaining homing motion after the motor decelerates to a stop when it finds the sensor edge
Range Value Description
0 hellip6000 The velocity used for all homing motion after the motor decelerates to a stop at the sensor edge
Default 20
Units rpm for rotary motors mmsec for linear motors
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5203
[IN0104] Homing AccelerationDeceleration
Ultraware Name Homing AccelerationDeceleration
Description The rate of acceleration and deceleration used during homing
Range Value Description
1 hellip2147483647 The velocity used for all homing motion after the motor decelerates to a stop at the sensor edge
Default 6250
Units 10minus2 Revsec2 for rotary mmsec2 for linear
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5204 hellip5205
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 123
Indexing Drive Parameters Appendix B
[IN0105] Offset Move Distance
Ultraware Name Offset Move Distance
Description The distance the motor position is from the marker edge after the homing sequence is complete For Sensor Only Homing the distance the motor position is from the sensor edge after the homing sequence is complete
Range Value Description
-2147483647 hellip2147483647
Digital input state communicated to the drive when the Home Sensor input becomes active
Default 0
Units Counts
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5206 hellip5207
[IN0106] Home Sensor Polarity
Ultraware Name Home Sensor Polarity
Description Specifies the digital input state communicated to the drive when the Home Sensor input becomes active
Range Value Description
0 Active-Going Transition
1 Inactive-Going Transition
Default 0
Units Counts
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5208
124 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix B Indexing Drive Parameters
[IN0107] Home Position
Ultraware Name Home Position
Description The home position when a homing procedure is completed
Range Value Description
-2147483647 hellip2147483647
Digital input of the home position
Default 0
Units Counts
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5209 hellip5210
[IN0108] Moving Distance After Home Sensor
Ultraware Name Moving Distance After Home Sensor
Description This value is distance that the drive ignores the marker inputs after the home sensor is detected
Range Value Description
0 hellip2147483647 Distance the drive ignores the marker inputs after home is detected
Default 0
Units Counts
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5211 hellip5212
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 125
Indexing Drive Parameters Appendix B
[IN0109] Home Current
Ultraware Name Home Current
Description Specifies the torque feedback at which the drive stops moving the motor at the Homing Velocity
Range Value Description
1 hellip250 Percent of motor torque feedback
Default 100
Units Percentage of a motor rating torque
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5213
[IN0110] Home Current Time
Ultraware Name Home Current Time
Description Specifies the torque feedback at which the drive stops moving the motor at the Homing Velocity
Range Value Description
1 hellip1000 Percent of motor torque rating
Default 100
Units Percentage of motor torque rating
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5214
126 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix B Indexing Drive Parameters
[IN0111] Homing Time Limit
Ultraware Name Homing Time Limit
Description Drive fault when time for homing exceeds the homing time limit
Range Value Description
0 hellip65535 Homing time limit in seconds
Default 60
Units seconds
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5215
[IIN0112] Stop Home Deceleration
Ultraware Name Stop Home Decel
Description The rate of drive deceleration used when homing is stopped
Range Value Description
1 hellip2147483647 Rate of drive deceleration when homing is stopped
Default 6250
Units NA
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5216 hellip5217
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 127
Indexing Drive Parameters Appendix B
Group 2 - Indexing Options
[IN0200] hellip[IN0263] Index 0hellip63 Type and Action When Complete
Description Digit 0 homes the axis and digit 2 controls execution of the index move command
Digit 0 Homes the axis before the drive can executes any index
Ultraware Name Index 0hellip63 Option Type
Range Value Description
0 Absolute moves from its starting position to the specified Position below
1 Incremental moves from its starting position the specified Distance below
Default 1
Digit 1 Controls execution of the index move command after homing
Ultraware Name Index 0hellip63 Action When Complete
Range Value Description
0 Stop ends the execution of indexed move commands
1 Start next index commands execution of the Next Index move without additional input but after the scheduled Dwell
2 Wait for Start commands execution of the Next Index move the next time the Start Index input becomes active
Default 0
Access Set
Changeable Status Always
When Enabled Always
Applicable Operating Mode Indexing
MODBUS Address 5400 hellip5463
128 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix B Indexing Drive Parameters
Group 3 - Index Move Profile
These values are reserved for future use
Group 4 - Index PositionDistance
Group 5 - Index Registration Distance
These values are reserved for future use
Group 6 - Index Batch Count
These values are reserved for future use
[IN0400[hellip[IN0463] Index 0hellip63 PositionDistance
Ultraware Name Index 0hellip63 PositionDistance
Description Position For Absolute mode moves the fixed position to which the motor will travel Distance For Incremental and Registration mode moves the relative distance the motor will travel
Range Value Description
-2147483647 hellip2147483647
Counts
Default 1000
Access Set
Changeable Status Always
When Enabled Always
Applicable Operating Mode Indexing
MODBUS Address 5800 hellip5927
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 129
Indexing Drive Parameters Appendix B
Group 7 - Index Dwell
Group 8 - Index Velocity
Group 9 - Index Move Profile
These values are reserved for future use
[IN0700] hellip[IN0763] Index 0hellip63 Dwell
Ultraware Name Index 0hellip63 Dwell
Description Milliseconds to remain at current position before executing
Range Value Description
0 hellip65535 ms
Default 0
Access Set
Changeable Status Always
When Enabled Always
Applicable Operating Mode Indexing
MODBUS Address 6400 hellip6463
[IN0800] Index 0hellip63 Velocity
Ultraware Name Index 0hellip63 Velocity
Description Maximum velocity while in motion
Range Value Description
0 hellip6000 rpm for rotary motors mmsec for linear motors
Default 750
Access Set
Changeable Status Always
When Enabled Always
Applicable Operating Mode Indexing
MODBUS Address 6600 hellip6663
130 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix B Indexing Drive Parameters
Group 10 - Index Acceleration
Group 11 - Index Deceleration
[IN1000]hellip[IN1063] Index 0hellip63 Acceleration
Ultraware Name Index 0hellip63 Acceleration
Description Maximum acceleration while in motion
Range Value Description
1 hellip2147483647 10minus2 Revsec2 for rotary mmsec2 for linear
Default 6250
Access Set
Changeable Status Always
When Enabled Always
Applicable Operating Mode Indexing
MODBUS Address 7000 hellip7127
[IN1100]hellip[IN1163] Index 0hellip63 Deceleration
Ultraware Name Index 0hellip63 Deceleration
Description Maximum deceleration while in motion
Range Value Description
1 hellip2147483647 10minus2 Revsec2 for rotary mmsec2 for linear
Default 6250
Access Set
Changeable Status Always
When Enabled Always
Applicable Operating Mode Indexing
MODBUS Address 7200 hellip7327
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 131
Indexing Drive Parameters Appendix B
Group 12 - Index Next Index
[IN1200]hellip[IN1263] Index 0hellip63 Next Index
Ultraware Name Index 0hellip63 Next Index
Description The number (0hellip63) of the next indexed move to execute when Action When Complete is not set to STOP
Range Value Description
0hellip63 Value of the next indexed move
Default 0
Access Set
Changeable Status Always
When Enabled Always
Applicable Operating Mode Indexing
MODBUS Address 7400 hellip7464
132 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix B Indexing Drive Parameters
Notes
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 133
Appendix C
Warnings and Fault Codes
This Appendix lists the Warnings and Fault Codes for Kinetix 3 drives
Warnings Warnings are drive abnormalities that allow motor control to continue A three-digit text message is displayed using the last segments of the display
Fault Codes Faults are serious abnormalities that cause loss of motor control The Status indicator alternates between a three-digit error code preceded by the letter E and a five-digit text message This error message repeats until the problem is cleared
Warning Number
Warning Display Description
0x01 BAT Absolute encoder battery warning
0x02 CNT Absolute encoder counter overflow
0x04 PRE Power-up overspeed warning
0x08 OCC Over current command warning
0x10 OSC Over speed command warning
0x20 PIN Digital IO assignment warning
0x40 CAP Over motor rated output power warning
Fault Code Internal Fault Code
Fault Display Fault Name
E004 0x22 MTROT Motor over temperature
E005 0x11 IPMFT IPM
E009 0x41 UDVTG Bus under voltage fault
E010 0x40 OVVTG Bus over voltage fault
E012 0x73 HFAIL Home search failed
E018 0x50 OVSPD Motor over speed fault
E019 0x51 POSER Excess position error fault
E022 0x25 CONOL Motor continuous current overload
E023 0x27 DRVOL Drive overload fault
E025 0x72 SENSR Sensor unassigned
E027 0x74 NOTHM Axis not homed
E028 0x36 ENCDE Encoder data range fault
E030 0x31 ENCOP Encoder cable open fault
134 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix C Warnings and Fault Codes
E031 0x38 ENCPE Encoder data parameter fault
E036 0x24 DRVOT Drive over temperature
E037 0x42 ACOFF AC Line Loss Fault
E053 0x63 PINIT User parameter initialization fault
E054 0x13 OFSET Current feedback offset
E055 0x61 CHSUM User parameter checksum fault
E056 0x53 CPUFT Watchdog timeout fault
E057 0x10 HWARE PWM hardware
E058 0x62 RANGE User parameter range fault
E060 0x70 DINIT Drive initialization fault
E075 0x23 SHTOL Shunt overload protection
E079 0x12 SHTOC Shunt circuit over current
E083 0x33 ABSBE Absolute encoder battery fault
E084 0x34 ABSOS Absolute encoder overspeed
E085 0x35 ABSCT Absolute multi-turn count fault
E086 0x37 ENCCT Encoder single-turn count fault
E100 0x71 SETUP Drive set-up fault
E101 0x20 CABLE Motor power cable open
E102 0x21 INSOL Motor instantaneous current overload
E103 0x28 MATCH Motor mismatch fault
E104 0x26 PWROL Continuous power overload
E105 0x30 ENCTP Encoder type mismatch fault
E106 0x32 ENCCE Encoder communication fault
E107 0x60 SERCE Serial communication fault
E108 0x52 CDFRE Position command frequency fault
E112 0x54 ESTOP Emergency stop
E113 0x64 IRANG Indexing position range overflow
E114 0x14 OVCUR Motor phase over current
Fault Code Internal Fault Code
Fault Display Fault Name
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 135
Appendix D
Monitor Variables
Ultraware limits the number of variables that can be monitored to thirty-one (variables 0 through 30) However in customer applications additional monitor variables may be used
For example monitoring of variable 32 Selected index cannot be performed by Ultraware software because this variable is outside the range of Ultraware However a customer program that supports thirty-two variables or more can monitor this variable
Variables The table below lists the variables for monitoring a Kinetix 3 drive
Variable Name Unit
No Hex
0 0x00 Velocity feedback rpm
1 0x01 Velocity command rpm
2 0x02 Velocity error rpm
3 0x03 Current command
4 0x04 Follower position counts
5 0x05 Master position counts
6 0x06 Position error counts
7 0x07 Position command count frequency Kpps
8 0x08 Commutation angle ordm (degrees)
9 0x09 Mechanical angle ordm (degrees)
10 0x0A Shunt power limit ratio
11 0x0B Bus voltage V
12 0x0C Absolute rotations rev
13 0x0D Velocity command offset mV
14 0x0E Current command offset mV
15 0x0E Input and 0utput state Refer to Variable 15 - Digital Inputs and Outputs on page 137 for more information
16 0x0F U phase current 0001A
17 17 V phase current 0001A
18 18 W phase current 0001A
19 19 Motor temperature
136 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix D Monitor Variables
20 0x10 Analog command -velocity 001V
21 0x11 Analog command - current 001V
22 0x12 Current feedback 0001A
23 0x13 Hall states (wvu) digital
24 0x14 Motor feedback position counts
25 0x15 Digital input function state Refer to Variable 25 - Digital Inputs on page 137 for more information
digital
26 0x16 Digital output function state Refer to Variable 26 - Digital Outputs on page 138 for more information
Digital
27 0x17 Instantaneous shunt power Watts
28 0x18 Drive utilization
29 0x19 Indexing input function state Refer to Variable 29 - Indexing Inputs on page 138 for more information
digital
30 0x1A Indexing output function state Refer to Variable 30 - Indexing Outputs on page 139 for more information
digital
31 0x1B CPLD version
32 0x1C Selected index digital
33 0x1D Periodic counter Range 0 hellip512 Units counts 1 count = 2 ms
Variable (Continued) Name Unit
No Hex
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 137
Monitor Variables Appendix D
Compiled Variables The tables below list variables that compile data to more effectively monitor specific aspects of a Kinetix 3 drive
Variable 15 - Digital Inputs and Outputs
Monitoring of IO status is provided by Variable 15 - Digital Inputs and Outputs Digital inputs [Pr - 017] hellip[Pr - 018] and digital outputs [Pr - 022] hellip[Pr - 027] are compiled for this variable
The table below lists the data bits in this variable
Variable 25 - Digital Inputs
Digital input status is provided by Variable 25 - Digital Inputs Digital inputs [Pr - 010] hellip[Pr - 014] are compiled for this variable
The table below lists the data bits in this variable
Digital Outputs EMG Digital Inputs
Bit No 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
Data DO6 DO6 DO4 SALM DO3 DO2 DO1 EMG DI10 DI9 DI8 DI7 DI6 DI5 DI4 DI3 DI2 DI1
Bit Digital Input Function Bit Digital Input Function
0 Current Limit- Negative 10 Fault Reset
1 Current Limit- Positive 11 Integrator Inhibit
2 Alternate Gain Select 12 Negative Overtravel
3 Preset Direction 13 Operation Mode Override
4 Reset Multiturn Data 14 Position Strobe
5 Zero Speed Clamp 15 Positive Overtravel
6 Position Clear 16 Preset Select 0
7 Analog Speed Command Enable in Preset 17 Preset Select 1
8 Motor Moving Enable in Velocity Mode 18 Preset Select 2
9 2nd Electronic Gear Bank Selection
138 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix D Monitor Variables
Variable 26 - Digital Outputs
Digital output status is provided by Variable 26 - Digital Outputs Digital inputs and outputs [Pr - 002] and [Pr - 022] hellip[Pr - 024] are compiled for this variable
The table below lists the data bits in this variable
Variable 29 - Indexing Inputs
Indexing input function status is provided by Variable 29 - Indexing Inputs Digital inputs [Pr - 016] hellip[Pr - 018] are compiled for this variable
The table below lists the data bits in this variable
Bit Digital Output Function
0 Brake
1 Absolute Position Valid
2 Current Limited
3 Velocity Limited
4 Within Near Window
5 Warning
Bit Indexing Input function
0 Home Sensor
1 Start Homing
2 Start Indexing
3 Stop Indexing
4 Pause Index
5 Index Select 0 Input
6 Index Select 1 Input
7 Index Select 2 Input
8 Index Select 3 Input
9 Index Select 4 Input
10 Index Select 5 Input
11 Stop Homing
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 139
Monitor Variables Appendix D
Variable 30 - Indexing Outputs
Indexing output function status is provided by Variable 30 - Indexing Outputs Digital outputs [Pr - 025] hellip[Pr - 027] are compiled for this variable
The table below lists the data bits in this variable
Bit Indexing Output function Indexing Output function
0 In Motion Index Select 1 Output
1 In Dwell Index Select 2 Output
2 Axis Homed Index Select 3 Output
3 End of Sequence Index Select 4 Output
4 Index Select 0 Output Index Select 5 Output
140 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix D Monitor Variables
Notes
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 141
Index
Parameters(IN0000) auto start indexing 116(IN0001) abort index deceleration 116(IN0002) positive deceleration distance 117(IN0003) negative deceleration distance 117(IN0004) enable software limits 118(IN0005) positive software limit 119(IN0006) negative software limit 119(IN0100) homing type 120(IN0101) auto start homing on enable 121(IN0102) homing velocity 121(IN0103) creep velocity 122(IN03xx) index move profile 128(IN0400hellipIN0463) index positiondistance
128(IN05xx) index registration distance 128(IN06xx) index batch count 128(IN0700hellipIN0763) index dwell 129(IN0800hellipIN0863) index velocity 129(IN09xx) index move profile 129(IN1000hellipIN1063) index acceleration 130(IN1100hellipIN1163) index deceleration 130(IN1200hellipIN1263) next index 131(IN200hellipIN263) index type digit 0 127(Pr-000) operations mode 46(Pr-001) motor configuration 47(Pr-002) motor basic modes 48(Pr-003) auto tuning functions 49(Pr-004) inertia ratio 50(Pr-005) auxiliary function selection 1 51(Pr-006) auxiliary function selection 2 52(Pr-007) drive address 54(Pr-008) password 54(Pr-009) serial port configuration 54(Pr-010hellipPr-021) parameter setting values
60(Pr-010) allocation of input signals 1 55(Pr-011) allocation of input signals 2 56(Pr-012) allocation of input signals 3 56(Pr-013) allocation of input signals 4 57(Pr-014) allocation of input signals 5 57(Pr-015) allocation of input signals 6 58(Pr-016) allocation of input signals 7 58(Pr-017) allocation of input signals 8 58(Pr-018) allocation of input signals 9
59(Pr-019) allocation of input signals 10 59(Pr-020) allocation of input signals 11 59(Pr-021) allocation of input signals 12 60(Pr-022hellipPr-032) parameter setting values
65(Pr-022) allocation of output signals 1 60(Pr-023) allocation of output signals 2 61(Pr-024) allocation of output signals 3 61
(Pr-025) allocation of output signals 4 62(Pr-026) allocation of output signals 5 63(Pr-027) allocation of output signals 6 63(Pr-028) allocation of output signals 7 63(Pr-029) allocation of output signals 8 64(Pr-030) allocation of output signals 9 64(Pr-031) allocation of output signals 10 65(Pr-032) IO control authority 65(Pr-100) velocity regulator response level 66(Pr-101) system gain 66(Pr-102) velocity regulator P gain 66(Pr-103) velocity regulator I gain 66(Pr-104) velocity regulator D gain 67(Pr-105) velocity error filter 67(Pr-106) position regulator Kp gain 67(Pr-107) current command lowpass filter
bandwidth 68(Pr-108) velocity command lowpass filter
bandwidth 68(Pr-109) position command lowpass filter
bandwidth 68(Pr-110) 1st resonant frequency suppression
filter 69(Pr-111) 1st resonant frequency suppression
width 69(Pr-112) 2nd resonant frequency suppression
filter 69(Pr-113) 2nd resonant frequency suppression
filter width 70(Pr-114) 2nd resonant frequency suppression
filter depth 70(Pr-115) position regulator Kff gain 70(Pr-116) position regulator Kff bandwidth 71(Pr-117) velocity regulator I gain mode 71(Pr-118) velocity regulator I gain disable
threshold 72(Pr-119) position regulator high error output
offset 72(Pr-120) position regulator high error output
threshold 72(Pr-121) current regulator bandwidth
reduction scale 73(Pr-122) on-line vibration mode 73(Pr-123) velocity regulator configuration 74(Pr-124) delay time of gain switching 74(Pr-125) level of gain switching 74(Pr-126) hysteresis of gain switching 75(Pr-127) position gain switching time 75(Pr-128) 2nd velocity regulator P gain 75(Pr-129) 2nd velocity regulator i gain 75(Pr-130) 2nd position regulator Kp gain 76(Pr-131) 2nd current command low pass
filter bandwidth 76
142 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Index
(Pr-132) 2nd velocity command low pass filter bandwidth 76
(Pr-133) 3rd velocity regulator P gain 76(Pr-134) 3rd velocity regulator I gain 77(Pr-135) 3rd position regulator Kp gain 77(Pr-136) 3rd current command low pass filter
bandwidth 77(Pr-137) 3rd velocitycommand low pass filter
bandwidth 77(Pr-138) 4th velocity regulator P gain 78(Pr-139) 4th velocity regulator I gain 78(Pr-140) 4th position regulator Kp gain 78(Pr-141) 4th current command low pass filter
bandwidth 78(Pr-142) 4th velocitycommand low pass filter
bandwidth 79(Pr-200) velocity scale 80(Pr-201) jog velocity command 80(Pr-202) acceleration 80(Pr-203) deceleration 81(Pr-204) S-curve time 81(Pr-205) preset velocity 1 81(Pr-206) preset velocity 2 81(Pr-207) preset velocity 3 82(Pr-208) preset velocity 4 82(Pr-209) preset velocity 5 82(Pr-210) preset velocity 6 82(Pr-211) preset velocity 7 83(Pr-212) manual velocity limit 83(Pr-213) velocity limit mode 83(Pr-300) follower 84(Pr-301) 1st gear ratio follower counts 85(Pr-302) 1st gear ratio mastercounts 86(Pr-303) encoder output ratio output counts
86(Pr-304) encoder output ratio motor counts
86(Pr-305) 2nd gear ratio follower counts 86(Pr-306) 2nd gear ratio master counts 87(Pr-307) reserved 87(Pr-308) digital filter cut-off frequency 88(Pr-400) current scale 89(Pr-401) positive internal current limit 89(Pr-402) negative internal current limit 89(Pr-403) positive external current limit 89(Pr-404) negative external current limit 90(Pr-405) overtravel current limit 90(Pr-406) initial current bias 90(Pr-500) in position size 91(Pr-501) reserved 91(Pr-502) near position size 91(Pr-503) speed window 92(Pr-504) up to speed 92(Pr-505) zero clamp 92
(Pr-506) brake inactive delay 93(Pr-507) disable delay 93(Pr-508) brake active delay 93(Pr-509) disabled braking speed 94(Pr-510) following error limit 94(Pr-511) reserved 94(Pr-512) ac line loss fault delay 95(Pr-513) analog output ch1 selection 95(Pr-514) analog output ch2 selection 95(Pr-515) analog output ch1 scale 95(Pr-516) analog output ch2 scale 96(Pr-600) analog velocity command offset 97(Pr-601) analog current command offset 97(Pr-602) u phase current sensing offset 97(Pr-603) w phase current sensing offset 97(Pr-604) A-lead-B swap 98(Pr-605) dynamic brake circuit protection 98(Pr-606) fault detail sampling period 98(Pr-607) fault detail data selection 1 99(Pr-608) fault detail data selection 2 99(Pr-609) fault detail data selection 3 99(Pr-610) fault detail data selection 4 99(Pr-611) 1st resonant frequency suppression
filter 100(Pr-612) 2nd resonant frequency suppression
filter 100(Pr-700) drive capacity 101(Pr-701) dc bus voltage offset 101(Pr-702) reserved 101(Pr-703) analog monitor output ch1 offset 102(Pr-704) analog monitor output ch1 scaling
102(Pr-705) analog monitor output ch2 offset 102(Pr-706) analog monitor output ch2 scaling
102(Pr-707) dc bus measurement scaling
calibration 103(Pr-900) standard motor flag 104(Pr-901) motor type 104(Pr-902) motor resistance 104(Pr-903) motor inductance 104(Pr-904) motor intermittent current 105(Pr-905) motor continuous current 105(Pr-906) motor rated voltage 105(Pr-907) encoder type 105(Pr-908) hall offset 105(Pr-909) current constant 106(Pr-910) motor inertia 106(Pr-911) polesrevolution 106(Pr-912) encoder linesrevolution 106(Pr-913) maximum rotary speed 106(Pr-914) force constant 107(Pr-915) motor mass 107(Pr-916) electrical cycle length 107
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 143
Index
(Pr-917) encoder linesmeter 107(Pr-918) maximum linear speed 107(Pr-919) motor thermal protection enable 108(Pr-920) motor thermostat 108(Pr-921) motor thermal resistance winding
to encoder 108(Pr-922) motor thermal capacitance
winding to encoder 108(Pr-923) motor thermal resisitance winding
to ambient 108(Pr-924) motor thermal capacitance
winding to ambient 109(Pr-925) commutation type 109(Pr-927) integral limits 109(Pr-927) startup commutation 109(Pr-928hellipPr 949) reserved 110(Pr-950) motor model 110(Pr-951) drive name 110(Pr-952) position scaling data 110(Pr-953) position scaling label 110(Pr-954) velocity scaling data 110(Pr-955) velocity scaling label 111(Pr-956) acceleration scaling data 111(Pr-957) acceleration scaling label 111(Pr-958) scope config 112(Pr-959) scope scaling 113(Pr-960) displayed units 113
Numerics1st gear ratio follower counts (Pr-301) 851st gear ratio master counts (Pr-302) 861st resonant frequency suppression filter
(Pr-110) 691st resonant frequency suppression filter
(Pr-611) 1001st resonant frequency suppression
width(Pr-111) 692nd current command low pass filter
bandwidth (Pr-131) 762nd gear ratio follower counts (Pr-305) 862nd gear ratio master counts (Pr-306) 872nd position regulator Kp gain (Pr-130) 762nd resonant frequency suppression filter
(Pr-112) 692nd resonant frequency suppression filter
(Pr-612) 1002nd resonant frequency suppression filter
depth (Pr-114) 702nd resonant frequency suppression filter
width (Pr-113) 702nd velocity command low pass filter
bandwidth (Pr-132) 762nd velocity regulator i gain (Pr-129) 75
2nd velocity regulator P gain (Pr-128) 753rd current command low pass filter
bandwidth (Pr-136) 773rd position regulator Kp gain (Pr-135) 773rd velocity command low pass filter
bandwidth (Pr-137) 773rd velocity regulator I gain (Pr-134) 773rd velocity regulator P gain (Pr-133) 764th current command low pass filter
bandwidth (Pr-141) 784th position regulator Kp gain (Pr-140) 784th velocity command low pass filter
bandwidth (Pr-142) 794th velocity regulator I gain (Pr-139) 784th velocity regulator P gain (Pr-138) 78
Aabort index 116abort index deceleration (IN0001) 116ac line loss 48ac line loss fault delay (Pr-512) 95acceleration (Pr-202) 80acceleration scaling data (Pr-956) 111acceleration scaling label (Pr-957) 111additional resources 7address map
flash saving parameter 21index function parameter 25modbus 11monitoring parameters 22output function status parameter 23running parameter 24special indexing parameters 13standard parameters 11
A-lead-B swap (Pr-604) 98allocation of input signals 1 (Pr-010) 55allocation of input signals 10 (Pr-019) 59allocation of input signals 11 (Pr-020) 59allocation of input signals 12 (Pr-021) 60allocation of input signals 2 (Pr-011) 56allocation of input signals 3 (Pr-012) 56allocation of input signals 4 (Pr-013) 57allocation of input signals 5 (Pr-014) 57allocation of input signals 6 (Pr-015) 58allocation of input signals 7 (Pr-016) 58allocation of input signals 8 (Pr-017) 58allocation of input signals 9 (Pr-018) 59allocation of output signals 1 (Pr-022) 60allocation of output signals 10 (Pr-031) 65allocation of output signals 2 (Pr-023) 61allocation of output signals 3 (Pr-024) 61allocation of output signals 4 (Pr-025) 62allocation of output signals 5 (Pr-026) 63allocation of output signals 6 (Pr-027) 63
144 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Index
allocation of output signals 7 (Pr-028) 63allocation of output signals 8 (Pr-029) 64allocation of output signals 9 (Pr-030) 64alternate gain (G-SEL) 57alternative gain enable 51analog current command offset (Pr-601) 97analog current inputs 46analog monitor output ch1 offset (Pr-703) 102analog monitor output ch1 scaling (Pr-704)
102analog monitor output ch2 offset (Pr-705) 102analog monitor output ch2 scaling (Pr-706)
102analog offset 102analog output ch1 scale (Pr-515) 95analog output ch1 selection (Pr-513) 95analog output ch2 scale (Pr-516) 96analog output ch2 selection (Pr-514) 95analog scaling 102analog speed command (C-SP4) 57analog velocity command offset (Pr-600) 97analog velocity inputs 46ASCII commands 29auto motor identification 52auto start homing on enable (IN0101) 121auto start indexing (IN0000) 116auto tuning functions (Pr-003) 49automatic (TAT) 38autotuning speed 49auxiliary function selection 1 (Pr-005) 51auxiliary function selection 2 (Pr-006) 52axis homed (HOMC) 62
Bbackup battery 51baud rate 54brake active delay (Pr-508) 93brake delay 93brake dynamic 98brake inactive delay (Pr-506) 93brake speed 94bus calibration 103bus voltage 101
Cchecksum 28CHP command 30command
automatic task (TAT) 38disable drive (SVROF) 44
enable drive (SVRON) 44fault reset (RST) 33jog (JOG) 40monitor variable (MDM) 33other functions (ETC) 42perform manual task (TMN) 39read drive status (STS) 41read fault contents (EHY) 40read fault detailed data (DIE) 43read indexing parameter (XET) 31read parameter (SET) 29reset drive (HWR) 44triggered data collection (MOT) 34variable roll monitoring (MOR) 36verify servo connection (LIV) 43verify software version (VER) 43write indexing parameter (XHP) 32write indexing parameter (XTR) 32write parameter (CHP) 30write parameter (STR) 30
command polarity 48command type 84communication method
RS232 54RS485 54
communication protocolASCII 54MODBUS-RTU 54
commutation 109commutation type (Pr-925) 109compiled variable 137
15 - digital inputs and outputs 13725 - digital inputs 13726 - digital outputs 13829 - indexing inputs 13830 - indexing outputs 139
controller output type 84conventions used 7counts
follower 85 86master 86 87motor 86output 86
creep velocity (IN0103) 122current bias 90current command lowpass filter bandwidth
(Pr-107) 68current constant (Pr-909) 106current limit 89 90current limit (T_LMT) 61current offset 97current regulator bandwidth reduction scale
(Pr-121) 73current scale (Pr-400) 89cut-off frequency 88cycle length 107
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 145
Index
DD gain regulator 67data bit 54dc bus measurement scaling calibration
(Pr-707 103dc bus voltage offset (Pr-701) 101deceleration (Pr-203) 81delay gain 74delay time of gain switching (Pr-124) 74digital filter cut-off frequency (Pr-308) 88disable brake 48disable delay (Pr-507) 93disable drive (SVROF) 44disabled braking speed (Pr-509) 94display parameter - input register address
map 22displayed units (Pr-960) 113drive address (Pr-007) 54drive capacity (Pr-700) 101drive enable (SV-ON) 55drive name (Pr-951) 110drive password 54drive reset 44dynamic brake circuit protection (Pr-605) 98dynamic tuning 49dynamic tuning response speed 49
EEHY command 40electrical cycle length (Pr-916) 107electronic gear select (GEAR) 57emergency stop inputs 51enable drive (SVRON) 44enable software limits (IN0004) 118encoder back-up battery 51encoder detect 52encoder linesmeter (Pr-917) 107encoder linesrevolution (Pr-912) 106encoder output 84encoder output ratio motor counts (Pr-304)
86encoder output ratio output counts (Pr-303)
86encoder type 47encoder type (Pr-907) 105end of sequence (E_SEQU) 63error output offset 72error output threshold 72ETC command 42exception code modbus 10
Ffaul reset (A-RST) 56fault codes 133fault detail data selection 1 (Pr-607) 99fault detail data selection 2 (Pr-608) 99fault detail data selection 3 (PrR-609) 99fault detail data selection 4 (Pr-610) 99fault detail sampling period (Pr-606) 98fault reset (RST) 33fault selection 99faultwarning registers address map 22feedback linesmeter 107flash memory update 30 32 39flash saving parameter address map 21follower (Pr-300) 84follower counts 85follower mode 46following error limit (Pr-510) 94force constant (Pr-914) 107frequency suppression 69function code
modbus 9
Ggain bank select (BANK_SEL) 58gain delay 74gain hysteresis 75gain level 74gain switch 74gain switching 52gain timing 75gear ratio 84general commands (ASCII) 29group 0 - indexing system address map 13group 0 - system level address map 11group 1 - gain control address map 11group 10 - index acceleration address map 18group 11 - index deceleration address map 19group 12 - next index address map 20group 2 - index option address map 14group 2 - speed control address map 12group 3 - position control address maps 12group 3 - reserved 14group 4 - index positiondistance address
map 15group 4 - torque control address maps 12group 5 - reserved 16group 5 - supplemental drive control address
maps 12group 6 - reserved 16group 7 - index dwell address map 16group 8 - index velocity address map 17group 9 - reserved 17
146 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Index
Hhall offset (Pr-908) 105home sensor (H_SENS) 58homing (H_SENS and SHOME) 58homing type (IN0100) 120homing velocity (IN0102) 121host command
fault codes 133indexing command extended (XCE) 31warnings 133
hysteresis of gain switching (Pr-126) 75
II gain 71I gain disable 72I gain regulation 77 78I gain regulator 66IO control authority (Pr-032) 65In Dwell (I_DW) 62in motion (IMO) 62in position size (Pr-500) 91incremental feedback loss 52index abort 116index acceleration 0hellip63 (IN1000hellipIN1063)
130index batch count (IN06xx) 128index deceleration 0hellip63 (IN1100hellipIN1163)
130index dwell 0hellip63 (IN0700hellipIN0763) 129index move 127index move profile (IN03xx) 128index move profile (IN09xx) 129index positiondistance 0hellip63
(IN0400hellipIN0463) 128index registration distance (IN05xx) 128index select (I_SEL0hellipI_SEL3) 58index select (I_SEL4hellipI_SEL5) 59
index select 0 out (O_ISEL0) 62index select 1hellip4 out (O_ISEL0hellipO_ISEL4) 63index select 5 out (O_ISEL5) 63index start 116index type 0hellip63 digit 0 (IN100hellipIN163) 127index velocity 0hellip63 (IN0800hellipIN0863) 129indexing command extended (XCE) 31inertia ratio (Pr-004) 50inhibit delay 95initial current bias (Pr-406) 90input function parameter address map 25integral limits (Pr-927) 109integrator inhibit (CON) 55
Jjog (JOG) 40JOG command 40jog velocity command (Pr-201) 80
KKff gain 70Kp gain position regulator 67Kp gain regulation 77 78
Llevel of gain switching (Pr-125) 74line break detect 52line loss check 48LIV command 43load inertia 50low pass filter (IReg) 76 77 78low pass filter (VReg) 76 77 79lowpass filter
current 68position 68velocity 68
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 147
Index
Mmanual task (TMN) 39manual velocity limit (Pr-212) 83master counts 86maximum linear speed (Pr-918) 107maximum rotary speed (Pr-913) 106maximum speed 106 107MDM command 33mnemonic commands
DIE 43HWR 44SVROF 44SVRON 44
modbus address map 11display parameter - input register 22faultwarning registers 22indexing parameter
group 0 - indexing system 13group 10 - index acceleration 18group 11 - index deceleration 19group 12 - next index 20group 2 - index option 14group 3 - reserved 14group 4 - indexing positiondistance 15group 5 - reserved 16group 6 - reserved 16group 7 - index dwell 16group 8 - index velocity 17group 9 - reserved 17
standard parametersgroup 0 - system level 11group 1 - gain control 11group 2 - speed control 12group 3 - position control 12group 4 - torque control 12group 5 - supplemental drive control 12
modbus exception codes 10modbus function codes 9MODBUS input function control 65MODBUS run function control 65monitor offset 102monitor scaling 102monitor variable 135monitor variable (MDM) 33monitoring parameters address map 22MOR command 36MOT command 34motor basic modes (Pr-002) 48motor configuration (Pr-001) 47motor continuous current (Pr-905) 105motor enable (START) 57motor flag 104motor forward direction 48motor identification 52motor inductance (Pr-903) 104
motor inertia 50motor inertia (Pr-910) 106motor intermittent current (Pr-904) 105motor mass (Pr-915) 107motor model (Pr-950) 110motor rated voltage (Pr-906) 105motor resistance (Pr-902) 104motor thermal capacitance winding to
ambient (Pr-924) 109motor thermal capacitance winding to
encoder (Pr-922) 108motor thermal protection enable (Pr-919) 108motor thermal resistance winding to
ambient (Pr-923) 108motor thermal resistance winding to
encoder (Pr-921) 108motor thermostat (Pr-920) 108motor type 47motor type (Pr-901) 104
Nnear position (NEAR) 61near position size (Pr-502) 91negative current limit (N-TL)positive current
limit (P-TL) 56negative deceleration distance (IN0003) 117negative external current limit (Pr-404) 90negative internal current limit (Pr-402) 89negative overtravel (N-OT) 55negative software limit (IN0006) 119next index 0hellip63 (IN1200hellipIN1263) 131notch filter
1st resonance 692nd resonance 702nd resonance depth 70
Ooff-line tuning 49on-line vibration mode (Pr-122) 73on-line vibration suppression 73operation mode override (C_SEL) 56operations mode (Pr-000) 46oscilloscope 112oscilloscope scaling 113other functions(ETC) 42output function status address map 23overtravel current limit (Pr-405) 90overtravel settings (P-ot) and N-OT) 55overtravel stop 48overtravel stop method 48
148 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Index
PP gain regulation 76 78P gain regulator 66packet structure 27parameter setting values (Pr-010hellipPr-021)
60parameter setting values (Pr-022hellipPr-032)
65parity bit 54password (Pr-008) 54pause indexing (PAUSE) 58polesrevolution (Pr-911) 106position clear (PCLR) 57position command lowpass filter bandwidth
(Pr-109) 68position gain switching time (Pr-127) 75position regulator high error output offset
(Pr-119) 72position regulator high error output threshold
(Pr-120) 72position regulator Kff bandwidth (Pr-116) 71position regulator Kff gain (Pr-115) 70position regulator Kp gain (Pr-106) 67position scaling data(Pr-952) 110position scaling label (Pr-953) 110position strobe (ABS-DT) 57position window (P-COM) 60positive deceleration distance (IN0002) 117positive external current limit (Pr-403) 89positive internal current limit (Pr-401) 89positive overtravel (P-OT) 55positive software limit (IN0005) 119power input 48preset direction (C-DIR) 56preset select (C-SP1 C-SP2 C-SP3) 56preset velocity 46preset velocity 1 (Pr-205) 81preset velocity 2 (Pr-206) 81preset velocity 3 (Pr-207) 82preset velocity 4 (Pr-208) 82preset velocity 5 (Pr-209) 82preset velocity 6 (Pr-210) 82preset velocity 7 (Pr-211) 83proportional gain 71
Rrated power 47read drive status (STS) 41read fault contents (EHY) 40read fault detailed data (DIE) 43read indexing parameter (XET) 31read parameter (SET) 29reboot drive 44reserved (Pr-307) 87reserved (Pr-501) 91reserved (Pr-511) 94reserved (Pr-702) 101reserved (Pr-928hellipPr 949) 110reset absolute encoder data (R_ABS) 58reset drive (HWR) 44RST command 33run control 65running parameter 24
Ssafety considerations inside front coversampling period 98scaling
acceleration data 111acceleration label 111position data 110position label 110velocity data 110velocity label 111
scope config (Pr-958) 112scope scaling (Pr-959) 113S-csurve time (Pr-204) 81serial port configuration (Pr-009) 54SET command 29special indexing parameter
address map 13speed clamp (Z-CLP) 57speed window (Pr-503) 92speed window (V-COM) 60standard motor flag (Pr-900 104standard parameters address map 11start homing (SHOME) 58start index (START_I) 59start indexing 116startup commutation (Pr-927) 109stop bit 54stop homing (H_STOP) 59stop indexing STOP) 58STR command 30STS command 41suppression filter 100symbols 27system gain (Pr-101) 66
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 149
Index
TTAT command 38thermal capacitance 108 109thermal protection 108thermal resistance 108thermostat 108TMN command 39training See lt$emphasislt$default fonttriggered data collection (MOT) 34
Uu phase current sensing offset (Pr-602) 97up to speed (Pr-504) 92up to speed (TG-ON) 60
Vvariable 135 137
15 - digital inputs and outputs 13725 - digital inputs 13726 - digital outputs 13829 - indexing inputs 13830 - indexing outputs 139
variable roll monitoring (MOR) 36velocity error filter (Pr-105) 67velocity limit 83velocity limit (V-LMT) 61velocity limit mode (Pr-213) 83velocity observer 51velocity offset 97velocity presets 46velocity regulator configuration (Pr123) 74velocity regulator D gain (Pr-104) 67velocity regulator I gain (Pr-103) 66velocity regulator I gain disable threshold
(Pr-118) 72velocity regulator I gain mode (Pr-117) 71
velocity regulator P gain (Pr-102) 66velocity regulator response level (Pr-100) 66velocity scaling data (Pr-954) 110velocity scaling label (Pr-955) 111velocitycommand lowpass filter bandwidth
(Pr-108) 68velocityscale (Pr-200) 80VER command 43verify servo connection (LIV) 43verify software version (VER) 43vibration suppression 69 73
Ww phase current sensing offset (Pr-603) 97warning (WARN) 61warnings 133watchdog timer 44 134within position window (P-COM) 60within speed window (V-COM) 60write indexing parameter (XHP) 32write indexing parameter (XTR) 32write parameter (CHP) 30write parameter (STR) 30
XXCE command 31XET command 31XHP command 32XTR command 32
Zzero clamp (Pr-505) 92zero speed (Z-CLP) 57
150 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Index
Notes
Publication 2071-RM001A-EN-P - September 2010 152 PN-79403Copyright copy 2010 Rockwell Automation Inc All rights reserved Printed in the USA
Rockwell Automation Support
Rockwell Automation provides technical information on the Web to assist you in using its products At httpwwwrockwellautomationcomsupport you can find technical manuals a knowledge base of FAQs technical and application notes sample code and links to software service packs and a MySupport feature that you can customize to make thebest use of these tools
For an additional level of technical phone support for installation configuration and troubleshooting we offer TechConnect support programs For more information contact your local distributor or Rockwell Automation representative or visit httpwwwrockwellautomationcomsupport
Installation Assistance
If you experience an anomoly within the first 24 hours of installation review the information that is contained in this manualYou can contact Customer Support for initial help in getting your product up and running
New Product Satisfaction Return
Rockwell Automation tests all of its products to ensure that they are fully operational when shipped from the manufacturing facility However if your product is not functioning and needs to be returned follow these procedures
Documentation Feedback
Your comments will help us serve your documentation needs better If you have any suggestions on how to improve this document complete this form publication RA-DU002 available at httpwwwrockwellautomationcomliterature
United States or Canada 14406463434
Outside United States or Canada
Use the Worldwide Locator at httpwwwrockwellautomationcomsupportamericasphone_enhtml or contact your local Rockwell Automation representative
United States Contact your distributor You must provide a Customer Support case number (call the phone number above to obtain one) to your distributor to complete the return process
Outside United States Please contact your local Rockwell Automation representative for the return procedure
- 2071-RM001A-EN-P September 2010
- Important User Information
- Table of Contents
- Preface
-
- About This Publication
- Who Should Use This Manual
- Conventions Used in This Manual
- Additional Resources
-
- 1 - Modbus Protocol
-
- Function Codes
- Exception Codes
- Address Maps
-
- Standard Parameters
- Indexing Parameters
- Save Flash Memory Parameter
- Monitoring Parameter (Function Code 0x04)
- Fault and Warning Status Parameter - Input Registers
- Output Function Status Parameter
- Running Parameter (Function Code 0x06 or 0x10)
- Input Function Parameter (Function Code 0x03 0x06 or 0x10)
-
- 2 - Communication Protocol (RS-232ASCII)
-
- Introduction
- Special Symbols
- Packet Structure
- Checksum
-
- 3 - General Commands (ASCII)
-
- Read Parameter (SET)
- Write Parameter (STR)
- Write Parameter (CHP)
- Indexing Command Extended (XCE)
- Read Indexing Parameter (XET)
- Write Indexing Parameter (XHP)
- Write Indexing Parameter (XTR)
- Fault Reset (RST)
- Monitor Variable (MDM)
- Triggered Data Collection (MOT)
- Variable Roll Monitoring (MOR)
- Automatic Task (TAT)
- Manual Task (TMN)
- Read Fault Contents (EHY)
- Jog (JOG)
- Read Drive Status (STS)
- Other Functions (ETC)
- Verify Software Version (VER)
- Verify Servo Connection (LIV)
- Read Fault Detailed Data (DIE)
- Enable Drive (SVRON)
- Disable Drive (SVROF)
- Reset Drive (HWR)
-
- A - Standard Drive Parameters
-
- Parameter Groupings
- Parameter Descriptions
-
- Group 0 - System Level
- Group 1 - Gain Control
- Group 2 - Speed Control
- Group 3 - Position Control
- Group 4 - Torque Controls
- Group 5 - Supplemental Drive Controls
- Group 6 - Supplemental Gain and Report Settings
- Group 7 - Manufacturing Settings
- Group 8 - Reserved Parameters
- Group 9 - Motor Controls
-
- B - Indexing Drive Parameters
-
- Parameter Groupings
- Parameter Descriptions
-
- Group 0 - Indexing System
- Group 1 - Homing
- Group 2 - Indexing Options
- Group 3 - Index Move Profile
- Group 4 - Index PositionDistance
- Group 5 - Index Registration Distance
- Group 6 - Index Batch Count
- Group 7 - Index Dwell
- Group 8 - Index Velocity
- Group 9 - Index Move Profile
- Group 10 - Index Acceleration
- Group 11 - Index Deceleration
- Group 12 - Index Next Index
-
- C - Warnings and Fault Codes
-
- Warnings
- Fault Codes
-
- D - Monitor Variables
-
- Variables
- Compiled Variables
-
- Variable 15 - Digital Inputs and Outputs
- Variable 25 - Digital Inputs
- Variable 26 - Digital Outputs
- Variable 29 - Indexing Inputs
- Variable 30 - Indexing Outputs
-
- Index
- Technical Support
-
Important User InformationSolid-state equipment has operational characteristics differing from those of electromechanical equipment Safety Guidelines for the Application Installation and Maintenance of Solid State Controls (publication SGI-11 available from your local Rockwell Automation sales office or online at httpwwwrockwellautomationcomliterature) describes some important differences between solid-state equipment and hard-wired electromechanical devices Because of this difference and also because of the wide variety of uses for solid-state equipment all persons responsible for applying this equipment must satisfy themselves that each intended application of this equipment is acceptable
In no event will Rockwell Automation Inc be responsible or liable for indirect or consequential damages resulting from the use or application of this equipment
The examples and diagrams in this manual are included solely for illustrative purposes Because of the many variables and requirements associated with any particular installation Rockwell Automation Inc cannot assume responsibility or liability for actual use based on the examples and diagrams
No patent liability is assumed by Rockwell Automation Inc with respect to use of information circuits equipment or software described in this manual
Reproduction of the contents of this manual in whole or in part without written permission of Rockwell Automation Inc is prohibited
Throughout this manual when necessary we use notes to make you aware of safety considerations
Allen-Bradley Kinetix MicroLogix Rockwell Software Rockwell Automation TechConnect and Ultra3000 are trademarks of Rockwell Automation Inc
Trademarks not belonging to Rockwell Automation are property of their respective companies
WARNING Identifies information about practices or circumstances that can cause an explosion in a hazardous environment which may lead to personal injury or death property damage or economic loss
ATTENTION Identifies information about practices or circumstances that can lead to personal injury or death property damage or economic loss Attentions help you identify a hazard avoid a hazard and recognize the consequence
SHOCK HAZARD Labels may be on or inside the equipment for example a drive or motor to alert people that dangerous voltage may be present
BURN HAZARD Labels may be on or inside the equipment for example a drive or motor to alert people that surfaces may reach dangerous temperatures
IMPORTANT Identifies information that is critical for successful application and understanding of the product
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 3
Table of Contents
Preface About This Publication 7Who Should Use This Manual 7Conventions Used in This Manual 7Additional Resources 7
Chapter 1Modbus Protocol Function Codes 9
Exception Codes 10Address Maps 11
Standard Parameters 11Indexing Parameters 13Save Flash Memory Parameter 21Monitoring Parameter (Function Code 0x04) 22Fault and Warning Status Parameter - Input Registers 22Output Function Status Parameter 23Running Parameter (Function Code 0x06 or 0x10) 24Input Function Parameter (Function Code 0x03 0x06 or 0x10) 25
Chapter 2Communication Protocol (RS-232ASCII)
Introduction 27Special Symbols 27Packet Structure 27Checksum 28
Chapter 3General Commands (ASCII) Read Parameter (SET) 29
Write Parameter (STR) 30Write Parameter (CHP) 30Indexing Command Extended (XCE) 31Read Indexing Parameter (XET) 31Write Indexing Parameter (XHP) 32Write Indexing Parameter (XTR) 32Fault Reset (RST) 33Monitor Variable (MDM) 33Triggered Data Collection (MOT) 34Variable Roll Monitoring (MOR) 36Automatic Task (TAT) 38Manual Task (TMN) 39Read Fault Contents (EHY) 40Jog (JOG) 40Read Drive Status (STS) 41Other Functions (ETC) 42Verify Software Version (VER) 43Verify Servo Connection (LIV) 43
4 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Table of Contents
Read Fault Detailed Data (DIE) 43Enable Drive (SVRON) 44Disable Drive (SVROF) 44Reset Drive (HWR) 44
Appendix AStandard Drive Parameters Parameter Groupings 45
Parameter Descriptions 46Group 0 - System Level 46Group 1 - Gain Control 66Group 2 - Speed Control 80Group 3 - Position Control 84Group 4 - Torque Controls 89Group 5 - Supplemental Drive Controls 91Group 6 - Supplemental Gain and Report Settings 97Group 7 - Manufacturing Settings 101Group 8 - Reserved Parameters 103Group 9 - Motor Controls 104
Appendix BIndexing Drive Parameters Parameter Groupings 115
Parameter Descriptions 116Group 0 - Indexing System 116Group 1 - Homing 120Group 2 - Indexing Options 127Group 3 - Index Move Profile 128Group 4 - Index PositionDistance 128Group 5 - Index Registration Distance 128Group 6 - Index Batch Count 128Group 7 - Index Dwell 129Group 8 - Index Velocity 129Group 9 - Index Move Profile 129Group 10 - Index Acceleration 130Group 11 - Index Deceleration 130Group 12 - Index Next Index 131
Appendix CWarnings and Fault Codes Warnings 133
Fault Codes 133
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 5
Table of Contents
Appendix DMonitor Variables Variables 135
Compiled Variables 137Variable 15 - Digital Inputs and Outputs 137Variable 25 - Digital Inputs 137Variable 26 - Digital Outputs 138Variable 29 - Indexing Inputs 138Variable 30 - Indexing Outputs 139
Index
6 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Table of Contents
Notes
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 7
Preface
About This Publication This manual describes the host command set for end-user interface with a Kinetix 3 drive via serial communication Use this manual for designing programming and troubleshooting host commands for serial communication with the Kinetix 3 drives
Who Should Use This Manual
This manual is intended for engineers programmers or technicians directly involved in the installation operation programming and field maintenance of a Kinetix 3 drive by using host mode commands
If you do not have a basic understanding of the Kinetix 3 drive contact your local Rockwell Automation sales representative before using this product for the availability of training courses
Conventions Used in This Manual
The conventions starting below are used throughout this manual bull Bulleted lists such as this one provide information not procedural stepsbull Numbered lists provide sequential steps or hierarchical information
Additional Resources These documents contain additional information concerning related Rockwell Automation products
You can view or download publications at httpwwwrockwellautomationcomliterature To order paper copies of technical documentation contact your local Rockwell Automation distributor or sales representative
Resource Description
Kinetix 3 Component Servo Drive Installation Instruction publication 2071-IN001
Mounting and wiring instructions and mounting dimensions
Kinetix 3 IO Breakout Board Installation Instructions publication 2071-IN002
Kinetix 3 Motor Feedback Breakout Board Installation Instructions publication 2071-IN003
Kinetix 3 Serial Communication Cables Installation Instructions publication 2090-IN019
Kinetix 3 Component Servo Drive User Manual publication 2071-UM001
Information on installing configuring starting up and troubleshooting for your Kinetix 3 servo drive system
Ultraware User Manual publication 2098-UM001
Information on configuring and operating Ultraware software with servo drives and motors
8 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Preface
Notes
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 9
Chapter 1
Modbus Protocol
This chapter defines the Modbus protocol as it applies to a Kinetix 3 drive
Function Codes The register number of MODBUS devices may begin with 0 or 1 Because this is determined by the MODBUS host you the customer have selected A 1 must be added to the register number if your controller requires it
The maximum number of parameters that can be read or written at the same time is the same as the number of MODBUS addresses which is the same as the number of the parameters in each group In other words all the parameters in each group can be read together or written together
Function Code Description
03(0x03) Read Holding Registers
04(0x04) Read Input Registers
06(0x06) Write Single Register
16(0x10) Write Multiple Register
10 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 1 Modbus Protocol
Exception Codes The Kinetix 3 Modbus protocol uses the following exception codes from the Modbus specifications
Exception Code
Name Meaning
0x01 Illegal Function The function code received in the query is not an allowable action for the slave
0x02 Illegal Data Address
The data address received in the query is not an allowable address for the slave
0x03 (1)
(1) Exception code 0x03 indicates an Illegal Data Value It means the length of data string is incorrect Exception code 14(0x0E) indicates an Illegal Data Range It means that data range exceeds the limit of the minimum or maximum value
Illegal Data Value
The length of query data field is not valid for the slave
0x06 Slave Device Busy
The slave is engaged in processing Run command The master should retransmit the message later when the slave is free
0x07 Illegal CRC Value
The CRC value received in the query is wrong value
0x0C Illegal Frame The byte length of the Query Reception frame is out of the limit
0x0D (2)
(2) Exception code 0x0D is generated if the master accesses a 32bit data address with function code 06 or either the high or low address of 32bit data with function code 10
Illegal Sequence
The data sequence received in the query is not an allowable write command for the slave
0x0E (1) Illegal Data Range
The value of query data field is not valid for the slave
0x0F (3)
(3) Exception code 15(0x0F) indicates an Illegal Command was issued It occurs when a received Run control cannot be executed at the moment
Illegal Command
The slave is in Run control and received an invalid command
0x10 (4)
(4) Exception code 16(0x10) is an Illegal Control It occurs when the Network Control Mode is not set but the drive requests a Run Control command or an IO Control command through the network
Illegal Control The slave is not in the Network mode but received a network control command
0x1F Servo Error Fail When the slave is Servo Error condition and receives a Servo ON command from master
0x21 Drive Type Fail When drive type of the slave is Indexing slave receives run command 02 03 04
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 11
Modbus Protocol Chapter 1
Address Maps All standard and indexing parameters (Pr-xxx or Inxxxx) require a unique register address The host computer assigns the initial address number and determines whether the register numbers begin with 0 or 1
Standard Parameters
Group 0 - System Level (1)
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
0 Pr-000 10 Pr-009 20 Pr-019 30 Pr-029
1 Pr-001[Lo] 11 Pr-010 21 Pr-020 31 Pr-030
2 Pr-001[Hi] 12 Pr-011 22 Pr-021 32 Pr-031
3 Pr-002 13 Pr-012 23 Pr-022 33 Pr-032
4 Pr-003 14 Pr-013 24 Pr-023 34hellip42 Reserved
5 Pr-004 15 Pr-014 25 Pr-024 43hellip99 Reserved
6 Pr-005 16 Pr-015 26 Pr-025
7 Pr-006 17 Pr-016 27 Pr-026
8 Pr-007 18 Pr-017 28 Pr-027
9 Pr-008 19 Pr-018 29 Pr-028
(1) Refer to Monitoring Parameter (Function Code 0x04) on page 22 for more detailed information on this parameter
Group 1 - Gain Control
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
100 (1) Pr-100 111 Pr-111 122 Pr-122 133 Pr-133
101 (1) Pr-101 112 Pr-112 123 Pr-123 134 Pr-134
102 Pr-102 113 Pr-113 124 Pr-124 135 Pr-135
103 Pr-103 114 Pr-114 125 Pr-125 136 Pr-136
104 Pr-104 115 Pr-115 126 Pr-126 137 Pr-137
105 Pr-105 116 Pr-116 127 Pr-127 138 Pr-138
106 Pr-106 117 Pr-117 128 Pr-128 139 Pr-139
107 Pr-107 118 Pr-118 129 Pr-129 140 Pr-140
108 Pr-108 119 Pr-119 130 Pr-130 141 Pr-141
109 Pr-109 120 Pr-120 131 Pr-131 142 Pr-142
110 Pr-110 121 Pr-121 132 Pr-132 143hellip199 Reserved
(1) Refer to Fault and Warning Status Parameter - Input Registers on page 22 for more detailed information on this parameter
12 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 1 Modbus Protocol
Group 2 - Speed Control
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
200 (1) Pr-200 206 Pr-204 212 Pr-210
201 (1) Pr-201 207 Pr-205 213 Pr-211
202 Pr-202[Lo] 208 Pr-206 214 Pr-212
203 Pr-202[Hi] 209 Pr-207 215 Pr-213
204 Pr-203[Lo] 210 Pr-208 216hellip299 Reserved
205 Pr-203[Hi] 211 Pr-209
(1) Refer to Output Function Status Parameter on page 23 for more detailed information on these parameters
Group 3 - Position Control
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
300 Pr-300 303 Pr-303 306 Pr-306 309hellip399 Reserved
301 Pr-301 304 Pr-304 307 Reserved
302 Pr-302 305 Pr-305 308 Pr-308
Group 4 - Torque Control
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
400 Pr-400 402 Pr-402 404 Pr-404 406 Pr-406
401 Pr-401 403 Pr-403 405 Pr-405 407hellip499 Reserved
Group 5 - Supplemental Drive Control
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
500 Pr-500 506 Pr-506 512 Pr-511 517 Pr-514[Hi]
501 Pr-501 507 Pr-507 513 Pr-512 518 Pr-515[Lo]
502 Pr-502 508 Pr-508 514 Pr-513 519 Pr-515[Hi]
503 Pr-503 509 Pr-509 514 Pr-513[Lo] 520 Pr-516[Lo]
504 Pr-504 510 Pr-510[Lo] 515 Pr-513[Hi] 521 Pr-516[Hi]
505 Pr-505 511 Pr-510[Hi] 516 Pr-514[Lo] 522hellip599 Reserved
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 13
Modbus Protocol Chapter 1
For parameters within the MODBUS address range of 600hellip4999 refer to the following parameters
bull Monitoring Parameter (Function Code 0x04) on page 22 for MODBUS Addresses 0hellip44
bull Fault and Warning Status Parameter - Input Registers on page 22 for MODBUS Addresses 100hellip101
bull Output Function Status Parameter on page 23 for MODBUS Addresses 2000hellip2016
bull Running Parameter (Function Code 0x06 or 0x10) on page 24 for MODBUS Addresses 2000hellip2016
bull Input Function Parameter (Function Code 0x03 0x06 or 0x10) on page 25 for MODBUS Addresses 3000hellip3002
Indexing Parameters
Group 0 - Indexing System
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
4000 Index 0 Distance Low
4005 Index 0 Accel Low
4001 Index 0 Distance High
4006 Index 0 Accel High
4002 Index 0 Velocity 4007 Index 0 Dwell
4003 Index 0 Decel Low
4008 Index 0 Option
4004 Index 0 Decel High
4009hellip4199 Reserved
Group 0 - Indexing System
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
5000 In0000 5006 In0003Hi
5001 In0001Lo 5007 In0004
5002 In0001Hi 5008 In0005Lo
5003 In0002Lo 5009 In0005Hi
5004 In0002Hi 5010 In0006Lo
5005 In0003Lo 5011 In0006Hi
5012hellip5199 Reserved
14 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 1 Modbus Protocol
Group 2 ndash Index Option
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
5400 In0200 5416 In0216 5432 In0232 5448 In0248
5401 In0201 5417 In0217 5433 In0233 5449 In0249
5402 In0202 5418 In0218 5434 In0234 5450 In0250
5403 In0203 5419 In0219 5435 In0235 5451 In0251
5404 In0204 5420 In0220 5436 In0236 5452 In0252
5405 In0205 5421 In0221 5437 In0237 5453 In0253
5406 In0206 5422 In0222 5438 In0238 5454 In0254
5407 In0207 5423 In0223 5439 In0239 5455 In0255
5408 In0208 5424 In0224 5440 In0240 5456 In0256
5409 In0209 5425 In0225 5441 In0241 5457 In0257
5410 In0210 5426 In0226 5442 In0242 5458 In0258
5411 In0211 5427 In0227 5443 In0243 5459 In0259
5412 In0212 5428 In0228 5443 In0243 5460 In0260
5413 In0213 5429 In0229 5444 In0244 5461 In0261
5414 In0214 5430 In0230 5445 In0245 5462 In0262
5415 In0215 5431 In0231 5446 In0246 5463 In0263
5447 In0247 5464 hellip5599 Reserved
Group 3 - Reserved
MODBUS Address
Kinetix 3 Parameter
5600hellip5799 Reserved
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 15
Modbus Protocol Chapter 1
Group 4 ndash Index PositionDistance
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
5800 In0400Lo 5834 In0417Lo 5868 In0434Lo 5902 In0451Lo
5801 In0400Hi 5835 In0417 Hi 5869 In0434 Hi 5903 In0451Hi
5802 In0401Lo 5836 In0418Lo 5870 In0435Lo 5904 In0452Lo
5803 In0401Hi 5837 In0418 Hi 5871 In0435 Hi 5905 In0452Hi
5804 In0402Lo 5838 In0419Lo 5872 In0436Lo 5906 In0453Lo
5805 In0402Hi 5839 In0419 Hi 5873 In0436 Hi 5907 In0453Hi
5806 In0403Lo 5840 In0420Lo 5874 In0437Lo 5908 In0454Lo
5807 In0403Hi 5841 In0420 Hi 5875 In0437 Hi 5909 In0454Hi
5808 In0404Lo 5842 In0421Lo 5876 In0438Lo 5910 In0455Lo
5809 In0404Hi 5843 In0421 Hi 5877 In0438 Hi 5911 In0455Hi
5810 In0405Lo 5844 In0422Lo 5878 In0439Lo 5912 In0456Lo
5811 In0405Hi 5845 In0422 Hi 5879 In0439 Hi 5913 In0456Hi
5812 In0406Lo 5846 In0423Lo 5880 In0440Lo 5914 In0457Lo
5813 In0406Hi 5847 In0423 Hi 5881 In0440 Hi 5915 In0457Hi
5814 In0407Lo 5848 In0424Lo 5882 In0441Lo 5916 In0458Lo
5815 In0407Hi 5849 In0424 Hi 5883 In0441 Hi 5917 In0458Hi
5816 In0408Lo 5850 In0425Lo 5884 In0442Lo 5918 In0459Lo
5817 In0408Hi 5851 In0425 Hi 5885 In0442 Hi 5919 In0459Hi
5818 In0409Lo 5852 In0426Lo 5886 In0443Lo 5920 In0460Lo
5819 In0409Hi 5853 In0426 Hi 5887 In0443 Hi 5921 In0460Hi
5820 In0410Lo 5854 In0427Lo 5888 In0444Lo 5922 In0461Lo
5821 In0410Hi 5855 In0427 Hi 5889 In0444 Hi 5923 In0461Hi
5822 In0411Lo 5856 In0428Lo 5890 In0445Lo 5924 In0462Lo
5823 In0411Hi 5857 In0428 Hi 5891 In0445 Hi 5925 In0462Hi
5824 In0412Lo 5858 In0429Lo 5892 In0446Lo 5926 In0463Lo
5825 In0412Hi 5859 In0429 Hi 5893 In0446 Hi 5927 In0463Hi
5826 In0413Lo 5860 In0430Lo 5894 In0447Lo 5928hellip5999 Reserved
5827 In0413Hi 5861 In0430 Hi 5895 In0447Hi
5828 In0414Lo 5862 In0431Lo 5896 In0448Lo
5829 In0414Hi 5863 In0431 Hi 5897 In0448Hi
5830 In0415Lo 5864 In0432Lo 5898 In0449Lo
5831 In0415Hi 5865 In0432 Hi 5899 In0449Hi
5832 In0416Lo 5866 In0433Lo 5900 In0450Lo
5833 In0416 Hi 5867 In0433 Hi 5901 In0450Hi
16 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 1 Modbus Protocol
Group 5 - Reserved
MODBUS Address
Kinetix 3 Parameter
6000hellip6199 Reserved
Group 6 - Reserved
MODBUS Address
Kinetix 3 Parameter
6200hellip6399 Reserved
Group 7 ndash Index Dwell
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
6400 In0700 6417 In0717 6434 In0734 6451 In0751
6401 In0701 6418 In0718 6435 In0735 6452 In0752
6402 In0702 6419 In0719 6436 In0736 6453 In0753
6403 In0703 6420 In0720 6437 In0737 6454 In0754
6404 In0704 6421 In0721 6438 In0738 6455 In0755
6405 In0705 6422 In0722 6439 In0739 6456 In0756
6406 In0706 6423 In0723 6440 In0740 6457 In0757
6407 In0707 6424 In0724 6441 In0741 6458 In0758
6408 In0708 6425 In0725 6442 In0742 6459 In0759
6409 In0709 6426 In0726 6443 In0743 6460 In0760
6410 In0710 6427 In0727 6444 In0744 6461 In0761
6411 In0711 6428 In0728 6445 In0745 6462 In0762
6412 In0712 6429 In0729 6446 In0746 6463 In0763
6413 In0713 6430 In0730 6447 In0747 6464 hellip6599 Reserved
6414 In0714 6431 In0731 6448 In0748
6415 In0715 6432 In0732 6449 In0749
6416 In0716 6433 In0733 6450 In0750
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 17
Modbus Protocol Chapter 1
Group 8 ndash Index Velocity
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
6600 In0800 6616 In0816 6632 In0832 6648 In0848
6601 In0801 6617 In0817 6633 In0833 6649 In0849
6602 In0802 6618 In0818 6634 In0834 6650 In0850
6603 In0803 6619 In0819 6635 In0835 6651 In0851
6604 In0804 6620 In0820 6636 In0836 6652 In0852
6605 In0805 6621 In0821 6637 In0837 6653 In0853
6606 In0806 6622 In0822 6638 In0838 6654 In0854
6607 In0807 6623 In0823 6639 In0839 6655 In0855
6608 In0808 6624 In0824 6640 In0840 6656 In0856
6609 In0809 6625 In0825 6641 In0841 6657 In0857
6610 In0810 6626 In0826 6642 In0842 6658 In0858
6611 In0811 6627 In0827 6643 In0843 6659 In0859
6612 In0812 6628 In0828 6644 In0844 6660 In0860
6613 In0813 6629 In0829 6645 In0845 6661 In0861
6614 In0814 6630 In0830 6646 In0846 6662 In0862
6615 In0815 6631 In0831 6647 In0847 6663 In0863
6664 hellip6799 Reserved
Group 9 - Reserved
MODBUS Address
Kinetix 3 Parameter
6800hellip6999 Reserved
18 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 1 Modbus Protocol
Group 10 ndash Index Acceleration
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
7000 In1000Lo 7032 In1016Lo 7064 In1032Lo 7096 In1048Lo
7001 In1000Hi 7033 In1016 Hi 7065 In1032 Hi 7097 In1048 Hi
7002 In1001Lo 7034 In1017Lo 7066 In1033Lo 7098 In1049Lo
7003 In1001Hi 7035 In1017 Hi 7067 In1033 Hi 7099 In1049 Hi
7004 In1002Lo 7036 In1018Lo 7068 In1034Lo 7100 In1050Lo
7005 In1002Hi 7037 In1018 Hi 7069 In1034 Hi 7101 In1050 Hi
7006 In1003Lo 7038 In1019Lo 7070 In1035Lo 7102 In1051Lo
7007 In1003Hi 7039 In1019 Hi 7071 In1035 Hi 7103 In1051 Hi
7008 In1004Lo 7040 In1020Lo 7072 In1036Lo 7104 In1052Lo
7009 In1004Hi 7041 In1020 Hi 7073 In1036 Hi 7105 In1052 Hi
7010 In1005Lo 7042 In1021Lo 7074 In1037Lo 7106 In1053Lo
7011 In1005Hi 7043 In1021 Hi 7075 In1037 Hi 7107 In1053 Hi
7012 In1006Lo 7044 In1022Lo 7076 In1038Lo 7108 In1054Lo
7013 In1006Hi 7045 In1022 Hi 7077 In1038 Hi 7109 In1054 Hi
7014 In1007Lo 7046 In1023Lo 7078 In1039Lo 7110 In1055Lo
7015 In1007Hi 7047 In1023 Hi 7079 In1039 Hi 7111 In1055 Hi
7016 In1008Lo 7048 In1024Lo 7080 In1040Lo 7112 In1056Lo
7017 In1008Hi 7049 In1024 Hi 7081 In1040 Hi 7113 In1056 Hi
7018 In1009Lo 7050 In1025Lo 7082 In1041Lo 7114 In1057Lo
7019 In1009Hi 7051 In1025 Hi 7083 In1041 Hi 7115 In1057 Hi
7020 In1010Lo 7052 In1026Lo 7084 In1042Lo 7116 In1058Lo
7021 In1010Hi 7053 In1026 Hi 7085 In1042 Hi 7117 In1058 Hi
7022 In1011Lo 7054 In1027Lo 7086 In1043Lo 7118 In1059Lo
7023 In1011Hi 7055 In1027 Hi 7087 In1043 Hi 7119 In1059 Hi
7024 In1012Lo 7056 In1028Lo 7088 In1044Lo 7120 In1060Lo
7025 In1012Hi 7057 In1028 Hi 7089 In1044 Hi 7121 In1060 Hi
7026 In1013Lo 7058 In1029Lo 7090 In1045Lo 7122 In1061Lo
7027 In1013Hi 7059 In1029 Hi 7091 In1045 Hi 7123 In1061 Hi
7028 In1014Lo 7060 In1030Lo 7092 In1046Lo 7124 In1062Lo
7029 In1014Hi 7061 In1030 Hi 7093 In1046 Hi 7125 In1062 Hi
7030 In1015Lo 7062 In1031Lo 7094 In1047Lo 7126 In1063Lo
7031 In1015Hi 7063 In1031 Hi 7095 In1047 Hi 7127 In1063 Hi
7128 hellip7199 Reserved
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 19
Modbus Protocol Chapter 1
Group 11 ndash Index Deceleration
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
7200 In1100Lo 7232 In1116 Lo 7264 In1132Lo 7296 In1148Lo
7201 In1100Hi 7233 In1116 Hi 7265 In1132 Hi 7297 In1148 Hi
7202 In1101Lo 7234 In1117Lo 7266 In1133Lo 7298 In1149Lo
7203 In1101Hi 7235 In1117 Hi 7267 In1133 Hi 7299 In1149 Hi
7204 In1102Lo 7236 In1118Lo 7268 In1134Lo 7300 In1150Lo
7205 In1102Hi 7237 In1118 Hi 7269 In1134 Hi 7301 In1150 Hi
7206 In1103Lo 7238 In1119Lo 7270 In1135Lo 7302 In1151Lo
7207 In1103Hi 7239 In1119 Hi 7271 In1135 Hi 7303 In1151 Hi
7208 In1104Lo 7240 In1120Lo 7272 In1136Lo 7304 In1152Lo
7209 In1104Hi 7241 In1120 Hi 7273 In1136 Hi 7305 In1152 Hi
7210 In1105Lo 7242 In1121Lo 7274 In1137Lo 7306 In1153Lo
7211 In1105Hi 7243 In1121 Hi 7275 In1137 Hi 7307 In1153 Hi
7212 In1106Lo 7244 In1122Lo 7276 In1138Lo 7308 In1154Lo
7213 In1106Hi 7245 In1122 Hi 7277 In1138 Hi 7309 In1154 Hi
7214 In1107Lo 7246 In1123Lo 7278 In1139Lo 7310 In1155Lo
7215 In1107Hi 7247 In1123 Hi 7279 In1139 Hi 7311 In1155 Hi
7216 In1108Lo 7248 In1124Lo 7280 In1140Lo 7312 In1156Lo
7217 In1108Hi 7249 In1124 Hi 7281 In1140 Hi 7313 In1156 Hi
7218 In1109Lo 7250 In1125Lo 7282 In1141Lo 7314 In1157Lo
7219 In1109Hi 7251 In1125 Hi 7283 In1141 Hi 7315 In1157 Hi
7220 In1110Lo 7252 In1126Lo 7284 In1142Lo 7316 In1158Lo
7221 In1110Hi 7253 In1126 Hi 7285 In1142 Hi 7317 In1158 Hi
7222 In1111Lo 7254 In1127Lo 7286 In1143Lo 7318 In1159Lo
7223 In1111Hi 7255 In1127 Hi 7287 In1143 Hi 7319 In1159 Hi
7224 In1112Lo 7256 In1128Lo 7288 In1144Lo 7320 In1160Lo
7225 In1112Hi 7257 In1128 Hi 7289 In1144 Hi 7321 In1160 Hi
7226 In1113Lo 7258 In1129Lo 7290 In1145Lo 7322 In1161Lo
7227 In1113Hi 7259 In1129 Hi 7291 In1145 Hi 7323 In1161 Hi
7228 In1114Lo 7260 In1130Lo 7292 In1146Lo 7324 In1162Lo
7229 In1114Hi 7261 In1130 Hi 7293 In1146 Hi 7325 In1162 Hi
7230 In1115Lo 7262 In1131Lo 7294 In1147Lo 7326 In1163Lo
7231 In1115Hi 7263 In1131Hi 7295 In1147 Hi 7327 In1163 Hi
7328 hellip7399 Reserved
20 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 1 Modbus Protocol
Group 12 ndash Next Index
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
7400 In1200 7416 In1216 7432 In1232 7448 In1248
7401 In1201 7417 In1217 7433 In1233 7449 In1249
7402 In0702 7418 In1218 7434 In1234 7450 In1250
7403 In1203 7419 In1219 7435 In1235 7451 In1251
7404 In1204 7420 In1220 7436 In1236 7452 In1252
7405 In1205 7421 In1221 7437 In1237 7453 In1253
7406 In1206 7422 In1222 7438 In1238 7454 In1254
7407 In1207 7423 In1223 7439 In1239 7455 In1255
7408 In1208 7424 In1224 7440 In1240 7456 In1256
7409 In1209 7425 In1225 7441 In1241 7457 In1257
7410 In1210 7426 In1226 7442 In1242 7458 In1258
7411 In1211 7427 In1227 7443 In1243 7459 In1259
7412 In1212 7428 In1228 7444 In1244 7460 In1260
7413 In1213 7429 In1229 7445 In1245 7461 In1261
7414 In1214 7430 In1230 7446 In1246 7462 In1262
7415 In1215 7431 In1231 7447 In1247 7463 In1263
7464 hellip7599 Reserved
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 21
Modbus Protocol Chapter 1
Save Flash Memory Parameter
MODBUS Address
Data Status Description
9999 (decimal) 1 Write data into flash memory
22 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 1 Modbus Protocol
Monitoring Parameter (Function Code 0x04)
Fault and Warning Status Parameter - Input Registers
Display Parameter - Input Registers (Default = 0)
MODBUS Address
Drive Name Unit
0 dis-00 Velocity Feedback rpm
1 dis-01 Velocity Command rpm
2 dis-02 Velocity Error rpm
3 dis-03 Torque Command 010
4hellip5 dis-04 Position Feedback counts
6hellip7 dis-05 Position Command counts
8hellip9 dis-06 Position Error counts
10 dis-07 Pulse Command Frequency 01pps
11 dis-08 Electrical Angle 01
12 dis-09 Mechanical Angle 01
13 dis-10 Regeneration Load Ratio
14 dis-11 DC-Link Voltage V
15 dis-12 Multi-Turn Data Turn number
16hellip17 dis-13 Offset in Velocity Command 01mV
18hellip19 dis-14 Torque Offset 01mV
20hellip24 dis-15 InputOutput Signal Status -
25hellip32 dis-16 Display Error History 8Alarm
33 dis-17 Display Software Version 1word
34hellip35 dis-18 Display Motor info 2word
36 dis-19 Analog Velocity Command Voltage 001V
37 dis-20 Analog Current Command Voltage 001V
38 dis-21 Drive Rated Output Power 1word
39hellip40 dis-22 Absolute Single Turn Data -
41hellip42 dis-23 Encoder Feedback Counter counts
43hellip99 Reserved - -
Fault and Warning Status Parameter - Input Registers (Default = 0)
Modbus Address Function Name Unit
100 Error Check Servo Error Code Word
101 Warning Check Servo Warning Code Word
102hellip199 Reserved - -
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 23
Modbus Protocol Chapter 1
Output Function Status Parameter
Modbus Address
Output Function Description Unit Position [bits]
200 S_ALM Alarm Bit [0]
P-COM Within position window Bit [1]
TG-ON Up to speed Bit [2]
BK Brake control Bit [3]
V-COM Within Speed window Bit [4]
A-VLD Absolute position valid Bit [5]
RDY Drive Ready Bit [6]
T-LMT NEAR Current Limited Bit [7]
V-LMT WARN Velocity Limited Bit [8]
NEAR Near position Bit [9]
WARN Warning Bit [10]
Reserved - Bit [11]
Reserved - Bit [12]
IMO In Motion Bit [13]
I-DW In Dwell Bit [14]
HOMC Axis Homed Bit [15]
201 O_ISEL0 Index Select 0 Out Bit [0]
O_ISEL1 Index Select 1 Out Bit [1]
O_ISEL2 Index Select 2 Out Bit [2]
O_ISEL3 Index Select 3 Out Bit [3]
O_ISEL4 Index Select 4 Out Bit [4]
O_ISEL5 Index Select 5 Out Bit [5]
E_SEQU End of Sequence Bit [6]
Reserved - Bit [7hellip15]
24 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 1 Modbus Protocol
Running Parameter (Function Code 0x06 or 0x10)
Run Parameter - Holding Registers (Default = 2000)
Modbus Address
Attribute RUN Name Access Unit
2000 User Open run-00 Jog Operation 1 byte
2001 run-01 Off-Line Auto Tuning 1 bit
2002 run-02 Reserved -
2003 run-03 Auto Adjustment of Speed Command Offset
1 bit
2004 run-04 Auto Adjustment of Current Command Offset
1 bit
2005hellip2007 run-05hellip run-07 Reserved -
2008 run-08 Alarm Reset 1 bit
2009 run-09 Reserved -
2010 run-10 Absolute Encoder Reset 1 bit
2011 run-11 2-Group Gain Storing 1 bit
2012 run-12 Parameter Initialization 1 bit
2013hellip2015 run-13helliprun-15 Reserved -
2016 run-16 Hardware Reset 1 bit
2017hellip2099 run-17helliprun-99 Reserved -
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 25
Modbus Protocol Chapter 1
Input Function Parameter (Function Code 0x03 0x06 or 0x10)
Input Function Control - Holding Registers
Modbus Address
IO Function Description Unit Position Bit
3000 SV-ON Drive Enable bit 0
- Reserved - [1] and [2]
P-CON Integrator Inhibit bit [3]
A-RST Fault Reset bit [4]
N-CL Negative Current Limit bit [5]
P-CL Positive Current Limit bit [6]
C-SEL Operation Mode Override bit [7]
C-DIR Preset Direction bit [8]
C-SP1 Preset Select 1 bit [9]
C-SP2 Preset Select 2 bit [10]
C-SP3 Preset Select 3 bit [11]
C-SP4 Preset Select 4 bit [12]
INHIB Pause Follower bit [13]
G-SEL Alternate Gain Select bit [14]
PCLR Position clear bit [15]
3001 ABS-DT Position Strobe bit [0]
START Motor Moving Enable bit [1]
Z-CLP Zero Speed Clamp Enable bit [2]
GEAR 2nd Electronic Gear Bank Selection bit [3]
R-ABS Reset multi-turn data of Absolute Encoder
bit [4]
- Reserved - [5]
SHOME Start Homing bit [6]
STOP Stop Indexing bit [7]
PAUSE Pause Indexing bit [8]
I-SEL0 Index Select 0 Input bit [9]
I-SEL1 Index Select 1 Input bit [10]
I-SEL2 Index Select 2 Input bit [11]
I-SEL3 Index Select 3 Input bit [12]
I-SEL4 Index Select 4 Input bit [13]
I-SEL5 Index Select 5 Input bit [14]
H_STOP Stop Homing bit [15]
3002 START_I Start Index bit [0]
BANK_SEL Gain Bank Select bit [1]
- Reserved - [2hellip15]
26 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 1 Modbus Protocol
Notes
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 27
Chapter 2
Communication Protocol (RS-232ASCII)
Introduction The drive command protocol is a client-server protocol A host computer is the server and each drive is a client This chapter provides details about the Special Symbols Packet Structure and Checksum in the serial communication protocol
Special Symbols Special symbols used in the host commands include the following
Packet Structure The packet structure is shown below
Some simple commands might not have the Data field (for example Fault Reset) Maximum packet size is 400 bytes Each letter and digit in Command and Data fields represents a single ASCII character
All commands begin with an STX and terminate with an ETX
If the drive receives the command without a communication error the response is in the same format as the host command Numeric parameters are encoded as strings
Symbol Value Description
STX 0x02 Start of Transmission
ETX 0x03 End of Transmission
ACK 0x06 Command Acknowledged
GS 0x29 Cannot change the value of the parameter while drive is enabled
RS 0x30 Value is out of range
US 0x31 Invalid command
NAK 0x15 Communication Error (Checksum Error)
CAN 0x18 Cancellation of Command (For example the drive will send CAN if the drive is already enabled but the JOG ON is requested)
Start ID HostResponse
Command Data Separator Checksum End
Symbol STX dd or $ SET orhellip d hellipd c c ETX
Bytes 1 2 1 3 0 - n 1 1 1
28 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 2 Communication Protocol (RS-232ASCII)
If the drive receives the hosts command with a communication error (for example parity or checksum errors) the drive sends an NAK The host should assume a communication error occurred if a response from the drive does not occur within a time-out period (generally 200 ms)
If drive does not recognize the command it sends a US response
Checksum The checksum range consists of ID to Separator fields Checksum is the ASCII hex code of the least significant digit from the sum of hexadecimal codes in the checksum range
For example this VER command has a checksum of 42 (ASCII hex code of B)
30H+31H+23H+56H+45H+52H+3AH = 1ABH The ASCII hex code of B is 42
However this VER command response also has a checksum of 35 (ASCII hex code of 5)
30H+31H+24H+56H+45H+52H+20H+31H+2EH+30H+32H+3AH = 295H The ASCII hex code of 5 is 35
Command STX 0 1 V E R B ETX
ASCII 2 30 31 23 56 45 52 3A 42 3
Command STX 0 1 amp V E R 9 0 2 5 ETX
ASCII 2 30 31 24 56 45 52 20 39 2E 30 32 3A 35 3
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 29
Chapter 3
General Commands (ASCII)
This chapter defines the general ASCII commands available to control a Kinetix 3 drive
Read Parameter (SET)
Attribute Value
Command SET
Description Read parameter value
Format STX ID SET PPP BSS ETX
Data Argument Description
PPP Parameter for example [Pr - 203] PPP=203=0x0CB Refer to this chapter Appendix A Standard Drive Parameters and Appendix B Indexing Drive Parameters for a available parameter descriptions
Response Format STX ID $SET V BSS ETX
Response Data Argument Description
V Bit-field type = 4 byte hexadecimal value Integer type = Signed integer of variable length
30 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 3 General Commands (ASCII)
Write Parameter (STR)
Write Parameter (CHP)
Attribute Value
Command STR
Description Write parameter value to RAM and then save data from RAM to flash memory
Format STX ID STR PPP V BSS ETX
Data Argument Description
PPP Parameter for example [Pr - 203] PPP=203=0x0CB Refer to Standard Drive Parameters beginning on page 45 for a description of available parameters Group 7 - Manufacturing Settings are product settings that are programmed during manufacturing
V Bit-field type = 4 byte hexadecimal value Normal type = Signed integer of variable length
Response Format ACK
Error Response If the drive is unable to change the variable because it is enabled it sends GS If the value is out of range RS is returned
Next Command STX ID STR BSS ETX
Usage Note To determine whether task is complete send STR without arguments
Response Format If task is not complete STX ID $BSY BSS ETX or If task is complete STX ID $TOK BSS ETX
Attribute Value
Command CHP
Description Write parameter value to RAM
Format STX ID CHP PPP V BSS ETX
Data Argument Description
PPP Parameter for example [Pr - 203] PPP=203=0x0CB Refer to Standard Drive Parameters beginning on page 45 for a description of available parameters Group 7 - Manufacturing Settings are product settings that are programmed during manufacturing
V Bit-field type = 4 byte hexadecimal value Normal type =Signed integer of variable length
Response Format ACK
Error Response If unable to change the variable because drive is enabled GS is sent If value is out of range RS is returned
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 31
General Commands (ASCII) Chapter 3
Indexing Command Extended (XCE)
Read Indexing Parameter (XET)
Attribute Value
Command XCE
Description Execute Indexing Control Panel command
Format STX ID XCE NNNNN amp VVVVV BSS ETX
Data Argument Description
NNNNN Index number 0hellip63Data Format 16-bit unsigned integer d
VVVVVV Indexing Function Command 0 = Start Homing 1 = Stop Homing 2 = Start IndexingData Format 16bit unsigned integer d
Response Format ACK If there is an error while executing the command the GS RS US NAK CAN exception code s can be used for the response
Usage Note This command executes only Indexing commands If the command to be executed is not specific to an Index number the NNNNN field should be 0
Attribute Value
Command XET
Description Read parameter value
Format STX ID XET PPPP BSS ETX
Data Argument Description
PPPP Parameter for example in the case of [IN0002] PPPP=0200 the two initial arguments (PPxx) indicate the indexing (Ix) group Refer to Indexing Drive Parameters beginning on page 115 for a description of available indexing parameters Group 7 - Manufacturing Settings are product settings that are programmed during manufacturing
Response Format STX ID $XET V BSS ETX
Response Data Argument Description
V Bit-field type = 4 byte hexadecimal value Integer type Signed integer of variable length
32 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 3 General Commands (ASCII)
Write Indexing Parameter (XHP)
Write Indexing Parameter (XTR)
Attribute Value
Command XHP
Description Write parameter value to RAM
Format STX ID XHP PPPP V BSS ETX
Data Argument Description
PPPP Parameter for example in the case of [IN0002] PPPP=0200 the two initial arguments (PPxx) indicate the indexing (Ix) group Refer to Indexing Drive Parameters beginning on page 115 for a description of available indexing parameters
V Bit-field type = 4 byte hexadecimal value Normal type = Signed integer of variable length
Response Format ACK
Error Response If the drive is unable to change the variable because it is enabled it sends GS If the value is out of range RS is returned
Attribute Value
Command XTR
Description Write parameter value to RAM and then saves data from RAM to flash memory
Format STX ID XTR PPPP V BSS ETX
Data Argument Description
PPPP Parameter In the case of [IN0002] PPPP=0200 the two initial arguments ((PPxx) indicate the indexing (Ix) group Refer to Indexing Drive Parameters beginning on page 115 for a description of available indexing parameters
V Bit-field type = 4 byte hexadecimal value Normal type = Signed integer of variable length
Response Format ACK
Error Response If the drive is unable to change the variable because it is enabled it sends GS If the value is out of range RS is returned
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 33
General Commands (ASCII) Chapter 3
Fault Reset (RST)
Monitor Variable (MDM)
Attribute Value
Command RST
Description Clear fault
Format STX ID RST BSS ETX
Response ACK
Usage Note Fault Reset will have no effect unless action was taken to resolve the fault Refer to Warnings and Fault Codes beginning on page 133 for a description of faults and warnings
Attribute Value
Command MDM
Description Monitor variables
Format STX ID MDM P1 P2 P3 P4 P5 BSS ETX
Data Argument Description
P1hellipP5 Variables to monitor
Usage Note MDM command can monitor up to five variables Refer to Monitor Variables on page 135 for the list of variables
Response Format STX ID $ MDM V1ampV2ampV3ampV4ampV5 BSS ETX
Response Data Argument Description
V1hellipV5 Variable values are 4 or 8 bytes signed See tables below for descriptions of specific variables
34 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 3 General Commands (ASCII)
Triggered Data Collection (MOT)
Attribute Value
Command MOT
Description Sets watches and reads trigger monitor
Format STX ID MOT Ch1 Ch2 Src SP Num Mode Pos Level BSS ETX
Data Argument Description
Ch1 Ch2 Input signals See Appendix A (variables 0x00hellip0x0F only)
Src Trigger Source (0x000hellip0x009 0x101hellip0x112) Refer to Monitor Variables on page 135 for the list of variables 0x101-0x10A DI1hellipDI10 0x10B Emergency Stop Input 0x10C-0x10E DO1hellipDO3 0x10F Safety Alarm Output 0x110-0x112 DO4hellipDO6
SP Sample Period Range 0x01hellip0x64 (02hellip20 ms)
Num Number of data points 10 Range 0x01hellip0x1E (1hellip30)
Mode Trigger mode 1 = Positive Edge 2 = Negative Edge
Pos Trigger Position (1hellip9) The percentage of data to be received before the trigger pointFor example if Pos = 3 then 30 of data received before the trigger point and 70 of data received after the trigger point
Level Trigger levelthreshold the value of the Trigger Source Values are 4 or 8 bytes signed
Usage Note This command is sent to the drive prior to monitoring or reading the Triggered Data Collection (MOT) command variants below See Figure 1 for command examples
Response ACK
Next Command MOT
Format STX ID MOT BSS ETX
Usage Note This command is sent to the drive to verify data is available
Response If data is not ready STX ID $ BSY BSS ETX If data is ready STX ID $ TOK BSS ETX
Next Command MOT
Format STX ID MOT NumD BSS ETX
Data Argument Description
NumD Data Point to retrieve the data from Range 00hellip(Num-1)
Usage Note This command can be used when previous command returned TOK Send ESC to stop data collection
Response Format STX ID $ MOT V1ampV2ampV20 BSS ETX
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 35
General Commands (ASCII) Chapter 3
Figure 1 - Triggered Data Collection (MOT) Command String Example
Attribute Value
Response Data Argument Description
V1hellipV20 Data transmission is done in blocks of 10 Because there are 2 channels 20 values are returned with values alternating between the first channel and the second channel Values are a signed integer of variable length (4 or 8 bytes)
Next Command STX ID ESC BSS ETX
Response ACK
MOR (setting)
ACK
MOT
$BSY
MOT
$TOK
MOT00
$MOT
PC Servo
Time lt200 ms
MOT29
$MOT
ESC
ACK
36 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 3 General Commands (ASCII)
Variable Roll Monitoring (MOR)
Attribute Value
Command MOR
Description Set up variable roll monitor
Format Data
STX ID MOR SP P1 P2 BSS ETX
Argument Description
SP Sampling period range 0x01hellip0x64 (01hellip100 ms)
P1 P2 Variables to monitor Range 0x00hellip0x1D
Usage Note Sets up the variable roll monitoring This command is sent to the drive prior to sending a Monitor Variable (MDM) command See Figure 2 for command examples
Response ACK
Next Command STX ID MOR BSS ETX
Usage Note Request to store data in the linear buffer (with a capacity of 100 data points) If the buffer is full and data has not been retrieved the buffer is emptied If data is requested before data is in the buffer the drive sends ACK
Response Format STX ID $ MOR V1ampV2amphellipVn BSS ETX
Response Data Argument Description
V1hellipVn Signed integer of variable length
Next Command STX ID ESC BSS ETX
Usage Note Send ESC to stop monitoring of the data
Response ACK
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 37
General Commands (ASCII) Chapter 3
Figure 2 - Variable Roll Monitoring (MOR) Command String Example
MOR (setting)
ACK
MOR
$MOR
MOR
$MOR
ESC
ACK
PC Servo
Time lt200 ms
38 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 3 General Commands (ASCII)
Automatic Task (TAT)
Figure 3 - Automatic Task (TAT) Command String Example
Attribute Value
Command TAT
Format STX ID TAT T1 BSS ETX
Data Argument Description
T1 Automatic task number See the following Values and Task Descriptions
Value Task Description
0x01 Auto Tuning
0x02 Move to Marker
0x03 Auto Adjustment of Velocity Command Offset
0x04 Auto Adjustment of Current Command Offset
0x07 Auto Adjustment of Current Feedback Offset
Response ACK
Usage Note Send TAT command without arguments to find out if a task is completed See Figure 3 for command examples
Next Command STX ID TAT BSS ETX
Response Format STX ID $ BSY BSS ETX - if task is not complete STX ID $ TOK BSS ETX - task is complete
TAT (setting)
ACK
TAT
$BSY
TAT
$TOK
PC Servo
Time lt200 ms
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 39
General Commands (ASCII) Chapter 3
Manual Task (TMN)
Figure 4 - Manual Task (TMN) Command String Example
Attribute Value
Command TMN
Format STX ID TMN 1 BSS ETX
Data Argument Description
T1 Manual task number See the following Values and Task Descriptions
Value Task Description
0x01 - Speed Command Offset - Decrement by 01 mV
0x02 + Speed Command Offset - Increment by 01 mV
0x03 Save Speed Command Offset change
0x04 - Current Command Offset - Decrement by 01 mV
0x05 + Current Command Offset - Increment by 01 mV
0x06 Save Current Command Offset change
0x07 Discard changes and exit
Response ACK
Usage Note Most manual tasks are complete by the time ACK is received Commands 0x03 and 0x06 may take longer because they save data to flash memory Send TMN command without arguments to find out if a task is completed See Figure 4 for command examples
Next Command STX ID TAT BSS ETX
Response Format STX ID $ BSY BSS ETX - if task is not complete STX ID $ TOK BSS ETX - task is complete
TMN (setting)
ACK
TMN
$BSY
TMN
$TOK
PC Servo
Time lt200 ms
40 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 3 General Commands (ASCII)
Read Fault Contents (EHY)
Jog (JOG)
Attribute Value
Command EHY
Description Read faults See Read Fault Detailed Data (DIE) on page 43 for alternative fault data
Format STX ID EHY F1 BSS ETX
Data Argument Description
F1 Fault Number Range is 0x01hellip0x08 where latest fault status is stored in 0x01 and oldest fault is stored in 0x08
Response Format STX ID $ EHYE FCode FChars BSS ETX
Data Data Description
FCode Fault Code See Appendix C for a list of fault codes
FChars Fault Name Abbreviated See Appendix C
Usage Note Use this command to find out more about one of the eight faults To receive all fault statuses use EHY command below
Attribute Value
Command EHY
Description Read all fault codes
Format STX ID EHY BSS ETX
Data Argument Description
Asterik () means all faults
Response Format STX ID $ EHY Fcode1ampFcode2ampFcode8 BSS ETX
Data Data Description
Fcode1hellipFcode8 Fault Code See Appendix C for a list of fault codes
Attribute Value
Command JOG
Description Jog forward or reverse
Format STX ID JOG P1 BSS ETX
Data Argument Description
P1 0 = prepare for jog operation + = jog forward - (dash) = jog reverse
Response ACK
Usage Note To keep jogging send JOG command more than once within 500 ms To end Jog mode send SVROF
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 41
General Commands (ASCII) Chapter 3
Read Drive Status (STS)
Attribute Value
Command STS
Description Read status
Format STX ID STS BSS ETX
Response Format STX ID $ STS Mode S1 S2 S3 S4 S5 SS FChars BSS ETX
Response Data Arguments Description
Mode One of these operating modes F = Follower mode S = Analog Velocity mode P = Preset Velocity mode C = Analog Current mode D = Dual Current Command mode PF PS PC FS FC SC = Mixed modes Refer to [Pr - 000] Operations Mode on page 46 for additional information
S1 S1 means In Follower mode 1 = In Position 0 = Not In Position In Analog Velocity or Preset Velocity modes 1 = In Speed Window 0 = not In Speed Window If position or speed data is not available S1= 0
S2 One of the following 1 = Up to Speed 0 = Not Up to Speed If speed data is not available S2=0
S3 One of the following 1 = Drive is Enabled 0 = Drive is Disabled
S4 One of the following 1 = Positive Overtravel is active 0 = Positive Overtravel is inactive
S5 One of the following 1 = Negative Overtravel is active 0 = Negative Overtravel is inactive
SS One of the following Edd = fault occurred (See Appendix C)
dd = 2 byte error code 0x00hellip0xFF Wdd = warning occurred (See Appendix C)
dd = 2 byte warning code RDY = no errors or warnings
FChars Abbreviation of the faultwarning name In the case of Estop fault Fchars = ESTOP FChars size is 5 bytes when fault occurs and 3 bytes when warning occurs
42 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 3 General Commands (ASCII)
Other Functions (ETC)
Attribute Value
Command ETC
Format STX ID ETC F1 BSS ETX
Data Argument Description
F1 Manual task number See the following Values and Task Descriptions
Value Task Description
0x09 Clear Fault History
0x0A Reset Absolute Encoder (1)
(1) Resetting of an absolute (17-bit) encoder is possible only when the drive is disabled The command Reset Absolute Encoder sets the rotation data to 0 and clears all encoder related faults and warnings
0x0B Store 2-Group Gain
0x0C Reset to Factory settings (2)
(2) Parameters in the table below are not affected by the Reset to Factory settings
0x0D Test Run
0x0E Upgrade Firmware
0x0F Erase Manufacturing Information
Response ACK
Usage Note Send ETC command without arguments to find out if a task is completed
Next Command STX ID ETC BSS ETX
Response Format STX ID $ BSY BSS ETX - if task is not complete orSTX ID $ TOK BSS ETX - task is complete
Parameter Number Description
600 Analog Velocity Command Offset
601 Analog Current Command Offset
602 U Phase Current Sensing Offset
603 W Phase Current Sensing Offset
700hellip707 Group 7 - Manufacturing Settings
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 43
General Commands (ASCII) Chapter 3
Verify Software Version (VER)
Verify Servo Connection (LIV)
Read Fault Detailed Data (DIE)
Attribute Value
Command VER
Description Verify software version
Format STX ID VER BSS ETX
Response Format STX ID $ VER V BSS ETX
Response Data Argument Description
V Firmware version Size 5 bytes including a space Example STX01$VER 100BSS ETX
Attribute Value
Command LIV
Description Verify servo connection
Format STX ID LIV BSS ETX
Response Format ACK if there is a connection
Attribute Value
Command DIE
Description Read detailed fault data stored in [Pr - 607] Fault Detail Data Selection 1 Sample period in microseconds = [Pr - 607] 200) See Read Fault Contents (EHY) on page 40 for alternative fault data
Format STX ID DIE A1 A2 BSS ETX
Data Argument Description
A1 Channel to get the data for Range 1hellip4 Channels are stored in [Pr - 607]hellip[Pr - 610] Fault Detail Data Selection 4
A2 Data Number Range 0hellip50 0 means all data
Usage Note Send DIE 02 00 to receive all the data for A1= 02 Send DIE 00 01 to receive data for data number 1 of 4 variables DIE 00 00 is invalid
Response Format STX ID $ DIE D1ampD2ampDN BSS ETX
Error Response STX ID $ DIE FFFF BSS ETX means data number is invalid
Response Data Argument Description
D1hellipDn Detailed data where n depends on A1 and A2 If A1=00 and A2 = 01 then n = 4 If A1=01hellip04 and A2 = 01hellip50 then n=1 If A1=01hellip04 and A2 = 00 then n= 50
44 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 3 General Commands (ASCII)
Enable Drive (SVRON)
Disable Drive (SVROF)
Reset Drive (HWR)
Attribute Value
Command SVRON
Description Enables the drive
Format STX ID SVRON BSS ETX
Response ACK
Attribute Value
Command SVROF
Description Disables the drive
Format STX ID SVROF BSS ETX
Response ACK
Attribute Value
Command HWR
Description Reset the drive by using watchdog counter
Format STX ID HWR BSS ETX
Response ACK
Usage Note Stops the watchdog timer allowing a hardware signal to reboot (reset) the drive
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 45
Appendix A
Standard Drive Parameters
Parameters control Kinetix 3 drive operations They are grouped by the type of drive Standard or Indexing and the settings they define
Descriptions of Indexing Drive Parameters begin on page 115
Parameter Groupings Standard drive parameters are grouped into these drive settings bull Group 0 - Basic drive system and IO settings bull Group 1 - Gain and gain tuning settings bull Group 2 - Velocity control settings bull Group 3 - Position control settings bull Group 4 - Torque control settings bull Group 5 - Supplementary drive system and IO settings bull Group 6 - Supplementary gain settings and fault reports bull Group 7 - Factory default settings bull Group 8 - Parameters reserved bull Group 9 - Motor and drive operating mode parameters
46 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
Parameter Descriptions Parameter descriptions list the size of each parameter and the data options within the parameter
Descriptions of Indexing Drive Parameters begin on page 115
Group 0 - System Level
[Pr - 000] Operations Mode
Ultraware Name Operation Modes (MainOverride)
Range 0hellip12
Display (Value) Normal operating mode Override operating mode
F (1) Follower Follower
S (2) Analog Velocity Input Analog Velocity Input
C (3) Analog Current Input Analog Current Input
SF (4) Analog Velocity Input Follower
CF (5) Analog Current Input Follower
CS (6) Analog Current Input Analog Velocity Input
P (7) Preset Velocity Preset Velocity
PF (8) Preset Velocity Follower
PS (9) Preset Velocity Analog Velocity Input
PC (10) Preset Velocity Analog Current Input
D (11) Reserved Reserved
I (12) Indexing Indexing
Default 1
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
MODBUS Address 0
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 47
Standard Drive Parameters Appendix A
[Pr - 001] Motor Configuration
Data Size 6 digits
Ultraware Name Motor configuration
Digit 0 Encoder type
Range Value Description
0x0hellip0xf Each number define a corresponding encoder type 9 line or 17-bit serial for example
Default 0x1 = 9 line
Digit 1hellip2 Rated power
Range Value Description
A5010204081015 501002004008001000 or 1500 Watts
Default 04 = 400 W
Digit 3hellip4 Motor type
Range Value Description
Motor type Motor initial ID
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
MODBUS Address 1
When Enabled Servo-Off -gt Setting
Applicable Operating Mode All
MODBUS Address Pr-001[Lo] = 1 Pr-001[Hi] = 2
48 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 002] Motor Basic Modes
Data Size 4 digits
Digit 0 Fault and Disable Braking
Ultraware Name Stopping Functions Fault and Disable Braking
Range Value Description
0x0 Brake and hold
0x1 Brake and release
0x2 Free stop
0x3 Free stop and hold
Default 0
Digit 1 Overtravel stop method
Ultraware Name Stopping Functions Over Travel Stop Method
Range Value Description
0x0 Stop by change of mode to Normal Current Set stopping current with Overtravel Current Limit parameter [Pr - 405]
0x1 Dynamic Brake
Default 0
Digit 2 Motor Forward Dir
Ultraware Name Command Polarity
Range Value Description
0x0 The command signal is not inverted so that a positive command value results in clockwise rotation as viewed from shaft end
0x1 The command signal is inverted so that a positive command value results in counter-clockwise rotation s viewed from shaft end
Default 0
Digit 3 Power input
Ultraware Name AC Line Loss Check
Range Value Description
0x0 Enables the following bull 50hellip400W drive Enable
single-phase open check bull 800hellip15kW drive Enable
three-phase open check
0x1 Disable
0x2 Single-phase input
Default 0
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 49
Standard Drive Parameters Appendix A
When Enabled Servo-Off -gt Setting
Applicable Operating Mode All
MODBUS Address 3
[Pr - 003] Auto Tuning Functions
Data Size 4 digits
Digit 0 Off-line Tuning Mode
Ultraware Name Off-line Tuning Mode
Range Value Description
0x0 Inertia Moment Estimation
0x1 Inertia Moment Estimation and Resonant Frequency Detection
0x2 Resonance frequency Detection
Default 1
Digit 1 Reserved
Digit 2 Autotuning Speed
Ultraware Name Autotuning Speed
Range 2hellip9
Default 7
Units rpm100
Digit 3 Dynamic Tuning Response Speed
Ultraware Name Online Tuning Response
Range Value Description
0x0 Off
0x1 Slowest
0x2 Slower
0x3 Slow
0x4 Medium-Slow
0x5 Medium
0x6 Medium-Fast
0x7 Fast
0x8 Faster
0x9 Fastest
Default 0
Units -
When Enabled Servo-Off -gt Setting
Applicable Operating Mode All
MODBUS Address 4
[Pr - 002] Motor Basic Modes (Continued)
50 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 004] Inertia Ratio
Description Load Inertia Motor Inertia
Ultraware Name Inertia Ratio
Range 0hellip6000
Default 100
Units (Load inertiaMotor inertia) 100
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 5
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 51
Standard Drive Parameters Appendix A
[Pr - 005] Auxiliary Function Selection 1
Applicable Operating Mode All
Data Size 4 digits
Digit 0 Encoder Back-up Battery
Ultraware Name Encoder Back-up Battery
Range Value Description
0x0 Battery Installed
0x1 Battery Not Installed
Default 0
Digit 1 Velocity Observer
Ultraware Name Velocity Observer
Range Value Description
0x0 Disable
0x1 Enable
Default 0
Digit 2 Alternative Gain Change Enable
Ultraware Name Gain Change Enable
Range Value Description
0x0 Disable
0x1 Enable
Default 0x0
Digit 3 Emergency stop input
Range Value Description
0x0 Disable
0x1 Enable
Default 0
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
MODBUS Address 6
52 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 006] Auxiliary Function Selection 2
Applicable Operating Mode All
Data Size 3 digits
Digit 0 Automatic Motor Identification
Ultraware Name Auto Motor Identification
Range Value Description
0x0 Disabled
0x1 Enabled
Default 1
Digit 1 Incremental Feedback Loss (Encoder Line Break Detection)
Ultraware Name Incremental Feedback Loss
Range Value Description
0x0 Monitored
0x1 Ignored
Default 0
Digit 2 Mode of Gain Switching
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 53
Standard Drive Parameters Appendix A
Range Value Description
0 Fixed to the 1st gain
1 Fixed to 2nd gain
2 2nd gain selection when the gain switching input is turned on
3 2nd gain selection when the toque command is larger than the set-up levels of the gain control switching and hysteresis of control switching
4 2nd gain selection when the command speed is larger than the set-up levels of the gain control switching and hysteresis of control switching
5 2nd gain selection when the positional deviation is larger than the setup set-up levels of the gain control switching and hysteresis of control switching
6 2nd gain selection when more then one command pulse exist between 200usec
7 2nd gain selection when the positional deviation counter value exceeds the set-up of the positioning complete range
8 2nd gain selection when the motor actual speed exceeds the set-up levels of the gain control switching and hysteresis of control switching)Switches to the 2nd gain while the position command exists
9 Switches to the 1st gain when no-position command status lasts for the set up of delay time of gain switching [x 200usec] and the speed falls slower than the set-up levels of the gain control switching level and hysteresis of control switching
Default 0
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 7
[Pr - 006] Auxiliary Function Selection 2 (Continued)
54 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 007] Drive Address
Applicable Operating Mode All
Ultraware Name Drive Address
Range 1hellip247
Default 1
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 8
[Pr - 008] Password
Applicable Operating Mode All
Ultraware Name Drive Password
Range 0hellip9999Usage Note Unprotected Code 777
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 9
[Pr - 009] Serial Port Configuration
Applicable Operating Mode All
Data Size 4 digits
Digit 0 Baud Rate
Ultraware Name Baud Rate
Range Value Description
0x0 9600 bps
0x1 14400 bps
0x2 19200 bps
0x3 38400 bps
0x4 56000 bps
0x5 57600 bps
Default 0x5
Digit 1 Data bits Parity Stop bit
Ultraware Name Data bits Parity Stop bit
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 55
Standard Drive Parameters Appendix A
Range Value Description
0x0 8 No 1
0x1 8 Even 1
0x2 8 Odd 1
0x3 8 No 2
0x4 8 Even 2
0x5 8 Odd 2
Default 0x0
Digit 2 Protocol
Ultraware Name Protocol
Range Value Description
0x0 ASCII
0x1 MODBUS-RTU
Default 0
Digit 3 Communication Method
Ultraware Name Communication Method
Range Value Description
0 0x0 RS232
1 Ox1 RS485
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 10
[Pr - 010] Allocation of Input Signals 1
Range for all digits 0hellipB where 0 is Off B is On and 1hellipA are digital inputs
Data Size 4 digits
Digit Description Default Unmapped IO Status
0 Drive enable (SV-ON) 0x1 ON
1 Positive overtravel (P-OT) 0xb ON
2 Negative overtravel (N-OT) 0xb ON
3 Integrator inhibit (CON) 0x4 OFF
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 010]hellip[Pr - 021] on page 60
Applicable Operating Mode All
MODBUS Address 11
[Pr - 009] Serial Port Configuration (Continued)
56 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 011] Allocation of Input Signals 2
Range for all digits 0hellipB where 0 is Off B is On and 1hellipA are digital inputs
Data Size 4 digits
Digit Description Default Unmapped IO Status
0 Fault reset (A-RST) 0x5 OFF
1 Negative current limit (N-TL) 0x6 OFF
2 Positive current limit (P-TL) 0x7 OFF
3 Operation mode override (C-SEL)
0x0 OFF
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 010]hellip[Pr - 021] on page 60
Applicable Operating Mode All
MODBUS Address 12
[Pr - 012] Allocation of Input Signals 3
Range for all digits 0hellipB where 0 is Off B is On and 1hellipA are digital inputs
Data Size 4 digits
Digit Description Default Unmapped IO Status
0 Preset direction (C-DIR) 0x0 OFF
1 Preset select 1 (C-SP1) 0x0 OFF
2 Preset select 2 (C-SP2) 0x0 OFF
3 Preset select 3 (C-SP3) 0x0 OFF
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 010]hellip[Pr - 021] on page 60
Applicable Operating Mode All
MODBUS Address 13
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 57
Standard Drive Parameters Appendix A
[Pr - 013] Allocation of Input Signals 4
Range for all digits 0hellipB where 0 is Off B is On and 1hellipA are digital inputs
Data Size 4 digits
Digit Description Default Unmapped IO Status
0 Zero speed clamp enable (Z-CLP)
0x0 OFF
1 Pause follower (INHIBIT) 0x0 OFF
2 Alternate gain select (G-SEL) 0x0 OFF
3 Position clear (PCLR) 0x0 OFF
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 010]hellip[Pr - 021] on page 60
Applicable Operating Mode All
MODBUS Address 14
[Pr - 014] Allocation of Input Signals 5
Range for all digits 0hellipB where 0 is Off B is On and 1hellipA are digital inputs
Data Size 4 digits
Digit Description Default Unmapped IO Status
0 Position strobe (ABS-DT) 0x0 OFF
1 Motor moving enable (START) 0x0 OFF
2 Analog speed command select (C-SP4)
0x0 OFF
3 2nd electronic gear bank selection (GEAR)
0x0 OFF
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 010]hellip[Pr - 021] on page 60
Applicable Operating Mode All
MODBUS Address 15
58 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 015] Allocation of Input Signals 6
Data Size 4 digits
Digit Description Default Unmapped IO Status
0 Reset multi-turn data of absolute encoder (R_ABS)
0x0 OFF
1 Gain bank select (BANK_SEL) 0x0 OFF
2 Reserved 0x0 OFF
3 Reserved 0x0 OFF
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 010]hellip[Pr - 021] on page 60
Applicable Operating Mode All
MODBUS Address 16
[Pr - 016] Allocation of Input Signals 7
Data Size 4 digits
Digit Description Default Unmapped IO Status
0 Home sensor (H_SENS) 0x0 OFF
1 Start homing (SHOME) 0x0 OFF
2 Stop indexing (STOP) 0x0 OFF
3 Pause indexing (PAUSE) 0x0 OFF
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 010]hellip[Pr - 021] on page 60
Applicable Operating Mode Indexing
MODBUS Address 17
[Pr - 017] Allocation of Input Signals 8
Data Size 4 digits
Digit Description Default Unmapped IO Status
0 Index select 0 input (I_SEL0) 0x0 OFF
1 Index select 1 input (I_SEL1) 0x0 OFF
2 Index select 2 input (I_SEL2) 0x0 OFF
3 Index select 3 input (I_SEL3) 0x0 OFF
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 010]hellip[Pr - 021] on page 60
Applicable Operating Mode Indexing
MODBUS Address 18
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 59
Standard Drive Parameters Appendix A
[Pr - 018] Allocation of Input Signals 9
Data Size 4 digits
Digit Description Default Unmapped IO Status
0 Index select 4 input (I_SEL4) 0x0 OFF
1 Index select 5 input (I_SEL5) 0x0 OFF
2 Stop homing (H_STOP) 0x0 OFF
3 Start index (START_I) 0x0 OFF
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 010]hellip[Pr - 021] on page 60
Applicable Operating Mode Indexing
MODBUS Address 19
[Pr - 019] Allocation of Input Signals 10
Data Size 4 digits
Digit Description Default Unmapped IO Status
0 Reserved 0x0 OFF
1 Reserved 0x0 OFF
2 Reserved 0x0 OFF
3 Reserved 0x0 OFF
When Enabled Reserved
Applicable Operating Mode Indexing
MODBUS Address 20
[Pr - 020] Allocation of Input Signals 11
Data Size 4 digits
Digit Description Default Unmapped IO Status
0 Reserved 0x0 OFF
1 Reserved 0x0 OFF
2 Reserved 0x0 OFF
3 Reserved 0x0 OFF
When Enabled Reserved
Applicable Operating Mode Indexing
MODBUS Address 21
60 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
Table 1 - Setting Values for Parameters [Pr - 010]hellip[Pr - 021]
[Pr - 021] Allocation of Input Signals 12
Data Size 4 digits
Digit Description Default Unmapped IO Status
0 Reserved 0x0 OFF
1 Reserved 0x0 OFF
2 Reserved 0x0 OFF
3 Reserved 0x0 OFF
When Enabled Reserved
Applicable Operating Mode Indexing
MODBUS Address 22
Setting Value (1)
1 Setting values are reserved (not available) for [Pr - 019] and [Pr - 020]
B A 9 6 7 6 5 4 3 2 1 0
Input Channel No
Input Signal
19 9 8 7 6 5 4 3 2 1 Input Signal
CN1 Pin No On 26 27 29 9 8 7 6 5 4 3 Off
[Pr - 022] Allocation of Output Signals 1
Range for all digits 0hellip3 where 0 is Off and 1hellip6 are digital outputs
Data Size 4 digits
Digit Description Default
0 Within position window (P-COM)
0x1
1 Up to speed (TG-ON) 0x2
2 Brake control (BK) 0x3
3 Within speed window (V-COM) 0x0
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 022]hellip[Pr - 032] on page 65
Applicable Operating Mode All
MODBUS Address 23
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 61
Standard Drive Parameters Appendix A
[Pr - 023] Allocation of Output Signals 2
Range for all digits 0hellip3 where 0 is Off and 1hellip6 are digital outputs
Data Size 4 digits
Digit Description Default
0 Current limited (T_LMT) 0x0
1 Velocity limited (V-LMT) 0x0
2 Near position (NEAR) 0x0
3 Warning (WARN) 0x0
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 022]hellip[Pr - 032] on page 65
Applicable Operating Mode All
MODBUS Address 24
[Pr - 024] Allocation of Output Signals 3
Range for all digits 0hellip3 where 0 is Off and 1hellip6 are digital outputs
Data Size 4 digits
Digit Description Default
0 Absolute position valid (A_VLD) 0x0
1 Ready 0x0
2 Reserved 0x0
3 Reserved 0x0
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 022]hellip[Pr - 032] on page 65
Applicable Operating Mode All
MODBUS Address 25
62 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 025] Allocation of Output Signals 4
Range for all digits 0hellip3 where 0 is Off and 1hellip6 are digital outputs
Data Size 4 digits
Digit Description Default
0 In Motion (IMO) 0x0
1 In Dwell (I_DW) 0x0
2 Axis Homed (HOMC) 0x0
3 Index Select 0 Out (O_ISEL0) 0x0
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 022]hellip[Pr - 032] on page 65
Applicable Operating Mode Indexing
MODBUS Address 26
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 63
Standard Drive Parameters Appendix A
[Pr - 026] Allocation of Output Signals 5
Range for all digits 0hellip3 where 0 is Off and 1hellip6 are digital outputs
Data Size 4 digits
Digit Description Default
0 Index Select 1 Out (O_ISEL1) 0x0
1 Index Select 2 Out (O_ISEL2) 0x0
2 Index Select 3 Out (O_ISEL3) 0x0
3 Index Select 4 Out (O_ISEL4) 0x0
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 022]hellip[Pr - 032] on page 65
Applicable Operating Mode Indexing
MODBUS Address 27
[Pr - 027] Allocation of Output Signals 6
Range for all digits 0hellip3 where 0 is Off and 1hellip6 are digital outputs
Data Size 4 digits
Digit Description Default
0 Index Select 5 Out (O_ISEL5) 0x0
1 End of Sequence (E_SEQU) 0x0
2 Reserved 0x0
3 Reserved 0x0
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 022]hellip[Pr - 032] on page 65
Applicable Operating Mode Indexing
MODBUS Address 28
[Pr - 028] Allocation of Output Signals 7
Range for all digits 0hellip3 where 0 is Off and 1hellip6 are digital outputs
Data Size 4 digits
Digit Description Default
0 Reserved 0x0
1 Reserved 0x0
2 Reserved 0x0
3 Reserved 0x0
When Enabled Reserved
Applicable Operating Mode Indexing
MODBUS Address 29
64 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 029] Allocation of Output Signals 8
Range for all digits 0hellip3 where 0 is Off and 1hellip6 are digital outputs
Data Size 4 digits
Digit Description Default
0 Reserved 0x0
1 Reserved 0x0
2 Reserved 0x0
3 Reserved 0x0
When Enabled Reserved
Applicable Operating Mode Indexing
MODBUS Address 30
[Pr - 030] Allocation of Output Signals 9
Range for all digits 0hellip3 where 0 is Off and 1hellip6 are digital outputs
Data Size 4 digits
Digit Description Default
0 Reserved 0x0
1 Reserved 0x0
2 Reserved 0x0
3 Reserved 0x0
When Enabled Reserved
Applicable Operating Mode Indexing
MODBUS Address 31
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 65
Standard Drive Parameters Appendix A
Table 2 - Setting Values for Parameters [Pr - 022]hellip[Pr - 032]
[Pr - 031] Allocation of Output Signals 10
Range for all digits 0hellip3 where 0 is Off and 1hellip6 are digital outputs
Data Size 4 digits
Digit Description Default
0 Reserved 0x0
1 Reserved 0x0
2 Reserved 0x0
3 Reserved 0x0
When Enabled Reserved
Applicable Operating Mode Indexing
MODBUS Address 32
[Pr - 032] IO Control Authority
Applicable Operating Mode All
Data Size 2 digits
Digit 0 MODBUS Input Function Control
Ultraware Name MODBUS Input Function Control
Range Value Description
0x0 Disable
0x1 Enable
Default 0
Digits 1 MODBUS Run Function Control
Ultraware Name MODBUS Run Function Control
Range Value Description
0x0 Disable
0x1 Enable
Default 0
When Enabled Servo-Off -gt Setting (1)
1 Refer to the Setting Values for Parameters [Pr - 022]hellip[Pr - 032] table immediately below
Applicable Operating Mode All
MODBUS Address 33
Setting Value (1)
1 Setting Values are reserved (not available) for [Pr - 028] and [Pr - 031]
6 5 4 3 2 1 0
Input Channel No AL 3 AL 2 DO1 DO3 DO2 DO1 Input Signal
CN1 Pin No 39 38 37 4748 4344 4142 Off
66 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
Group 1 - Gain Control
[Pr - 100] Velocity Regulator Response Level
Ultraware Name Velocity Regulator Response level
Range 1hellip150
Default 50
Units
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 100
[Pr - 101] System Gain
Ultraware Name Velocity Regulator Response level
Range 1hellip150
Default 50
Units Hz
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 101
[Pr - 102] Velocity Regulator P Gain
Ultraware Name Main Velocity Regulator Gains Proportional Gain
Range 0hellip10000
Default 60
Units -
Applicable Operating Mode
When Enabled Immediately
Applicable Operating Mode Follower Analog Speed Preset
MODBUS Address 102
[Pr - 103] Velocity Regulator I Gain
Ultraware Name Main Velocity Regulator Gains Integral Gain
Range 0hellip60000
Default 26
Units -
When Enabled Immediately
Applicable Operating Mode Follower Analog Speed Preset
MODBUS Address 103
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 67
Standard Drive Parameters Appendix A
[Pr - 104] Velocity Regulator D gain
Ultraware Name Main Velocity Regulator Gains Derivative Gain
Range 0hellip1000
Default 0
Units -
When Enabled Immediately
Applicable Operating Mode Follower Analog Speed Preset
MODBUS Address 104
[Pr - 105] Velocity Error Filter
Ultraware Name Calibration Error Filter Bandwidth
Range 0hellip2500
Default 30
Units Hz
When Enabled Immediately
Applicable Operating Mode Follower Analog Speed Preset
MODBUS Address 105
[Pr - 106] Position Regulator Kp Gain
Ultraware Name Main Position Regulator Gains Kp
Range 0hellip700
Default 20
Units Hz
When Enabled Immediately
Applicable Operating Mode Follower Analog Speed Preset
MODBUS Address 106
68 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 107] Current Command Lowpass Filter Bandwidth
Ultraware Name Main Current Regulator Gains Low Pass Filter Bandwidth
Range 0hellip10000
Default 300
Units Hz
Applicable Operating Mode All
When Enabled Immediately
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 107
[Pr - 108] Velocity Command Lowpass Filter Bandwidth
Ultraware Name Main Velocity Regulator Gains Low Pass Filter Bandwidth
Range 0hellip10000
Default 1000
Units Hz
When Enabled Immediately
Applicable Operating Mode Follower Analog Speed Preset
MODBUS Address 108
[Pr - 109] Position Command Lowpass Filter Bandwidth
Ultraware Name Main Position Regulator Gains Low Pass Filter Bandwidth
Range 0hellip1000
Default 0
Units Hz
When Enabled Immediately
Applicable Operating Mode Follower
MODBUS Address 109
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 69
Standard Drive Parameters Appendix A
[Pr - 110] 1st Resonant Frequency Suppression Filter
Ultraware Name Main Current Regulator Gains 1st Resonant Frequency Suppression Filter
Description Suppresses Vibration by cutting off Current Command in assigned frequency band
Range 0hellip10000
Default 10000
Units Hz
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 110
[Pr - 111] 1st Resonant Frequency Suppression Filter Width
Ultraware Name Main Current Regulator Gains 1st Resonant Frequency Suppression Filter Width
Description Set up the notch width of 1st resonance suppressing filter in 20 steps Higher the setup larger the notch width you can obtain
Range 0hellip20
Default 10
Units
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 111
[Pr - 112] 2nd Resonant Frequency Suppression Filter
Ultraware Name 2nd Main Current Regulator Gains 2nd Resonant Frequency Suppression Filter
Description Suppresses Vibration by cutting off Current Command in assigned frequency band
Range 0hellip10000
Default 10000
Units Hz
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 112
70 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 113] 2nd Resonant Frequency Suppression Filter Width
Ultraware Name Main Current Regulator Gains 2nd Resonant Frequency Suppression Filter Width
Description Set up the notch width of 2nd resonance suppressing filter in 20 steps The higher the setup larger the notch width you can obtain
Range 0hellip20
Default 10
Units -
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 113
[Pr - 114] 2nd Resonant Frequency Suppression Filter Depth
Ultraware Name Main Current Regulator Gains 2nd Resonant Frequency Suppression Filter Depth
Description Set up the 2nd notch depth of the resonance suppressing filter The higher the setup the shallower the notch depth and the smaller the phase delay you can obtain
Range 0hellip100
Default 100
Units -
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 114
[Pr - 115] Position Regulator Kff gain
Ultraware Name Main Position Regulator Gains Kff
Range 0hellip100
Default 0
Units
When Enabled Immediately
Applicable Operating Mode Follower
MODBUS Address 115
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 71
Standard Drive Parameters Appendix A
[Pr - 116] Position Regulator Kff Bandwidth
Ultraware Name Main Position Regulator Gains Kff Low Pass Filter Bandwidth
Range 0hellip2500
Default 200
Units Hz
When Enabled Immediately
Applicable Operating Mode Follower
MODBUS Address 116
[Pr - 117] Velocity Regulator I Gain Mode
Ultraware Name Main Velocity Regulator Gains I Gain Mode
Description During transient response Speed Response Overshoot can be suppressed by a speed controller change from a Proportional Integral (PI) controller into a Proportional (P) controller It reduces position completion time during position control
Range Value Description
0x0 Do not use PPI Mode Conversion
0x1 When Current Command exceeds Current Value in [Pr - 118] Speed Controller is changed from PI Controller to P Controller
0x2 When Speed Command exceeds Speed Value in [Pr - 118] Speed Controller is changed from PI Controller to P Controller
0x3 When Position error exceeds Position error Value in [Pr - 118] Speed Controller is changed from PI Controller to P Controller
0x4 Automatically velocity controller is changed from PI Controller to P Controller
Default 3
When Enabled Servo-Off -gt Setting
Applicable Operating Mode All
MODBUS Address 117
72 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 118] Velocity Regulator I Gain Disable Threshold
Ultraware Name Main Velocity Regulator Gains I Gain Disable Threshold
Range 0hellip3000
Default 100
Units If [Pr - 117] = 1 units are of rated continuous current
If [Pr - 117] = 2 units are rpm for rotary motors mmsec for linear motors
If [Pr - 117] = 3 units are Counts
When Enabled Follower Analog Velocity Preset
Applicable Operating Mode Immediately
MODBUS Address 118
[Pr - 119] Position Regulator High Error Output Offset
Ultraware Name Main Position Regulator Gains High Error Output Offset
Range 0hellip450
Default 0
Units Rotary rpm Linear mmsec
When Enabled All
Applicable Operating Mode Immediately
MODBUS Address 119
[Pr - 120] Position Regulator High Error Output Threshold
Ultraware Name Main Position Regulator Gains High Error Output Threshold
Range 0hellip50000
Default 1000
Units Counts
When Enabled All
Applicable Operating Mode Immediately
MODBUS Address 120
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 73
Standard Drive Parameters Appendix A
[Pr - 121] Current Regulator Bandwidth Reduction Scale
Ultraware Name Main Current Regulator Gains Gain
Range Value Description
0x0 High bandwidth
0x1 Medium bandwidth (06667 high)
0x2 Low bandwidth (03334 high)
Default 0x1
When Enabled All
Applicable Operating Mode Immediately
MODBUS Address 121
[Pr - 122] On-line Vibration Mode
Data Size 1 digits
Digit 0 On-line Vibration Suppression Mode
Ultraware Name On-line Vibration Suppression Mode
Range Value Description
0x0 Disable
0x1 Normal and High Velocity Mode
0x2 Slow Velocity Mode without initial value
Default 0x0
Digit 1 On-line Vibration Suppression Gain
Ultraware Name On-line Vibration Suppression Gain
Range Value Description
0x0 Low
0x1 High
Default 0x0
When Enabled All
Applicable Operating Mode Servo-Off -gt Setting
MODBUS Address 122
74 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 123] Velocity Regulator Configuration
Applicable Operating Mode All
Data Size 1 digits
Digit 0 Velocity Command Filter on Follower
Ultraware Name Velocity Command Filter on Follower
Range Value Description
0x0 Disable
0x1 Enable
Default 0x0
When Enabled Immediately
Applicable Operating Mode Servo-Off -gt Setting
MODBUS Address 123
[Pr - 124] Delay Time of Gain Switching
Ultraware Name Gain Switching Delay Time of Gain Switching
Range 0hellip10000
Default 0
Units X 200usec
When Enabled Immediately
Applicable Operating Mode Follower Analog Velocity Preset
MODBUS Address 124
[Pr - 125] Level of Gain Switching
Ultraware Name Gain Switching Level of Gain Switching
Range 0hellip10000
Default 0
Units -
When Enabled Immediately
Applicable Operating Mode Follower Analog Velocity Preset
MODBUS Address 125
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 75
Standard Drive Parameters Appendix A
[Pr - 126] Hysteresis of Gain Switching
Ultraware Name Gain Switching Hysteresis of Gain Switching
Range 0hellip10000
Default 0
Units -
When Enabled Immediately
Applicable Operating Mode Follower Analog Velocity Preset
MODBUS Address 126
[Pr - 127] Position Gain Switching Time
Ultraware Name Gain Switching Level of Gain Switching
Range 0hellip10000
Default 0
Units x 200usec
When Enabled Immediately
Applicable Operating Mode Follower Analog Velocity Preset
MODBUS Address 127
[Pr - 128] 2nd Velocity Regulator P Gain
Ultraware Name 2nd Regulator Gain P
Range 0hellip10000
Default 60
Units -
When Enabled Immediately
Applicable Operating Mode Follower Analog Velocity Preset
MODBUS Address 128
[Pr - 129] 2nd Velocity Regulator I Gain
Ultraware Name 2nd Regulator Gain Integrator Gain
Range 0hellip60000
Default 26
Units -
When Enabled Immediately
Applicable Operating Mode Follower Analog Velocity Preset
MODBUS Address 129
76 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 130] 2nd Position Regulator Kp Gain
Ultraware Name 2nd Regulator Gain Kp
Range 0hellip700
Default 20
Units Hz
When Enabled Immediately
Applicable Operating Mode Position
MODBUS Address 130
[Pr - 131] 2nd Current Command Lowpass Filter Bandwidth
Ultraware Name 2nd Regulator Gain Low Pass Bandwidth (IReg)
Range 0hellip10000
Default 300
Units Hz
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 131
[Pr - 132] 2nd Velocity Command Lowpass Filter Bandwidth
Ultraware Name 2nd Regulator Gain Low Pass Bandwidth (VReg)
Range 0hellip10000
Default 1000
Units Hz
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 132
[Pr - 133] 3rd Velocity Regulator P Gain
Ultraware Name 3rd Regulator Gain P Gain
Range 0hellip10000
Default 60
Units -
When Enabled Immediately
Applicable Operating Mode Follower Analog Velocity Preset
MODBUS Address 133
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 77
Standard Drive Parameters Appendix A
[Pr - 134] 3rd Velocity Regulator I Gain
Ultraware Name 3rd Regulator Gain Integrator Gain
Range 0hellip10000
Default 26
Units -
When Enabled Immediately Immediately
Applicable Operating Mode Follower Analog Velocity Preset
MODBUS Address 134
[Pr - 135] 3rd Position Regulator Kp Gain
Ultraware Name 3rd Regulator Gain Kp
Range 0hellip700
Default 20
Units Hz
When Enabled Immediately
Applicable Operating Mode Position
MODBUS Address 135
[Pr - 136] 3rd Current Command Lowpass Filter Bandwidth
Ultraware Name 3rd Regulator Gain Low Pass Bandwidth (IReg)
Range 0hellip10000
Default 300
Units Hz
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 136
[Pr - 137] 3rd Velocity Command Lowpass Filter Bandwidth
Ultraware Name 3rd Regulator Gain Low Pass Bandwidth (VReg)
Range 0hellip10000
Default 1000
Units Hz
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 137
78 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 138] 4th Velocity Regulator P Gain
Ultraware Name 4th Regulator Gain P
Range 0hellip10000
Default 60
Units -
When Enabled Immediately
Applicable Operating Mode Follower Analog Velocity Preset
MODBUS Address 138
[Pr - 139] 4th Velocity Regulator I Gain
Ultraware Name 4th Regulator Gain Integrator Gain
Range 0hellip60000
Default 26
Units
When Enabled Immediately
Applicable Operating Mode Follower Analog Velocity Preset
MODBUS Address 139
[Pr - 140] 4th Position Regulator Kp Gain
Ultraware Name 4th Regulator Gain Kp
Range 0hellip700
Default 20
Units Hz
When Enabled Immediately
Applicable Operating Mode Position
MODBUS Address 140
[Pr - 141] 4th Current Command Lowpass Filter Bandwidth
Ultraware Name 4th Regulator Gain Low Pass Bandwidth (IReg)
Range 0hellip10000
Default 300
Units Hz
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 141
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 79
Standard Drive Parameters Appendix A
[Pr - 142] 4th Velocity Command Lowpass Filter Bandwidth
Ultraware Name 4th Regulator Gain Low Pass Bandwidth (VReg)
Range 0hellip10000
Default 1000
Units Hz
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 142
80 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
Group 2 - Speed Control
[Pr - 200] Velocity Scale
Ultraware Name Velocity Scale
Range 100hellip20000
Default 5000
Units rpmV for rotary motors mmsec for linear motors
When Enabled Servo-Off -gt Setting
Applicable Operating Mode Analog Velocity
MODBUS Address 200 (1)
1 Refer to Output Function Status Parameter on page 23 for more detailed information on these parameters
[Pr - 201] Jog Velocity Command
Ultraware Name Velocity Control Panel Velocity Command
Range 0hellip6000
Default 50
Units rpm for rotary motors mmsec for linear motors
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 201
[Pr - 202] Acceleration
Ultraware Name Acceleration Limits Acceleration
Range 1hellip2147483647
Default 41667
Units 10-2Revsec2 for rotary mmsec2 for linear
When Enabled Immediately
Applicable Operating Mode Analog Velocity Input Preset Velocity
MODBUS Address 202
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 81
Standard Drive Parameters Appendix A
[Pr - 203] Deceleration
Ultraware Name Acceleration Limits Deceleration
Range 1hellip2147483647
Default 41667
Units 10-2Revsec2 for rotary mmsec2 for linear
When Enabled Immediately
Applicable Operating Mode Analog Velocity Input Preset Velocity
MODBUS Address 203
[Pr - 204] S-Curve Time
Ultraware Name Acceleration Limits S-Curve Time
Range 0hellip5000
Default 0
Units Ms
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 204
[Pr - 205] Preset Velocity 1
Ultraware Name Preset Velocity 1
Range -6000hellip6000
Default 0
Units rpm for rotary motors mmsec for linear motors
When Enabled Immediately
Applicable Operating Mode Preset
MODBUS Address 205
Pr - 206] Preset Velocity 2
Ultraware Name Preset Velocity 2
Range -6000hellip6000
Default 0
Units rpm for rotary motors mmsec for linear motors
When Enabled Immediately
Applicable Operating Mode Preset
MODBUS Address 206
82 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
Pr - 207] Preset Velocity 3
Ultraware Name Preset Velocity 3
Range -6000hellip6000
Default 0
Units rpm for rotary motors mmsec for linear motors
When Enabled Immediately
Applicable Operating Mode Preset
MODBUS Address 207
[Pr - 208] Preset Velocity 4
Ultraware Name Preset Velocity 4
Range -6000hellip6000
Default 0
Units rpm for rotary motors mmsec for linear motors
When Enabled Immediately
Applicable Operating Mode Preset
MODBUS Address 208
[Pr - 209] Preset Velocity 5
Ultraware Name Preset Velocity 5
Range -6000hellip6000
Default 0
Units rpm for rotary motors mmsec for linear motors
When Enabled Immediately
Applicable Operating Mode Preset
MODBUS Address 209
[Pr - 210] Preset Velocity 6
Ultraware Name Preset Velocity 6
Control Index 6
Range -6000hellip6000
Default 0
Units rpm for rotary motors mmsec for linear motors
When Enabled Immediately
Applicable Operating Mode Preset
MODBUS Address 210
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 83
Standard Drive Parameters Appendix A
[Pr - 211] Preset Velocity 7
Ultraware Name Preset Velocity 7
Range -6000hellip6000
Default 0
Units rpm for rotary motors mmsec for linear motors
When Enabled Immediately
Applicable Operating Mode Preset
MODBUS Address 211
[Pr - 212] Manual Velocity Limit
Ultraware Name Manual Velocity limit
Range 1hellip6000
Default 5000
Units rpm for rotary motors mmsec for linear motors
When Enabled Servo-Off -gt Setting
Applicable Operating Mode Follower Analog Velocity Preset
MODBUS Address 212
[Pr - 213] Velocity Limit Mode
Ultraware Name Velocity Limits Velocity Limit Mode
Range Value Description
0x0 Disabled
0x1 Limited by [Pr - 212]
0x2 Limited by Analog Speed Command Value (except Analog Speed Mode)
0x3 Limited by lesser one between [Pr - 212] and Analog Speed Command
Default 0
When Enabled Servo-Off -gt Setting
Applicable Operating Mode All
MODBUS Address 213
84 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
Group 3 - Position Control
[Pr - 300] Follower
Data Size 4 digits
Digit 0 Command Type
Ultraware Name Command Type
Range Value Description
0x0 Step UpStep Down Positive logic
0x1 Step UpStep Down Negative logic
0x2 StepDirection Positive Logic
0x3 StepDirection Negative Logic
0x4 Auxiliary Encoder x1
0x5 Auxiliary Encoder x2
0x6 Auxiliary Encoder x4
Default 0x0
Note For Command types 0x4 0x5 and 0x6Motor Counts = Master Lines MULT helliphelliphellip (4 Para301) Para302where MULT is 1 2 or 4 for command types 0x4 0x5 and 0x6 respectively
Applicable Operating Mode Follower
Digit 1 Controller Output Type
Ultraware Name Controller Output Type
Range Value Description
0x0 Use Low speed Line Drive Output in Host Controller for isolated electrical connection
0x1 Use Open Collector in Host Controller
0x2 Use High Frequency Line Drive Output in Host Controller
Default 0x0
Applicable Operating Mode Follower
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 85
Standard Drive Parameters Appendix A
Digit 2 Encoder Output Forward Direction
Ultraware Name Encoder Output Forward Direction
Range Value Description
0x0 During Forward Rotation Encoder Output Phase A have a lead of 90ordm over Phase B
0x1 During Forward Rotation Encoder Output Phase B have a lead of 90ordm over Phase A
Default 0x0
Applicable Operating Mode All
Digit 3 1st Gear ratio change
Ultraware Name 1st Gear ratio change
Range Value Description
0x0 Enable Only on Drive Disabled
0x1 Always Enable
Default 0x0
When Enabled Servo-Off -gt Setting
Applicable Operating Mode Follower
MODBUS Address 300
[Pr - 301] 1st Gear Ratio Follower Counts
Ultraware Name 1st Gear Ratio Numerator
Range 1hellip65535
Default 4
Units
When Enabled Servo-Off -gt Setting
Applicable Operating Mode Follower
MODBUS Address 301
[Pr - 300] (Continued) Follower
86 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 302] 1st Gear Ratio Master Counts
Ultraware Name 1st Gear Ratio Denominator
Range 1hellip65535
Default 1
Units
When Enabled Servo-Off -gt Setting
Applicable Operating Mode Follower
MODBUS Address 302
[Pr - 303] Encoder Output Ratio Output Counts
Ultraware Name Output Ratio Numerator
Range 1hellip32768
Default 1
Units
When Enabled Servo-Off -gt Setting
Applicable Operating Mode All
MODBUS Address 303
[Pr - 304] Encoder Output Ratio Motor Counts
Ultraware Name Output Ratio Numerator
Range 1hellip32768
Default 1
Units
When Enabled Servo-Off -gt Setting
Applicable Operating Mode All
MODBUS Address 304
[Pr - 305] 2nd Gear Ratio Follower Counts
Ultraware Name 2nd Gear Ratio Numerator
Range 1hellip65535
Default 4
Units
When Enabled Servo-Off -gt Setting
Applicable Operating Mode Follower
MODBUS Address 305
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 87
Standard Drive Parameters Appendix A
[Pr - 306] 2nd Gear Ratio Master Counts
Ultraware Name 2nd Gear Ratio Denominator
Range 1hellip65535
Default 1
Units
When Enabled Servo-Off -gt Setting
Applicable Operating Mode Follower
MODBUS Address 306
[Pr - 307] Reserved
When Enabled Reserved for future use
88 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 308] Digital Filter Cut-off Frequency
Data Size 3 digits
Digit 0 Low drive input
Value Description
0x0 hellip0x7 0 3MHz
1 175MHz
2 15MHz
3 1MHz
4 075MHz
5 0625MHz
6 0562MHz
7 0525MHz
Default = 1
Digit 1 Open collector input
Value Description
0x0 hellip0x7 0 3MHz
1 175MHz
2 15MHz
3 1MHz
4 075MHz
5 0625MHz
6 0562MHz
7 0525MHz
Default = 5
Digit 2 High frequency line drive input
0x0 hellip0x7 0 3MHz
1 175MHz
2 15MHz
3 1MHz
4 075MHz
5 0625MHz
6 0562MHz
7 0525MHz
Default = 0
When Enabled Servo-Off -gt Setting
Applicable Operating Mode All
MODBUS Address 308
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 89
Standard Drive Parameters Appendix A
Group 4 - Torque Controls
[Pr - 400] Current Scale
Ultraware Name Current Scale
Range 0hellip1000
Default 333
Units of rated continuous currentV
When Enabled Servo-Off -gt Setting
Applicable Operating Mode Analog Current command Dual current Command
MODBUS Address 400
[Pr - 401] Positive Internal Current Limit
Ultraware Name Current Limits Positive Internal
Range 0hellip500
Default 300
Units of motor rated continuous current
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 401
[Pr - 402] Negative Internal Current Limit
Ultraware Name Current Limits Negative Internal
Range 0hellip500
Default 300
Units of motor rated continuous current
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 402
[Pr - 403] Positive External Current Limit
Ultraware Name Current Limits Positive External
Range 0hellip500
Default 100
Units of motor rated continuous current
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 403
90 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[
Pr - 404] Negative External Current Limit
Ultraware Name Current Limits Negative External
Range 0hellip500
Default 100
Units of motor rated continuous current
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 404
[Pr - 405] Overtravel Current Limit
Ultraware Name Stopping Functions Maximum Stopping Current
Range 0hellip500
Default 300
Units of motor rated continuous current
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 405
[Pr - 406] Initial Current Bias
Ultraware Name Initial Current Bias
Description Constant current applied when the drive enables Meant to hold vertical loads
Range -100hellip100
Default 0
Units of motor rated continuous current
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 406
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 91
Standard Drive Parameters Appendix A
Group 5 - Supplemental Drive Controls
[Pr - 500] In Position Size
Ultraware Name Position Functions In Position Size
Description If position error lt In Position Size for 1 ms and the In Position Size output signal is assigned the In Position output is turned ON
Range 0hellip2500
Default 10
Units Counts
When Enabled Immediately
Applicable Operating Mode Follower
MODBUS Address 500
[Pr - 501] Reserved
When Enabled Reserved for future use
[Pr - 502] Near Position Size
Ultraware Name Position Functions Near Position Size
Description If position error lt Near Position Size and the Near Position output signal is assigned the Near Position output is turned ON
Range 0hellip2500
Default 20
Units Counts
When Enabled Immediately
Applicable Operating Mode Follower
MODBUS Address 502
92 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 503] Speed Window
Ultraware Name Speed Functions Speed Window
Description If the speed error lt Speed Window for 10 ms and the Within Speed Window output signal is assigned then the Within Speed Window output is turned ON
Range 0hellip1000
Default 10
Units rpm for rotary motors mmsec for linear motors
When Enabled Immediately
Applicable Operating Mode Follower Analog Velocity Input Preset
MODBUS Address 503
[Pr - 504] Up to Speed
Ultraware Name Speed Functions Up to Speed
Description If the motor speed gt Up to Speed and the Up to Speed output signal is assigned then the Up to Speed output is turned ON
Range 1hellip5000
Default 20
Units rpm for rotary motors mmsec for linear motors
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 504
[Pr - 505] Zero Clamp
Ultraware Name Speed Functions Zero Clamp
Description If the Analog Speed command lt Zero Clamp then the Analog Speed command is ignored and the Motor Speed command is set to zero
Range 1hellip5000
Default 20
Units rpm for rotary motors mmsec for linear motors
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 505
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 93
Standard Drive Parameters Appendix A
[Pr - 506] Brake Inactive Delay
Ultraware Name Digital Outputs Brake Inactive Delay
Description Brake Inactive delay is the time from when the drive is enabled to when the brake is released
Range 0hellip10000
Default 0
Units ms
When Enabled Immediately
Applicable Operating Mode Servo-Off -gt Setting
MODBUS Address 506
[Pr - 507] Disable Delay
Ultraware Name Stopping Functions Disable Delay
Description Disable Delay is the time from when the Drive Disable command is received to when the Drive Disable command is actually executed
Range 0hellip10000
Default 0
Units ms
When Enabled All
Applicable Operating Mode Servo-Off -gt Setting
MODBUS Address 507
[Pr - 508] Brake Active Delay
Ultraware Name Digital Outputs Brake Active Delay
Description Brake Active Delay is the time from when the drive is disabled to when the break starts operating
Range 0hellip10000
Default 500
Units ms
When Enabled All
Applicable Operating Mode Servo-Off -gt Setting
MODBUS Address 508
94 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 509] Disabled Braking Speed
Ultraware Name Stopping Functions Braking Application Speed
Description The Disabled Braking Speed is the feedback speed below which the motor break is engaged after disabling the drive
Range 0hellip1000
Default 100
Units rpm for rotary motors mmsec for linear motors
When Enabled All
Applicable Operating Mode Servo-Off -gt Setting
MODBUS Address 509
[Pr - 510] Following Error Limit
Ultraware Name Following Error Limit
Description A following error fault occurs when the difference between position command and actual position is greater than this parameter
Range 0hellip2147483647
Default 99999
Units Counts
When Enabled Immediately
Applicable Operating Mode Follower
MODBUS Address 510
[Pr - 511] Reserved
When Enabled Reserved for future use
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 95
Standard Drive Parameters Appendix A
[Pr - 512] AC line loss fault delay
Ultraware Name AC Line Loss Fault Delay
Description The AC Line Loss Fault is inhibited for this amount of time when a loss of AC power is detected
Range 20hellip1000
Default 20
Units ms
When Enabled Servo-Off -gt Setting
Applicable Operating Mode All
MODBUS Address 513
[Pr - 513] Analog Output CH1 Selection
Ultraware Name Analog Output 1 Signal
Range 0hellip28 (except 15232526)
Default 0
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 514
[Pr - 514] Analog Output CH2 Selection
Ultraware Name Analog Output 2 Signal
Range 0hellip28 (except 15232526)
Default 1
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 516
[Pr - 515] Analog Output CH1 Scale
Ultraware Name Analog Output 1 Scale
Range 1 hellip99999
Units Units depend on the channel selected in [Pr - 513]
Default 500
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 518
96 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 516] Analog Output CH2 Scale
Ultraware Name Analog Output 2 Scale
Range 1hellip99999
Units Units depends on the channel selected in [Pr - 514]
Default 500
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 520
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 97
Standard Drive Parameters Appendix A
Group 6 - Supplemental Gain and Report Settings
[Pr - 600] Analog Velocity Command Offset
Ultraware Name Velocity Command Offset
Range -10000hellip10000
Default 0
Units 01 mV
When Enabled Servo-Off -gt Setting (ENG Mode)
Applicable Operating Mode Analog Velocity Command
[Pr - 601] Analog Current Command Offset
Ultraware Name Current Command Offset
Range -10000hellip10000
Default 0
Units 01 mV
When Enabled Servo-Off -gt Setting (ENG Mode)
Applicable Operating Mode Analog Current Command
[Pr - 602] U Phase Current Sensing Offset
Ultraware Name Calibration U Phase Current Offset
Range -60000hellip60000
Default 0
Units 001 mA
When Enabled Servo-Off -gt Setting (ENG Mode)
Applicable Operating Mode All
[Pr - 603] W Phase Current Sensing Offset
Ultraware Name Calibration W Phase Current Offset
Range -60000hellip60000
Default 0
Units 001 mA
When Enabled Servo-Off -gt Setting (ENG Mode)
Applicable Operating Mode All
98 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 604] A lead B Swap
Ultraware Name A lead B Swap
Description Select A-lead-B or B-lead-A
Data Size 1 digit
Range Value Description
0 Disable
1 Enable
Default 0
Unit -
When Enabled Servo-Off -gt Setting -gt After power cycle (ENG Mode)
Applicable Operating Mode All
[Pr - 605] Dynamic Brake Circuit Protection
Ultraware Name Dynamic Brake Circuit Protection
Description The Dynamic Brake Circuit Protection is inhibited that the motor DB braking current is too large for the drive
Data Size 1 digit
Range Value Description
0 Disable
1 Enable
Default 1
Units -
When Enabled Servo-Off -gt Setting (ENG Mode)
Applicable Operating Mode All
[Pr - 606] Fault Detail Sampling Period
Ultraware Name Fault Detail Setup Sample Period
Range 1hellip100
Default 5
Units 02 ms
When Enabled Immediately (ENG Mode)
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 99
Standard Drive Parameters Appendix A
[Pr - 607] Fault Detail Data Selection 1
Ultraware Name Fault Detail Setup Channel A
Description Refer to Monitor Variables on page 135 for more information on the range options
Range 0hellip28 (except 15 23 25 and 26)
Default 0
When Enabled Immediately (ENG Mode)
[Pr - 608] Fault Detail Data Selection 2
Ultraware Name Fault Detail Setup Channel B
Description Refer to Monitor Variables on page 135 for more information on the range options
Range 0hellip28 (except 15 23 25 and 26)
Default 3
When Enabled Immediately (ENG Mode)
[Pr - 609] Fault Detail Data Selection 3
Ultraware Name Fault Detail Setup Channel C
Description Refer to Monitor Variables on page 135 for more information on the range options
Range 0hellip28 (except 15 23 25 and 26)
Default 11
When Enabled Immediately (ENG Mode)
[Pr - 610] Fault Detail Data Selection 4
Ultraware Name Fault Detail Setup Channel D
Description Refer to Monitor Variables on page 135 for more information on the range options
Range 0hellip28 (except 15 23 25 and 26)
Default 16
When Enabled Immediately (ENG Mode)
100 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 611] 1st Resonant Frequency Suppression Filter
Ultraware Name Main Current Regulator Gains 1st Resonant Frequency Suppression Filter
Description Suppresses Vibration by cutting off Current Command in assigned frequency band
Range 0hellip10000
Default 10000
Units Hz
When Enabled Immediately (Read Parameter for ENG)
Applicable Operating Mode All
[Pr - 612] 2nd Resonant Frequency Suppression Filter
Ultraware Name Main Current Regulator Gains 1st Resonant Frequency Suppression Filter
Description Suppresses Vibration by cutting off Current Command in assigned frequency band
Range 0hellip10000
Default 10000
Units Hz
When Enabled Immediately (Read Parameter for ENG)
Applicable Operating Mode All
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 101
Standard Drive Parameters Appendix A
Group 7 - Manufacturing Settings
This parameter group includes product settings that are programmed during the manufacturing process
IMPORTANT Group 7 - Manufacturing Settings are programmed at the factory Do not modify these settings as they provide a common drive setup that is useful when you bull develop a drive system or troubleshooting a drive or bull seek assistance through Rockwell Automation Technical
Support
[Pr - 700] Drive Capacity
Ultraware Name Drive Model
Range 50hellip1500
Default Factory settings determine default
Units W
When Enabled Servo-Off -gt Setting -gt After power cycle (ENG mode)
Applicable Operating Mode All
[Pr - 701] DC Bus Voltage Offset
Ultraware Name Calibration DC Bus Voltage Offset
Range -100hellip100
Default 0
Units V
When Enabled Servo-Off -gt Setting -gt After power cycle (ENG mode)
Applicable Operating Mode All
[Pr - 702] Reservedl
When Enabled Reserved for future use
102 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 703] Analog Monitor Output CH1 Offset
Ultraware Name Calibration Analog Output CH1 Offset
Range -1000hellip1000
Default 0
Units mV
When Enabled Servo-Off -gt Setting -gt After power cycle (ENG mode)
Applicable Operating Mode All
[Pr - 704] Analog Monitor Output CH1 Scaling
Ultraware Name Calibration Analog Output CH1 Scale
Range -1000hellip1000
Default 0
Units -
When Enabled Servo-Off -gt Setting -gt After power cycle (ENG mode)
Applicable Operating Mode All
[Pr - 705] Analog Monitor Output CH2 Offset
Ultraware Name Calibration Analog Output CH2 Offset
Range -1000hellip1000
Default 0
Units mV
When Enabled Servo-Off -gt Setting -gt After power cycle (ENG mode)
Applicable Operating Mode All
[Pr - 706] Analog Monitor Output CH2 Scaling
Ultraware Name Calibration Analog Output CH2 Scale
Range -1000hellip1000
Default 0
Units -
When Enabled Servo-Off -gt Setting -gt After power cycle (ENG mode)
Applicable Operating Mode All
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 103
Standard Drive Parameters Appendix A
Group 8 - Reserved Parameters
Group 8 parameters are reserved
[Pr - 707] DC Bus Measurement Scaling Calibration
Ultraware Name Calibration DC Bus ADC Calibration
Description This parameter is a calibration adjustment to the ideal ADC scaling The scaling adjustment range is -100 to +100 so the ADC scaling can be adjusted from 2 the ideal scaling to zero
Range -1000hellip1000
Default 0 (no adjustment)
Units 0001
When Enabled Servo-Off -gt Setting -gt After power cycle (ENG mode)
Applicable Operating Mode All
104 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
Group 9 - Motor Controls
[Pr - 900] Standard Motor Flag
Ultraware Name General Motor Flag
Range Value Description
0 Custom
1 Standard
Default 1
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 901] Motor Type
Ultraware Name General Motor Type
Range Value Description
0 Rotary
1 Linear
2 Reserved
3 Reserved
Default 0
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 902] Motor Resistance
Ultraware Name Electrical Resistance
Range 1hellip65535
Units Ohms 256
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 903] Motor Inductance
Ultraware Name Electrical Inductance
Range 1hellip65535
Units mH 256
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 105
Standard Drive Parameters Appendix A
[Pr - 904] Motor Intermittent Current
Ultraware Name Ratings Intermittent Current
Range 1hellip32767
Units A 128
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 905] Motor Continuous Current
Ultraware Name Ratings Continuous Current
Range 1hellip32767
Units A 128
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 906] Motor Rated Voltage
Ultraware Name Electrical Rated Voltage
Range 10hellip1000
Units V
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 907] Encoder Type
Ultraware Name Feedback Encoder
Range
Value Description
1 Incremental
4 Serial Incremental
5 Serial Absolute
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 908] Hall Offset
Ultraware Name Feedback Hall Input Offset
Range 0hellip359
Units Electrical degree
When Enabled Servo-Off -gt Setting -gt After power cycle
106 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 909] Current Constant
Ultraware Name General Torque Constant
Range 1hellip65535
Units N m A 4096
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 910] Motor Inertia
Ultraware Name General Inertia
Range 1hellip2147483647
Units Kgcm2 65536
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 911] PolesRevolution
Ultraware Name General PolesRevolution
Range 2hellip100
Units Poles
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 912] Encoder Lines Revolution
Ultraware Name General LinesRevolution
Range 100hellip1000000
Units Poles
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 913] Maximum Rotary Speed
Ultraware Name Ratings Maximum Speed
Range 10hellip32767
Units rpm
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 107
Standard Drive Parameters Appendix A
[Pr - 914] Force Constant
Ultraware Name General Force Constant
Range 1hellip32767
Units 16
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 915] Motor Mass
Ultraware Name General Mass
Range 1 hellip2147483647
Units Kg 65536
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 916] Electrical Cycle Length
Ultraware Name General Electrical Cycle
Range 100hellip10000
Units mm 10
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 917] Encoder Lines Meter
Ultraware Name Feedback LinesMeter
Range 4000hellip10000000
Units Lines
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 918] Maximum Linear Speed
Ultraware Name Ratings Maximum Speed
Range 32hellip32767
Units m s 256
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
108 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 919] Motor Thermal Protection Enable
Ultraware Name Thermal Software Protection
Range 0 = Disabled
1 = Enabled
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 920] Motor Thermostat
Ultraware Name Thermal Integral Thermostat
Range 0 = Disabled
1 = Enabled
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 921] Motor Thermal Resistance Winding to Encoder
Ultraware Name Thermal Rth (w-e)
Range 1hellip2147483647
Units degCWatt 65536
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 922] Motor Thermal Capacitance Winding to Encoder
Ultraware Name Thermal Cth (w-e)
Range 1hellip2147483647
Units JdegC 256
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 923] Motor Thermal Resistance Winding to Ambient
Ultraware Name Thermal Rth (w-a)
Range 1hellip2147483647
Units degCWatt 65536
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 109
Standard Drive Parameters Appendix A
[Pr - 924] Motor Thermal Capacitance Winding to Ambient
Ultraware Name Thermal Cth (w-a)
Range 1hellip2147483647
Units JdegC 256
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 925] Commutation Type
Ultraware Name Feedback Commutation
Range
Value Description
0 Brush
1 Trapezoidal
2 Sinusoidal
Applicable Operating Mode All
[Pr - 926] Start-up Commutation
Ultraware Name Feedback Sinusoidal Startup
Range Value Description
0 Self Sensing
1 Hall Inputs
2 Serial
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 927] Integral Limits
Ultraware Name General Integral Limits
Range 0hellip1
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
110 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 929 hellip Pr - 949] Reserved
When Enabled Reserved for future use
[Pr - 950] Motor Model
Ultraware Name Motor Model
Range 32 bytes character string
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 951] Drive Name
Ultraware Name Name
Range 32 bytes character string
Applicable Operating Mode All
[Pr - 952] Position Scaling Data
Ultraware Name Motor Encoder Units Position Scale
Range 8 bytes character string
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 953] Position Scaling Label
Ultraware Name Motor Encoder Units Position Label
Range 16 bytes character string
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
Pr - 954] Velocity Scaling Data
Ultraware Name Motor Encoder Units Velocity Scale
Range 8 bytes character string
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 111
Standard Drive Parameters Appendix A
[Pr - 955] Velocity Scaling Label
Ultraware Name Motor Encoder Units Velocity Label
Range 16 bytes character string
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 956] Acceleration Scaling Data
Ultraware Name Motor Encoder Units Acceleration Scale
Range 8 bytes character string
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 957] Acceleration Scaling Label
Ultraware Name Motor Encoder Units Acceleration Label
Range 16 bytes character string
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
112 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 958] Scope Config
Range 32 bytes character string
Data Size 21 digits
Applicable Operating Mode All
Digits Digits Description
0hellip1 Channel A Signal See Monitor Variables
2hellip3 Channel B Signal See Monitor Variables
4 Channel A Scale Type
0hellip1 0 - Auto (Default) 1- Manual
5 Channel B Scale Type
0hellip1 0 - Auto (Default) 1 - Manual
6hellip7 Sample Period
8hellip9 Samples per division
10hellip12 Trigger Signal See Monitor Variables
13 Trigger Mode
0 - Immediate
1 - Falling Edge
2 -Rising Edge
14 Pretrigger Percentage (10)
15hellip22 Trigger Threshold
Default 0x00000000000000100510011E05000100
When Enabled Servo-Off -gt Setting -gt After power cycle
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 113
Standard Drive Parameters Appendix A
[Pr - 959] Scope Scaling
Range 32 bytes character string
Data Size 32 digits
Digits Digits Description
0hellip7 Channel A Scale
8hellip15 Channel A Offset
16hellip23 Channel B Scale
24hellip31 Channel B Offset
Default 0x00000000000000000000000000000000
Ultraware Name Displayed Units
Range 1 byte character string
0 = Metric
1 = English
2 = User units
Default 0
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 960] Displayed Units
Ultraware Name Displayed Units
Range 1 byte character string
0 = Metric
1 = English
2 = User units
Default 0
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
114 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
Notes
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 115
Appendix B
Indexing Drive Parameters
Parameters control Kinetix 3 drive operations They are grouped by the type of drive Indexing or Standard and the drive settings they define
Descriptions of Standard Drive Parameters begin on page 45
Parameter Groupings Indexing drive parameters are grouped into these drive settings bull Group 0 - Indexing drive system and IO settings bull Group 1 - Homing controls bull Group 2 - Indexing operations bull Group 3 - Indexing move profiling bull Group 4 - Indexing position and distance setting bull Group 5 - Registration settings bull Group 6 - Batch count operations bull Group 7 - Dwell settings bull Group 8 - Velocity settings bull Group 9 - Move profile settings bull Group 10 - Acceleration settings bull Group 11 - Deceleration settings bull Group 12 - Next Index settings
116 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix B Indexing Drive Parameters
Parameter Descriptions Parameter descriptions list the size of each parameter and the data options within the parameter
Descriptions for Standard Drive Parameters begin on page 45
Group 0 - Indexing System
[IN0000] Auto Start Indexing
Ultraware Name Auto Start Indexing
Description When this field is set to ON the drive will begin executing the selected index whenever the drive enables
Range Value Description
0 OFF
1 ON
Default 0
Units NA
Access Set
Changeable Status Always
When Enabled Power Cycling
Applicable Operating Mode Indexing
MODBUS Address 5000
[IN0001] Abort Index Deceleration
Ultraware Name Abort Index Decel
Description The deceleration used to stop motion when the Stop Index input terminates an index move
Range Value Description
1 hellip2147483647 10minus2 Revsec2 for rotary mmsec2 for linear
Default 6250
Access Set
Changeable Status Always
When Enabled Power Cycling
Applicable Operating Mode Indexing
MODBUS Address 5001
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 117
Indexing Drive Parameters Appendix B
[IN0002] Positive Deceleration Distance
Ultraware Name Positive Deceleration Distance
Range Value Description
0 hellip2147483647 The stopping distance used when the drive encounters a positive overtravel limit
Default 0
Units Counts
Access Set
Changeable Status Always
When Enabled Always
Applicable Operating Mode Indexing
MODBUS Address 5002 hellip5003
[IN0003] Negative Deceleration Distance
Ultraware Name Negative Deceleration Distance
Range Value Description
0 hellip2147483647 The stopping distance used when the drive encounters a negative overtravel limit
Default 0
Units Counts
Access Set
Changeable Status Always
When Enabled Always
Applicable Operating Mode Indexing
Ultraware Name Positive Deceleration Distance
MODBUS Address 5004 hellip5005
118 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix B Indexing Drive Parameters
[IN0004] Enable Software Limits
Ultraware Name Enable Software Limits
Description Controls software overtravel limits of the axis
Range Value Description
0 Off Turns off software overtravel limit checking
1 On Causes the drive to compare the motor feedback position to the Positive and Negative Software Limits below to determine if the drive has exceeded an overtravel limit
Default 0
Units NA
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5006
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 119
Indexing Drive Parameters Appendix B
[IN0005] Positive Software Limit
Ultraware Name Positive Software Limit
Description If the motor feedback position is greater than this value the drive has exceeded the software overtravel limit
Range Value Description
-2147483647 hellip2147483647
Positive software overtravel limit
Default 2147483647
Units Counts
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5007
[IN0006] Negative Software Limit
Ultraware Name Negative Software Limit
Description If the motor feedback position is greater than this value the drive has exceeded the software overtravel limit
Range Value Description
-2147483647 hellip2147483647
Negative software overtravel limit
Default -2147483647
Units Counts
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5008
120 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix B Indexing Drive Parameters
Group 1 - Homing
[IN0100] Homing Type
Ultraware Name Homing Type
Description Select the type of homing operation the drive will perform
Range Value Description
0 Home to Present Position
1 To Home sensorBack to Marker (default)
2 To LimitBack to Marker
3 To Home sensorFwd to Marker
4 To LimitFwd to Marker
5 Home to Current Value
6 Home to Current ValueBack to Marker
7 To Home Sensor Move Fwd to Marker
8 Home to Marker
Default 1
Units NA
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5200
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 121
Indexing Drive Parameters Appendix B
[IN0101] Auto Start Homing on Enable
Ultraware Name Auto Start Homing on Enable
Description Causes the drive to begin the homing procedure automatically when the drive is enabled
Range Value Description
0 Active Automatically starts homing every time the drive is enabled
1 Active After Reset Only automatically starts homing when a drive is enabled if the drive has not already been homed
2 Inactive
Default 2
Units NA
Access Set
Changeable Status Always
When Enabled Power cycling
Applicable Operating Mode Indexing
MODBUS Address 5201
[IN0102] Homing Velocity
Ultraware Name Homing Velocity
Description The commanded velocity used during homing The sign of the this value (+-) indicates the direction of motion during homing
Range Value Description
-6000 hellip6000 rpm for rotary motors mmsec for linear motors
Default 100
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5202
122 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix B Indexing Drive Parameters
[IN0103] Creep Velocity
Ultraware Name Creep Velocity
Description For the To Sensor then Back to Marker Homing Type the velocity used for all remaining homing motion after the motor decelerates to a stop when it finds the sensor edge
Range Value Description
0 hellip6000 The velocity used for all homing motion after the motor decelerates to a stop at the sensor edge
Default 20
Units rpm for rotary motors mmsec for linear motors
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5203
[IN0104] Homing AccelerationDeceleration
Ultraware Name Homing AccelerationDeceleration
Description The rate of acceleration and deceleration used during homing
Range Value Description
1 hellip2147483647 The velocity used for all homing motion after the motor decelerates to a stop at the sensor edge
Default 6250
Units 10minus2 Revsec2 for rotary mmsec2 for linear
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5204 hellip5205
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 123
Indexing Drive Parameters Appendix B
[IN0105] Offset Move Distance
Ultraware Name Offset Move Distance
Description The distance the motor position is from the marker edge after the homing sequence is complete For Sensor Only Homing the distance the motor position is from the sensor edge after the homing sequence is complete
Range Value Description
-2147483647 hellip2147483647
Digital input state communicated to the drive when the Home Sensor input becomes active
Default 0
Units Counts
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5206 hellip5207
[IN0106] Home Sensor Polarity
Ultraware Name Home Sensor Polarity
Description Specifies the digital input state communicated to the drive when the Home Sensor input becomes active
Range Value Description
0 Active-Going Transition
1 Inactive-Going Transition
Default 0
Units Counts
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5208
124 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix B Indexing Drive Parameters
[IN0107] Home Position
Ultraware Name Home Position
Description The home position when a homing procedure is completed
Range Value Description
-2147483647 hellip2147483647
Digital input of the home position
Default 0
Units Counts
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5209 hellip5210
[IN0108] Moving Distance After Home Sensor
Ultraware Name Moving Distance After Home Sensor
Description This value is distance that the drive ignores the marker inputs after the home sensor is detected
Range Value Description
0 hellip2147483647 Distance the drive ignores the marker inputs after home is detected
Default 0
Units Counts
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5211 hellip5212
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 125
Indexing Drive Parameters Appendix B
[IN0109] Home Current
Ultraware Name Home Current
Description Specifies the torque feedback at which the drive stops moving the motor at the Homing Velocity
Range Value Description
1 hellip250 Percent of motor torque feedback
Default 100
Units Percentage of a motor rating torque
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5213
[IN0110] Home Current Time
Ultraware Name Home Current Time
Description Specifies the torque feedback at which the drive stops moving the motor at the Homing Velocity
Range Value Description
1 hellip1000 Percent of motor torque rating
Default 100
Units Percentage of motor torque rating
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5214
126 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix B Indexing Drive Parameters
[IN0111] Homing Time Limit
Ultraware Name Homing Time Limit
Description Drive fault when time for homing exceeds the homing time limit
Range Value Description
0 hellip65535 Homing time limit in seconds
Default 60
Units seconds
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5215
[IIN0112] Stop Home Deceleration
Ultraware Name Stop Home Decel
Description The rate of drive deceleration used when homing is stopped
Range Value Description
1 hellip2147483647 Rate of drive deceleration when homing is stopped
Default 6250
Units NA
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5216 hellip5217
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 127
Indexing Drive Parameters Appendix B
Group 2 - Indexing Options
[IN0200] hellip[IN0263] Index 0hellip63 Type and Action When Complete
Description Digit 0 homes the axis and digit 2 controls execution of the index move command
Digit 0 Homes the axis before the drive can executes any index
Ultraware Name Index 0hellip63 Option Type
Range Value Description
0 Absolute moves from its starting position to the specified Position below
1 Incremental moves from its starting position the specified Distance below
Default 1
Digit 1 Controls execution of the index move command after homing
Ultraware Name Index 0hellip63 Action When Complete
Range Value Description
0 Stop ends the execution of indexed move commands
1 Start next index commands execution of the Next Index move without additional input but after the scheduled Dwell
2 Wait for Start commands execution of the Next Index move the next time the Start Index input becomes active
Default 0
Access Set
Changeable Status Always
When Enabled Always
Applicable Operating Mode Indexing
MODBUS Address 5400 hellip5463
128 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix B Indexing Drive Parameters
Group 3 - Index Move Profile
These values are reserved for future use
Group 4 - Index PositionDistance
Group 5 - Index Registration Distance
These values are reserved for future use
Group 6 - Index Batch Count
These values are reserved for future use
[IN0400[hellip[IN0463] Index 0hellip63 PositionDistance
Ultraware Name Index 0hellip63 PositionDistance
Description Position For Absolute mode moves the fixed position to which the motor will travel Distance For Incremental and Registration mode moves the relative distance the motor will travel
Range Value Description
-2147483647 hellip2147483647
Counts
Default 1000
Access Set
Changeable Status Always
When Enabled Always
Applicable Operating Mode Indexing
MODBUS Address 5800 hellip5927
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 129
Indexing Drive Parameters Appendix B
Group 7 - Index Dwell
Group 8 - Index Velocity
Group 9 - Index Move Profile
These values are reserved for future use
[IN0700] hellip[IN0763] Index 0hellip63 Dwell
Ultraware Name Index 0hellip63 Dwell
Description Milliseconds to remain at current position before executing
Range Value Description
0 hellip65535 ms
Default 0
Access Set
Changeable Status Always
When Enabled Always
Applicable Operating Mode Indexing
MODBUS Address 6400 hellip6463
[IN0800] Index 0hellip63 Velocity
Ultraware Name Index 0hellip63 Velocity
Description Maximum velocity while in motion
Range Value Description
0 hellip6000 rpm for rotary motors mmsec for linear motors
Default 750
Access Set
Changeable Status Always
When Enabled Always
Applicable Operating Mode Indexing
MODBUS Address 6600 hellip6663
130 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix B Indexing Drive Parameters
Group 10 - Index Acceleration
Group 11 - Index Deceleration
[IN1000]hellip[IN1063] Index 0hellip63 Acceleration
Ultraware Name Index 0hellip63 Acceleration
Description Maximum acceleration while in motion
Range Value Description
1 hellip2147483647 10minus2 Revsec2 for rotary mmsec2 for linear
Default 6250
Access Set
Changeable Status Always
When Enabled Always
Applicable Operating Mode Indexing
MODBUS Address 7000 hellip7127
[IN1100]hellip[IN1163] Index 0hellip63 Deceleration
Ultraware Name Index 0hellip63 Deceleration
Description Maximum deceleration while in motion
Range Value Description
1 hellip2147483647 10minus2 Revsec2 for rotary mmsec2 for linear
Default 6250
Access Set
Changeable Status Always
When Enabled Always
Applicable Operating Mode Indexing
MODBUS Address 7200 hellip7327
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 131
Indexing Drive Parameters Appendix B
Group 12 - Index Next Index
[IN1200]hellip[IN1263] Index 0hellip63 Next Index
Ultraware Name Index 0hellip63 Next Index
Description The number (0hellip63) of the next indexed move to execute when Action When Complete is not set to STOP
Range Value Description
0hellip63 Value of the next indexed move
Default 0
Access Set
Changeable Status Always
When Enabled Always
Applicable Operating Mode Indexing
MODBUS Address 7400 hellip7464
132 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix B Indexing Drive Parameters
Notes
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 133
Appendix C
Warnings and Fault Codes
This Appendix lists the Warnings and Fault Codes for Kinetix 3 drives
Warnings Warnings are drive abnormalities that allow motor control to continue A three-digit text message is displayed using the last segments of the display
Fault Codes Faults are serious abnormalities that cause loss of motor control The Status indicator alternates between a three-digit error code preceded by the letter E and a five-digit text message This error message repeats until the problem is cleared
Warning Number
Warning Display Description
0x01 BAT Absolute encoder battery warning
0x02 CNT Absolute encoder counter overflow
0x04 PRE Power-up overspeed warning
0x08 OCC Over current command warning
0x10 OSC Over speed command warning
0x20 PIN Digital IO assignment warning
0x40 CAP Over motor rated output power warning
Fault Code Internal Fault Code
Fault Display Fault Name
E004 0x22 MTROT Motor over temperature
E005 0x11 IPMFT IPM
E009 0x41 UDVTG Bus under voltage fault
E010 0x40 OVVTG Bus over voltage fault
E012 0x73 HFAIL Home search failed
E018 0x50 OVSPD Motor over speed fault
E019 0x51 POSER Excess position error fault
E022 0x25 CONOL Motor continuous current overload
E023 0x27 DRVOL Drive overload fault
E025 0x72 SENSR Sensor unassigned
E027 0x74 NOTHM Axis not homed
E028 0x36 ENCDE Encoder data range fault
E030 0x31 ENCOP Encoder cable open fault
134 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix C Warnings and Fault Codes
E031 0x38 ENCPE Encoder data parameter fault
E036 0x24 DRVOT Drive over temperature
E037 0x42 ACOFF AC Line Loss Fault
E053 0x63 PINIT User parameter initialization fault
E054 0x13 OFSET Current feedback offset
E055 0x61 CHSUM User parameter checksum fault
E056 0x53 CPUFT Watchdog timeout fault
E057 0x10 HWARE PWM hardware
E058 0x62 RANGE User parameter range fault
E060 0x70 DINIT Drive initialization fault
E075 0x23 SHTOL Shunt overload protection
E079 0x12 SHTOC Shunt circuit over current
E083 0x33 ABSBE Absolute encoder battery fault
E084 0x34 ABSOS Absolute encoder overspeed
E085 0x35 ABSCT Absolute multi-turn count fault
E086 0x37 ENCCT Encoder single-turn count fault
E100 0x71 SETUP Drive set-up fault
E101 0x20 CABLE Motor power cable open
E102 0x21 INSOL Motor instantaneous current overload
E103 0x28 MATCH Motor mismatch fault
E104 0x26 PWROL Continuous power overload
E105 0x30 ENCTP Encoder type mismatch fault
E106 0x32 ENCCE Encoder communication fault
E107 0x60 SERCE Serial communication fault
E108 0x52 CDFRE Position command frequency fault
E112 0x54 ESTOP Emergency stop
E113 0x64 IRANG Indexing position range overflow
E114 0x14 OVCUR Motor phase over current
Fault Code Internal Fault Code
Fault Display Fault Name
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 135
Appendix D
Monitor Variables
Ultraware limits the number of variables that can be monitored to thirty-one (variables 0 through 30) However in customer applications additional monitor variables may be used
For example monitoring of variable 32 Selected index cannot be performed by Ultraware software because this variable is outside the range of Ultraware However a customer program that supports thirty-two variables or more can monitor this variable
Variables The table below lists the variables for monitoring a Kinetix 3 drive
Variable Name Unit
No Hex
0 0x00 Velocity feedback rpm
1 0x01 Velocity command rpm
2 0x02 Velocity error rpm
3 0x03 Current command
4 0x04 Follower position counts
5 0x05 Master position counts
6 0x06 Position error counts
7 0x07 Position command count frequency Kpps
8 0x08 Commutation angle ordm (degrees)
9 0x09 Mechanical angle ordm (degrees)
10 0x0A Shunt power limit ratio
11 0x0B Bus voltage V
12 0x0C Absolute rotations rev
13 0x0D Velocity command offset mV
14 0x0E Current command offset mV
15 0x0E Input and 0utput state Refer to Variable 15 - Digital Inputs and Outputs on page 137 for more information
16 0x0F U phase current 0001A
17 17 V phase current 0001A
18 18 W phase current 0001A
19 19 Motor temperature
136 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix D Monitor Variables
20 0x10 Analog command -velocity 001V
21 0x11 Analog command - current 001V
22 0x12 Current feedback 0001A
23 0x13 Hall states (wvu) digital
24 0x14 Motor feedback position counts
25 0x15 Digital input function state Refer to Variable 25 - Digital Inputs on page 137 for more information
digital
26 0x16 Digital output function state Refer to Variable 26 - Digital Outputs on page 138 for more information
Digital
27 0x17 Instantaneous shunt power Watts
28 0x18 Drive utilization
29 0x19 Indexing input function state Refer to Variable 29 - Indexing Inputs on page 138 for more information
digital
30 0x1A Indexing output function state Refer to Variable 30 - Indexing Outputs on page 139 for more information
digital
31 0x1B CPLD version
32 0x1C Selected index digital
33 0x1D Periodic counter Range 0 hellip512 Units counts 1 count = 2 ms
Variable (Continued) Name Unit
No Hex
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 137
Monitor Variables Appendix D
Compiled Variables The tables below list variables that compile data to more effectively monitor specific aspects of a Kinetix 3 drive
Variable 15 - Digital Inputs and Outputs
Monitoring of IO status is provided by Variable 15 - Digital Inputs and Outputs Digital inputs [Pr - 017] hellip[Pr - 018] and digital outputs [Pr - 022] hellip[Pr - 027] are compiled for this variable
The table below lists the data bits in this variable
Variable 25 - Digital Inputs
Digital input status is provided by Variable 25 - Digital Inputs Digital inputs [Pr - 010] hellip[Pr - 014] are compiled for this variable
The table below lists the data bits in this variable
Digital Outputs EMG Digital Inputs
Bit No 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
Data DO6 DO6 DO4 SALM DO3 DO2 DO1 EMG DI10 DI9 DI8 DI7 DI6 DI5 DI4 DI3 DI2 DI1
Bit Digital Input Function Bit Digital Input Function
0 Current Limit- Negative 10 Fault Reset
1 Current Limit- Positive 11 Integrator Inhibit
2 Alternate Gain Select 12 Negative Overtravel
3 Preset Direction 13 Operation Mode Override
4 Reset Multiturn Data 14 Position Strobe
5 Zero Speed Clamp 15 Positive Overtravel
6 Position Clear 16 Preset Select 0
7 Analog Speed Command Enable in Preset 17 Preset Select 1
8 Motor Moving Enable in Velocity Mode 18 Preset Select 2
9 2nd Electronic Gear Bank Selection
138 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix D Monitor Variables
Variable 26 - Digital Outputs
Digital output status is provided by Variable 26 - Digital Outputs Digital inputs and outputs [Pr - 002] and [Pr - 022] hellip[Pr - 024] are compiled for this variable
The table below lists the data bits in this variable
Variable 29 - Indexing Inputs
Indexing input function status is provided by Variable 29 - Indexing Inputs Digital inputs [Pr - 016] hellip[Pr - 018] are compiled for this variable
The table below lists the data bits in this variable
Bit Digital Output Function
0 Brake
1 Absolute Position Valid
2 Current Limited
3 Velocity Limited
4 Within Near Window
5 Warning
Bit Indexing Input function
0 Home Sensor
1 Start Homing
2 Start Indexing
3 Stop Indexing
4 Pause Index
5 Index Select 0 Input
6 Index Select 1 Input
7 Index Select 2 Input
8 Index Select 3 Input
9 Index Select 4 Input
10 Index Select 5 Input
11 Stop Homing
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 139
Monitor Variables Appendix D
Variable 30 - Indexing Outputs
Indexing output function status is provided by Variable 30 - Indexing Outputs Digital outputs [Pr - 025] hellip[Pr - 027] are compiled for this variable
The table below lists the data bits in this variable
Bit Indexing Output function Indexing Output function
0 In Motion Index Select 1 Output
1 In Dwell Index Select 2 Output
2 Axis Homed Index Select 3 Output
3 End of Sequence Index Select 4 Output
4 Index Select 0 Output Index Select 5 Output
140 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix D Monitor Variables
Notes
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 141
Index
Parameters(IN0000) auto start indexing 116(IN0001) abort index deceleration 116(IN0002) positive deceleration distance 117(IN0003) negative deceleration distance 117(IN0004) enable software limits 118(IN0005) positive software limit 119(IN0006) negative software limit 119(IN0100) homing type 120(IN0101) auto start homing on enable 121(IN0102) homing velocity 121(IN0103) creep velocity 122(IN03xx) index move profile 128(IN0400hellipIN0463) index positiondistance
128(IN05xx) index registration distance 128(IN06xx) index batch count 128(IN0700hellipIN0763) index dwell 129(IN0800hellipIN0863) index velocity 129(IN09xx) index move profile 129(IN1000hellipIN1063) index acceleration 130(IN1100hellipIN1163) index deceleration 130(IN1200hellipIN1263) next index 131(IN200hellipIN263) index type digit 0 127(Pr-000) operations mode 46(Pr-001) motor configuration 47(Pr-002) motor basic modes 48(Pr-003) auto tuning functions 49(Pr-004) inertia ratio 50(Pr-005) auxiliary function selection 1 51(Pr-006) auxiliary function selection 2 52(Pr-007) drive address 54(Pr-008) password 54(Pr-009) serial port configuration 54(Pr-010hellipPr-021) parameter setting values
60(Pr-010) allocation of input signals 1 55(Pr-011) allocation of input signals 2 56(Pr-012) allocation of input signals 3 56(Pr-013) allocation of input signals 4 57(Pr-014) allocation of input signals 5 57(Pr-015) allocation of input signals 6 58(Pr-016) allocation of input signals 7 58(Pr-017) allocation of input signals 8 58(Pr-018) allocation of input signals 9
59(Pr-019) allocation of input signals 10 59(Pr-020) allocation of input signals 11 59(Pr-021) allocation of input signals 12 60(Pr-022hellipPr-032) parameter setting values
65(Pr-022) allocation of output signals 1 60(Pr-023) allocation of output signals 2 61(Pr-024) allocation of output signals 3 61
(Pr-025) allocation of output signals 4 62(Pr-026) allocation of output signals 5 63(Pr-027) allocation of output signals 6 63(Pr-028) allocation of output signals 7 63(Pr-029) allocation of output signals 8 64(Pr-030) allocation of output signals 9 64(Pr-031) allocation of output signals 10 65(Pr-032) IO control authority 65(Pr-100) velocity regulator response level 66(Pr-101) system gain 66(Pr-102) velocity regulator P gain 66(Pr-103) velocity regulator I gain 66(Pr-104) velocity regulator D gain 67(Pr-105) velocity error filter 67(Pr-106) position regulator Kp gain 67(Pr-107) current command lowpass filter
bandwidth 68(Pr-108) velocity command lowpass filter
bandwidth 68(Pr-109) position command lowpass filter
bandwidth 68(Pr-110) 1st resonant frequency suppression
filter 69(Pr-111) 1st resonant frequency suppression
width 69(Pr-112) 2nd resonant frequency suppression
filter 69(Pr-113) 2nd resonant frequency suppression
filter width 70(Pr-114) 2nd resonant frequency suppression
filter depth 70(Pr-115) position regulator Kff gain 70(Pr-116) position regulator Kff bandwidth 71(Pr-117) velocity regulator I gain mode 71(Pr-118) velocity regulator I gain disable
threshold 72(Pr-119) position regulator high error output
offset 72(Pr-120) position regulator high error output
threshold 72(Pr-121) current regulator bandwidth
reduction scale 73(Pr-122) on-line vibration mode 73(Pr-123) velocity regulator configuration 74(Pr-124) delay time of gain switching 74(Pr-125) level of gain switching 74(Pr-126) hysteresis of gain switching 75(Pr-127) position gain switching time 75(Pr-128) 2nd velocity regulator P gain 75(Pr-129) 2nd velocity regulator i gain 75(Pr-130) 2nd position regulator Kp gain 76(Pr-131) 2nd current command low pass
filter bandwidth 76
142 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Index
(Pr-132) 2nd velocity command low pass filter bandwidth 76
(Pr-133) 3rd velocity regulator P gain 76(Pr-134) 3rd velocity regulator I gain 77(Pr-135) 3rd position regulator Kp gain 77(Pr-136) 3rd current command low pass filter
bandwidth 77(Pr-137) 3rd velocitycommand low pass filter
bandwidth 77(Pr-138) 4th velocity regulator P gain 78(Pr-139) 4th velocity regulator I gain 78(Pr-140) 4th position regulator Kp gain 78(Pr-141) 4th current command low pass filter
bandwidth 78(Pr-142) 4th velocitycommand low pass filter
bandwidth 79(Pr-200) velocity scale 80(Pr-201) jog velocity command 80(Pr-202) acceleration 80(Pr-203) deceleration 81(Pr-204) S-curve time 81(Pr-205) preset velocity 1 81(Pr-206) preset velocity 2 81(Pr-207) preset velocity 3 82(Pr-208) preset velocity 4 82(Pr-209) preset velocity 5 82(Pr-210) preset velocity 6 82(Pr-211) preset velocity 7 83(Pr-212) manual velocity limit 83(Pr-213) velocity limit mode 83(Pr-300) follower 84(Pr-301) 1st gear ratio follower counts 85(Pr-302) 1st gear ratio mastercounts 86(Pr-303) encoder output ratio output counts
86(Pr-304) encoder output ratio motor counts
86(Pr-305) 2nd gear ratio follower counts 86(Pr-306) 2nd gear ratio master counts 87(Pr-307) reserved 87(Pr-308) digital filter cut-off frequency 88(Pr-400) current scale 89(Pr-401) positive internal current limit 89(Pr-402) negative internal current limit 89(Pr-403) positive external current limit 89(Pr-404) negative external current limit 90(Pr-405) overtravel current limit 90(Pr-406) initial current bias 90(Pr-500) in position size 91(Pr-501) reserved 91(Pr-502) near position size 91(Pr-503) speed window 92(Pr-504) up to speed 92(Pr-505) zero clamp 92
(Pr-506) brake inactive delay 93(Pr-507) disable delay 93(Pr-508) brake active delay 93(Pr-509) disabled braking speed 94(Pr-510) following error limit 94(Pr-511) reserved 94(Pr-512) ac line loss fault delay 95(Pr-513) analog output ch1 selection 95(Pr-514) analog output ch2 selection 95(Pr-515) analog output ch1 scale 95(Pr-516) analog output ch2 scale 96(Pr-600) analog velocity command offset 97(Pr-601) analog current command offset 97(Pr-602) u phase current sensing offset 97(Pr-603) w phase current sensing offset 97(Pr-604) A-lead-B swap 98(Pr-605) dynamic brake circuit protection 98(Pr-606) fault detail sampling period 98(Pr-607) fault detail data selection 1 99(Pr-608) fault detail data selection 2 99(Pr-609) fault detail data selection 3 99(Pr-610) fault detail data selection 4 99(Pr-611) 1st resonant frequency suppression
filter 100(Pr-612) 2nd resonant frequency suppression
filter 100(Pr-700) drive capacity 101(Pr-701) dc bus voltage offset 101(Pr-702) reserved 101(Pr-703) analog monitor output ch1 offset 102(Pr-704) analog monitor output ch1 scaling
102(Pr-705) analog monitor output ch2 offset 102(Pr-706) analog monitor output ch2 scaling
102(Pr-707) dc bus measurement scaling
calibration 103(Pr-900) standard motor flag 104(Pr-901) motor type 104(Pr-902) motor resistance 104(Pr-903) motor inductance 104(Pr-904) motor intermittent current 105(Pr-905) motor continuous current 105(Pr-906) motor rated voltage 105(Pr-907) encoder type 105(Pr-908) hall offset 105(Pr-909) current constant 106(Pr-910) motor inertia 106(Pr-911) polesrevolution 106(Pr-912) encoder linesrevolution 106(Pr-913) maximum rotary speed 106(Pr-914) force constant 107(Pr-915) motor mass 107(Pr-916) electrical cycle length 107
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 143
Index
(Pr-917) encoder linesmeter 107(Pr-918) maximum linear speed 107(Pr-919) motor thermal protection enable 108(Pr-920) motor thermostat 108(Pr-921) motor thermal resistance winding
to encoder 108(Pr-922) motor thermal capacitance
winding to encoder 108(Pr-923) motor thermal resisitance winding
to ambient 108(Pr-924) motor thermal capacitance
winding to ambient 109(Pr-925) commutation type 109(Pr-927) integral limits 109(Pr-927) startup commutation 109(Pr-928hellipPr 949) reserved 110(Pr-950) motor model 110(Pr-951) drive name 110(Pr-952) position scaling data 110(Pr-953) position scaling label 110(Pr-954) velocity scaling data 110(Pr-955) velocity scaling label 111(Pr-956) acceleration scaling data 111(Pr-957) acceleration scaling label 111(Pr-958) scope config 112(Pr-959) scope scaling 113(Pr-960) displayed units 113
Numerics1st gear ratio follower counts (Pr-301) 851st gear ratio master counts (Pr-302) 861st resonant frequency suppression filter
(Pr-110) 691st resonant frequency suppression filter
(Pr-611) 1001st resonant frequency suppression
width(Pr-111) 692nd current command low pass filter
bandwidth (Pr-131) 762nd gear ratio follower counts (Pr-305) 862nd gear ratio master counts (Pr-306) 872nd position regulator Kp gain (Pr-130) 762nd resonant frequency suppression filter
(Pr-112) 692nd resonant frequency suppression filter
(Pr-612) 1002nd resonant frequency suppression filter
depth (Pr-114) 702nd resonant frequency suppression filter
width (Pr-113) 702nd velocity command low pass filter
bandwidth (Pr-132) 762nd velocity regulator i gain (Pr-129) 75
2nd velocity regulator P gain (Pr-128) 753rd current command low pass filter
bandwidth (Pr-136) 773rd position regulator Kp gain (Pr-135) 773rd velocity command low pass filter
bandwidth (Pr-137) 773rd velocity regulator I gain (Pr-134) 773rd velocity regulator P gain (Pr-133) 764th current command low pass filter
bandwidth (Pr-141) 784th position regulator Kp gain (Pr-140) 784th velocity command low pass filter
bandwidth (Pr-142) 794th velocity regulator I gain (Pr-139) 784th velocity regulator P gain (Pr-138) 78
Aabort index 116abort index deceleration (IN0001) 116ac line loss 48ac line loss fault delay (Pr-512) 95acceleration (Pr-202) 80acceleration scaling data (Pr-956) 111acceleration scaling label (Pr-957) 111additional resources 7address map
flash saving parameter 21index function parameter 25modbus 11monitoring parameters 22output function status parameter 23running parameter 24special indexing parameters 13standard parameters 11
A-lead-B swap (Pr-604) 98allocation of input signals 1 (Pr-010) 55allocation of input signals 10 (Pr-019) 59allocation of input signals 11 (Pr-020) 59allocation of input signals 12 (Pr-021) 60allocation of input signals 2 (Pr-011) 56allocation of input signals 3 (Pr-012) 56allocation of input signals 4 (Pr-013) 57allocation of input signals 5 (Pr-014) 57allocation of input signals 6 (Pr-015) 58allocation of input signals 7 (Pr-016) 58allocation of input signals 8 (Pr-017) 58allocation of input signals 9 (Pr-018) 59allocation of output signals 1 (Pr-022) 60allocation of output signals 10 (Pr-031) 65allocation of output signals 2 (Pr-023) 61allocation of output signals 3 (Pr-024) 61allocation of output signals 4 (Pr-025) 62allocation of output signals 5 (Pr-026) 63allocation of output signals 6 (Pr-027) 63
144 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Index
allocation of output signals 7 (Pr-028) 63allocation of output signals 8 (Pr-029) 64allocation of output signals 9 (Pr-030) 64alternate gain (G-SEL) 57alternative gain enable 51analog current command offset (Pr-601) 97analog current inputs 46analog monitor output ch1 offset (Pr-703) 102analog monitor output ch1 scaling (Pr-704)
102analog monitor output ch2 offset (Pr-705) 102analog monitor output ch2 scaling (Pr-706)
102analog offset 102analog output ch1 scale (Pr-515) 95analog output ch1 selection (Pr-513) 95analog output ch2 scale (Pr-516) 96analog output ch2 selection (Pr-514) 95analog scaling 102analog speed command (C-SP4) 57analog velocity command offset (Pr-600) 97analog velocity inputs 46ASCII commands 29auto motor identification 52auto start homing on enable (IN0101) 121auto start indexing (IN0000) 116auto tuning functions (Pr-003) 49automatic (TAT) 38autotuning speed 49auxiliary function selection 1 (Pr-005) 51auxiliary function selection 2 (Pr-006) 52axis homed (HOMC) 62
Bbackup battery 51baud rate 54brake active delay (Pr-508) 93brake delay 93brake dynamic 98brake inactive delay (Pr-506) 93brake speed 94bus calibration 103bus voltage 101
Cchecksum 28CHP command 30command
automatic task (TAT) 38disable drive (SVROF) 44
enable drive (SVRON) 44fault reset (RST) 33jog (JOG) 40monitor variable (MDM) 33other functions (ETC) 42perform manual task (TMN) 39read drive status (STS) 41read fault contents (EHY) 40read fault detailed data (DIE) 43read indexing parameter (XET) 31read parameter (SET) 29reset drive (HWR) 44triggered data collection (MOT) 34variable roll monitoring (MOR) 36verify servo connection (LIV) 43verify software version (VER) 43write indexing parameter (XHP) 32write indexing parameter (XTR) 32write parameter (CHP) 30write parameter (STR) 30
command polarity 48command type 84communication method
RS232 54RS485 54
communication protocolASCII 54MODBUS-RTU 54
commutation 109commutation type (Pr-925) 109compiled variable 137
15 - digital inputs and outputs 13725 - digital inputs 13726 - digital outputs 13829 - indexing inputs 13830 - indexing outputs 139
controller output type 84conventions used 7counts
follower 85 86master 86 87motor 86output 86
creep velocity (IN0103) 122current bias 90current command lowpass filter bandwidth
(Pr-107) 68current constant (Pr-909) 106current limit 89 90current limit (T_LMT) 61current offset 97current regulator bandwidth reduction scale
(Pr-121) 73current scale (Pr-400) 89cut-off frequency 88cycle length 107
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 145
Index
DD gain regulator 67data bit 54dc bus measurement scaling calibration
(Pr-707 103dc bus voltage offset (Pr-701) 101deceleration (Pr-203) 81delay gain 74delay time of gain switching (Pr-124) 74digital filter cut-off frequency (Pr-308) 88disable brake 48disable delay (Pr-507) 93disable drive (SVROF) 44disabled braking speed (Pr-509) 94display parameter - input register address
map 22displayed units (Pr-960) 113drive address (Pr-007) 54drive capacity (Pr-700) 101drive enable (SV-ON) 55drive name (Pr-951) 110drive password 54drive reset 44dynamic brake circuit protection (Pr-605) 98dynamic tuning 49dynamic tuning response speed 49
EEHY command 40electrical cycle length (Pr-916) 107electronic gear select (GEAR) 57emergency stop inputs 51enable drive (SVRON) 44enable software limits (IN0004) 118encoder back-up battery 51encoder detect 52encoder linesmeter (Pr-917) 107encoder linesrevolution (Pr-912) 106encoder output 84encoder output ratio motor counts (Pr-304)
86encoder output ratio output counts (Pr-303)
86encoder type 47encoder type (Pr-907) 105end of sequence (E_SEQU) 63error output offset 72error output threshold 72ETC command 42exception code modbus 10
Ffaul reset (A-RST) 56fault codes 133fault detail data selection 1 (Pr-607) 99fault detail data selection 2 (Pr-608) 99fault detail data selection 3 (PrR-609) 99fault detail data selection 4 (Pr-610) 99fault detail sampling period (Pr-606) 98fault reset (RST) 33fault selection 99faultwarning registers address map 22feedback linesmeter 107flash memory update 30 32 39flash saving parameter address map 21follower (Pr-300) 84follower counts 85follower mode 46following error limit (Pr-510) 94force constant (Pr-914) 107frequency suppression 69function code
modbus 9
Ggain bank select (BANK_SEL) 58gain delay 74gain hysteresis 75gain level 74gain switch 74gain switching 52gain timing 75gear ratio 84general commands (ASCII) 29group 0 - indexing system address map 13group 0 - system level address map 11group 1 - gain control address map 11group 10 - index acceleration address map 18group 11 - index deceleration address map 19group 12 - next index address map 20group 2 - index option address map 14group 2 - speed control address map 12group 3 - position control address maps 12group 3 - reserved 14group 4 - index positiondistance address
map 15group 4 - torque control address maps 12group 5 - reserved 16group 5 - supplemental drive control address
maps 12group 6 - reserved 16group 7 - index dwell address map 16group 8 - index velocity address map 17group 9 - reserved 17
146 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Index
Hhall offset (Pr-908) 105home sensor (H_SENS) 58homing (H_SENS and SHOME) 58homing type (IN0100) 120homing velocity (IN0102) 121host command
fault codes 133indexing command extended (XCE) 31warnings 133
hysteresis of gain switching (Pr-126) 75
II gain 71I gain disable 72I gain regulation 77 78I gain regulator 66IO control authority (Pr-032) 65In Dwell (I_DW) 62in motion (IMO) 62in position size (Pr-500) 91incremental feedback loss 52index abort 116index acceleration 0hellip63 (IN1000hellipIN1063)
130index batch count (IN06xx) 128index deceleration 0hellip63 (IN1100hellipIN1163)
130index dwell 0hellip63 (IN0700hellipIN0763) 129index move 127index move profile (IN03xx) 128index move profile (IN09xx) 129index positiondistance 0hellip63
(IN0400hellipIN0463) 128index registration distance (IN05xx) 128index select (I_SEL0hellipI_SEL3) 58index select (I_SEL4hellipI_SEL5) 59
index select 0 out (O_ISEL0) 62index select 1hellip4 out (O_ISEL0hellipO_ISEL4) 63index select 5 out (O_ISEL5) 63index start 116index type 0hellip63 digit 0 (IN100hellipIN163) 127index velocity 0hellip63 (IN0800hellipIN0863) 129indexing command extended (XCE) 31inertia ratio (Pr-004) 50inhibit delay 95initial current bias (Pr-406) 90input function parameter address map 25integral limits (Pr-927) 109integrator inhibit (CON) 55
Jjog (JOG) 40JOG command 40jog velocity command (Pr-201) 80
KKff gain 70Kp gain position regulator 67Kp gain regulation 77 78
Llevel of gain switching (Pr-125) 74line break detect 52line loss check 48LIV command 43load inertia 50low pass filter (IReg) 76 77 78low pass filter (VReg) 76 77 79lowpass filter
current 68position 68velocity 68
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 147
Index
Mmanual task (TMN) 39manual velocity limit (Pr-212) 83master counts 86maximum linear speed (Pr-918) 107maximum rotary speed (Pr-913) 106maximum speed 106 107MDM command 33mnemonic commands
DIE 43HWR 44SVROF 44SVRON 44
modbus address map 11display parameter - input register 22faultwarning registers 22indexing parameter
group 0 - indexing system 13group 10 - index acceleration 18group 11 - index deceleration 19group 12 - next index 20group 2 - index option 14group 3 - reserved 14group 4 - indexing positiondistance 15group 5 - reserved 16group 6 - reserved 16group 7 - index dwell 16group 8 - index velocity 17group 9 - reserved 17
standard parametersgroup 0 - system level 11group 1 - gain control 11group 2 - speed control 12group 3 - position control 12group 4 - torque control 12group 5 - supplemental drive control 12
modbus exception codes 10modbus function codes 9MODBUS input function control 65MODBUS run function control 65monitor offset 102monitor scaling 102monitor variable 135monitor variable (MDM) 33monitoring parameters address map 22MOR command 36MOT command 34motor basic modes (Pr-002) 48motor configuration (Pr-001) 47motor continuous current (Pr-905) 105motor enable (START) 57motor flag 104motor forward direction 48motor identification 52motor inductance (Pr-903) 104
motor inertia 50motor inertia (Pr-910) 106motor intermittent current (Pr-904) 105motor mass (Pr-915) 107motor model (Pr-950) 110motor rated voltage (Pr-906) 105motor resistance (Pr-902) 104motor thermal capacitance winding to
ambient (Pr-924) 109motor thermal capacitance winding to
encoder (Pr-922) 108motor thermal protection enable (Pr-919) 108motor thermal resistance winding to
ambient (Pr-923) 108motor thermal resistance winding to
encoder (Pr-921) 108motor thermostat (Pr-920) 108motor type 47motor type (Pr-901) 104
Nnear position (NEAR) 61near position size (Pr-502) 91negative current limit (N-TL)positive current
limit (P-TL) 56negative deceleration distance (IN0003) 117negative external current limit (Pr-404) 90negative internal current limit (Pr-402) 89negative overtravel (N-OT) 55negative software limit (IN0006) 119next index 0hellip63 (IN1200hellipIN1263) 131notch filter
1st resonance 692nd resonance 702nd resonance depth 70
Ooff-line tuning 49on-line vibration mode (Pr-122) 73on-line vibration suppression 73operation mode override (C_SEL) 56operations mode (Pr-000) 46oscilloscope 112oscilloscope scaling 113other functions(ETC) 42output function status address map 23overtravel current limit (Pr-405) 90overtravel settings (P-ot) and N-OT) 55overtravel stop 48overtravel stop method 48
148 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Index
PP gain regulation 76 78P gain regulator 66packet structure 27parameter setting values (Pr-010hellipPr-021)
60parameter setting values (Pr-022hellipPr-032)
65parity bit 54password (Pr-008) 54pause indexing (PAUSE) 58polesrevolution (Pr-911) 106position clear (PCLR) 57position command lowpass filter bandwidth
(Pr-109) 68position gain switching time (Pr-127) 75position regulator high error output offset
(Pr-119) 72position regulator high error output threshold
(Pr-120) 72position regulator Kff bandwidth (Pr-116) 71position regulator Kff gain (Pr-115) 70position regulator Kp gain (Pr-106) 67position scaling data(Pr-952) 110position scaling label (Pr-953) 110position strobe (ABS-DT) 57position window (P-COM) 60positive deceleration distance (IN0002) 117positive external current limit (Pr-403) 89positive internal current limit (Pr-401) 89positive overtravel (P-OT) 55positive software limit (IN0005) 119power input 48preset direction (C-DIR) 56preset select (C-SP1 C-SP2 C-SP3) 56preset velocity 46preset velocity 1 (Pr-205) 81preset velocity 2 (Pr-206) 81preset velocity 3 (Pr-207) 82preset velocity 4 (Pr-208) 82preset velocity 5 (Pr-209) 82preset velocity 6 (Pr-210) 82preset velocity 7 (Pr-211) 83proportional gain 71
Rrated power 47read drive status (STS) 41read fault contents (EHY) 40read fault detailed data (DIE) 43read indexing parameter (XET) 31read parameter (SET) 29reboot drive 44reserved (Pr-307) 87reserved (Pr-501) 91reserved (Pr-511) 94reserved (Pr-702) 101reserved (Pr-928hellipPr 949) 110reset absolute encoder data (R_ABS) 58reset drive (HWR) 44RST command 33run control 65running parameter 24
Ssafety considerations inside front coversampling period 98scaling
acceleration data 111acceleration label 111position data 110position label 110velocity data 110velocity label 111
scope config (Pr-958) 112scope scaling (Pr-959) 113S-csurve time (Pr-204) 81serial port configuration (Pr-009) 54SET command 29special indexing parameter
address map 13speed clamp (Z-CLP) 57speed window (Pr-503) 92speed window (V-COM) 60standard motor flag (Pr-900 104standard parameters address map 11start homing (SHOME) 58start index (START_I) 59start indexing 116startup commutation (Pr-927) 109stop bit 54stop homing (H_STOP) 59stop indexing STOP) 58STR command 30STS command 41suppression filter 100symbols 27system gain (Pr-101) 66
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 149
Index
TTAT command 38thermal capacitance 108 109thermal protection 108thermal resistance 108thermostat 108TMN command 39training See lt$emphasislt$default fonttriggered data collection (MOT) 34
Uu phase current sensing offset (Pr-602) 97up to speed (Pr-504) 92up to speed (TG-ON) 60
Vvariable 135 137
15 - digital inputs and outputs 13725 - digital inputs 13726 - digital outputs 13829 - indexing inputs 13830 - indexing outputs 139
variable roll monitoring (MOR) 36velocity error filter (Pr-105) 67velocity limit 83velocity limit (V-LMT) 61velocity limit mode (Pr-213) 83velocity observer 51velocity offset 97velocity presets 46velocity regulator configuration (Pr123) 74velocity regulator D gain (Pr-104) 67velocity regulator I gain (Pr-103) 66velocity regulator I gain disable threshold
(Pr-118) 72velocity regulator I gain mode (Pr-117) 71
velocity regulator P gain (Pr-102) 66velocity regulator response level (Pr-100) 66velocity scaling data (Pr-954) 110velocity scaling label (Pr-955) 111velocitycommand lowpass filter bandwidth
(Pr-108) 68velocityscale (Pr-200) 80VER command 43verify servo connection (LIV) 43verify software version (VER) 43vibration suppression 69 73
Ww phase current sensing offset (Pr-603) 97warning (WARN) 61warnings 133watchdog timer 44 134within position window (P-COM) 60within speed window (V-COM) 60write indexing parameter (XHP) 32write indexing parameter (XTR) 32write parameter (CHP) 30write parameter (STR) 30
XXCE command 31XET command 31XHP command 32XTR command 32
Zzero clamp (Pr-505) 92zero speed (Z-CLP) 57
150 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Index
Notes
Publication 2071-RM001A-EN-P - September 2010 152 PN-79403Copyright copy 2010 Rockwell Automation Inc All rights reserved Printed in the USA
Rockwell Automation Support
Rockwell Automation provides technical information on the Web to assist you in using its products At httpwwwrockwellautomationcomsupport you can find technical manuals a knowledge base of FAQs technical and application notes sample code and links to software service packs and a MySupport feature that you can customize to make thebest use of these tools
For an additional level of technical phone support for installation configuration and troubleshooting we offer TechConnect support programs For more information contact your local distributor or Rockwell Automation representative or visit httpwwwrockwellautomationcomsupport
Installation Assistance
If you experience an anomoly within the first 24 hours of installation review the information that is contained in this manualYou can contact Customer Support for initial help in getting your product up and running
New Product Satisfaction Return
Rockwell Automation tests all of its products to ensure that they are fully operational when shipped from the manufacturing facility However if your product is not functioning and needs to be returned follow these procedures
Documentation Feedback
Your comments will help us serve your documentation needs better If you have any suggestions on how to improve this document complete this form publication RA-DU002 available at httpwwwrockwellautomationcomliterature
United States or Canada 14406463434
Outside United States or Canada
Use the Worldwide Locator at httpwwwrockwellautomationcomsupportamericasphone_enhtml or contact your local Rockwell Automation representative
United States Contact your distributor You must provide a Customer Support case number (call the phone number above to obtain one) to your distributor to complete the return process
Outside United States Please contact your local Rockwell Automation representative for the return procedure
- 2071-RM001A-EN-P September 2010
- Important User Information
- Table of Contents
- Preface
-
- About This Publication
- Who Should Use This Manual
- Conventions Used in This Manual
- Additional Resources
-
- 1 - Modbus Protocol
-
- Function Codes
- Exception Codes
- Address Maps
-
- Standard Parameters
- Indexing Parameters
- Save Flash Memory Parameter
- Monitoring Parameter (Function Code 0x04)
- Fault and Warning Status Parameter - Input Registers
- Output Function Status Parameter
- Running Parameter (Function Code 0x06 or 0x10)
- Input Function Parameter (Function Code 0x03 0x06 or 0x10)
-
- 2 - Communication Protocol (RS-232ASCII)
-
- Introduction
- Special Symbols
- Packet Structure
- Checksum
-
- 3 - General Commands (ASCII)
-
- Read Parameter (SET)
- Write Parameter (STR)
- Write Parameter (CHP)
- Indexing Command Extended (XCE)
- Read Indexing Parameter (XET)
- Write Indexing Parameter (XHP)
- Write Indexing Parameter (XTR)
- Fault Reset (RST)
- Monitor Variable (MDM)
- Triggered Data Collection (MOT)
- Variable Roll Monitoring (MOR)
- Automatic Task (TAT)
- Manual Task (TMN)
- Read Fault Contents (EHY)
- Jog (JOG)
- Read Drive Status (STS)
- Other Functions (ETC)
- Verify Software Version (VER)
- Verify Servo Connection (LIV)
- Read Fault Detailed Data (DIE)
- Enable Drive (SVRON)
- Disable Drive (SVROF)
- Reset Drive (HWR)
-
- A - Standard Drive Parameters
-
- Parameter Groupings
- Parameter Descriptions
-
- Group 0 - System Level
- Group 1 - Gain Control
- Group 2 - Speed Control
- Group 3 - Position Control
- Group 4 - Torque Controls
- Group 5 - Supplemental Drive Controls
- Group 6 - Supplemental Gain and Report Settings
- Group 7 - Manufacturing Settings
- Group 8 - Reserved Parameters
- Group 9 - Motor Controls
-
- B - Indexing Drive Parameters
-
- Parameter Groupings
- Parameter Descriptions
-
- Group 0 - Indexing System
- Group 1 - Homing
- Group 2 - Indexing Options
- Group 3 - Index Move Profile
- Group 4 - Index PositionDistance
- Group 5 - Index Registration Distance
- Group 6 - Index Batch Count
- Group 7 - Index Dwell
- Group 8 - Index Velocity
- Group 9 - Index Move Profile
- Group 10 - Index Acceleration
- Group 11 - Index Deceleration
- Group 12 - Index Next Index
-
- C - Warnings and Fault Codes
-
- Warnings
- Fault Codes
-
- D - Monitor Variables
-
- Variables
- Compiled Variables
-
- Variable 15 - Digital Inputs and Outputs
- Variable 25 - Digital Inputs
- Variable 26 - Digital Outputs
- Variable 29 - Indexing Inputs
- Variable 30 - Indexing Outputs
-
- Index
- Technical Support
-
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 3
Table of Contents
Preface About This Publication 7Who Should Use This Manual 7Conventions Used in This Manual 7Additional Resources 7
Chapter 1Modbus Protocol Function Codes 9
Exception Codes 10Address Maps 11
Standard Parameters 11Indexing Parameters 13Save Flash Memory Parameter 21Monitoring Parameter (Function Code 0x04) 22Fault and Warning Status Parameter - Input Registers 22Output Function Status Parameter 23Running Parameter (Function Code 0x06 or 0x10) 24Input Function Parameter (Function Code 0x03 0x06 or 0x10) 25
Chapter 2Communication Protocol (RS-232ASCII)
Introduction 27Special Symbols 27Packet Structure 27Checksum 28
Chapter 3General Commands (ASCII) Read Parameter (SET) 29
Write Parameter (STR) 30Write Parameter (CHP) 30Indexing Command Extended (XCE) 31Read Indexing Parameter (XET) 31Write Indexing Parameter (XHP) 32Write Indexing Parameter (XTR) 32Fault Reset (RST) 33Monitor Variable (MDM) 33Triggered Data Collection (MOT) 34Variable Roll Monitoring (MOR) 36Automatic Task (TAT) 38Manual Task (TMN) 39Read Fault Contents (EHY) 40Jog (JOG) 40Read Drive Status (STS) 41Other Functions (ETC) 42Verify Software Version (VER) 43Verify Servo Connection (LIV) 43
4 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Table of Contents
Read Fault Detailed Data (DIE) 43Enable Drive (SVRON) 44Disable Drive (SVROF) 44Reset Drive (HWR) 44
Appendix AStandard Drive Parameters Parameter Groupings 45
Parameter Descriptions 46Group 0 - System Level 46Group 1 - Gain Control 66Group 2 - Speed Control 80Group 3 - Position Control 84Group 4 - Torque Controls 89Group 5 - Supplemental Drive Controls 91Group 6 - Supplemental Gain and Report Settings 97Group 7 - Manufacturing Settings 101Group 8 - Reserved Parameters 103Group 9 - Motor Controls 104
Appendix BIndexing Drive Parameters Parameter Groupings 115
Parameter Descriptions 116Group 0 - Indexing System 116Group 1 - Homing 120Group 2 - Indexing Options 127Group 3 - Index Move Profile 128Group 4 - Index PositionDistance 128Group 5 - Index Registration Distance 128Group 6 - Index Batch Count 128Group 7 - Index Dwell 129Group 8 - Index Velocity 129Group 9 - Index Move Profile 129Group 10 - Index Acceleration 130Group 11 - Index Deceleration 130Group 12 - Index Next Index 131
Appendix CWarnings and Fault Codes Warnings 133
Fault Codes 133
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 5
Table of Contents
Appendix DMonitor Variables Variables 135
Compiled Variables 137Variable 15 - Digital Inputs and Outputs 137Variable 25 - Digital Inputs 137Variable 26 - Digital Outputs 138Variable 29 - Indexing Inputs 138Variable 30 - Indexing Outputs 139
Index
6 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Table of Contents
Notes
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 7
Preface
About This Publication This manual describes the host command set for end-user interface with a Kinetix 3 drive via serial communication Use this manual for designing programming and troubleshooting host commands for serial communication with the Kinetix 3 drives
Who Should Use This Manual
This manual is intended for engineers programmers or technicians directly involved in the installation operation programming and field maintenance of a Kinetix 3 drive by using host mode commands
If you do not have a basic understanding of the Kinetix 3 drive contact your local Rockwell Automation sales representative before using this product for the availability of training courses
Conventions Used in This Manual
The conventions starting below are used throughout this manual bull Bulleted lists such as this one provide information not procedural stepsbull Numbered lists provide sequential steps or hierarchical information
Additional Resources These documents contain additional information concerning related Rockwell Automation products
You can view or download publications at httpwwwrockwellautomationcomliterature To order paper copies of technical documentation contact your local Rockwell Automation distributor or sales representative
Resource Description
Kinetix 3 Component Servo Drive Installation Instruction publication 2071-IN001
Mounting and wiring instructions and mounting dimensions
Kinetix 3 IO Breakout Board Installation Instructions publication 2071-IN002
Kinetix 3 Motor Feedback Breakout Board Installation Instructions publication 2071-IN003
Kinetix 3 Serial Communication Cables Installation Instructions publication 2090-IN019
Kinetix 3 Component Servo Drive User Manual publication 2071-UM001
Information on installing configuring starting up and troubleshooting for your Kinetix 3 servo drive system
Ultraware User Manual publication 2098-UM001
Information on configuring and operating Ultraware software with servo drives and motors
8 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Preface
Notes
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 9
Chapter 1
Modbus Protocol
This chapter defines the Modbus protocol as it applies to a Kinetix 3 drive
Function Codes The register number of MODBUS devices may begin with 0 or 1 Because this is determined by the MODBUS host you the customer have selected A 1 must be added to the register number if your controller requires it
The maximum number of parameters that can be read or written at the same time is the same as the number of MODBUS addresses which is the same as the number of the parameters in each group In other words all the parameters in each group can be read together or written together
Function Code Description
03(0x03) Read Holding Registers
04(0x04) Read Input Registers
06(0x06) Write Single Register
16(0x10) Write Multiple Register
10 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 1 Modbus Protocol
Exception Codes The Kinetix 3 Modbus protocol uses the following exception codes from the Modbus specifications
Exception Code
Name Meaning
0x01 Illegal Function The function code received in the query is not an allowable action for the slave
0x02 Illegal Data Address
The data address received in the query is not an allowable address for the slave
0x03 (1)
(1) Exception code 0x03 indicates an Illegal Data Value It means the length of data string is incorrect Exception code 14(0x0E) indicates an Illegal Data Range It means that data range exceeds the limit of the minimum or maximum value
Illegal Data Value
The length of query data field is not valid for the slave
0x06 Slave Device Busy
The slave is engaged in processing Run command The master should retransmit the message later when the slave is free
0x07 Illegal CRC Value
The CRC value received in the query is wrong value
0x0C Illegal Frame The byte length of the Query Reception frame is out of the limit
0x0D (2)
(2) Exception code 0x0D is generated if the master accesses a 32bit data address with function code 06 or either the high or low address of 32bit data with function code 10
Illegal Sequence
The data sequence received in the query is not an allowable write command for the slave
0x0E (1) Illegal Data Range
The value of query data field is not valid for the slave
0x0F (3)
(3) Exception code 15(0x0F) indicates an Illegal Command was issued It occurs when a received Run control cannot be executed at the moment
Illegal Command
The slave is in Run control and received an invalid command
0x10 (4)
(4) Exception code 16(0x10) is an Illegal Control It occurs when the Network Control Mode is not set but the drive requests a Run Control command or an IO Control command through the network
Illegal Control The slave is not in the Network mode but received a network control command
0x1F Servo Error Fail When the slave is Servo Error condition and receives a Servo ON command from master
0x21 Drive Type Fail When drive type of the slave is Indexing slave receives run command 02 03 04
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 11
Modbus Protocol Chapter 1
Address Maps All standard and indexing parameters (Pr-xxx or Inxxxx) require a unique register address The host computer assigns the initial address number and determines whether the register numbers begin with 0 or 1
Standard Parameters
Group 0 - System Level (1)
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
0 Pr-000 10 Pr-009 20 Pr-019 30 Pr-029
1 Pr-001[Lo] 11 Pr-010 21 Pr-020 31 Pr-030
2 Pr-001[Hi] 12 Pr-011 22 Pr-021 32 Pr-031
3 Pr-002 13 Pr-012 23 Pr-022 33 Pr-032
4 Pr-003 14 Pr-013 24 Pr-023 34hellip42 Reserved
5 Pr-004 15 Pr-014 25 Pr-024 43hellip99 Reserved
6 Pr-005 16 Pr-015 26 Pr-025
7 Pr-006 17 Pr-016 27 Pr-026
8 Pr-007 18 Pr-017 28 Pr-027
9 Pr-008 19 Pr-018 29 Pr-028
(1) Refer to Monitoring Parameter (Function Code 0x04) on page 22 for more detailed information on this parameter
Group 1 - Gain Control
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
100 (1) Pr-100 111 Pr-111 122 Pr-122 133 Pr-133
101 (1) Pr-101 112 Pr-112 123 Pr-123 134 Pr-134
102 Pr-102 113 Pr-113 124 Pr-124 135 Pr-135
103 Pr-103 114 Pr-114 125 Pr-125 136 Pr-136
104 Pr-104 115 Pr-115 126 Pr-126 137 Pr-137
105 Pr-105 116 Pr-116 127 Pr-127 138 Pr-138
106 Pr-106 117 Pr-117 128 Pr-128 139 Pr-139
107 Pr-107 118 Pr-118 129 Pr-129 140 Pr-140
108 Pr-108 119 Pr-119 130 Pr-130 141 Pr-141
109 Pr-109 120 Pr-120 131 Pr-131 142 Pr-142
110 Pr-110 121 Pr-121 132 Pr-132 143hellip199 Reserved
(1) Refer to Fault and Warning Status Parameter - Input Registers on page 22 for more detailed information on this parameter
12 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 1 Modbus Protocol
Group 2 - Speed Control
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
200 (1) Pr-200 206 Pr-204 212 Pr-210
201 (1) Pr-201 207 Pr-205 213 Pr-211
202 Pr-202[Lo] 208 Pr-206 214 Pr-212
203 Pr-202[Hi] 209 Pr-207 215 Pr-213
204 Pr-203[Lo] 210 Pr-208 216hellip299 Reserved
205 Pr-203[Hi] 211 Pr-209
(1) Refer to Output Function Status Parameter on page 23 for more detailed information on these parameters
Group 3 - Position Control
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
300 Pr-300 303 Pr-303 306 Pr-306 309hellip399 Reserved
301 Pr-301 304 Pr-304 307 Reserved
302 Pr-302 305 Pr-305 308 Pr-308
Group 4 - Torque Control
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
400 Pr-400 402 Pr-402 404 Pr-404 406 Pr-406
401 Pr-401 403 Pr-403 405 Pr-405 407hellip499 Reserved
Group 5 - Supplemental Drive Control
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
500 Pr-500 506 Pr-506 512 Pr-511 517 Pr-514[Hi]
501 Pr-501 507 Pr-507 513 Pr-512 518 Pr-515[Lo]
502 Pr-502 508 Pr-508 514 Pr-513 519 Pr-515[Hi]
503 Pr-503 509 Pr-509 514 Pr-513[Lo] 520 Pr-516[Lo]
504 Pr-504 510 Pr-510[Lo] 515 Pr-513[Hi] 521 Pr-516[Hi]
505 Pr-505 511 Pr-510[Hi] 516 Pr-514[Lo] 522hellip599 Reserved
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 13
Modbus Protocol Chapter 1
For parameters within the MODBUS address range of 600hellip4999 refer to the following parameters
bull Monitoring Parameter (Function Code 0x04) on page 22 for MODBUS Addresses 0hellip44
bull Fault and Warning Status Parameter - Input Registers on page 22 for MODBUS Addresses 100hellip101
bull Output Function Status Parameter on page 23 for MODBUS Addresses 2000hellip2016
bull Running Parameter (Function Code 0x06 or 0x10) on page 24 for MODBUS Addresses 2000hellip2016
bull Input Function Parameter (Function Code 0x03 0x06 or 0x10) on page 25 for MODBUS Addresses 3000hellip3002
Indexing Parameters
Group 0 - Indexing System
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
4000 Index 0 Distance Low
4005 Index 0 Accel Low
4001 Index 0 Distance High
4006 Index 0 Accel High
4002 Index 0 Velocity 4007 Index 0 Dwell
4003 Index 0 Decel Low
4008 Index 0 Option
4004 Index 0 Decel High
4009hellip4199 Reserved
Group 0 - Indexing System
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
5000 In0000 5006 In0003Hi
5001 In0001Lo 5007 In0004
5002 In0001Hi 5008 In0005Lo
5003 In0002Lo 5009 In0005Hi
5004 In0002Hi 5010 In0006Lo
5005 In0003Lo 5011 In0006Hi
5012hellip5199 Reserved
14 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 1 Modbus Protocol
Group 2 ndash Index Option
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
5400 In0200 5416 In0216 5432 In0232 5448 In0248
5401 In0201 5417 In0217 5433 In0233 5449 In0249
5402 In0202 5418 In0218 5434 In0234 5450 In0250
5403 In0203 5419 In0219 5435 In0235 5451 In0251
5404 In0204 5420 In0220 5436 In0236 5452 In0252
5405 In0205 5421 In0221 5437 In0237 5453 In0253
5406 In0206 5422 In0222 5438 In0238 5454 In0254
5407 In0207 5423 In0223 5439 In0239 5455 In0255
5408 In0208 5424 In0224 5440 In0240 5456 In0256
5409 In0209 5425 In0225 5441 In0241 5457 In0257
5410 In0210 5426 In0226 5442 In0242 5458 In0258
5411 In0211 5427 In0227 5443 In0243 5459 In0259
5412 In0212 5428 In0228 5443 In0243 5460 In0260
5413 In0213 5429 In0229 5444 In0244 5461 In0261
5414 In0214 5430 In0230 5445 In0245 5462 In0262
5415 In0215 5431 In0231 5446 In0246 5463 In0263
5447 In0247 5464 hellip5599 Reserved
Group 3 - Reserved
MODBUS Address
Kinetix 3 Parameter
5600hellip5799 Reserved
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 15
Modbus Protocol Chapter 1
Group 4 ndash Index PositionDistance
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
5800 In0400Lo 5834 In0417Lo 5868 In0434Lo 5902 In0451Lo
5801 In0400Hi 5835 In0417 Hi 5869 In0434 Hi 5903 In0451Hi
5802 In0401Lo 5836 In0418Lo 5870 In0435Lo 5904 In0452Lo
5803 In0401Hi 5837 In0418 Hi 5871 In0435 Hi 5905 In0452Hi
5804 In0402Lo 5838 In0419Lo 5872 In0436Lo 5906 In0453Lo
5805 In0402Hi 5839 In0419 Hi 5873 In0436 Hi 5907 In0453Hi
5806 In0403Lo 5840 In0420Lo 5874 In0437Lo 5908 In0454Lo
5807 In0403Hi 5841 In0420 Hi 5875 In0437 Hi 5909 In0454Hi
5808 In0404Lo 5842 In0421Lo 5876 In0438Lo 5910 In0455Lo
5809 In0404Hi 5843 In0421 Hi 5877 In0438 Hi 5911 In0455Hi
5810 In0405Lo 5844 In0422Lo 5878 In0439Lo 5912 In0456Lo
5811 In0405Hi 5845 In0422 Hi 5879 In0439 Hi 5913 In0456Hi
5812 In0406Lo 5846 In0423Lo 5880 In0440Lo 5914 In0457Lo
5813 In0406Hi 5847 In0423 Hi 5881 In0440 Hi 5915 In0457Hi
5814 In0407Lo 5848 In0424Lo 5882 In0441Lo 5916 In0458Lo
5815 In0407Hi 5849 In0424 Hi 5883 In0441 Hi 5917 In0458Hi
5816 In0408Lo 5850 In0425Lo 5884 In0442Lo 5918 In0459Lo
5817 In0408Hi 5851 In0425 Hi 5885 In0442 Hi 5919 In0459Hi
5818 In0409Lo 5852 In0426Lo 5886 In0443Lo 5920 In0460Lo
5819 In0409Hi 5853 In0426 Hi 5887 In0443 Hi 5921 In0460Hi
5820 In0410Lo 5854 In0427Lo 5888 In0444Lo 5922 In0461Lo
5821 In0410Hi 5855 In0427 Hi 5889 In0444 Hi 5923 In0461Hi
5822 In0411Lo 5856 In0428Lo 5890 In0445Lo 5924 In0462Lo
5823 In0411Hi 5857 In0428 Hi 5891 In0445 Hi 5925 In0462Hi
5824 In0412Lo 5858 In0429Lo 5892 In0446Lo 5926 In0463Lo
5825 In0412Hi 5859 In0429 Hi 5893 In0446 Hi 5927 In0463Hi
5826 In0413Lo 5860 In0430Lo 5894 In0447Lo 5928hellip5999 Reserved
5827 In0413Hi 5861 In0430 Hi 5895 In0447Hi
5828 In0414Lo 5862 In0431Lo 5896 In0448Lo
5829 In0414Hi 5863 In0431 Hi 5897 In0448Hi
5830 In0415Lo 5864 In0432Lo 5898 In0449Lo
5831 In0415Hi 5865 In0432 Hi 5899 In0449Hi
5832 In0416Lo 5866 In0433Lo 5900 In0450Lo
5833 In0416 Hi 5867 In0433 Hi 5901 In0450Hi
16 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 1 Modbus Protocol
Group 5 - Reserved
MODBUS Address
Kinetix 3 Parameter
6000hellip6199 Reserved
Group 6 - Reserved
MODBUS Address
Kinetix 3 Parameter
6200hellip6399 Reserved
Group 7 ndash Index Dwell
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
6400 In0700 6417 In0717 6434 In0734 6451 In0751
6401 In0701 6418 In0718 6435 In0735 6452 In0752
6402 In0702 6419 In0719 6436 In0736 6453 In0753
6403 In0703 6420 In0720 6437 In0737 6454 In0754
6404 In0704 6421 In0721 6438 In0738 6455 In0755
6405 In0705 6422 In0722 6439 In0739 6456 In0756
6406 In0706 6423 In0723 6440 In0740 6457 In0757
6407 In0707 6424 In0724 6441 In0741 6458 In0758
6408 In0708 6425 In0725 6442 In0742 6459 In0759
6409 In0709 6426 In0726 6443 In0743 6460 In0760
6410 In0710 6427 In0727 6444 In0744 6461 In0761
6411 In0711 6428 In0728 6445 In0745 6462 In0762
6412 In0712 6429 In0729 6446 In0746 6463 In0763
6413 In0713 6430 In0730 6447 In0747 6464 hellip6599 Reserved
6414 In0714 6431 In0731 6448 In0748
6415 In0715 6432 In0732 6449 In0749
6416 In0716 6433 In0733 6450 In0750
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 17
Modbus Protocol Chapter 1
Group 8 ndash Index Velocity
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
6600 In0800 6616 In0816 6632 In0832 6648 In0848
6601 In0801 6617 In0817 6633 In0833 6649 In0849
6602 In0802 6618 In0818 6634 In0834 6650 In0850
6603 In0803 6619 In0819 6635 In0835 6651 In0851
6604 In0804 6620 In0820 6636 In0836 6652 In0852
6605 In0805 6621 In0821 6637 In0837 6653 In0853
6606 In0806 6622 In0822 6638 In0838 6654 In0854
6607 In0807 6623 In0823 6639 In0839 6655 In0855
6608 In0808 6624 In0824 6640 In0840 6656 In0856
6609 In0809 6625 In0825 6641 In0841 6657 In0857
6610 In0810 6626 In0826 6642 In0842 6658 In0858
6611 In0811 6627 In0827 6643 In0843 6659 In0859
6612 In0812 6628 In0828 6644 In0844 6660 In0860
6613 In0813 6629 In0829 6645 In0845 6661 In0861
6614 In0814 6630 In0830 6646 In0846 6662 In0862
6615 In0815 6631 In0831 6647 In0847 6663 In0863
6664 hellip6799 Reserved
Group 9 - Reserved
MODBUS Address
Kinetix 3 Parameter
6800hellip6999 Reserved
18 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 1 Modbus Protocol
Group 10 ndash Index Acceleration
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
7000 In1000Lo 7032 In1016Lo 7064 In1032Lo 7096 In1048Lo
7001 In1000Hi 7033 In1016 Hi 7065 In1032 Hi 7097 In1048 Hi
7002 In1001Lo 7034 In1017Lo 7066 In1033Lo 7098 In1049Lo
7003 In1001Hi 7035 In1017 Hi 7067 In1033 Hi 7099 In1049 Hi
7004 In1002Lo 7036 In1018Lo 7068 In1034Lo 7100 In1050Lo
7005 In1002Hi 7037 In1018 Hi 7069 In1034 Hi 7101 In1050 Hi
7006 In1003Lo 7038 In1019Lo 7070 In1035Lo 7102 In1051Lo
7007 In1003Hi 7039 In1019 Hi 7071 In1035 Hi 7103 In1051 Hi
7008 In1004Lo 7040 In1020Lo 7072 In1036Lo 7104 In1052Lo
7009 In1004Hi 7041 In1020 Hi 7073 In1036 Hi 7105 In1052 Hi
7010 In1005Lo 7042 In1021Lo 7074 In1037Lo 7106 In1053Lo
7011 In1005Hi 7043 In1021 Hi 7075 In1037 Hi 7107 In1053 Hi
7012 In1006Lo 7044 In1022Lo 7076 In1038Lo 7108 In1054Lo
7013 In1006Hi 7045 In1022 Hi 7077 In1038 Hi 7109 In1054 Hi
7014 In1007Lo 7046 In1023Lo 7078 In1039Lo 7110 In1055Lo
7015 In1007Hi 7047 In1023 Hi 7079 In1039 Hi 7111 In1055 Hi
7016 In1008Lo 7048 In1024Lo 7080 In1040Lo 7112 In1056Lo
7017 In1008Hi 7049 In1024 Hi 7081 In1040 Hi 7113 In1056 Hi
7018 In1009Lo 7050 In1025Lo 7082 In1041Lo 7114 In1057Lo
7019 In1009Hi 7051 In1025 Hi 7083 In1041 Hi 7115 In1057 Hi
7020 In1010Lo 7052 In1026Lo 7084 In1042Lo 7116 In1058Lo
7021 In1010Hi 7053 In1026 Hi 7085 In1042 Hi 7117 In1058 Hi
7022 In1011Lo 7054 In1027Lo 7086 In1043Lo 7118 In1059Lo
7023 In1011Hi 7055 In1027 Hi 7087 In1043 Hi 7119 In1059 Hi
7024 In1012Lo 7056 In1028Lo 7088 In1044Lo 7120 In1060Lo
7025 In1012Hi 7057 In1028 Hi 7089 In1044 Hi 7121 In1060 Hi
7026 In1013Lo 7058 In1029Lo 7090 In1045Lo 7122 In1061Lo
7027 In1013Hi 7059 In1029 Hi 7091 In1045 Hi 7123 In1061 Hi
7028 In1014Lo 7060 In1030Lo 7092 In1046Lo 7124 In1062Lo
7029 In1014Hi 7061 In1030 Hi 7093 In1046 Hi 7125 In1062 Hi
7030 In1015Lo 7062 In1031Lo 7094 In1047Lo 7126 In1063Lo
7031 In1015Hi 7063 In1031 Hi 7095 In1047 Hi 7127 In1063 Hi
7128 hellip7199 Reserved
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 19
Modbus Protocol Chapter 1
Group 11 ndash Index Deceleration
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
7200 In1100Lo 7232 In1116 Lo 7264 In1132Lo 7296 In1148Lo
7201 In1100Hi 7233 In1116 Hi 7265 In1132 Hi 7297 In1148 Hi
7202 In1101Lo 7234 In1117Lo 7266 In1133Lo 7298 In1149Lo
7203 In1101Hi 7235 In1117 Hi 7267 In1133 Hi 7299 In1149 Hi
7204 In1102Lo 7236 In1118Lo 7268 In1134Lo 7300 In1150Lo
7205 In1102Hi 7237 In1118 Hi 7269 In1134 Hi 7301 In1150 Hi
7206 In1103Lo 7238 In1119Lo 7270 In1135Lo 7302 In1151Lo
7207 In1103Hi 7239 In1119 Hi 7271 In1135 Hi 7303 In1151 Hi
7208 In1104Lo 7240 In1120Lo 7272 In1136Lo 7304 In1152Lo
7209 In1104Hi 7241 In1120 Hi 7273 In1136 Hi 7305 In1152 Hi
7210 In1105Lo 7242 In1121Lo 7274 In1137Lo 7306 In1153Lo
7211 In1105Hi 7243 In1121 Hi 7275 In1137 Hi 7307 In1153 Hi
7212 In1106Lo 7244 In1122Lo 7276 In1138Lo 7308 In1154Lo
7213 In1106Hi 7245 In1122 Hi 7277 In1138 Hi 7309 In1154 Hi
7214 In1107Lo 7246 In1123Lo 7278 In1139Lo 7310 In1155Lo
7215 In1107Hi 7247 In1123 Hi 7279 In1139 Hi 7311 In1155 Hi
7216 In1108Lo 7248 In1124Lo 7280 In1140Lo 7312 In1156Lo
7217 In1108Hi 7249 In1124 Hi 7281 In1140 Hi 7313 In1156 Hi
7218 In1109Lo 7250 In1125Lo 7282 In1141Lo 7314 In1157Lo
7219 In1109Hi 7251 In1125 Hi 7283 In1141 Hi 7315 In1157 Hi
7220 In1110Lo 7252 In1126Lo 7284 In1142Lo 7316 In1158Lo
7221 In1110Hi 7253 In1126 Hi 7285 In1142 Hi 7317 In1158 Hi
7222 In1111Lo 7254 In1127Lo 7286 In1143Lo 7318 In1159Lo
7223 In1111Hi 7255 In1127 Hi 7287 In1143 Hi 7319 In1159 Hi
7224 In1112Lo 7256 In1128Lo 7288 In1144Lo 7320 In1160Lo
7225 In1112Hi 7257 In1128 Hi 7289 In1144 Hi 7321 In1160 Hi
7226 In1113Lo 7258 In1129Lo 7290 In1145Lo 7322 In1161Lo
7227 In1113Hi 7259 In1129 Hi 7291 In1145 Hi 7323 In1161 Hi
7228 In1114Lo 7260 In1130Lo 7292 In1146Lo 7324 In1162Lo
7229 In1114Hi 7261 In1130 Hi 7293 In1146 Hi 7325 In1162 Hi
7230 In1115Lo 7262 In1131Lo 7294 In1147Lo 7326 In1163Lo
7231 In1115Hi 7263 In1131Hi 7295 In1147 Hi 7327 In1163 Hi
7328 hellip7399 Reserved
20 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 1 Modbus Protocol
Group 12 ndash Next Index
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
7400 In1200 7416 In1216 7432 In1232 7448 In1248
7401 In1201 7417 In1217 7433 In1233 7449 In1249
7402 In0702 7418 In1218 7434 In1234 7450 In1250
7403 In1203 7419 In1219 7435 In1235 7451 In1251
7404 In1204 7420 In1220 7436 In1236 7452 In1252
7405 In1205 7421 In1221 7437 In1237 7453 In1253
7406 In1206 7422 In1222 7438 In1238 7454 In1254
7407 In1207 7423 In1223 7439 In1239 7455 In1255
7408 In1208 7424 In1224 7440 In1240 7456 In1256
7409 In1209 7425 In1225 7441 In1241 7457 In1257
7410 In1210 7426 In1226 7442 In1242 7458 In1258
7411 In1211 7427 In1227 7443 In1243 7459 In1259
7412 In1212 7428 In1228 7444 In1244 7460 In1260
7413 In1213 7429 In1229 7445 In1245 7461 In1261
7414 In1214 7430 In1230 7446 In1246 7462 In1262
7415 In1215 7431 In1231 7447 In1247 7463 In1263
7464 hellip7599 Reserved
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 21
Modbus Protocol Chapter 1
Save Flash Memory Parameter
MODBUS Address
Data Status Description
9999 (decimal) 1 Write data into flash memory
22 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 1 Modbus Protocol
Monitoring Parameter (Function Code 0x04)
Fault and Warning Status Parameter - Input Registers
Display Parameter - Input Registers (Default = 0)
MODBUS Address
Drive Name Unit
0 dis-00 Velocity Feedback rpm
1 dis-01 Velocity Command rpm
2 dis-02 Velocity Error rpm
3 dis-03 Torque Command 010
4hellip5 dis-04 Position Feedback counts
6hellip7 dis-05 Position Command counts
8hellip9 dis-06 Position Error counts
10 dis-07 Pulse Command Frequency 01pps
11 dis-08 Electrical Angle 01
12 dis-09 Mechanical Angle 01
13 dis-10 Regeneration Load Ratio
14 dis-11 DC-Link Voltage V
15 dis-12 Multi-Turn Data Turn number
16hellip17 dis-13 Offset in Velocity Command 01mV
18hellip19 dis-14 Torque Offset 01mV
20hellip24 dis-15 InputOutput Signal Status -
25hellip32 dis-16 Display Error History 8Alarm
33 dis-17 Display Software Version 1word
34hellip35 dis-18 Display Motor info 2word
36 dis-19 Analog Velocity Command Voltage 001V
37 dis-20 Analog Current Command Voltage 001V
38 dis-21 Drive Rated Output Power 1word
39hellip40 dis-22 Absolute Single Turn Data -
41hellip42 dis-23 Encoder Feedback Counter counts
43hellip99 Reserved - -
Fault and Warning Status Parameter - Input Registers (Default = 0)
Modbus Address Function Name Unit
100 Error Check Servo Error Code Word
101 Warning Check Servo Warning Code Word
102hellip199 Reserved - -
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 23
Modbus Protocol Chapter 1
Output Function Status Parameter
Modbus Address
Output Function Description Unit Position [bits]
200 S_ALM Alarm Bit [0]
P-COM Within position window Bit [1]
TG-ON Up to speed Bit [2]
BK Brake control Bit [3]
V-COM Within Speed window Bit [4]
A-VLD Absolute position valid Bit [5]
RDY Drive Ready Bit [6]
T-LMT NEAR Current Limited Bit [7]
V-LMT WARN Velocity Limited Bit [8]
NEAR Near position Bit [9]
WARN Warning Bit [10]
Reserved - Bit [11]
Reserved - Bit [12]
IMO In Motion Bit [13]
I-DW In Dwell Bit [14]
HOMC Axis Homed Bit [15]
201 O_ISEL0 Index Select 0 Out Bit [0]
O_ISEL1 Index Select 1 Out Bit [1]
O_ISEL2 Index Select 2 Out Bit [2]
O_ISEL3 Index Select 3 Out Bit [3]
O_ISEL4 Index Select 4 Out Bit [4]
O_ISEL5 Index Select 5 Out Bit [5]
E_SEQU End of Sequence Bit [6]
Reserved - Bit [7hellip15]
24 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 1 Modbus Protocol
Running Parameter (Function Code 0x06 or 0x10)
Run Parameter - Holding Registers (Default = 2000)
Modbus Address
Attribute RUN Name Access Unit
2000 User Open run-00 Jog Operation 1 byte
2001 run-01 Off-Line Auto Tuning 1 bit
2002 run-02 Reserved -
2003 run-03 Auto Adjustment of Speed Command Offset
1 bit
2004 run-04 Auto Adjustment of Current Command Offset
1 bit
2005hellip2007 run-05hellip run-07 Reserved -
2008 run-08 Alarm Reset 1 bit
2009 run-09 Reserved -
2010 run-10 Absolute Encoder Reset 1 bit
2011 run-11 2-Group Gain Storing 1 bit
2012 run-12 Parameter Initialization 1 bit
2013hellip2015 run-13helliprun-15 Reserved -
2016 run-16 Hardware Reset 1 bit
2017hellip2099 run-17helliprun-99 Reserved -
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 25
Modbus Protocol Chapter 1
Input Function Parameter (Function Code 0x03 0x06 or 0x10)
Input Function Control - Holding Registers
Modbus Address
IO Function Description Unit Position Bit
3000 SV-ON Drive Enable bit 0
- Reserved - [1] and [2]
P-CON Integrator Inhibit bit [3]
A-RST Fault Reset bit [4]
N-CL Negative Current Limit bit [5]
P-CL Positive Current Limit bit [6]
C-SEL Operation Mode Override bit [7]
C-DIR Preset Direction bit [8]
C-SP1 Preset Select 1 bit [9]
C-SP2 Preset Select 2 bit [10]
C-SP3 Preset Select 3 bit [11]
C-SP4 Preset Select 4 bit [12]
INHIB Pause Follower bit [13]
G-SEL Alternate Gain Select bit [14]
PCLR Position clear bit [15]
3001 ABS-DT Position Strobe bit [0]
START Motor Moving Enable bit [1]
Z-CLP Zero Speed Clamp Enable bit [2]
GEAR 2nd Electronic Gear Bank Selection bit [3]
R-ABS Reset multi-turn data of Absolute Encoder
bit [4]
- Reserved - [5]
SHOME Start Homing bit [6]
STOP Stop Indexing bit [7]
PAUSE Pause Indexing bit [8]
I-SEL0 Index Select 0 Input bit [9]
I-SEL1 Index Select 1 Input bit [10]
I-SEL2 Index Select 2 Input bit [11]
I-SEL3 Index Select 3 Input bit [12]
I-SEL4 Index Select 4 Input bit [13]
I-SEL5 Index Select 5 Input bit [14]
H_STOP Stop Homing bit [15]
3002 START_I Start Index bit [0]
BANK_SEL Gain Bank Select bit [1]
- Reserved - [2hellip15]
26 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 1 Modbus Protocol
Notes
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 27
Chapter 2
Communication Protocol (RS-232ASCII)
Introduction The drive command protocol is a client-server protocol A host computer is the server and each drive is a client This chapter provides details about the Special Symbols Packet Structure and Checksum in the serial communication protocol
Special Symbols Special symbols used in the host commands include the following
Packet Structure The packet structure is shown below
Some simple commands might not have the Data field (for example Fault Reset) Maximum packet size is 400 bytes Each letter and digit in Command and Data fields represents a single ASCII character
All commands begin with an STX and terminate with an ETX
If the drive receives the command without a communication error the response is in the same format as the host command Numeric parameters are encoded as strings
Symbol Value Description
STX 0x02 Start of Transmission
ETX 0x03 End of Transmission
ACK 0x06 Command Acknowledged
GS 0x29 Cannot change the value of the parameter while drive is enabled
RS 0x30 Value is out of range
US 0x31 Invalid command
NAK 0x15 Communication Error (Checksum Error)
CAN 0x18 Cancellation of Command (For example the drive will send CAN if the drive is already enabled but the JOG ON is requested)
Start ID HostResponse
Command Data Separator Checksum End
Symbol STX dd or $ SET orhellip d hellipd c c ETX
Bytes 1 2 1 3 0 - n 1 1 1
28 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 2 Communication Protocol (RS-232ASCII)
If the drive receives the hosts command with a communication error (for example parity or checksum errors) the drive sends an NAK The host should assume a communication error occurred if a response from the drive does not occur within a time-out period (generally 200 ms)
If drive does not recognize the command it sends a US response
Checksum The checksum range consists of ID to Separator fields Checksum is the ASCII hex code of the least significant digit from the sum of hexadecimal codes in the checksum range
For example this VER command has a checksum of 42 (ASCII hex code of B)
30H+31H+23H+56H+45H+52H+3AH = 1ABH The ASCII hex code of B is 42
However this VER command response also has a checksum of 35 (ASCII hex code of 5)
30H+31H+24H+56H+45H+52H+20H+31H+2EH+30H+32H+3AH = 295H The ASCII hex code of 5 is 35
Command STX 0 1 V E R B ETX
ASCII 2 30 31 23 56 45 52 3A 42 3
Command STX 0 1 amp V E R 9 0 2 5 ETX
ASCII 2 30 31 24 56 45 52 20 39 2E 30 32 3A 35 3
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 29
Chapter 3
General Commands (ASCII)
This chapter defines the general ASCII commands available to control a Kinetix 3 drive
Read Parameter (SET)
Attribute Value
Command SET
Description Read parameter value
Format STX ID SET PPP BSS ETX
Data Argument Description
PPP Parameter for example [Pr - 203] PPP=203=0x0CB Refer to this chapter Appendix A Standard Drive Parameters and Appendix B Indexing Drive Parameters for a available parameter descriptions
Response Format STX ID $SET V BSS ETX
Response Data Argument Description
V Bit-field type = 4 byte hexadecimal value Integer type = Signed integer of variable length
30 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 3 General Commands (ASCII)
Write Parameter (STR)
Write Parameter (CHP)
Attribute Value
Command STR
Description Write parameter value to RAM and then save data from RAM to flash memory
Format STX ID STR PPP V BSS ETX
Data Argument Description
PPP Parameter for example [Pr - 203] PPP=203=0x0CB Refer to Standard Drive Parameters beginning on page 45 for a description of available parameters Group 7 - Manufacturing Settings are product settings that are programmed during manufacturing
V Bit-field type = 4 byte hexadecimal value Normal type = Signed integer of variable length
Response Format ACK
Error Response If the drive is unable to change the variable because it is enabled it sends GS If the value is out of range RS is returned
Next Command STX ID STR BSS ETX
Usage Note To determine whether task is complete send STR without arguments
Response Format If task is not complete STX ID $BSY BSS ETX or If task is complete STX ID $TOK BSS ETX
Attribute Value
Command CHP
Description Write parameter value to RAM
Format STX ID CHP PPP V BSS ETX
Data Argument Description
PPP Parameter for example [Pr - 203] PPP=203=0x0CB Refer to Standard Drive Parameters beginning on page 45 for a description of available parameters Group 7 - Manufacturing Settings are product settings that are programmed during manufacturing
V Bit-field type = 4 byte hexadecimal value Normal type =Signed integer of variable length
Response Format ACK
Error Response If unable to change the variable because drive is enabled GS is sent If value is out of range RS is returned
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 31
General Commands (ASCII) Chapter 3
Indexing Command Extended (XCE)
Read Indexing Parameter (XET)
Attribute Value
Command XCE
Description Execute Indexing Control Panel command
Format STX ID XCE NNNNN amp VVVVV BSS ETX
Data Argument Description
NNNNN Index number 0hellip63Data Format 16-bit unsigned integer d
VVVVVV Indexing Function Command 0 = Start Homing 1 = Stop Homing 2 = Start IndexingData Format 16bit unsigned integer d
Response Format ACK If there is an error while executing the command the GS RS US NAK CAN exception code s can be used for the response
Usage Note This command executes only Indexing commands If the command to be executed is not specific to an Index number the NNNNN field should be 0
Attribute Value
Command XET
Description Read parameter value
Format STX ID XET PPPP BSS ETX
Data Argument Description
PPPP Parameter for example in the case of [IN0002] PPPP=0200 the two initial arguments (PPxx) indicate the indexing (Ix) group Refer to Indexing Drive Parameters beginning on page 115 for a description of available indexing parameters Group 7 - Manufacturing Settings are product settings that are programmed during manufacturing
Response Format STX ID $XET V BSS ETX
Response Data Argument Description
V Bit-field type = 4 byte hexadecimal value Integer type Signed integer of variable length
32 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 3 General Commands (ASCII)
Write Indexing Parameter (XHP)
Write Indexing Parameter (XTR)
Attribute Value
Command XHP
Description Write parameter value to RAM
Format STX ID XHP PPPP V BSS ETX
Data Argument Description
PPPP Parameter for example in the case of [IN0002] PPPP=0200 the two initial arguments (PPxx) indicate the indexing (Ix) group Refer to Indexing Drive Parameters beginning on page 115 for a description of available indexing parameters
V Bit-field type = 4 byte hexadecimal value Normal type = Signed integer of variable length
Response Format ACK
Error Response If the drive is unable to change the variable because it is enabled it sends GS If the value is out of range RS is returned
Attribute Value
Command XTR
Description Write parameter value to RAM and then saves data from RAM to flash memory
Format STX ID XTR PPPP V BSS ETX
Data Argument Description
PPPP Parameter In the case of [IN0002] PPPP=0200 the two initial arguments ((PPxx) indicate the indexing (Ix) group Refer to Indexing Drive Parameters beginning on page 115 for a description of available indexing parameters
V Bit-field type = 4 byte hexadecimal value Normal type = Signed integer of variable length
Response Format ACK
Error Response If the drive is unable to change the variable because it is enabled it sends GS If the value is out of range RS is returned
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 33
General Commands (ASCII) Chapter 3
Fault Reset (RST)
Monitor Variable (MDM)
Attribute Value
Command RST
Description Clear fault
Format STX ID RST BSS ETX
Response ACK
Usage Note Fault Reset will have no effect unless action was taken to resolve the fault Refer to Warnings and Fault Codes beginning on page 133 for a description of faults and warnings
Attribute Value
Command MDM
Description Monitor variables
Format STX ID MDM P1 P2 P3 P4 P5 BSS ETX
Data Argument Description
P1hellipP5 Variables to monitor
Usage Note MDM command can monitor up to five variables Refer to Monitor Variables on page 135 for the list of variables
Response Format STX ID $ MDM V1ampV2ampV3ampV4ampV5 BSS ETX
Response Data Argument Description
V1hellipV5 Variable values are 4 or 8 bytes signed See tables below for descriptions of specific variables
34 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 3 General Commands (ASCII)
Triggered Data Collection (MOT)
Attribute Value
Command MOT
Description Sets watches and reads trigger monitor
Format STX ID MOT Ch1 Ch2 Src SP Num Mode Pos Level BSS ETX
Data Argument Description
Ch1 Ch2 Input signals See Appendix A (variables 0x00hellip0x0F only)
Src Trigger Source (0x000hellip0x009 0x101hellip0x112) Refer to Monitor Variables on page 135 for the list of variables 0x101-0x10A DI1hellipDI10 0x10B Emergency Stop Input 0x10C-0x10E DO1hellipDO3 0x10F Safety Alarm Output 0x110-0x112 DO4hellipDO6
SP Sample Period Range 0x01hellip0x64 (02hellip20 ms)
Num Number of data points 10 Range 0x01hellip0x1E (1hellip30)
Mode Trigger mode 1 = Positive Edge 2 = Negative Edge
Pos Trigger Position (1hellip9) The percentage of data to be received before the trigger pointFor example if Pos = 3 then 30 of data received before the trigger point and 70 of data received after the trigger point
Level Trigger levelthreshold the value of the Trigger Source Values are 4 or 8 bytes signed
Usage Note This command is sent to the drive prior to monitoring or reading the Triggered Data Collection (MOT) command variants below See Figure 1 for command examples
Response ACK
Next Command MOT
Format STX ID MOT BSS ETX
Usage Note This command is sent to the drive to verify data is available
Response If data is not ready STX ID $ BSY BSS ETX If data is ready STX ID $ TOK BSS ETX
Next Command MOT
Format STX ID MOT NumD BSS ETX
Data Argument Description
NumD Data Point to retrieve the data from Range 00hellip(Num-1)
Usage Note This command can be used when previous command returned TOK Send ESC to stop data collection
Response Format STX ID $ MOT V1ampV2ampV20 BSS ETX
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 35
General Commands (ASCII) Chapter 3
Figure 1 - Triggered Data Collection (MOT) Command String Example
Attribute Value
Response Data Argument Description
V1hellipV20 Data transmission is done in blocks of 10 Because there are 2 channels 20 values are returned with values alternating between the first channel and the second channel Values are a signed integer of variable length (4 or 8 bytes)
Next Command STX ID ESC BSS ETX
Response ACK
MOR (setting)
ACK
MOT
$BSY
MOT
$TOK
MOT00
$MOT
PC Servo
Time lt200 ms
MOT29
$MOT
ESC
ACK
36 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 3 General Commands (ASCII)
Variable Roll Monitoring (MOR)
Attribute Value
Command MOR
Description Set up variable roll monitor
Format Data
STX ID MOR SP P1 P2 BSS ETX
Argument Description
SP Sampling period range 0x01hellip0x64 (01hellip100 ms)
P1 P2 Variables to monitor Range 0x00hellip0x1D
Usage Note Sets up the variable roll monitoring This command is sent to the drive prior to sending a Monitor Variable (MDM) command See Figure 2 for command examples
Response ACK
Next Command STX ID MOR BSS ETX
Usage Note Request to store data in the linear buffer (with a capacity of 100 data points) If the buffer is full and data has not been retrieved the buffer is emptied If data is requested before data is in the buffer the drive sends ACK
Response Format STX ID $ MOR V1ampV2amphellipVn BSS ETX
Response Data Argument Description
V1hellipVn Signed integer of variable length
Next Command STX ID ESC BSS ETX
Usage Note Send ESC to stop monitoring of the data
Response ACK
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 37
General Commands (ASCII) Chapter 3
Figure 2 - Variable Roll Monitoring (MOR) Command String Example
MOR (setting)
ACK
MOR
$MOR
MOR
$MOR
ESC
ACK
PC Servo
Time lt200 ms
38 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 3 General Commands (ASCII)
Automatic Task (TAT)
Figure 3 - Automatic Task (TAT) Command String Example
Attribute Value
Command TAT
Format STX ID TAT T1 BSS ETX
Data Argument Description
T1 Automatic task number See the following Values and Task Descriptions
Value Task Description
0x01 Auto Tuning
0x02 Move to Marker
0x03 Auto Adjustment of Velocity Command Offset
0x04 Auto Adjustment of Current Command Offset
0x07 Auto Adjustment of Current Feedback Offset
Response ACK
Usage Note Send TAT command without arguments to find out if a task is completed See Figure 3 for command examples
Next Command STX ID TAT BSS ETX
Response Format STX ID $ BSY BSS ETX - if task is not complete STX ID $ TOK BSS ETX - task is complete
TAT (setting)
ACK
TAT
$BSY
TAT
$TOK
PC Servo
Time lt200 ms
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 39
General Commands (ASCII) Chapter 3
Manual Task (TMN)
Figure 4 - Manual Task (TMN) Command String Example
Attribute Value
Command TMN
Format STX ID TMN 1 BSS ETX
Data Argument Description
T1 Manual task number See the following Values and Task Descriptions
Value Task Description
0x01 - Speed Command Offset - Decrement by 01 mV
0x02 + Speed Command Offset - Increment by 01 mV
0x03 Save Speed Command Offset change
0x04 - Current Command Offset - Decrement by 01 mV
0x05 + Current Command Offset - Increment by 01 mV
0x06 Save Current Command Offset change
0x07 Discard changes and exit
Response ACK
Usage Note Most manual tasks are complete by the time ACK is received Commands 0x03 and 0x06 may take longer because they save data to flash memory Send TMN command without arguments to find out if a task is completed See Figure 4 for command examples
Next Command STX ID TAT BSS ETX
Response Format STX ID $ BSY BSS ETX - if task is not complete STX ID $ TOK BSS ETX - task is complete
TMN (setting)
ACK
TMN
$BSY
TMN
$TOK
PC Servo
Time lt200 ms
40 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 3 General Commands (ASCII)
Read Fault Contents (EHY)
Jog (JOG)
Attribute Value
Command EHY
Description Read faults See Read Fault Detailed Data (DIE) on page 43 for alternative fault data
Format STX ID EHY F1 BSS ETX
Data Argument Description
F1 Fault Number Range is 0x01hellip0x08 where latest fault status is stored in 0x01 and oldest fault is stored in 0x08
Response Format STX ID $ EHYE FCode FChars BSS ETX
Data Data Description
FCode Fault Code See Appendix C for a list of fault codes
FChars Fault Name Abbreviated See Appendix C
Usage Note Use this command to find out more about one of the eight faults To receive all fault statuses use EHY command below
Attribute Value
Command EHY
Description Read all fault codes
Format STX ID EHY BSS ETX
Data Argument Description
Asterik () means all faults
Response Format STX ID $ EHY Fcode1ampFcode2ampFcode8 BSS ETX
Data Data Description
Fcode1hellipFcode8 Fault Code See Appendix C for a list of fault codes
Attribute Value
Command JOG
Description Jog forward or reverse
Format STX ID JOG P1 BSS ETX
Data Argument Description
P1 0 = prepare for jog operation + = jog forward - (dash) = jog reverse
Response ACK
Usage Note To keep jogging send JOG command more than once within 500 ms To end Jog mode send SVROF
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 41
General Commands (ASCII) Chapter 3
Read Drive Status (STS)
Attribute Value
Command STS
Description Read status
Format STX ID STS BSS ETX
Response Format STX ID $ STS Mode S1 S2 S3 S4 S5 SS FChars BSS ETX
Response Data Arguments Description
Mode One of these operating modes F = Follower mode S = Analog Velocity mode P = Preset Velocity mode C = Analog Current mode D = Dual Current Command mode PF PS PC FS FC SC = Mixed modes Refer to [Pr - 000] Operations Mode on page 46 for additional information
S1 S1 means In Follower mode 1 = In Position 0 = Not In Position In Analog Velocity or Preset Velocity modes 1 = In Speed Window 0 = not In Speed Window If position or speed data is not available S1= 0
S2 One of the following 1 = Up to Speed 0 = Not Up to Speed If speed data is not available S2=0
S3 One of the following 1 = Drive is Enabled 0 = Drive is Disabled
S4 One of the following 1 = Positive Overtravel is active 0 = Positive Overtravel is inactive
S5 One of the following 1 = Negative Overtravel is active 0 = Negative Overtravel is inactive
SS One of the following Edd = fault occurred (See Appendix C)
dd = 2 byte error code 0x00hellip0xFF Wdd = warning occurred (See Appendix C)
dd = 2 byte warning code RDY = no errors or warnings
FChars Abbreviation of the faultwarning name In the case of Estop fault Fchars = ESTOP FChars size is 5 bytes when fault occurs and 3 bytes when warning occurs
42 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 3 General Commands (ASCII)
Other Functions (ETC)
Attribute Value
Command ETC
Format STX ID ETC F1 BSS ETX
Data Argument Description
F1 Manual task number See the following Values and Task Descriptions
Value Task Description
0x09 Clear Fault History
0x0A Reset Absolute Encoder (1)
(1) Resetting of an absolute (17-bit) encoder is possible only when the drive is disabled The command Reset Absolute Encoder sets the rotation data to 0 and clears all encoder related faults and warnings
0x0B Store 2-Group Gain
0x0C Reset to Factory settings (2)
(2) Parameters in the table below are not affected by the Reset to Factory settings
0x0D Test Run
0x0E Upgrade Firmware
0x0F Erase Manufacturing Information
Response ACK
Usage Note Send ETC command without arguments to find out if a task is completed
Next Command STX ID ETC BSS ETX
Response Format STX ID $ BSY BSS ETX - if task is not complete orSTX ID $ TOK BSS ETX - task is complete
Parameter Number Description
600 Analog Velocity Command Offset
601 Analog Current Command Offset
602 U Phase Current Sensing Offset
603 W Phase Current Sensing Offset
700hellip707 Group 7 - Manufacturing Settings
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 43
General Commands (ASCII) Chapter 3
Verify Software Version (VER)
Verify Servo Connection (LIV)
Read Fault Detailed Data (DIE)
Attribute Value
Command VER
Description Verify software version
Format STX ID VER BSS ETX
Response Format STX ID $ VER V BSS ETX
Response Data Argument Description
V Firmware version Size 5 bytes including a space Example STX01$VER 100BSS ETX
Attribute Value
Command LIV
Description Verify servo connection
Format STX ID LIV BSS ETX
Response Format ACK if there is a connection
Attribute Value
Command DIE
Description Read detailed fault data stored in [Pr - 607] Fault Detail Data Selection 1 Sample period in microseconds = [Pr - 607] 200) See Read Fault Contents (EHY) on page 40 for alternative fault data
Format STX ID DIE A1 A2 BSS ETX
Data Argument Description
A1 Channel to get the data for Range 1hellip4 Channels are stored in [Pr - 607]hellip[Pr - 610] Fault Detail Data Selection 4
A2 Data Number Range 0hellip50 0 means all data
Usage Note Send DIE 02 00 to receive all the data for A1= 02 Send DIE 00 01 to receive data for data number 1 of 4 variables DIE 00 00 is invalid
Response Format STX ID $ DIE D1ampD2ampDN BSS ETX
Error Response STX ID $ DIE FFFF BSS ETX means data number is invalid
Response Data Argument Description
D1hellipDn Detailed data where n depends on A1 and A2 If A1=00 and A2 = 01 then n = 4 If A1=01hellip04 and A2 = 01hellip50 then n=1 If A1=01hellip04 and A2 = 00 then n= 50
44 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 3 General Commands (ASCII)
Enable Drive (SVRON)
Disable Drive (SVROF)
Reset Drive (HWR)
Attribute Value
Command SVRON
Description Enables the drive
Format STX ID SVRON BSS ETX
Response ACK
Attribute Value
Command SVROF
Description Disables the drive
Format STX ID SVROF BSS ETX
Response ACK
Attribute Value
Command HWR
Description Reset the drive by using watchdog counter
Format STX ID HWR BSS ETX
Response ACK
Usage Note Stops the watchdog timer allowing a hardware signal to reboot (reset) the drive
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 45
Appendix A
Standard Drive Parameters
Parameters control Kinetix 3 drive operations They are grouped by the type of drive Standard or Indexing and the settings they define
Descriptions of Indexing Drive Parameters begin on page 115
Parameter Groupings Standard drive parameters are grouped into these drive settings bull Group 0 - Basic drive system and IO settings bull Group 1 - Gain and gain tuning settings bull Group 2 - Velocity control settings bull Group 3 - Position control settings bull Group 4 - Torque control settings bull Group 5 - Supplementary drive system and IO settings bull Group 6 - Supplementary gain settings and fault reports bull Group 7 - Factory default settings bull Group 8 - Parameters reserved bull Group 9 - Motor and drive operating mode parameters
46 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
Parameter Descriptions Parameter descriptions list the size of each parameter and the data options within the parameter
Descriptions of Indexing Drive Parameters begin on page 115
Group 0 - System Level
[Pr - 000] Operations Mode
Ultraware Name Operation Modes (MainOverride)
Range 0hellip12
Display (Value) Normal operating mode Override operating mode
F (1) Follower Follower
S (2) Analog Velocity Input Analog Velocity Input
C (3) Analog Current Input Analog Current Input
SF (4) Analog Velocity Input Follower
CF (5) Analog Current Input Follower
CS (6) Analog Current Input Analog Velocity Input
P (7) Preset Velocity Preset Velocity
PF (8) Preset Velocity Follower
PS (9) Preset Velocity Analog Velocity Input
PC (10) Preset Velocity Analog Current Input
D (11) Reserved Reserved
I (12) Indexing Indexing
Default 1
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
MODBUS Address 0
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 47
Standard Drive Parameters Appendix A
[Pr - 001] Motor Configuration
Data Size 6 digits
Ultraware Name Motor configuration
Digit 0 Encoder type
Range Value Description
0x0hellip0xf Each number define a corresponding encoder type 9 line or 17-bit serial for example
Default 0x1 = 9 line
Digit 1hellip2 Rated power
Range Value Description
A5010204081015 501002004008001000 or 1500 Watts
Default 04 = 400 W
Digit 3hellip4 Motor type
Range Value Description
Motor type Motor initial ID
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
MODBUS Address 1
When Enabled Servo-Off -gt Setting
Applicable Operating Mode All
MODBUS Address Pr-001[Lo] = 1 Pr-001[Hi] = 2
48 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 002] Motor Basic Modes
Data Size 4 digits
Digit 0 Fault and Disable Braking
Ultraware Name Stopping Functions Fault and Disable Braking
Range Value Description
0x0 Brake and hold
0x1 Brake and release
0x2 Free stop
0x3 Free stop and hold
Default 0
Digit 1 Overtravel stop method
Ultraware Name Stopping Functions Over Travel Stop Method
Range Value Description
0x0 Stop by change of mode to Normal Current Set stopping current with Overtravel Current Limit parameter [Pr - 405]
0x1 Dynamic Brake
Default 0
Digit 2 Motor Forward Dir
Ultraware Name Command Polarity
Range Value Description
0x0 The command signal is not inverted so that a positive command value results in clockwise rotation as viewed from shaft end
0x1 The command signal is inverted so that a positive command value results in counter-clockwise rotation s viewed from shaft end
Default 0
Digit 3 Power input
Ultraware Name AC Line Loss Check
Range Value Description
0x0 Enables the following bull 50hellip400W drive Enable
single-phase open check bull 800hellip15kW drive Enable
three-phase open check
0x1 Disable
0x2 Single-phase input
Default 0
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 49
Standard Drive Parameters Appendix A
When Enabled Servo-Off -gt Setting
Applicable Operating Mode All
MODBUS Address 3
[Pr - 003] Auto Tuning Functions
Data Size 4 digits
Digit 0 Off-line Tuning Mode
Ultraware Name Off-line Tuning Mode
Range Value Description
0x0 Inertia Moment Estimation
0x1 Inertia Moment Estimation and Resonant Frequency Detection
0x2 Resonance frequency Detection
Default 1
Digit 1 Reserved
Digit 2 Autotuning Speed
Ultraware Name Autotuning Speed
Range 2hellip9
Default 7
Units rpm100
Digit 3 Dynamic Tuning Response Speed
Ultraware Name Online Tuning Response
Range Value Description
0x0 Off
0x1 Slowest
0x2 Slower
0x3 Slow
0x4 Medium-Slow
0x5 Medium
0x6 Medium-Fast
0x7 Fast
0x8 Faster
0x9 Fastest
Default 0
Units -
When Enabled Servo-Off -gt Setting
Applicable Operating Mode All
MODBUS Address 4
[Pr - 002] Motor Basic Modes (Continued)
50 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 004] Inertia Ratio
Description Load Inertia Motor Inertia
Ultraware Name Inertia Ratio
Range 0hellip6000
Default 100
Units (Load inertiaMotor inertia) 100
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 5
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 51
Standard Drive Parameters Appendix A
[Pr - 005] Auxiliary Function Selection 1
Applicable Operating Mode All
Data Size 4 digits
Digit 0 Encoder Back-up Battery
Ultraware Name Encoder Back-up Battery
Range Value Description
0x0 Battery Installed
0x1 Battery Not Installed
Default 0
Digit 1 Velocity Observer
Ultraware Name Velocity Observer
Range Value Description
0x0 Disable
0x1 Enable
Default 0
Digit 2 Alternative Gain Change Enable
Ultraware Name Gain Change Enable
Range Value Description
0x0 Disable
0x1 Enable
Default 0x0
Digit 3 Emergency stop input
Range Value Description
0x0 Disable
0x1 Enable
Default 0
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
MODBUS Address 6
52 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 006] Auxiliary Function Selection 2
Applicable Operating Mode All
Data Size 3 digits
Digit 0 Automatic Motor Identification
Ultraware Name Auto Motor Identification
Range Value Description
0x0 Disabled
0x1 Enabled
Default 1
Digit 1 Incremental Feedback Loss (Encoder Line Break Detection)
Ultraware Name Incremental Feedback Loss
Range Value Description
0x0 Monitored
0x1 Ignored
Default 0
Digit 2 Mode of Gain Switching
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 53
Standard Drive Parameters Appendix A
Range Value Description
0 Fixed to the 1st gain
1 Fixed to 2nd gain
2 2nd gain selection when the gain switching input is turned on
3 2nd gain selection when the toque command is larger than the set-up levels of the gain control switching and hysteresis of control switching
4 2nd gain selection when the command speed is larger than the set-up levels of the gain control switching and hysteresis of control switching
5 2nd gain selection when the positional deviation is larger than the setup set-up levels of the gain control switching and hysteresis of control switching
6 2nd gain selection when more then one command pulse exist between 200usec
7 2nd gain selection when the positional deviation counter value exceeds the set-up of the positioning complete range
8 2nd gain selection when the motor actual speed exceeds the set-up levels of the gain control switching and hysteresis of control switching)Switches to the 2nd gain while the position command exists
9 Switches to the 1st gain when no-position command status lasts for the set up of delay time of gain switching [x 200usec] and the speed falls slower than the set-up levels of the gain control switching level and hysteresis of control switching
Default 0
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 7
[Pr - 006] Auxiliary Function Selection 2 (Continued)
54 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 007] Drive Address
Applicable Operating Mode All
Ultraware Name Drive Address
Range 1hellip247
Default 1
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 8
[Pr - 008] Password
Applicable Operating Mode All
Ultraware Name Drive Password
Range 0hellip9999Usage Note Unprotected Code 777
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 9
[Pr - 009] Serial Port Configuration
Applicable Operating Mode All
Data Size 4 digits
Digit 0 Baud Rate
Ultraware Name Baud Rate
Range Value Description
0x0 9600 bps
0x1 14400 bps
0x2 19200 bps
0x3 38400 bps
0x4 56000 bps
0x5 57600 bps
Default 0x5
Digit 1 Data bits Parity Stop bit
Ultraware Name Data bits Parity Stop bit
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 55
Standard Drive Parameters Appendix A
Range Value Description
0x0 8 No 1
0x1 8 Even 1
0x2 8 Odd 1
0x3 8 No 2
0x4 8 Even 2
0x5 8 Odd 2
Default 0x0
Digit 2 Protocol
Ultraware Name Protocol
Range Value Description
0x0 ASCII
0x1 MODBUS-RTU
Default 0
Digit 3 Communication Method
Ultraware Name Communication Method
Range Value Description
0 0x0 RS232
1 Ox1 RS485
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 10
[Pr - 010] Allocation of Input Signals 1
Range for all digits 0hellipB where 0 is Off B is On and 1hellipA are digital inputs
Data Size 4 digits
Digit Description Default Unmapped IO Status
0 Drive enable (SV-ON) 0x1 ON
1 Positive overtravel (P-OT) 0xb ON
2 Negative overtravel (N-OT) 0xb ON
3 Integrator inhibit (CON) 0x4 OFF
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 010]hellip[Pr - 021] on page 60
Applicable Operating Mode All
MODBUS Address 11
[Pr - 009] Serial Port Configuration (Continued)
56 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 011] Allocation of Input Signals 2
Range for all digits 0hellipB where 0 is Off B is On and 1hellipA are digital inputs
Data Size 4 digits
Digit Description Default Unmapped IO Status
0 Fault reset (A-RST) 0x5 OFF
1 Negative current limit (N-TL) 0x6 OFF
2 Positive current limit (P-TL) 0x7 OFF
3 Operation mode override (C-SEL)
0x0 OFF
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 010]hellip[Pr - 021] on page 60
Applicable Operating Mode All
MODBUS Address 12
[Pr - 012] Allocation of Input Signals 3
Range for all digits 0hellipB where 0 is Off B is On and 1hellipA are digital inputs
Data Size 4 digits
Digit Description Default Unmapped IO Status
0 Preset direction (C-DIR) 0x0 OFF
1 Preset select 1 (C-SP1) 0x0 OFF
2 Preset select 2 (C-SP2) 0x0 OFF
3 Preset select 3 (C-SP3) 0x0 OFF
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 010]hellip[Pr - 021] on page 60
Applicable Operating Mode All
MODBUS Address 13
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 57
Standard Drive Parameters Appendix A
[Pr - 013] Allocation of Input Signals 4
Range for all digits 0hellipB where 0 is Off B is On and 1hellipA are digital inputs
Data Size 4 digits
Digit Description Default Unmapped IO Status
0 Zero speed clamp enable (Z-CLP)
0x0 OFF
1 Pause follower (INHIBIT) 0x0 OFF
2 Alternate gain select (G-SEL) 0x0 OFF
3 Position clear (PCLR) 0x0 OFF
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 010]hellip[Pr - 021] on page 60
Applicable Operating Mode All
MODBUS Address 14
[Pr - 014] Allocation of Input Signals 5
Range for all digits 0hellipB where 0 is Off B is On and 1hellipA are digital inputs
Data Size 4 digits
Digit Description Default Unmapped IO Status
0 Position strobe (ABS-DT) 0x0 OFF
1 Motor moving enable (START) 0x0 OFF
2 Analog speed command select (C-SP4)
0x0 OFF
3 2nd electronic gear bank selection (GEAR)
0x0 OFF
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 010]hellip[Pr - 021] on page 60
Applicable Operating Mode All
MODBUS Address 15
58 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 015] Allocation of Input Signals 6
Data Size 4 digits
Digit Description Default Unmapped IO Status
0 Reset multi-turn data of absolute encoder (R_ABS)
0x0 OFF
1 Gain bank select (BANK_SEL) 0x0 OFF
2 Reserved 0x0 OFF
3 Reserved 0x0 OFF
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 010]hellip[Pr - 021] on page 60
Applicable Operating Mode All
MODBUS Address 16
[Pr - 016] Allocation of Input Signals 7
Data Size 4 digits
Digit Description Default Unmapped IO Status
0 Home sensor (H_SENS) 0x0 OFF
1 Start homing (SHOME) 0x0 OFF
2 Stop indexing (STOP) 0x0 OFF
3 Pause indexing (PAUSE) 0x0 OFF
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 010]hellip[Pr - 021] on page 60
Applicable Operating Mode Indexing
MODBUS Address 17
[Pr - 017] Allocation of Input Signals 8
Data Size 4 digits
Digit Description Default Unmapped IO Status
0 Index select 0 input (I_SEL0) 0x0 OFF
1 Index select 1 input (I_SEL1) 0x0 OFF
2 Index select 2 input (I_SEL2) 0x0 OFF
3 Index select 3 input (I_SEL3) 0x0 OFF
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 010]hellip[Pr - 021] on page 60
Applicable Operating Mode Indexing
MODBUS Address 18
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 59
Standard Drive Parameters Appendix A
[Pr - 018] Allocation of Input Signals 9
Data Size 4 digits
Digit Description Default Unmapped IO Status
0 Index select 4 input (I_SEL4) 0x0 OFF
1 Index select 5 input (I_SEL5) 0x0 OFF
2 Stop homing (H_STOP) 0x0 OFF
3 Start index (START_I) 0x0 OFF
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 010]hellip[Pr - 021] on page 60
Applicable Operating Mode Indexing
MODBUS Address 19
[Pr - 019] Allocation of Input Signals 10
Data Size 4 digits
Digit Description Default Unmapped IO Status
0 Reserved 0x0 OFF
1 Reserved 0x0 OFF
2 Reserved 0x0 OFF
3 Reserved 0x0 OFF
When Enabled Reserved
Applicable Operating Mode Indexing
MODBUS Address 20
[Pr - 020] Allocation of Input Signals 11
Data Size 4 digits
Digit Description Default Unmapped IO Status
0 Reserved 0x0 OFF
1 Reserved 0x0 OFF
2 Reserved 0x0 OFF
3 Reserved 0x0 OFF
When Enabled Reserved
Applicable Operating Mode Indexing
MODBUS Address 21
60 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
Table 1 - Setting Values for Parameters [Pr - 010]hellip[Pr - 021]
[Pr - 021] Allocation of Input Signals 12
Data Size 4 digits
Digit Description Default Unmapped IO Status
0 Reserved 0x0 OFF
1 Reserved 0x0 OFF
2 Reserved 0x0 OFF
3 Reserved 0x0 OFF
When Enabled Reserved
Applicable Operating Mode Indexing
MODBUS Address 22
Setting Value (1)
1 Setting values are reserved (not available) for [Pr - 019] and [Pr - 020]
B A 9 6 7 6 5 4 3 2 1 0
Input Channel No
Input Signal
19 9 8 7 6 5 4 3 2 1 Input Signal
CN1 Pin No On 26 27 29 9 8 7 6 5 4 3 Off
[Pr - 022] Allocation of Output Signals 1
Range for all digits 0hellip3 where 0 is Off and 1hellip6 are digital outputs
Data Size 4 digits
Digit Description Default
0 Within position window (P-COM)
0x1
1 Up to speed (TG-ON) 0x2
2 Brake control (BK) 0x3
3 Within speed window (V-COM) 0x0
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 022]hellip[Pr - 032] on page 65
Applicable Operating Mode All
MODBUS Address 23
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 61
Standard Drive Parameters Appendix A
[Pr - 023] Allocation of Output Signals 2
Range for all digits 0hellip3 where 0 is Off and 1hellip6 are digital outputs
Data Size 4 digits
Digit Description Default
0 Current limited (T_LMT) 0x0
1 Velocity limited (V-LMT) 0x0
2 Near position (NEAR) 0x0
3 Warning (WARN) 0x0
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 022]hellip[Pr - 032] on page 65
Applicable Operating Mode All
MODBUS Address 24
[Pr - 024] Allocation of Output Signals 3
Range for all digits 0hellip3 where 0 is Off and 1hellip6 are digital outputs
Data Size 4 digits
Digit Description Default
0 Absolute position valid (A_VLD) 0x0
1 Ready 0x0
2 Reserved 0x0
3 Reserved 0x0
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 022]hellip[Pr - 032] on page 65
Applicable Operating Mode All
MODBUS Address 25
62 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 025] Allocation of Output Signals 4
Range for all digits 0hellip3 where 0 is Off and 1hellip6 are digital outputs
Data Size 4 digits
Digit Description Default
0 In Motion (IMO) 0x0
1 In Dwell (I_DW) 0x0
2 Axis Homed (HOMC) 0x0
3 Index Select 0 Out (O_ISEL0) 0x0
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 022]hellip[Pr - 032] on page 65
Applicable Operating Mode Indexing
MODBUS Address 26
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 63
Standard Drive Parameters Appendix A
[Pr - 026] Allocation of Output Signals 5
Range for all digits 0hellip3 where 0 is Off and 1hellip6 are digital outputs
Data Size 4 digits
Digit Description Default
0 Index Select 1 Out (O_ISEL1) 0x0
1 Index Select 2 Out (O_ISEL2) 0x0
2 Index Select 3 Out (O_ISEL3) 0x0
3 Index Select 4 Out (O_ISEL4) 0x0
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 022]hellip[Pr - 032] on page 65
Applicable Operating Mode Indexing
MODBUS Address 27
[Pr - 027] Allocation of Output Signals 6
Range for all digits 0hellip3 where 0 is Off and 1hellip6 are digital outputs
Data Size 4 digits
Digit Description Default
0 Index Select 5 Out (O_ISEL5) 0x0
1 End of Sequence (E_SEQU) 0x0
2 Reserved 0x0
3 Reserved 0x0
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 022]hellip[Pr - 032] on page 65
Applicable Operating Mode Indexing
MODBUS Address 28
[Pr - 028] Allocation of Output Signals 7
Range for all digits 0hellip3 where 0 is Off and 1hellip6 are digital outputs
Data Size 4 digits
Digit Description Default
0 Reserved 0x0
1 Reserved 0x0
2 Reserved 0x0
3 Reserved 0x0
When Enabled Reserved
Applicable Operating Mode Indexing
MODBUS Address 29
64 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 029] Allocation of Output Signals 8
Range for all digits 0hellip3 where 0 is Off and 1hellip6 are digital outputs
Data Size 4 digits
Digit Description Default
0 Reserved 0x0
1 Reserved 0x0
2 Reserved 0x0
3 Reserved 0x0
When Enabled Reserved
Applicable Operating Mode Indexing
MODBUS Address 30
[Pr - 030] Allocation of Output Signals 9
Range for all digits 0hellip3 where 0 is Off and 1hellip6 are digital outputs
Data Size 4 digits
Digit Description Default
0 Reserved 0x0
1 Reserved 0x0
2 Reserved 0x0
3 Reserved 0x0
When Enabled Reserved
Applicable Operating Mode Indexing
MODBUS Address 31
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 65
Standard Drive Parameters Appendix A
Table 2 - Setting Values for Parameters [Pr - 022]hellip[Pr - 032]
[Pr - 031] Allocation of Output Signals 10
Range for all digits 0hellip3 where 0 is Off and 1hellip6 are digital outputs
Data Size 4 digits
Digit Description Default
0 Reserved 0x0
1 Reserved 0x0
2 Reserved 0x0
3 Reserved 0x0
When Enabled Reserved
Applicable Operating Mode Indexing
MODBUS Address 32
[Pr - 032] IO Control Authority
Applicable Operating Mode All
Data Size 2 digits
Digit 0 MODBUS Input Function Control
Ultraware Name MODBUS Input Function Control
Range Value Description
0x0 Disable
0x1 Enable
Default 0
Digits 1 MODBUS Run Function Control
Ultraware Name MODBUS Run Function Control
Range Value Description
0x0 Disable
0x1 Enable
Default 0
When Enabled Servo-Off -gt Setting (1)
1 Refer to the Setting Values for Parameters [Pr - 022]hellip[Pr - 032] table immediately below
Applicable Operating Mode All
MODBUS Address 33
Setting Value (1)
1 Setting Values are reserved (not available) for [Pr - 028] and [Pr - 031]
6 5 4 3 2 1 0
Input Channel No AL 3 AL 2 DO1 DO3 DO2 DO1 Input Signal
CN1 Pin No 39 38 37 4748 4344 4142 Off
66 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
Group 1 - Gain Control
[Pr - 100] Velocity Regulator Response Level
Ultraware Name Velocity Regulator Response level
Range 1hellip150
Default 50
Units
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 100
[Pr - 101] System Gain
Ultraware Name Velocity Regulator Response level
Range 1hellip150
Default 50
Units Hz
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 101
[Pr - 102] Velocity Regulator P Gain
Ultraware Name Main Velocity Regulator Gains Proportional Gain
Range 0hellip10000
Default 60
Units -
Applicable Operating Mode
When Enabled Immediately
Applicable Operating Mode Follower Analog Speed Preset
MODBUS Address 102
[Pr - 103] Velocity Regulator I Gain
Ultraware Name Main Velocity Regulator Gains Integral Gain
Range 0hellip60000
Default 26
Units -
When Enabled Immediately
Applicable Operating Mode Follower Analog Speed Preset
MODBUS Address 103
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 67
Standard Drive Parameters Appendix A
[Pr - 104] Velocity Regulator D gain
Ultraware Name Main Velocity Regulator Gains Derivative Gain
Range 0hellip1000
Default 0
Units -
When Enabled Immediately
Applicable Operating Mode Follower Analog Speed Preset
MODBUS Address 104
[Pr - 105] Velocity Error Filter
Ultraware Name Calibration Error Filter Bandwidth
Range 0hellip2500
Default 30
Units Hz
When Enabled Immediately
Applicable Operating Mode Follower Analog Speed Preset
MODBUS Address 105
[Pr - 106] Position Regulator Kp Gain
Ultraware Name Main Position Regulator Gains Kp
Range 0hellip700
Default 20
Units Hz
When Enabled Immediately
Applicable Operating Mode Follower Analog Speed Preset
MODBUS Address 106
68 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 107] Current Command Lowpass Filter Bandwidth
Ultraware Name Main Current Regulator Gains Low Pass Filter Bandwidth
Range 0hellip10000
Default 300
Units Hz
Applicable Operating Mode All
When Enabled Immediately
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 107
[Pr - 108] Velocity Command Lowpass Filter Bandwidth
Ultraware Name Main Velocity Regulator Gains Low Pass Filter Bandwidth
Range 0hellip10000
Default 1000
Units Hz
When Enabled Immediately
Applicable Operating Mode Follower Analog Speed Preset
MODBUS Address 108
[Pr - 109] Position Command Lowpass Filter Bandwidth
Ultraware Name Main Position Regulator Gains Low Pass Filter Bandwidth
Range 0hellip1000
Default 0
Units Hz
When Enabled Immediately
Applicable Operating Mode Follower
MODBUS Address 109
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 69
Standard Drive Parameters Appendix A
[Pr - 110] 1st Resonant Frequency Suppression Filter
Ultraware Name Main Current Regulator Gains 1st Resonant Frequency Suppression Filter
Description Suppresses Vibration by cutting off Current Command in assigned frequency band
Range 0hellip10000
Default 10000
Units Hz
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 110
[Pr - 111] 1st Resonant Frequency Suppression Filter Width
Ultraware Name Main Current Regulator Gains 1st Resonant Frequency Suppression Filter Width
Description Set up the notch width of 1st resonance suppressing filter in 20 steps Higher the setup larger the notch width you can obtain
Range 0hellip20
Default 10
Units
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 111
[Pr - 112] 2nd Resonant Frequency Suppression Filter
Ultraware Name 2nd Main Current Regulator Gains 2nd Resonant Frequency Suppression Filter
Description Suppresses Vibration by cutting off Current Command in assigned frequency band
Range 0hellip10000
Default 10000
Units Hz
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 112
70 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 113] 2nd Resonant Frequency Suppression Filter Width
Ultraware Name Main Current Regulator Gains 2nd Resonant Frequency Suppression Filter Width
Description Set up the notch width of 2nd resonance suppressing filter in 20 steps The higher the setup larger the notch width you can obtain
Range 0hellip20
Default 10
Units -
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 113
[Pr - 114] 2nd Resonant Frequency Suppression Filter Depth
Ultraware Name Main Current Regulator Gains 2nd Resonant Frequency Suppression Filter Depth
Description Set up the 2nd notch depth of the resonance suppressing filter The higher the setup the shallower the notch depth and the smaller the phase delay you can obtain
Range 0hellip100
Default 100
Units -
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 114
[Pr - 115] Position Regulator Kff gain
Ultraware Name Main Position Regulator Gains Kff
Range 0hellip100
Default 0
Units
When Enabled Immediately
Applicable Operating Mode Follower
MODBUS Address 115
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 71
Standard Drive Parameters Appendix A
[Pr - 116] Position Regulator Kff Bandwidth
Ultraware Name Main Position Regulator Gains Kff Low Pass Filter Bandwidth
Range 0hellip2500
Default 200
Units Hz
When Enabled Immediately
Applicable Operating Mode Follower
MODBUS Address 116
[Pr - 117] Velocity Regulator I Gain Mode
Ultraware Name Main Velocity Regulator Gains I Gain Mode
Description During transient response Speed Response Overshoot can be suppressed by a speed controller change from a Proportional Integral (PI) controller into a Proportional (P) controller It reduces position completion time during position control
Range Value Description
0x0 Do not use PPI Mode Conversion
0x1 When Current Command exceeds Current Value in [Pr - 118] Speed Controller is changed from PI Controller to P Controller
0x2 When Speed Command exceeds Speed Value in [Pr - 118] Speed Controller is changed from PI Controller to P Controller
0x3 When Position error exceeds Position error Value in [Pr - 118] Speed Controller is changed from PI Controller to P Controller
0x4 Automatically velocity controller is changed from PI Controller to P Controller
Default 3
When Enabled Servo-Off -gt Setting
Applicable Operating Mode All
MODBUS Address 117
72 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 118] Velocity Regulator I Gain Disable Threshold
Ultraware Name Main Velocity Regulator Gains I Gain Disable Threshold
Range 0hellip3000
Default 100
Units If [Pr - 117] = 1 units are of rated continuous current
If [Pr - 117] = 2 units are rpm for rotary motors mmsec for linear motors
If [Pr - 117] = 3 units are Counts
When Enabled Follower Analog Velocity Preset
Applicable Operating Mode Immediately
MODBUS Address 118
[Pr - 119] Position Regulator High Error Output Offset
Ultraware Name Main Position Regulator Gains High Error Output Offset
Range 0hellip450
Default 0
Units Rotary rpm Linear mmsec
When Enabled All
Applicable Operating Mode Immediately
MODBUS Address 119
[Pr - 120] Position Regulator High Error Output Threshold
Ultraware Name Main Position Regulator Gains High Error Output Threshold
Range 0hellip50000
Default 1000
Units Counts
When Enabled All
Applicable Operating Mode Immediately
MODBUS Address 120
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 73
Standard Drive Parameters Appendix A
[Pr - 121] Current Regulator Bandwidth Reduction Scale
Ultraware Name Main Current Regulator Gains Gain
Range Value Description
0x0 High bandwidth
0x1 Medium bandwidth (06667 high)
0x2 Low bandwidth (03334 high)
Default 0x1
When Enabled All
Applicable Operating Mode Immediately
MODBUS Address 121
[Pr - 122] On-line Vibration Mode
Data Size 1 digits
Digit 0 On-line Vibration Suppression Mode
Ultraware Name On-line Vibration Suppression Mode
Range Value Description
0x0 Disable
0x1 Normal and High Velocity Mode
0x2 Slow Velocity Mode without initial value
Default 0x0
Digit 1 On-line Vibration Suppression Gain
Ultraware Name On-line Vibration Suppression Gain
Range Value Description
0x0 Low
0x1 High
Default 0x0
When Enabled All
Applicable Operating Mode Servo-Off -gt Setting
MODBUS Address 122
74 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 123] Velocity Regulator Configuration
Applicable Operating Mode All
Data Size 1 digits
Digit 0 Velocity Command Filter on Follower
Ultraware Name Velocity Command Filter on Follower
Range Value Description
0x0 Disable
0x1 Enable
Default 0x0
When Enabled Immediately
Applicable Operating Mode Servo-Off -gt Setting
MODBUS Address 123
[Pr - 124] Delay Time of Gain Switching
Ultraware Name Gain Switching Delay Time of Gain Switching
Range 0hellip10000
Default 0
Units X 200usec
When Enabled Immediately
Applicable Operating Mode Follower Analog Velocity Preset
MODBUS Address 124
[Pr - 125] Level of Gain Switching
Ultraware Name Gain Switching Level of Gain Switching
Range 0hellip10000
Default 0
Units -
When Enabled Immediately
Applicable Operating Mode Follower Analog Velocity Preset
MODBUS Address 125
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 75
Standard Drive Parameters Appendix A
[Pr - 126] Hysteresis of Gain Switching
Ultraware Name Gain Switching Hysteresis of Gain Switching
Range 0hellip10000
Default 0
Units -
When Enabled Immediately
Applicable Operating Mode Follower Analog Velocity Preset
MODBUS Address 126
[Pr - 127] Position Gain Switching Time
Ultraware Name Gain Switching Level of Gain Switching
Range 0hellip10000
Default 0
Units x 200usec
When Enabled Immediately
Applicable Operating Mode Follower Analog Velocity Preset
MODBUS Address 127
[Pr - 128] 2nd Velocity Regulator P Gain
Ultraware Name 2nd Regulator Gain P
Range 0hellip10000
Default 60
Units -
When Enabled Immediately
Applicable Operating Mode Follower Analog Velocity Preset
MODBUS Address 128
[Pr - 129] 2nd Velocity Regulator I Gain
Ultraware Name 2nd Regulator Gain Integrator Gain
Range 0hellip60000
Default 26
Units -
When Enabled Immediately
Applicable Operating Mode Follower Analog Velocity Preset
MODBUS Address 129
76 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 130] 2nd Position Regulator Kp Gain
Ultraware Name 2nd Regulator Gain Kp
Range 0hellip700
Default 20
Units Hz
When Enabled Immediately
Applicable Operating Mode Position
MODBUS Address 130
[Pr - 131] 2nd Current Command Lowpass Filter Bandwidth
Ultraware Name 2nd Regulator Gain Low Pass Bandwidth (IReg)
Range 0hellip10000
Default 300
Units Hz
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 131
[Pr - 132] 2nd Velocity Command Lowpass Filter Bandwidth
Ultraware Name 2nd Regulator Gain Low Pass Bandwidth (VReg)
Range 0hellip10000
Default 1000
Units Hz
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 132
[Pr - 133] 3rd Velocity Regulator P Gain
Ultraware Name 3rd Regulator Gain P Gain
Range 0hellip10000
Default 60
Units -
When Enabled Immediately
Applicable Operating Mode Follower Analog Velocity Preset
MODBUS Address 133
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 77
Standard Drive Parameters Appendix A
[Pr - 134] 3rd Velocity Regulator I Gain
Ultraware Name 3rd Regulator Gain Integrator Gain
Range 0hellip10000
Default 26
Units -
When Enabled Immediately Immediately
Applicable Operating Mode Follower Analog Velocity Preset
MODBUS Address 134
[Pr - 135] 3rd Position Regulator Kp Gain
Ultraware Name 3rd Regulator Gain Kp
Range 0hellip700
Default 20
Units Hz
When Enabled Immediately
Applicable Operating Mode Position
MODBUS Address 135
[Pr - 136] 3rd Current Command Lowpass Filter Bandwidth
Ultraware Name 3rd Regulator Gain Low Pass Bandwidth (IReg)
Range 0hellip10000
Default 300
Units Hz
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 136
[Pr - 137] 3rd Velocity Command Lowpass Filter Bandwidth
Ultraware Name 3rd Regulator Gain Low Pass Bandwidth (VReg)
Range 0hellip10000
Default 1000
Units Hz
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 137
78 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 138] 4th Velocity Regulator P Gain
Ultraware Name 4th Regulator Gain P
Range 0hellip10000
Default 60
Units -
When Enabled Immediately
Applicable Operating Mode Follower Analog Velocity Preset
MODBUS Address 138
[Pr - 139] 4th Velocity Regulator I Gain
Ultraware Name 4th Regulator Gain Integrator Gain
Range 0hellip60000
Default 26
Units
When Enabled Immediately
Applicable Operating Mode Follower Analog Velocity Preset
MODBUS Address 139
[Pr - 140] 4th Position Regulator Kp Gain
Ultraware Name 4th Regulator Gain Kp
Range 0hellip700
Default 20
Units Hz
When Enabled Immediately
Applicable Operating Mode Position
MODBUS Address 140
[Pr - 141] 4th Current Command Lowpass Filter Bandwidth
Ultraware Name 4th Regulator Gain Low Pass Bandwidth (IReg)
Range 0hellip10000
Default 300
Units Hz
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 141
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 79
Standard Drive Parameters Appendix A
[Pr - 142] 4th Velocity Command Lowpass Filter Bandwidth
Ultraware Name 4th Regulator Gain Low Pass Bandwidth (VReg)
Range 0hellip10000
Default 1000
Units Hz
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 142
80 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
Group 2 - Speed Control
[Pr - 200] Velocity Scale
Ultraware Name Velocity Scale
Range 100hellip20000
Default 5000
Units rpmV for rotary motors mmsec for linear motors
When Enabled Servo-Off -gt Setting
Applicable Operating Mode Analog Velocity
MODBUS Address 200 (1)
1 Refer to Output Function Status Parameter on page 23 for more detailed information on these parameters
[Pr - 201] Jog Velocity Command
Ultraware Name Velocity Control Panel Velocity Command
Range 0hellip6000
Default 50
Units rpm for rotary motors mmsec for linear motors
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 201
[Pr - 202] Acceleration
Ultraware Name Acceleration Limits Acceleration
Range 1hellip2147483647
Default 41667
Units 10-2Revsec2 for rotary mmsec2 for linear
When Enabled Immediately
Applicable Operating Mode Analog Velocity Input Preset Velocity
MODBUS Address 202
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 81
Standard Drive Parameters Appendix A
[Pr - 203] Deceleration
Ultraware Name Acceleration Limits Deceleration
Range 1hellip2147483647
Default 41667
Units 10-2Revsec2 for rotary mmsec2 for linear
When Enabled Immediately
Applicable Operating Mode Analog Velocity Input Preset Velocity
MODBUS Address 203
[Pr - 204] S-Curve Time
Ultraware Name Acceleration Limits S-Curve Time
Range 0hellip5000
Default 0
Units Ms
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 204
[Pr - 205] Preset Velocity 1
Ultraware Name Preset Velocity 1
Range -6000hellip6000
Default 0
Units rpm for rotary motors mmsec for linear motors
When Enabled Immediately
Applicable Operating Mode Preset
MODBUS Address 205
Pr - 206] Preset Velocity 2
Ultraware Name Preset Velocity 2
Range -6000hellip6000
Default 0
Units rpm for rotary motors mmsec for linear motors
When Enabled Immediately
Applicable Operating Mode Preset
MODBUS Address 206
82 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
Pr - 207] Preset Velocity 3
Ultraware Name Preset Velocity 3
Range -6000hellip6000
Default 0
Units rpm for rotary motors mmsec for linear motors
When Enabled Immediately
Applicable Operating Mode Preset
MODBUS Address 207
[Pr - 208] Preset Velocity 4
Ultraware Name Preset Velocity 4
Range -6000hellip6000
Default 0
Units rpm for rotary motors mmsec for linear motors
When Enabled Immediately
Applicable Operating Mode Preset
MODBUS Address 208
[Pr - 209] Preset Velocity 5
Ultraware Name Preset Velocity 5
Range -6000hellip6000
Default 0
Units rpm for rotary motors mmsec for linear motors
When Enabled Immediately
Applicable Operating Mode Preset
MODBUS Address 209
[Pr - 210] Preset Velocity 6
Ultraware Name Preset Velocity 6
Control Index 6
Range -6000hellip6000
Default 0
Units rpm for rotary motors mmsec for linear motors
When Enabled Immediately
Applicable Operating Mode Preset
MODBUS Address 210
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 83
Standard Drive Parameters Appendix A
[Pr - 211] Preset Velocity 7
Ultraware Name Preset Velocity 7
Range -6000hellip6000
Default 0
Units rpm for rotary motors mmsec for linear motors
When Enabled Immediately
Applicable Operating Mode Preset
MODBUS Address 211
[Pr - 212] Manual Velocity Limit
Ultraware Name Manual Velocity limit
Range 1hellip6000
Default 5000
Units rpm for rotary motors mmsec for linear motors
When Enabled Servo-Off -gt Setting
Applicable Operating Mode Follower Analog Velocity Preset
MODBUS Address 212
[Pr - 213] Velocity Limit Mode
Ultraware Name Velocity Limits Velocity Limit Mode
Range Value Description
0x0 Disabled
0x1 Limited by [Pr - 212]
0x2 Limited by Analog Speed Command Value (except Analog Speed Mode)
0x3 Limited by lesser one between [Pr - 212] and Analog Speed Command
Default 0
When Enabled Servo-Off -gt Setting
Applicable Operating Mode All
MODBUS Address 213
84 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
Group 3 - Position Control
[Pr - 300] Follower
Data Size 4 digits
Digit 0 Command Type
Ultraware Name Command Type
Range Value Description
0x0 Step UpStep Down Positive logic
0x1 Step UpStep Down Negative logic
0x2 StepDirection Positive Logic
0x3 StepDirection Negative Logic
0x4 Auxiliary Encoder x1
0x5 Auxiliary Encoder x2
0x6 Auxiliary Encoder x4
Default 0x0
Note For Command types 0x4 0x5 and 0x6Motor Counts = Master Lines MULT helliphelliphellip (4 Para301) Para302where MULT is 1 2 or 4 for command types 0x4 0x5 and 0x6 respectively
Applicable Operating Mode Follower
Digit 1 Controller Output Type
Ultraware Name Controller Output Type
Range Value Description
0x0 Use Low speed Line Drive Output in Host Controller for isolated electrical connection
0x1 Use Open Collector in Host Controller
0x2 Use High Frequency Line Drive Output in Host Controller
Default 0x0
Applicable Operating Mode Follower
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 85
Standard Drive Parameters Appendix A
Digit 2 Encoder Output Forward Direction
Ultraware Name Encoder Output Forward Direction
Range Value Description
0x0 During Forward Rotation Encoder Output Phase A have a lead of 90ordm over Phase B
0x1 During Forward Rotation Encoder Output Phase B have a lead of 90ordm over Phase A
Default 0x0
Applicable Operating Mode All
Digit 3 1st Gear ratio change
Ultraware Name 1st Gear ratio change
Range Value Description
0x0 Enable Only on Drive Disabled
0x1 Always Enable
Default 0x0
When Enabled Servo-Off -gt Setting
Applicable Operating Mode Follower
MODBUS Address 300
[Pr - 301] 1st Gear Ratio Follower Counts
Ultraware Name 1st Gear Ratio Numerator
Range 1hellip65535
Default 4
Units
When Enabled Servo-Off -gt Setting
Applicable Operating Mode Follower
MODBUS Address 301
[Pr - 300] (Continued) Follower
86 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 302] 1st Gear Ratio Master Counts
Ultraware Name 1st Gear Ratio Denominator
Range 1hellip65535
Default 1
Units
When Enabled Servo-Off -gt Setting
Applicable Operating Mode Follower
MODBUS Address 302
[Pr - 303] Encoder Output Ratio Output Counts
Ultraware Name Output Ratio Numerator
Range 1hellip32768
Default 1
Units
When Enabled Servo-Off -gt Setting
Applicable Operating Mode All
MODBUS Address 303
[Pr - 304] Encoder Output Ratio Motor Counts
Ultraware Name Output Ratio Numerator
Range 1hellip32768
Default 1
Units
When Enabled Servo-Off -gt Setting
Applicable Operating Mode All
MODBUS Address 304
[Pr - 305] 2nd Gear Ratio Follower Counts
Ultraware Name 2nd Gear Ratio Numerator
Range 1hellip65535
Default 4
Units
When Enabled Servo-Off -gt Setting
Applicable Operating Mode Follower
MODBUS Address 305
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 87
Standard Drive Parameters Appendix A
[Pr - 306] 2nd Gear Ratio Master Counts
Ultraware Name 2nd Gear Ratio Denominator
Range 1hellip65535
Default 1
Units
When Enabled Servo-Off -gt Setting
Applicable Operating Mode Follower
MODBUS Address 306
[Pr - 307] Reserved
When Enabled Reserved for future use
88 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 308] Digital Filter Cut-off Frequency
Data Size 3 digits
Digit 0 Low drive input
Value Description
0x0 hellip0x7 0 3MHz
1 175MHz
2 15MHz
3 1MHz
4 075MHz
5 0625MHz
6 0562MHz
7 0525MHz
Default = 1
Digit 1 Open collector input
Value Description
0x0 hellip0x7 0 3MHz
1 175MHz
2 15MHz
3 1MHz
4 075MHz
5 0625MHz
6 0562MHz
7 0525MHz
Default = 5
Digit 2 High frequency line drive input
0x0 hellip0x7 0 3MHz
1 175MHz
2 15MHz
3 1MHz
4 075MHz
5 0625MHz
6 0562MHz
7 0525MHz
Default = 0
When Enabled Servo-Off -gt Setting
Applicable Operating Mode All
MODBUS Address 308
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 89
Standard Drive Parameters Appendix A
Group 4 - Torque Controls
[Pr - 400] Current Scale
Ultraware Name Current Scale
Range 0hellip1000
Default 333
Units of rated continuous currentV
When Enabled Servo-Off -gt Setting
Applicable Operating Mode Analog Current command Dual current Command
MODBUS Address 400
[Pr - 401] Positive Internal Current Limit
Ultraware Name Current Limits Positive Internal
Range 0hellip500
Default 300
Units of motor rated continuous current
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 401
[Pr - 402] Negative Internal Current Limit
Ultraware Name Current Limits Negative Internal
Range 0hellip500
Default 300
Units of motor rated continuous current
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 402
[Pr - 403] Positive External Current Limit
Ultraware Name Current Limits Positive External
Range 0hellip500
Default 100
Units of motor rated continuous current
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 403
90 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[
Pr - 404] Negative External Current Limit
Ultraware Name Current Limits Negative External
Range 0hellip500
Default 100
Units of motor rated continuous current
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 404
[Pr - 405] Overtravel Current Limit
Ultraware Name Stopping Functions Maximum Stopping Current
Range 0hellip500
Default 300
Units of motor rated continuous current
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 405
[Pr - 406] Initial Current Bias
Ultraware Name Initial Current Bias
Description Constant current applied when the drive enables Meant to hold vertical loads
Range -100hellip100
Default 0
Units of motor rated continuous current
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 406
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 91
Standard Drive Parameters Appendix A
Group 5 - Supplemental Drive Controls
[Pr - 500] In Position Size
Ultraware Name Position Functions In Position Size
Description If position error lt In Position Size for 1 ms and the In Position Size output signal is assigned the In Position output is turned ON
Range 0hellip2500
Default 10
Units Counts
When Enabled Immediately
Applicable Operating Mode Follower
MODBUS Address 500
[Pr - 501] Reserved
When Enabled Reserved for future use
[Pr - 502] Near Position Size
Ultraware Name Position Functions Near Position Size
Description If position error lt Near Position Size and the Near Position output signal is assigned the Near Position output is turned ON
Range 0hellip2500
Default 20
Units Counts
When Enabled Immediately
Applicable Operating Mode Follower
MODBUS Address 502
92 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 503] Speed Window
Ultraware Name Speed Functions Speed Window
Description If the speed error lt Speed Window for 10 ms and the Within Speed Window output signal is assigned then the Within Speed Window output is turned ON
Range 0hellip1000
Default 10
Units rpm for rotary motors mmsec for linear motors
When Enabled Immediately
Applicable Operating Mode Follower Analog Velocity Input Preset
MODBUS Address 503
[Pr - 504] Up to Speed
Ultraware Name Speed Functions Up to Speed
Description If the motor speed gt Up to Speed and the Up to Speed output signal is assigned then the Up to Speed output is turned ON
Range 1hellip5000
Default 20
Units rpm for rotary motors mmsec for linear motors
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 504
[Pr - 505] Zero Clamp
Ultraware Name Speed Functions Zero Clamp
Description If the Analog Speed command lt Zero Clamp then the Analog Speed command is ignored and the Motor Speed command is set to zero
Range 1hellip5000
Default 20
Units rpm for rotary motors mmsec for linear motors
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 505
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 93
Standard Drive Parameters Appendix A
[Pr - 506] Brake Inactive Delay
Ultraware Name Digital Outputs Brake Inactive Delay
Description Brake Inactive delay is the time from when the drive is enabled to when the brake is released
Range 0hellip10000
Default 0
Units ms
When Enabled Immediately
Applicable Operating Mode Servo-Off -gt Setting
MODBUS Address 506
[Pr - 507] Disable Delay
Ultraware Name Stopping Functions Disable Delay
Description Disable Delay is the time from when the Drive Disable command is received to when the Drive Disable command is actually executed
Range 0hellip10000
Default 0
Units ms
When Enabled All
Applicable Operating Mode Servo-Off -gt Setting
MODBUS Address 507
[Pr - 508] Brake Active Delay
Ultraware Name Digital Outputs Brake Active Delay
Description Brake Active Delay is the time from when the drive is disabled to when the break starts operating
Range 0hellip10000
Default 500
Units ms
When Enabled All
Applicable Operating Mode Servo-Off -gt Setting
MODBUS Address 508
94 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 509] Disabled Braking Speed
Ultraware Name Stopping Functions Braking Application Speed
Description The Disabled Braking Speed is the feedback speed below which the motor break is engaged after disabling the drive
Range 0hellip1000
Default 100
Units rpm for rotary motors mmsec for linear motors
When Enabled All
Applicable Operating Mode Servo-Off -gt Setting
MODBUS Address 509
[Pr - 510] Following Error Limit
Ultraware Name Following Error Limit
Description A following error fault occurs when the difference between position command and actual position is greater than this parameter
Range 0hellip2147483647
Default 99999
Units Counts
When Enabled Immediately
Applicable Operating Mode Follower
MODBUS Address 510
[Pr - 511] Reserved
When Enabled Reserved for future use
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 95
Standard Drive Parameters Appendix A
[Pr - 512] AC line loss fault delay
Ultraware Name AC Line Loss Fault Delay
Description The AC Line Loss Fault is inhibited for this amount of time when a loss of AC power is detected
Range 20hellip1000
Default 20
Units ms
When Enabled Servo-Off -gt Setting
Applicable Operating Mode All
MODBUS Address 513
[Pr - 513] Analog Output CH1 Selection
Ultraware Name Analog Output 1 Signal
Range 0hellip28 (except 15232526)
Default 0
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 514
[Pr - 514] Analog Output CH2 Selection
Ultraware Name Analog Output 2 Signal
Range 0hellip28 (except 15232526)
Default 1
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 516
[Pr - 515] Analog Output CH1 Scale
Ultraware Name Analog Output 1 Scale
Range 1 hellip99999
Units Units depend on the channel selected in [Pr - 513]
Default 500
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 518
96 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 516] Analog Output CH2 Scale
Ultraware Name Analog Output 2 Scale
Range 1hellip99999
Units Units depends on the channel selected in [Pr - 514]
Default 500
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 520
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 97
Standard Drive Parameters Appendix A
Group 6 - Supplemental Gain and Report Settings
[Pr - 600] Analog Velocity Command Offset
Ultraware Name Velocity Command Offset
Range -10000hellip10000
Default 0
Units 01 mV
When Enabled Servo-Off -gt Setting (ENG Mode)
Applicable Operating Mode Analog Velocity Command
[Pr - 601] Analog Current Command Offset
Ultraware Name Current Command Offset
Range -10000hellip10000
Default 0
Units 01 mV
When Enabled Servo-Off -gt Setting (ENG Mode)
Applicable Operating Mode Analog Current Command
[Pr - 602] U Phase Current Sensing Offset
Ultraware Name Calibration U Phase Current Offset
Range -60000hellip60000
Default 0
Units 001 mA
When Enabled Servo-Off -gt Setting (ENG Mode)
Applicable Operating Mode All
[Pr - 603] W Phase Current Sensing Offset
Ultraware Name Calibration W Phase Current Offset
Range -60000hellip60000
Default 0
Units 001 mA
When Enabled Servo-Off -gt Setting (ENG Mode)
Applicable Operating Mode All
98 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 604] A lead B Swap
Ultraware Name A lead B Swap
Description Select A-lead-B or B-lead-A
Data Size 1 digit
Range Value Description
0 Disable
1 Enable
Default 0
Unit -
When Enabled Servo-Off -gt Setting -gt After power cycle (ENG Mode)
Applicable Operating Mode All
[Pr - 605] Dynamic Brake Circuit Protection
Ultraware Name Dynamic Brake Circuit Protection
Description The Dynamic Brake Circuit Protection is inhibited that the motor DB braking current is too large for the drive
Data Size 1 digit
Range Value Description
0 Disable
1 Enable
Default 1
Units -
When Enabled Servo-Off -gt Setting (ENG Mode)
Applicable Operating Mode All
[Pr - 606] Fault Detail Sampling Period
Ultraware Name Fault Detail Setup Sample Period
Range 1hellip100
Default 5
Units 02 ms
When Enabled Immediately (ENG Mode)
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 99
Standard Drive Parameters Appendix A
[Pr - 607] Fault Detail Data Selection 1
Ultraware Name Fault Detail Setup Channel A
Description Refer to Monitor Variables on page 135 for more information on the range options
Range 0hellip28 (except 15 23 25 and 26)
Default 0
When Enabled Immediately (ENG Mode)
[Pr - 608] Fault Detail Data Selection 2
Ultraware Name Fault Detail Setup Channel B
Description Refer to Monitor Variables on page 135 for more information on the range options
Range 0hellip28 (except 15 23 25 and 26)
Default 3
When Enabled Immediately (ENG Mode)
[Pr - 609] Fault Detail Data Selection 3
Ultraware Name Fault Detail Setup Channel C
Description Refer to Monitor Variables on page 135 for more information on the range options
Range 0hellip28 (except 15 23 25 and 26)
Default 11
When Enabled Immediately (ENG Mode)
[Pr - 610] Fault Detail Data Selection 4
Ultraware Name Fault Detail Setup Channel D
Description Refer to Monitor Variables on page 135 for more information on the range options
Range 0hellip28 (except 15 23 25 and 26)
Default 16
When Enabled Immediately (ENG Mode)
100 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 611] 1st Resonant Frequency Suppression Filter
Ultraware Name Main Current Regulator Gains 1st Resonant Frequency Suppression Filter
Description Suppresses Vibration by cutting off Current Command in assigned frequency band
Range 0hellip10000
Default 10000
Units Hz
When Enabled Immediately (Read Parameter for ENG)
Applicable Operating Mode All
[Pr - 612] 2nd Resonant Frequency Suppression Filter
Ultraware Name Main Current Regulator Gains 1st Resonant Frequency Suppression Filter
Description Suppresses Vibration by cutting off Current Command in assigned frequency band
Range 0hellip10000
Default 10000
Units Hz
When Enabled Immediately (Read Parameter for ENG)
Applicable Operating Mode All
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 101
Standard Drive Parameters Appendix A
Group 7 - Manufacturing Settings
This parameter group includes product settings that are programmed during the manufacturing process
IMPORTANT Group 7 - Manufacturing Settings are programmed at the factory Do not modify these settings as they provide a common drive setup that is useful when you bull develop a drive system or troubleshooting a drive or bull seek assistance through Rockwell Automation Technical
Support
[Pr - 700] Drive Capacity
Ultraware Name Drive Model
Range 50hellip1500
Default Factory settings determine default
Units W
When Enabled Servo-Off -gt Setting -gt After power cycle (ENG mode)
Applicable Operating Mode All
[Pr - 701] DC Bus Voltage Offset
Ultraware Name Calibration DC Bus Voltage Offset
Range -100hellip100
Default 0
Units V
When Enabled Servo-Off -gt Setting -gt After power cycle (ENG mode)
Applicable Operating Mode All
[Pr - 702] Reservedl
When Enabled Reserved for future use
102 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 703] Analog Monitor Output CH1 Offset
Ultraware Name Calibration Analog Output CH1 Offset
Range -1000hellip1000
Default 0
Units mV
When Enabled Servo-Off -gt Setting -gt After power cycle (ENG mode)
Applicable Operating Mode All
[Pr - 704] Analog Monitor Output CH1 Scaling
Ultraware Name Calibration Analog Output CH1 Scale
Range -1000hellip1000
Default 0
Units -
When Enabled Servo-Off -gt Setting -gt After power cycle (ENG mode)
Applicable Operating Mode All
[Pr - 705] Analog Monitor Output CH2 Offset
Ultraware Name Calibration Analog Output CH2 Offset
Range -1000hellip1000
Default 0
Units mV
When Enabled Servo-Off -gt Setting -gt After power cycle (ENG mode)
Applicable Operating Mode All
[Pr - 706] Analog Monitor Output CH2 Scaling
Ultraware Name Calibration Analog Output CH2 Scale
Range -1000hellip1000
Default 0
Units -
When Enabled Servo-Off -gt Setting -gt After power cycle (ENG mode)
Applicable Operating Mode All
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 103
Standard Drive Parameters Appendix A
Group 8 - Reserved Parameters
Group 8 parameters are reserved
[Pr - 707] DC Bus Measurement Scaling Calibration
Ultraware Name Calibration DC Bus ADC Calibration
Description This parameter is a calibration adjustment to the ideal ADC scaling The scaling adjustment range is -100 to +100 so the ADC scaling can be adjusted from 2 the ideal scaling to zero
Range -1000hellip1000
Default 0 (no adjustment)
Units 0001
When Enabled Servo-Off -gt Setting -gt After power cycle (ENG mode)
Applicable Operating Mode All
104 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
Group 9 - Motor Controls
[Pr - 900] Standard Motor Flag
Ultraware Name General Motor Flag
Range Value Description
0 Custom
1 Standard
Default 1
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 901] Motor Type
Ultraware Name General Motor Type
Range Value Description
0 Rotary
1 Linear
2 Reserved
3 Reserved
Default 0
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 902] Motor Resistance
Ultraware Name Electrical Resistance
Range 1hellip65535
Units Ohms 256
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 903] Motor Inductance
Ultraware Name Electrical Inductance
Range 1hellip65535
Units mH 256
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 105
Standard Drive Parameters Appendix A
[Pr - 904] Motor Intermittent Current
Ultraware Name Ratings Intermittent Current
Range 1hellip32767
Units A 128
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 905] Motor Continuous Current
Ultraware Name Ratings Continuous Current
Range 1hellip32767
Units A 128
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 906] Motor Rated Voltage
Ultraware Name Electrical Rated Voltage
Range 10hellip1000
Units V
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 907] Encoder Type
Ultraware Name Feedback Encoder
Range
Value Description
1 Incremental
4 Serial Incremental
5 Serial Absolute
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 908] Hall Offset
Ultraware Name Feedback Hall Input Offset
Range 0hellip359
Units Electrical degree
When Enabled Servo-Off -gt Setting -gt After power cycle
106 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 909] Current Constant
Ultraware Name General Torque Constant
Range 1hellip65535
Units N m A 4096
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 910] Motor Inertia
Ultraware Name General Inertia
Range 1hellip2147483647
Units Kgcm2 65536
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 911] PolesRevolution
Ultraware Name General PolesRevolution
Range 2hellip100
Units Poles
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 912] Encoder Lines Revolution
Ultraware Name General LinesRevolution
Range 100hellip1000000
Units Poles
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 913] Maximum Rotary Speed
Ultraware Name Ratings Maximum Speed
Range 10hellip32767
Units rpm
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 107
Standard Drive Parameters Appendix A
[Pr - 914] Force Constant
Ultraware Name General Force Constant
Range 1hellip32767
Units 16
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 915] Motor Mass
Ultraware Name General Mass
Range 1 hellip2147483647
Units Kg 65536
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 916] Electrical Cycle Length
Ultraware Name General Electrical Cycle
Range 100hellip10000
Units mm 10
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 917] Encoder Lines Meter
Ultraware Name Feedback LinesMeter
Range 4000hellip10000000
Units Lines
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 918] Maximum Linear Speed
Ultraware Name Ratings Maximum Speed
Range 32hellip32767
Units m s 256
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
108 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 919] Motor Thermal Protection Enable
Ultraware Name Thermal Software Protection
Range 0 = Disabled
1 = Enabled
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 920] Motor Thermostat
Ultraware Name Thermal Integral Thermostat
Range 0 = Disabled
1 = Enabled
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 921] Motor Thermal Resistance Winding to Encoder
Ultraware Name Thermal Rth (w-e)
Range 1hellip2147483647
Units degCWatt 65536
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 922] Motor Thermal Capacitance Winding to Encoder
Ultraware Name Thermal Cth (w-e)
Range 1hellip2147483647
Units JdegC 256
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 923] Motor Thermal Resistance Winding to Ambient
Ultraware Name Thermal Rth (w-a)
Range 1hellip2147483647
Units degCWatt 65536
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 109
Standard Drive Parameters Appendix A
[Pr - 924] Motor Thermal Capacitance Winding to Ambient
Ultraware Name Thermal Cth (w-a)
Range 1hellip2147483647
Units JdegC 256
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 925] Commutation Type
Ultraware Name Feedback Commutation
Range
Value Description
0 Brush
1 Trapezoidal
2 Sinusoidal
Applicable Operating Mode All
[Pr - 926] Start-up Commutation
Ultraware Name Feedback Sinusoidal Startup
Range Value Description
0 Self Sensing
1 Hall Inputs
2 Serial
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 927] Integral Limits
Ultraware Name General Integral Limits
Range 0hellip1
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
110 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 929 hellip Pr - 949] Reserved
When Enabled Reserved for future use
[Pr - 950] Motor Model
Ultraware Name Motor Model
Range 32 bytes character string
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 951] Drive Name
Ultraware Name Name
Range 32 bytes character string
Applicable Operating Mode All
[Pr - 952] Position Scaling Data
Ultraware Name Motor Encoder Units Position Scale
Range 8 bytes character string
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 953] Position Scaling Label
Ultraware Name Motor Encoder Units Position Label
Range 16 bytes character string
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
Pr - 954] Velocity Scaling Data
Ultraware Name Motor Encoder Units Velocity Scale
Range 8 bytes character string
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 111
Standard Drive Parameters Appendix A
[Pr - 955] Velocity Scaling Label
Ultraware Name Motor Encoder Units Velocity Label
Range 16 bytes character string
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 956] Acceleration Scaling Data
Ultraware Name Motor Encoder Units Acceleration Scale
Range 8 bytes character string
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 957] Acceleration Scaling Label
Ultraware Name Motor Encoder Units Acceleration Label
Range 16 bytes character string
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
112 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 958] Scope Config
Range 32 bytes character string
Data Size 21 digits
Applicable Operating Mode All
Digits Digits Description
0hellip1 Channel A Signal See Monitor Variables
2hellip3 Channel B Signal See Monitor Variables
4 Channel A Scale Type
0hellip1 0 - Auto (Default) 1- Manual
5 Channel B Scale Type
0hellip1 0 - Auto (Default) 1 - Manual
6hellip7 Sample Period
8hellip9 Samples per division
10hellip12 Trigger Signal See Monitor Variables
13 Trigger Mode
0 - Immediate
1 - Falling Edge
2 -Rising Edge
14 Pretrigger Percentage (10)
15hellip22 Trigger Threshold
Default 0x00000000000000100510011E05000100
When Enabled Servo-Off -gt Setting -gt After power cycle
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 113
Standard Drive Parameters Appendix A
[Pr - 959] Scope Scaling
Range 32 bytes character string
Data Size 32 digits
Digits Digits Description
0hellip7 Channel A Scale
8hellip15 Channel A Offset
16hellip23 Channel B Scale
24hellip31 Channel B Offset
Default 0x00000000000000000000000000000000
Ultraware Name Displayed Units
Range 1 byte character string
0 = Metric
1 = English
2 = User units
Default 0
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 960] Displayed Units
Ultraware Name Displayed Units
Range 1 byte character string
0 = Metric
1 = English
2 = User units
Default 0
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
114 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
Notes
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 115
Appendix B
Indexing Drive Parameters
Parameters control Kinetix 3 drive operations They are grouped by the type of drive Indexing or Standard and the drive settings they define
Descriptions of Standard Drive Parameters begin on page 45
Parameter Groupings Indexing drive parameters are grouped into these drive settings bull Group 0 - Indexing drive system and IO settings bull Group 1 - Homing controls bull Group 2 - Indexing operations bull Group 3 - Indexing move profiling bull Group 4 - Indexing position and distance setting bull Group 5 - Registration settings bull Group 6 - Batch count operations bull Group 7 - Dwell settings bull Group 8 - Velocity settings bull Group 9 - Move profile settings bull Group 10 - Acceleration settings bull Group 11 - Deceleration settings bull Group 12 - Next Index settings
116 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix B Indexing Drive Parameters
Parameter Descriptions Parameter descriptions list the size of each parameter and the data options within the parameter
Descriptions for Standard Drive Parameters begin on page 45
Group 0 - Indexing System
[IN0000] Auto Start Indexing
Ultraware Name Auto Start Indexing
Description When this field is set to ON the drive will begin executing the selected index whenever the drive enables
Range Value Description
0 OFF
1 ON
Default 0
Units NA
Access Set
Changeable Status Always
When Enabled Power Cycling
Applicable Operating Mode Indexing
MODBUS Address 5000
[IN0001] Abort Index Deceleration
Ultraware Name Abort Index Decel
Description The deceleration used to stop motion when the Stop Index input terminates an index move
Range Value Description
1 hellip2147483647 10minus2 Revsec2 for rotary mmsec2 for linear
Default 6250
Access Set
Changeable Status Always
When Enabled Power Cycling
Applicable Operating Mode Indexing
MODBUS Address 5001
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 117
Indexing Drive Parameters Appendix B
[IN0002] Positive Deceleration Distance
Ultraware Name Positive Deceleration Distance
Range Value Description
0 hellip2147483647 The stopping distance used when the drive encounters a positive overtravel limit
Default 0
Units Counts
Access Set
Changeable Status Always
When Enabled Always
Applicable Operating Mode Indexing
MODBUS Address 5002 hellip5003
[IN0003] Negative Deceleration Distance
Ultraware Name Negative Deceleration Distance
Range Value Description
0 hellip2147483647 The stopping distance used when the drive encounters a negative overtravel limit
Default 0
Units Counts
Access Set
Changeable Status Always
When Enabled Always
Applicable Operating Mode Indexing
Ultraware Name Positive Deceleration Distance
MODBUS Address 5004 hellip5005
118 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix B Indexing Drive Parameters
[IN0004] Enable Software Limits
Ultraware Name Enable Software Limits
Description Controls software overtravel limits of the axis
Range Value Description
0 Off Turns off software overtravel limit checking
1 On Causes the drive to compare the motor feedback position to the Positive and Negative Software Limits below to determine if the drive has exceeded an overtravel limit
Default 0
Units NA
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5006
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 119
Indexing Drive Parameters Appendix B
[IN0005] Positive Software Limit
Ultraware Name Positive Software Limit
Description If the motor feedback position is greater than this value the drive has exceeded the software overtravel limit
Range Value Description
-2147483647 hellip2147483647
Positive software overtravel limit
Default 2147483647
Units Counts
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5007
[IN0006] Negative Software Limit
Ultraware Name Negative Software Limit
Description If the motor feedback position is greater than this value the drive has exceeded the software overtravel limit
Range Value Description
-2147483647 hellip2147483647
Negative software overtravel limit
Default -2147483647
Units Counts
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5008
120 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix B Indexing Drive Parameters
Group 1 - Homing
[IN0100] Homing Type
Ultraware Name Homing Type
Description Select the type of homing operation the drive will perform
Range Value Description
0 Home to Present Position
1 To Home sensorBack to Marker (default)
2 To LimitBack to Marker
3 To Home sensorFwd to Marker
4 To LimitFwd to Marker
5 Home to Current Value
6 Home to Current ValueBack to Marker
7 To Home Sensor Move Fwd to Marker
8 Home to Marker
Default 1
Units NA
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5200
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 121
Indexing Drive Parameters Appendix B
[IN0101] Auto Start Homing on Enable
Ultraware Name Auto Start Homing on Enable
Description Causes the drive to begin the homing procedure automatically when the drive is enabled
Range Value Description
0 Active Automatically starts homing every time the drive is enabled
1 Active After Reset Only automatically starts homing when a drive is enabled if the drive has not already been homed
2 Inactive
Default 2
Units NA
Access Set
Changeable Status Always
When Enabled Power cycling
Applicable Operating Mode Indexing
MODBUS Address 5201
[IN0102] Homing Velocity
Ultraware Name Homing Velocity
Description The commanded velocity used during homing The sign of the this value (+-) indicates the direction of motion during homing
Range Value Description
-6000 hellip6000 rpm for rotary motors mmsec for linear motors
Default 100
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5202
122 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix B Indexing Drive Parameters
[IN0103] Creep Velocity
Ultraware Name Creep Velocity
Description For the To Sensor then Back to Marker Homing Type the velocity used for all remaining homing motion after the motor decelerates to a stop when it finds the sensor edge
Range Value Description
0 hellip6000 The velocity used for all homing motion after the motor decelerates to a stop at the sensor edge
Default 20
Units rpm for rotary motors mmsec for linear motors
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5203
[IN0104] Homing AccelerationDeceleration
Ultraware Name Homing AccelerationDeceleration
Description The rate of acceleration and deceleration used during homing
Range Value Description
1 hellip2147483647 The velocity used for all homing motion after the motor decelerates to a stop at the sensor edge
Default 6250
Units 10minus2 Revsec2 for rotary mmsec2 for linear
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5204 hellip5205
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 123
Indexing Drive Parameters Appendix B
[IN0105] Offset Move Distance
Ultraware Name Offset Move Distance
Description The distance the motor position is from the marker edge after the homing sequence is complete For Sensor Only Homing the distance the motor position is from the sensor edge after the homing sequence is complete
Range Value Description
-2147483647 hellip2147483647
Digital input state communicated to the drive when the Home Sensor input becomes active
Default 0
Units Counts
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5206 hellip5207
[IN0106] Home Sensor Polarity
Ultraware Name Home Sensor Polarity
Description Specifies the digital input state communicated to the drive when the Home Sensor input becomes active
Range Value Description
0 Active-Going Transition
1 Inactive-Going Transition
Default 0
Units Counts
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5208
124 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix B Indexing Drive Parameters
[IN0107] Home Position
Ultraware Name Home Position
Description The home position when a homing procedure is completed
Range Value Description
-2147483647 hellip2147483647
Digital input of the home position
Default 0
Units Counts
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5209 hellip5210
[IN0108] Moving Distance After Home Sensor
Ultraware Name Moving Distance After Home Sensor
Description This value is distance that the drive ignores the marker inputs after the home sensor is detected
Range Value Description
0 hellip2147483647 Distance the drive ignores the marker inputs after home is detected
Default 0
Units Counts
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5211 hellip5212
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 125
Indexing Drive Parameters Appendix B
[IN0109] Home Current
Ultraware Name Home Current
Description Specifies the torque feedback at which the drive stops moving the motor at the Homing Velocity
Range Value Description
1 hellip250 Percent of motor torque feedback
Default 100
Units Percentage of a motor rating torque
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5213
[IN0110] Home Current Time
Ultraware Name Home Current Time
Description Specifies the torque feedback at which the drive stops moving the motor at the Homing Velocity
Range Value Description
1 hellip1000 Percent of motor torque rating
Default 100
Units Percentage of motor torque rating
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5214
126 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix B Indexing Drive Parameters
[IN0111] Homing Time Limit
Ultraware Name Homing Time Limit
Description Drive fault when time for homing exceeds the homing time limit
Range Value Description
0 hellip65535 Homing time limit in seconds
Default 60
Units seconds
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5215
[IIN0112] Stop Home Deceleration
Ultraware Name Stop Home Decel
Description The rate of drive deceleration used when homing is stopped
Range Value Description
1 hellip2147483647 Rate of drive deceleration when homing is stopped
Default 6250
Units NA
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5216 hellip5217
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 127
Indexing Drive Parameters Appendix B
Group 2 - Indexing Options
[IN0200] hellip[IN0263] Index 0hellip63 Type and Action When Complete
Description Digit 0 homes the axis and digit 2 controls execution of the index move command
Digit 0 Homes the axis before the drive can executes any index
Ultraware Name Index 0hellip63 Option Type
Range Value Description
0 Absolute moves from its starting position to the specified Position below
1 Incremental moves from its starting position the specified Distance below
Default 1
Digit 1 Controls execution of the index move command after homing
Ultraware Name Index 0hellip63 Action When Complete
Range Value Description
0 Stop ends the execution of indexed move commands
1 Start next index commands execution of the Next Index move without additional input but after the scheduled Dwell
2 Wait for Start commands execution of the Next Index move the next time the Start Index input becomes active
Default 0
Access Set
Changeable Status Always
When Enabled Always
Applicable Operating Mode Indexing
MODBUS Address 5400 hellip5463
128 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix B Indexing Drive Parameters
Group 3 - Index Move Profile
These values are reserved for future use
Group 4 - Index PositionDistance
Group 5 - Index Registration Distance
These values are reserved for future use
Group 6 - Index Batch Count
These values are reserved for future use
[IN0400[hellip[IN0463] Index 0hellip63 PositionDistance
Ultraware Name Index 0hellip63 PositionDistance
Description Position For Absolute mode moves the fixed position to which the motor will travel Distance For Incremental and Registration mode moves the relative distance the motor will travel
Range Value Description
-2147483647 hellip2147483647
Counts
Default 1000
Access Set
Changeable Status Always
When Enabled Always
Applicable Operating Mode Indexing
MODBUS Address 5800 hellip5927
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 129
Indexing Drive Parameters Appendix B
Group 7 - Index Dwell
Group 8 - Index Velocity
Group 9 - Index Move Profile
These values are reserved for future use
[IN0700] hellip[IN0763] Index 0hellip63 Dwell
Ultraware Name Index 0hellip63 Dwell
Description Milliseconds to remain at current position before executing
Range Value Description
0 hellip65535 ms
Default 0
Access Set
Changeable Status Always
When Enabled Always
Applicable Operating Mode Indexing
MODBUS Address 6400 hellip6463
[IN0800] Index 0hellip63 Velocity
Ultraware Name Index 0hellip63 Velocity
Description Maximum velocity while in motion
Range Value Description
0 hellip6000 rpm for rotary motors mmsec for linear motors
Default 750
Access Set
Changeable Status Always
When Enabled Always
Applicable Operating Mode Indexing
MODBUS Address 6600 hellip6663
130 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix B Indexing Drive Parameters
Group 10 - Index Acceleration
Group 11 - Index Deceleration
[IN1000]hellip[IN1063] Index 0hellip63 Acceleration
Ultraware Name Index 0hellip63 Acceleration
Description Maximum acceleration while in motion
Range Value Description
1 hellip2147483647 10minus2 Revsec2 for rotary mmsec2 for linear
Default 6250
Access Set
Changeable Status Always
When Enabled Always
Applicable Operating Mode Indexing
MODBUS Address 7000 hellip7127
[IN1100]hellip[IN1163] Index 0hellip63 Deceleration
Ultraware Name Index 0hellip63 Deceleration
Description Maximum deceleration while in motion
Range Value Description
1 hellip2147483647 10minus2 Revsec2 for rotary mmsec2 for linear
Default 6250
Access Set
Changeable Status Always
When Enabled Always
Applicable Operating Mode Indexing
MODBUS Address 7200 hellip7327
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 131
Indexing Drive Parameters Appendix B
Group 12 - Index Next Index
[IN1200]hellip[IN1263] Index 0hellip63 Next Index
Ultraware Name Index 0hellip63 Next Index
Description The number (0hellip63) of the next indexed move to execute when Action When Complete is not set to STOP
Range Value Description
0hellip63 Value of the next indexed move
Default 0
Access Set
Changeable Status Always
When Enabled Always
Applicable Operating Mode Indexing
MODBUS Address 7400 hellip7464
132 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix B Indexing Drive Parameters
Notes
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 133
Appendix C
Warnings and Fault Codes
This Appendix lists the Warnings and Fault Codes for Kinetix 3 drives
Warnings Warnings are drive abnormalities that allow motor control to continue A three-digit text message is displayed using the last segments of the display
Fault Codes Faults are serious abnormalities that cause loss of motor control The Status indicator alternates between a three-digit error code preceded by the letter E and a five-digit text message This error message repeats until the problem is cleared
Warning Number
Warning Display Description
0x01 BAT Absolute encoder battery warning
0x02 CNT Absolute encoder counter overflow
0x04 PRE Power-up overspeed warning
0x08 OCC Over current command warning
0x10 OSC Over speed command warning
0x20 PIN Digital IO assignment warning
0x40 CAP Over motor rated output power warning
Fault Code Internal Fault Code
Fault Display Fault Name
E004 0x22 MTROT Motor over temperature
E005 0x11 IPMFT IPM
E009 0x41 UDVTG Bus under voltage fault
E010 0x40 OVVTG Bus over voltage fault
E012 0x73 HFAIL Home search failed
E018 0x50 OVSPD Motor over speed fault
E019 0x51 POSER Excess position error fault
E022 0x25 CONOL Motor continuous current overload
E023 0x27 DRVOL Drive overload fault
E025 0x72 SENSR Sensor unassigned
E027 0x74 NOTHM Axis not homed
E028 0x36 ENCDE Encoder data range fault
E030 0x31 ENCOP Encoder cable open fault
134 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix C Warnings and Fault Codes
E031 0x38 ENCPE Encoder data parameter fault
E036 0x24 DRVOT Drive over temperature
E037 0x42 ACOFF AC Line Loss Fault
E053 0x63 PINIT User parameter initialization fault
E054 0x13 OFSET Current feedback offset
E055 0x61 CHSUM User parameter checksum fault
E056 0x53 CPUFT Watchdog timeout fault
E057 0x10 HWARE PWM hardware
E058 0x62 RANGE User parameter range fault
E060 0x70 DINIT Drive initialization fault
E075 0x23 SHTOL Shunt overload protection
E079 0x12 SHTOC Shunt circuit over current
E083 0x33 ABSBE Absolute encoder battery fault
E084 0x34 ABSOS Absolute encoder overspeed
E085 0x35 ABSCT Absolute multi-turn count fault
E086 0x37 ENCCT Encoder single-turn count fault
E100 0x71 SETUP Drive set-up fault
E101 0x20 CABLE Motor power cable open
E102 0x21 INSOL Motor instantaneous current overload
E103 0x28 MATCH Motor mismatch fault
E104 0x26 PWROL Continuous power overload
E105 0x30 ENCTP Encoder type mismatch fault
E106 0x32 ENCCE Encoder communication fault
E107 0x60 SERCE Serial communication fault
E108 0x52 CDFRE Position command frequency fault
E112 0x54 ESTOP Emergency stop
E113 0x64 IRANG Indexing position range overflow
E114 0x14 OVCUR Motor phase over current
Fault Code Internal Fault Code
Fault Display Fault Name
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 135
Appendix D
Monitor Variables
Ultraware limits the number of variables that can be monitored to thirty-one (variables 0 through 30) However in customer applications additional monitor variables may be used
For example monitoring of variable 32 Selected index cannot be performed by Ultraware software because this variable is outside the range of Ultraware However a customer program that supports thirty-two variables or more can monitor this variable
Variables The table below lists the variables for monitoring a Kinetix 3 drive
Variable Name Unit
No Hex
0 0x00 Velocity feedback rpm
1 0x01 Velocity command rpm
2 0x02 Velocity error rpm
3 0x03 Current command
4 0x04 Follower position counts
5 0x05 Master position counts
6 0x06 Position error counts
7 0x07 Position command count frequency Kpps
8 0x08 Commutation angle ordm (degrees)
9 0x09 Mechanical angle ordm (degrees)
10 0x0A Shunt power limit ratio
11 0x0B Bus voltage V
12 0x0C Absolute rotations rev
13 0x0D Velocity command offset mV
14 0x0E Current command offset mV
15 0x0E Input and 0utput state Refer to Variable 15 - Digital Inputs and Outputs on page 137 for more information
16 0x0F U phase current 0001A
17 17 V phase current 0001A
18 18 W phase current 0001A
19 19 Motor temperature
136 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix D Monitor Variables
20 0x10 Analog command -velocity 001V
21 0x11 Analog command - current 001V
22 0x12 Current feedback 0001A
23 0x13 Hall states (wvu) digital
24 0x14 Motor feedback position counts
25 0x15 Digital input function state Refer to Variable 25 - Digital Inputs on page 137 for more information
digital
26 0x16 Digital output function state Refer to Variable 26 - Digital Outputs on page 138 for more information
Digital
27 0x17 Instantaneous shunt power Watts
28 0x18 Drive utilization
29 0x19 Indexing input function state Refer to Variable 29 - Indexing Inputs on page 138 for more information
digital
30 0x1A Indexing output function state Refer to Variable 30 - Indexing Outputs on page 139 for more information
digital
31 0x1B CPLD version
32 0x1C Selected index digital
33 0x1D Periodic counter Range 0 hellip512 Units counts 1 count = 2 ms
Variable (Continued) Name Unit
No Hex
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 137
Monitor Variables Appendix D
Compiled Variables The tables below list variables that compile data to more effectively monitor specific aspects of a Kinetix 3 drive
Variable 15 - Digital Inputs and Outputs
Monitoring of IO status is provided by Variable 15 - Digital Inputs and Outputs Digital inputs [Pr - 017] hellip[Pr - 018] and digital outputs [Pr - 022] hellip[Pr - 027] are compiled for this variable
The table below lists the data bits in this variable
Variable 25 - Digital Inputs
Digital input status is provided by Variable 25 - Digital Inputs Digital inputs [Pr - 010] hellip[Pr - 014] are compiled for this variable
The table below lists the data bits in this variable
Digital Outputs EMG Digital Inputs
Bit No 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
Data DO6 DO6 DO4 SALM DO3 DO2 DO1 EMG DI10 DI9 DI8 DI7 DI6 DI5 DI4 DI3 DI2 DI1
Bit Digital Input Function Bit Digital Input Function
0 Current Limit- Negative 10 Fault Reset
1 Current Limit- Positive 11 Integrator Inhibit
2 Alternate Gain Select 12 Negative Overtravel
3 Preset Direction 13 Operation Mode Override
4 Reset Multiturn Data 14 Position Strobe
5 Zero Speed Clamp 15 Positive Overtravel
6 Position Clear 16 Preset Select 0
7 Analog Speed Command Enable in Preset 17 Preset Select 1
8 Motor Moving Enable in Velocity Mode 18 Preset Select 2
9 2nd Electronic Gear Bank Selection
138 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix D Monitor Variables
Variable 26 - Digital Outputs
Digital output status is provided by Variable 26 - Digital Outputs Digital inputs and outputs [Pr - 002] and [Pr - 022] hellip[Pr - 024] are compiled for this variable
The table below lists the data bits in this variable
Variable 29 - Indexing Inputs
Indexing input function status is provided by Variable 29 - Indexing Inputs Digital inputs [Pr - 016] hellip[Pr - 018] are compiled for this variable
The table below lists the data bits in this variable
Bit Digital Output Function
0 Brake
1 Absolute Position Valid
2 Current Limited
3 Velocity Limited
4 Within Near Window
5 Warning
Bit Indexing Input function
0 Home Sensor
1 Start Homing
2 Start Indexing
3 Stop Indexing
4 Pause Index
5 Index Select 0 Input
6 Index Select 1 Input
7 Index Select 2 Input
8 Index Select 3 Input
9 Index Select 4 Input
10 Index Select 5 Input
11 Stop Homing
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 139
Monitor Variables Appendix D
Variable 30 - Indexing Outputs
Indexing output function status is provided by Variable 30 - Indexing Outputs Digital outputs [Pr - 025] hellip[Pr - 027] are compiled for this variable
The table below lists the data bits in this variable
Bit Indexing Output function Indexing Output function
0 In Motion Index Select 1 Output
1 In Dwell Index Select 2 Output
2 Axis Homed Index Select 3 Output
3 End of Sequence Index Select 4 Output
4 Index Select 0 Output Index Select 5 Output
140 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix D Monitor Variables
Notes
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 141
Index
Parameters(IN0000) auto start indexing 116(IN0001) abort index deceleration 116(IN0002) positive deceleration distance 117(IN0003) negative deceleration distance 117(IN0004) enable software limits 118(IN0005) positive software limit 119(IN0006) negative software limit 119(IN0100) homing type 120(IN0101) auto start homing on enable 121(IN0102) homing velocity 121(IN0103) creep velocity 122(IN03xx) index move profile 128(IN0400hellipIN0463) index positiondistance
128(IN05xx) index registration distance 128(IN06xx) index batch count 128(IN0700hellipIN0763) index dwell 129(IN0800hellipIN0863) index velocity 129(IN09xx) index move profile 129(IN1000hellipIN1063) index acceleration 130(IN1100hellipIN1163) index deceleration 130(IN1200hellipIN1263) next index 131(IN200hellipIN263) index type digit 0 127(Pr-000) operations mode 46(Pr-001) motor configuration 47(Pr-002) motor basic modes 48(Pr-003) auto tuning functions 49(Pr-004) inertia ratio 50(Pr-005) auxiliary function selection 1 51(Pr-006) auxiliary function selection 2 52(Pr-007) drive address 54(Pr-008) password 54(Pr-009) serial port configuration 54(Pr-010hellipPr-021) parameter setting values
60(Pr-010) allocation of input signals 1 55(Pr-011) allocation of input signals 2 56(Pr-012) allocation of input signals 3 56(Pr-013) allocation of input signals 4 57(Pr-014) allocation of input signals 5 57(Pr-015) allocation of input signals 6 58(Pr-016) allocation of input signals 7 58(Pr-017) allocation of input signals 8 58(Pr-018) allocation of input signals 9
59(Pr-019) allocation of input signals 10 59(Pr-020) allocation of input signals 11 59(Pr-021) allocation of input signals 12 60(Pr-022hellipPr-032) parameter setting values
65(Pr-022) allocation of output signals 1 60(Pr-023) allocation of output signals 2 61(Pr-024) allocation of output signals 3 61
(Pr-025) allocation of output signals 4 62(Pr-026) allocation of output signals 5 63(Pr-027) allocation of output signals 6 63(Pr-028) allocation of output signals 7 63(Pr-029) allocation of output signals 8 64(Pr-030) allocation of output signals 9 64(Pr-031) allocation of output signals 10 65(Pr-032) IO control authority 65(Pr-100) velocity regulator response level 66(Pr-101) system gain 66(Pr-102) velocity regulator P gain 66(Pr-103) velocity regulator I gain 66(Pr-104) velocity regulator D gain 67(Pr-105) velocity error filter 67(Pr-106) position regulator Kp gain 67(Pr-107) current command lowpass filter
bandwidth 68(Pr-108) velocity command lowpass filter
bandwidth 68(Pr-109) position command lowpass filter
bandwidth 68(Pr-110) 1st resonant frequency suppression
filter 69(Pr-111) 1st resonant frequency suppression
width 69(Pr-112) 2nd resonant frequency suppression
filter 69(Pr-113) 2nd resonant frequency suppression
filter width 70(Pr-114) 2nd resonant frequency suppression
filter depth 70(Pr-115) position regulator Kff gain 70(Pr-116) position regulator Kff bandwidth 71(Pr-117) velocity regulator I gain mode 71(Pr-118) velocity regulator I gain disable
threshold 72(Pr-119) position regulator high error output
offset 72(Pr-120) position regulator high error output
threshold 72(Pr-121) current regulator bandwidth
reduction scale 73(Pr-122) on-line vibration mode 73(Pr-123) velocity regulator configuration 74(Pr-124) delay time of gain switching 74(Pr-125) level of gain switching 74(Pr-126) hysteresis of gain switching 75(Pr-127) position gain switching time 75(Pr-128) 2nd velocity regulator P gain 75(Pr-129) 2nd velocity regulator i gain 75(Pr-130) 2nd position regulator Kp gain 76(Pr-131) 2nd current command low pass
filter bandwidth 76
142 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Index
(Pr-132) 2nd velocity command low pass filter bandwidth 76
(Pr-133) 3rd velocity regulator P gain 76(Pr-134) 3rd velocity regulator I gain 77(Pr-135) 3rd position regulator Kp gain 77(Pr-136) 3rd current command low pass filter
bandwidth 77(Pr-137) 3rd velocitycommand low pass filter
bandwidth 77(Pr-138) 4th velocity regulator P gain 78(Pr-139) 4th velocity regulator I gain 78(Pr-140) 4th position regulator Kp gain 78(Pr-141) 4th current command low pass filter
bandwidth 78(Pr-142) 4th velocitycommand low pass filter
bandwidth 79(Pr-200) velocity scale 80(Pr-201) jog velocity command 80(Pr-202) acceleration 80(Pr-203) deceleration 81(Pr-204) S-curve time 81(Pr-205) preset velocity 1 81(Pr-206) preset velocity 2 81(Pr-207) preset velocity 3 82(Pr-208) preset velocity 4 82(Pr-209) preset velocity 5 82(Pr-210) preset velocity 6 82(Pr-211) preset velocity 7 83(Pr-212) manual velocity limit 83(Pr-213) velocity limit mode 83(Pr-300) follower 84(Pr-301) 1st gear ratio follower counts 85(Pr-302) 1st gear ratio mastercounts 86(Pr-303) encoder output ratio output counts
86(Pr-304) encoder output ratio motor counts
86(Pr-305) 2nd gear ratio follower counts 86(Pr-306) 2nd gear ratio master counts 87(Pr-307) reserved 87(Pr-308) digital filter cut-off frequency 88(Pr-400) current scale 89(Pr-401) positive internal current limit 89(Pr-402) negative internal current limit 89(Pr-403) positive external current limit 89(Pr-404) negative external current limit 90(Pr-405) overtravel current limit 90(Pr-406) initial current bias 90(Pr-500) in position size 91(Pr-501) reserved 91(Pr-502) near position size 91(Pr-503) speed window 92(Pr-504) up to speed 92(Pr-505) zero clamp 92
(Pr-506) brake inactive delay 93(Pr-507) disable delay 93(Pr-508) brake active delay 93(Pr-509) disabled braking speed 94(Pr-510) following error limit 94(Pr-511) reserved 94(Pr-512) ac line loss fault delay 95(Pr-513) analog output ch1 selection 95(Pr-514) analog output ch2 selection 95(Pr-515) analog output ch1 scale 95(Pr-516) analog output ch2 scale 96(Pr-600) analog velocity command offset 97(Pr-601) analog current command offset 97(Pr-602) u phase current sensing offset 97(Pr-603) w phase current sensing offset 97(Pr-604) A-lead-B swap 98(Pr-605) dynamic brake circuit protection 98(Pr-606) fault detail sampling period 98(Pr-607) fault detail data selection 1 99(Pr-608) fault detail data selection 2 99(Pr-609) fault detail data selection 3 99(Pr-610) fault detail data selection 4 99(Pr-611) 1st resonant frequency suppression
filter 100(Pr-612) 2nd resonant frequency suppression
filter 100(Pr-700) drive capacity 101(Pr-701) dc bus voltage offset 101(Pr-702) reserved 101(Pr-703) analog monitor output ch1 offset 102(Pr-704) analog monitor output ch1 scaling
102(Pr-705) analog monitor output ch2 offset 102(Pr-706) analog monitor output ch2 scaling
102(Pr-707) dc bus measurement scaling
calibration 103(Pr-900) standard motor flag 104(Pr-901) motor type 104(Pr-902) motor resistance 104(Pr-903) motor inductance 104(Pr-904) motor intermittent current 105(Pr-905) motor continuous current 105(Pr-906) motor rated voltage 105(Pr-907) encoder type 105(Pr-908) hall offset 105(Pr-909) current constant 106(Pr-910) motor inertia 106(Pr-911) polesrevolution 106(Pr-912) encoder linesrevolution 106(Pr-913) maximum rotary speed 106(Pr-914) force constant 107(Pr-915) motor mass 107(Pr-916) electrical cycle length 107
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 143
Index
(Pr-917) encoder linesmeter 107(Pr-918) maximum linear speed 107(Pr-919) motor thermal protection enable 108(Pr-920) motor thermostat 108(Pr-921) motor thermal resistance winding
to encoder 108(Pr-922) motor thermal capacitance
winding to encoder 108(Pr-923) motor thermal resisitance winding
to ambient 108(Pr-924) motor thermal capacitance
winding to ambient 109(Pr-925) commutation type 109(Pr-927) integral limits 109(Pr-927) startup commutation 109(Pr-928hellipPr 949) reserved 110(Pr-950) motor model 110(Pr-951) drive name 110(Pr-952) position scaling data 110(Pr-953) position scaling label 110(Pr-954) velocity scaling data 110(Pr-955) velocity scaling label 111(Pr-956) acceleration scaling data 111(Pr-957) acceleration scaling label 111(Pr-958) scope config 112(Pr-959) scope scaling 113(Pr-960) displayed units 113
Numerics1st gear ratio follower counts (Pr-301) 851st gear ratio master counts (Pr-302) 861st resonant frequency suppression filter
(Pr-110) 691st resonant frequency suppression filter
(Pr-611) 1001st resonant frequency suppression
width(Pr-111) 692nd current command low pass filter
bandwidth (Pr-131) 762nd gear ratio follower counts (Pr-305) 862nd gear ratio master counts (Pr-306) 872nd position regulator Kp gain (Pr-130) 762nd resonant frequency suppression filter
(Pr-112) 692nd resonant frequency suppression filter
(Pr-612) 1002nd resonant frequency suppression filter
depth (Pr-114) 702nd resonant frequency suppression filter
width (Pr-113) 702nd velocity command low pass filter
bandwidth (Pr-132) 762nd velocity regulator i gain (Pr-129) 75
2nd velocity regulator P gain (Pr-128) 753rd current command low pass filter
bandwidth (Pr-136) 773rd position regulator Kp gain (Pr-135) 773rd velocity command low pass filter
bandwidth (Pr-137) 773rd velocity regulator I gain (Pr-134) 773rd velocity regulator P gain (Pr-133) 764th current command low pass filter
bandwidth (Pr-141) 784th position regulator Kp gain (Pr-140) 784th velocity command low pass filter
bandwidth (Pr-142) 794th velocity regulator I gain (Pr-139) 784th velocity regulator P gain (Pr-138) 78
Aabort index 116abort index deceleration (IN0001) 116ac line loss 48ac line loss fault delay (Pr-512) 95acceleration (Pr-202) 80acceleration scaling data (Pr-956) 111acceleration scaling label (Pr-957) 111additional resources 7address map
flash saving parameter 21index function parameter 25modbus 11monitoring parameters 22output function status parameter 23running parameter 24special indexing parameters 13standard parameters 11
A-lead-B swap (Pr-604) 98allocation of input signals 1 (Pr-010) 55allocation of input signals 10 (Pr-019) 59allocation of input signals 11 (Pr-020) 59allocation of input signals 12 (Pr-021) 60allocation of input signals 2 (Pr-011) 56allocation of input signals 3 (Pr-012) 56allocation of input signals 4 (Pr-013) 57allocation of input signals 5 (Pr-014) 57allocation of input signals 6 (Pr-015) 58allocation of input signals 7 (Pr-016) 58allocation of input signals 8 (Pr-017) 58allocation of input signals 9 (Pr-018) 59allocation of output signals 1 (Pr-022) 60allocation of output signals 10 (Pr-031) 65allocation of output signals 2 (Pr-023) 61allocation of output signals 3 (Pr-024) 61allocation of output signals 4 (Pr-025) 62allocation of output signals 5 (Pr-026) 63allocation of output signals 6 (Pr-027) 63
144 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Index
allocation of output signals 7 (Pr-028) 63allocation of output signals 8 (Pr-029) 64allocation of output signals 9 (Pr-030) 64alternate gain (G-SEL) 57alternative gain enable 51analog current command offset (Pr-601) 97analog current inputs 46analog monitor output ch1 offset (Pr-703) 102analog monitor output ch1 scaling (Pr-704)
102analog monitor output ch2 offset (Pr-705) 102analog monitor output ch2 scaling (Pr-706)
102analog offset 102analog output ch1 scale (Pr-515) 95analog output ch1 selection (Pr-513) 95analog output ch2 scale (Pr-516) 96analog output ch2 selection (Pr-514) 95analog scaling 102analog speed command (C-SP4) 57analog velocity command offset (Pr-600) 97analog velocity inputs 46ASCII commands 29auto motor identification 52auto start homing on enable (IN0101) 121auto start indexing (IN0000) 116auto tuning functions (Pr-003) 49automatic (TAT) 38autotuning speed 49auxiliary function selection 1 (Pr-005) 51auxiliary function selection 2 (Pr-006) 52axis homed (HOMC) 62
Bbackup battery 51baud rate 54brake active delay (Pr-508) 93brake delay 93brake dynamic 98brake inactive delay (Pr-506) 93brake speed 94bus calibration 103bus voltage 101
Cchecksum 28CHP command 30command
automatic task (TAT) 38disable drive (SVROF) 44
enable drive (SVRON) 44fault reset (RST) 33jog (JOG) 40monitor variable (MDM) 33other functions (ETC) 42perform manual task (TMN) 39read drive status (STS) 41read fault contents (EHY) 40read fault detailed data (DIE) 43read indexing parameter (XET) 31read parameter (SET) 29reset drive (HWR) 44triggered data collection (MOT) 34variable roll monitoring (MOR) 36verify servo connection (LIV) 43verify software version (VER) 43write indexing parameter (XHP) 32write indexing parameter (XTR) 32write parameter (CHP) 30write parameter (STR) 30
command polarity 48command type 84communication method
RS232 54RS485 54
communication protocolASCII 54MODBUS-RTU 54
commutation 109commutation type (Pr-925) 109compiled variable 137
15 - digital inputs and outputs 13725 - digital inputs 13726 - digital outputs 13829 - indexing inputs 13830 - indexing outputs 139
controller output type 84conventions used 7counts
follower 85 86master 86 87motor 86output 86
creep velocity (IN0103) 122current bias 90current command lowpass filter bandwidth
(Pr-107) 68current constant (Pr-909) 106current limit 89 90current limit (T_LMT) 61current offset 97current regulator bandwidth reduction scale
(Pr-121) 73current scale (Pr-400) 89cut-off frequency 88cycle length 107
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 145
Index
DD gain regulator 67data bit 54dc bus measurement scaling calibration
(Pr-707 103dc bus voltage offset (Pr-701) 101deceleration (Pr-203) 81delay gain 74delay time of gain switching (Pr-124) 74digital filter cut-off frequency (Pr-308) 88disable brake 48disable delay (Pr-507) 93disable drive (SVROF) 44disabled braking speed (Pr-509) 94display parameter - input register address
map 22displayed units (Pr-960) 113drive address (Pr-007) 54drive capacity (Pr-700) 101drive enable (SV-ON) 55drive name (Pr-951) 110drive password 54drive reset 44dynamic brake circuit protection (Pr-605) 98dynamic tuning 49dynamic tuning response speed 49
EEHY command 40electrical cycle length (Pr-916) 107electronic gear select (GEAR) 57emergency stop inputs 51enable drive (SVRON) 44enable software limits (IN0004) 118encoder back-up battery 51encoder detect 52encoder linesmeter (Pr-917) 107encoder linesrevolution (Pr-912) 106encoder output 84encoder output ratio motor counts (Pr-304)
86encoder output ratio output counts (Pr-303)
86encoder type 47encoder type (Pr-907) 105end of sequence (E_SEQU) 63error output offset 72error output threshold 72ETC command 42exception code modbus 10
Ffaul reset (A-RST) 56fault codes 133fault detail data selection 1 (Pr-607) 99fault detail data selection 2 (Pr-608) 99fault detail data selection 3 (PrR-609) 99fault detail data selection 4 (Pr-610) 99fault detail sampling period (Pr-606) 98fault reset (RST) 33fault selection 99faultwarning registers address map 22feedback linesmeter 107flash memory update 30 32 39flash saving parameter address map 21follower (Pr-300) 84follower counts 85follower mode 46following error limit (Pr-510) 94force constant (Pr-914) 107frequency suppression 69function code
modbus 9
Ggain bank select (BANK_SEL) 58gain delay 74gain hysteresis 75gain level 74gain switch 74gain switching 52gain timing 75gear ratio 84general commands (ASCII) 29group 0 - indexing system address map 13group 0 - system level address map 11group 1 - gain control address map 11group 10 - index acceleration address map 18group 11 - index deceleration address map 19group 12 - next index address map 20group 2 - index option address map 14group 2 - speed control address map 12group 3 - position control address maps 12group 3 - reserved 14group 4 - index positiondistance address
map 15group 4 - torque control address maps 12group 5 - reserved 16group 5 - supplemental drive control address
maps 12group 6 - reserved 16group 7 - index dwell address map 16group 8 - index velocity address map 17group 9 - reserved 17
146 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Index
Hhall offset (Pr-908) 105home sensor (H_SENS) 58homing (H_SENS and SHOME) 58homing type (IN0100) 120homing velocity (IN0102) 121host command
fault codes 133indexing command extended (XCE) 31warnings 133
hysteresis of gain switching (Pr-126) 75
II gain 71I gain disable 72I gain regulation 77 78I gain regulator 66IO control authority (Pr-032) 65In Dwell (I_DW) 62in motion (IMO) 62in position size (Pr-500) 91incremental feedback loss 52index abort 116index acceleration 0hellip63 (IN1000hellipIN1063)
130index batch count (IN06xx) 128index deceleration 0hellip63 (IN1100hellipIN1163)
130index dwell 0hellip63 (IN0700hellipIN0763) 129index move 127index move profile (IN03xx) 128index move profile (IN09xx) 129index positiondistance 0hellip63
(IN0400hellipIN0463) 128index registration distance (IN05xx) 128index select (I_SEL0hellipI_SEL3) 58index select (I_SEL4hellipI_SEL5) 59
index select 0 out (O_ISEL0) 62index select 1hellip4 out (O_ISEL0hellipO_ISEL4) 63index select 5 out (O_ISEL5) 63index start 116index type 0hellip63 digit 0 (IN100hellipIN163) 127index velocity 0hellip63 (IN0800hellipIN0863) 129indexing command extended (XCE) 31inertia ratio (Pr-004) 50inhibit delay 95initial current bias (Pr-406) 90input function parameter address map 25integral limits (Pr-927) 109integrator inhibit (CON) 55
Jjog (JOG) 40JOG command 40jog velocity command (Pr-201) 80
KKff gain 70Kp gain position regulator 67Kp gain regulation 77 78
Llevel of gain switching (Pr-125) 74line break detect 52line loss check 48LIV command 43load inertia 50low pass filter (IReg) 76 77 78low pass filter (VReg) 76 77 79lowpass filter
current 68position 68velocity 68
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 147
Index
Mmanual task (TMN) 39manual velocity limit (Pr-212) 83master counts 86maximum linear speed (Pr-918) 107maximum rotary speed (Pr-913) 106maximum speed 106 107MDM command 33mnemonic commands
DIE 43HWR 44SVROF 44SVRON 44
modbus address map 11display parameter - input register 22faultwarning registers 22indexing parameter
group 0 - indexing system 13group 10 - index acceleration 18group 11 - index deceleration 19group 12 - next index 20group 2 - index option 14group 3 - reserved 14group 4 - indexing positiondistance 15group 5 - reserved 16group 6 - reserved 16group 7 - index dwell 16group 8 - index velocity 17group 9 - reserved 17
standard parametersgroup 0 - system level 11group 1 - gain control 11group 2 - speed control 12group 3 - position control 12group 4 - torque control 12group 5 - supplemental drive control 12
modbus exception codes 10modbus function codes 9MODBUS input function control 65MODBUS run function control 65monitor offset 102monitor scaling 102monitor variable 135monitor variable (MDM) 33monitoring parameters address map 22MOR command 36MOT command 34motor basic modes (Pr-002) 48motor configuration (Pr-001) 47motor continuous current (Pr-905) 105motor enable (START) 57motor flag 104motor forward direction 48motor identification 52motor inductance (Pr-903) 104
motor inertia 50motor inertia (Pr-910) 106motor intermittent current (Pr-904) 105motor mass (Pr-915) 107motor model (Pr-950) 110motor rated voltage (Pr-906) 105motor resistance (Pr-902) 104motor thermal capacitance winding to
ambient (Pr-924) 109motor thermal capacitance winding to
encoder (Pr-922) 108motor thermal protection enable (Pr-919) 108motor thermal resistance winding to
ambient (Pr-923) 108motor thermal resistance winding to
encoder (Pr-921) 108motor thermostat (Pr-920) 108motor type 47motor type (Pr-901) 104
Nnear position (NEAR) 61near position size (Pr-502) 91negative current limit (N-TL)positive current
limit (P-TL) 56negative deceleration distance (IN0003) 117negative external current limit (Pr-404) 90negative internal current limit (Pr-402) 89negative overtravel (N-OT) 55negative software limit (IN0006) 119next index 0hellip63 (IN1200hellipIN1263) 131notch filter
1st resonance 692nd resonance 702nd resonance depth 70
Ooff-line tuning 49on-line vibration mode (Pr-122) 73on-line vibration suppression 73operation mode override (C_SEL) 56operations mode (Pr-000) 46oscilloscope 112oscilloscope scaling 113other functions(ETC) 42output function status address map 23overtravel current limit (Pr-405) 90overtravel settings (P-ot) and N-OT) 55overtravel stop 48overtravel stop method 48
148 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Index
PP gain regulation 76 78P gain regulator 66packet structure 27parameter setting values (Pr-010hellipPr-021)
60parameter setting values (Pr-022hellipPr-032)
65parity bit 54password (Pr-008) 54pause indexing (PAUSE) 58polesrevolution (Pr-911) 106position clear (PCLR) 57position command lowpass filter bandwidth
(Pr-109) 68position gain switching time (Pr-127) 75position regulator high error output offset
(Pr-119) 72position regulator high error output threshold
(Pr-120) 72position regulator Kff bandwidth (Pr-116) 71position regulator Kff gain (Pr-115) 70position regulator Kp gain (Pr-106) 67position scaling data(Pr-952) 110position scaling label (Pr-953) 110position strobe (ABS-DT) 57position window (P-COM) 60positive deceleration distance (IN0002) 117positive external current limit (Pr-403) 89positive internal current limit (Pr-401) 89positive overtravel (P-OT) 55positive software limit (IN0005) 119power input 48preset direction (C-DIR) 56preset select (C-SP1 C-SP2 C-SP3) 56preset velocity 46preset velocity 1 (Pr-205) 81preset velocity 2 (Pr-206) 81preset velocity 3 (Pr-207) 82preset velocity 4 (Pr-208) 82preset velocity 5 (Pr-209) 82preset velocity 6 (Pr-210) 82preset velocity 7 (Pr-211) 83proportional gain 71
Rrated power 47read drive status (STS) 41read fault contents (EHY) 40read fault detailed data (DIE) 43read indexing parameter (XET) 31read parameter (SET) 29reboot drive 44reserved (Pr-307) 87reserved (Pr-501) 91reserved (Pr-511) 94reserved (Pr-702) 101reserved (Pr-928hellipPr 949) 110reset absolute encoder data (R_ABS) 58reset drive (HWR) 44RST command 33run control 65running parameter 24
Ssafety considerations inside front coversampling period 98scaling
acceleration data 111acceleration label 111position data 110position label 110velocity data 110velocity label 111
scope config (Pr-958) 112scope scaling (Pr-959) 113S-csurve time (Pr-204) 81serial port configuration (Pr-009) 54SET command 29special indexing parameter
address map 13speed clamp (Z-CLP) 57speed window (Pr-503) 92speed window (V-COM) 60standard motor flag (Pr-900 104standard parameters address map 11start homing (SHOME) 58start index (START_I) 59start indexing 116startup commutation (Pr-927) 109stop bit 54stop homing (H_STOP) 59stop indexing STOP) 58STR command 30STS command 41suppression filter 100symbols 27system gain (Pr-101) 66
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 149
Index
TTAT command 38thermal capacitance 108 109thermal protection 108thermal resistance 108thermostat 108TMN command 39training See lt$emphasislt$default fonttriggered data collection (MOT) 34
Uu phase current sensing offset (Pr-602) 97up to speed (Pr-504) 92up to speed (TG-ON) 60
Vvariable 135 137
15 - digital inputs and outputs 13725 - digital inputs 13726 - digital outputs 13829 - indexing inputs 13830 - indexing outputs 139
variable roll monitoring (MOR) 36velocity error filter (Pr-105) 67velocity limit 83velocity limit (V-LMT) 61velocity limit mode (Pr-213) 83velocity observer 51velocity offset 97velocity presets 46velocity regulator configuration (Pr123) 74velocity regulator D gain (Pr-104) 67velocity regulator I gain (Pr-103) 66velocity regulator I gain disable threshold
(Pr-118) 72velocity regulator I gain mode (Pr-117) 71
velocity regulator P gain (Pr-102) 66velocity regulator response level (Pr-100) 66velocity scaling data (Pr-954) 110velocity scaling label (Pr-955) 111velocitycommand lowpass filter bandwidth
(Pr-108) 68velocityscale (Pr-200) 80VER command 43verify servo connection (LIV) 43verify software version (VER) 43vibration suppression 69 73
Ww phase current sensing offset (Pr-603) 97warning (WARN) 61warnings 133watchdog timer 44 134within position window (P-COM) 60within speed window (V-COM) 60write indexing parameter (XHP) 32write indexing parameter (XTR) 32write parameter (CHP) 30write parameter (STR) 30
XXCE command 31XET command 31XHP command 32XTR command 32
Zzero clamp (Pr-505) 92zero speed (Z-CLP) 57
150 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Index
Notes
Publication 2071-RM001A-EN-P - September 2010 152 PN-79403Copyright copy 2010 Rockwell Automation Inc All rights reserved Printed in the USA
Rockwell Automation Support
Rockwell Automation provides technical information on the Web to assist you in using its products At httpwwwrockwellautomationcomsupport you can find technical manuals a knowledge base of FAQs technical and application notes sample code and links to software service packs and a MySupport feature that you can customize to make thebest use of these tools
For an additional level of technical phone support for installation configuration and troubleshooting we offer TechConnect support programs For more information contact your local distributor or Rockwell Automation representative or visit httpwwwrockwellautomationcomsupport
Installation Assistance
If you experience an anomoly within the first 24 hours of installation review the information that is contained in this manualYou can contact Customer Support for initial help in getting your product up and running
New Product Satisfaction Return
Rockwell Automation tests all of its products to ensure that they are fully operational when shipped from the manufacturing facility However if your product is not functioning and needs to be returned follow these procedures
Documentation Feedback
Your comments will help us serve your documentation needs better If you have any suggestions on how to improve this document complete this form publication RA-DU002 available at httpwwwrockwellautomationcomliterature
United States or Canada 14406463434
Outside United States or Canada
Use the Worldwide Locator at httpwwwrockwellautomationcomsupportamericasphone_enhtml or contact your local Rockwell Automation representative
United States Contact your distributor You must provide a Customer Support case number (call the phone number above to obtain one) to your distributor to complete the return process
Outside United States Please contact your local Rockwell Automation representative for the return procedure
- 2071-RM001A-EN-P September 2010
- Important User Information
- Table of Contents
- Preface
-
- About This Publication
- Who Should Use This Manual
- Conventions Used in This Manual
- Additional Resources
-
- 1 - Modbus Protocol
-
- Function Codes
- Exception Codes
- Address Maps
-
- Standard Parameters
- Indexing Parameters
- Save Flash Memory Parameter
- Monitoring Parameter (Function Code 0x04)
- Fault and Warning Status Parameter - Input Registers
- Output Function Status Parameter
- Running Parameter (Function Code 0x06 or 0x10)
- Input Function Parameter (Function Code 0x03 0x06 or 0x10)
-
- 2 - Communication Protocol (RS-232ASCII)
-
- Introduction
- Special Symbols
- Packet Structure
- Checksum
-
- 3 - General Commands (ASCII)
-
- Read Parameter (SET)
- Write Parameter (STR)
- Write Parameter (CHP)
- Indexing Command Extended (XCE)
- Read Indexing Parameter (XET)
- Write Indexing Parameter (XHP)
- Write Indexing Parameter (XTR)
- Fault Reset (RST)
- Monitor Variable (MDM)
- Triggered Data Collection (MOT)
- Variable Roll Monitoring (MOR)
- Automatic Task (TAT)
- Manual Task (TMN)
- Read Fault Contents (EHY)
- Jog (JOG)
- Read Drive Status (STS)
- Other Functions (ETC)
- Verify Software Version (VER)
- Verify Servo Connection (LIV)
- Read Fault Detailed Data (DIE)
- Enable Drive (SVRON)
- Disable Drive (SVROF)
- Reset Drive (HWR)
-
- A - Standard Drive Parameters
-
- Parameter Groupings
- Parameter Descriptions
-
- Group 0 - System Level
- Group 1 - Gain Control
- Group 2 - Speed Control
- Group 3 - Position Control
- Group 4 - Torque Controls
- Group 5 - Supplemental Drive Controls
- Group 6 - Supplemental Gain and Report Settings
- Group 7 - Manufacturing Settings
- Group 8 - Reserved Parameters
- Group 9 - Motor Controls
-
- B - Indexing Drive Parameters
-
- Parameter Groupings
- Parameter Descriptions
-
- Group 0 - Indexing System
- Group 1 - Homing
- Group 2 - Indexing Options
- Group 3 - Index Move Profile
- Group 4 - Index PositionDistance
- Group 5 - Index Registration Distance
- Group 6 - Index Batch Count
- Group 7 - Index Dwell
- Group 8 - Index Velocity
- Group 9 - Index Move Profile
- Group 10 - Index Acceleration
- Group 11 - Index Deceleration
- Group 12 - Index Next Index
-
- C - Warnings and Fault Codes
-
- Warnings
- Fault Codes
-
- D - Monitor Variables
-
- Variables
- Compiled Variables
-
- Variable 15 - Digital Inputs and Outputs
- Variable 25 - Digital Inputs
- Variable 26 - Digital Outputs
- Variable 29 - Indexing Inputs
- Variable 30 - Indexing Outputs
-
- Index
- Technical Support
-
4 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Table of Contents
Read Fault Detailed Data (DIE) 43Enable Drive (SVRON) 44Disable Drive (SVROF) 44Reset Drive (HWR) 44
Appendix AStandard Drive Parameters Parameter Groupings 45
Parameter Descriptions 46Group 0 - System Level 46Group 1 - Gain Control 66Group 2 - Speed Control 80Group 3 - Position Control 84Group 4 - Torque Controls 89Group 5 - Supplemental Drive Controls 91Group 6 - Supplemental Gain and Report Settings 97Group 7 - Manufacturing Settings 101Group 8 - Reserved Parameters 103Group 9 - Motor Controls 104
Appendix BIndexing Drive Parameters Parameter Groupings 115
Parameter Descriptions 116Group 0 - Indexing System 116Group 1 - Homing 120Group 2 - Indexing Options 127Group 3 - Index Move Profile 128Group 4 - Index PositionDistance 128Group 5 - Index Registration Distance 128Group 6 - Index Batch Count 128Group 7 - Index Dwell 129Group 8 - Index Velocity 129Group 9 - Index Move Profile 129Group 10 - Index Acceleration 130Group 11 - Index Deceleration 130Group 12 - Index Next Index 131
Appendix CWarnings and Fault Codes Warnings 133
Fault Codes 133
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 5
Table of Contents
Appendix DMonitor Variables Variables 135
Compiled Variables 137Variable 15 - Digital Inputs and Outputs 137Variable 25 - Digital Inputs 137Variable 26 - Digital Outputs 138Variable 29 - Indexing Inputs 138Variable 30 - Indexing Outputs 139
Index
6 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Table of Contents
Notes
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 7
Preface
About This Publication This manual describes the host command set for end-user interface with a Kinetix 3 drive via serial communication Use this manual for designing programming and troubleshooting host commands for serial communication with the Kinetix 3 drives
Who Should Use This Manual
This manual is intended for engineers programmers or technicians directly involved in the installation operation programming and field maintenance of a Kinetix 3 drive by using host mode commands
If you do not have a basic understanding of the Kinetix 3 drive contact your local Rockwell Automation sales representative before using this product for the availability of training courses
Conventions Used in This Manual
The conventions starting below are used throughout this manual bull Bulleted lists such as this one provide information not procedural stepsbull Numbered lists provide sequential steps or hierarchical information
Additional Resources These documents contain additional information concerning related Rockwell Automation products
You can view or download publications at httpwwwrockwellautomationcomliterature To order paper copies of technical documentation contact your local Rockwell Automation distributor or sales representative
Resource Description
Kinetix 3 Component Servo Drive Installation Instruction publication 2071-IN001
Mounting and wiring instructions and mounting dimensions
Kinetix 3 IO Breakout Board Installation Instructions publication 2071-IN002
Kinetix 3 Motor Feedback Breakout Board Installation Instructions publication 2071-IN003
Kinetix 3 Serial Communication Cables Installation Instructions publication 2090-IN019
Kinetix 3 Component Servo Drive User Manual publication 2071-UM001
Information on installing configuring starting up and troubleshooting for your Kinetix 3 servo drive system
Ultraware User Manual publication 2098-UM001
Information on configuring and operating Ultraware software with servo drives and motors
8 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Preface
Notes
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 9
Chapter 1
Modbus Protocol
This chapter defines the Modbus protocol as it applies to a Kinetix 3 drive
Function Codes The register number of MODBUS devices may begin with 0 or 1 Because this is determined by the MODBUS host you the customer have selected A 1 must be added to the register number if your controller requires it
The maximum number of parameters that can be read or written at the same time is the same as the number of MODBUS addresses which is the same as the number of the parameters in each group In other words all the parameters in each group can be read together or written together
Function Code Description
03(0x03) Read Holding Registers
04(0x04) Read Input Registers
06(0x06) Write Single Register
16(0x10) Write Multiple Register
10 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 1 Modbus Protocol
Exception Codes The Kinetix 3 Modbus protocol uses the following exception codes from the Modbus specifications
Exception Code
Name Meaning
0x01 Illegal Function The function code received in the query is not an allowable action for the slave
0x02 Illegal Data Address
The data address received in the query is not an allowable address for the slave
0x03 (1)
(1) Exception code 0x03 indicates an Illegal Data Value It means the length of data string is incorrect Exception code 14(0x0E) indicates an Illegal Data Range It means that data range exceeds the limit of the minimum or maximum value
Illegal Data Value
The length of query data field is not valid for the slave
0x06 Slave Device Busy
The slave is engaged in processing Run command The master should retransmit the message later when the slave is free
0x07 Illegal CRC Value
The CRC value received in the query is wrong value
0x0C Illegal Frame The byte length of the Query Reception frame is out of the limit
0x0D (2)
(2) Exception code 0x0D is generated if the master accesses a 32bit data address with function code 06 or either the high or low address of 32bit data with function code 10
Illegal Sequence
The data sequence received in the query is not an allowable write command for the slave
0x0E (1) Illegal Data Range
The value of query data field is not valid for the slave
0x0F (3)
(3) Exception code 15(0x0F) indicates an Illegal Command was issued It occurs when a received Run control cannot be executed at the moment
Illegal Command
The slave is in Run control and received an invalid command
0x10 (4)
(4) Exception code 16(0x10) is an Illegal Control It occurs when the Network Control Mode is not set but the drive requests a Run Control command or an IO Control command through the network
Illegal Control The slave is not in the Network mode but received a network control command
0x1F Servo Error Fail When the slave is Servo Error condition and receives a Servo ON command from master
0x21 Drive Type Fail When drive type of the slave is Indexing slave receives run command 02 03 04
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 11
Modbus Protocol Chapter 1
Address Maps All standard and indexing parameters (Pr-xxx or Inxxxx) require a unique register address The host computer assigns the initial address number and determines whether the register numbers begin with 0 or 1
Standard Parameters
Group 0 - System Level (1)
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
0 Pr-000 10 Pr-009 20 Pr-019 30 Pr-029
1 Pr-001[Lo] 11 Pr-010 21 Pr-020 31 Pr-030
2 Pr-001[Hi] 12 Pr-011 22 Pr-021 32 Pr-031
3 Pr-002 13 Pr-012 23 Pr-022 33 Pr-032
4 Pr-003 14 Pr-013 24 Pr-023 34hellip42 Reserved
5 Pr-004 15 Pr-014 25 Pr-024 43hellip99 Reserved
6 Pr-005 16 Pr-015 26 Pr-025
7 Pr-006 17 Pr-016 27 Pr-026
8 Pr-007 18 Pr-017 28 Pr-027
9 Pr-008 19 Pr-018 29 Pr-028
(1) Refer to Monitoring Parameter (Function Code 0x04) on page 22 for more detailed information on this parameter
Group 1 - Gain Control
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
100 (1) Pr-100 111 Pr-111 122 Pr-122 133 Pr-133
101 (1) Pr-101 112 Pr-112 123 Pr-123 134 Pr-134
102 Pr-102 113 Pr-113 124 Pr-124 135 Pr-135
103 Pr-103 114 Pr-114 125 Pr-125 136 Pr-136
104 Pr-104 115 Pr-115 126 Pr-126 137 Pr-137
105 Pr-105 116 Pr-116 127 Pr-127 138 Pr-138
106 Pr-106 117 Pr-117 128 Pr-128 139 Pr-139
107 Pr-107 118 Pr-118 129 Pr-129 140 Pr-140
108 Pr-108 119 Pr-119 130 Pr-130 141 Pr-141
109 Pr-109 120 Pr-120 131 Pr-131 142 Pr-142
110 Pr-110 121 Pr-121 132 Pr-132 143hellip199 Reserved
(1) Refer to Fault and Warning Status Parameter - Input Registers on page 22 for more detailed information on this parameter
12 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 1 Modbus Protocol
Group 2 - Speed Control
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
200 (1) Pr-200 206 Pr-204 212 Pr-210
201 (1) Pr-201 207 Pr-205 213 Pr-211
202 Pr-202[Lo] 208 Pr-206 214 Pr-212
203 Pr-202[Hi] 209 Pr-207 215 Pr-213
204 Pr-203[Lo] 210 Pr-208 216hellip299 Reserved
205 Pr-203[Hi] 211 Pr-209
(1) Refer to Output Function Status Parameter on page 23 for more detailed information on these parameters
Group 3 - Position Control
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
300 Pr-300 303 Pr-303 306 Pr-306 309hellip399 Reserved
301 Pr-301 304 Pr-304 307 Reserved
302 Pr-302 305 Pr-305 308 Pr-308
Group 4 - Torque Control
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
400 Pr-400 402 Pr-402 404 Pr-404 406 Pr-406
401 Pr-401 403 Pr-403 405 Pr-405 407hellip499 Reserved
Group 5 - Supplemental Drive Control
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
500 Pr-500 506 Pr-506 512 Pr-511 517 Pr-514[Hi]
501 Pr-501 507 Pr-507 513 Pr-512 518 Pr-515[Lo]
502 Pr-502 508 Pr-508 514 Pr-513 519 Pr-515[Hi]
503 Pr-503 509 Pr-509 514 Pr-513[Lo] 520 Pr-516[Lo]
504 Pr-504 510 Pr-510[Lo] 515 Pr-513[Hi] 521 Pr-516[Hi]
505 Pr-505 511 Pr-510[Hi] 516 Pr-514[Lo] 522hellip599 Reserved
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 13
Modbus Protocol Chapter 1
For parameters within the MODBUS address range of 600hellip4999 refer to the following parameters
bull Monitoring Parameter (Function Code 0x04) on page 22 for MODBUS Addresses 0hellip44
bull Fault and Warning Status Parameter - Input Registers on page 22 for MODBUS Addresses 100hellip101
bull Output Function Status Parameter on page 23 for MODBUS Addresses 2000hellip2016
bull Running Parameter (Function Code 0x06 or 0x10) on page 24 for MODBUS Addresses 2000hellip2016
bull Input Function Parameter (Function Code 0x03 0x06 or 0x10) on page 25 for MODBUS Addresses 3000hellip3002
Indexing Parameters
Group 0 - Indexing System
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
4000 Index 0 Distance Low
4005 Index 0 Accel Low
4001 Index 0 Distance High
4006 Index 0 Accel High
4002 Index 0 Velocity 4007 Index 0 Dwell
4003 Index 0 Decel Low
4008 Index 0 Option
4004 Index 0 Decel High
4009hellip4199 Reserved
Group 0 - Indexing System
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
5000 In0000 5006 In0003Hi
5001 In0001Lo 5007 In0004
5002 In0001Hi 5008 In0005Lo
5003 In0002Lo 5009 In0005Hi
5004 In0002Hi 5010 In0006Lo
5005 In0003Lo 5011 In0006Hi
5012hellip5199 Reserved
14 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 1 Modbus Protocol
Group 2 ndash Index Option
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
5400 In0200 5416 In0216 5432 In0232 5448 In0248
5401 In0201 5417 In0217 5433 In0233 5449 In0249
5402 In0202 5418 In0218 5434 In0234 5450 In0250
5403 In0203 5419 In0219 5435 In0235 5451 In0251
5404 In0204 5420 In0220 5436 In0236 5452 In0252
5405 In0205 5421 In0221 5437 In0237 5453 In0253
5406 In0206 5422 In0222 5438 In0238 5454 In0254
5407 In0207 5423 In0223 5439 In0239 5455 In0255
5408 In0208 5424 In0224 5440 In0240 5456 In0256
5409 In0209 5425 In0225 5441 In0241 5457 In0257
5410 In0210 5426 In0226 5442 In0242 5458 In0258
5411 In0211 5427 In0227 5443 In0243 5459 In0259
5412 In0212 5428 In0228 5443 In0243 5460 In0260
5413 In0213 5429 In0229 5444 In0244 5461 In0261
5414 In0214 5430 In0230 5445 In0245 5462 In0262
5415 In0215 5431 In0231 5446 In0246 5463 In0263
5447 In0247 5464 hellip5599 Reserved
Group 3 - Reserved
MODBUS Address
Kinetix 3 Parameter
5600hellip5799 Reserved
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 15
Modbus Protocol Chapter 1
Group 4 ndash Index PositionDistance
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
5800 In0400Lo 5834 In0417Lo 5868 In0434Lo 5902 In0451Lo
5801 In0400Hi 5835 In0417 Hi 5869 In0434 Hi 5903 In0451Hi
5802 In0401Lo 5836 In0418Lo 5870 In0435Lo 5904 In0452Lo
5803 In0401Hi 5837 In0418 Hi 5871 In0435 Hi 5905 In0452Hi
5804 In0402Lo 5838 In0419Lo 5872 In0436Lo 5906 In0453Lo
5805 In0402Hi 5839 In0419 Hi 5873 In0436 Hi 5907 In0453Hi
5806 In0403Lo 5840 In0420Lo 5874 In0437Lo 5908 In0454Lo
5807 In0403Hi 5841 In0420 Hi 5875 In0437 Hi 5909 In0454Hi
5808 In0404Lo 5842 In0421Lo 5876 In0438Lo 5910 In0455Lo
5809 In0404Hi 5843 In0421 Hi 5877 In0438 Hi 5911 In0455Hi
5810 In0405Lo 5844 In0422Lo 5878 In0439Lo 5912 In0456Lo
5811 In0405Hi 5845 In0422 Hi 5879 In0439 Hi 5913 In0456Hi
5812 In0406Lo 5846 In0423Lo 5880 In0440Lo 5914 In0457Lo
5813 In0406Hi 5847 In0423 Hi 5881 In0440 Hi 5915 In0457Hi
5814 In0407Lo 5848 In0424Lo 5882 In0441Lo 5916 In0458Lo
5815 In0407Hi 5849 In0424 Hi 5883 In0441 Hi 5917 In0458Hi
5816 In0408Lo 5850 In0425Lo 5884 In0442Lo 5918 In0459Lo
5817 In0408Hi 5851 In0425 Hi 5885 In0442 Hi 5919 In0459Hi
5818 In0409Lo 5852 In0426Lo 5886 In0443Lo 5920 In0460Lo
5819 In0409Hi 5853 In0426 Hi 5887 In0443 Hi 5921 In0460Hi
5820 In0410Lo 5854 In0427Lo 5888 In0444Lo 5922 In0461Lo
5821 In0410Hi 5855 In0427 Hi 5889 In0444 Hi 5923 In0461Hi
5822 In0411Lo 5856 In0428Lo 5890 In0445Lo 5924 In0462Lo
5823 In0411Hi 5857 In0428 Hi 5891 In0445 Hi 5925 In0462Hi
5824 In0412Lo 5858 In0429Lo 5892 In0446Lo 5926 In0463Lo
5825 In0412Hi 5859 In0429 Hi 5893 In0446 Hi 5927 In0463Hi
5826 In0413Lo 5860 In0430Lo 5894 In0447Lo 5928hellip5999 Reserved
5827 In0413Hi 5861 In0430 Hi 5895 In0447Hi
5828 In0414Lo 5862 In0431Lo 5896 In0448Lo
5829 In0414Hi 5863 In0431 Hi 5897 In0448Hi
5830 In0415Lo 5864 In0432Lo 5898 In0449Lo
5831 In0415Hi 5865 In0432 Hi 5899 In0449Hi
5832 In0416Lo 5866 In0433Lo 5900 In0450Lo
5833 In0416 Hi 5867 In0433 Hi 5901 In0450Hi
16 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 1 Modbus Protocol
Group 5 - Reserved
MODBUS Address
Kinetix 3 Parameter
6000hellip6199 Reserved
Group 6 - Reserved
MODBUS Address
Kinetix 3 Parameter
6200hellip6399 Reserved
Group 7 ndash Index Dwell
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
6400 In0700 6417 In0717 6434 In0734 6451 In0751
6401 In0701 6418 In0718 6435 In0735 6452 In0752
6402 In0702 6419 In0719 6436 In0736 6453 In0753
6403 In0703 6420 In0720 6437 In0737 6454 In0754
6404 In0704 6421 In0721 6438 In0738 6455 In0755
6405 In0705 6422 In0722 6439 In0739 6456 In0756
6406 In0706 6423 In0723 6440 In0740 6457 In0757
6407 In0707 6424 In0724 6441 In0741 6458 In0758
6408 In0708 6425 In0725 6442 In0742 6459 In0759
6409 In0709 6426 In0726 6443 In0743 6460 In0760
6410 In0710 6427 In0727 6444 In0744 6461 In0761
6411 In0711 6428 In0728 6445 In0745 6462 In0762
6412 In0712 6429 In0729 6446 In0746 6463 In0763
6413 In0713 6430 In0730 6447 In0747 6464 hellip6599 Reserved
6414 In0714 6431 In0731 6448 In0748
6415 In0715 6432 In0732 6449 In0749
6416 In0716 6433 In0733 6450 In0750
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 17
Modbus Protocol Chapter 1
Group 8 ndash Index Velocity
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
6600 In0800 6616 In0816 6632 In0832 6648 In0848
6601 In0801 6617 In0817 6633 In0833 6649 In0849
6602 In0802 6618 In0818 6634 In0834 6650 In0850
6603 In0803 6619 In0819 6635 In0835 6651 In0851
6604 In0804 6620 In0820 6636 In0836 6652 In0852
6605 In0805 6621 In0821 6637 In0837 6653 In0853
6606 In0806 6622 In0822 6638 In0838 6654 In0854
6607 In0807 6623 In0823 6639 In0839 6655 In0855
6608 In0808 6624 In0824 6640 In0840 6656 In0856
6609 In0809 6625 In0825 6641 In0841 6657 In0857
6610 In0810 6626 In0826 6642 In0842 6658 In0858
6611 In0811 6627 In0827 6643 In0843 6659 In0859
6612 In0812 6628 In0828 6644 In0844 6660 In0860
6613 In0813 6629 In0829 6645 In0845 6661 In0861
6614 In0814 6630 In0830 6646 In0846 6662 In0862
6615 In0815 6631 In0831 6647 In0847 6663 In0863
6664 hellip6799 Reserved
Group 9 - Reserved
MODBUS Address
Kinetix 3 Parameter
6800hellip6999 Reserved
18 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 1 Modbus Protocol
Group 10 ndash Index Acceleration
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
7000 In1000Lo 7032 In1016Lo 7064 In1032Lo 7096 In1048Lo
7001 In1000Hi 7033 In1016 Hi 7065 In1032 Hi 7097 In1048 Hi
7002 In1001Lo 7034 In1017Lo 7066 In1033Lo 7098 In1049Lo
7003 In1001Hi 7035 In1017 Hi 7067 In1033 Hi 7099 In1049 Hi
7004 In1002Lo 7036 In1018Lo 7068 In1034Lo 7100 In1050Lo
7005 In1002Hi 7037 In1018 Hi 7069 In1034 Hi 7101 In1050 Hi
7006 In1003Lo 7038 In1019Lo 7070 In1035Lo 7102 In1051Lo
7007 In1003Hi 7039 In1019 Hi 7071 In1035 Hi 7103 In1051 Hi
7008 In1004Lo 7040 In1020Lo 7072 In1036Lo 7104 In1052Lo
7009 In1004Hi 7041 In1020 Hi 7073 In1036 Hi 7105 In1052 Hi
7010 In1005Lo 7042 In1021Lo 7074 In1037Lo 7106 In1053Lo
7011 In1005Hi 7043 In1021 Hi 7075 In1037 Hi 7107 In1053 Hi
7012 In1006Lo 7044 In1022Lo 7076 In1038Lo 7108 In1054Lo
7013 In1006Hi 7045 In1022 Hi 7077 In1038 Hi 7109 In1054 Hi
7014 In1007Lo 7046 In1023Lo 7078 In1039Lo 7110 In1055Lo
7015 In1007Hi 7047 In1023 Hi 7079 In1039 Hi 7111 In1055 Hi
7016 In1008Lo 7048 In1024Lo 7080 In1040Lo 7112 In1056Lo
7017 In1008Hi 7049 In1024 Hi 7081 In1040 Hi 7113 In1056 Hi
7018 In1009Lo 7050 In1025Lo 7082 In1041Lo 7114 In1057Lo
7019 In1009Hi 7051 In1025 Hi 7083 In1041 Hi 7115 In1057 Hi
7020 In1010Lo 7052 In1026Lo 7084 In1042Lo 7116 In1058Lo
7021 In1010Hi 7053 In1026 Hi 7085 In1042 Hi 7117 In1058 Hi
7022 In1011Lo 7054 In1027Lo 7086 In1043Lo 7118 In1059Lo
7023 In1011Hi 7055 In1027 Hi 7087 In1043 Hi 7119 In1059 Hi
7024 In1012Lo 7056 In1028Lo 7088 In1044Lo 7120 In1060Lo
7025 In1012Hi 7057 In1028 Hi 7089 In1044 Hi 7121 In1060 Hi
7026 In1013Lo 7058 In1029Lo 7090 In1045Lo 7122 In1061Lo
7027 In1013Hi 7059 In1029 Hi 7091 In1045 Hi 7123 In1061 Hi
7028 In1014Lo 7060 In1030Lo 7092 In1046Lo 7124 In1062Lo
7029 In1014Hi 7061 In1030 Hi 7093 In1046 Hi 7125 In1062 Hi
7030 In1015Lo 7062 In1031Lo 7094 In1047Lo 7126 In1063Lo
7031 In1015Hi 7063 In1031 Hi 7095 In1047 Hi 7127 In1063 Hi
7128 hellip7199 Reserved
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 19
Modbus Protocol Chapter 1
Group 11 ndash Index Deceleration
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
7200 In1100Lo 7232 In1116 Lo 7264 In1132Lo 7296 In1148Lo
7201 In1100Hi 7233 In1116 Hi 7265 In1132 Hi 7297 In1148 Hi
7202 In1101Lo 7234 In1117Lo 7266 In1133Lo 7298 In1149Lo
7203 In1101Hi 7235 In1117 Hi 7267 In1133 Hi 7299 In1149 Hi
7204 In1102Lo 7236 In1118Lo 7268 In1134Lo 7300 In1150Lo
7205 In1102Hi 7237 In1118 Hi 7269 In1134 Hi 7301 In1150 Hi
7206 In1103Lo 7238 In1119Lo 7270 In1135Lo 7302 In1151Lo
7207 In1103Hi 7239 In1119 Hi 7271 In1135 Hi 7303 In1151 Hi
7208 In1104Lo 7240 In1120Lo 7272 In1136Lo 7304 In1152Lo
7209 In1104Hi 7241 In1120 Hi 7273 In1136 Hi 7305 In1152 Hi
7210 In1105Lo 7242 In1121Lo 7274 In1137Lo 7306 In1153Lo
7211 In1105Hi 7243 In1121 Hi 7275 In1137 Hi 7307 In1153 Hi
7212 In1106Lo 7244 In1122Lo 7276 In1138Lo 7308 In1154Lo
7213 In1106Hi 7245 In1122 Hi 7277 In1138 Hi 7309 In1154 Hi
7214 In1107Lo 7246 In1123Lo 7278 In1139Lo 7310 In1155Lo
7215 In1107Hi 7247 In1123 Hi 7279 In1139 Hi 7311 In1155 Hi
7216 In1108Lo 7248 In1124Lo 7280 In1140Lo 7312 In1156Lo
7217 In1108Hi 7249 In1124 Hi 7281 In1140 Hi 7313 In1156 Hi
7218 In1109Lo 7250 In1125Lo 7282 In1141Lo 7314 In1157Lo
7219 In1109Hi 7251 In1125 Hi 7283 In1141 Hi 7315 In1157 Hi
7220 In1110Lo 7252 In1126Lo 7284 In1142Lo 7316 In1158Lo
7221 In1110Hi 7253 In1126 Hi 7285 In1142 Hi 7317 In1158 Hi
7222 In1111Lo 7254 In1127Lo 7286 In1143Lo 7318 In1159Lo
7223 In1111Hi 7255 In1127 Hi 7287 In1143 Hi 7319 In1159 Hi
7224 In1112Lo 7256 In1128Lo 7288 In1144Lo 7320 In1160Lo
7225 In1112Hi 7257 In1128 Hi 7289 In1144 Hi 7321 In1160 Hi
7226 In1113Lo 7258 In1129Lo 7290 In1145Lo 7322 In1161Lo
7227 In1113Hi 7259 In1129 Hi 7291 In1145 Hi 7323 In1161 Hi
7228 In1114Lo 7260 In1130Lo 7292 In1146Lo 7324 In1162Lo
7229 In1114Hi 7261 In1130 Hi 7293 In1146 Hi 7325 In1162 Hi
7230 In1115Lo 7262 In1131Lo 7294 In1147Lo 7326 In1163Lo
7231 In1115Hi 7263 In1131Hi 7295 In1147 Hi 7327 In1163 Hi
7328 hellip7399 Reserved
20 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 1 Modbus Protocol
Group 12 ndash Next Index
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
7400 In1200 7416 In1216 7432 In1232 7448 In1248
7401 In1201 7417 In1217 7433 In1233 7449 In1249
7402 In0702 7418 In1218 7434 In1234 7450 In1250
7403 In1203 7419 In1219 7435 In1235 7451 In1251
7404 In1204 7420 In1220 7436 In1236 7452 In1252
7405 In1205 7421 In1221 7437 In1237 7453 In1253
7406 In1206 7422 In1222 7438 In1238 7454 In1254
7407 In1207 7423 In1223 7439 In1239 7455 In1255
7408 In1208 7424 In1224 7440 In1240 7456 In1256
7409 In1209 7425 In1225 7441 In1241 7457 In1257
7410 In1210 7426 In1226 7442 In1242 7458 In1258
7411 In1211 7427 In1227 7443 In1243 7459 In1259
7412 In1212 7428 In1228 7444 In1244 7460 In1260
7413 In1213 7429 In1229 7445 In1245 7461 In1261
7414 In1214 7430 In1230 7446 In1246 7462 In1262
7415 In1215 7431 In1231 7447 In1247 7463 In1263
7464 hellip7599 Reserved
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 21
Modbus Protocol Chapter 1
Save Flash Memory Parameter
MODBUS Address
Data Status Description
9999 (decimal) 1 Write data into flash memory
22 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 1 Modbus Protocol
Monitoring Parameter (Function Code 0x04)
Fault and Warning Status Parameter - Input Registers
Display Parameter - Input Registers (Default = 0)
MODBUS Address
Drive Name Unit
0 dis-00 Velocity Feedback rpm
1 dis-01 Velocity Command rpm
2 dis-02 Velocity Error rpm
3 dis-03 Torque Command 010
4hellip5 dis-04 Position Feedback counts
6hellip7 dis-05 Position Command counts
8hellip9 dis-06 Position Error counts
10 dis-07 Pulse Command Frequency 01pps
11 dis-08 Electrical Angle 01
12 dis-09 Mechanical Angle 01
13 dis-10 Regeneration Load Ratio
14 dis-11 DC-Link Voltage V
15 dis-12 Multi-Turn Data Turn number
16hellip17 dis-13 Offset in Velocity Command 01mV
18hellip19 dis-14 Torque Offset 01mV
20hellip24 dis-15 InputOutput Signal Status -
25hellip32 dis-16 Display Error History 8Alarm
33 dis-17 Display Software Version 1word
34hellip35 dis-18 Display Motor info 2word
36 dis-19 Analog Velocity Command Voltage 001V
37 dis-20 Analog Current Command Voltage 001V
38 dis-21 Drive Rated Output Power 1word
39hellip40 dis-22 Absolute Single Turn Data -
41hellip42 dis-23 Encoder Feedback Counter counts
43hellip99 Reserved - -
Fault and Warning Status Parameter - Input Registers (Default = 0)
Modbus Address Function Name Unit
100 Error Check Servo Error Code Word
101 Warning Check Servo Warning Code Word
102hellip199 Reserved - -
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 23
Modbus Protocol Chapter 1
Output Function Status Parameter
Modbus Address
Output Function Description Unit Position [bits]
200 S_ALM Alarm Bit [0]
P-COM Within position window Bit [1]
TG-ON Up to speed Bit [2]
BK Brake control Bit [3]
V-COM Within Speed window Bit [4]
A-VLD Absolute position valid Bit [5]
RDY Drive Ready Bit [6]
T-LMT NEAR Current Limited Bit [7]
V-LMT WARN Velocity Limited Bit [8]
NEAR Near position Bit [9]
WARN Warning Bit [10]
Reserved - Bit [11]
Reserved - Bit [12]
IMO In Motion Bit [13]
I-DW In Dwell Bit [14]
HOMC Axis Homed Bit [15]
201 O_ISEL0 Index Select 0 Out Bit [0]
O_ISEL1 Index Select 1 Out Bit [1]
O_ISEL2 Index Select 2 Out Bit [2]
O_ISEL3 Index Select 3 Out Bit [3]
O_ISEL4 Index Select 4 Out Bit [4]
O_ISEL5 Index Select 5 Out Bit [5]
E_SEQU End of Sequence Bit [6]
Reserved - Bit [7hellip15]
24 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 1 Modbus Protocol
Running Parameter (Function Code 0x06 or 0x10)
Run Parameter - Holding Registers (Default = 2000)
Modbus Address
Attribute RUN Name Access Unit
2000 User Open run-00 Jog Operation 1 byte
2001 run-01 Off-Line Auto Tuning 1 bit
2002 run-02 Reserved -
2003 run-03 Auto Adjustment of Speed Command Offset
1 bit
2004 run-04 Auto Adjustment of Current Command Offset
1 bit
2005hellip2007 run-05hellip run-07 Reserved -
2008 run-08 Alarm Reset 1 bit
2009 run-09 Reserved -
2010 run-10 Absolute Encoder Reset 1 bit
2011 run-11 2-Group Gain Storing 1 bit
2012 run-12 Parameter Initialization 1 bit
2013hellip2015 run-13helliprun-15 Reserved -
2016 run-16 Hardware Reset 1 bit
2017hellip2099 run-17helliprun-99 Reserved -
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 25
Modbus Protocol Chapter 1
Input Function Parameter (Function Code 0x03 0x06 or 0x10)
Input Function Control - Holding Registers
Modbus Address
IO Function Description Unit Position Bit
3000 SV-ON Drive Enable bit 0
- Reserved - [1] and [2]
P-CON Integrator Inhibit bit [3]
A-RST Fault Reset bit [4]
N-CL Negative Current Limit bit [5]
P-CL Positive Current Limit bit [6]
C-SEL Operation Mode Override bit [7]
C-DIR Preset Direction bit [8]
C-SP1 Preset Select 1 bit [9]
C-SP2 Preset Select 2 bit [10]
C-SP3 Preset Select 3 bit [11]
C-SP4 Preset Select 4 bit [12]
INHIB Pause Follower bit [13]
G-SEL Alternate Gain Select bit [14]
PCLR Position clear bit [15]
3001 ABS-DT Position Strobe bit [0]
START Motor Moving Enable bit [1]
Z-CLP Zero Speed Clamp Enable bit [2]
GEAR 2nd Electronic Gear Bank Selection bit [3]
R-ABS Reset multi-turn data of Absolute Encoder
bit [4]
- Reserved - [5]
SHOME Start Homing bit [6]
STOP Stop Indexing bit [7]
PAUSE Pause Indexing bit [8]
I-SEL0 Index Select 0 Input bit [9]
I-SEL1 Index Select 1 Input bit [10]
I-SEL2 Index Select 2 Input bit [11]
I-SEL3 Index Select 3 Input bit [12]
I-SEL4 Index Select 4 Input bit [13]
I-SEL5 Index Select 5 Input bit [14]
H_STOP Stop Homing bit [15]
3002 START_I Start Index bit [0]
BANK_SEL Gain Bank Select bit [1]
- Reserved - [2hellip15]
26 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 1 Modbus Protocol
Notes
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 27
Chapter 2
Communication Protocol (RS-232ASCII)
Introduction The drive command protocol is a client-server protocol A host computer is the server and each drive is a client This chapter provides details about the Special Symbols Packet Structure and Checksum in the serial communication protocol
Special Symbols Special symbols used in the host commands include the following
Packet Structure The packet structure is shown below
Some simple commands might not have the Data field (for example Fault Reset) Maximum packet size is 400 bytes Each letter and digit in Command and Data fields represents a single ASCII character
All commands begin with an STX and terminate with an ETX
If the drive receives the command without a communication error the response is in the same format as the host command Numeric parameters are encoded as strings
Symbol Value Description
STX 0x02 Start of Transmission
ETX 0x03 End of Transmission
ACK 0x06 Command Acknowledged
GS 0x29 Cannot change the value of the parameter while drive is enabled
RS 0x30 Value is out of range
US 0x31 Invalid command
NAK 0x15 Communication Error (Checksum Error)
CAN 0x18 Cancellation of Command (For example the drive will send CAN if the drive is already enabled but the JOG ON is requested)
Start ID HostResponse
Command Data Separator Checksum End
Symbol STX dd or $ SET orhellip d hellipd c c ETX
Bytes 1 2 1 3 0 - n 1 1 1
28 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 2 Communication Protocol (RS-232ASCII)
If the drive receives the hosts command with a communication error (for example parity or checksum errors) the drive sends an NAK The host should assume a communication error occurred if a response from the drive does not occur within a time-out period (generally 200 ms)
If drive does not recognize the command it sends a US response
Checksum The checksum range consists of ID to Separator fields Checksum is the ASCII hex code of the least significant digit from the sum of hexadecimal codes in the checksum range
For example this VER command has a checksum of 42 (ASCII hex code of B)
30H+31H+23H+56H+45H+52H+3AH = 1ABH The ASCII hex code of B is 42
However this VER command response also has a checksum of 35 (ASCII hex code of 5)
30H+31H+24H+56H+45H+52H+20H+31H+2EH+30H+32H+3AH = 295H The ASCII hex code of 5 is 35
Command STX 0 1 V E R B ETX
ASCII 2 30 31 23 56 45 52 3A 42 3
Command STX 0 1 amp V E R 9 0 2 5 ETX
ASCII 2 30 31 24 56 45 52 20 39 2E 30 32 3A 35 3
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 29
Chapter 3
General Commands (ASCII)
This chapter defines the general ASCII commands available to control a Kinetix 3 drive
Read Parameter (SET)
Attribute Value
Command SET
Description Read parameter value
Format STX ID SET PPP BSS ETX
Data Argument Description
PPP Parameter for example [Pr - 203] PPP=203=0x0CB Refer to this chapter Appendix A Standard Drive Parameters and Appendix B Indexing Drive Parameters for a available parameter descriptions
Response Format STX ID $SET V BSS ETX
Response Data Argument Description
V Bit-field type = 4 byte hexadecimal value Integer type = Signed integer of variable length
30 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 3 General Commands (ASCII)
Write Parameter (STR)
Write Parameter (CHP)
Attribute Value
Command STR
Description Write parameter value to RAM and then save data from RAM to flash memory
Format STX ID STR PPP V BSS ETX
Data Argument Description
PPP Parameter for example [Pr - 203] PPP=203=0x0CB Refer to Standard Drive Parameters beginning on page 45 for a description of available parameters Group 7 - Manufacturing Settings are product settings that are programmed during manufacturing
V Bit-field type = 4 byte hexadecimal value Normal type = Signed integer of variable length
Response Format ACK
Error Response If the drive is unable to change the variable because it is enabled it sends GS If the value is out of range RS is returned
Next Command STX ID STR BSS ETX
Usage Note To determine whether task is complete send STR without arguments
Response Format If task is not complete STX ID $BSY BSS ETX or If task is complete STX ID $TOK BSS ETX
Attribute Value
Command CHP
Description Write parameter value to RAM
Format STX ID CHP PPP V BSS ETX
Data Argument Description
PPP Parameter for example [Pr - 203] PPP=203=0x0CB Refer to Standard Drive Parameters beginning on page 45 for a description of available parameters Group 7 - Manufacturing Settings are product settings that are programmed during manufacturing
V Bit-field type = 4 byte hexadecimal value Normal type =Signed integer of variable length
Response Format ACK
Error Response If unable to change the variable because drive is enabled GS is sent If value is out of range RS is returned
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 31
General Commands (ASCII) Chapter 3
Indexing Command Extended (XCE)
Read Indexing Parameter (XET)
Attribute Value
Command XCE
Description Execute Indexing Control Panel command
Format STX ID XCE NNNNN amp VVVVV BSS ETX
Data Argument Description
NNNNN Index number 0hellip63Data Format 16-bit unsigned integer d
VVVVVV Indexing Function Command 0 = Start Homing 1 = Stop Homing 2 = Start IndexingData Format 16bit unsigned integer d
Response Format ACK If there is an error while executing the command the GS RS US NAK CAN exception code s can be used for the response
Usage Note This command executes only Indexing commands If the command to be executed is not specific to an Index number the NNNNN field should be 0
Attribute Value
Command XET
Description Read parameter value
Format STX ID XET PPPP BSS ETX
Data Argument Description
PPPP Parameter for example in the case of [IN0002] PPPP=0200 the two initial arguments (PPxx) indicate the indexing (Ix) group Refer to Indexing Drive Parameters beginning on page 115 for a description of available indexing parameters Group 7 - Manufacturing Settings are product settings that are programmed during manufacturing
Response Format STX ID $XET V BSS ETX
Response Data Argument Description
V Bit-field type = 4 byte hexadecimal value Integer type Signed integer of variable length
32 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 3 General Commands (ASCII)
Write Indexing Parameter (XHP)
Write Indexing Parameter (XTR)
Attribute Value
Command XHP
Description Write parameter value to RAM
Format STX ID XHP PPPP V BSS ETX
Data Argument Description
PPPP Parameter for example in the case of [IN0002] PPPP=0200 the two initial arguments (PPxx) indicate the indexing (Ix) group Refer to Indexing Drive Parameters beginning on page 115 for a description of available indexing parameters
V Bit-field type = 4 byte hexadecimal value Normal type = Signed integer of variable length
Response Format ACK
Error Response If the drive is unable to change the variable because it is enabled it sends GS If the value is out of range RS is returned
Attribute Value
Command XTR
Description Write parameter value to RAM and then saves data from RAM to flash memory
Format STX ID XTR PPPP V BSS ETX
Data Argument Description
PPPP Parameter In the case of [IN0002] PPPP=0200 the two initial arguments ((PPxx) indicate the indexing (Ix) group Refer to Indexing Drive Parameters beginning on page 115 for a description of available indexing parameters
V Bit-field type = 4 byte hexadecimal value Normal type = Signed integer of variable length
Response Format ACK
Error Response If the drive is unable to change the variable because it is enabled it sends GS If the value is out of range RS is returned
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 33
General Commands (ASCII) Chapter 3
Fault Reset (RST)
Monitor Variable (MDM)
Attribute Value
Command RST
Description Clear fault
Format STX ID RST BSS ETX
Response ACK
Usage Note Fault Reset will have no effect unless action was taken to resolve the fault Refer to Warnings and Fault Codes beginning on page 133 for a description of faults and warnings
Attribute Value
Command MDM
Description Monitor variables
Format STX ID MDM P1 P2 P3 P4 P5 BSS ETX
Data Argument Description
P1hellipP5 Variables to monitor
Usage Note MDM command can monitor up to five variables Refer to Monitor Variables on page 135 for the list of variables
Response Format STX ID $ MDM V1ampV2ampV3ampV4ampV5 BSS ETX
Response Data Argument Description
V1hellipV5 Variable values are 4 or 8 bytes signed See tables below for descriptions of specific variables
34 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 3 General Commands (ASCII)
Triggered Data Collection (MOT)
Attribute Value
Command MOT
Description Sets watches and reads trigger monitor
Format STX ID MOT Ch1 Ch2 Src SP Num Mode Pos Level BSS ETX
Data Argument Description
Ch1 Ch2 Input signals See Appendix A (variables 0x00hellip0x0F only)
Src Trigger Source (0x000hellip0x009 0x101hellip0x112) Refer to Monitor Variables on page 135 for the list of variables 0x101-0x10A DI1hellipDI10 0x10B Emergency Stop Input 0x10C-0x10E DO1hellipDO3 0x10F Safety Alarm Output 0x110-0x112 DO4hellipDO6
SP Sample Period Range 0x01hellip0x64 (02hellip20 ms)
Num Number of data points 10 Range 0x01hellip0x1E (1hellip30)
Mode Trigger mode 1 = Positive Edge 2 = Negative Edge
Pos Trigger Position (1hellip9) The percentage of data to be received before the trigger pointFor example if Pos = 3 then 30 of data received before the trigger point and 70 of data received after the trigger point
Level Trigger levelthreshold the value of the Trigger Source Values are 4 or 8 bytes signed
Usage Note This command is sent to the drive prior to monitoring or reading the Triggered Data Collection (MOT) command variants below See Figure 1 for command examples
Response ACK
Next Command MOT
Format STX ID MOT BSS ETX
Usage Note This command is sent to the drive to verify data is available
Response If data is not ready STX ID $ BSY BSS ETX If data is ready STX ID $ TOK BSS ETX
Next Command MOT
Format STX ID MOT NumD BSS ETX
Data Argument Description
NumD Data Point to retrieve the data from Range 00hellip(Num-1)
Usage Note This command can be used when previous command returned TOK Send ESC to stop data collection
Response Format STX ID $ MOT V1ampV2ampV20 BSS ETX
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 35
General Commands (ASCII) Chapter 3
Figure 1 - Triggered Data Collection (MOT) Command String Example
Attribute Value
Response Data Argument Description
V1hellipV20 Data transmission is done in blocks of 10 Because there are 2 channels 20 values are returned with values alternating between the first channel and the second channel Values are a signed integer of variable length (4 or 8 bytes)
Next Command STX ID ESC BSS ETX
Response ACK
MOR (setting)
ACK
MOT
$BSY
MOT
$TOK
MOT00
$MOT
PC Servo
Time lt200 ms
MOT29
$MOT
ESC
ACK
36 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 3 General Commands (ASCII)
Variable Roll Monitoring (MOR)
Attribute Value
Command MOR
Description Set up variable roll monitor
Format Data
STX ID MOR SP P1 P2 BSS ETX
Argument Description
SP Sampling period range 0x01hellip0x64 (01hellip100 ms)
P1 P2 Variables to monitor Range 0x00hellip0x1D
Usage Note Sets up the variable roll monitoring This command is sent to the drive prior to sending a Monitor Variable (MDM) command See Figure 2 for command examples
Response ACK
Next Command STX ID MOR BSS ETX
Usage Note Request to store data in the linear buffer (with a capacity of 100 data points) If the buffer is full and data has not been retrieved the buffer is emptied If data is requested before data is in the buffer the drive sends ACK
Response Format STX ID $ MOR V1ampV2amphellipVn BSS ETX
Response Data Argument Description
V1hellipVn Signed integer of variable length
Next Command STX ID ESC BSS ETX
Usage Note Send ESC to stop monitoring of the data
Response ACK
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 37
General Commands (ASCII) Chapter 3
Figure 2 - Variable Roll Monitoring (MOR) Command String Example
MOR (setting)
ACK
MOR
$MOR
MOR
$MOR
ESC
ACK
PC Servo
Time lt200 ms
38 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 3 General Commands (ASCII)
Automatic Task (TAT)
Figure 3 - Automatic Task (TAT) Command String Example
Attribute Value
Command TAT
Format STX ID TAT T1 BSS ETX
Data Argument Description
T1 Automatic task number See the following Values and Task Descriptions
Value Task Description
0x01 Auto Tuning
0x02 Move to Marker
0x03 Auto Adjustment of Velocity Command Offset
0x04 Auto Adjustment of Current Command Offset
0x07 Auto Adjustment of Current Feedback Offset
Response ACK
Usage Note Send TAT command without arguments to find out if a task is completed See Figure 3 for command examples
Next Command STX ID TAT BSS ETX
Response Format STX ID $ BSY BSS ETX - if task is not complete STX ID $ TOK BSS ETX - task is complete
TAT (setting)
ACK
TAT
$BSY
TAT
$TOK
PC Servo
Time lt200 ms
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 39
General Commands (ASCII) Chapter 3
Manual Task (TMN)
Figure 4 - Manual Task (TMN) Command String Example
Attribute Value
Command TMN
Format STX ID TMN 1 BSS ETX
Data Argument Description
T1 Manual task number See the following Values and Task Descriptions
Value Task Description
0x01 - Speed Command Offset - Decrement by 01 mV
0x02 + Speed Command Offset - Increment by 01 mV
0x03 Save Speed Command Offset change
0x04 - Current Command Offset - Decrement by 01 mV
0x05 + Current Command Offset - Increment by 01 mV
0x06 Save Current Command Offset change
0x07 Discard changes and exit
Response ACK
Usage Note Most manual tasks are complete by the time ACK is received Commands 0x03 and 0x06 may take longer because they save data to flash memory Send TMN command without arguments to find out if a task is completed See Figure 4 for command examples
Next Command STX ID TAT BSS ETX
Response Format STX ID $ BSY BSS ETX - if task is not complete STX ID $ TOK BSS ETX - task is complete
TMN (setting)
ACK
TMN
$BSY
TMN
$TOK
PC Servo
Time lt200 ms
40 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 3 General Commands (ASCII)
Read Fault Contents (EHY)
Jog (JOG)
Attribute Value
Command EHY
Description Read faults See Read Fault Detailed Data (DIE) on page 43 for alternative fault data
Format STX ID EHY F1 BSS ETX
Data Argument Description
F1 Fault Number Range is 0x01hellip0x08 where latest fault status is stored in 0x01 and oldest fault is stored in 0x08
Response Format STX ID $ EHYE FCode FChars BSS ETX
Data Data Description
FCode Fault Code See Appendix C for a list of fault codes
FChars Fault Name Abbreviated See Appendix C
Usage Note Use this command to find out more about one of the eight faults To receive all fault statuses use EHY command below
Attribute Value
Command EHY
Description Read all fault codes
Format STX ID EHY BSS ETX
Data Argument Description
Asterik () means all faults
Response Format STX ID $ EHY Fcode1ampFcode2ampFcode8 BSS ETX
Data Data Description
Fcode1hellipFcode8 Fault Code See Appendix C for a list of fault codes
Attribute Value
Command JOG
Description Jog forward or reverse
Format STX ID JOG P1 BSS ETX
Data Argument Description
P1 0 = prepare for jog operation + = jog forward - (dash) = jog reverse
Response ACK
Usage Note To keep jogging send JOG command more than once within 500 ms To end Jog mode send SVROF
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 41
General Commands (ASCII) Chapter 3
Read Drive Status (STS)
Attribute Value
Command STS
Description Read status
Format STX ID STS BSS ETX
Response Format STX ID $ STS Mode S1 S2 S3 S4 S5 SS FChars BSS ETX
Response Data Arguments Description
Mode One of these operating modes F = Follower mode S = Analog Velocity mode P = Preset Velocity mode C = Analog Current mode D = Dual Current Command mode PF PS PC FS FC SC = Mixed modes Refer to [Pr - 000] Operations Mode on page 46 for additional information
S1 S1 means In Follower mode 1 = In Position 0 = Not In Position In Analog Velocity or Preset Velocity modes 1 = In Speed Window 0 = not In Speed Window If position or speed data is not available S1= 0
S2 One of the following 1 = Up to Speed 0 = Not Up to Speed If speed data is not available S2=0
S3 One of the following 1 = Drive is Enabled 0 = Drive is Disabled
S4 One of the following 1 = Positive Overtravel is active 0 = Positive Overtravel is inactive
S5 One of the following 1 = Negative Overtravel is active 0 = Negative Overtravel is inactive
SS One of the following Edd = fault occurred (See Appendix C)
dd = 2 byte error code 0x00hellip0xFF Wdd = warning occurred (See Appendix C)
dd = 2 byte warning code RDY = no errors or warnings
FChars Abbreviation of the faultwarning name In the case of Estop fault Fchars = ESTOP FChars size is 5 bytes when fault occurs and 3 bytes when warning occurs
42 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 3 General Commands (ASCII)
Other Functions (ETC)
Attribute Value
Command ETC
Format STX ID ETC F1 BSS ETX
Data Argument Description
F1 Manual task number See the following Values and Task Descriptions
Value Task Description
0x09 Clear Fault History
0x0A Reset Absolute Encoder (1)
(1) Resetting of an absolute (17-bit) encoder is possible only when the drive is disabled The command Reset Absolute Encoder sets the rotation data to 0 and clears all encoder related faults and warnings
0x0B Store 2-Group Gain
0x0C Reset to Factory settings (2)
(2) Parameters in the table below are not affected by the Reset to Factory settings
0x0D Test Run
0x0E Upgrade Firmware
0x0F Erase Manufacturing Information
Response ACK
Usage Note Send ETC command without arguments to find out if a task is completed
Next Command STX ID ETC BSS ETX
Response Format STX ID $ BSY BSS ETX - if task is not complete orSTX ID $ TOK BSS ETX - task is complete
Parameter Number Description
600 Analog Velocity Command Offset
601 Analog Current Command Offset
602 U Phase Current Sensing Offset
603 W Phase Current Sensing Offset
700hellip707 Group 7 - Manufacturing Settings
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 43
General Commands (ASCII) Chapter 3
Verify Software Version (VER)
Verify Servo Connection (LIV)
Read Fault Detailed Data (DIE)
Attribute Value
Command VER
Description Verify software version
Format STX ID VER BSS ETX
Response Format STX ID $ VER V BSS ETX
Response Data Argument Description
V Firmware version Size 5 bytes including a space Example STX01$VER 100BSS ETX
Attribute Value
Command LIV
Description Verify servo connection
Format STX ID LIV BSS ETX
Response Format ACK if there is a connection
Attribute Value
Command DIE
Description Read detailed fault data stored in [Pr - 607] Fault Detail Data Selection 1 Sample period in microseconds = [Pr - 607] 200) See Read Fault Contents (EHY) on page 40 for alternative fault data
Format STX ID DIE A1 A2 BSS ETX
Data Argument Description
A1 Channel to get the data for Range 1hellip4 Channels are stored in [Pr - 607]hellip[Pr - 610] Fault Detail Data Selection 4
A2 Data Number Range 0hellip50 0 means all data
Usage Note Send DIE 02 00 to receive all the data for A1= 02 Send DIE 00 01 to receive data for data number 1 of 4 variables DIE 00 00 is invalid
Response Format STX ID $ DIE D1ampD2ampDN BSS ETX
Error Response STX ID $ DIE FFFF BSS ETX means data number is invalid
Response Data Argument Description
D1hellipDn Detailed data where n depends on A1 and A2 If A1=00 and A2 = 01 then n = 4 If A1=01hellip04 and A2 = 01hellip50 then n=1 If A1=01hellip04 and A2 = 00 then n= 50
44 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 3 General Commands (ASCII)
Enable Drive (SVRON)
Disable Drive (SVROF)
Reset Drive (HWR)
Attribute Value
Command SVRON
Description Enables the drive
Format STX ID SVRON BSS ETX
Response ACK
Attribute Value
Command SVROF
Description Disables the drive
Format STX ID SVROF BSS ETX
Response ACK
Attribute Value
Command HWR
Description Reset the drive by using watchdog counter
Format STX ID HWR BSS ETX
Response ACK
Usage Note Stops the watchdog timer allowing a hardware signal to reboot (reset) the drive
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 45
Appendix A
Standard Drive Parameters
Parameters control Kinetix 3 drive operations They are grouped by the type of drive Standard or Indexing and the settings they define
Descriptions of Indexing Drive Parameters begin on page 115
Parameter Groupings Standard drive parameters are grouped into these drive settings bull Group 0 - Basic drive system and IO settings bull Group 1 - Gain and gain tuning settings bull Group 2 - Velocity control settings bull Group 3 - Position control settings bull Group 4 - Torque control settings bull Group 5 - Supplementary drive system and IO settings bull Group 6 - Supplementary gain settings and fault reports bull Group 7 - Factory default settings bull Group 8 - Parameters reserved bull Group 9 - Motor and drive operating mode parameters
46 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
Parameter Descriptions Parameter descriptions list the size of each parameter and the data options within the parameter
Descriptions of Indexing Drive Parameters begin on page 115
Group 0 - System Level
[Pr - 000] Operations Mode
Ultraware Name Operation Modes (MainOverride)
Range 0hellip12
Display (Value) Normal operating mode Override operating mode
F (1) Follower Follower
S (2) Analog Velocity Input Analog Velocity Input
C (3) Analog Current Input Analog Current Input
SF (4) Analog Velocity Input Follower
CF (5) Analog Current Input Follower
CS (6) Analog Current Input Analog Velocity Input
P (7) Preset Velocity Preset Velocity
PF (8) Preset Velocity Follower
PS (9) Preset Velocity Analog Velocity Input
PC (10) Preset Velocity Analog Current Input
D (11) Reserved Reserved
I (12) Indexing Indexing
Default 1
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
MODBUS Address 0
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 47
Standard Drive Parameters Appendix A
[Pr - 001] Motor Configuration
Data Size 6 digits
Ultraware Name Motor configuration
Digit 0 Encoder type
Range Value Description
0x0hellip0xf Each number define a corresponding encoder type 9 line or 17-bit serial for example
Default 0x1 = 9 line
Digit 1hellip2 Rated power
Range Value Description
A5010204081015 501002004008001000 or 1500 Watts
Default 04 = 400 W
Digit 3hellip4 Motor type
Range Value Description
Motor type Motor initial ID
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
MODBUS Address 1
When Enabled Servo-Off -gt Setting
Applicable Operating Mode All
MODBUS Address Pr-001[Lo] = 1 Pr-001[Hi] = 2
48 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 002] Motor Basic Modes
Data Size 4 digits
Digit 0 Fault and Disable Braking
Ultraware Name Stopping Functions Fault and Disable Braking
Range Value Description
0x0 Brake and hold
0x1 Brake and release
0x2 Free stop
0x3 Free stop and hold
Default 0
Digit 1 Overtravel stop method
Ultraware Name Stopping Functions Over Travel Stop Method
Range Value Description
0x0 Stop by change of mode to Normal Current Set stopping current with Overtravel Current Limit parameter [Pr - 405]
0x1 Dynamic Brake
Default 0
Digit 2 Motor Forward Dir
Ultraware Name Command Polarity
Range Value Description
0x0 The command signal is not inverted so that a positive command value results in clockwise rotation as viewed from shaft end
0x1 The command signal is inverted so that a positive command value results in counter-clockwise rotation s viewed from shaft end
Default 0
Digit 3 Power input
Ultraware Name AC Line Loss Check
Range Value Description
0x0 Enables the following bull 50hellip400W drive Enable
single-phase open check bull 800hellip15kW drive Enable
three-phase open check
0x1 Disable
0x2 Single-phase input
Default 0
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 49
Standard Drive Parameters Appendix A
When Enabled Servo-Off -gt Setting
Applicable Operating Mode All
MODBUS Address 3
[Pr - 003] Auto Tuning Functions
Data Size 4 digits
Digit 0 Off-line Tuning Mode
Ultraware Name Off-line Tuning Mode
Range Value Description
0x0 Inertia Moment Estimation
0x1 Inertia Moment Estimation and Resonant Frequency Detection
0x2 Resonance frequency Detection
Default 1
Digit 1 Reserved
Digit 2 Autotuning Speed
Ultraware Name Autotuning Speed
Range 2hellip9
Default 7
Units rpm100
Digit 3 Dynamic Tuning Response Speed
Ultraware Name Online Tuning Response
Range Value Description
0x0 Off
0x1 Slowest
0x2 Slower
0x3 Slow
0x4 Medium-Slow
0x5 Medium
0x6 Medium-Fast
0x7 Fast
0x8 Faster
0x9 Fastest
Default 0
Units -
When Enabled Servo-Off -gt Setting
Applicable Operating Mode All
MODBUS Address 4
[Pr - 002] Motor Basic Modes (Continued)
50 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 004] Inertia Ratio
Description Load Inertia Motor Inertia
Ultraware Name Inertia Ratio
Range 0hellip6000
Default 100
Units (Load inertiaMotor inertia) 100
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 5
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 51
Standard Drive Parameters Appendix A
[Pr - 005] Auxiliary Function Selection 1
Applicable Operating Mode All
Data Size 4 digits
Digit 0 Encoder Back-up Battery
Ultraware Name Encoder Back-up Battery
Range Value Description
0x0 Battery Installed
0x1 Battery Not Installed
Default 0
Digit 1 Velocity Observer
Ultraware Name Velocity Observer
Range Value Description
0x0 Disable
0x1 Enable
Default 0
Digit 2 Alternative Gain Change Enable
Ultraware Name Gain Change Enable
Range Value Description
0x0 Disable
0x1 Enable
Default 0x0
Digit 3 Emergency stop input
Range Value Description
0x0 Disable
0x1 Enable
Default 0
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
MODBUS Address 6
52 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 006] Auxiliary Function Selection 2
Applicable Operating Mode All
Data Size 3 digits
Digit 0 Automatic Motor Identification
Ultraware Name Auto Motor Identification
Range Value Description
0x0 Disabled
0x1 Enabled
Default 1
Digit 1 Incremental Feedback Loss (Encoder Line Break Detection)
Ultraware Name Incremental Feedback Loss
Range Value Description
0x0 Monitored
0x1 Ignored
Default 0
Digit 2 Mode of Gain Switching
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 53
Standard Drive Parameters Appendix A
Range Value Description
0 Fixed to the 1st gain
1 Fixed to 2nd gain
2 2nd gain selection when the gain switching input is turned on
3 2nd gain selection when the toque command is larger than the set-up levels of the gain control switching and hysteresis of control switching
4 2nd gain selection when the command speed is larger than the set-up levels of the gain control switching and hysteresis of control switching
5 2nd gain selection when the positional deviation is larger than the setup set-up levels of the gain control switching and hysteresis of control switching
6 2nd gain selection when more then one command pulse exist between 200usec
7 2nd gain selection when the positional deviation counter value exceeds the set-up of the positioning complete range
8 2nd gain selection when the motor actual speed exceeds the set-up levels of the gain control switching and hysteresis of control switching)Switches to the 2nd gain while the position command exists
9 Switches to the 1st gain when no-position command status lasts for the set up of delay time of gain switching [x 200usec] and the speed falls slower than the set-up levels of the gain control switching level and hysteresis of control switching
Default 0
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 7
[Pr - 006] Auxiliary Function Selection 2 (Continued)
54 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 007] Drive Address
Applicable Operating Mode All
Ultraware Name Drive Address
Range 1hellip247
Default 1
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 8
[Pr - 008] Password
Applicable Operating Mode All
Ultraware Name Drive Password
Range 0hellip9999Usage Note Unprotected Code 777
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 9
[Pr - 009] Serial Port Configuration
Applicable Operating Mode All
Data Size 4 digits
Digit 0 Baud Rate
Ultraware Name Baud Rate
Range Value Description
0x0 9600 bps
0x1 14400 bps
0x2 19200 bps
0x3 38400 bps
0x4 56000 bps
0x5 57600 bps
Default 0x5
Digit 1 Data bits Parity Stop bit
Ultraware Name Data bits Parity Stop bit
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 55
Standard Drive Parameters Appendix A
Range Value Description
0x0 8 No 1
0x1 8 Even 1
0x2 8 Odd 1
0x3 8 No 2
0x4 8 Even 2
0x5 8 Odd 2
Default 0x0
Digit 2 Protocol
Ultraware Name Protocol
Range Value Description
0x0 ASCII
0x1 MODBUS-RTU
Default 0
Digit 3 Communication Method
Ultraware Name Communication Method
Range Value Description
0 0x0 RS232
1 Ox1 RS485
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 10
[Pr - 010] Allocation of Input Signals 1
Range for all digits 0hellipB where 0 is Off B is On and 1hellipA are digital inputs
Data Size 4 digits
Digit Description Default Unmapped IO Status
0 Drive enable (SV-ON) 0x1 ON
1 Positive overtravel (P-OT) 0xb ON
2 Negative overtravel (N-OT) 0xb ON
3 Integrator inhibit (CON) 0x4 OFF
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 010]hellip[Pr - 021] on page 60
Applicable Operating Mode All
MODBUS Address 11
[Pr - 009] Serial Port Configuration (Continued)
56 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 011] Allocation of Input Signals 2
Range for all digits 0hellipB where 0 is Off B is On and 1hellipA are digital inputs
Data Size 4 digits
Digit Description Default Unmapped IO Status
0 Fault reset (A-RST) 0x5 OFF
1 Negative current limit (N-TL) 0x6 OFF
2 Positive current limit (P-TL) 0x7 OFF
3 Operation mode override (C-SEL)
0x0 OFF
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 010]hellip[Pr - 021] on page 60
Applicable Operating Mode All
MODBUS Address 12
[Pr - 012] Allocation of Input Signals 3
Range for all digits 0hellipB where 0 is Off B is On and 1hellipA are digital inputs
Data Size 4 digits
Digit Description Default Unmapped IO Status
0 Preset direction (C-DIR) 0x0 OFF
1 Preset select 1 (C-SP1) 0x0 OFF
2 Preset select 2 (C-SP2) 0x0 OFF
3 Preset select 3 (C-SP3) 0x0 OFF
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 010]hellip[Pr - 021] on page 60
Applicable Operating Mode All
MODBUS Address 13
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 57
Standard Drive Parameters Appendix A
[Pr - 013] Allocation of Input Signals 4
Range for all digits 0hellipB where 0 is Off B is On and 1hellipA are digital inputs
Data Size 4 digits
Digit Description Default Unmapped IO Status
0 Zero speed clamp enable (Z-CLP)
0x0 OFF
1 Pause follower (INHIBIT) 0x0 OFF
2 Alternate gain select (G-SEL) 0x0 OFF
3 Position clear (PCLR) 0x0 OFF
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 010]hellip[Pr - 021] on page 60
Applicable Operating Mode All
MODBUS Address 14
[Pr - 014] Allocation of Input Signals 5
Range for all digits 0hellipB where 0 is Off B is On and 1hellipA are digital inputs
Data Size 4 digits
Digit Description Default Unmapped IO Status
0 Position strobe (ABS-DT) 0x0 OFF
1 Motor moving enable (START) 0x0 OFF
2 Analog speed command select (C-SP4)
0x0 OFF
3 2nd electronic gear bank selection (GEAR)
0x0 OFF
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 010]hellip[Pr - 021] on page 60
Applicable Operating Mode All
MODBUS Address 15
58 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 015] Allocation of Input Signals 6
Data Size 4 digits
Digit Description Default Unmapped IO Status
0 Reset multi-turn data of absolute encoder (R_ABS)
0x0 OFF
1 Gain bank select (BANK_SEL) 0x0 OFF
2 Reserved 0x0 OFF
3 Reserved 0x0 OFF
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 010]hellip[Pr - 021] on page 60
Applicable Operating Mode All
MODBUS Address 16
[Pr - 016] Allocation of Input Signals 7
Data Size 4 digits
Digit Description Default Unmapped IO Status
0 Home sensor (H_SENS) 0x0 OFF
1 Start homing (SHOME) 0x0 OFF
2 Stop indexing (STOP) 0x0 OFF
3 Pause indexing (PAUSE) 0x0 OFF
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 010]hellip[Pr - 021] on page 60
Applicable Operating Mode Indexing
MODBUS Address 17
[Pr - 017] Allocation of Input Signals 8
Data Size 4 digits
Digit Description Default Unmapped IO Status
0 Index select 0 input (I_SEL0) 0x0 OFF
1 Index select 1 input (I_SEL1) 0x0 OFF
2 Index select 2 input (I_SEL2) 0x0 OFF
3 Index select 3 input (I_SEL3) 0x0 OFF
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 010]hellip[Pr - 021] on page 60
Applicable Operating Mode Indexing
MODBUS Address 18
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 59
Standard Drive Parameters Appendix A
[Pr - 018] Allocation of Input Signals 9
Data Size 4 digits
Digit Description Default Unmapped IO Status
0 Index select 4 input (I_SEL4) 0x0 OFF
1 Index select 5 input (I_SEL5) 0x0 OFF
2 Stop homing (H_STOP) 0x0 OFF
3 Start index (START_I) 0x0 OFF
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 010]hellip[Pr - 021] on page 60
Applicable Operating Mode Indexing
MODBUS Address 19
[Pr - 019] Allocation of Input Signals 10
Data Size 4 digits
Digit Description Default Unmapped IO Status
0 Reserved 0x0 OFF
1 Reserved 0x0 OFF
2 Reserved 0x0 OFF
3 Reserved 0x0 OFF
When Enabled Reserved
Applicable Operating Mode Indexing
MODBUS Address 20
[Pr - 020] Allocation of Input Signals 11
Data Size 4 digits
Digit Description Default Unmapped IO Status
0 Reserved 0x0 OFF
1 Reserved 0x0 OFF
2 Reserved 0x0 OFF
3 Reserved 0x0 OFF
When Enabled Reserved
Applicable Operating Mode Indexing
MODBUS Address 21
60 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
Table 1 - Setting Values for Parameters [Pr - 010]hellip[Pr - 021]
[Pr - 021] Allocation of Input Signals 12
Data Size 4 digits
Digit Description Default Unmapped IO Status
0 Reserved 0x0 OFF
1 Reserved 0x0 OFF
2 Reserved 0x0 OFF
3 Reserved 0x0 OFF
When Enabled Reserved
Applicable Operating Mode Indexing
MODBUS Address 22
Setting Value (1)
1 Setting values are reserved (not available) for [Pr - 019] and [Pr - 020]
B A 9 6 7 6 5 4 3 2 1 0
Input Channel No
Input Signal
19 9 8 7 6 5 4 3 2 1 Input Signal
CN1 Pin No On 26 27 29 9 8 7 6 5 4 3 Off
[Pr - 022] Allocation of Output Signals 1
Range for all digits 0hellip3 where 0 is Off and 1hellip6 are digital outputs
Data Size 4 digits
Digit Description Default
0 Within position window (P-COM)
0x1
1 Up to speed (TG-ON) 0x2
2 Brake control (BK) 0x3
3 Within speed window (V-COM) 0x0
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 022]hellip[Pr - 032] on page 65
Applicable Operating Mode All
MODBUS Address 23
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 61
Standard Drive Parameters Appendix A
[Pr - 023] Allocation of Output Signals 2
Range for all digits 0hellip3 where 0 is Off and 1hellip6 are digital outputs
Data Size 4 digits
Digit Description Default
0 Current limited (T_LMT) 0x0
1 Velocity limited (V-LMT) 0x0
2 Near position (NEAR) 0x0
3 Warning (WARN) 0x0
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 022]hellip[Pr - 032] on page 65
Applicable Operating Mode All
MODBUS Address 24
[Pr - 024] Allocation of Output Signals 3
Range for all digits 0hellip3 where 0 is Off and 1hellip6 are digital outputs
Data Size 4 digits
Digit Description Default
0 Absolute position valid (A_VLD) 0x0
1 Ready 0x0
2 Reserved 0x0
3 Reserved 0x0
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 022]hellip[Pr - 032] on page 65
Applicable Operating Mode All
MODBUS Address 25
62 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 025] Allocation of Output Signals 4
Range for all digits 0hellip3 where 0 is Off and 1hellip6 are digital outputs
Data Size 4 digits
Digit Description Default
0 In Motion (IMO) 0x0
1 In Dwell (I_DW) 0x0
2 Axis Homed (HOMC) 0x0
3 Index Select 0 Out (O_ISEL0) 0x0
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 022]hellip[Pr - 032] on page 65
Applicable Operating Mode Indexing
MODBUS Address 26
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 63
Standard Drive Parameters Appendix A
[Pr - 026] Allocation of Output Signals 5
Range for all digits 0hellip3 where 0 is Off and 1hellip6 are digital outputs
Data Size 4 digits
Digit Description Default
0 Index Select 1 Out (O_ISEL1) 0x0
1 Index Select 2 Out (O_ISEL2) 0x0
2 Index Select 3 Out (O_ISEL3) 0x0
3 Index Select 4 Out (O_ISEL4) 0x0
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 022]hellip[Pr - 032] on page 65
Applicable Operating Mode Indexing
MODBUS Address 27
[Pr - 027] Allocation of Output Signals 6
Range for all digits 0hellip3 where 0 is Off and 1hellip6 are digital outputs
Data Size 4 digits
Digit Description Default
0 Index Select 5 Out (O_ISEL5) 0x0
1 End of Sequence (E_SEQU) 0x0
2 Reserved 0x0
3 Reserved 0x0
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 022]hellip[Pr - 032] on page 65
Applicable Operating Mode Indexing
MODBUS Address 28
[Pr - 028] Allocation of Output Signals 7
Range for all digits 0hellip3 where 0 is Off and 1hellip6 are digital outputs
Data Size 4 digits
Digit Description Default
0 Reserved 0x0
1 Reserved 0x0
2 Reserved 0x0
3 Reserved 0x0
When Enabled Reserved
Applicable Operating Mode Indexing
MODBUS Address 29
64 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 029] Allocation of Output Signals 8
Range for all digits 0hellip3 where 0 is Off and 1hellip6 are digital outputs
Data Size 4 digits
Digit Description Default
0 Reserved 0x0
1 Reserved 0x0
2 Reserved 0x0
3 Reserved 0x0
When Enabled Reserved
Applicable Operating Mode Indexing
MODBUS Address 30
[Pr - 030] Allocation of Output Signals 9
Range for all digits 0hellip3 where 0 is Off and 1hellip6 are digital outputs
Data Size 4 digits
Digit Description Default
0 Reserved 0x0
1 Reserved 0x0
2 Reserved 0x0
3 Reserved 0x0
When Enabled Reserved
Applicable Operating Mode Indexing
MODBUS Address 31
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 65
Standard Drive Parameters Appendix A
Table 2 - Setting Values for Parameters [Pr - 022]hellip[Pr - 032]
[Pr - 031] Allocation of Output Signals 10
Range for all digits 0hellip3 where 0 is Off and 1hellip6 are digital outputs
Data Size 4 digits
Digit Description Default
0 Reserved 0x0
1 Reserved 0x0
2 Reserved 0x0
3 Reserved 0x0
When Enabled Reserved
Applicable Operating Mode Indexing
MODBUS Address 32
[Pr - 032] IO Control Authority
Applicable Operating Mode All
Data Size 2 digits
Digit 0 MODBUS Input Function Control
Ultraware Name MODBUS Input Function Control
Range Value Description
0x0 Disable
0x1 Enable
Default 0
Digits 1 MODBUS Run Function Control
Ultraware Name MODBUS Run Function Control
Range Value Description
0x0 Disable
0x1 Enable
Default 0
When Enabled Servo-Off -gt Setting (1)
1 Refer to the Setting Values for Parameters [Pr - 022]hellip[Pr - 032] table immediately below
Applicable Operating Mode All
MODBUS Address 33
Setting Value (1)
1 Setting Values are reserved (not available) for [Pr - 028] and [Pr - 031]
6 5 4 3 2 1 0
Input Channel No AL 3 AL 2 DO1 DO3 DO2 DO1 Input Signal
CN1 Pin No 39 38 37 4748 4344 4142 Off
66 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
Group 1 - Gain Control
[Pr - 100] Velocity Regulator Response Level
Ultraware Name Velocity Regulator Response level
Range 1hellip150
Default 50
Units
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 100
[Pr - 101] System Gain
Ultraware Name Velocity Regulator Response level
Range 1hellip150
Default 50
Units Hz
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 101
[Pr - 102] Velocity Regulator P Gain
Ultraware Name Main Velocity Regulator Gains Proportional Gain
Range 0hellip10000
Default 60
Units -
Applicable Operating Mode
When Enabled Immediately
Applicable Operating Mode Follower Analog Speed Preset
MODBUS Address 102
[Pr - 103] Velocity Regulator I Gain
Ultraware Name Main Velocity Regulator Gains Integral Gain
Range 0hellip60000
Default 26
Units -
When Enabled Immediately
Applicable Operating Mode Follower Analog Speed Preset
MODBUS Address 103
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 67
Standard Drive Parameters Appendix A
[Pr - 104] Velocity Regulator D gain
Ultraware Name Main Velocity Regulator Gains Derivative Gain
Range 0hellip1000
Default 0
Units -
When Enabled Immediately
Applicable Operating Mode Follower Analog Speed Preset
MODBUS Address 104
[Pr - 105] Velocity Error Filter
Ultraware Name Calibration Error Filter Bandwidth
Range 0hellip2500
Default 30
Units Hz
When Enabled Immediately
Applicable Operating Mode Follower Analog Speed Preset
MODBUS Address 105
[Pr - 106] Position Regulator Kp Gain
Ultraware Name Main Position Regulator Gains Kp
Range 0hellip700
Default 20
Units Hz
When Enabled Immediately
Applicable Operating Mode Follower Analog Speed Preset
MODBUS Address 106
68 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 107] Current Command Lowpass Filter Bandwidth
Ultraware Name Main Current Regulator Gains Low Pass Filter Bandwidth
Range 0hellip10000
Default 300
Units Hz
Applicable Operating Mode All
When Enabled Immediately
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 107
[Pr - 108] Velocity Command Lowpass Filter Bandwidth
Ultraware Name Main Velocity Regulator Gains Low Pass Filter Bandwidth
Range 0hellip10000
Default 1000
Units Hz
When Enabled Immediately
Applicable Operating Mode Follower Analog Speed Preset
MODBUS Address 108
[Pr - 109] Position Command Lowpass Filter Bandwidth
Ultraware Name Main Position Regulator Gains Low Pass Filter Bandwidth
Range 0hellip1000
Default 0
Units Hz
When Enabled Immediately
Applicable Operating Mode Follower
MODBUS Address 109
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 69
Standard Drive Parameters Appendix A
[Pr - 110] 1st Resonant Frequency Suppression Filter
Ultraware Name Main Current Regulator Gains 1st Resonant Frequency Suppression Filter
Description Suppresses Vibration by cutting off Current Command in assigned frequency band
Range 0hellip10000
Default 10000
Units Hz
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 110
[Pr - 111] 1st Resonant Frequency Suppression Filter Width
Ultraware Name Main Current Regulator Gains 1st Resonant Frequency Suppression Filter Width
Description Set up the notch width of 1st resonance suppressing filter in 20 steps Higher the setup larger the notch width you can obtain
Range 0hellip20
Default 10
Units
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 111
[Pr - 112] 2nd Resonant Frequency Suppression Filter
Ultraware Name 2nd Main Current Regulator Gains 2nd Resonant Frequency Suppression Filter
Description Suppresses Vibration by cutting off Current Command in assigned frequency band
Range 0hellip10000
Default 10000
Units Hz
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 112
70 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 113] 2nd Resonant Frequency Suppression Filter Width
Ultraware Name Main Current Regulator Gains 2nd Resonant Frequency Suppression Filter Width
Description Set up the notch width of 2nd resonance suppressing filter in 20 steps The higher the setup larger the notch width you can obtain
Range 0hellip20
Default 10
Units -
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 113
[Pr - 114] 2nd Resonant Frequency Suppression Filter Depth
Ultraware Name Main Current Regulator Gains 2nd Resonant Frequency Suppression Filter Depth
Description Set up the 2nd notch depth of the resonance suppressing filter The higher the setup the shallower the notch depth and the smaller the phase delay you can obtain
Range 0hellip100
Default 100
Units -
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 114
[Pr - 115] Position Regulator Kff gain
Ultraware Name Main Position Regulator Gains Kff
Range 0hellip100
Default 0
Units
When Enabled Immediately
Applicable Operating Mode Follower
MODBUS Address 115
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 71
Standard Drive Parameters Appendix A
[Pr - 116] Position Regulator Kff Bandwidth
Ultraware Name Main Position Regulator Gains Kff Low Pass Filter Bandwidth
Range 0hellip2500
Default 200
Units Hz
When Enabled Immediately
Applicable Operating Mode Follower
MODBUS Address 116
[Pr - 117] Velocity Regulator I Gain Mode
Ultraware Name Main Velocity Regulator Gains I Gain Mode
Description During transient response Speed Response Overshoot can be suppressed by a speed controller change from a Proportional Integral (PI) controller into a Proportional (P) controller It reduces position completion time during position control
Range Value Description
0x0 Do not use PPI Mode Conversion
0x1 When Current Command exceeds Current Value in [Pr - 118] Speed Controller is changed from PI Controller to P Controller
0x2 When Speed Command exceeds Speed Value in [Pr - 118] Speed Controller is changed from PI Controller to P Controller
0x3 When Position error exceeds Position error Value in [Pr - 118] Speed Controller is changed from PI Controller to P Controller
0x4 Automatically velocity controller is changed from PI Controller to P Controller
Default 3
When Enabled Servo-Off -gt Setting
Applicable Operating Mode All
MODBUS Address 117
72 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 118] Velocity Regulator I Gain Disable Threshold
Ultraware Name Main Velocity Regulator Gains I Gain Disable Threshold
Range 0hellip3000
Default 100
Units If [Pr - 117] = 1 units are of rated continuous current
If [Pr - 117] = 2 units are rpm for rotary motors mmsec for linear motors
If [Pr - 117] = 3 units are Counts
When Enabled Follower Analog Velocity Preset
Applicable Operating Mode Immediately
MODBUS Address 118
[Pr - 119] Position Regulator High Error Output Offset
Ultraware Name Main Position Regulator Gains High Error Output Offset
Range 0hellip450
Default 0
Units Rotary rpm Linear mmsec
When Enabled All
Applicable Operating Mode Immediately
MODBUS Address 119
[Pr - 120] Position Regulator High Error Output Threshold
Ultraware Name Main Position Regulator Gains High Error Output Threshold
Range 0hellip50000
Default 1000
Units Counts
When Enabled All
Applicable Operating Mode Immediately
MODBUS Address 120
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 73
Standard Drive Parameters Appendix A
[Pr - 121] Current Regulator Bandwidth Reduction Scale
Ultraware Name Main Current Regulator Gains Gain
Range Value Description
0x0 High bandwidth
0x1 Medium bandwidth (06667 high)
0x2 Low bandwidth (03334 high)
Default 0x1
When Enabled All
Applicable Operating Mode Immediately
MODBUS Address 121
[Pr - 122] On-line Vibration Mode
Data Size 1 digits
Digit 0 On-line Vibration Suppression Mode
Ultraware Name On-line Vibration Suppression Mode
Range Value Description
0x0 Disable
0x1 Normal and High Velocity Mode
0x2 Slow Velocity Mode without initial value
Default 0x0
Digit 1 On-line Vibration Suppression Gain
Ultraware Name On-line Vibration Suppression Gain
Range Value Description
0x0 Low
0x1 High
Default 0x0
When Enabled All
Applicable Operating Mode Servo-Off -gt Setting
MODBUS Address 122
74 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 123] Velocity Regulator Configuration
Applicable Operating Mode All
Data Size 1 digits
Digit 0 Velocity Command Filter on Follower
Ultraware Name Velocity Command Filter on Follower
Range Value Description
0x0 Disable
0x1 Enable
Default 0x0
When Enabled Immediately
Applicable Operating Mode Servo-Off -gt Setting
MODBUS Address 123
[Pr - 124] Delay Time of Gain Switching
Ultraware Name Gain Switching Delay Time of Gain Switching
Range 0hellip10000
Default 0
Units X 200usec
When Enabled Immediately
Applicable Operating Mode Follower Analog Velocity Preset
MODBUS Address 124
[Pr - 125] Level of Gain Switching
Ultraware Name Gain Switching Level of Gain Switching
Range 0hellip10000
Default 0
Units -
When Enabled Immediately
Applicable Operating Mode Follower Analog Velocity Preset
MODBUS Address 125
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 75
Standard Drive Parameters Appendix A
[Pr - 126] Hysteresis of Gain Switching
Ultraware Name Gain Switching Hysteresis of Gain Switching
Range 0hellip10000
Default 0
Units -
When Enabled Immediately
Applicable Operating Mode Follower Analog Velocity Preset
MODBUS Address 126
[Pr - 127] Position Gain Switching Time
Ultraware Name Gain Switching Level of Gain Switching
Range 0hellip10000
Default 0
Units x 200usec
When Enabled Immediately
Applicable Operating Mode Follower Analog Velocity Preset
MODBUS Address 127
[Pr - 128] 2nd Velocity Regulator P Gain
Ultraware Name 2nd Regulator Gain P
Range 0hellip10000
Default 60
Units -
When Enabled Immediately
Applicable Operating Mode Follower Analog Velocity Preset
MODBUS Address 128
[Pr - 129] 2nd Velocity Regulator I Gain
Ultraware Name 2nd Regulator Gain Integrator Gain
Range 0hellip60000
Default 26
Units -
When Enabled Immediately
Applicable Operating Mode Follower Analog Velocity Preset
MODBUS Address 129
76 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 130] 2nd Position Regulator Kp Gain
Ultraware Name 2nd Regulator Gain Kp
Range 0hellip700
Default 20
Units Hz
When Enabled Immediately
Applicable Operating Mode Position
MODBUS Address 130
[Pr - 131] 2nd Current Command Lowpass Filter Bandwidth
Ultraware Name 2nd Regulator Gain Low Pass Bandwidth (IReg)
Range 0hellip10000
Default 300
Units Hz
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 131
[Pr - 132] 2nd Velocity Command Lowpass Filter Bandwidth
Ultraware Name 2nd Regulator Gain Low Pass Bandwidth (VReg)
Range 0hellip10000
Default 1000
Units Hz
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 132
[Pr - 133] 3rd Velocity Regulator P Gain
Ultraware Name 3rd Regulator Gain P Gain
Range 0hellip10000
Default 60
Units -
When Enabled Immediately
Applicable Operating Mode Follower Analog Velocity Preset
MODBUS Address 133
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 77
Standard Drive Parameters Appendix A
[Pr - 134] 3rd Velocity Regulator I Gain
Ultraware Name 3rd Regulator Gain Integrator Gain
Range 0hellip10000
Default 26
Units -
When Enabled Immediately Immediately
Applicable Operating Mode Follower Analog Velocity Preset
MODBUS Address 134
[Pr - 135] 3rd Position Regulator Kp Gain
Ultraware Name 3rd Regulator Gain Kp
Range 0hellip700
Default 20
Units Hz
When Enabled Immediately
Applicable Operating Mode Position
MODBUS Address 135
[Pr - 136] 3rd Current Command Lowpass Filter Bandwidth
Ultraware Name 3rd Regulator Gain Low Pass Bandwidth (IReg)
Range 0hellip10000
Default 300
Units Hz
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 136
[Pr - 137] 3rd Velocity Command Lowpass Filter Bandwidth
Ultraware Name 3rd Regulator Gain Low Pass Bandwidth (VReg)
Range 0hellip10000
Default 1000
Units Hz
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 137
78 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 138] 4th Velocity Regulator P Gain
Ultraware Name 4th Regulator Gain P
Range 0hellip10000
Default 60
Units -
When Enabled Immediately
Applicable Operating Mode Follower Analog Velocity Preset
MODBUS Address 138
[Pr - 139] 4th Velocity Regulator I Gain
Ultraware Name 4th Regulator Gain Integrator Gain
Range 0hellip60000
Default 26
Units
When Enabled Immediately
Applicable Operating Mode Follower Analog Velocity Preset
MODBUS Address 139
[Pr - 140] 4th Position Regulator Kp Gain
Ultraware Name 4th Regulator Gain Kp
Range 0hellip700
Default 20
Units Hz
When Enabled Immediately
Applicable Operating Mode Position
MODBUS Address 140
[Pr - 141] 4th Current Command Lowpass Filter Bandwidth
Ultraware Name 4th Regulator Gain Low Pass Bandwidth (IReg)
Range 0hellip10000
Default 300
Units Hz
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 141
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 79
Standard Drive Parameters Appendix A
[Pr - 142] 4th Velocity Command Lowpass Filter Bandwidth
Ultraware Name 4th Regulator Gain Low Pass Bandwidth (VReg)
Range 0hellip10000
Default 1000
Units Hz
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 142
80 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
Group 2 - Speed Control
[Pr - 200] Velocity Scale
Ultraware Name Velocity Scale
Range 100hellip20000
Default 5000
Units rpmV for rotary motors mmsec for linear motors
When Enabled Servo-Off -gt Setting
Applicable Operating Mode Analog Velocity
MODBUS Address 200 (1)
1 Refer to Output Function Status Parameter on page 23 for more detailed information on these parameters
[Pr - 201] Jog Velocity Command
Ultraware Name Velocity Control Panel Velocity Command
Range 0hellip6000
Default 50
Units rpm for rotary motors mmsec for linear motors
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 201
[Pr - 202] Acceleration
Ultraware Name Acceleration Limits Acceleration
Range 1hellip2147483647
Default 41667
Units 10-2Revsec2 for rotary mmsec2 for linear
When Enabled Immediately
Applicable Operating Mode Analog Velocity Input Preset Velocity
MODBUS Address 202
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 81
Standard Drive Parameters Appendix A
[Pr - 203] Deceleration
Ultraware Name Acceleration Limits Deceleration
Range 1hellip2147483647
Default 41667
Units 10-2Revsec2 for rotary mmsec2 for linear
When Enabled Immediately
Applicable Operating Mode Analog Velocity Input Preset Velocity
MODBUS Address 203
[Pr - 204] S-Curve Time
Ultraware Name Acceleration Limits S-Curve Time
Range 0hellip5000
Default 0
Units Ms
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 204
[Pr - 205] Preset Velocity 1
Ultraware Name Preset Velocity 1
Range -6000hellip6000
Default 0
Units rpm for rotary motors mmsec for linear motors
When Enabled Immediately
Applicable Operating Mode Preset
MODBUS Address 205
Pr - 206] Preset Velocity 2
Ultraware Name Preset Velocity 2
Range -6000hellip6000
Default 0
Units rpm for rotary motors mmsec for linear motors
When Enabled Immediately
Applicable Operating Mode Preset
MODBUS Address 206
82 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
Pr - 207] Preset Velocity 3
Ultraware Name Preset Velocity 3
Range -6000hellip6000
Default 0
Units rpm for rotary motors mmsec for linear motors
When Enabled Immediately
Applicable Operating Mode Preset
MODBUS Address 207
[Pr - 208] Preset Velocity 4
Ultraware Name Preset Velocity 4
Range -6000hellip6000
Default 0
Units rpm for rotary motors mmsec for linear motors
When Enabled Immediately
Applicable Operating Mode Preset
MODBUS Address 208
[Pr - 209] Preset Velocity 5
Ultraware Name Preset Velocity 5
Range -6000hellip6000
Default 0
Units rpm for rotary motors mmsec for linear motors
When Enabled Immediately
Applicable Operating Mode Preset
MODBUS Address 209
[Pr - 210] Preset Velocity 6
Ultraware Name Preset Velocity 6
Control Index 6
Range -6000hellip6000
Default 0
Units rpm for rotary motors mmsec for linear motors
When Enabled Immediately
Applicable Operating Mode Preset
MODBUS Address 210
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 83
Standard Drive Parameters Appendix A
[Pr - 211] Preset Velocity 7
Ultraware Name Preset Velocity 7
Range -6000hellip6000
Default 0
Units rpm for rotary motors mmsec for linear motors
When Enabled Immediately
Applicable Operating Mode Preset
MODBUS Address 211
[Pr - 212] Manual Velocity Limit
Ultraware Name Manual Velocity limit
Range 1hellip6000
Default 5000
Units rpm for rotary motors mmsec for linear motors
When Enabled Servo-Off -gt Setting
Applicable Operating Mode Follower Analog Velocity Preset
MODBUS Address 212
[Pr - 213] Velocity Limit Mode
Ultraware Name Velocity Limits Velocity Limit Mode
Range Value Description
0x0 Disabled
0x1 Limited by [Pr - 212]
0x2 Limited by Analog Speed Command Value (except Analog Speed Mode)
0x3 Limited by lesser one between [Pr - 212] and Analog Speed Command
Default 0
When Enabled Servo-Off -gt Setting
Applicable Operating Mode All
MODBUS Address 213
84 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
Group 3 - Position Control
[Pr - 300] Follower
Data Size 4 digits
Digit 0 Command Type
Ultraware Name Command Type
Range Value Description
0x0 Step UpStep Down Positive logic
0x1 Step UpStep Down Negative logic
0x2 StepDirection Positive Logic
0x3 StepDirection Negative Logic
0x4 Auxiliary Encoder x1
0x5 Auxiliary Encoder x2
0x6 Auxiliary Encoder x4
Default 0x0
Note For Command types 0x4 0x5 and 0x6Motor Counts = Master Lines MULT helliphelliphellip (4 Para301) Para302where MULT is 1 2 or 4 for command types 0x4 0x5 and 0x6 respectively
Applicable Operating Mode Follower
Digit 1 Controller Output Type
Ultraware Name Controller Output Type
Range Value Description
0x0 Use Low speed Line Drive Output in Host Controller for isolated electrical connection
0x1 Use Open Collector in Host Controller
0x2 Use High Frequency Line Drive Output in Host Controller
Default 0x0
Applicable Operating Mode Follower
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 85
Standard Drive Parameters Appendix A
Digit 2 Encoder Output Forward Direction
Ultraware Name Encoder Output Forward Direction
Range Value Description
0x0 During Forward Rotation Encoder Output Phase A have a lead of 90ordm over Phase B
0x1 During Forward Rotation Encoder Output Phase B have a lead of 90ordm over Phase A
Default 0x0
Applicable Operating Mode All
Digit 3 1st Gear ratio change
Ultraware Name 1st Gear ratio change
Range Value Description
0x0 Enable Only on Drive Disabled
0x1 Always Enable
Default 0x0
When Enabled Servo-Off -gt Setting
Applicable Operating Mode Follower
MODBUS Address 300
[Pr - 301] 1st Gear Ratio Follower Counts
Ultraware Name 1st Gear Ratio Numerator
Range 1hellip65535
Default 4
Units
When Enabled Servo-Off -gt Setting
Applicable Operating Mode Follower
MODBUS Address 301
[Pr - 300] (Continued) Follower
86 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 302] 1st Gear Ratio Master Counts
Ultraware Name 1st Gear Ratio Denominator
Range 1hellip65535
Default 1
Units
When Enabled Servo-Off -gt Setting
Applicable Operating Mode Follower
MODBUS Address 302
[Pr - 303] Encoder Output Ratio Output Counts
Ultraware Name Output Ratio Numerator
Range 1hellip32768
Default 1
Units
When Enabled Servo-Off -gt Setting
Applicable Operating Mode All
MODBUS Address 303
[Pr - 304] Encoder Output Ratio Motor Counts
Ultraware Name Output Ratio Numerator
Range 1hellip32768
Default 1
Units
When Enabled Servo-Off -gt Setting
Applicable Operating Mode All
MODBUS Address 304
[Pr - 305] 2nd Gear Ratio Follower Counts
Ultraware Name 2nd Gear Ratio Numerator
Range 1hellip65535
Default 4
Units
When Enabled Servo-Off -gt Setting
Applicable Operating Mode Follower
MODBUS Address 305
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 87
Standard Drive Parameters Appendix A
[Pr - 306] 2nd Gear Ratio Master Counts
Ultraware Name 2nd Gear Ratio Denominator
Range 1hellip65535
Default 1
Units
When Enabled Servo-Off -gt Setting
Applicable Operating Mode Follower
MODBUS Address 306
[Pr - 307] Reserved
When Enabled Reserved for future use
88 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 308] Digital Filter Cut-off Frequency
Data Size 3 digits
Digit 0 Low drive input
Value Description
0x0 hellip0x7 0 3MHz
1 175MHz
2 15MHz
3 1MHz
4 075MHz
5 0625MHz
6 0562MHz
7 0525MHz
Default = 1
Digit 1 Open collector input
Value Description
0x0 hellip0x7 0 3MHz
1 175MHz
2 15MHz
3 1MHz
4 075MHz
5 0625MHz
6 0562MHz
7 0525MHz
Default = 5
Digit 2 High frequency line drive input
0x0 hellip0x7 0 3MHz
1 175MHz
2 15MHz
3 1MHz
4 075MHz
5 0625MHz
6 0562MHz
7 0525MHz
Default = 0
When Enabled Servo-Off -gt Setting
Applicable Operating Mode All
MODBUS Address 308
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 89
Standard Drive Parameters Appendix A
Group 4 - Torque Controls
[Pr - 400] Current Scale
Ultraware Name Current Scale
Range 0hellip1000
Default 333
Units of rated continuous currentV
When Enabled Servo-Off -gt Setting
Applicable Operating Mode Analog Current command Dual current Command
MODBUS Address 400
[Pr - 401] Positive Internal Current Limit
Ultraware Name Current Limits Positive Internal
Range 0hellip500
Default 300
Units of motor rated continuous current
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 401
[Pr - 402] Negative Internal Current Limit
Ultraware Name Current Limits Negative Internal
Range 0hellip500
Default 300
Units of motor rated continuous current
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 402
[Pr - 403] Positive External Current Limit
Ultraware Name Current Limits Positive External
Range 0hellip500
Default 100
Units of motor rated continuous current
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 403
90 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[
Pr - 404] Negative External Current Limit
Ultraware Name Current Limits Negative External
Range 0hellip500
Default 100
Units of motor rated continuous current
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 404
[Pr - 405] Overtravel Current Limit
Ultraware Name Stopping Functions Maximum Stopping Current
Range 0hellip500
Default 300
Units of motor rated continuous current
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 405
[Pr - 406] Initial Current Bias
Ultraware Name Initial Current Bias
Description Constant current applied when the drive enables Meant to hold vertical loads
Range -100hellip100
Default 0
Units of motor rated continuous current
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 406
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 91
Standard Drive Parameters Appendix A
Group 5 - Supplemental Drive Controls
[Pr - 500] In Position Size
Ultraware Name Position Functions In Position Size
Description If position error lt In Position Size for 1 ms and the In Position Size output signal is assigned the In Position output is turned ON
Range 0hellip2500
Default 10
Units Counts
When Enabled Immediately
Applicable Operating Mode Follower
MODBUS Address 500
[Pr - 501] Reserved
When Enabled Reserved for future use
[Pr - 502] Near Position Size
Ultraware Name Position Functions Near Position Size
Description If position error lt Near Position Size and the Near Position output signal is assigned the Near Position output is turned ON
Range 0hellip2500
Default 20
Units Counts
When Enabled Immediately
Applicable Operating Mode Follower
MODBUS Address 502
92 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 503] Speed Window
Ultraware Name Speed Functions Speed Window
Description If the speed error lt Speed Window for 10 ms and the Within Speed Window output signal is assigned then the Within Speed Window output is turned ON
Range 0hellip1000
Default 10
Units rpm for rotary motors mmsec for linear motors
When Enabled Immediately
Applicable Operating Mode Follower Analog Velocity Input Preset
MODBUS Address 503
[Pr - 504] Up to Speed
Ultraware Name Speed Functions Up to Speed
Description If the motor speed gt Up to Speed and the Up to Speed output signal is assigned then the Up to Speed output is turned ON
Range 1hellip5000
Default 20
Units rpm for rotary motors mmsec for linear motors
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 504
[Pr - 505] Zero Clamp
Ultraware Name Speed Functions Zero Clamp
Description If the Analog Speed command lt Zero Clamp then the Analog Speed command is ignored and the Motor Speed command is set to zero
Range 1hellip5000
Default 20
Units rpm for rotary motors mmsec for linear motors
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 505
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 93
Standard Drive Parameters Appendix A
[Pr - 506] Brake Inactive Delay
Ultraware Name Digital Outputs Brake Inactive Delay
Description Brake Inactive delay is the time from when the drive is enabled to when the brake is released
Range 0hellip10000
Default 0
Units ms
When Enabled Immediately
Applicable Operating Mode Servo-Off -gt Setting
MODBUS Address 506
[Pr - 507] Disable Delay
Ultraware Name Stopping Functions Disable Delay
Description Disable Delay is the time from when the Drive Disable command is received to when the Drive Disable command is actually executed
Range 0hellip10000
Default 0
Units ms
When Enabled All
Applicable Operating Mode Servo-Off -gt Setting
MODBUS Address 507
[Pr - 508] Brake Active Delay
Ultraware Name Digital Outputs Brake Active Delay
Description Brake Active Delay is the time from when the drive is disabled to when the break starts operating
Range 0hellip10000
Default 500
Units ms
When Enabled All
Applicable Operating Mode Servo-Off -gt Setting
MODBUS Address 508
94 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 509] Disabled Braking Speed
Ultraware Name Stopping Functions Braking Application Speed
Description The Disabled Braking Speed is the feedback speed below which the motor break is engaged after disabling the drive
Range 0hellip1000
Default 100
Units rpm for rotary motors mmsec for linear motors
When Enabled All
Applicable Operating Mode Servo-Off -gt Setting
MODBUS Address 509
[Pr - 510] Following Error Limit
Ultraware Name Following Error Limit
Description A following error fault occurs when the difference between position command and actual position is greater than this parameter
Range 0hellip2147483647
Default 99999
Units Counts
When Enabled Immediately
Applicable Operating Mode Follower
MODBUS Address 510
[Pr - 511] Reserved
When Enabled Reserved for future use
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 95
Standard Drive Parameters Appendix A
[Pr - 512] AC line loss fault delay
Ultraware Name AC Line Loss Fault Delay
Description The AC Line Loss Fault is inhibited for this amount of time when a loss of AC power is detected
Range 20hellip1000
Default 20
Units ms
When Enabled Servo-Off -gt Setting
Applicable Operating Mode All
MODBUS Address 513
[Pr - 513] Analog Output CH1 Selection
Ultraware Name Analog Output 1 Signal
Range 0hellip28 (except 15232526)
Default 0
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 514
[Pr - 514] Analog Output CH2 Selection
Ultraware Name Analog Output 2 Signal
Range 0hellip28 (except 15232526)
Default 1
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 516
[Pr - 515] Analog Output CH1 Scale
Ultraware Name Analog Output 1 Scale
Range 1 hellip99999
Units Units depend on the channel selected in [Pr - 513]
Default 500
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 518
96 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 516] Analog Output CH2 Scale
Ultraware Name Analog Output 2 Scale
Range 1hellip99999
Units Units depends on the channel selected in [Pr - 514]
Default 500
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 520
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 97
Standard Drive Parameters Appendix A
Group 6 - Supplemental Gain and Report Settings
[Pr - 600] Analog Velocity Command Offset
Ultraware Name Velocity Command Offset
Range -10000hellip10000
Default 0
Units 01 mV
When Enabled Servo-Off -gt Setting (ENG Mode)
Applicable Operating Mode Analog Velocity Command
[Pr - 601] Analog Current Command Offset
Ultraware Name Current Command Offset
Range -10000hellip10000
Default 0
Units 01 mV
When Enabled Servo-Off -gt Setting (ENG Mode)
Applicable Operating Mode Analog Current Command
[Pr - 602] U Phase Current Sensing Offset
Ultraware Name Calibration U Phase Current Offset
Range -60000hellip60000
Default 0
Units 001 mA
When Enabled Servo-Off -gt Setting (ENG Mode)
Applicable Operating Mode All
[Pr - 603] W Phase Current Sensing Offset
Ultraware Name Calibration W Phase Current Offset
Range -60000hellip60000
Default 0
Units 001 mA
When Enabled Servo-Off -gt Setting (ENG Mode)
Applicable Operating Mode All
98 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 604] A lead B Swap
Ultraware Name A lead B Swap
Description Select A-lead-B or B-lead-A
Data Size 1 digit
Range Value Description
0 Disable
1 Enable
Default 0
Unit -
When Enabled Servo-Off -gt Setting -gt After power cycle (ENG Mode)
Applicable Operating Mode All
[Pr - 605] Dynamic Brake Circuit Protection
Ultraware Name Dynamic Brake Circuit Protection
Description The Dynamic Brake Circuit Protection is inhibited that the motor DB braking current is too large for the drive
Data Size 1 digit
Range Value Description
0 Disable
1 Enable
Default 1
Units -
When Enabled Servo-Off -gt Setting (ENG Mode)
Applicable Operating Mode All
[Pr - 606] Fault Detail Sampling Period
Ultraware Name Fault Detail Setup Sample Period
Range 1hellip100
Default 5
Units 02 ms
When Enabled Immediately (ENG Mode)
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 99
Standard Drive Parameters Appendix A
[Pr - 607] Fault Detail Data Selection 1
Ultraware Name Fault Detail Setup Channel A
Description Refer to Monitor Variables on page 135 for more information on the range options
Range 0hellip28 (except 15 23 25 and 26)
Default 0
When Enabled Immediately (ENG Mode)
[Pr - 608] Fault Detail Data Selection 2
Ultraware Name Fault Detail Setup Channel B
Description Refer to Monitor Variables on page 135 for more information on the range options
Range 0hellip28 (except 15 23 25 and 26)
Default 3
When Enabled Immediately (ENG Mode)
[Pr - 609] Fault Detail Data Selection 3
Ultraware Name Fault Detail Setup Channel C
Description Refer to Monitor Variables on page 135 for more information on the range options
Range 0hellip28 (except 15 23 25 and 26)
Default 11
When Enabled Immediately (ENG Mode)
[Pr - 610] Fault Detail Data Selection 4
Ultraware Name Fault Detail Setup Channel D
Description Refer to Monitor Variables on page 135 for more information on the range options
Range 0hellip28 (except 15 23 25 and 26)
Default 16
When Enabled Immediately (ENG Mode)
100 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 611] 1st Resonant Frequency Suppression Filter
Ultraware Name Main Current Regulator Gains 1st Resonant Frequency Suppression Filter
Description Suppresses Vibration by cutting off Current Command in assigned frequency band
Range 0hellip10000
Default 10000
Units Hz
When Enabled Immediately (Read Parameter for ENG)
Applicable Operating Mode All
[Pr - 612] 2nd Resonant Frequency Suppression Filter
Ultraware Name Main Current Regulator Gains 1st Resonant Frequency Suppression Filter
Description Suppresses Vibration by cutting off Current Command in assigned frequency band
Range 0hellip10000
Default 10000
Units Hz
When Enabled Immediately (Read Parameter for ENG)
Applicable Operating Mode All
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 101
Standard Drive Parameters Appendix A
Group 7 - Manufacturing Settings
This parameter group includes product settings that are programmed during the manufacturing process
IMPORTANT Group 7 - Manufacturing Settings are programmed at the factory Do not modify these settings as they provide a common drive setup that is useful when you bull develop a drive system or troubleshooting a drive or bull seek assistance through Rockwell Automation Technical
Support
[Pr - 700] Drive Capacity
Ultraware Name Drive Model
Range 50hellip1500
Default Factory settings determine default
Units W
When Enabled Servo-Off -gt Setting -gt After power cycle (ENG mode)
Applicable Operating Mode All
[Pr - 701] DC Bus Voltage Offset
Ultraware Name Calibration DC Bus Voltage Offset
Range -100hellip100
Default 0
Units V
When Enabled Servo-Off -gt Setting -gt After power cycle (ENG mode)
Applicable Operating Mode All
[Pr - 702] Reservedl
When Enabled Reserved for future use
102 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 703] Analog Monitor Output CH1 Offset
Ultraware Name Calibration Analog Output CH1 Offset
Range -1000hellip1000
Default 0
Units mV
When Enabled Servo-Off -gt Setting -gt After power cycle (ENG mode)
Applicable Operating Mode All
[Pr - 704] Analog Monitor Output CH1 Scaling
Ultraware Name Calibration Analog Output CH1 Scale
Range -1000hellip1000
Default 0
Units -
When Enabled Servo-Off -gt Setting -gt After power cycle (ENG mode)
Applicable Operating Mode All
[Pr - 705] Analog Monitor Output CH2 Offset
Ultraware Name Calibration Analog Output CH2 Offset
Range -1000hellip1000
Default 0
Units mV
When Enabled Servo-Off -gt Setting -gt After power cycle (ENG mode)
Applicable Operating Mode All
[Pr - 706] Analog Monitor Output CH2 Scaling
Ultraware Name Calibration Analog Output CH2 Scale
Range -1000hellip1000
Default 0
Units -
When Enabled Servo-Off -gt Setting -gt After power cycle (ENG mode)
Applicable Operating Mode All
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 103
Standard Drive Parameters Appendix A
Group 8 - Reserved Parameters
Group 8 parameters are reserved
[Pr - 707] DC Bus Measurement Scaling Calibration
Ultraware Name Calibration DC Bus ADC Calibration
Description This parameter is a calibration adjustment to the ideal ADC scaling The scaling adjustment range is -100 to +100 so the ADC scaling can be adjusted from 2 the ideal scaling to zero
Range -1000hellip1000
Default 0 (no adjustment)
Units 0001
When Enabled Servo-Off -gt Setting -gt After power cycle (ENG mode)
Applicable Operating Mode All
104 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
Group 9 - Motor Controls
[Pr - 900] Standard Motor Flag
Ultraware Name General Motor Flag
Range Value Description
0 Custom
1 Standard
Default 1
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 901] Motor Type
Ultraware Name General Motor Type
Range Value Description
0 Rotary
1 Linear
2 Reserved
3 Reserved
Default 0
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 902] Motor Resistance
Ultraware Name Electrical Resistance
Range 1hellip65535
Units Ohms 256
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 903] Motor Inductance
Ultraware Name Electrical Inductance
Range 1hellip65535
Units mH 256
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 105
Standard Drive Parameters Appendix A
[Pr - 904] Motor Intermittent Current
Ultraware Name Ratings Intermittent Current
Range 1hellip32767
Units A 128
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 905] Motor Continuous Current
Ultraware Name Ratings Continuous Current
Range 1hellip32767
Units A 128
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 906] Motor Rated Voltage
Ultraware Name Electrical Rated Voltage
Range 10hellip1000
Units V
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 907] Encoder Type
Ultraware Name Feedback Encoder
Range
Value Description
1 Incremental
4 Serial Incremental
5 Serial Absolute
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 908] Hall Offset
Ultraware Name Feedback Hall Input Offset
Range 0hellip359
Units Electrical degree
When Enabled Servo-Off -gt Setting -gt After power cycle
106 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 909] Current Constant
Ultraware Name General Torque Constant
Range 1hellip65535
Units N m A 4096
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 910] Motor Inertia
Ultraware Name General Inertia
Range 1hellip2147483647
Units Kgcm2 65536
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 911] PolesRevolution
Ultraware Name General PolesRevolution
Range 2hellip100
Units Poles
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 912] Encoder Lines Revolution
Ultraware Name General LinesRevolution
Range 100hellip1000000
Units Poles
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 913] Maximum Rotary Speed
Ultraware Name Ratings Maximum Speed
Range 10hellip32767
Units rpm
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 107
Standard Drive Parameters Appendix A
[Pr - 914] Force Constant
Ultraware Name General Force Constant
Range 1hellip32767
Units 16
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 915] Motor Mass
Ultraware Name General Mass
Range 1 hellip2147483647
Units Kg 65536
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 916] Electrical Cycle Length
Ultraware Name General Electrical Cycle
Range 100hellip10000
Units mm 10
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 917] Encoder Lines Meter
Ultraware Name Feedback LinesMeter
Range 4000hellip10000000
Units Lines
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 918] Maximum Linear Speed
Ultraware Name Ratings Maximum Speed
Range 32hellip32767
Units m s 256
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
108 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 919] Motor Thermal Protection Enable
Ultraware Name Thermal Software Protection
Range 0 = Disabled
1 = Enabled
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 920] Motor Thermostat
Ultraware Name Thermal Integral Thermostat
Range 0 = Disabled
1 = Enabled
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 921] Motor Thermal Resistance Winding to Encoder
Ultraware Name Thermal Rth (w-e)
Range 1hellip2147483647
Units degCWatt 65536
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 922] Motor Thermal Capacitance Winding to Encoder
Ultraware Name Thermal Cth (w-e)
Range 1hellip2147483647
Units JdegC 256
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 923] Motor Thermal Resistance Winding to Ambient
Ultraware Name Thermal Rth (w-a)
Range 1hellip2147483647
Units degCWatt 65536
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 109
Standard Drive Parameters Appendix A
[Pr - 924] Motor Thermal Capacitance Winding to Ambient
Ultraware Name Thermal Cth (w-a)
Range 1hellip2147483647
Units JdegC 256
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 925] Commutation Type
Ultraware Name Feedback Commutation
Range
Value Description
0 Brush
1 Trapezoidal
2 Sinusoidal
Applicable Operating Mode All
[Pr - 926] Start-up Commutation
Ultraware Name Feedback Sinusoidal Startup
Range Value Description
0 Self Sensing
1 Hall Inputs
2 Serial
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 927] Integral Limits
Ultraware Name General Integral Limits
Range 0hellip1
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
110 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 929 hellip Pr - 949] Reserved
When Enabled Reserved for future use
[Pr - 950] Motor Model
Ultraware Name Motor Model
Range 32 bytes character string
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 951] Drive Name
Ultraware Name Name
Range 32 bytes character string
Applicable Operating Mode All
[Pr - 952] Position Scaling Data
Ultraware Name Motor Encoder Units Position Scale
Range 8 bytes character string
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 953] Position Scaling Label
Ultraware Name Motor Encoder Units Position Label
Range 16 bytes character string
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
Pr - 954] Velocity Scaling Data
Ultraware Name Motor Encoder Units Velocity Scale
Range 8 bytes character string
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 111
Standard Drive Parameters Appendix A
[Pr - 955] Velocity Scaling Label
Ultraware Name Motor Encoder Units Velocity Label
Range 16 bytes character string
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 956] Acceleration Scaling Data
Ultraware Name Motor Encoder Units Acceleration Scale
Range 8 bytes character string
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 957] Acceleration Scaling Label
Ultraware Name Motor Encoder Units Acceleration Label
Range 16 bytes character string
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
112 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 958] Scope Config
Range 32 bytes character string
Data Size 21 digits
Applicable Operating Mode All
Digits Digits Description
0hellip1 Channel A Signal See Monitor Variables
2hellip3 Channel B Signal See Monitor Variables
4 Channel A Scale Type
0hellip1 0 - Auto (Default) 1- Manual
5 Channel B Scale Type
0hellip1 0 - Auto (Default) 1 - Manual
6hellip7 Sample Period
8hellip9 Samples per division
10hellip12 Trigger Signal See Monitor Variables
13 Trigger Mode
0 - Immediate
1 - Falling Edge
2 -Rising Edge
14 Pretrigger Percentage (10)
15hellip22 Trigger Threshold
Default 0x00000000000000100510011E05000100
When Enabled Servo-Off -gt Setting -gt After power cycle
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 113
Standard Drive Parameters Appendix A
[Pr - 959] Scope Scaling
Range 32 bytes character string
Data Size 32 digits
Digits Digits Description
0hellip7 Channel A Scale
8hellip15 Channel A Offset
16hellip23 Channel B Scale
24hellip31 Channel B Offset
Default 0x00000000000000000000000000000000
Ultraware Name Displayed Units
Range 1 byte character string
0 = Metric
1 = English
2 = User units
Default 0
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 960] Displayed Units
Ultraware Name Displayed Units
Range 1 byte character string
0 = Metric
1 = English
2 = User units
Default 0
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
114 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
Notes
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 115
Appendix B
Indexing Drive Parameters
Parameters control Kinetix 3 drive operations They are grouped by the type of drive Indexing or Standard and the drive settings they define
Descriptions of Standard Drive Parameters begin on page 45
Parameter Groupings Indexing drive parameters are grouped into these drive settings bull Group 0 - Indexing drive system and IO settings bull Group 1 - Homing controls bull Group 2 - Indexing operations bull Group 3 - Indexing move profiling bull Group 4 - Indexing position and distance setting bull Group 5 - Registration settings bull Group 6 - Batch count operations bull Group 7 - Dwell settings bull Group 8 - Velocity settings bull Group 9 - Move profile settings bull Group 10 - Acceleration settings bull Group 11 - Deceleration settings bull Group 12 - Next Index settings
116 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix B Indexing Drive Parameters
Parameter Descriptions Parameter descriptions list the size of each parameter and the data options within the parameter
Descriptions for Standard Drive Parameters begin on page 45
Group 0 - Indexing System
[IN0000] Auto Start Indexing
Ultraware Name Auto Start Indexing
Description When this field is set to ON the drive will begin executing the selected index whenever the drive enables
Range Value Description
0 OFF
1 ON
Default 0
Units NA
Access Set
Changeable Status Always
When Enabled Power Cycling
Applicable Operating Mode Indexing
MODBUS Address 5000
[IN0001] Abort Index Deceleration
Ultraware Name Abort Index Decel
Description The deceleration used to stop motion when the Stop Index input terminates an index move
Range Value Description
1 hellip2147483647 10minus2 Revsec2 for rotary mmsec2 for linear
Default 6250
Access Set
Changeable Status Always
When Enabled Power Cycling
Applicable Operating Mode Indexing
MODBUS Address 5001
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 117
Indexing Drive Parameters Appendix B
[IN0002] Positive Deceleration Distance
Ultraware Name Positive Deceleration Distance
Range Value Description
0 hellip2147483647 The stopping distance used when the drive encounters a positive overtravel limit
Default 0
Units Counts
Access Set
Changeable Status Always
When Enabled Always
Applicable Operating Mode Indexing
MODBUS Address 5002 hellip5003
[IN0003] Negative Deceleration Distance
Ultraware Name Negative Deceleration Distance
Range Value Description
0 hellip2147483647 The stopping distance used when the drive encounters a negative overtravel limit
Default 0
Units Counts
Access Set
Changeable Status Always
When Enabled Always
Applicable Operating Mode Indexing
Ultraware Name Positive Deceleration Distance
MODBUS Address 5004 hellip5005
118 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix B Indexing Drive Parameters
[IN0004] Enable Software Limits
Ultraware Name Enable Software Limits
Description Controls software overtravel limits of the axis
Range Value Description
0 Off Turns off software overtravel limit checking
1 On Causes the drive to compare the motor feedback position to the Positive and Negative Software Limits below to determine if the drive has exceeded an overtravel limit
Default 0
Units NA
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5006
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 119
Indexing Drive Parameters Appendix B
[IN0005] Positive Software Limit
Ultraware Name Positive Software Limit
Description If the motor feedback position is greater than this value the drive has exceeded the software overtravel limit
Range Value Description
-2147483647 hellip2147483647
Positive software overtravel limit
Default 2147483647
Units Counts
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5007
[IN0006] Negative Software Limit
Ultraware Name Negative Software Limit
Description If the motor feedback position is greater than this value the drive has exceeded the software overtravel limit
Range Value Description
-2147483647 hellip2147483647
Negative software overtravel limit
Default -2147483647
Units Counts
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5008
120 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix B Indexing Drive Parameters
Group 1 - Homing
[IN0100] Homing Type
Ultraware Name Homing Type
Description Select the type of homing operation the drive will perform
Range Value Description
0 Home to Present Position
1 To Home sensorBack to Marker (default)
2 To LimitBack to Marker
3 To Home sensorFwd to Marker
4 To LimitFwd to Marker
5 Home to Current Value
6 Home to Current ValueBack to Marker
7 To Home Sensor Move Fwd to Marker
8 Home to Marker
Default 1
Units NA
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5200
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 121
Indexing Drive Parameters Appendix B
[IN0101] Auto Start Homing on Enable
Ultraware Name Auto Start Homing on Enable
Description Causes the drive to begin the homing procedure automatically when the drive is enabled
Range Value Description
0 Active Automatically starts homing every time the drive is enabled
1 Active After Reset Only automatically starts homing when a drive is enabled if the drive has not already been homed
2 Inactive
Default 2
Units NA
Access Set
Changeable Status Always
When Enabled Power cycling
Applicable Operating Mode Indexing
MODBUS Address 5201
[IN0102] Homing Velocity
Ultraware Name Homing Velocity
Description The commanded velocity used during homing The sign of the this value (+-) indicates the direction of motion during homing
Range Value Description
-6000 hellip6000 rpm for rotary motors mmsec for linear motors
Default 100
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5202
122 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix B Indexing Drive Parameters
[IN0103] Creep Velocity
Ultraware Name Creep Velocity
Description For the To Sensor then Back to Marker Homing Type the velocity used for all remaining homing motion after the motor decelerates to a stop when it finds the sensor edge
Range Value Description
0 hellip6000 The velocity used for all homing motion after the motor decelerates to a stop at the sensor edge
Default 20
Units rpm for rotary motors mmsec for linear motors
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5203
[IN0104] Homing AccelerationDeceleration
Ultraware Name Homing AccelerationDeceleration
Description The rate of acceleration and deceleration used during homing
Range Value Description
1 hellip2147483647 The velocity used for all homing motion after the motor decelerates to a stop at the sensor edge
Default 6250
Units 10minus2 Revsec2 for rotary mmsec2 for linear
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5204 hellip5205
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 123
Indexing Drive Parameters Appendix B
[IN0105] Offset Move Distance
Ultraware Name Offset Move Distance
Description The distance the motor position is from the marker edge after the homing sequence is complete For Sensor Only Homing the distance the motor position is from the sensor edge after the homing sequence is complete
Range Value Description
-2147483647 hellip2147483647
Digital input state communicated to the drive when the Home Sensor input becomes active
Default 0
Units Counts
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5206 hellip5207
[IN0106] Home Sensor Polarity
Ultraware Name Home Sensor Polarity
Description Specifies the digital input state communicated to the drive when the Home Sensor input becomes active
Range Value Description
0 Active-Going Transition
1 Inactive-Going Transition
Default 0
Units Counts
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5208
124 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix B Indexing Drive Parameters
[IN0107] Home Position
Ultraware Name Home Position
Description The home position when a homing procedure is completed
Range Value Description
-2147483647 hellip2147483647
Digital input of the home position
Default 0
Units Counts
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5209 hellip5210
[IN0108] Moving Distance After Home Sensor
Ultraware Name Moving Distance After Home Sensor
Description This value is distance that the drive ignores the marker inputs after the home sensor is detected
Range Value Description
0 hellip2147483647 Distance the drive ignores the marker inputs after home is detected
Default 0
Units Counts
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5211 hellip5212
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 125
Indexing Drive Parameters Appendix B
[IN0109] Home Current
Ultraware Name Home Current
Description Specifies the torque feedback at which the drive stops moving the motor at the Homing Velocity
Range Value Description
1 hellip250 Percent of motor torque feedback
Default 100
Units Percentage of a motor rating torque
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5213
[IN0110] Home Current Time
Ultraware Name Home Current Time
Description Specifies the torque feedback at which the drive stops moving the motor at the Homing Velocity
Range Value Description
1 hellip1000 Percent of motor torque rating
Default 100
Units Percentage of motor torque rating
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5214
126 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix B Indexing Drive Parameters
[IN0111] Homing Time Limit
Ultraware Name Homing Time Limit
Description Drive fault when time for homing exceeds the homing time limit
Range Value Description
0 hellip65535 Homing time limit in seconds
Default 60
Units seconds
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5215
[IIN0112] Stop Home Deceleration
Ultraware Name Stop Home Decel
Description The rate of drive deceleration used when homing is stopped
Range Value Description
1 hellip2147483647 Rate of drive deceleration when homing is stopped
Default 6250
Units NA
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5216 hellip5217
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 127
Indexing Drive Parameters Appendix B
Group 2 - Indexing Options
[IN0200] hellip[IN0263] Index 0hellip63 Type and Action When Complete
Description Digit 0 homes the axis and digit 2 controls execution of the index move command
Digit 0 Homes the axis before the drive can executes any index
Ultraware Name Index 0hellip63 Option Type
Range Value Description
0 Absolute moves from its starting position to the specified Position below
1 Incremental moves from its starting position the specified Distance below
Default 1
Digit 1 Controls execution of the index move command after homing
Ultraware Name Index 0hellip63 Action When Complete
Range Value Description
0 Stop ends the execution of indexed move commands
1 Start next index commands execution of the Next Index move without additional input but after the scheduled Dwell
2 Wait for Start commands execution of the Next Index move the next time the Start Index input becomes active
Default 0
Access Set
Changeable Status Always
When Enabled Always
Applicable Operating Mode Indexing
MODBUS Address 5400 hellip5463
128 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix B Indexing Drive Parameters
Group 3 - Index Move Profile
These values are reserved for future use
Group 4 - Index PositionDistance
Group 5 - Index Registration Distance
These values are reserved for future use
Group 6 - Index Batch Count
These values are reserved for future use
[IN0400[hellip[IN0463] Index 0hellip63 PositionDistance
Ultraware Name Index 0hellip63 PositionDistance
Description Position For Absolute mode moves the fixed position to which the motor will travel Distance For Incremental and Registration mode moves the relative distance the motor will travel
Range Value Description
-2147483647 hellip2147483647
Counts
Default 1000
Access Set
Changeable Status Always
When Enabled Always
Applicable Operating Mode Indexing
MODBUS Address 5800 hellip5927
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 129
Indexing Drive Parameters Appendix B
Group 7 - Index Dwell
Group 8 - Index Velocity
Group 9 - Index Move Profile
These values are reserved for future use
[IN0700] hellip[IN0763] Index 0hellip63 Dwell
Ultraware Name Index 0hellip63 Dwell
Description Milliseconds to remain at current position before executing
Range Value Description
0 hellip65535 ms
Default 0
Access Set
Changeable Status Always
When Enabled Always
Applicable Operating Mode Indexing
MODBUS Address 6400 hellip6463
[IN0800] Index 0hellip63 Velocity
Ultraware Name Index 0hellip63 Velocity
Description Maximum velocity while in motion
Range Value Description
0 hellip6000 rpm for rotary motors mmsec for linear motors
Default 750
Access Set
Changeable Status Always
When Enabled Always
Applicable Operating Mode Indexing
MODBUS Address 6600 hellip6663
130 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix B Indexing Drive Parameters
Group 10 - Index Acceleration
Group 11 - Index Deceleration
[IN1000]hellip[IN1063] Index 0hellip63 Acceleration
Ultraware Name Index 0hellip63 Acceleration
Description Maximum acceleration while in motion
Range Value Description
1 hellip2147483647 10minus2 Revsec2 for rotary mmsec2 for linear
Default 6250
Access Set
Changeable Status Always
When Enabled Always
Applicable Operating Mode Indexing
MODBUS Address 7000 hellip7127
[IN1100]hellip[IN1163] Index 0hellip63 Deceleration
Ultraware Name Index 0hellip63 Deceleration
Description Maximum deceleration while in motion
Range Value Description
1 hellip2147483647 10minus2 Revsec2 for rotary mmsec2 for linear
Default 6250
Access Set
Changeable Status Always
When Enabled Always
Applicable Operating Mode Indexing
MODBUS Address 7200 hellip7327
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 131
Indexing Drive Parameters Appendix B
Group 12 - Index Next Index
[IN1200]hellip[IN1263] Index 0hellip63 Next Index
Ultraware Name Index 0hellip63 Next Index
Description The number (0hellip63) of the next indexed move to execute when Action When Complete is not set to STOP
Range Value Description
0hellip63 Value of the next indexed move
Default 0
Access Set
Changeable Status Always
When Enabled Always
Applicable Operating Mode Indexing
MODBUS Address 7400 hellip7464
132 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix B Indexing Drive Parameters
Notes
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 133
Appendix C
Warnings and Fault Codes
This Appendix lists the Warnings and Fault Codes for Kinetix 3 drives
Warnings Warnings are drive abnormalities that allow motor control to continue A three-digit text message is displayed using the last segments of the display
Fault Codes Faults are serious abnormalities that cause loss of motor control The Status indicator alternates between a three-digit error code preceded by the letter E and a five-digit text message This error message repeats until the problem is cleared
Warning Number
Warning Display Description
0x01 BAT Absolute encoder battery warning
0x02 CNT Absolute encoder counter overflow
0x04 PRE Power-up overspeed warning
0x08 OCC Over current command warning
0x10 OSC Over speed command warning
0x20 PIN Digital IO assignment warning
0x40 CAP Over motor rated output power warning
Fault Code Internal Fault Code
Fault Display Fault Name
E004 0x22 MTROT Motor over temperature
E005 0x11 IPMFT IPM
E009 0x41 UDVTG Bus under voltage fault
E010 0x40 OVVTG Bus over voltage fault
E012 0x73 HFAIL Home search failed
E018 0x50 OVSPD Motor over speed fault
E019 0x51 POSER Excess position error fault
E022 0x25 CONOL Motor continuous current overload
E023 0x27 DRVOL Drive overload fault
E025 0x72 SENSR Sensor unassigned
E027 0x74 NOTHM Axis not homed
E028 0x36 ENCDE Encoder data range fault
E030 0x31 ENCOP Encoder cable open fault
134 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix C Warnings and Fault Codes
E031 0x38 ENCPE Encoder data parameter fault
E036 0x24 DRVOT Drive over temperature
E037 0x42 ACOFF AC Line Loss Fault
E053 0x63 PINIT User parameter initialization fault
E054 0x13 OFSET Current feedback offset
E055 0x61 CHSUM User parameter checksum fault
E056 0x53 CPUFT Watchdog timeout fault
E057 0x10 HWARE PWM hardware
E058 0x62 RANGE User parameter range fault
E060 0x70 DINIT Drive initialization fault
E075 0x23 SHTOL Shunt overload protection
E079 0x12 SHTOC Shunt circuit over current
E083 0x33 ABSBE Absolute encoder battery fault
E084 0x34 ABSOS Absolute encoder overspeed
E085 0x35 ABSCT Absolute multi-turn count fault
E086 0x37 ENCCT Encoder single-turn count fault
E100 0x71 SETUP Drive set-up fault
E101 0x20 CABLE Motor power cable open
E102 0x21 INSOL Motor instantaneous current overload
E103 0x28 MATCH Motor mismatch fault
E104 0x26 PWROL Continuous power overload
E105 0x30 ENCTP Encoder type mismatch fault
E106 0x32 ENCCE Encoder communication fault
E107 0x60 SERCE Serial communication fault
E108 0x52 CDFRE Position command frequency fault
E112 0x54 ESTOP Emergency stop
E113 0x64 IRANG Indexing position range overflow
E114 0x14 OVCUR Motor phase over current
Fault Code Internal Fault Code
Fault Display Fault Name
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 135
Appendix D
Monitor Variables
Ultraware limits the number of variables that can be monitored to thirty-one (variables 0 through 30) However in customer applications additional monitor variables may be used
For example monitoring of variable 32 Selected index cannot be performed by Ultraware software because this variable is outside the range of Ultraware However a customer program that supports thirty-two variables or more can monitor this variable
Variables The table below lists the variables for monitoring a Kinetix 3 drive
Variable Name Unit
No Hex
0 0x00 Velocity feedback rpm
1 0x01 Velocity command rpm
2 0x02 Velocity error rpm
3 0x03 Current command
4 0x04 Follower position counts
5 0x05 Master position counts
6 0x06 Position error counts
7 0x07 Position command count frequency Kpps
8 0x08 Commutation angle ordm (degrees)
9 0x09 Mechanical angle ordm (degrees)
10 0x0A Shunt power limit ratio
11 0x0B Bus voltage V
12 0x0C Absolute rotations rev
13 0x0D Velocity command offset mV
14 0x0E Current command offset mV
15 0x0E Input and 0utput state Refer to Variable 15 - Digital Inputs and Outputs on page 137 for more information
16 0x0F U phase current 0001A
17 17 V phase current 0001A
18 18 W phase current 0001A
19 19 Motor temperature
136 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix D Monitor Variables
20 0x10 Analog command -velocity 001V
21 0x11 Analog command - current 001V
22 0x12 Current feedback 0001A
23 0x13 Hall states (wvu) digital
24 0x14 Motor feedback position counts
25 0x15 Digital input function state Refer to Variable 25 - Digital Inputs on page 137 for more information
digital
26 0x16 Digital output function state Refer to Variable 26 - Digital Outputs on page 138 for more information
Digital
27 0x17 Instantaneous shunt power Watts
28 0x18 Drive utilization
29 0x19 Indexing input function state Refer to Variable 29 - Indexing Inputs on page 138 for more information
digital
30 0x1A Indexing output function state Refer to Variable 30 - Indexing Outputs on page 139 for more information
digital
31 0x1B CPLD version
32 0x1C Selected index digital
33 0x1D Periodic counter Range 0 hellip512 Units counts 1 count = 2 ms
Variable (Continued) Name Unit
No Hex
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 137
Monitor Variables Appendix D
Compiled Variables The tables below list variables that compile data to more effectively monitor specific aspects of a Kinetix 3 drive
Variable 15 - Digital Inputs and Outputs
Monitoring of IO status is provided by Variable 15 - Digital Inputs and Outputs Digital inputs [Pr - 017] hellip[Pr - 018] and digital outputs [Pr - 022] hellip[Pr - 027] are compiled for this variable
The table below lists the data bits in this variable
Variable 25 - Digital Inputs
Digital input status is provided by Variable 25 - Digital Inputs Digital inputs [Pr - 010] hellip[Pr - 014] are compiled for this variable
The table below lists the data bits in this variable
Digital Outputs EMG Digital Inputs
Bit No 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
Data DO6 DO6 DO4 SALM DO3 DO2 DO1 EMG DI10 DI9 DI8 DI7 DI6 DI5 DI4 DI3 DI2 DI1
Bit Digital Input Function Bit Digital Input Function
0 Current Limit- Negative 10 Fault Reset
1 Current Limit- Positive 11 Integrator Inhibit
2 Alternate Gain Select 12 Negative Overtravel
3 Preset Direction 13 Operation Mode Override
4 Reset Multiturn Data 14 Position Strobe
5 Zero Speed Clamp 15 Positive Overtravel
6 Position Clear 16 Preset Select 0
7 Analog Speed Command Enable in Preset 17 Preset Select 1
8 Motor Moving Enable in Velocity Mode 18 Preset Select 2
9 2nd Electronic Gear Bank Selection
138 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix D Monitor Variables
Variable 26 - Digital Outputs
Digital output status is provided by Variable 26 - Digital Outputs Digital inputs and outputs [Pr - 002] and [Pr - 022] hellip[Pr - 024] are compiled for this variable
The table below lists the data bits in this variable
Variable 29 - Indexing Inputs
Indexing input function status is provided by Variable 29 - Indexing Inputs Digital inputs [Pr - 016] hellip[Pr - 018] are compiled for this variable
The table below lists the data bits in this variable
Bit Digital Output Function
0 Brake
1 Absolute Position Valid
2 Current Limited
3 Velocity Limited
4 Within Near Window
5 Warning
Bit Indexing Input function
0 Home Sensor
1 Start Homing
2 Start Indexing
3 Stop Indexing
4 Pause Index
5 Index Select 0 Input
6 Index Select 1 Input
7 Index Select 2 Input
8 Index Select 3 Input
9 Index Select 4 Input
10 Index Select 5 Input
11 Stop Homing
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 139
Monitor Variables Appendix D
Variable 30 - Indexing Outputs
Indexing output function status is provided by Variable 30 - Indexing Outputs Digital outputs [Pr - 025] hellip[Pr - 027] are compiled for this variable
The table below lists the data bits in this variable
Bit Indexing Output function Indexing Output function
0 In Motion Index Select 1 Output
1 In Dwell Index Select 2 Output
2 Axis Homed Index Select 3 Output
3 End of Sequence Index Select 4 Output
4 Index Select 0 Output Index Select 5 Output
140 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix D Monitor Variables
Notes
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 141
Index
Parameters(IN0000) auto start indexing 116(IN0001) abort index deceleration 116(IN0002) positive deceleration distance 117(IN0003) negative deceleration distance 117(IN0004) enable software limits 118(IN0005) positive software limit 119(IN0006) negative software limit 119(IN0100) homing type 120(IN0101) auto start homing on enable 121(IN0102) homing velocity 121(IN0103) creep velocity 122(IN03xx) index move profile 128(IN0400hellipIN0463) index positiondistance
128(IN05xx) index registration distance 128(IN06xx) index batch count 128(IN0700hellipIN0763) index dwell 129(IN0800hellipIN0863) index velocity 129(IN09xx) index move profile 129(IN1000hellipIN1063) index acceleration 130(IN1100hellipIN1163) index deceleration 130(IN1200hellipIN1263) next index 131(IN200hellipIN263) index type digit 0 127(Pr-000) operations mode 46(Pr-001) motor configuration 47(Pr-002) motor basic modes 48(Pr-003) auto tuning functions 49(Pr-004) inertia ratio 50(Pr-005) auxiliary function selection 1 51(Pr-006) auxiliary function selection 2 52(Pr-007) drive address 54(Pr-008) password 54(Pr-009) serial port configuration 54(Pr-010hellipPr-021) parameter setting values
60(Pr-010) allocation of input signals 1 55(Pr-011) allocation of input signals 2 56(Pr-012) allocation of input signals 3 56(Pr-013) allocation of input signals 4 57(Pr-014) allocation of input signals 5 57(Pr-015) allocation of input signals 6 58(Pr-016) allocation of input signals 7 58(Pr-017) allocation of input signals 8 58(Pr-018) allocation of input signals 9
59(Pr-019) allocation of input signals 10 59(Pr-020) allocation of input signals 11 59(Pr-021) allocation of input signals 12 60(Pr-022hellipPr-032) parameter setting values
65(Pr-022) allocation of output signals 1 60(Pr-023) allocation of output signals 2 61(Pr-024) allocation of output signals 3 61
(Pr-025) allocation of output signals 4 62(Pr-026) allocation of output signals 5 63(Pr-027) allocation of output signals 6 63(Pr-028) allocation of output signals 7 63(Pr-029) allocation of output signals 8 64(Pr-030) allocation of output signals 9 64(Pr-031) allocation of output signals 10 65(Pr-032) IO control authority 65(Pr-100) velocity regulator response level 66(Pr-101) system gain 66(Pr-102) velocity regulator P gain 66(Pr-103) velocity regulator I gain 66(Pr-104) velocity regulator D gain 67(Pr-105) velocity error filter 67(Pr-106) position regulator Kp gain 67(Pr-107) current command lowpass filter
bandwidth 68(Pr-108) velocity command lowpass filter
bandwidth 68(Pr-109) position command lowpass filter
bandwidth 68(Pr-110) 1st resonant frequency suppression
filter 69(Pr-111) 1st resonant frequency suppression
width 69(Pr-112) 2nd resonant frequency suppression
filter 69(Pr-113) 2nd resonant frequency suppression
filter width 70(Pr-114) 2nd resonant frequency suppression
filter depth 70(Pr-115) position regulator Kff gain 70(Pr-116) position regulator Kff bandwidth 71(Pr-117) velocity regulator I gain mode 71(Pr-118) velocity regulator I gain disable
threshold 72(Pr-119) position regulator high error output
offset 72(Pr-120) position regulator high error output
threshold 72(Pr-121) current regulator bandwidth
reduction scale 73(Pr-122) on-line vibration mode 73(Pr-123) velocity regulator configuration 74(Pr-124) delay time of gain switching 74(Pr-125) level of gain switching 74(Pr-126) hysteresis of gain switching 75(Pr-127) position gain switching time 75(Pr-128) 2nd velocity regulator P gain 75(Pr-129) 2nd velocity regulator i gain 75(Pr-130) 2nd position regulator Kp gain 76(Pr-131) 2nd current command low pass
filter bandwidth 76
142 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Index
(Pr-132) 2nd velocity command low pass filter bandwidth 76
(Pr-133) 3rd velocity regulator P gain 76(Pr-134) 3rd velocity regulator I gain 77(Pr-135) 3rd position regulator Kp gain 77(Pr-136) 3rd current command low pass filter
bandwidth 77(Pr-137) 3rd velocitycommand low pass filter
bandwidth 77(Pr-138) 4th velocity regulator P gain 78(Pr-139) 4th velocity regulator I gain 78(Pr-140) 4th position regulator Kp gain 78(Pr-141) 4th current command low pass filter
bandwidth 78(Pr-142) 4th velocitycommand low pass filter
bandwidth 79(Pr-200) velocity scale 80(Pr-201) jog velocity command 80(Pr-202) acceleration 80(Pr-203) deceleration 81(Pr-204) S-curve time 81(Pr-205) preset velocity 1 81(Pr-206) preset velocity 2 81(Pr-207) preset velocity 3 82(Pr-208) preset velocity 4 82(Pr-209) preset velocity 5 82(Pr-210) preset velocity 6 82(Pr-211) preset velocity 7 83(Pr-212) manual velocity limit 83(Pr-213) velocity limit mode 83(Pr-300) follower 84(Pr-301) 1st gear ratio follower counts 85(Pr-302) 1st gear ratio mastercounts 86(Pr-303) encoder output ratio output counts
86(Pr-304) encoder output ratio motor counts
86(Pr-305) 2nd gear ratio follower counts 86(Pr-306) 2nd gear ratio master counts 87(Pr-307) reserved 87(Pr-308) digital filter cut-off frequency 88(Pr-400) current scale 89(Pr-401) positive internal current limit 89(Pr-402) negative internal current limit 89(Pr-403) positive external current limit 89(Pr-404) negative external current limit 90(Pr-405) overtravel current limit 90(Pr-406) initial current bias 90(Pr-500) in position size 91(Pr-501) reserved 91(Pr-502) near position size 91(Pr-503) speed window 92(Pr-504) up to speed 92(Pr-505) zero clamp 92
(Pr-506) brake inactive delay 93(Pr-507) disable delay 93(Pr-508) brake active delay 93(Pr-509) disabled braking speed 94(Pr-510) following error limit 94(Pr-511) reserved 94(Pr-512) ac line loss fault delay 95(Pr-513) analog output ch1 selection 95(Pr-514) analog output ch2 selection 95(Pr-515) analog output ch1 scale 95(Pr-516) analog output ch2 scale 96(Pr-600) analog velocity command offset 97(Pr-601) analog current command offset 97(Pr-602) u phase current sensing offset 97(Pr-603) w phase current sensing offset 97(Pr-604) A-lead-B swap 98(Pr-605) dynamic brake circuit protection 98(Pr-606) fault detail sampling period 98(Pr-607) fault detail data selection 1 99(Pr-608) fault detail data selection 2 99(Pr-609) fault detail data selection 3 99(Pr-610) fault detail data selection 4 99(Pr-611) 1st resonant frequency suppression
filter 100(Pr-612) 2nd resonant frequency suppression
filter 100(Pr-700) drive capacity 101(Pr-701) dc bus voltage offset 101(Pr-702) reserved 101(Pr-703) analog monitor output ch1 offset 102(Pr-704) analog monitor output ch1 scaling
102(Pr-705) analog monitor output ch2 offset 102(Pr-706) analog monitor output ch2 scaling
102(Pr-707) dc bus measurement scaling
calibration 103(Pr-900) standard motor flag 104(Pr-901) motor type 104(Pr-902) motor resistance 104(Pr-903) motor inductance 104(Pr-904) motor intermittent current 105(Pr-905) motor continuous current 105(Pr-906) motor rated voltage 105(Pr-907) encoder type 105(Pr-908) hall offset 105(Pr-909) current constant 106(Pr-910) motor inertia 106(Pr-911) polesrevolution 106(Pr-912) encoder linesrevolution 106(Pr-913) maximum rotary speed 106(Pr-914) force constant 107(Pr-915) motor mass 107(Pr-916) electrical cycle length 107
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 143
Index
(Pr-917) encoder linesmeter 107(Pr-918) maximum linear speed 107(Pr-919) motor thermal protection enable 108(Pr-920) motor thermostat 108(Pr-921) motor thermal resistance winding
to encoder 108(Pr-922) motor thermal capacitance
winding to encoder 108(Pr-923) motor thermal resisitance winding
to ambient 108(Pr-924) motor thermal capacitance
winding to ambient 109(Pr-925) commutation type 109(Pr-927) integral limits 109(Pr-927) startup commutation 109(Pr-928hellipPr 949) reserved 110(Pr-950) motor model 110(Pr-951) drive name 110(Pr-952) position scaling data 110(Pr-953) position scaling label 110(Pr-954) velocity scaling data 110(Pr-955) velocity scaling label 111(Pr-956) acceleration scaling data 111(Pr-957) acceleration scaling label 111(Pr-958) scope config 112(Pr-959) scope scaling 113(Pr-960) displayed units 113
Numerics1st gear ratio follower counts (Pr-301) 851st gear ratio master counts (Pr-302) 861st resonant frequency suppression filter
(Pr-110) 691st resonant frequency suppression filter
(Pr-611) 1001st resonant frequency suppression
width(Pr-111) 692nd current command low pass filter
bandwidth (Pr-131) 762nd gear ratio follower counts (Pr-305) 862nd gear ratio master counts (Pr-306) 872nd position regulator Kp gain (Pr-130) 762nd resonant frequency suppression filter
(Pr-112) 692nd resonant frequency suppression filter
(Pr-612) 1002nd resonant frequency suppression filter
depth (Pr-114) 702nd resonant frequency suppression filter
width (Pr-113) 702nd velocity command low pass filter
bandwidth (Pr-132) 762nd velocity regulator i gain (Pr-129) 75
2nd velocity regulator P gain (Pr-128) 753rd current command low pass filter
bandwidth (Pr-136) 773rd position regulator Kp gain (Pr-135) 773rd velocity command low pass filter
bandwidth (Pr-137) 773rd velocity regulator I gain (Pr-134) 773rd velocity regulator P gain (Pr-133) 764th current command low pass filter
bandwidth (Pr-141) 784th position regulator Kp gain (Pr-140) 784th velocity command low pass filter
bandwidth (Pr-142) 794th velocity regulator I gain (Pr-139) 784th velocity regulator P gain (Pr-138) 78
Aabort index 116abort index deceleration (IN0001) 116ac line loss 48ac line loss fault delay (Pr-512) 95acceleration (Pr-202) 80acceleration scaling data (Pr-956) 111acceleration scaling label (Pr-957) 111additional resources 7address map
flash saving parameter 21index function parameter 25modbus 11monitoring parameters 22output function status parameter 23running parameter 24special indexing parameters 13standard parameters 11
A-lead-B swap (Pr-604) 98allocation of input signals 1 (Pr-010) 55allocation of input signals 10 (Pr-019) 59allocation of input signals 11 (Pr-020) 59allocation of input signals 12 (Pr-021) 60allocation of input signals 2 (Pr-011) 56allocation of input signals 3 (Pr-012) 56allocation of input signals 4 (Pr-013) 57allocation of input signals 5 (Pr-014) 57allocation of input signals 6 (Pr-015) 58allocation of input signals 7 (Pr-016) 58allocation of input signals 8 (Pr-017) 58allocation of input signals 9 (Pr-018) 59allocation of output signals 1 (Pr-022) 60allocation of output signals 10 (Pr-031) 65allocation of output signals 2 (Pr-023) 61allocation of output signals 3 (Pr-024) 61allocation of output signals 4 (Pr-025) 62allocation of output signals 5 (Pr-026) 63allocation of output signals 6 (Pr-027) 63
144 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Index
allocation of output signals 7 (Pr-028) 63allocation of output signals 8 (Pr-029) 64allocation of output signals 9 (Pr-030) 64alternate gain (G-SEL) 57alternative gain enable 51analog current command offset (Pr-601) 97analog current inputs 46analog monitor output ch1 offset (Pr-703) 102analog monitor output ch1 scaling (Pr-704)
102analog monitor output ch2 offset (Pr-705) 102analog monitor output ch2 scaling (Pr-706)
102analog offset 102analog output ch1 scale (Pr-515) 95analog output ch1 selection (Pr-513) 95analog output ch2 scale (Pr-516) 96analog output ch2 selection (Pr-514) 95analog scaling 102analog speed command (C-SP4) 57analog velocity command offset (Pr-600) 97analog velocity inputs 46ASCII commands 29auto motor identification 52auto start homing on enable (IN0101) 121auto start indexing (IN0000) 116auto tuning functions (Pr-003) 49automatic (TAT) 38autotuning speed 49auxiliary function selection 1 (Pr-005) 51auxiliary function selection 2 (Pr-006) 52axis homed (HOMC) 62
Bbackup battery 51baud rate 54brake active delay (Pr-508) 93brake delay 93brake dynamic 98brake inactive delay (Pr-506) 93brake speed 94bus calibration 103bus voltage 101
Cchecksum 28CHP command 30command
automatic task (TAT) 38disable drive (SVROF) 44
enable drive (SVRON) 44fault reset (RST) 33jog (JOG) 40monitor variable (MDM) 33other functions (ETC) 42perform manual task (TMN) 39read drive status (STS) 41read fault contents (EHY) 40read fault detailed data (DIE) 43read indexing parameter (XET) 31read parameter (SET) 29reset drive (HWR) 44triggered data collection (MOT) 34variable roll monitoring (MOR) 36verify servo connection (LIV) 43verify software version (VER) 43write indexing parameter (XHP) 32write indexing parameter (XTR) 32write parameter (CHP) 30write parameter (STR) 30
command polarity 48command type 84communication method
RS232 54RS485 54
communication protocolASCII 54MODBUS-RTU 54
commutation 109commutation type (Pr-925) 109compiled variable 137
15 - digital inputs and outputs 13725 - digital inputs 13726 - digital outputs 13829 - indexing inputs 13830 - indexing outputs 139
controller output type 84conventions used 7counts
follower 85 86master 86 87motor 86output 86
creep velocity (IN0103) 122current bias 90current command lowpass filter bandwidth
(Pr-107) 68current constant (Pr-909) 106current limit 89 90current limit (T_LMT) 61current offset 97current regulator bandwidth reduction scale
(Pr-121) 73current scale (Pr-400) 89cut-off frequency 88cycle length 107
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 145
Index
DD gain regulator 67data bit 54dc bus measurement scaling calibration
(Pr-707 103dc bus voltage offset (Pr-701) 101deceleration (Pr-203) 81delay gain 74delay time of gain switching (Pr-124) 74digital filter cut-off frequency (Pr-308) 88disable brake 48disable delay (Pr-507) 93disable drive (SVROF) 44disabled braking speed (Pr-509) 94display parameter - input register address
map 22displayed units (Pr-960) 113drive address (Pr-007) 54drive capacity (Pr-700) 101drive enable (SV-ON) 55drive name (Pr-951) 110drive password 54drive reset 44dynamic brake circuit protection (Pr-605) 98dynamic tuning 49dynamic tuning response speed 49
EEHY command 40electrical cycle length (Pr-916) 107electronic gear select (GEAR) 57emergency stop inputs 51enable drive (SVRON) 44enable software limits (IN0004) 118encoder back-up battery 51encoder detect 52encoder linesmeter (Pr-917) 107encoder linesrevolution (Pr-912) 106encoder output 84encoder output ratio motor counts (Pr-304)
86encoder output ratio output counts (Pr-303)
86encoder type 47encoder type (Pr-907) 105end of sequence (E_SEQU) 63error output offset 72error output threshold 72ETC command 42exception code modbus 10
Ffaul reset (A-RST) 56fault codes 133fault detail data selection 1 (Pr-607) 99fault detail data selection 2 (Pr-608) 99fault detail data selection 3 (PrR-609) 99fault detail data selection 4 (Pr-610) 99fault detail sampling period (Pr-606) 98fault reset (RST) 33fault selection 99faultwarning registers address map 22feedback linesmeter 107flash memory update 30 32 39flash saving parameter address map 21follower (Pr-300) 84follower counts 85follower mode 46following error limit (Pr-510) 94force constant (Pr-914) 107frequency suppression 69function code
modbus 9
Ggain bank select (BANK_SEL) 58gain delay 74gain hysteresis 75gain level 74gain switch 74gain switching 52gain timing 75gear ratio 84general commands (ASCII) 29group 0 - indexing system address map 13group 0 - system level address map 11group 1 - gain control address map 11group 10 - index acceleration address map 18group 11 - index deceleration address map 19group 12 - next index address map 20group 2 - index option address map 14group 2 - speed control address map 12group 3 - position control address maps 12group 3 - reserved 14group 4 - index positiondistance address
map 15group 4 - torque control address maps 12group 5 - reserved 16group 5 - supplemental drive control address
maps 12group 6 - reserved 16group 7 - index dwell address map 16group 8 - index velocity address map 17group 9 - reserved 17
146 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Index
Hhall offset (Pr-908) 105home sensor (H_SENS) 58homing (H_SENS and SHOME) 58homing type (IN0100) 120homing velocity (IN0102) 121host command
fault codes 133indexing command extended (XCE) 31warnings 133
hysteresis of gain switching (Pr-126) 75
II gain 71I gain disable 72I gain regulation 77 78I gain regulator 66IO control authority (Pr-032) 65In Dwell (I_DW) 62in motion (IMO) 62in position size (Pr-500) 91incremental feedback loss 52index abort 116index acceleration 0hellip63 (IN1000hellipIN1063)
130index batch count (IN06xx) 128index deceleration 0hellip63 (IN1100hellipIN1163)
130index dwell 0hellip63 (IN0700hellipIN0763) 129index move 127index move profile (IN03xx) 128index move profile (IN09xx) 129index positiondistance 0hellip63
(IN0400hellipIN0463) 128index registration distance (IN05xx) 128index select (I_SEL0hellipI_SEL3) 58index select (I_SEL4hellipI_SEL5) 59
index select 0 out (O_ISEL0) 62index select 1hellip4 out (O_ISEL0hellipO_ISEL4) 63index select 5 out (O_ISEL5) 63index start 116index type 0hellip63 digit 0 (IN100hellipIN163) 127index velocity 0hellip63 (IN0800hellipIN0863) 129indexing command extended (XCE) 31inertia ratio (Pr-004) 50inhibit delay 95initial current bias (Pr-406) 90input function parameter address map 25integral limits (Pr-927) 109integrator inhibit (CON) 55
Jjog (JOG) 40JOG command 40jog velocity command (Pr-201) 80
KKff gain 70Kp gain position regulator 67Kp gain regulation 77 78
Llevel of gain switching (Pr-125) 74line break detect 52line loss check 48LIV command 43load inertia 50low pass filter (IReg) 76 77 78low pass filter (VReg) 76 77 79lowpass filter
current 68position 68velocity 68
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 147
Index
Mmanual task (TMN) 39manual velocity limit (Pr-212) 83master counts 86maximum linear speed (Pr-918) 107maximum rotary speed (Pr-913) 106maximum speed 106 107MDM command 33mnemonic commands
DIE 43HWR 44SVROF 44SVRON 44
modbus address map 11display parameter - input register 22faultwarning registers 22indexing parameter
group 0 - indexing system 13group 10 - index acceleration 18group 11 - index deceleration 19group 12 - next index 20group 2 - index option 14group 3 - reserved 14group 4 - indexing positiondistance 15group 5 - reserved 16group 6 - reserved 16group 7 - index dwell 16group 8 - index velocity 17group 9 - reserved 17
standard parametersgroup 0 - system level 11group 1 - gain control 11group 2 - speed control 12group 3 - position control 12group 4 - torque control 12group 5 - supplemental drive control 12
modbus exception codes 10modbus function codes 9MODBUS input function control 65MODBUS run function control 65monitor offset 102monitor scaling 102monitor variable 135monitor variable (MDM) 33monitoring parameters address map 22MOR command 36MOT command 34motor basic modes (Pr-002) 48motor configuration (Pr-001) 47motor continuous current (Pr-905) 105motor enable (START) 57motor flag 104motor forward direction 48motor identification 52motor inductance (Pr-903) 104
motor inertia 50motor inertia (Pr-910) 106motor intermittent current (Pr-904) 105motor mass (Pr-915) 107motor model (Pr-950) 110motor rated voltage (Pr-906) 105motor resistance (Pr-902) 104motor thermal capacitance winding to
ambient (Pr-924) 109motor thermal capacitance winding to
encoder (Pr-922) 108motor thermal protection enable (Pr-919) 108motor thermal resistance winding to
ambient (Pr-923) 108motor thermal resistance winding to
encoder (Pr-921) 108motor thermostat (Pr-920) 108motor type 47motor type (Pr-901) 104
Nnear position (NEAR) 61near position size (Pr-502) 91negative current limit (N-TL)positive current
limit (P-TL) 56negative deceleration distance (IN0003) 117negative external current limit (Pr-404) 90negative internal current limit (Pr-402) 89negative overtravel (N-OT) 55negative software limit (IN0006) 119next index 0hellip63 (IN1200hellipIN1263) 131notch filter
1st resonance 692nd resonance 702nd resonance depth 70
Ooff-line tuning 49on-line vibration mode (Pr-122) 73on-line vibration suppression 73operation mode override (C_SEL) 56operations mode (Pr-000) 46oscilloscope 112oscilloscope scaling 113other functions(ETC) 42output function status address map 23overtravel current limit (Pr-405) 90overtravel settings (P-ot) and N-OT) 55overtravel stop 48overtravel stop method 48
148 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Index
PP gain regulation 76 78P gain regulator 66packet structure 27parameter setting values (Pr-010hellipPr-021)
60parameter setting values (Pr-022hellipPr-032)
65parity bit 54password (Pr-008) 54pause indexing (PAUSE) 58polesrevolution (Pr-911) 106position clear (PCLR) 57position command lowpass filter bandwidth
(Pr-109) 68position gain switching time (Pr-127) 75position regulator high error output offset
(Pr-119) 72position regulator high error output threshold
(Pr-120) 72position regulator Kff bandwidth (Pr-116) 71position regulator Kff gain (Pr-115) 70position regulator Kp gain (Pr-106) 67position scaling data(Pr-952) 110position scaling label (Pr-953) 110position strobe (ABS-DT) 57position window (P-COM) 60positive deceleration distance (IN0002) 117positive external current limit (Pr-403) 89positive internal current limit (Pr-401) 89positive overtravel (P-OT) 55positive software limit (IN0005) 119power input 48preset direction (C-DIR) 56preset select (C-SP1 C-SP2 C-SP3) 56preset velocity 46preset velocity 1 (Pr-205) 81preset velocity 2 (Pr-206) 81preset velocity 3 (Pr-207) 82preset velocity 4 (Pr-208) 82preset velocity 5 (Pr-209) 82preset velocity 6 (Pr-210) 82preset velocity 7 (Pr-211) 83proportional gain 71
Rrated power 47read drive status (STS) 41read fault contents (EHY) 40read fault detailed data (DIE) 43read indexing parameter (XET) 31read parameter (SET) 29reboot drive 44reserved (Pr-307) 87reserved (Pr-501) 91reserved (Pr-511) 94reserved (Pr-702) 101reserved (Pr-928hellipPr 949) 110reset absolute encoder data (R_ABS) 58reset drive (HWR) 44RST command 33run control 65running parameter 24
Ssafety considerations inside front coversampling period 98scaling
acceleration data 111acceleration label 111position data 110position label 110velocity data 110velocity label 111
scope config (Pr-958) 112scope scaling (Pr-959) 113S-csurve time (Pr-204) 81serial port configuration (Pr-009) 54SET command 29special indexing parameter
address map 13speed clamp (Z-CLP) 57speed window (Pr-503) 92speed window (V-COM) 60standard motor flag (Pr-900 104standard parameters address map 11start homing (SHOME) 58start index (START_I) 59start indexing 116startup commutation (Pr-927) 109stop bit 54stop homing (H_STOP) 59stop indexing STOP) 58STR command 30STS command 41suppression filter 100symbols 27system gain (Pr-101) 66
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 149
Index
TTAT command 38thermal capacitance 108 109thermal protection 108thermal resistance 108thermostat 108TMN command 39training See lt$emphasislt$default fonttriggered data collection (MOT) 34
Uu phase current sensing offset (Pr-602) 97up to speed (Pr-504) 92up to speed (TG-ON) 60
Vvariable 135 137
15 - digital inputs and outputs 13725 - digital inputs 13726 - digital outputs 13829 - indexing inputs 13830 - indexing outputs 139
variable roll monitoring (MOR) 36velocity error filter (Pr-105) 67velocity limit 83velocity limit (V-LMT) 61velocity limit mode (Pr-213) 83velocity observer 51velocity offset 97velocity presets 46velocity regulator configuration (Pr123) 74velocity regulator D gain (Pr-104) 67velocity regulator I gain (Pr-103) 66velocity regulator I gain disable threshold
(Pr-118) 72velocity regulator I gain mode (Pr-117) 71
velocity regulator P gain (Pr-102) 66velocity regulator response level (Pr-100) 66velocity scaling data (Pr-954) 110velocity scaling label (Pr-955) 111velocitycommand lowpass filter bandwidth
(Pr-108) 68velocityscale (Pr-200) 80VER command 43verify servo connection (LIV) 43verify software version (VER) 43vibration suppression 69 73
Ww phase current sensing offset (Pr-603) 97warning (WARN) 61warnings 133watchdog timer 44 134within position window (P-COM) 60within speed window (V-COM) 60write indexing parameter (XHP) 32write indexing parameter (XTR) 32write parameter (CHP) 30write parameter (STR) 30
XXCE command 31XET command 31XHP command 32XTR command 32
Zzero clamp (Pr-505) 92zero speed (Z-CLP) 57
150 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Index
Notes
Publication 2071-RM001A-EN-P - September 2010 152 PN-79403Copyright copy 2010 Rockwell Automation Inc All rights reserved Printed in the USA
Rockwell Automation Support
Rockwell Automation provides technical information on the Web to assist you in using its products At httpwwwrockwellautomationcomsupport you can find technical manuals a knowledge base of FAQs technical and application notes sample code and links to software service packs and a MySupport feature that you can customize to make thebest use of these tools
For an additional level of technical phone support for installation configuration and troubleshooting we offer TechConnect support programs For more information contact your local distributor or Rockwell Automation representative or visit httpwwwrockwellautomationcomsupport
Installation Assistance
If you experience an anomoly within the first 24 hours of installation review the information that is contained in this manualYou can contact Customer Support for initial help in getting your product up and running
New Product Satisfaction Return
Rockwell Automation tests all of its products to ensure that they are fully operational when shipped from the manufacturing facility However if your product is not functioning and needs to be returned follow these procedures
Documentation Feedback
Your comments will help us serve your documentation needs better If you have any suggestions on how to improve this document complete this form publication RA-DU002 available at httpwwwrockwellautomationcomliterature
United States or Canada 14406463434
Outside United States or Canada
Use the Worldwide Locator at httpwwwrockwellautomationcomsupportamericasphone_enhtml or contact your local Rockwell Automation representative
United States Contact your distributor You must provide a Customer Support case number (call the phone number above to obtain one) to your distributor to complete the return process
Outside United States Please contact your local Rockwell Automation representative for the return procedure
- 2071-RM001A-EN-P September 2010
- Important User Information
- Table of Contents
- Preface
-
- About This Publication
- Who Should Use This Manual
- Conventions Used in This Manual
- Additional Resources
-
- 1 - Modbus Protocol
-
- Function Codes
- Exception Codes
- Address Maps
-
- Standard Parameters
- Indexing Parameters
- Save Flash Memory Parameter
- Monitoring Parameter (Function Code 0x04)
- Fault and Warning Status Parameter - Input Registers
- Output Function Status Parameter
- Running Parameter (Function Code 0x06 or 0x10)
- Input Function Parameter (Function Code 0x03 0x06 or 0x10)
-
- 2 - Communication Protocol (RS-232ASCII)
-
- Introduction
- Special Symbols
- Packet Structure
- Checksum
-
- 3 - General Commands (ASCII)
-
- Read Parameter (SET)
- Write Parameter (STR)
- Write Parameter (CHP)
- Indexing Command Extended (XCE)
- Read Indexing Parameter (XET)
- Write Indexing Parameter (XHP)
- Write Indexing Parameter (XTR)
- Fault Reset (RST)
- Monitor Variable (MDM)
- Triggered Data Collection (MOT)
- Variable Roll Monitoring (MOR)
- Automatic Task (TAT)
- Manual Task (TMN)
- Read Fault Contents (EHY)
- Jog (JOG)
- Read Drive Status (STS)
- Other Functions (ETC)
- Verify Software Version (VER)
- Verify Servo Connection (LIV)
- Read Fault Detailed Data (DIE)
- Enable Drive (SVRON)
- Disable Drive (SVROF)
- Reset Drive (HWR)
-
- A - Standard Drive Parameters
-
- Parameter Groupings
- Parameter Descriptions
-
- Group 0 - System Level
- Group 1 - Gain Control
- Group 2 - Speed Control
- Group 3 - Position Control
- Group 4 - Torque Controls
- Group 5 - Supplemental Drive Controls
- Group 6 - Supplemental Gain and Report Settings
- Group 7 - Manufacturing Settings
- Group 8 - Reserved Parameters
- Group 9 - Motor Controls
-
- B - Indexing Drive Parameters
-
- Parameter Groupings
- Parameter Descriptions
-
- Group 0 - Indexing System
- Group 1 - Homing
- Group 2 - Indexing Options
- Group 3 - Index Move Profile
- Group 4 - Index PositionDistance
- Group 5 - Index Registration Distance
- Group 6 - Index Batch Count
- Group 7 - Index Dwell
- Group 8 - Index Velocity
- Group 9 - Index Move Profile
- Group 10 - Index Acceleration
- Group 11 - Index Deceleration
- Group 12 - Index Next Index
-
- C - Warnings and Fault Codes
-
- Warnings
- Fault Codes
-
- D - Monitor Variables
-
- Variables
- Compiled Variables
-
- Variable 15 - Digital Inputs and Outputs
- Variable 25 - Digital Inputs
- Variable 26 - Digital Outputs
- Variable 29 - Indexing Inputs
- Variable 30 - Indexing Outputs
-
- Index
- Technical Support
-
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 5
Table of Contents
Appendix DMonitor Variables Variables 135
Compiled Variables 137Variable 15 - Digital Inputs and Outputs 137Variable 25 - Digital Inputs 137Variable 26 - Digital Outputs 138Variable 29 - Indexing Inputs 138Variable 30 - Indexing Outputs 139
Index
6 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Table of Contents
Notes
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 7
Preface
About This Publication This manual describes the host command set for end-user interface with a Kinetix 3 drive via serial communication Use this manual for designing programming and troubleshooting host commands for serial communication with the Kinetix 3 drives
Who Should Use This Manual
This manual is intended for engineers programmers or technicians directly involved in the installation operation programming and field maintenance of a Kinetix 3 drive by using host mode commands
If you do not have a basic understanding of the Kinetix 3 drive contact your local Rockwell Automation sales representative before using this product for the availability of training courses
Conventions Used in This Manual
The conventions starting below are used throughout this manual bull Bulleted lists such as this one provide information not procedural stepsbull Numbered lists provide sequential steps or hierarchical information
Additional Resources These documents contain additional information concerning related Rockwell Automation products
You can view or download publications at httpwwwrockwellautomationcomliterature To order paper copies of technical documentation contact your local Rockwell Automation distributor or sales representative
Resource Description
Kinetix 3 Component Servo Drive Installation Instruction publication 2071-IN001
Mounting and wiring instructions and mounting dimensions
Kinetix 3 IO Breakout Board Installation Instructions publication 2071-IN002
Kinetix 3 Motor Feedback Breakout Board Installation Instructions publication 2071-IN003
Kinetix 3 Serial Communication Cables Installation Instructions publication 2090-IN019
Kinetix 3 Component Servo Drive User Manual publication 2071-UM001
Information on installing configuring starting up and troubleshooting for your Kinetix 3 servo drive system
Ultraware User Manual publication 2098-UM001
Information on configuring and operating Ultraware software with servo drives and motors
8 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Preface
Notes
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 9
Chapter 1
Modbus Protocol
This chapter defines the Modbus protocol as it applies to a Kinetix 3 drive
Function Codes The register number of MODBUS devices may begin with 0 or 1 Because this is determined by the MODBUS host you the customer have selected A 1 must be added to the register number if your controller requires it
The maximum number of parameters that can be read or written at the same time is the same as the number of MODBUS addresses which is the same as the number of the parameters in each group In other words all the parameters in each group can be read together or written together
Function Code Description
03(0x03) Read Holding Registers
04(0x04) Read Input Registers
06(0x06) Write Single Register
16(0x10) Write Multiple Register
10 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 1 Modbus Protocol
Exception Codes The Kinetix 3 Modbus protocol uses the following exception codes from the Modbus specifications
Exception Code
Name Meaning
0x01 Illegal Function The function code received in the query is not an allowable action for the slave
0x02 Illegal Data Address
The data address received in the query is not an allowable address for the slave
0x03 (1)
(1) Exception code 0x03 indicates an Illegal Data Value It means the length of data string is incorrect Exception code 14(0x0E) indicates an Illegal Data Range It means that data range exceeds the limit of the minimum or maximum value
Illegal Data Value
The length of query data field is not valid for the slave
0x06 Slave Device Busy
The slave is engaged in processing Run command The master should retransmit the message later when the slave is free
0x07 Illegal CRC Value
The CRC value received in the query is wrong value
0x0C Illegal Frame The byte length of the Query Reception frame is out of the limit
0x0D (2)
(2) Exception code 0x0D is generated if the master accesses a 32bit data address with function code 06 or either the high or low address of 32bit data with function code 10
Illegal Sequence
The data sequence received in the query is not an allowable write command for the slave
0x0E (1) Illegal Data Range
The value of query data field is not valid for the slave
0x0F (3)
(3) Exception code 15(0x0F) indicates an Illegal Command was issued It occurs when a received Run control cannot be executed at the moment
Illegal Command
The slave is in Run control and received an invalid command
0x10 (4)
(4) Exception code 16(0x10) is an Illegal Control It occurs when the Network Control Mode is not set but the drive requests a Run Control command or an IO Control command through the network
Illegal Control The slave is not in the Network mode but received a network control command
0x1F Servo Error Fail When the slave is Servo Error condition and receives a Servo ON command from master
0x21 Drive Type Fail When drive type of the slave is Indexing slave receives run command 02 03 04
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 11
Modbus Protocol Chapter 1
Address Maps All standard and indexing parameters (Pr-xxx or Inxxxx) require a unique register address The host computer assigns the initial address number and determines whether the register numbers begin with 0 or 1
Standard Parameters
Group 0 - System Level (1)
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
0 Pr-000 10 Pr-009 20 Pr-019 30 Pr-029
1 Pr-001[Lo] 11 Pr-010 21 Pr-020 31 Pr-030
2 Pr-001[Hi] 12 Pr-011 22 Pr-021 32 Pr-031
3 Pr-002 13 Pr-012 23 Pr-022 33 Pr-032
4 Pr-003 14 Pr-013 24 Pr-023 34hellip42 Reserved
5 Pr-004 15 Pr-014 25 Pr-024 43hellip99 Reserved
6 Pr-005 16 Pr-015 26 Pr-025
7 Pr-006 17 Pr-016 27 Pr-026
8 Pr-007 18 Pr-017 28 Pr-027
9 Pr-008 19 Pr-018 29 Pr-028
(1) Refer to Monitoring Parameter (Function Code 0x04) on page 22 for more detailed information on this parameter
Group 1 - Gain Control
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
100 (1) Pr-100 111 Pr-111 122 Pr-122 133 Pr-133
101 (1) Pr-101 112 Pr-112 123 Pr-123 134 Pr-134
102 Pr-102 113 Pr-113 124 Pr-124 135 Pr-135
103 Pr-103 114 Pr-114 125 Pr-125 136 Pr-136
104 Pr-104 115 Pr-115 126 Pr-126 137 Pr-137
105 Pr-105 116 Pr-116 127 Pr-127 138 Pr-138
106 Pr-106 117 Pr-117 128 Pr-128 139 Pr-139
107 Pr-107 118 Pr-118 129 Pr-129 140 Pr-140
108 Pr-108 119 Pr-119 130 Pr-130 141 Pr-141
109 Pr-109 120 Pr-120 131 Pr-131 142 Pr-142
110 Pr-110 121 Pr-121 132 Pr-132 143hellip199 Reserved
(1) Refer to Fault and Warning Status Parameter - Input Registers on page 22 for more detailed information on this parameter
12 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 1 Modbus Protocol
Group 2 - Speed Control
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
200 (1) Pr-200 206 Pr-204 212 Pr-210
201 (1) Pr-201 207 Pr-205 213 Pr-211
202 Pr-202[Lo] 208 Pr-206 214 Pr-212
203 Pr-202[Hi] 209 Pr-207 215 Pr-213
204 Pr-203[Lo] 210 Pr-208 216hellip299 Reserved
205 Pr-203[Hi] 211 Pr-209
(1) Refer to Output Function Status Parameter on page 23 for more detailed information on these parameters
Group 3 - Position Control
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
300 Pr-300 303 Pr-303 306 Pr-306 309hellip399 Reserved
301 Pr-301 304 Pr-304 307 Reserved
302 Pr-302 305 Pr-305 308 Pr-308
Group 4 - Torque Control
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
400 Pr-400 402 Pr-402 404 Pr-404 406 Pr-406
401 Pr-401 403 Pr-403 405 Pr-405 407hellip499 Reserved
Group 5 - Supplemental Drive Control
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
500 Pr-500 506 Pr-506 512 Pr-511 517 Pr-514[Hi]
501 Pr-501 507 Pr-507 513 Pr-512 518 Pr-515[Lo]
502 Pr-502 508 Pr-508 514 Pr-513 519 Pr-515[Hi]
503 Pr-503 509 Pr-509 514 Pr-513[Lo] 520 Pr-516[Lo]
504 Pr-504 510 Pr-510[Lo] 515 Pr-513[Hi] 521 Pr-516[Hi]
505 Pr-505 511 Pr-510[Hi] 516 Pr-514[Lo] 522hellip599 Reserved
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 13
Modbus Protocol Chapter 1
For parameters within the MODBUS address range of 600hellip4999 refer to the following parameters
bull Monitoring Parameter (Function Code 0x04) on page 22 for MODBUS Addresses 0hellip44
bull Fault and Warning Status Parameter - Input Registers on page 22 for MODBUS Addresses 100hellip101
bull Output Function Status Parameter on page 23 for MODBUS Addresses 2000hellip2016
bull Running Parameter (Function Code 0x06 or 0x10) on page 24 for MODBUS Addresses 2000hellip2016
bull Input Function Parameter (Function Code 0x03 0x06 or 0x10) on page 25 for MODBUS Addresses 3000hellip3002
Indexing Parameters
Group 0 - Indexing System
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
4000 Index 0 Distance Low
4005 Index 0 Accel Low
4001 Index 0 Distance High
4006 Index 0 Accel High
4002 Index 0 Velocity 4007 Index 0 Dwell
4003 Index 0 Decel Low
4008 Index 0 Option
4004 Index 0 Decel High
4009hellip4199 Reserved
Group 0 - Indexing System
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
5000 In0000 5006 In0003Hi
5001 In0001Lo 5007 In0004
5002 In0001Hi 5008 In0005Lo
5003 In0002Lo 5009 In0005Hi
5004 In0002Hi 5010 In0006Lo
5005 In0003Lo 5011 In0006Hi
5012hellip5199 Reserved
14 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 1 Modbus Protocol
Group 2 ndash Index Option
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
5400 In0200 5416 In0216 5432 In0232 5448 In0248
5401 In0201 5417 In0217 5433 In0233 5449 In0249
5402 In0202 5418 In0218 5434 In0234 5450 In0250
5403 In0203 5419 In0219 5435 In0235 5451 In0251
5404 In0204 5420 In0220 5436 In0236 5452 In0252
5405 In0205 5421 In0221 5437 In0237 5453 In0253
5406 In0206 5422 In0222 5438 In0238 5454 In0254
5407 In0207 5423 In0223 5439 In0239 5455 In0255
5408 In0208 5424 In0224 5440 In0240 5456 In0256
5409 In0209 5425 In0225 5441 In0241 5457 In0257
5410 In0210 5426 In0226 5442 In0242 5458 In0258
5411 In0211 5427 In0227 5443 In0243 5459 In0259
5412 In0212 5428 In0228 5443 In0243 5460 In0260
5413 In0213 5429 In0229 5444 In0244 5461 In0261
5414 In0214 5430 In0230 5445 In0245 5462 In0262
5415 In0215 5431 In0231 5446 In0246 5463 In0263
5447 In0247 5464 hellip5599 Reserved
Group 3 - Reserved
MODBUS Address
Kinetix 3 Parameter
5600hellip5799 Reserved
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 15
Modbus Protocol Chapter 1
Group 4 ndash Index PositionDistance
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
5800 In0400Lo 5834 In0417Lo 5868 In0434Lo 5902 In0451Lo
5801 In0400Hi 5835 In0417 Hi 5869 In0434 Hi 5903 In0451Hi
5802 In0401Lo 5836 In0418Lo 5870 In0435Lo 5904 In0452Lo
5803 In0401Hi 5837 In0418 Hi 5871 In0435 Hi 5905 In0452Hi
5804 In0402Lo 5838 In0419Lo 5872 In0436Lo 5906 In0453Lo
5805 In0402Hi 5839 In0419 Hi 5873 In0436 Hi 5907 In0453Hi
5806 In0403Lo 5840 In0420Lo 5874 In0437Lo 5908 In0454Lo
5807 In0403Hi 5841 In0420 Hi 5875 In0437 Hi 5909 In0454Hi
5808 In0404Lo 5842 In0421Lo 5876 In0438Lo 5910 In0455Lo
5809 In0404Hi 5843 In0421 Hi 5877 In0438 Hi 5911 In0455Hi
5810 In0405Lo 5844 In0422Lo 5878 In0439Lo 5912 In0456Lo
5811 In0405Hi 5845 In0422 Hi 5879 In0439 Hi 5913 In0456Hi
5812 In0406Lo 5846 In0423Lo 5880 In0440Lo 5914 In0457Lo
5813 In0406Hi 5847 In0423 Hi 5881 In0440 Hi 5915 In0457Hi
5814 In0407Lo 5848 In0424Lo 5882 In0441Lo 5916 In0458Lo
5815 In0407Hi 5849 In0424 Hi 5883 In0441 Hi 5917 In0458Hi
5816 In0408Lo 5850 In0425Lo 5884 In0442Lo 5918 In0459Lo
5817 In0408Hi 5851 In0425 Hi 5885 In0442 Hi 5919 In0459Hi
5818 In0409Lo 5852 In0426Lo 5886 In0443Lo 5920 In0460Lo
5819 In0409Hi 5853 In0426 Hi 5887 In0443 Hi 5921 In0460Hi
5820 In0410Lo 5854 In0427Lo 5888 In0444Lo 5922 In0461Lo
5821 In0410Hi 5855 In0427 Hi 5889 In0444 Hi 5923 In0461Hi
5822 In0411Lo 5856 In0428Lo 5890 In0445Lo 5924 In0462Lo
5823 In0411Hi 5857 In0428 Hi 5891 In0445 Hi 5925 In0462Hi
5824 In0412Lo 5858 In0429Lo 5892 In0446Lo 5926 In0463Lo
5825 In0412Hi 5859 In0429 Hi 5893 In0446 Hi 5927 In0463Hi
5826 In0413Lo 5860 In0430Lo 5894 In0447Lo 5928hellip5999 Reserved
5827 In0413Hi 5861 In0430 Hi 5895 In0447Hi
5828 In0414Lo 5862 In0431Lo 5896 In0448Lo
5829 In0414Hi 5863 In0431 Hi 5897 In0448Hi
5830 In0415Lo 5864 In0432Lo 5898 In0449Lo
5831 In0415Hi 5865 In0432 Hi 5899 In0449Hi
5832 In0416Lo 5866 In0433Lo 5900 In0450Lo
5833 In0416 Hi 5867 In0433 Hi 5901 In0450Hi
16 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 1 Modbus Protocol
Group 5 - Reserved
MODBUS Address
Kinetix 3 Parameter
6000hellip6199 Reserved
Group 6 - Reserved
MODBUS Address
Kinetix 3 Parameter
6200hellip6399 Reserved
Group 7 ndash Index Dwell
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
6400 In0700 6417 In0717 6434 In0734 6451 In0751
6401 In0701 6418 In0718 6435 In0735 6452 In0752
6402 In0702 6419 In0719 6436 In0736 6453 In0753
6403 In0703 6420 In0720 6437 In0737 6454 In0754
6404 In0704 6421 In0721 6438 In0738 6455 In0755
6405 In0705 6422 In0722 6439 In0739 6456 In0756
6406 In0706 6423 In0723 6440 In0740 6457 In0757
6407 In0707 6424 In0724 6441 In0741 6458 In0758
6408 In0708 6425 In0725 6442 In0742 6459 In0759
6409 In0709 6426 In0726 6443 In0743 6460 In0760
6410 In0710 6427 In0727 6444 In0744 6461 In0761
6411 In0711 6428 In0728 6445 In0745 6462 In0762
6412 In0712 6429 In0729 6446 In0746 6463 In0763
6413 In0713 6430 In0730 6447 In0747 6464 hellip6599 Reserved
6414 In0714 6431 In0731 6448 In0748
6415 In0715 6432 In0732 6449 In0749
6416 In0716 6433 In0733 6450 In0750
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 17
Modbus Protocol Chapter 1
Group 8 ndash Index Velocity
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
6600 In0800 6616 In0816 6632 In0832 6648 In0848
6601 In0801 6617 In0817 6633 In0833 6649 In0849
6602 In0802 6618 In0818 6634 In0834 6650 In0850
6603 In0803 6619 In0819 6635 In0835 6651 In0851
6604 In0804 6620 In0820 6636 In0836 6652 In0852
6605 In0805 6621 In0821 6637 In0837 6653 In0853
6606 In0806 6622 In0822 6638 In0838 6654 In0854
6607 In0807 6623 In0823 6639 In0839 6655 In0855
6608 In0808 6624 In0824 6640 In0840 6656 In0856
6609 In0809 6625 In0825 6641 In0841 6657 In0857
6610 In0810 6626 In0826 6642 In0842 6658 In0858
6611 In0811 6627 In0827 6643 In0843 6659 In0859
6612 In0812 6628 In0828 6644 In0844 6660 In0860
6613 In0813 6629 In0829 6645 In0845 6661 In0861
6614 In0814 6630 In0830 6646 In0846 6662 In0862
6615 In0815 6631 In0831 6647 In0847 6663 In0863
6664 hellip6799 Reserved
Group 9 - Reserved
MODBUS Address
Kinetix 3 Parameter
6800hellip6999 Reserved
18 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 1 Modbus Protocol
Group 10 ndash Index Acceleration
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
7000 In1000Lo 7032 In1016Lo 7064 In1032Lo 7096 In1048Lo
7001 In1000Hi 7033 In1016 Hi 7065 In1032 Hi 7097 In1048 Hi
7002 In1001Lo 7034 In1017Lo 7066 In1033Lo 7098 In1049Lo
7003 In1001Hi 7035 In1017 Hi 7067 In1033 Hi 7099 In1049 Hi
7004 In1002Lo 7036 In1018Lo 7068 In1034Lo 7100 In1050Lo
7005 In1002Hi 7037 In1018 Hi 7069 In1034 Hi 7101 In1050 Hi
7006 In1003Lo 7038 In1019Lo 7070 In1035Lo 7102 In1051Lo
7007 In1003Hi 7039 In1019 Hi 7071 In1035 Hi 7103 In1051 Hi
7008 In1004Lo 7040 In1020Lo 7072 In1036Lo 7104 In1052Lo
7009 In1004Hi 7041 In1020 Hi 7073 In1036 Hi 7105 In1052 Hi
7010 In1005Lo 7042 In1021Lo 7074 In1037Lo 7106 In1053Lo
7011 In1005Hi 7043 In1021 Hi 7075 In1037 Hi 7107 In1053 Hi
7012 In1006Lo 7044 In1022Lo 7076 In1038Lo 7108 In1054Lo
7013 In1006Hi 7045 In1022 Hi 7077 In1038 Hi 7109 In1054 Hi
7014 In1007Lo 7046 In1023Lo 7078 In1039Lo 7110 In1055Lo
7015 In1007Hi 7047 In1023 Hi 7079 In1039 Hi 7111 In1055 Hi
7016 In1008Lo 7048 In1024Lo 7080 In1040Lo 7112 In1056Lo
7017 In1008Hi 7049 In1024 Hi 7081 In1040 Hi 7113 In1056 Hi
7018 In1009Lo 7050 In1025Lo 7082 In1041Lo 7114 In1057Lo
7019 In1009Hi 7051 In1025 Hi 7083 In1041 Hi 7115 In1057 Hi
7020 In1010Lo 7052 In1026Lo 7084 In1042Lo 7116 In1058Lo
7021 In1010Hi 7053 In1026 Hi 7085 In1042 Hi 7117 In1058 Hi
7022 In1011Lo 7054 In1027Lo 7086 In1043Lo 7118 In1059Lo
7023 In1011Hi 7055 In1027 Hi 7087 In1043 Hi 7119 In1059 Hi
7024 In1012Lo 7056 In1028Lo 7088 In1044Lo 7120 In1060Lo
7025 In1012Hi 7057 In1028 Hi 7089 In1044 Hi 7121 In1060 Hi
7026 In1013Lo 7058 In1029Lo 7090 In1045Lo 7122 In1061Lo
7027 In1013Hi 7059 In1029 Hi 7091 In1045 Hi 7123 In1061 Hi
7028 In1014Lo 7060 In1030Lo 7092 In1046Lo 7124 In1062Lo
7029 In1014Hi 7061 In1030 Hi 7093 In1046 Hi 7125 In1062 Hi
7030 In1015Lo 7062 In1031Lo 7094 In1047Lo 7126 In1063Lo
7031 In1015Hi 7063 In1031 Hi 7095 In1047 Hi 7127 In1063 Hi
7128 hellip7199 Reserved
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 19
Modbus Protocol Chapter 1
Group 11 ndash Index Deceleration
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
7200 In1100Lo 7232 In1116 Lo 7264 In1132Lo 7296 In1148Lo
7201 In1100Hi 7233 In1116 Hi 7265 In1132 Hi 7297 In1148 Hi
7202 In1101Lo 7234 In1117Lo 7266 In1133Lo 7298 In1149Lo
7203 In1101Hi 7235 In1117 Hi 7267 In1133 Hi 7299 In1149 Hi
7204 In1102Lo 7236 In1118Lo 7268 In1134Lo 7300 In1150Lo
7205 In1102Hi 7237 In1118 Hi 7269 In1134 Hi 7301 In1150 Hi
7206 In1103Lo 7238 In1119Lo 7270 In1135Lo 7302 In1151Lo
7207 In1103Hi 7239 In1119 Hi 7271 In1135 Hi 7303 In1151 Hi
7208 In1104Lo 7240 In1120Lo 7272 In1136Lo 7304 In1152Lo
7209 In1104Hi 7241 In1120 Hi 7273 In1136 Hi 7305 In1152 Hi
7210 In1105Lo 7242 In1121Lo 7274 In1137Lo 7306 In1153Lo
7211 In1105Hi 7243 In1121 Hi 7275 In1137 Hi 7307 In1153 Hi
7212 In1106Lo 7244 In1122Lo 7276 In1138Lo 7308 In1154Lo
7213 In1106Hi 7245 In1122 Hi 7277 In1138 Hi 7309 In1154 Hi
7214 In1107Lo 7246 In1123Lo 7278 In1139Lo 7310 In1155Lo
7215 In1107Hi 7247 In1123 Hi 7279 In1139 Hi 7311 In1155 Hi
7216 In1108Lo 7248 In1124Lo 7280 In1140Lo 7312 In1156Lo
7217 In1108Hi 7249 In1124 Hi 7281 In1140 Hi 7313 In1156 Hi
7218 In1109Lo 7250 In1125Lo 7282 In1141Lo 7314 In1157Lo
7219 In1109Hi 7251 In1125 Hi 7283 In1141 Hi 7315 In1157 Hi
7220 In1110Lo 7252 In1126Lo 7284 In1142Lo 7316 In1158Lo
7221 In1110Hi 7253 In1126 Hi 7285 In1142 Hi 7317 In1158 Hi
7222 In1111Lo 7254 In1127Lo 7286 In1143Lo 7318 In1159Lo
7223 In1111Hi 7255 In1127 Hi 7287 In1143 Hi 7319 In1159 Hi
7224 In1112Lo 7256 In1128Lo 7288 In1144Lo 7320 In1160Lo
7225 In1112Hi 7257 In1128 Hi 7289 In1144 Hi 7321 In1160 Hi
7226 In1113Lo 7258 In1129Lo 7290 In1145Lo 7322 In1161Lo
7227 In1113Hi 7259 In1129 Hi 7291 In1145 Hi 7323 In1161 Hi
7228 In1114Lo 7260 In1130Lo 7292 In1146Lo 7324 In1162Lo
7229 In1114Hi 7261 In1130 Hi 7293 In1146 Hi 7325 In1162 Hi
7230 In1115Lo 7262 In1131Lo 7294 In1147Lo 7326 In1163Lo
7231 In1115Hi 7263 In1131Hi 7295 In1147 Hi 7327 In1163 Hi
7328 hellip7399 Reserved
20 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 1 Modbus Protocol
Group 12 ndash Next Index
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
7400 In1200 7416 In1216 7432 In1232 7448 In1248
7401 In1201 7417 In1217 7433 In1233 7449 In1249
7402 In0702 7418 In1218 7434 In1234 7450 In1250
7403 In1203 7419 In1219 7435 In1235 7451 In1251
7404 In1204 7420 In1220 7436 In1236 7452 In1252
7405 In1205 7421 In1221 7437 In1237 7453 In1253
7406 In1206 7422 In1222 7438 In1238 7454 In1254
7407 In1207 7423 In1223 7439 In1239 7455 In1255
7408 In1208 7424 In1224 7440 In1240 7456 In1256
7409 In1209 7425 In1225 7441 In1241 7457 In1257
7410 In1210 7426 In1226 7442 In1242 7458 In1258
7411 In1211 7427 In1227 7443 In1243 7459 In1259
7412 In1212 7428 In1228 7444 In1244 7460 In1260
7413 In1213 7429 In1229 7445 In1245 7461 In1261
7414 In1214 7430 In1230 7446 In1246 7462 In1262
7415 In1215 7431 In1231 7447 In1247 7463 In1263
7464 hellip7599 Reserved
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 21
Modbus Protocol Chapter 1
Save Flash Memory Parameter
MODBUS Address
Data Status Description
9999 (decimal) 1 Write data into flash memory
22 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 1 Modbus Protocol
Monitoring Parameter (Function Code 0x04)
Fault and Warning Status Parameter - Input Registers
Display Parameter - Input Registers (Default = 0)
MODBUS Address
Drive Name Unit
0 dis-00 Velocity Feedback rpm
1 dis-01 Velocity Command rpm
2 dis-02 Velocity Error rpm
3 dis-03 Torque Command 010
4hellip5 dis-04 Position Feedback counts
6hellip7 dis-05 Position Command counts
8hellip9 dis-06 Position Error counts
10 dis-07 Pulse Command Frequency 01pps
11 dis-08 Electrical Angle 01
12 dis-09 Mechanical Angle 01
13 dis-10 Regeneration Load Ratio
14 dis-11 DC-Link Voltage V
15 dis-12 Multi-Turn Data Turn number
16hellip17 dis-13 Offset in Velocity Command 01mV
18hellip19 dis-14 Torque Offset 01mV
20hellip24 dis-15 InputOutput Signal Status -
25hellip32 dis-16 Display Error History 8Alarm
33 dis-17 Display Software Version 1word
34hellip35 dis-18 Display Motor info 2word
36 dis-19 Analog Velocity Command Voltage 001V
37 dis-20 Analog Current Command Voltage 001V
38 dis-21 Drive Rated Output Power 1word
39hellip40 dis-22 Absolute Single Turn Data -
41hellip42 dis-23 Encoder Feedback Counter counts
43hellip99 Reserved - -
Fault and Warning Status Parameter - Input Registers (Default = 0)
Modbus Address Function Name Unit
100 Error Check Servo Error Code Word
101 Warning Check Servo Warning Code Word
102hellip199 Reserved - -
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 23
Modbus Protocol Chapter 1
Output Function Status Parameter
Modbus Address
Output Function Description Unit Position [bits]
200 S_ALM Alarm Bit [0]
P-COM Within position window Bit [1]
TG-ON Up to speed Bit [2]
BK Brake control Bit [3]
V-COM Within Speed window Bit [4]
A-VLD Absolute position valid Bit [5]
RDY Drive Ready Bit [6]
T-LMT NEAR Current Limited Bit [7]
V-LMT WARN Velocity Limited Bit [8]
NEAR Near position Bit [9]
WARN Warning Bit [10]
Reserved - Bit [11]
Reserved - Bit [12]
IMO In Motion Bit [13]
I-DW In Dwell Bit [14]
HOMC Axis Homed Bit [15]
201 O_ISEL0 Index Select 0 Out Bit [0]
O_ISEL1 Index Select 1 Out Bit [1]
O_ISEL2 Index Select 2 Out Bit [2]
O_ISEL3 Index Select 3 Out Bit [3]
O_ISEL4 Index Select 4 Out Bit [4]
O_ISEL5 Index Select 5 Out Bit [5]
E_SEQU End of Sequence Bit [6]
Reserved - Bit [7hellip15]
24 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 1 Modbus Protocol
Running Parameter (Function Code 0x06 or 0x10)
Run Parameter - Holding Registers (Default = 2000)
Modbus Address
Attribute RUN Name Access Unit
2000 User Open run-00 Jog Operation 1 byte
2001 run-01 Off-Line Auto Tuning 1 bit
2002 run-02 Reserved -
2003 run-03 Auto Adjustment of Speed Command Offset
1 bit
2004 run-04 Auto Adjustment of Current Command Offset
1 bit
2005hellip2007 run-05hellip run-07 Reserved -
2008 run-08 Alarm Reset 1 bit
2009 run-09 Reserved -
2010 run-10 Absolute Encoder Reset 1 bit
2011 run-11 2-Group Gain Storing 1 bit
2012 run-12 Parameter Initialization 1 bit
2013hellip2015 run-13helliprun-15 Reserved -
2016 run-16 Hardware Reset 1 bit
2017hellip2099 run-17helliprun-99 Reserved -
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 25
Modbus Protocol Chapter 1
Input Function Parameter (Function Code 0x03 0x06 or 0x10)
Input Function Control - Holding Registers
Modbus Address
IO Function Description Unit Position Bit
3000 SV-ON Drive Enable bit 0
- Reserved - [1] and [2]
P-CON Integrator Inhibit bit [3]
A-RST Fault Reset bit [4]
N-CL Negative Current Limit bit [5]
P-CL Positive Current Limit bit [6]
C-SEL Operation Mode Override bit [7]
C-DIR Preset Direction bit [8]
C-SP1 Preset Select 1 bit [9]
C-SP2 Preset Select 2 bit [10]
C-SP3 Preset Select 3 bit [11]
C-SP4 Preset Select 4 bit [12]
INHIB Pause Follower bit [13]
G-SEL Alternate Gain Select bit [14]
PCLR Position clear bit [15]
3001 ABS-DT Position Strobe bit [0]
START Motor Moving Enable bit [1]
Z-CLP Zero Speed Clamp Enable bit [2]
GEAR 2nd Electronic Gear Bank Selection bit [3]
R-ABS Reset multi-turn data of Absolute Encoder
bit [4]
- Reserved - [5]
SHOME Start Homing bit [6]
STOP Stop Indexing bit [7]
PAUSE Pause Indexing bit [8]
I-SEL0 Index Select 0 Input bit [9]
I-SEL1 Index Select 1 Input bit [10]
I-SEL2 Index Select 2 Input bit [11]
I-SEL3 Index Select 3 Input bit [12]
I-SEL4 Index Select 4 Input bit [13]
I-SEL5 Index Select 5 Input bit [14]
H_STOP Stop Homing bit [15]
3002 START_I Start Index bit [0]
BANK_SEL Gain Bank Select bit [1]
- Reserved - [2hellip15]
26 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 1 Modbus Protocol
Notes
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 27
Chapter 2
Communication Protocol (RS-232ASCII)
Introduction The drive command protocol is a client-server protocol A host computer is the server and each drive is a client This chapter provides details about the Special Symbols Packet Structure and Checksum in the serial communication protocol
Special Symbols Special symbols used in the host commands include the following
Packet Structure The packet structure is shown below
Some simple commands might not have the Data field (for example Fault Reset) Maximum packet size is 400 bytes Each letter and digit in Command and Data fields represents a single ASCII character
All commands begin with an STX and terminate with an ETX
If the drive receives the command without a communication error the response is in the same format as the host command Numeric parameters are encoded as strings
Symbol Value Description
STX 0x02 Start of Transmission
ETX 0x03 End of Transmission
ACK 0x06 Command Acknowledged
GS 0x29 Cannot change the value of the parameter while drive is enabled
RS 0x30 Value is out of range
US 0x31 Invalid command
NAK 0x15 Communication Error (Checksum Error)
CAN 0x18 Cancellation of Command (For example the drive will send CAN if the drive is already enabled but the JOG ON is requested)
Start ID HostResponse
Command Data Separator Checksum End
Symbol STX dd or $ SET orhellip d hellipd c c ETX
Bytes 1 2 1 3 0 - n 1 1 1
28 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 2 Communication Protocol (RS-232ASCII)
If the drive receives the hosts command with a communication error (for example parity or checksum errors) the drive sends an NAK The host should assume a communication error occurred if a response from the drive does not occur within a time-out period (generally 200 ms)
If drive does not recognize the command it sends a US response
Checksum The checksum range consists of ID to Separator fields Checksum is the ASCII hex code of the least significant digit from the sum of hexadecimal codes in the checksum range
For example this VER command has a checksum of 42 (ASCII hex code of B)
30H+31H+23H+56H+45H+52H+3AH = 1ABH The ASCII hex code of B is 42
However this VER command response also has a checksum of 35 (ASCII hex code of 5)
30H+31H+24H+56H+45H+52H+20H+31H+2EH+30H+32H+3AH = 295H The ASCII hex code of 5 is 35
Command STX 0 1 V E R B ETX
ASCII 2 30 31 23 56 45 52 3A 42 3
Command STX 0 1 amp V E R 9 0 2 5 ETX
ASCII 2 30 31 24 56 45 52 20 39 2E 30 32 3A 35 3
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 29
Chapter 3
General Commands (ASCII)
This chapter defines the general ASCII commands available to control a Kinetix 3 drive
Read Parameter (SET)
Attribute Value
Command SET
Description Read parameter value
Format STX ID SET PPP BSS ETX
Data Argument Description
PPP Parameter for example [Pr - 203] PPP=203=0x0CB Refer to this chapter Appendix A Standard Drive Parameters and Appendix B Indexing Drive Parameters for a available parameter descriptions
Response Format STX ID $SET V BSS ETX
Response Data Argument Description
V Bit-field type = 4 byte hexadecimal value Integer type = Signed integer of variable length
30 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 3 General Commands (ASCII)
Write Parameter (STR)
Write Parameter (CHP)
Attribute Value
Command STR
Description Write parameter value to RAM and then save data from RAM to flash memory
Format STX ID STR PPP V BSS ETX
Data Argument Description
PPP Parameter for example [Pr - 203] PPP=203=0x0CB Refer to Standard Drive Parameters beginning on page 45 for a description of available parameters Group 7 - Manufacturing Settings are product settings that are programmed during manufacturing
V Bit-field type = 4 byte hexadecimal value Normal type = Signed integer of variable length
Response Format ACK
Error Response If the drive is unable to change the variable because it is enabled it sends GS If the value is out of range RS is returned
Next Command STX ID STR BSS ETX
Usage Note To determine whether task is complete send STR without arguments
Response Format If task is not complete STX ID $BSY BSS ETX or If task is complete STX ID $TOK BSS ETX
Attribute Value
Command CHP
Description Write parameter value to RAM
Format STX ID CHP PPP V BSS ETX
Data Argument Description
PPP Parameter for example [Pr - 203] PPP=203=0x0CB Refer to Standard Drive Parameters beginning on page 45 for a description of available parameters Group 7 - Manufacturing Settings are product settings that are programmed during manufacturing
V Bit-field type = 4 byte hexadecimal value Normal type =Signed integer of variable length
Response Format ACK
Error Response If unable to change the variable because drive is enabled GS is sent If value is out of range RS is returned
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 31
General Commands (ASCII) Chapter 3
Indexing Command Extended (XCE)
Read Indexing Parameter (XET)
Attribute Value
Command XCE
Description Execute Indexing Control Panel command
Format STX ID XCE NNNNN amp VVVVV BSS ETX
Data Argument Description
NNNNN Index number 0hellip63Data Format 16-bit unsigned integer d
VVVVVV Indexing Function Command 0 = Start Homing 1 = Stop Homing 2 = Start IndexingData Format 16bit unsigned integer d
Response Format ACK If there is an error while executing the command the GS RS US NAK CAN exception code s can be used for the response
Usage Note This command executes only Indexing commands If the command to be executed is not specific to an Index number the NNNNN field should be 0
Attribute Value
Command XET
Description Read parameter value
Format STX ID XET PPPP BSS ETX
Data Argument Description
PPPP Parameter for example in the case of [IN0002] PPPP=0200 the two initial arguments (PPxx) indicate the indexing (Ix) group Refer to Indexing Drive Parameters beginning on page 115 for a description of available indexing parameters Group 7 - Manufacturing Settings are product settings that are programmed during manufacturing
Response Format STX ID $XET V BSS ETX
Response Data Argument Description
V Bit-field type = 4 byte hexadecimal value Integer type Signed integer of variable length
32 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 3 General Commands (ASCII)
Write Indexing Parameter (XHP)
Write Indexing Parameter (XTR)
Attribute Value
Command XHP
Description Write parameter value to RAM
Format STX ID XHP PPPP V BSS ETX
Data Argument Description
PPPP Parameter for example in the case of [IN0002] PPPP=0200 the two initial arguments (PPxx) indicate the indexing (Ix) group Refer to Indexing Drive Parameters beginning on page 115 for a description of available indexing parameters
V Bit-field type = 4 byte hexadecimal value Normal type = Signed integer of variable length
Response Format ACK
Error Response If the drive is unable to change the variable because it is enabled it sends GS If the value is out of range RS is returned
Attribute Value
Command XTR
Description Write parameter value to RAM and then saves data from RAM to flash memory
Format STX ID XTR PPPP V BSS ETX
Data Argument Description
PPPP Parameter In the case of [IN0002] PPPP=0200 the two initial arguments ((PPxx) indicate the indexing (Ix) group Refer to Indexing Drive Parameters beginning on page 115 for a description of available indexing parameters
V Bit-field type = 4 byte hexadecimal value Normal type = Signed integer of variable length
Response Format ACK
Error Response If the drive is unable to change the variable because it is enabled it sends GS If the value is out of range RS is returned
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 33
General Commands (ASCII) Chapter 3
Fault Reset (RST)
Monitor Variable (MDM)
Attribute Value
Command RST
Description Clear fault
Format STX ID RST BSS ETX
Response ACK
Usage Note Fault Reset will have no effect unless action was taken to resolve the fault Refer to Warnings and Fault Codes beginning on page 133 for a description of faults and warnings
Attribute Value
Command MDM
Description Monitor variables
Format STX ID MDM P1 P2 P3 P4 P5 BSS ETX
Data Argument Description
P1hellipP5 Variables to monitor
Usage Note MDM command can monitor up to five variables Refer to Monitor Variables on page 135 for the list of variables
Response Format STX ID $ MDM V1ampV2ampV3ampV4ampV5 BSS ETX
Response Data Argument Description
V1hellipV5 Variable values are 4 or 8 bytes signed See tables below for descriptions of specific variables
34 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 3 General Commands (ASCII)
Triggered Data Collection (MOT)
Attribute Value
Command MOT
Description Sets watches and reads trigger monitor
Format STX ID MOT Ch1 Ch2 Src SP Num Mode Pos Level BSS ETX
Data Argument Description
Ch1 Ch2 Input signals See Appendix A (variables 0x00hellip0x0F only)
Src Trigger Source (0x000hellip0x009 0x101hellip0x112) Refer to Monitor Variables on page 135 for the list of variables 0x101-0x10A DI1hellipDI10 0x10B Emergency Stop Input 0x10C-0x10E DO1hellipDO3 0x10F Safety Alarm Output 0x110-0x112 DO4hellipDO6
SP Sample Period Range 0x01hellip0x64 (02hellip20 ms)
Num Number of data points 10 Range 0x01hellip0x1E (1hellip30)
Mode Trigger mode 1 = Positive Edge 2 = Negative Edge
Pos Trigger Position (1hellip9) The percentage of data to be received before the trigger pointFor example if Pos = 3 then 30 of data received before the trigger point and 70 of data received after the trigger point
Level Trigger levelthreshold the value of the Trigger Source Values are 4 or 8 bytes signed
Usage Note This command is sent to the drive prior to monitoring or reading the Triggered Data Collection (MOT) command variants below See Figure 1 for command examples
Response ACK
Next Command MOT
Format STX ID MOT BSS ETX
Usage Note This command is sent to the drive to verify data is available
Response If data is not ready STX ID $ BSY BSS ETX If data is ready STX ID $ TOK BSS ETX
Next Command MOT
Format STX ID MOT NumD BSS ETX
Data Argument Description
NumD Data Point to retrieve the data from Range 00hellip(Num-1)
Usage Note This command can be used when previous command returned TOK Send ESC to stop data collection
Response Format STX ID $ MOT V1ampV2ampV20 BSS ETX
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 35
General Commands (ASCII) Chapter 3
Figure 1 - Triggered Data Collection (MOT) Command String Example
Attribute Value
Response Data Argument Description
V1hellipV20 Data transmission is done in blocks of 10 Because there are 2 channels 20 values are returned with values alternating between the first channel and the second channel Values are a signed integer of variable length (4 or 8 bytes)
Next Command STX ID ESC BSS ETX
Response ACK
MOR (setting)
ACK
MOT
$BSY
MOT
$TOK
MOT00
$MOT
PC Servo
Time lt200 ms
MOT29
$MOT
ESC
ACK
36 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 3 General Commands (ASCII)
Variable Roll Monitoring (MOR)
Attribute Value
Command MOR
Description Set up variable roll monitor
Format Data
STX ID MOR SP P1 P2 BSS ETX
Argument Description
SP Sampling period range 0x01hellip0x64 (01hellip100 ms)
P1 P2 Variables to monitor Range 0x00hellip0x1D
Usage Note Sets up the variable roll monitoring This command is sent to the drive prior to sending a Monitor Variable (MDM) command See Figure 2 for command examples
Response ACK
Next Command STX ID MOR BSS ETX
Usage Note Request to store data in the linear buffer (with a capacity of 100 data points) If the buffer is full and data has not been retrieved the buffer is emptied If data is requested before data is in the buffer the drive sends ACK
Response Format STX ID $ MOR V1ampV2amphellipVn BSS ETX
Response Data Argument Description
V1hellipVn Signed integer of variable length
Next Command STX ID ESC BSS ETX
Usage Note Send ESC to stop monitoring of the data
Response ACK
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 37
General Commands (ASCII) Chapter 3
Figure 2 - Variable Roll Monitoring (MOR) Command String Example
MOR (setting)
ACK
MOR
$MOR
MOR
$MOR
ESC
ACK
PC Servo
Time lt200 ms
38 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 3 General Commands (ASCII)
Automatic Task (TAT)
Figure 3 - Automatic Task (TAT) Command String Example
Attribute Value
Command TAT
Format STX ID TAT T1 BSS ETX
Data Argument Description
T1 Automatic task number See the following Values and Task Descriptions
Value Task Description
0x01 Auto Tuning
0x02 Move to Marker
0x03 Auto Adjustment of Velocity Command Offset
0x04 Auto Adjustment of Current Command Offset
0x07 Auto Adjustment of Current Feedback Offset
Response ACK
Usage Note Send TAT command without arguments to find out if a task is completed See Figure 3 for command examples
Next Command STX ID TAT BSS ETX
Response Format STX ID $ BSY BSS ETX - if task is not complete STX ID $ TOK BSS ETX - task is complete
TAT (setting)
ACK
TAT
$BSY
TAT
$TOK
PC Servo
Time lt200 ms
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 39
General Commands (ASCII) Chapter 3
Manual Task (TMN)
Figure 4 - Manual Task (TMN) Command String Example
Attribute Value
Command TMN
Format STX ID TMN 1 BSS ETX
Data Argument Description
T1 Manual task number See the following Values and Task Descriptions
Value Task Description
0x01 - Speed Command Offset - Decrement by 01 mV
0x02 + Speed Command Offset - Increment by 01 mV
0x03 Save Speed Command Offset change
0x04 - Current Command Offset - Decrement by 01 mV
0x05 + Current Command Offset - Increment by 01 mV
0x06 Save Current Command Offset change
0x07 Discard changes and exit
Response ACK
Usage Note Most manual tasks are complete by the time ACK is received Commands 0x03 and 0x06 may take longer because they save data to flash memory Send TMN command without arguments to find out if a task is completed See Figure 4 for command examples
Next Command STX ID TAT BSS ETX
Response Format STX ID $ BSY BSS ETX - if task is not complete STX ID $ TOK BSS ETX - task is complete
TMN (setting)
ACK
TMN
$BSY
TMN
$TOK
PC Servo
Time lt200 ms
40 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 3 General Commands (ASCII)
Read Fault Contents (EHY)
Jog (JOG)
Attribute Value
Command EHY
Description Read faults See Read Fault Detailed Data (DIE) on page 43 for alternative fault data
Format STX ID EHY F1 BSS ETX
Data Argument Description
F1 Fault Number Range is 0x01hellip0x08 where latest fault status is stored in 0x01 and oldest fault is stored in 0x08
Response Format STX ID $ EHYE FCode FChars BSS ETX
Data Data Description
FCode Fault Code See Appendix C for a list of fault codes
FChars Fault Name Abbreviated See Appendix C
Usage Note Use this command to find out more about one of the eight faults To receive all fault statuses use EHY command below
Attribute Value
Command EHY
Description Read all fault codes
Format STX ID EHY BSS ETX
Data Argument Description
Asterik () means all faults
Response Format STX ID $ EHY Fcode1ampFcode2ampFcode8 BSS ETX
Data Data Description
Fcode1hellipFcode8 Fault Code See Appendix C for a list of fault codes
Attribute Value
Command JOG
Description Jog forward or reverse
Format STX ID JOG P1 BSS ETX
Data Argument Description
P1 0 = prepare for jog operation + = jog forward - (dash) = jog reverse
Response ACK
Usage Note To keep jogging send JOG command more than once within 500 ms To end Jog mode send SVROF
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 41
General Commands (ASCII) Chapter 3
Read Drive Status (STS)
Attribute Value
Command STS
Description Read status
Format STX ID STS BSS ETX
Response Format STX ID $ STS Mode S1 S2 S3 S4 S5 SS FChars BSS ETX
Response Data Arguments Description
Mode One of these operating modes F = Follower mode S = Analog Velocity mode P = Preset Velocity mode C = Analog Current mode D = Dual Current Command mode PF PS PC FS FC SC = Mixed modes Refer to [Pr - 000] Operations Mode on page 46 for additional information
S1 S1 means In Follower mode 1 = In Position 0 = Not In Position In Analog Velocity or Preset Velocity modes 1 = In Speed Window 0 = not In Speed Window If position or speed data is not available S1= 0
S2 One of the following 1 = Up to Speed 0 = Not Up to Speed If speed data is not available S2=0
S3 One of the following 1 = Drive is Enabled 0 = Drive is Disabled
S4 One of the following 1 = Positive Overtravel is active 0 = Positive Overtravel is inactive
S5 One of the following 1 = Negative Overtravel is active 0 = Negative Overtravel is inactive
SS One of the following Edd = fault occurred (See Appendix C)
dd = 2 byte error code 0x00hellip0xFF Wdd = warning occurred (See Appendix C)
dd = 2 byte warning code RDY = no errors or warnings
FChars Abbreviation of the faultwarning name In the case of Estop fault Fchars = ESTOP FChars size is 5 bytes when fault occurs and 3 bytes when warning occurs
42 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 3 General Commands (ASCII)
Other Functions (ETC)
Attribute Value
Command ETC
Format STX ID ETC F1 BSS ETX
Data Argument Description
F1 Manual task number See the following Values and Task Descriptions
Value Task Description
0x09 Clear Fault History
0x0A Reset Absolute Encoder (1)
(1) Resetting of an absolute (17-bit) encoder is possible only when the drive is disabled The command Reset Absolute Encoder sets the rotation data to 0 and clears all encoder related faults and warnings
0x0B Store 2-Group Gain
0x0C Reset to Factory settings (2)
(2) Parameters in the table below are not affected by the Reset to Factory settings
0x0D Test Run
0x0E Upgrade Firmware
0x0F Erase Manufacturing Information
Response ACK
Usage Note Send ETC command without arguments to find out if a task is completed
Next Command STX ID ETC BSS ETX
Response Format STX ID $ BSY BSS ETX - if task is not complete orSTX ID $ TOK BSS ETX - task is complete
Parameter Number Description
600 Analog Velocity Command Offset
601 Analog Current Command Offset
602 U Phase Current Sensing Offset
603 W Phase Current Sensing Offset
700hellip707 Group 7 - Manufacturing Settings
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 43
General Commands (ASCII) Chapter 3
Verify Software Version (VER)
Verify Servo Connection (LIV)
Read Fault Detailed Data (DIE)
Attribute Value
Command VER
Description Verify software version
Format STX ID VER BSS ETX
Response Format STX ID $ VER V BSS ETX
Response Data Argument Description
V Firmware version Size 5 bytes including a space Example STX01$VER 100BSS ETX
Attribute Value
Command LIV
Description Verify servo connection
Format STX ID LIV BSS ETX
Response Format ACK if there is a connection
Attribute Value
Command DIE
Description Read detailed fault data stored in [Pr - 607] Fault Detail Data Selection 1 Sample period in microseconds = [Pr - 607] 200) See Read Fault Contents (EHY) on page 40 for alternative fault data
Format STX ID DIE A1 A2 BSS ETX
Data Argument Description
A1 Channel to get the data for Range 1hellip4 Channels are stored in [Pr - 607]hellip[Pr - 610] Fault Detail Data Selection 4
A2 Data Number Range 0hellip50 0 means all data
Usage Note Send DIE 02 00 to receive all the data for A1= 02 Send DIE 00 01 to receive data for data number 1 of 4 variables DIE 00 00 is invalid
Response Format STX ID $ DIE D1ampD2ampDN BSS ETX
Error Response STX ID $ DIE FFFF BSS ETX means data number is invalid
Response Data Argument Description
D1hellipDn Detailed data where n depends on A1 and A2 If A1=00 and A2 = 01 then n = 4 If A1=01hellip04 and A2 = 01hellip50 then n=1 If A1=01hellip04 and A2 = 00 then n= 50
44 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 3 General Commands (ASCII)
Enable Drive (SVRON)
Disable Drive (SVROF)
Reset Drive (HWR)
Attribute Value
Command SVRON
Description Enables the drive
Format STX ID SVRON BSS ETX
Response ACK
Attribute Value
Command SVROF
Description Disables the drive
Format STX ID SVROF BSS ETX
Response ACK
Attribute Value
Command HWR
Description Reset the drive by using watchdog counter
Format STX ID HWR BSS ETX
Response ACK
Usage Note Stops the watchdog timer allowing a hardware signal to reboot (reset) the drive
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 45
Appendix A
Standard Drive Parameters
Parameters control Kinetix 3 drive operations They are grouped by the type of drive Standard or Indexing and the settings they define
Descriptions of Indexing Drive Parameters begin on page 115
Parameter Groupings Standard drive parameters are grouped into these drive settings bull Group 0 - Basic drive system and IO settings bull Group 1 - Gain and gain tuning settings bull Group 2 - Velocity control settings bull Group 3 - Position control settings bull Group 4 - Torque control settings bull Group 5 - Supplementary drive system and IO settings bull Group 6 - Supplementary gain settings and fault reports bull Group 7 - Factory default settings bull Group 8 - Parameters reserved bull Group 9 - Motor and drive operating mode parameters
46 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
Parameter Descriptions Parameter descriptions list the size of each parameter and the data options within the parameter
Descriptions of Indexing Drive Parameters begin on page 115
Group 0 - System Level
[Pr - 000] Operations Mode
Ultraware Name Operation Modes (MainOverride)
Range 0hellip12
Display (Value) Normal operating mode Override operating mode
F (1) Follower Follower
S (2) Analog Velocity Input Analog Velocity Input
C (3) Analog Current Input Analog Current Input
SF (4) Analog Velocity Input Follower
CF (5) Analog Current Input Follower
CS (6) Analog Current Input Analog Velocity Input
P (7) Preset Velocity Preset Velocity
PF (8) Preset Velocity Follower
PS (9) Preset Velocity Analog Velocity Input
PC (10) Preset Velocity Analog Current Input
D (11) Reserved Reserved
I (12) Indexing Indexing
Default 1
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
MODBUS Address 0
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 47
Standard Drive Parameters Appendix A
[Pr - 001] Motor Configuration
Data Size 6 digits
Ultraware Name Motor configuration
Digit 0 Encoder type
Range Value Description
0x0hellip0xf Each number define a corresponding encoder type 9 line or 17-bit serial for example
Default 0x1 = 9 line
Digit 1hellip2 Rated power
Range Value Description
A5010204081015 501002004008001000 or 1500 Watts
Default 04 = 400 W
Digit 3hellip4 Motor type
Range Value Description
Motor type Motor initial ID
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
MODBUS Address 1
When Enabled Servo-Off -gt Setting
Applicable Operating Mode All
MODBUS Address Pr-001[Lo] = 1 Pr-001[Hi] = 2
48 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 002] Motor Basic Modes
Data Size 4 digits
Digit 0 Fault and Disable Braking
Ultraware Name Stopping Functions Fault and Disable Braking
Range Value Description
0x0 Brake and hold
0x1 Brake and release
0x2 Free stop
0x3 Free stop and hold
Default 0
Digit 1 Overtravel stop method
Ultraware Name Stopping Functions Over Travel Stop Method
Range Value Description
0x0 Stop by change of mode to Normal Current Set stopping current with Overtravel Current Limit parameter [Pr - 405]
0x1 Dynamic Brake
Default 0
Digit 2 Motor Forward Dir
Ultraware Name Command Polarity
Range Value Description
0x0 The command signal is not inverted so that a positive command value results in clockwise rotation as viewed from shaft end
0x1 The command signal is inverted so that a positive command value results in counter-clockwise rotation s viewed from shaft end
Default 0
Digit 3 Power input
Ultraware Name AC Line Loss Check
Range Value Description
0x0 Enables the following bull 50hellip400W drive Enable
single-phase open check bull 800hellip15kW drive Enable
three-phase open check
0x1 Disable
0x2 Single-phase input
Default 0
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 49
Standard Drive Parameters Appendix A
When Enabled Servo-Off -gt Setting
Applicable Operating Mode All
MODBUS Address 3
[Pr - 003] Auto Tuning Functions
Data Size 4 digits
Digit 0 Off-line Tuning Mode
Ultraware Name Off-line Tuning Mode
Range Value Description
0x0 Inertia Moment Estimation
0x1 Inertia Moment Estimation and Resonant Frequency Detection
0x2 Resonance frequency Detection
Default 1
Digit 1 Reserved
Digit 2 Autotuning Speed
Ultraware Name Autotuning Speed
Range 2hellip9
Default 7
Units rpm100
Digit 3 Dynamic Tuning Response Speed
Ultraware Name Online Tuning Response
Range Value Description
0x0 Off
0x1 Slowest
0x2 Slower
0x3 Slow
0x4 Medium-Slow
0x5 Medium
0x6 Medium-Fast
0x7 Fast
0x8 Faster
0x9 Fastest
Default 0
Units -
When Enabled Servo-Off -gt Setting
Applicable Operating Mode All
MODBUS Address 4
[Pr - 002] Motor Basic Modes (Continued)
50 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 004] Inertia Ratio
Description Load Inertia Motor Inertia
Ultraware Name Inertia Ratio
Range 0hellip6000
Default 100
Units (Load inertiaMotor inertia) 100
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 5
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 51
Standard Drive Parameters Appendix A
[Pr - 005] Auxiliary Function Selection 1
Applicable Operating Mode All
Data Size 4 digits
Digit 0 Encoder Back-up Battery
Ultraware Name Encoder Back-up Battery
Range Value Description
0x0 Battery Installed
0x1 Battery Not Installed
Default 0
Digit 1 Velocity Observer
Ultraware Name Velocity Observer
Range Value Description
0x0 Disable
0x1 Enable
Default 0
Digit 2 Alternative Gain Change Enable
Ultraware Name Gain Change Enable
Range Value Description
0x0 Disable
0x1 Enable
Default 0x0
Digit 3 Emergency stop input
Range Value Description
0x0 Disable
0x1 Enable
Default 0
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
MODBUS Address 6
52 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 006] Auxiliary Function Selection 2
Applicable Operating Mode All
Data Size 3 digits
Digit 0 Automatic Motor Identification
Ultraware Name Auto Motor Identification
Range Value Description
0x0 Disabled
0x1 Enabled
Default 1
Digit 1 Incremental Feedback Loss (Encoder Line Break Detection)
Ultraware Name Incremental Feedback Loss
Range Value Description
0x0 Monitored
0x1 Ignored
Default 0
Digit 2 Mode of Gain Switching
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 53
Standard Drive Parameters Appendix A
Range Value Description
0 Fixed to the 1st gain
1 Fixed to 2nd gain
2 2nd gain selection when the gain switching input is turned on
3 2nd gain selection when the toque command is larger than the set-up levels of the gain control switching and hysteresis of control switching
4 2nd gain selection when the command speed is larger than the set-up levels of the gain control switching and hysteresis of control switching
5 2nd gain selection when the positional deviation is larger than the setup set-up levels of the gain control switching and hysteresis of control switching
6 2nd gain selection when more then one command pulse exist between 200usec
7 2nd gain selection when the positional deviation counter value exceeds the set-up of the positioning complete range
8 2nd gain selection when the motor actual speed exceeds the set-up levels of the gain control switching and hysteresis of control switching)Switches to the 2nd gain while the position command exists
9 Switches to the 1st gain when no-position command status lasts for the set up of delay time of gain switching [x 200usec] and the speed falls slower than the set-up levels of the gain control switching level and hysteresis of control switching
Default 0
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 7
[Pr - 006] Auxiliary Function Selection 2 (Continued)
54 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 007] Drive Address
Applicable Operating Mode All
Ultraware Name Drive Address
Range 1hellip247
Default 1
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 8
[Pr - 008] Password
Applicable Operating Mode All
Ultraware Name Drive Password
Range 0hellip9999Usage Note Unprotected Code 777
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 9
[Pr - 009] Serial Port Configuration
Applicable Operating Mode All
Data Size 4 digits
Digit 0 Baud Rate
Ultraware Name Baud Rate
Range Value Description
0x0 9600 bps
0x1 14400 bps
0x2 19200 bps
0x3 38400 bps
0x4 56000 bps
0x5 57600 bps
Default 0x5
Digit 1 Data bits Parity Stop bit
Ultraware Name Data bits Parity Stop bit
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 55
Standard Drive Parameters Appendix A
Range Value Description
0x0 8 No 1
0x1 8 Even 1
0x2 8 Odd 1
0x3 8 No 2
0x4 8 Even 2
0x5 8 Odd 2
Default 0x0
Digit 2 Protocol
Ultraware Name Protocol
Range Value Description
0x0 ASCII
0x1 MODBUS-RTU
Default 0
Digit 3 Communication Method
Ultraware Name Communication Method
Range Value Description
0 0x0 RS232
1 Ox1 RS485
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 10
[Pr - 010] Allocation of Input Signals 1
Range for all digits 0hellipB where 0 is Off B is On and 1hellipA are digital inputs
Data Size 4 digits
Digit Description Default Unmapped IO Status
0 Drive enable (SV-ON) 0x1 ON
1 Positive overtravel (P-OT) 0xb ON
2 Negative overtravel (N-OT) 0xb ON
3 Integrator inhibit (CON) 0x4 OFF
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 010]hellip[Pr - 021] on page 60
Applicable Operating Mode All
MODBUS Address 11
[Pr - 009] Serial Port Configuration (Continued)
56 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 011] Allocation of Input Signals 2
Range for all digits 0hellipB where 0 is Off B is On and 1hellipA are digital inputs
Data Size 4 digits
Digit Description Default Unmapped IO Status
0 Fault reset (A-RST) 0x5 OFF
1 Negative current limit (N-TL) 0x6 OFF
2 Positive current limit (P-TL) 0x7 OFF
3 Operation mode override (C-SEL)
0x0 OFF
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 010]hellip[Pr - 021] on page 60
Applicable Operating Mode All
MODBUS Address 12
[Pr - 012] Allocation of Input Signals 3
Range for all digits 0hellipB where 0 is Off B is On and 1hellipA are digital inputs
Data Size 4 digits
Digit Description Default Unmapped IO Status
0 Preset direction (C-DIR) 0x0 OFF
1 Preset select 1 (C-SP1) 0x0 OFF
2 Preset select 2 (C-SP2) 0x0 OFF
3 Preset select 3 (C-SP3) 0x0 OFF
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 010]hellip[Pr - 021] on page 60
Applicable Operating Mode All
MODBUS Address 13
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 57
Standard Drive Parameters Appendix A
[Pr - 013] Allocation of Input Signals 4
Range for all digits 0hellipB where 0 is Off B is On and 1hellipA are digital inputs
Data Size 4 digits
Digit Description Default Unmapped IO Status
0 Zero speed clamp enable (Z-CLP)
0x0 OFF
1 Pause follower (INHIBIT) 0x0 OFF
2 Alternate gain select (G-SEL) 0x0 OFF
3 Position clear (PCLR) 0x0 OFF
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 010]hellip[Pr - 021] on page 60
Applicable Operating Mode All
MODBUS Address 14
[Pr - 014] Allocation of Input Signals 5
Range for all digits 0hellipB where 0 is Off B is On and 1hellipA are digital inputs
Data Size 4 digits
Digit Description Default Unmapped IO Status
0 Position strobe (ABS-DT) 0x0 OFF
1 Motor moving enable (START) 0x0 OFF
2 Analog speed command select (C-SP4)
0x0 OFF
3 2nd electronic gear bank selection (GEAR)
0x0 OFF
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 010]hellip[Pr - 021] on page 60
Applicable Operating Mode All
MODBUS Address 15
58 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 015] Allocation of Input Signals 6
Data Size 4 digits
Digit Description Default Unmapped IO Status
0 Reset multi-turn data of absolute encoder (R_ABS)
0x0 OFF
1 Gain bank select (BANK_SEL) 0x0 OFF
2 Reserved 0x0 OFF
3 Reserved 0x0 OFF
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 010]hellip[Pr - 021] on page 60
Applicable Operating Mode All
MODBUS Address 16
[Pr - 016] Allocation of Input Signals 7
Data Size 4 digits
Digit Description Default Unmapped IO Status
0 Home sensor (H_SENS) 0x0 OFF
1 Start homing (SHOME) 0x0 OFF
2 Stop indexing (STOP) 0x0 OFF
3 Pause indexing (PAUSE) 0x0 OFF
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 010]hellip[Pr - 021] on page 60
Applicable Operating Mode Indexing
MODBUS Address 17
[Pr - 017] Allocation of Input Signals 8
Data Size 4 digits
Digit Description Default Unmapped IO Status
0 Index select 0 input (I_SEL0) 0x0 OFF
1 Index select 1 input (I_SEL1) 0x0 OFF
2 Index select 2 input (I_SEL2) 0x0 OFF
3 Index select 3 input (I_SEL3) 0x0 OFF
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 010]hellip[Pr - 021] on page 60
Applicable Operating Mode Indexing
MODBUS Address 18
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 59
Standard Drive Parameters Appendix A
[Pr - 018] Allocation of Input Signals 9
Data Size 4 digits
Digit Description Default Unmapped IO Status
0 Index select 4 input (I_SEL4) 0x0 OFF
1 Index select 5 input (I_SEL5) 0x0 OFF
2 Stop homing (H_STOP) 0x0 OFF
3 Start index (START_I) 0x0 OFF
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 010]hellip[Pr - 021] on page 60
Applicable Operating Mode Indexing
MODBUS Address 19
[Pr - 019] Allocation of Input Signals 10
Data Size 4 digits
Digit Description Default Unmapped IO Status
0 Reserved 0x0 OFF
1 Reserved 0x0 OFF
2 Reserved 0x0 OFF
3 Reserved 0x0 OFF
When Enabled Reserved
Applicable Operating Mode Indexing
MODBUS Address 20
[Pr - 020] Allocation of Input Signals 11
Data Size 4 digits
Digit Description Default Unmapped IO Status
0 Reserved 0x0 OFF
1 Reserved 0x0 OFF
2 Reserved 0x0 OFF
3 Reserved 0x0 OFF
When Enabled Reserved
Applicable Operating Mode Indexing
MODBUS Address 21
60 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
Table 1 - Setting Values for Parameters [Pr - 010]hellip[Pr - 021]
[Pr - 021] Allocation of Input Signals 12
Data Size 4 digits
Digit Description Default Unmapped IO Status
0 Reserved 0x0 OFF
1 Reserved 0x0 OFF
2 Reserved 0x0 OFF
3 Reserved 0x0 OFF
When Enabled Reserved
Applicable Operating Mode Indexing
MODBUS Address 22
Setting Value (1)
1 Setting values are reserved (not available) for [Pr - 019] and [Pr - 020]
B A 9 6 7 6 5 4 3 2 1 0
Input Channel No
Input Signal
19 9 8 7 6 5 4 3 2 1 Input Signal
CN1 Pin No On 26 27 29 9 8 7 6 5 4 3 Off
[Pr - 022] Allocation of Output Signals 1
Range for all digits 0hellip3 where 0 is Off and 1hellip6 are digital outputs
Data Size 4 digits
Digit Description Default
0 Within position window (P-COM)
0x1
1 Up to speed (TG-ON) 0x2
2 Brake control (BK) 0x3
3 Within speed window (V-COM) 0x0
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 022]hellip[Pr - 032] on page 65
Applicable Operating Mode All
MODBUS Address 23
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 61
Standard Drive Parameters Appendix A
[Pr - 023] Allocation of Output Signals 2
Range for all digits 0hellip3 where 0 is Off and 1hellip6 are digital outputs
Data Size 4 digits
Digit Description Default
0 Current limited (T_LMT) 0x0
1 Velocity limited (V-LMT) 0x0
2 Near position (NEAR) 0x0
3 Warning (WARN) 0x0
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 022]hellip[Pr - 032] on page 65
Applicable Operating Mode All
MODBUS Address 24
[Pr - 024] Allocation of Output Signals 3
Range for all digits 0hellip3 where 0 is Off and 1hellip6 are digital outputs
Data Size 4 digits
Digit Description Default
0 Absolute position valid (A_VLD) 0x0
1 Ready 0x0
2 Reserved 0x0
3 Reserved 0x0
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 022]hellip[Pr - 032] on page 65
Applicable Operating Mode All
MODBUS Address 25
62 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 025] Allocation of Output Signals 4
Range for all digits 0hellip3 where 0 is Off and 1hellip6 are digital outputs
Data Size 4 digits
Digit Description Default
0 In Motion (IMO) 0x0
1 In Dwell (I_DW) 0x0
2 Axis Homed (HOMC) 0x0
3 Index Select 0 Out (O_ISEL0) 0x0
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 022]hellip[Pr - 032] on page 65
Applicable Operating Mode Indexing
MODBUS Address 26
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 63
Standard Drive Parameters Appendix A
[Pr - 026] Allocation of Output Signals 5
Range for all digits 0hellip3 where 0 is Off and 1hellip6 are digital outputs
Data Size 4 digits
Digit Description Default
0 Index Select 1 Out (O_ISEL1) 0x0
1 Index Select 2 Out (O_ISEL2) 0x0
2 Index Select 3 Out (O_ISEL3) 0x0
3 Index Select 4 Out (O_ISEL4) 0x0
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 022]hellip[Pr - 032] on page 65
Applicable Operating Mode Indexing
MODBUS Address 27
[Pr - 027] Allocation of Output Signals 6
Range for all digits 0hellip3 where 0 is Off and 1hellip6 are digital outputs
Data Size 4 digits
Digit Description Default
0 Index Select 5 Out (O_ISEL5) 0x0
1 End of Sequence (E_SEQU) 0x0
2 Reserved 0x0
3 Reserved 0x0
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 022]hellip[Pr - 032] on page 65
Applicable Operating Mode Indexing
MODBUS Address 28
[Pr - 028] Allocation of Output Signals 7
Range for all digits 0hellip3 where 0 is Off and 1hellip6 are digital outputs
Data Size 4 digits
Digit Description Default
0 Reserved 0x0
1 Reserved 0x0
2 Reserved 0x0
3 Reserved 0x0
When Enabled Reserved
Applicable Operating Mode Indexing
MODBUS Address 29
64 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 029] Allocation of Output Signals 8
Range for all digits 0hellip3 where 0 is Off and 1hellip6 are digital outputs
Data Size 4 digits
Digit Description Default
0 Reserved 0x0
1 Reserved 0x0
2 Reserved 0x0
3 Reserved 0x0
When Enabled Reserved
Applicable Operating Mode Indexing
MODBUS Address 30
[Pr - 030] Allocation of Output Signals 9
Range for all digits 0hellip3 where 0 is Off and 1hellip6 are digital outputs
Data Size 4 digits
Digit Description Default
0 Reserved 0x0
1 Reserved 0x0
2 Reserved 0x0
3 Reserved 0x0
When Enabled Reserved
Applicable Operating Mode Indexing
MODBUS Address 31
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 65
Standard Drive Parameters Appendix A
Table 2 - Setting Values for Parameters [Pr - 022]hellip[Pr - 032]
[Pr - 031] Allocation of Output Signals 10
Range for all digits 0hellip3 where 0 is Off and 1hellip6 are digital outputs
Data Size 4 digits
Digit Description Default
0 Reserved 0x0
1 Reserved 0x0
2 Reserved 0x0
3 Reserved 0x0
When Enabled Reserved
Applicable Operating Mode Indexing
MODBUS Address 32
[Pr - 032] IO Control Authority
Applicable Operating Mode All
Data Size 2 digits
Digit 0 MODBUS Input Function Control
Ultraware Name MODBUS Input Function Control
Range Value Description
0x0 Disable
0x1 Enable
Default 0
Digits 1 MODBUS Run Function Control
Ultraware Name MODBUS Run Function Control
Range Value Description
0x0 Disable
0x1 Enable
Default 0
When Enabled Servo-Off -gt Setting (1)
1 Refer to the Setting Values for Parameters [Pr - 022]hellip[Pr - 032] table immediately below
Applicable Operating Mode All
MODBUS Address 33
Setting Value (1)
1 Setting Values are reserved (not available) for [Pr - 028] and [Pr - 031]
6 5 4 3 2 1 0
Input Channel No AL 3 AL 2 DO1 DO3 DO2 DO1 Input Signal
CN1 Pin No 39 38 37 4748 4344 4142 Off
66 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
Group 1 - Gain Control
[Pr - 100] Velocity Regulator Response Level
Ultraware Name Velocity Regulator Response level
Range 1hellip150
Default 50
Units
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 100
[Pr - 101] System Gain
Ultraware Name Velocity Regulator Response level
Range 1hellip150
Default 50
Units Hz
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 101
[Pr - 102] Velocity Regulator P Gain
Ultraware Name Main Velocity Regulator Gains Proportional Gain
Range 0hellip10000
Default 60
Units -
Applicable Operating Mode
When Enabled Immediately
Applicable Operating Mode Follower Analog Speed Preset
MODBUS Address 102
[Pr - 103] Velocity Regulator I Gain
Ultraware Name Main Velocity Regulator Gains Integral Gain
Range 0hellip60000
Default 26
Units -
When Enabled Immediately
Applicable Operating Mode Follower Analog Speed Preset
MODBUS Address 103
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 67
Standard Drive Parameters Appendix A
[Pr - 104] Velocity Regulator D gain
Ultraware Name Main Velocity Regulator Gains Derivative Gain
Range 0hellip1000
Default 0
Units -
When Enabled Immediately
Applicable Operating Mode Follower Analog Speed Preset
MODBUS Address 104
[Pr - 105] Velocity Error Filter
Ultraware Name Calibration Error Filter Bandwidth
Range 0hellip2500
Default 30
Units Hz
When Enabled Immediately
Applicable Operating Mode Follower Analog Speed Preset
MODBUS Address 105
[Pr - 106] Position Regulator Kp Gain
Ultraware Name Main Position Regulator Gains Kp
Range 0hellip700
Default 20
Units Hz
When Enabled Immediately
Applicable Operating Mode Follower Analog Speed Preset
MODBUS Address 106
68 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 107] Current Command Lowpass Filter Bandwidth
Ultraware Name Main Current Regulator Gains Low Pass Filter Bandwidth
Range 0hellip10000
Default 300
Units Hz
Applicable Operating Mode All
When Enabled Immediately
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 107
[Pr - 108] Velocity Command Lowpass Filter Bandwidth
Ultraware Name Main Velocity Regulator Gains Low Pass Filter Bandwidth
Range 0hellip10000
Default 1000
Units Hz
When Enabled Immediately
Applicable Operating Mode Follower Analog Speed Preset
MODBUS Address 108
[Pr - 109] Position Command Lowpass Filter Bandwidth
Ultraware Name Main Position Regulator Gains Low Pass Filter Bandwidth
Range 0hellip1000
Default 0
Units Hz
When Enabled Immediately
Applicable Operating Mode Follower
MODBUS Address 109
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 69
Standard Drive Parameters Appendix A
[Pr - 110] 1st Resonant Frequency Suppression Filter
Ultraware Name Main Current Regulator Gains 1st Resonant Frequency Suppression Filter
Description Suppresses Vibration by cutting off Current Command in assigned frequency band
Range 0hellip10000
Default 10000
Units Hz
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 110
[Pr - 111] 1st Resonant Frequency Suppression Filter Width
Ultraware Name Main Current Regulator Gains 1st Resonant Frequency Suppression Filter Width
Description Set up the notch width of 1st resonance suppressing filter in 20 steps Higher the setup larger the notch width you can obtain
Range 0hellip20
Default 10
Units
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 111
[Pr - 112] 2nd Resonant Frequency Suppression Filter
Ultraware Name 2nd Main Current Regulator Gains 2nd Resonant Frequency Suppression Filter
Description Suppresses Vibration by cutting off Current Command in assigned frequency band
Range 0hellip10000
Default 10000
Units Hz
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 112
70 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 113] 2nd Resonant Frequency Suppression Filter Width
Ultraware Name Main Current Regulator Gains 2nd Resonant Frequency Suppression Filter Width
Description Set up the notch width of 2nd resonance suppressing filter in 20 steps The higher the setup larger the notch width you can obtain
Range 0hellip20
Default 10
Units -
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 113
[Pr - 114] 2nd Resonant Frequency Suppression Filter Depth
Ultraware Name Main Current Regulator Gains 2nd Resonant Frequency Suppression Filter Depth
Description Set up the 2nd notch depth of the resonance suppressing filter The higher the setup the shallower the notch depth and the smaller the phase delay you can obtain
Range 0hellip100
Default 100
Units -
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 114
[Pr - 115] Position Regulator Kff gain
Ultraware Name Main Position Regulator Gains Kff
Range 0hellip100
Default 0
Units
When Enabled Immediately
Applicable Operating Mode Follower
MODBUS Address 115
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 71
Standard Drive Parameters Appendix A
[Pr - 116] Position Regulator Kff Bandwidth
Ultraware Name Main Position Regulator Gains Kff Low Pass Filter Bandwidth
Range 0hellip2500
Default 200
Units Hz
When Enabled Immediately
Applicable Operating Mode Follower
MODBUS Address 116
[Pr - 117] Velocity Regulator I Gain Mode
Ultraware Name Main Velocity Regulator Gains I Gain Mode
Description During transient response Speed Response Overshoot can be suppressed by a speed controller change from a Proportional Integral (PI) controller into a Proportional (P) controller It reduces position completion time during position control
Range Value Description
0x0 Do not use PPI Mode Conversion
0x1 When Current Command exceeds Current Value in [Pr - 118] Speed Controller is changed from PI Controller to P Controller
0x2 When Speed Command exceeds Speed Value in [Pr - 118] Speed Controller is changed from PI Controller to P Controller
0x3 When Position error exceeds Position error Value in [Pr - 118] Speed Controller is changed from PI Controller to P Controller
0x4 Automatically velocity controller is changed from PI Controller to P Controller
Default 3
When Enabled Servo-Off -gt Setting
Applicable Operating Mode All
MODBUS Address 117
72 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 118] Velocity Regulator I Gain Disable Threshold
Ultraware Name Main Velocity Regulator Gains I Gain Disable Threshold
Range 0hellip3000
Default 100
Units If [Pr - 117] = 1 units are of rated continuous current
If [Pr - 117] = 2 units are rpm for rotary motors mmsec for linear motors
If [Pr - 117] = 3 units are Counts
When Enabled Follower Analog Velocity Preset
Applicable Operating Mode Immediately
MODBUS Address 118
[Pr - 119] Position Regulator High Error Output Offset
Ultraware Name Main Position Regulator Gains High Error Output Offset
Range 0hellip450
Default 0
Units Rotary rpm Linear mmsec
When Enabled All
Applicable Operating Mode Immediately
MODBUS Address 119
[Pr - 120] Position Regulator High Error Output Threshold
Ultraware Name Main Position Regulator Gains High Error Output Threshold
Range 0hellip50000
Default 1000
Units Counts
When Enabled All
Applicable Operating Mode Immediately
MODBUS Address 120
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 73
Standard Drive Parameters Appendix A
[Pr - 121] Current Regulator Bandwidth Reduction Scale
Ultraware Name Main Current Regulator Gains Gain
Range Value Description
0x0 High bandwidth
0x1 Medium bandwidth (06667 high)
0x2 Low bandwidth (03334 high)
Default 0x1
When Enabled All
Applicable Operating Mode Immediately
MODBUS Address 121
[Pr - 122] On-line Vibration Mode
Data Size 1 digits
Digit 0 On-line Vibration Suppression Mode
Ultraware Name On-line Vibration Suppression Mode
Range Value Description
0x0 Disable
0x1 Normal and High Velocity Mode
0x2 Slow Velocity Mode without initial value
Default 0x0
Digit 1 On-line Vibration Suppression Gain
Ultraware Name On-line Vibration Suppression Gain
Range Value Description
0x0 Low
0x1 High
Default 0x0
When Enabled All
Applicable Operating Mode Servo-Off -gt Setting
MODBUS Address 122
74 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 123] Velocity Regulator Configuration
Applicable Operating Mode All
Data Size 1 digits
Digit 0 Velocity Command Filter on Follower
Ultraware Name Velocity Command Filter on Follower
Range Value Description
0x0 Disable
0x1 Enable
Default 0x0
When Enabled Immediately
Applicable Operating Mode Servo-Off -gt Setting
MODBUS Address 123
[Pr - 124] Delay Time of Gain Switching
Ultraware Name Gain Switching Delay Time of Gain Switching
Range 0hellip10000
Default 0
Units X 200usec
When Enabled Immediately
Applicable Operating Mode Follower Analog Velocity Preset
MODBUS Address 124
[Pr - 125] Level of Gain Switching
Ultraware Name Gain Switching Level of Gain Switching
Range 0hellip10000
Default 0
Units -
When Enabled Immediately
Applicable Operating Mode Follower Analog Velocity Preset
MODBUS Address 125
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 75
Standard Drive Parameters Appendix A
[Pr - 126] Hysteresis of Gain Switching
Ultraware Name Gain Switching Hysteresis of Gain Switching
Range 0hellip10000
Default 0
Units -
When Enabled Immediately
Applicable Operating Mode Follower Analog Velocity Preset
MODBUS Address 126
[Pr - 127] Position Gain Switching Time
Ultraware Name Gain Switching Level of Gain Switching
Range 0hellip10000
Default 0
Units x 200usec
When Enabled Immediately
Applicable Operating Mode Follower Analog Velocity Preset
MODBUS Address 127
[Pr - 128] 2nd Velocity Regulator P Gain
Ultraware Name 2nd Regulator Gain P
Range 0hellip10000
Default 60
Units -
When Enabled Immediately
Applicable Operating Mode Follower Analog Velocity Preset
MODBUS Address 128
[Pr - 129] 2nd Velocity Regulator I Gain
Ultraware Name 2nd Regulator Gain Integrator Gain
Range 0hellip60000
Default 26
Units -
When Enabled Immediately
Applicable Operating Mode Follower Analog Velocity Preset
MODBUS Address 129
76 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 130] 2nd Position Regulator Kp Gain
Ultraware Name 2nd Regulator Gain Kp
Range 0hellip700
Default 20
Units Hz
When Enabled Immediately
Applicable Operating Mode Position
MODBUS Address 130
[Pr - 131] 2nd Current Command Lowpass Filter Bandwidth
Ultraware Name 2nd Regulator Gain Low Pass Bandwidth (IReg)
Range 0hellip10000
Default 300
Units Hz
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 131
[Pr - 132] 2nd Velocity Command Lowpass Filter Bandwidth
Ultraware Name 2nd Regulator Gain Low Pass Bandwidth (VReg)
Range 0hellip10000
Default 1000
Units Hz
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 132
[Pr - 133] 3rd Velocity Regulator P Gain
Ultraware Name 3rd Regulator Gain P Gain
Range 0hellip10000
Default 60
Units -
When Enabled Immediately
Applicable Operating Mode Follower Analog Velocity Preset
MODBUS Address 133
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 77
Standard Drive Parameters Appendix A
[Pr - 134] 3rd Velocity Regulator I Gain
Ultraware Name 3rd Regulator Gain Integrator Gain
Range 0hellip10000
Default 26
Units -
When Enabled Immediately Immediately
Applicable Operating Mode Follower Analog Velocity Preset
MODBUS Address 134
[Pr - 135] 3rd Position Regulator Kp Gain
Ultraware Name 3rd Regulator Gain Kp
Range 0hellip700
Default 20
Units Hz
When Enabled Immediately
Applicable Operating Mode Position
MODBUS Address 135
[Pr - 136] 3rd Current Command Lowpass Filter Bandwidth
Ultraware Name 3rd Regulator Gain Low Pass Bandwidth (IReg)
Range 0hellip10000
Default 300
Units Hz
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 136
[Pr - 137] 3rd Velocity Command Lowpass Filter Bandwidth
Ultraware Name 3rd Regulator Gain Low Pass Bandwidth (VReg)
Range 0hellip10000
Default 1000
Units Hz
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 137
78 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 138] 4th Velocity Regulator P Gain
Ultraware Name 4th Regulator Gain P
Range 0hellip10000
Default 60
Units -
When Enabled Immediately
Applicable Operating Mode Follower Analog Velocity Preset
MODBUS Address 138
[Pr - 139] 4th Velocity Regulator I Gain
Ultraware Name 4th Regulator Gain Integrator Gain
Range 0hellip60000
Default 26
Units
When Enabled Immediately
Applicable Operating Mode Follower Analog Velocity Preset
MODBUS Address 139
[Pr - 140] 4th Position Regulator Kp Gain
Ultraware Name 4th Regulator Gain Kp
Range 0hellip700
Default 20
Units Hz
When Enabled Immediately
Applicable Operating Mode Position
MODBUS Address 140
[Pr - 141] 4th Current Command Lowpass Filter Bandwidth
Ultraware Name 4th Regulator Gain Low Pass Bandwidth (IReg)
Range 0hellip10000
Default 300
Units Hz
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 141
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 79
Standard Drive Parameters Appendix A
[Pr - 142] 4th Velocity Command Lowpass Filter Bandwidth
Ultraware Name 4th Regulator Gain Low Pass Bandwidth (VReg)
Range 0hellip10000
Default 1000
Units Hz
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 142
80 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
Group 2 - Speed Control
[Pr - 200] Velocity Scale
Ultraware Name Velocity Scale
Range 100hellip20000
Default 5000
Units rpmV for rotary motors mmsec for linear motors
When Enabled Servo-Off -gt Setting
Applicable Operating Mode Analog Velocity
MODBUS Address 200 (1)
1 Refer to Output Function Status Parameter on page 23 for more detailed information on these parameters
[Pr - 201] Jog Velocity Command
Ultraware Name Velocity Control Panel Velocity Command
Range 0hellip6000
Default 50
Units rpm for rotary motors mmsec for linear motors
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 201
[Pr - 202] Acceleration
Ultraware Name Acceleration Limits Acceleration
Range 1hellip2147483647
Default 41667
Units 10-2Revsec2 for rotary mmsec2 for linear
When Enabled Immediately
Applicable Operating Mode Analog Velocity Input Preset Velocity
MODBUS Address 202
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 81
Standard Drive Parameters Appendix A
[Pr - 203] Deceleration
Ultraware Name Acceleration Limits Deceleration
Range 1hellip2147483647
Default 41667
Units 10-2Revsec2 for rotary mmsec2 for linear
When Enabled Immediately
Applicable Operating Mode Analog Velocity Input Preset Velocity
MODBUS Address 203
[Pr - 204] S-Curve Time
Ultraware Name Acceleration Limits S-Curve Time
Range 0hellip5000
Default 0
Units Ms
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 204
[Pr - 205] Preset Velocity 1
Ultraware Name Preset Velocity 1
Range -6000hellip6000
Default 0
Units rpm for rotary motors mmsec for linear motors
When Enabled Immediately
Applicable Operating Mode Preset
MODBUS Address 205
Pr - 206] Preset Velocity 2
Ultraware Name Preset Velocity 2
Range -6000hellip6000
Default 0
Units rpm for rotary motors mmsec for linear motors
When Enabled Immediately
Applicable Operating Mode Preset
MODBUS Address 206
82 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
Pr - 207] Preset Velocity 3
Ultraware Name Preset Velocity 3
Range -6000hellip6000
Default 0
Units rpm for rotary motors mmsec for linear motors
When Enabled Immediately
Applicable Operating Mode Preset
MODBUS Address 207
[Pr - 208] Preset Velocity 4
Ultraware Name Preset Velocity 4
Range -6000hellip6000
Default 0
Units rpm for rotary motors mmsec for linear motors
When Enabled Immediately
Applicable Operating Mode Preset
MODBUS Address 208
[Pr - 209] Preset Velocity 5
Ultraware Name Preset Velocity 5
Range -6000hellip6000
Default 0
Units rpm for rotary motors mmsec for linear motors
When Enabled Immediately
Applicable Operating Mode Preset
MODBUS Address 209
[Pr - 210] Preset Velocity 6
Ultraware Name Preset Velocity 6
Control Index 6
Range -6000hellip6000
Default 0
Units rpm for rotary motors mmsec for linear motors
When Enabled Immediately
Applicable Operating Mode Preset
MODBUS Address 210
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 83
Standard Drive Parameters Appendix A
[Pr - 211] Preset Velocity 7
Ultraware Name Preset Velocity 7
Range -6000hellip6000
Default 0
Units rpm for rotary motors mmsec for linear motors
When Enabled Immediately
Applicable Operating Mode Preset
MODBUS Address 211
[Pr - 212] Manual Velocity Limit
Ultraware Name Manual Velocity limit
Range 1hellip6000
Default 5000
Units rpm for rotary motors mmsec for linear motors
When Enabled Servo-Off -gt Setting
Applicable Operating Mode Follower Analog Velocity Preset
MODBUS Address 212
[Pr - 213] Velocity Limit Mode
Ultraware Name Velocity Limits Velocity Limit Mode
Range Value Description
0x0 Disabled
0x1 Limited by [Pr - 212]
0x2 Limited by Analog Speed Command Value (except Analog Speed Mode)
0x3 Limited by lesser one between [Pr - 212] and Analog Speed Command
Default 0
When Enabled Servo-Off -gt Setting
Applicable Operating Mode All
MODBUS Address 213
84 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
Group 3 - Position Control
[Pr - 300] Follower
Data Size 4 digits
Digit 0 Command Type
Ultraware Name Command Type
Range Value Description
0x0 Step UpStep Down Positive logic
0x1 Step UpStep Down Negative logic
0x2 StepDirection Positive Logic
0x3 StepDirection Negative Logic
0x4 Auxiliary Encoder x1
0x5 Auxiliary Encoder x2
0x6 Auxiliary Encoder x4
Default 0x0
Note For Command types 0x4 0x5 and 0x6Motor Counts = Master Lines MULT helliphelliphellip (4 Para301) Para302where MULT is 1 2 or 4 for command types 0x4 0x5 and 0x6 respectively
Applicable Operating Mode Follower
Digit 1 Controller Output Type
Ultraware Name Controller Output Type
Range Value Description
0x0 Use Low speed Line Drive Output in Host Controller for isolated electrical connection
0x1 Use Open Collector in Host Controller
0x2 Use High Frequency Line Drive Output in Host Controller
Default 0x0
Applicable Operating Mode Follower
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 85
Standard Drive Parameters Appendix A
Digit 2 Encoder Output Forward Direction
Ultraware Name Encoder Output Forward Direction
Range Value Description
0x0 During Forward Rotation Encoder Output Phase A have a lead of 90ordm over Phase B
0x1 During Forward Rotation Encoder Output Phase B have a lead of 90ordm over Phase A
Default 0x0
Applicable Operating Mode All
Digit 3 1st Gear ratio change
Ultraware Name 1st Gear ratio change
Range Value Description
0x0 Enable Only on Drive Disabled
0x1 Always Enable
Default 0x0
When Enabled Servo-Off -gt Setting
Applicable Operating Mode Follower
MODBUS Address 300
[Pr - 301] 1st Gear Ratio Follower Counts
Ultraware Name 1st Gear Ratio Numerator
Range 1hellip65535
Default 4
Units
When Enabled Servo-Off -gt Setting
Applicable Operating Mode Follower
MODBUS Address 301
[Pr - 300] (Continued) Follower
86 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 302] 1st Gear Ratio Master Counts
Ultraware Name 1st Gear Ratio Denominator
Range 1hellip65535
Default 1
Units
When Enabled Servo-Off -gt Setting
Applicable Operating Mode Follower
MODBUS Address 302
[Pr - 303] Encoder Output Ratio Output Counts
Ultraware Name Output Ratio Numerator
Range 1hellip32768
Default 1
Units
When Enabled Servo-Off -gt Setting
Applicable Operating Mode All
MODBUS Address 303
[Pr - 304] Encoder Output Ratio Motor Counts
Ultraware Name Output Ratio Numerator
Range 1hellip32768
Default 1
Units
When Enabled Servo-Off -gt Setting
Applicable Operating Mode All
MODBUS Address 304
[Pr - 305] 2nd Gear Ratio Follower Counts
Ultraware Name 2nd Gear Ratio Numerator
Range 1hellip65535
Default 4
Units
When Enabled Servo-Off -gt Setting
Applicable Operating Mode Follower
MODBUS Address 305
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 87
Standard Drive Parameters Appendix A
[Pr - 306] 2nd Gear Ratio Master Counts
Ultraware Name 2nd Gear Ratio Denominator
Range 1hellip65535
Default 1
Units
When Enabled Servo-Off -gt Setting
Applicable Operating Mode Follower
MODBUS Address 306
[Pr - 307] Reserved
When Enabled Reserved for future use
88 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 308] Digital Filter Cut-off Frequency
Data Size 3 digits
Digit 0 Low drive input
Value Description
0x0 hellip0x7 0 3MHz
1 175MHz
2 15MHz
3 1MHz
4 075MHz
5 0625MHz
6 0562MHz
7 0525MHz
Default = 1
Digit 1 Open collector input
Value Description
0x0 hellip0x7 0 3MHz
1 175MHz
2 15MHz
3 1MHz
4 075MHz
5 0625MHz
6 0562MHz
7 0525MHz
Default = 5
Digit 2 High frequency line drive input
0x0 hellip0x7 0 3MHz
1 175MHz
2 15MHz
3 1MHz
4 075MHz
5 0625MHz
6 0562MHz
7 0525MHz
Default = 0
When Enabled Servo-Off -gt Setting
Applicable Operating Mode All
MODBUS Address 308
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 89
Standard Drive Parameters Appendix A
Group 4 - Torque Controls
[Pr - 400] Current Scale
Ultraware Name Current Scale
Range 0hellip1000
Default 333
Units of rated continuous currentV
When Enabled Servo-Off -gt Setting
Applicable Operating Mode Analog Current command Dual current Command
MODBUS Address 400
[Pr - 401] Positive Internal Current Limit
Ultraware Name Current Limits Positive Internal
Range 0hellip500
Default 300
Units of motor rated continuous current
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 401
[Pr - 402] Negative Internal Current Limit
Ultraware Name Current Limits Negative Internal
Range 0hellip500
Default 300
Units of motor rated continuous current
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 402
[Pr - 403] Positive External Current Limit
Ultraware Name Current Limits Positive External
Range 0hellip500
Default 100
Units of motor rated continuous current
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 403
90 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[
Pr - 404] Negative External Current Limit
Ultraware Name Current Limits Negative External
Range 0hellip500
Default 100
Units of motor rated continuous current
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 404
[Pr - 405] Overtravel Current Limit
Ultraware Name Stopping Functions Maximum Stopping Current
Range 0hellip500
Default 300
Units of motor rated continuous current
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 405
[Pr - 406] Initial Current Bias
Ultraware Name Initial Current Bias
Description Constant current applied when the drive enables Meant to hold vertical loads
Range -100hellip100
Default 0
Units of motor rated continuous current
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 406
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 91
Standard Drive Parameters Appendix A
Group 5 - Supplemental Drive Controls
[Pr - 500] In Position Size
Ultraware Name Position Functions In Position Size
Description If position error lt In Position Size for 1 ms and the In Position Size output signal is assigned the In Position output is turned ON
Range 0hellip2500
Default 10
Units Counts
When Enabled Immediately
Applicable Operating Mode Follower
MODBUS Address 500
[Pr - 501] Reserved
When Enabled Reserved for future use
[Pr - 502] Near Position Size
Ultraware Name Position Functions Near Position Size
Description If position error lt Near Position Size and the Near Position output signal is assigned the Near Position output is turned ON
Range 0hellip2500
Default 20
Units Counts
When Enabled Immediately
Applicable Operating Mode Follower
MODBUS Address 502
92 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 503] Speed Window
Ultraware Name Speed Functions Speed Window
Description If the speed error lt Speed Window for 10 ms and the Within Speed Window output signal is assigned then the Within Speed Window output is turned ON
Range 0hellip1000
Default 10
Units rpm for rotary motors mmsec for linear motors
When Enabled Immediately
Applicable Operating Mode Follower Analog Velocity Input Preset
MODBUS Address 503
[Pr - 504] Up to Speed
Ultraware Name Speed Functions Up to Speed
Description If the motor speed gt Up to Speed and the Up to Speed output signal is assigned then the Up to Speed output is turned ON
Range 1hellip5000
Default 20
Units rpm for rotary motors mmsec for linear motors
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 504
[Pr - 505] Zero Clamp
Ultraware Name Speed Functions Zero Clamp
Description If the Analog Speed command lt Zero Clamp then the Analog Speed command is ignored and the Motor Speed command is set to zero
Range 1hellip5000
Default 20
Units rpm for rotary motors mmsec for linear motors
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 505
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 93
Standard Drive Parameters Appendix A
[Pr - 506] Brake Inactive Delay
Ultraware Name Digital Outputs Brake Inactive Delay
Description Brake Inactive delay is the time from when the drive is enabled to when the brake is released
Range 0hellip10000
Default 0
Units ms
When Enabled Immediately
Applicable Operating Mode Servo-Off -gt Setting
MODBUS Address 506
[Pr - 507] Disable Delay
Ultraware Name Stopping Functions Disable Delay
Description Disable Delay is the time from when the Drive Disable command is received to when the Drive Disable command is actually executed
Range 0hellip10000
Default 0
Units ms
When Enabled All
Applicable Operating Mode Servo-Off -gt Setting
MODBUS Address 507
[Pr - 508] Brake Active Delay
Ultraware Name Digital Outputs Brake Active Delay
Description Brake Active Delay is the time from when the drive is disabled to when the break starts operating
Range 0hellip10000
Default 500
Units ms
When Enabled All
Applicable Operating Mode Servo-Off -gt Setting
MODBUS Address 508
94 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 509] Disabled Braking Speed
Ultraware Name Stopping Functions Braking Application Speed
Description The Disabled Braking Speed is the feedback speed below which the motor break is engaged after disabling the drive
Range 0hellip1000
Default 100
Units rpm for rotary motors mmsec for linear motors
When Enabled All
Applicable Operating Mode Servo-Off -gt Setting
MODBUS Address 509
[Pr - 510] Following Error Limit
Ultraware Name Following Error Limit
Description A following error fault occurs when the difference between position command and actual position is greater than this parameter
Range 0hellip2147483647
Default 99999
Units Counts
When Enabled Immediately
Applicable Operating Mode Follower
MODBUS Address 510
[Pr - 511] Reserved
When Enabled Reserved for future use
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 95
Standard Drive Parameters Appendix A
[Pr - 512] AC line loss fault delay
Ultraware Name AC Line Loss Fault Delay
Description The AC Line Loss Fault is inhibited for this amount of time when a loss of AC power is detected
Range 20hellip1000
Default 20
Units ms
When Enabled Servo-Off -gt Setting
Applicable Operating Mode All
MODBUS Address 513
[Pr - 513] Analog Output CH1 Selection
Ultraware Name Analog Output 1 Signal
Range 0hellip28 (except 15232526)
Default 0
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 514
[Pr - 514] Analog Output CH2 Selection
Ultraware Name Analog Output 2 Signal
Range 0hellip28 (except 15232526)
Default 1
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 516
[Pr - 515] Analog Output CH1 Scale
Ultraware Name Analog Output 1 Scale
Range 1 hellip99999
Units Units depend on the channel selected in [Pr - 513]
Default 500
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 518
96 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 516] Analog Output CH2 Scale
Ultraware Name Analog Output 2 Scale
Range 1hellip99999
Units Units depends on the channel selected in [Pr - 514]
Default 500
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 520
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 97
Standard Drive Parameters Appendix A
Group 6 - Supplemental Gain and Report Settings
[Pr - 600] Analog Velocity Command Offset
Ultraware Name Velocity Command Offset
Range -10000hellip10000
Default 0
Units 01 mV
When Enabled Servo-Off -gt Setting (ENG Mode)
Applicable Operating Mode Analog Velocity Command
[Pr - 601] Analog Current Command Offset
Ultraware Name Current Command Offset
Range -10000hellip10000
Default 0
Units 01 mV
When Enabled Servo-Off -gt Setting (ENG Mode)
Applicable Operating Mode Analog Current Command
[Pr - 602] U Phase Current Sensing Offset
Ultraware Name Calibration U Phase Current Offset
Range -60000hellip60000
Default 0
Units 001 mA
When Enabled Servo-Off -gt Setting (ENG Mode)
Applicable Operating Mode All
[Pr - 603] W Phase Current Sensing Offset
Ultraware Name Calibration W Phase Current Offset
Range -60000hellip60000
Default 0
Units 001 mA
When Enabled Servo-Off -gt Setting (ENG Mode)
Applicable Operating Mode All
98 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 604] A lead B Swap
Ultraware Name A lead B Swap
Description Select A-lead-B or B-lead-A
Data Size 1 digit
Range Value Description
0 Disable
1 Enable
Default 0
Unit -
When Enabled Servo-Off -gt Setting -gt After power cycle (ENG Mode)
Applicable Operating Mode All
[Pr - 605] Dynamic Brake Circuit Protection
Ultraware Name Dynamic Brake Circuit Protection
Description The Dynamic Brake Circuit Protection is inhibited that the motor DB braking current is too large for the drive
Data Size 1 digit
Range Value Description
0 Disable
1 Enable
Default 1
Units -
When Enabled Servo-Off -gt Setting (ENG Mode)
Applicable Operating Mode All
[Pr - 606] Fault Detail Sampling Period
Ultraware Name Fault Detail Setup Sample Period
Range 1hellip100
Default 5
Units 02 ms
When Enabled Immediately (ENG Mode)
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 99
Standard Drive Parameters Appendix A
[Pr - 607] Fault Detail Data Selection 1
Ultraware Name Fault Detail Setup Channel A
Description Refer to Monitor Variables on page 135 for more information on the range options
Range 0hellip28 (except 15 23 25 and 26)
Default 0
When Enabled Immediately (ENG Mode)
[Pr - 608] Fault Detail Data Selection 2
Ultraware Name Fault Detail Setup Channel B
Description Refer to Monitor Variables on page 135 for more information on the range options
Range 0hellip28 (except 15 23 25 and 26)
Default 3
When Enabled Immediately (ENG Mode)
[Pr - 609] Fault Detail Data Selection 3
Ultraware Name Fault Detail Setup Channel C
Description Refer to Monitor Variables on page 135 for more information on the range options
Range 0hellip28 (except 15 23 25 and 26)
Default 11
When Enabled Immediately (ENG Mode)
[Pr - 610] Fault Detail Data Selection 4
Ultraware Name Fault Detail Setup Channel D
Description Refer to Monitor Variables on page 135 for more information on the range options
Range 0hellip28 (except 15 23 25 and 26)
Default 16
When Enabled Immediately (ENG Mode)
100 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 611] 1st Resonant Frequency Suppression Filter
Ultraware Name Main Current Regulator Gains 1st Resonant Frequency Suppression Filter
Description Suppresses Vibration by cutting off Current Command in assigned frequency band
Range 0hellip10000
Default 10000
Units Hz
When Enabled Immediately (Read Parameter for ENG)
Applicable Operating Mode All
[Pr - 612] 2nd Resonant Frequency Suppression Filter
Ultraware Name Main Current Regulator Gains 1st Resonant Frequency Suppression Filter
Description Suppresses Vibration by cutting off Current Command in assigned frequency band
Range 0hellip10000
Default 10000
Units Hz
When Enabled Immediately (Read Parameter for ENG)
Applicable Operating Mode All
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 101
Standard Drive Parameters Appendix A
Group 7 - Manufacturing Settings
This parameter group includes product settings that are programmed during the manufacturing process
IMPORTANT Group 7 - Manufacturing Settings are programmed at the factory Do not modify these settings as they provide a common drive setup that is useful when you bull develop a drive system or troubleshooting a drive or bull seek assistance through Rockwell Automation Technical
Support
[Pr - 700] Drive Capacity
Ultraware Name Drive Model
Range 50hellip1500
Default Factory settings determine default
Units W
When Enabled Servo-Off -gt Setting -gt After power cycle (ENG mode)
Applicable Operating Mode All
[Pr - 701] DC Bus Voltage Offset
Ultraware Name Calibration DC Bus Voltage Offset
Range -100hellip100
Default 0
Units V
When Enabled Servo-Off -gt Setting -gt After power cycle (ENG mode)
Applicable Operating Mode All
[Pr - 702] Reservedl
When Enabled Reserved for future use
102 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 703] Analog Monitor Output CH1 Offset
Ultraware Name Calibration Analog Output CH1 Offset
Range -1000hellip1000
Default 0
Units mV
When Enabled Servo-Off -gt Setting -gt After power cycle (ENG mode)
Applicable Operating Mode All
[Pr - 704] Analog Monitor Output CH1 Scaling
Ultraware Name Calibration Analog Output CH1 Scale
Range -1000hellip1000
Default 0
Units -
When Enabled Servo-Off -gt Setting -gt After power cycle (ENG mode)
Applicable Operating Mode All
[Pr - 705] Analog Monitor Output CH2 Offset
Ultraware Name Calibration Analog Output CH2 Offset
Range -1000hellip1000
Default 0
Units mV
When Enabled Servo-Off -gt Setting -gt After power cycle (ENG mode)
Applicable Operating Mode All
[Pr - 706] Analog Monitor Output CH2 Scaling
Ultraware Name Calibration Analog Output CH2 Scale
Range -1000hellip1000
Default 0
Units -
When Enabled Servo-Off -gt Setting -gt After power cycle (ENG mode)
Applicable Operating Mode All
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 103
Standard Drive Parameters Appendix A
Group 8 - Reserved Parameters
Group 8 parameters are reserved
[Pr - 707] DC Bus Measurement Scaling Calibration
Ultraware Name Calibration DC Bus ADC Calibration
Description This parameter is a calibration adjustment to the ideal ADC scaling The scaling adjustment range is -100 to +100 so the ADC scaling can be adjusted from 2 the ideal scaling to zero
Range -1000hellip1000
Default 0 (no adjustment)
Units 0001
When Enabled Servo-Off -gt Setting -gt After power cycle (ENG mode)
Applicable Operating Mode All
104 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
Group 9 - Motor Controls
[Pr - 900] Standard Motor Flag
Ultraware Name General Motor Flag
Range Value Description
0 Custom
1 Standard
Default 1
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 901] Motor Type
Ultraware Name General Motor Type
Range Value Description
0 Rotary
1 Linear
2 Reserved
3 Reserved
Default 0
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 902] Motor Resistance
Ultraware Name Electrical Resistance
Range 1hellip65535
Units Ohms 256
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 903] Motor Inductance
Ultraware Name Electrical Inductance
Range 1hellip65535
Units mH 256
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 105
Standard Drive Parameters Appendix A
[Pr - 904] Motor Intermittent Current
Ultraware Name Ratings Intermittent Current
Range 1hellip32767
Units A 128
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 905] Motor Continuous Current
Ultraware Name Ratings Continuous Current
Range 1hellip32767
Units A 128
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 906] Motor Rated Voltage
Ultraware Name Electrical Rated Voltage
Range 10hellip1000
Units V
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 907] Encoder Type
Ultraware Name Feedback Encoder
Range
Value Description
1 Incremental
4 Serial Incremental
5 Serial Absolute
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 908] Hall Offset
Ultraware Name Feedback Hall Input Offset
Range 0hellip359
Units Electrical degree
When Enabled Servo-Off -gt Setting -gt After power cycle
106 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 909] Current Constant
Ultraware Name General Torque Constant
Range 1hellip65535
Units N m A 4096
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 910] Motor Inertia
Ultraware Name General Inertia
Range 1hellip2147483647
Units Kgcm2 65536
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 911] PolesRevolution
Ultraware Name General PolesRevolution
Range 2hellip100
Units Poles
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 912] Encoder Lines Revolution
Ultraware Name General LinesRevolution
Range 100hellip1000000
Units Poles
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 913] Maximum Rotary Speed
Ultraware Name Ratings Maximum Speed
Range 10hellip32767
Units rpm
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 107
Standard Drive Parameters Appendix A
[Pr - 914] Force Constant
Ultraware Name General Force Constant
Range 1hellip32767
Units 16
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 915] Motor Mass
Ultraware Name General Mass
Range 1 hellip2147483647
Units Kg 65536
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 916] Electrical Cycle Length
Ultraware Name General Electrical Cycle
Range 100hellip10000
Units mm 10
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 917] Encoder Lines Meter
Ultraware Name Feedback LinesMeter
Range 4000hellip10000000
Units Lines
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 918] Maximum Linear Speed
Ultraware Name Ratings Maximum Speed
Range 32hellip32767
Units m s 256
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
108 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 919] Motor Thermal Protection Enable
Ultraware Name Thermal Software Protection
Range 0 = Disabled
1 = Enabled
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 920] Motor Thermostat
Ultraware Name Thermal Integral Thermostat
Range 0 = Disabled
1 = Enabled
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 921] Motor Thermal Resistance Winding to Encoder
Ultraware Name Thermal Rth (w-e)
Range 1hellip2147483647
Units degCWatt 65536
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 922] Motor Thermal Capacitance Winding to Encoder
Ultraware Name Thermal Cth (w-e)
Range 1hellip2147483647
Units JdegC 256
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 923] Motor Thermal Resistance Winding to Ambient
Ultraware Name Thermal Rth (w-a)
Range 1hellip2147483647
Units degCWatt 65536
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 109
Standard Drive Parameters Appendix A
[Pr - 924] Motor Thermal Capacitance Winding to Ambient
Ultraware Name Thermal Cth (w-a)
Range 1hellip2147483647
Units JdegC 256
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 925] Commutation Type
Ultraware Name Feedback Commutation
Range
Value Description
0 Brush
1 Trapezoidal
2 Sinusoidal
Applicable Operating Mode All
[Pr - 926] Start-up Commutation
Ultraware Name Feedback Sinusoidal Startup
Range Value Description
0 Self Sensing
1 Hall Inputs
2 Serial
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 927] Integral Limits
Ultraware Name General Integral Limits
Range 0hellip1
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
110 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 929 hellip Pr - 949] Reserved
When Enabled Reserved for future use
[Pr - 950] Motor Model
Ultraware Name Motor Model
Range 32 bytes character string
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 951] Drive Name
Ultraware Name Name
Range 32 bytes character string
Applicable Operating Mode All
[Pr - 952] Position Scaling Data
Ultraware Name Motor Encoder Units Position Scale
Range 8 bytes character string
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 953] Position Scaling Label
Ultraware Name Motor Encoder Units Position Label
Range 16 bytes character string
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
Pr - 954] Velocity Scaling Data
Ultraware Name Motor Encoder Units Velocity Scale
Range 8 bytes character string
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 111
Standard Drive Parameters Appendix A
[Pr - 955] Velocity Scaling Label
Ultraware Name Motor Encoder Units Velocity Label
Range 16 bytes character string
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 956] Acceleration Scaling Data
Ultraware Name Motor Encoder Units Acceleration Scale
Range 8 bytes character string
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 957] Acceleration Scaling Label
Ultraware Name Motor Encoder Units Acceleration Label
Range 16 bytes character string
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
112 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 958] Scope Config
Range 32 bytes character string
Data Size 21 digits
Applicable Operating Mode All
Digits Digits Description
0hellip1 Channel A Signal See Monitor Variables
2hellip3 Channel B Signal See Monitor Variables
4 Channel A Scale Type
0hellip1 0 - Auto (Default) 1- Manual
5 Channel B Scale Type
0hellip1 0 - Auto (Default) 1 - Manual
6hellip7 Sample Period
8hellip9 Samples per division
10hellip12 Trigger Signal See Monitor Variables
13 Trigger Mode
0 - Immediate
1 - Falling Edge
2 -Rising Edge
14 Pretrigger Percentage (10)
15hellip22 Trigger Threshold
Default 0x00000000000000100510011E05000100
When Enabled Servo-Off -gt Setting -gt After power cycle
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 113
Standard Drive Parameters Appendix A
[Pr - 959] Scope Scaling
Range 32 bytes character string
Data Size 32 digits
Digits Digits Description
0hellip7 Channel A Scale
8hellip15 Channel A Offset
16hellip23 Channel B Scale
24hellip31 Channel B Offset
Default 0x00000000000000000000000000000000
Ultraware Name Displayed Units
Range 1 byte character string
0 = Metric
1 = English
2 = User units
Default 0
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 960] Displayed Units
Ultraware Name Displayed Units
Range 1 byte character string
0 = Metric
1 = English
2 = User units
Default 0
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
114 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
Notes
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 115
Appendix B
Indexing Drive Parameters
Parameters control Kinetix 3 drive operations They are grouped by the type of drive Indexing or Standard and the drive settings they define
Descriptions of Standard Drive Parameters begin on page 45
Parameter Groupings Indexing drive parameters are grouped into these drive settings bull Group 0 - Indexing drive system and IO settings bull Group 1 - Homing controls bull Group 2 - Indexing operations bull Group 3 - Indexing move profiling bull Group 4 - Indexing position and distance setting bull Group 5 - Registration settings bull Group 6 - Batch count operations bull Group 7 - Dwell settings bull Group 8 - Velocity settings bull Group 9 - Move profile settings bull Group 10 - Acceleration settings bull Group 11 - Deceleration settings bull Group 12 - Next Index settings
116 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix B Indexing Drive Parameters
Parameter Descriptions Parameter descriptions list the size of each parameter and the data options within the parameter
Descriptions for Standard Drive Parameters begin on page 45
Group 0 - Indexing System
[IN0000] Auto Start Indexing
Ultraware Name Auto Start Indexing
Description When this field is set to ON the drive will begin executing the selected index whenever the drive enables
Range Value Description
0 OFF
1 ON
Default 0
Units NA
Access Set
Changeable Status Always
When Enabled Power Cycling
Applicable Operating Mode Indexing
MODBUS Address 5000
[IN0001] Abort Index Deceleration
Ultraware Name Abort Index Decel
Description The deceleration used to stop motion when the Stop Index input terminates an index move
Range Value Description
1 hellip2147483647 10minus2 Revsec2 for rotary mmsec2 for linear
Default 6250
Access Set
Changeable Status Always
When Enabled Power Cycling
Applicable Operating Mode Indexing
MODBUS Address 5001
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 117
Indexing Drive Parameters Appendix B
[IN0002] Positive Deceleration Distance
Ultraware Name Positive Deceleration Distance
Range Value Description
0 hellip2147483647 The stopping distance used when the drive encounters a positive overtravel limit
Default 0
Units Counts
Access Set
Changeable Status Always
When Enabled Always
Applicable Operating Mode Indexing
MODBUS Address 5002 hellip5003
[IN0003] Negative Deceleration Distance
Ultraware Name Negative Deceleration Distance
Range Value Description
0 hellip2147483647 The stopping distance used when the drive encounters a negative overtravel limit
Default 0
Units Counts
Access Set
Changeable Status Always
When Enabled Always
Applicable Operating Mode Indexing
Ultraware Name Positive Deceleration Distance
MODBUS Address 5004 hellip5005
118 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix B Indexing Drive Parameters
[IN0004] Enable Software Limits
Ultraware Name Enable Software Limits
Description Controls software overtravel limits of the axis
Range Value Description
0 Off Turns off software overtravel limit checking
1 On Causes the drive to compare the motor feedback position to the Positive and Negative Software Limits below to determine if the drive has exceeded an overtravel limit
Default 0
Units NA
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5006
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 119
Indexing Drive Parameters Appendix B
[IN0005] Positive Software Limit
Ultraware Name Positive Software Limit
Description If the motor feedback position is greater than this value the drive has exceeded the software overtravel limit
Range Value Description
-2147483647 hellip2147483647
Positive software overtravel limit
Default 2147483647
Units Counts
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5007
[IN0006] Negative Software Limit
Ultraware Name Negative Software Limit
Description If the motor feedback position is greater than this value the drive has exceeded the software overtravel limit
Range Value Description
-2147483647 hellip2147483647
Negative software overtravel limit
Default -2147483647
Units Counts
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5008
120 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix B Indexing Drive Parameters
Group 1 - Homing
[IN0100] Homing Type
Ultraware Name Homing Type
Description Select the type of homing operation the drive will perform
Range Value Description
0 Home to Present Position
1 To Home sensorBack to Marker (default)
2 To LimitBack to Marker
3 To Home sensorFwd to Marker
4 To LimitFwd to Marker
5 Home to Current Value
6 Home to Current ValueBack to Marker
7 To Home Sensor Move Fwd to Marker
8 Home to Marker
Default 1
Units NA
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5200
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 121
Indexing Drive Parameters Appendix B
[IN0101] Auto Start Homing on Enable
Ultraware Name Auto Start Homing on Enable
Description Causes the drive to begin the homing procedure automatically when the drive is enabled
Range Value Description
0 Active Automatically starts homing every time the drive is enabled
1 Active After Reset Only automatically starts homing when a drive is enabled if the drive has not already been homed
2 Inactive
Default 2
Units NA
Access Set
Changeable Status Always
When Enabled Power cycling
Applicable Operating Mode Indexing
MODBUS Address 5201
[IN0102] Homing Velocity
Ultraware Name Homing Velocity
Description The commanded velocity used during homing The sign of the this value (+-) indicates the direction of motion during homing
Range Value Description
-6000 hellip6000 rpm for rotary motors mmsec for linear motors
Default 100
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5202
122 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix B Indexing Drive Parameters
[IN0103] Creep Velocity
Ultraware Name Creep Velocity
Description For the To Sensor then Back to Marker Homing Type the velocity used for all remaining homing motion after the motor decelerates to a stop when it finds the sensor edge
Range Value Description
0 hellip6000 The velocity used for all homing motion after the motor decelerates to a stop at the sensor edge
Default 20
Units rpm for rotary motors mmsec for linear motors
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5203
[IN0104] Homing AccelerationDeceleration
Ultraware Name Homing AccelerationDeceleration
Description The rate of acceleration and deceleration used during homing
Range Value Description
1 hellip2147483647 The velocity used for all homing motion after the motor decelerates to a stop at the sensor edge
Default 6250
Units 10minus2 Revsec2 for rotary mmsec2 for linear
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5204 hellip5205
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 123
Indexing Drive Parameters Appendix B
[IN0105] Offset Move Distance
Ultraware Name Offset Move Distance
Description The distance the motor position is from the marker edge after the homing sequence is complete For Sensor Only Homing the distance the motor position is from the sensor edge after the homing sequence is complete
Range Value Description
-2147483647 hellip2147483647
Digital input state communicated to the drive when the Home Sensor input becomes active
Default 0
Units Counts
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5206 hellip5207
[IN0106] Home Sensor Polarity
Ultraware Name Home Sensor Polarity
Description Specifies the digital input state communicated to the drive when the Home Sensor input becomes active
Range Value Description
0 Active-Going Transition
1 Inactive-Going Transition
Default 0
Units Counts
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5208
124 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix B Indexing Drive Parameters
[IN0107] Home Position
Ultraware Name Home Position
Description The home position when a homing procedure is completed
Range Value Description
-2147483647 hellip2147483647
Digital input of the home position
Default 0
Units Counts
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5209 hellip5210
[IN0108] Moving Distance After Home Sensor
Ultraware Name Moving Distance After Home Sensor
Description This value is distance that the drive ignores the marker inputs after the home sensor is detected
Range Value Description
0 hellip2147483647 Distance the drive ignores the marker inputs after home is detected
Default 0
Units Counts
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5211 hellip5212
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 125
Indexing Drive Parameters Appendix B
[IN0109] Home Current
Ultraware Name Home Current
Description Specifies the torque feedback at which the drive stops moving the motor at the Homing Velocity
Range Value Description
1 hellip250 Percent of motor torque feedback
Default 100
Units Percentage of a motor rating torque
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5213
[IN0110] Home Current Time
Ultraware Name Home Current Time
Description Specifies the torque feedback at which the drive stops moving the motor at the Homing Velocity
Range Value Description
1 hellip1000 Percent of motor torque rating
Default 100
Units Percentage of motor torque rating
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5214
126 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix B Indexing Drive Parameters
[IN0111] Homing Time Limit
Ultraware Name Homing Time Limit
Description Drive fault when time for homing exceeds the homing time limit
Range Value Description
0 hellip65535 Homing time limit in seconds
Default 60
Units seconds
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5215
[IIN0112] Stop Home Deceleration
Ultraware Name Stop Home Decel
Description The rate of drive deceleration used when homing is stopped
Range Value Description
1 hellip2147483647 Rate of drive deceleration when homing is stopped
Default 6250
Units NA
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5216 hellip5217
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 127
Indexing Drive Parameters Appendix B
Group 2 - Indexing Options
[IN0200] hellip[IN0263] Index 0hellip63 Type and Action When Complete
Description Digit 0 homes the axis and digit 2 controls execution of the index move command
Digit 0 Homes the axis before the drive can executes any index
Ultraware Name Index 0hellip63 Option Type
Range Value Description
0 Absolute moves from its starting position to the specified Position below
1 Incremental moves from its starting position the specified Distance below
Default 1
Digit 1 Controls execution of the index move command after homing
Ultraware Name Index 0hellip63 Action When Complete
Range Value Description
0 Stop ends the execution of indexed move commands
1 Start next index commands execution of the Next Index move without additional input but after the scheduled Dwell
2 Wait for Start commands execution of the Next Index move the next time the Start Index input becomes active
Default 0
Access Set
Changeable Status Always
When Enabled Always
Applicable Operating Mode Indexing
MODBUS Address 5400 hellip5463
128 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix B Indexing Drive Parameters
Group 3 - Index Move Profile
These values are reserved for future use
Group 4 - Index PositionDistance
Group 5 - Index Registration Distance
These values are reserved for future use
Group 6 - Index Batch Count
These values are reserved for future use
[IN0400[hellip[IN0463] Index 0hellip63 PositionDistance
Ultraware Name Index 0hellip63 PositionDistance
Description Position For Absolute mode moves the fixed position to which the motor will travel Distance For Incremental and Registration mode moves the relative distance the motor will travel
Range Value Description
-2147483647 hellip2147483647
Counts
Default 1000
Access Set
Changeable Status Always
When Enabled Always
Applicable Operating Mode Indexing
MODBUS Address 5800 hellip5927
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 129
Indexing Drive Parameters Appendix B
Group 7 - Index Dwell
Group 8 - Index Velocity
Group 9 - Index Move Profile
These values are reserved for future use
[IN0700] hellip[IN0763] Index 0hellip63 Dwell
Ultraware Name Index 0hellip63 Dwell
Description Milliseconds to remain at current position before executing
Range Value Description
0 hellip65535 ms
Default 0
Access Set
Changeable Status Always
When Enabled Always
Applicable Operating Mode Indexing
MODBUS Address 6400 hellip6463
[IN0800] Index 0hellip63 Velocity
Ultraware Name Index 0hellip63 Velocity
Description Maximum velocity while in motion
Range Value Description
0 hellip6000 rpm for rotary motors mmsec for linear motors
Default 750
Access Set
Changeable Status Always
When Enabled Always
Applicable Operating Mode Indexing
MODBUS Address 6600 hellip6663
130 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix B Indexing Drive Parameters
Group 10 - Index Acceleration
Group 11 - Index Deceleration
[IN1000]hellip[IN1063] Index 0hellip63 Acceleration
Ultraware Name Index 0hellip63 Acceleration
Description Maximum acceleration while in motion
Range Value Description
1 hellip2147483647 10minus2 Revsec2 for rotary mmsec2 for linear
Default 6250
Access Set
Changeable Status Always
When Enabled Always
Applicable Operating Mode Indexing
MODBUS Address 7000 hellip7127
[IN1100]hellip[IN1163] Index 0hellip63 Deceleration
Ultraware Name Index 0hellip63 Deceleration
Description Maximum deceleration while in motion
Range Value Description
1 hellip2147483647 10minus2 Revsec2 for rotary mmsec2 for linear
Default 6250
Access Set
Changeable Status Always
When Enabled Always
Applicable Operating Mode Indexing
MODBUS Address 7200 hellip7327
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 131
Indexing Drive Parameters Appendix B
Group 12 - Index Next Index
[IN1200]hellip[IN1263] Index 0hellip63 Next Index
Ultraware Name Index 0hellip63 Next Index
Description The number (0hellip63) of the next indexed move to execute when Action When Complete is not set to STOP
Range Value Description
0hellip63 Value of the next indexed move
Default 0
Access Set
Changeable Status Always
When Enabled Always
Applicable Operating Mode Indexing
MODBUS Address 7400 hellip7464
132 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix B Indexing Drive Parameters
Notes
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 133
Appendix C
Warnings and Fault Codes
This Appendix lists the Warnings and Fault Codes for Kinetix 3 drives
Warnings Warnings are drive abnormalities that allow motor control to continue A three-digit text message is displayed using the last segments of the display
Fault Codes Faults are serious abnormalities that cause loss of motor control The Status indicator alternates between a three-digit error code preceded by the letter E and a five-digit text message This error message repeats until the problem is cleared
Warning Number
Warning Display Description
0x01 BAT Absolute encoder battery warning
0x02 CNT Absolute encoder counter overflow
0x04 PRE Power-up overspeed warning
0x08 OCC Over current command warning
0x10 OSC Over speed command warning
0x20 PIN Digital IO assignment warning
0x40 CAP Over motor rated output power warning
Fault Code Internal Fault Code
Fault Display Fault Name
E004 0x22 MTROT Motor over temperature
E005 0x11 IPMFT IPM
E009 0x41 UDVTG Bus under voltage fault
E010 0x40 OVVTG Bus over voltage fault
E012 0x73 HFAIL Home search failed
E018 0x50 OVSPD Motor over speed fault
E019 0x51 POSER Excess position error fault
E022 0x25 CONOL Motor continuous current overload
E023 0x27 DRVOL Drive overload fault
E025 0x72 SENSR Sensor unassigned
E027 0x74 NOTHM Axis not homed
E028 0x36 ENCDE Encoder data range fault
E030 0x31 ENCOP Encoder cable open fault
134 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix C Warnings and Fault Codes
E031 0x38 ENCPE Encoder data parameter fault
E036 0x24 DRVOT Drive over temperature
E037 0x42 ACOFF AC Line Loss Fault
E053 0x63 PINIT User parameter initialization fault
E054 0x13 OFSET Current feedback offset
E055 0x61 CHSUM User parameter checksum fault
E056 0x53 CPUFT Watchdog timeout fault
E057 0x10 HWARE PWM hardware
E058 0x62 RANGE User parameter range fault
E060 0x70 DINIT Drive initialization fault
E075 0x23 SHTOL Shunt overload protection
E079 0x12 SHTOC Shunt circuit over current
E083 0x33 ABSBE Absolute encoder battery fault
E084 0x34 ABSOS Absolute encoder overspeed
E085 0x35 ABSCT Absolute multi-turn count fault
E086 0x37 ENCCT Encoder single-turn count fault
E100 0x71 SETUP Drive set-up fault
E101 0x20 CABLE Motor power cable open
E102 0x21 INSOL Motor instantaneous current overload
E103 0x28 MATCH Motor mismatch fault
E104 0x26 PWROL Continuous power overload
E105 0x30 ENCTP Encoder type mismatch fault
E106 0x32 ENCCE Encoder communication fault
E107 0x60 SERCE Serial communication fault
E108 0x52 CDFRE Position command frequency fault
E112 0x54 ESTOP Emergency stop
E113 0x64 IRANG Indexing position range overflow
E114 0x14 OVCUR Motor phase over current
Fault Code Internal Fault Code
Fault Display Fault Name
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 135
Appendix D
Monitor Variables
Ultraware limits the number of variables that can be monitored to thirty-one (variables 0 through 30) However in customer applications additional monitor variables may be used
For example monitoring of variable 32 Selected index cannot be performed by Ultraware software because this variable is outside the range of Ultraware However a customer program that supports thirty-two variables or more can monitor this variable
Variables The table below lists the variables for monitoring a Kinetix 3 drive
Variable Name Unit
No Hex
0 0x00 Velocity feedback rpm
1 0x01 Velocity command rpm
2 0x02 Velocity error rpm
3 0x03 Current command
4 0x04 Follower position counts
5 0x05 Master position counts
6 0x06 Position error counts
7 0x07 Position command count frequency Kpps
8 0x08 Commutation angle ordm (degrees)
9 0x09 Mechanical angle ordm (degrees)
10 0x0A Shunt power limit ratio
11 0x0B Bus voltage V
12 0x0C Absolute rotations rev
13 0x0D Velocity command offset mV
14 0x0E Current command offset mV
15 0x0E Input and 0utput state Refer to Variable 15 - Digital Inputs and Outputs on page 137 for more information
16 0x0F U phase current 0001A
17 17 V phase current 0001A
18 18 W phase current 0001A
19 19 Motor temperature
136 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix D Monitor Variables
20 0x10 Analog command -velocity 001V
21 0x11 Analog command - current 001V
22 0x12 Current feedback 0001A
23 0x13 Hall states (wvu) digital
24 0x14 Motor feedback position counts
25 0x15 Digital input function state Refer to Variable 25 - Digital Inputs on page 137 for more information
digital
26 0x16 Digital output function state Refer to Variable 26 - Digital Outputs on page 138 for more information
Digital
27 0x17 Instantaneous shunt power Watts
28 0x18 Drive utilization
29 0x19 Indexing input function state Refer to Variable 29 - Indexing Inputs on page 138 for more information
digital
30 0x1A Indexing output function state Refer to Variable 30 - Indexing Outputs on page 139 for more information
digital
31 0x1B CPLD version
32 0x1C Selected index digital
33 0x1D Periodic counter Range 0 hellip512 Units counts 1 count = 2 ms
Variable (Continued) Name Unit
No Hex
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 137
Monitor Variables Appendix D
Compiled Variables The tables below list variables that compile data to more effectively monitor specific aspects of a Kinetix 3 drive
Variable 15 - Digital Inputs and Outputs
Monitoring of IO status is provided by Variable 15 - Digital Inputs and Outputs Digital inputs [Pr - 017] hellip[Pr - 018] and digital outputs [Pr - 022] hellip[Pr - 027] are compiled for this variable
The table below lists the data bits in this variable
Variable 25 - Digital Inputs
Digital input status is provided by Variable 25 - Digital Inputs Digital inputs [Pr - 010] hellip[Pr - 014] are compiled for this variable
The table below lists the data bits in this variable
Digital Outputs EMG Digital Inputs
Bit No 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
Data DO6 DO6 DO4 SALM DO3 DO2 DO1 EMG DI10 DI9 DI8 DI7 DI6 DI5 DI4 DI3 DI2 DI1
Bit Digital Input Function Bit Digital Input Function
0 Current Limit- Negative 10 Fault Reset
1 Current Limit- Positive 11 Integrator Inhibit
2 Alternate Gain Select 12 Negative Overtravel
3 Preset Direction 13 Operation Mode Override
4 Reset Multiturn Data 14 Position Strobe
5 Zero Speed Clamp 15 Positive Overtravel
6 Position Clear 16 Preset Select 0
7 Analog Speed Command Enable in Preset 17 Preset Select 1
8 Motor Moving Enable in Velocity Mode 18 Preset Select 2
9 2nd Electronic Gear Bank Selection
138 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix D Monitor Variables
Variable 26 - Digital Outputs
Digital output status is provided by Variable 26 - Digital Outputs Digital inputs and outputs [Pr - 002] and [Pr - 022] hellip[Pr - 024] are compiled for this variable
The table below lists the data bits in this variable
Variable 29 - Indexing Inputs
Indexing input function status is provided by Variable 29 - Indexing Inputs Digital inputs [Pr - 016] hellip[Pr - 018] are compiled for this variable
The table below lists the data bits in this variable
Bit Digital Output Function
0 Brake
1 Absolute Position Valid
2 Current Limited
3 Velocity Limited
4 Within Near Window
5 Warning
Bit Indexing Input function
0 Home Sensor
1 Start Homing
2 Start Indexing
3 Stop Indexing
4 Pause Index
5 Index Select 0 Input
6 Index Select 1 Input
7 Index Select 2 Input
8 Index Select 3 Input
9 Index Select 4 Input
10 Index Select 5 Input
11 Stop Homing
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 139
Monitor Variables Appendix D
Variable 30 - Indexing Outputs
Indexing output function status is provided by Variable 30 - Indexing Outputs Digital outputs [Pr - 025] hellip[Pr - 027] are compiled for this variable
The table below lists the data bits in this variable
Bit Indexing Output function Indexing Output function
0 In Motion Index Select 1 Output
1 In Dwell Index Select 2 Output
2 Axis Homed Index Select 3 Output
3 End of Sequence Index Select 4 Output
4 Index Select 0 Output Index Select 5 Output
140 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix D Monitor Variables
Notes
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 141
Index
Parameters(IN0000) auto start indexing 116(IN0001) abort index deceleration 116(IN0002) positive deceleration distance 117(IN0003) negative deceleration distance 117(IN0004) enable software limits 118(IN0005) positive software limit 119(IN0006) negative software limit 119(IN0100) homing type 120(IN0101) auto start homing on enable 121(IN0102) homing velocity 121(IN0103) creep velocity 122(IN03xx) index move profile 128(IN0400hellipIN0463) index positiondistance
128(IN05xx) index registration distance 128(IN06xx) index batch count 128(IN0700hellipIN0763) index dwell 129(IN0800hellipIN0863) index velocity 129(IN09xx) index move profile 129(IN1000hellipIN1063) index acceleration 130(IN1100hellipIN1163) index deceleration 130(IN1200hellipIN1263) next index 131(IN200hellipIN263) index type digit 0 127(Pr-000) operations mode 46(Pr-001) motor configuration 47(Pr-002) motor basic modes 48(Pr-003) auto tuning functions 49(Pr-004) inertia ratio 50(Pr-005) auxiliary function selection 1 51(Pr-006) auxiliary function selection 2 52(Pr-007) drive address 54(Pr-008) password 54(Pr-009) serial port configuration 54(Pr-010hellipPr-021) parameter setting values
60(Pr-010) allocation of input signals 1 55(Pr-011) allocation of input signals 2 56(Pr-012) allocation of input signals 3 56(Pr-013) allocation of input signals 4 57(Pr-014) allocation of input signals 5 57(Pr-015) allocation of input signals 6 58(Pr-016) allocation of input signals 7 58(Pr-017) allocation of input signals 8 58(Pr-018) allocation of input signals 9
59(Pr-019) allocation of input signals 10 59(Pr-020) allocation of input signals 11 59(Pr-021) allocation of input signals 12 60(Pr-022hellipPr-032) parameter setting values
65(Pr-022) allocation of output signals 1 60(Pr-023) allocation of output signals 2 61(Pr-024) allocation of output signals 3 61
(Pr-025) allocation of output signals 4 62(Pr-026) allocation of output signals 5 63(Pr-027) allocation of output signals 6 63(Pr-028) allocation of output signals 7 63(Pr-029) allocation of output signals 8 64(Pr-030) allocation of output signals 9 64(Pr-031) allocation of output signals 10 65(Pr-032) IO control authority 65(Pr-100) velocity regulator response level 66(Pr-101) system gain 66(Pr-102) velocity regulator P gain 66(Pr-103) velocity regulator I gain 66(Pr-104) velocity regulator D gain 67(Pr-105) velocity error filter 67(Pr-106) position regulator Kp gain 67(Pr-107) current command lowpass filter
bandwidth 68(Pr-108) velocity command lowpass filter
bandwidth 68(Pr-109) position command lowpass filter
bandwidth 68(Pr-110) 1st resonant frequency suppression
filter 69(Pr-111) 1st resonant frequency suppression
width 69(Pr-112) 2nd resonant frequency suppression
filter 69(Pr-113) 2nd resonant frequency suppression
filter width 70(Pr-114) 2nd resonant frequency suppression
filter depth 70(Pr-115) position regulator Kff gain 70(Pr-116) position regulator Kff bandwidth 71(Pr-117) velocity regulator I gain mode 71(Pr-118) velocity regulator I gain disable
threshold 72(Pr-119) position regulator high error output
offset 72(Pr-120) position regulator high error output
threshold 72(Pr-121) current regulator bandwidth
reduction scale 73(Pr-122) on-line vibration mode 73(Pr-123) velocity regulator configuration 74(Pr-124) delay time of gain switching 74(Pr-125) level of gain switching 74(Pr-126) hysteresis of gain switching 75(Pr-127) position gain switching time 75(Pr-128) 2nd velocity regulator P gain 75(Pr-129) 2nd velocity regulator i gain 75(Pr-130) 2nd position regulator Kp gain 76(Pr-131) 2nd current command low pass
filter bandwidth 76
142 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Index
(Pr-132) 2nd velocity command low pass filter bandwidth 76
(Pr-133) 3rd velocity regulator P gain 76(Pr-134) 3rd velocity regulator I gain 77(Pr-135) 3rd position regulator Kp gain 77(Pr-136) 3rd current command low pass filter
bandwidth 77(Pr-137) 3rd velocitycommand low pass filter
bandwidth 77(Pr-138) 4th velocity regulator P gain 78(Pr-139) 4th velocity regulator I gain 78(Pr-140) 4th position regulator Kp gain 78(Pr-141) 4th current command low pass filter
bandwidth 78(Pr-142) 4th velocitycommand low pass filter
bandwidth 79(Pr-200) velocity scale 80(Pr-201) jog velocity command 80(Pr-202) acceleration 80(Pr-203) deceleration 81(Pr-204) S-curve time 81(Pr-205) preset velocity 1 81(Pr-206) preset velocity 2 81(Pr-207) preset velocity 3 82(Pr-208) preset velocity 4 82(Pr-209) preset velocity 5 82(Pr-210) preset velocity 6 82(Pr-211) preset velocity 7 83(Pr-212) manual velocity limit 83(Pr-213) velocity limit mode 83(Pr-300) follower 84(Pr-301) 1st gear ratio follower counts 85(Pr-302) 1st gear ratio mastercounts 86(Pr-303) encoder output ratio output counts
86(Pr-304) encoder output ratio motor counts
86(Pr-305) 2nd gear ratio follower counts 86(Pr-306) 2nd gear ratio master counts 87(Pr-307) reserved 87(Pr-308) digital filter cut-off frequency 88(Pr-400) current scale 89(Pr-401) positive internal current limit 89(Pr-402) negative internal current limit 89(Pr-403) positive external current limit 89(Pr-404) negative external current limit 90(Pr-405) overtravel current limit 90(Pr-406) initial current bias 90(Pr-500) in position size 91(Pr-501) reserved 91(Pr-502) near position size 91(Pr-503) speed window 92(Pr-504) up to speed 92(Pr-505) zero clamp 92
(Pr-506) brake inactive delay 93(Pr-507) disable delay 93(Pr-508) brake active delay 93(Pr-509) disabled braking speed 94(Pr-510) following error limit 94(Pr-511) reserved 94(Pr-512) ac line loss fault delay 95(Pr-513) analog output ch1 selection 95(Pr-514) analog output ch2 selection 95(Pr-515) analog output ch1 scale 95(Pr-516) analog output ch2 scale 96(Pr-600) analog velocity command offset 97(Pr-601) analog current command offset 97(Pr-602) u phase current sensing offset 97(Pr-603) w phase current sensing offset 97(Pr-604) A-lead-B swap 98(Pr-605) dynamic brake circuit protection 98(Pr-606) fault detail sampling period 98(Pr-607) fault detail data selection 1 99(Pr-608) fault detail data selection 2 99(Pr-609) fault detail data selection 3 99(Pr-610) fault detail data selection 4 99(Pr-611) 1st resonant frequency suppression
filter 100(Pr-612) 2nd resonant frequency suppression
filter 100(Pr-700) drive capacity 101(Pr-701) dc bus voltage offset 101(Pr-702) reserved 101(Pr-703) analog monitor output ch1 offset 102(Pr-704) analog monitor output ch1 scaling
102(Pr-705) analog monitor output ch2 offset 102(Pr-706) analog monitor output ch2 scaling
102(Pr-707) dc bus measurement scaling
calibration 103(Pr-900) standard motor flag 104(Pr-901) motor type 104(Pr-902) motor resistance 104(Pr-903) motor inductance 104(Pr-904) motor intermittent current 105(Pr-905) motor continuous current 105(Pr-906) motor rated voltage 105(Pr-907) encoder type 105(Pr-908) hall offset 105(Pr-909) current constant 106(Pr-910) motor inertia 106(Pr-911) polesrevolution 106(Pr-912) encoder linesrevolution 106(Pr-913) maximum rotary speed 106(Pr-914) force constant 107(Pr-915) motor mass 107(Pr-916) electrical cycle length 107
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 143
Index
(Pr-917) encoder linesmeter 107(Pr-918) maximum linear speed 107(Pr-919) motor thermal protection enable 108(Pr-920) motor thermostat 108(Pr-921) motor thermal resistance winding
to encoder 108(Pr-922) motor thermal capacitance
winding to encoder 108(Pr-923) motor thermal resisitance winding
to ambient 108(Pr-924) motor thermal capacitance
winding to ambient 109(Pr-925) commutation type 109(Pr-927) integral limits 109(Pr-927) startup commutation 109(Pr-928hellipPr 949) reserved 110(Pr-950) motor model 110(Pr-951) drive name 110(Pr-952) position scaling data 110(Pr-953) position scaling label 110(Pr-954) velocity scaling data 110(Pr-955) velocity scaling label 111(Pr-956) acceleration scaling data 111(Pr-957) acceleration scaling label 111(Pr-958) scope config 112(Pr-959) scope scaling 113(Pr-960) displayed units 113
Numerics1st gear ratio follower counts (Pr-301) 851st gear ratio master counts (Pr-302) 861st resonant frequency suppression filter
(Pr-110) 691st resonant frequency suppression filter
(Pr-611) 1001st resonant frequency suppression
width(Pr-111) 692nd current command low pass filter
bandwidth (Pr-131) 762nd gear ratio follower counts (Pr-305) 862nd gear ratio master counts (Pr-306) 872nd position regulator Kp gain (Pr-130) 762nd resonant frequency suppression filter
(Pr-112) 692nd resonant frequency suppression filter
(Pr-612) 1002nd resonant frequency suppression filter
depth (Pr-114) 702nd resonant frequency suppression filter
width (Pr-113) 702nd velocity command low pass filter
bandwidth (Pr-132) 762nd velocity regulator i gain (Pr-129) 75
2nd velocity regulator P gain (Pr-128) 753rd current command low pass filter
bandwidth (Pr-136) 773rd position regulator Kp gain (Pr-135) 773rd velocity command low pass filter
bandwidth (Pr-137) 773rd velocity regulator I gain (Pr-134) 773rd velocity regulator P gain (Pr-133) 764th current command low pass filter
bandwidth (Pr-141) 784th position regulator Kp gain (Pr-140) 784th velocity command low pass filter
bandwidth (Pr-142) 794th velocity regulator I gain (Pr-139) 784th velocity regulator P gain (Pr-138) 78
Aabort index 116abort index deceleration (IN0001) 116ac line loss 48ac line loss fault delay (Pr-512) 95acceleration (Pr-202) 80acceleration scaling data (Pr-956) 111acceleration scaling label (Pr-957) 111additional resources 7address map
flash saving parameter 21index function parameter 25modbus 11monitoring parameters 22output function status parameter 23running parameter 24special indexing parameters 13standard parameters 11
A-lead-B swap (Pr-604) 98allocation of input signals 1 (Pr-010) 55allocation of input signals 10 (Pr-019) 59allocation of input signals 11 (Pr-020) 59allocation of input signals 12 (Pr-021) 60allocation of input signals 2 (Pr-011) 56allocation of input signals 3 (Pr-012) 56allocation of input signals 4 (Pr-013) 57allocation of input signals 5 (Pr-014) 57allocation of input signals 6 (Pr-015) 58allocation of input signals 7 (Pr-016) 58allocation of input signals 8 (Pr-017) 58allocation of input signals 9 (Pr-018) 59allocation of output signals 1 (Pr-022) 60allocation of output signals 10 (Pr-031) 65allocation of output signals 2 (Pr-023) 61allocation of output signals 3 (Pr-024) 61allocation of output signals 4 (Pr-025) 62allocation of output signals 5 (Pr-026) 63allocation of output signals 6 (Pr-027) 63
144 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Index
allocation of output signals 7 (Pr-028) 63allocation of output signals 8 (Pr-029) 64allocation of output signals 9 (Pr-030) 64alternate gain (G-SEL) 57alternative gain enable 51analog current command offset (Pr-601) 97analog current inputs 46analog monitor output ch1 offset (Pr-703) 102analog monitor output ch1 scaling (Pr-704)
102analog monitor output ch2 offset (Pr-705) 102analog monitor output ch2 scaling (Pr-706)
102analog offset 102analog output ch1 scale (Pr-515) 95analog output ch1 selection (Pr-513) 95analog output ch2 scale (Pr-516) 96analog output ch2 selection (Pr-514) 95analog scaling 102analog speed command (C-SP4) 57analog velocity command offset (Pr-600) 97analog velocity inputs 46ASCII commands 29auto motor identification 52auto start homing on enable (IN0101) 121auto start indexing (IN0000) 116auto tuning functions (Pr-003) 49automatic (TAT) 38autotuning speed 49auxiliary function selection 1 (Pr-005) 51auxiliary function selection 2 (Pr-006) 52axis homed (HOMC) 62
Bbackup battery 51baud rate 54brake active delay (Pr-508) 93brake delay 93brake dynamic 98brake inactive delay (Pr-506) 93brake speed 94bus calibration 103bus voltage 101
Cchecksum 28CHP command 30command
automatic task (TAT) 38disable drive (SVROF) 44
enable drive (SVRON) 44fault reset (RST) 33jog (JOG) 40monitor variable (MDM) 33other functions (ETC) 42perform manual task (TMN) 39read drive status (STS) 41read fault contents (EHY) 40read fault detailed data (DIE) 43read indexing parameter (XET) 31read parameter (SET) 29reset drive (HWR) 44triggered data collection (MOT) 34variable roll monitoring (MOR) 36verify servo connection (LIV) 43verify software version (VER) 43write indexing parameter (XHP) 32write indexing parameter (XTR) 32write parameter (CHP) 30write parameter (STR) 30
command polarity 48command type 84communication method
RS232 54RS485 54
communication protocolASCII 54MODBUS-RTU 54
commutation 109commutation type (Pr-925) 109compiled variable 137
15 - digital inputs and outputs 13725 - digital inputs 13726 - digital outputs 13829 - indexing inputs 13830 - indexing outputs 139
controller output type 84conventions used 7counts
follower 85 86master 86 87motor 86output 86
creep velocity (IN0103) 122current bias 90current command lowpass filter bandwidth
(Pr-107) 68current constant (Pr-909) 106current limit 89 90current limit (T_LMT) 61current offset 97current regulator bandwidth reduction scale
(Pr-121) 73current scale (Pr-400) 89cut-off frequency 88cycle length 107
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 145
Index
DD gain regulator 67data bit 54dc bus measurement scaling calibration
(Pr-707 103dc bus voltage offset (Pr-701) 101deceleration (Pr-203) 81delay gain 74delay time of gain switching (Pr-124) 74digital filter cut-off frequency (Pr-308) 88disable brake 48disable delay (Pr-507) 93disable drive (SVROF) 44disabled braking speed (Pr-509) 94display parameter - input register address
map 22displayed units (Pr-960) 113drive address (Pr-007) 54drive capacity (Pr-700) 101drive enable (SV-ON) 55drive name (Pr-951) 110drive password 54drive reset 44dynamic brake circuit protection (Pr-605) 98dynamic tuning 49dynamic tuning response speed 49
EEHY command 40electrical cycle length (Pr-916) 107electronic gear select (GEAR) 57emergency stop inputs 51enable drive (SVRON) 44enable software limits (IN0004) 118encoder back-up battery 51encoder detect 52encoder linesmeter (Pr-917) 107encoder linesrevolution (Pr-912) 106encoder output 84encoder output ratio motor counts (Pr-304)
86encoder output ratio output counts (Pr-303)
86encoder type 47encoder type (Pr-907) 105end of sequence (E_SEQU) 63error output offset 72error output threshold 72ETC command 42exception code modbus 10
Ffaul reset (A-RST) 56fault codes 133fault detail data selection 1 (Pr-607) 99fault detail data selection 2 (Pr-608) 99fault detail data selection 3 (PrR-609) 99fault detail data selection 4 (Pr-610) 99fault detail sampling period (Pr-606) 98fault reset (RST) 33fault selection 99faultwarning registers address map 22feedback linesmeter 107flash memory update 30 32 39flash saving parameter address map 21follower (Pr-300) 84follower counts 85follower mode 46following error limit (Pr-510) 94force constant (Pr-914) 107frequency suppression 69function code
modbus 9
Ggain bank select (BANK_SEL) 58gain delay 74gain hysteresis 75gain level 74gain switch 74gain switching 52gain timing 75gear ratio 84general commands (ASCII) 29group 0 - indexing system address map 13group 0 - system level address map 11group 1 - gain control address map 11group 10 - index acceleration address map 18group 11 - index deceleration address map 19group 12 - next index address map 20group 2 - index option address map 14group 2 - speed control address map 12group 3 - position control address maps 12group 3 - reserved 14group 4 - index positiondistance address
map 15group 4 - torque control address maps 12group 5 - reserved 16group 5 - supplemental drive control address
maps 12group 6 - reserved 16group 7 - index dwell address map 16group 8 - index velocity address map 17group 9 - reserved 17
146 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Index
Hhall offset (Pr-908) 105home sensor (H_SENS) 58homing (H_SENS and SHOME) 58homing type (IN0100) 120homing velocity (IN0102) 121host command
fault codes 133indexing command extended (XCE) 31warnings 133
hysteresis of gain switching (Pr-126) 75
II gain 71I gain disable 72I gain regulation 77 78I gain regulator 66IO control authority (Pr-032) 65In Dwell (I_DW) 62in motion (IMO) 62in position size (Pr-500) 91incremental feedback loss 52index abort 116index acceleration 0hellip63 (IN1000hellipIN1063)
130index batch count (IN06xx) 128index deceleration 0hellip63 (IN1100hellipIN1163)
130index dwell 0hellip63 (IN0700hellipIN0763) 129index move 127index move profile (IN03xx) 128index move profile (IN09xx) 129index positiondistance 0hellip63
(IN0400hellipIN0463) 128index registration distance (IN05xx) 128index select (I_SEL0hellipI_SEL3) 58index select (I_SEL4hellipI_SEL5) 59
index select 0 out (O_ISEL0) 62index select 1hellip4 out (O_ISEL0hellipO_ISEL4) 63index select 5 out (O_ISEL5) 63index start 116index type 0hellip63 digit 0 (IN100hellipIN163) 127index velocity 0hellip63 (IN0800hellipIN0863) 129indexing command extended (XCE) 31inertia ratio (Pr-004) 50inhibit delay 95initial current bias (Pr-406) 90input function parameter address map 25integral limits (Pr-927) 109integrator inhibit (CON) 55
Jjog (JOG) 40JOG command 40jog velocity command (Pr-201) 80
KKff gain 70Kp gain position regulator 67Kp gain regulation 77 78
Llevel of gain switching (Pr-125) 74line break detect 52line loss check 48LIV command 43load inertia 50low pass filter (IReg) 76 77 78low pass filter (VReg) 76 77 79lowpass filter
current 68position 68velocity 68
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 147
Index
Mmanual task (TMN) 39manual velocity limit (Pr-212) 83master counts 86maximum linear speed (Pr-918) 107maximum rotary speed (Pr-913) 106maximum speed 106 107MDM command 33mnemonic commands
DIE 43HWR 44SVROF 44SVRON 44
modbus address map 11display parameter - input register 22faultwarning registers 22indexing parameter
group 0 - indexing system 13group 10 - index acceleration 18group 11 - index deceleration 19group 12 - next index 20group 2 - index option 14group 3 - reserved 14group 4 - indexing positiondistance 15group 5 - reserved 16group 6 - reserved 16group 7 - index dwell 16group 8 - index velocity 17group 9 - reserved 17
standard parametersgroup 0 - system level 11group 1 - gain control 11group 2 - speed control 12group 3 - position control 12group 4 - torque control 12group 5 - supplemental drive control 12
modbus exception codes 10modbus function codes 9MODBUS input function control 65MODBUS run function control 65monitor offset 102monitor scaling 102monitor variable 135monitor variable (MDM) 33monitoring parameters address map 22MOR command 36MOT command 34motor basic modes (Pr-002) 48motor configuration (Pr-001) 47motor continuous current (Pr-905) 105motor enable (START) 57motor flag 104motor forward direction 48motor identification 52motor inductance (Pr-903) 104
motor inertia 50motor inertia (Pr-910) 106motor intermittent current (Pr-904) 105motor mass (Pr-915) 107motor model (Pr-950) 110motor rated voltage (Pr-906) 105motor resistance (Pr-902) 104motor thermal capacitance winding to
ambient (Pr-924) 109motor thermal capacitance winding to
encoder (Pr-922) 108motor thermal protection enable (Pr-919) 108motor thermal resistance winding to
ambient (Pr-923) 108motor thermal resistance winding to
encoder (Pr-921) 108motor thermostat (Pr-920) 108motor type 47motor type (Pr-901) 104
Nnear position (NEAR) 61near position size (Pr-502) 91negative current limit (N-TL)positive current
limit (P-TL) 56negative deceleration distance (IN0003) 117negative external current limit (Pr-404) 90negative internal current limit (Pr-402) 89negative overtravel (N-OT) 55negative software limit (IN0006) 119next index 0hellip63 (IN1200hellipIN1263) 131notch filter
1st resonance 692nd resonance 702nd resonance depth 70
Ooff-line tuning 49on-line vibration mode (Pr-122) 73on-line vibration suppression 73operation mode override (C_SEL) 56operations mode (Pr-000) 46oscilloscope 112oscilloscope scaling 113other functions(ETC) 42output function status address map 23overtravel current limit (Pr-405) 90overtravel settings (P-ot) and N-OT) 55overtravel stop 48overtravel stop method 48
148 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Index
PP gain regulation 76 78P gain regulator 66packet structure 27parameter setting values (Pr-010hellipPr-021)
60parameter setting values (Pr-022hellipPr-032)
65parity bit 54password (Pr-008) 54pause indexing (PAUSE) 58polesrevolution (Pr-911) 106position clear (PCLR) 57position command lowpass filter bandwidth
(Pr-109) 68position gain switching time (Pr-127) 75position regulator high error output offset
(Pr-119) 72position regulator high error output threshold
(Pr-120) 72position regulator Kff bandwidth (Pr-116) 71position regulator Kff gain (Pr-115) 70position regulator Kp gain (Pr-106) 67position scaling data(Pr-952) 110position scaling label (Pr-953) 110position strobe (ABS-DT) 57position window (P-COM) 60positive deceleration distance (IN0002) 117positive external current limit (Pr-403) 89positive internal current limit (Pr-401) 89positive overtravel (P-OT) 55positive software limit (IN0005) 119power input 48preset direction (C-DIR) 56preset select (C-SP1 C-SP2 C-SP3) 56preset velocity 46preset velocity 1 (Pr-205) 81preset velocity 2 (Pr-206) 81preset velocity 3 (Pr-207) 82preset velocity 4 (Pr-208) 82preset velocity 5 (Pr-209) 82preset velocity 6 (Pr-210) 82preset velocity 7 (Pr-211) 83proportional gain 71
Rrated power 47read drive status (STS) 41read fault contents (EHY) 40read fault detailed data (DIE) 43read indexing parameter (XET) 31read parameter (SET) 29reboot drive 44reserved (Pr-307) 87reserved (Pr-501) 91reserved (Pr-511) 94reserved (Pr-702) 101reserved (Pr-928hellipPr 949) 110reset absolute encoder data (R_ABS) 58reset drive (HWR) 44RST command 33run control 65running parameter 24
Ssafety considerations inside front coversampling period 98scaling
acceleration data 111acceleration label 111position data 110position label 110velocity data 110velocity label 111
scope config (Pr-958) 112scope scaling (Pr-959) 113S-csurve time (Pr-204) 81serial port configuration (Pr-009) 54SET command 29special indexing parameter
address map 13speed clamp (Z-CLP) 57speed window (Pr-503) 92speed window (V-COM) 60standard motor flag (Pr-900 104standard parameters address map 11start homing (SHOME) 58start index (START_I) 59start indexing 116startup commutation (Pr-927) 109stop bit 54stop homing (H_STOP) 59stop indexing STOP) 58STR command 30STS command 41suppression filter 100symbols 27system gain (Pr-101) 66
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 149
Index
TTAT command 38thermal capacitance 108 109thermal protection 108thermal resistance 108thermostat 108TMN command 39training See lt$emphasislt$default fonttriggered data collection (MOT) 34
Uu phase current sensing offset (Pr-602) 97up to speed (Pr-504) 92up to speed (TG-ON) 60
Vvariable 135 137
15 - digital inputs and outputs 13725 - digital inputs 13726 - digital outputs 13829 - indexing inputs 13830 - indexing outputs 139
variable roll monitoring (MOR) 36velocity error filter (Pr-105) 67velocity limit 83velocity limit (V-LMT) 61velocity limit mode (Pr-213) 83velocity observer 51velocity offset 97velocity presets 46velocity regulator configuration (Pr123) 74velocity regulator D gain (Pr-104) 67velocity regulator I gain (Pr-103) 66velocity regulator I gain disable threshold
(Pr-118) 72velocity regulator I gain mode (Pr-117) 71
velocity regulator P gain (Pr-102) 66velocity regulator response level (Pr-100) 66velocity scaling data (Pr-954) 110velocity scaling label (Pr-955) 111velocitycommand lowpass filter bandwidth
(Pr-108) 68velocityscale (Pr-200) 80VER command 43verify servo connection (LIV) 43verify software version (VER) 43vibration suppression 69 73
Ww phase current sensing offset (Pr-603) 97warning (WARN) 61warnings 133watchdog timer 44 134within position window (P-COM) 60within speed window (V-COM) 60write indexing parameter (XHP) 32write indexing parameter (XTR) 32write parameter (CHP) 30write parameter (STR) 30
XXCE command 31XET command 31XHP command 32XTR command 32
Zzero clamp (Pr-505) 92zero speed (Z-CLP) 57
150 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Index
Notes
Publication 2071-RM001A-EN-P - September 2010 152 PN-79403Copyright copy 2010 Rockwell Automation Inc All rights reserved Printed in the USA
Rockwell Automation Support
Rockwell Automation provides technical information on the Web to assist you in using its products At httpwwwrockwellautomationcomsupport you can find technical manuals a knowledge base of FAQs technical and application notes sample code and links to software service packs and a MySupport feature that you can customize to make thebest use of these tools
For an additional level of technical phone support for installation configuration and troubleshooting we offer TechConnect support programs For more information contact your local distributor or Rockwell Automation representative or visit httpwwwrockwellautomationcomsupport
Installation Assistance
If you experience an anomoly within the first 24 hours of installation review the information that is contained in this manualYou can contact Customer Support for initial help in getting your product up and running
New Product Satisfaction Return
Rockwell Automation tests all of its products to ensure that they are fully operational when shipped from the manufacturing facility However if your product is not functioning and needs to be returned follow these procedures
Documentation Feedback
Your comments will help us serve your documentation needs better If you have any suggestions on how to improve this document complete this form publication RA-DU002 available at httpwwwrockwellautomationcomliterature
United States or Canada 14406463434
Outside United States or Canada
Use the Worldwide Locator at httpwwwrockwellautomationcomsupportamericasphone_enhtml or contact your local Rockwell Automation representative
United States Contact your distributor You must provide a Customer Support case number (call the phone number above to obtain one) to your distributor to complete the return process
Outside United States Please contact your local Rockwell Automation representative for the return procedure
- 2071-RM001A-EN-P September 2010
- Important User Information
- Table of Contents
- Preface
-
- About This Publication
- Who Should Use This Manual
- Conventions Used in This Manual
- Additional Resources
-
- 1 - Modbus Protocol
-
- Function Codes
- Exception Codes
- Address Maps
-
- Standard Parameters
- Indexing Parameters
- Save Flash Memory Parameter
- Monitoring Parameter (Function Code 0x04)
- Fault and Warning Status Parameter - Input Registers
- Output Function Status Parameter
- Running Parameter (Function Code 0x06 or 0x10)
- Input Function Parameter (Function Code 0x03 0x06 or 0x10)
-
- 2 - Communication Protocol (RS-232ASCII)
-
- Introduction
- Special Symbols
- Packet Structure
- Checksum
-
- 3 - General Commands (ASCII)
-
- Read Parameter (SET)
- Write Parameter (STR)
- Write Parameter (CHP)
- Indexing Command Extended (XCE)
- Read Indexing Parameter (XET)
- Write Indexing Parameter (XHP)
- Write Indexing Parameter (XTR)
- Fault Reset (RST)
- Monitor Variable (MDM)
- Triggered Data Collection (MOT)
- Variable Roll Monitoring (MOR)
- Automatic Task (TAT)
- Manual Task (TMN)
- Read Fault Contents (EHY)
- Jog (JOG)
- Read Drive Status (STS)
- Other Functions (ETC)
- Verify Software Version (VER)
- Verify Servo Connection (LIV)
- Read Fault Detailed Data (DIE)
- Enable Drive (SVRON)
- Disable Drive (SVROF)
- Reset Drive (HWR)
-
- A - Standard Drive Parameters
-
- Parameter Groupings
- Parameter Descriptions
-
- Group 0 - System Level
- Group 1 - Gain Control
- Group 2 - Speed Control
- Group 3 - Position Control
- Group 4 - Torque Controls
- Group 5 - Supplemental Drive Controls
- Group 6 - Supplemental Gain and Report Settings
- Group 7 - Manufacturing Settings
- Group 8 - Reserved Parameters
- Group 9 - Motor Controls
-
- B - Indexing Drive Parameters
-
- Parameter Groupings
- Parameter Descriptions
-
- Group 0 - Indexing System
- Group 1 - Homing
- Group 2 - Indexing Options
- Group 3 - Index Move Profile
- Group 4 - Index PositionDistance
- Group 5 - Index Registration Distance
- Group 6 - Index Batch Count
- Group 7 - Index Dwell
- Group 8 - Index Velocity
- Group 9 - Index Move Profile
- Group 10 - Index Acceleration
- Group 11 - Index Deceleration
- Group 12 - Index Next Index
-
- C - Warnings and Fault Codes
-
- Warnings
- Fault Codes
-
- D - Monitor Variables
-
- Variables
- Compiled Variables
-
- Variable 15 - Digital Inputs and Outputs
- Variable 25 - Digital Inputs
- Variable 26 - Digital Outputs
- Variable 29 - Indexing Inputs
- Variable 30 - Indexing Outputs
-
- Index
- Technical Support
-
6 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Table of Contents
Notes
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 7
Preface
About This Publication This manual describes the host command set for end-user interface with a Kinetix 3 drive via serial communication Use this manual for designing programming and troubleshooting host commands for serial communication with the Kinetix 3 drives
Who Should Use This Manual
This manual is intended for engineers programmers or technicians directly involved in the installation operation programming and field maintenance of a Kinetix 3 drive by using host mode commands
If you do not have a basic understanding of the Kinetix 3 drive contact your local Rockwell Automation sales representative before using this product for the availability of training courses
Conventions Used in This Manual
The conventions starting below are used throughout this manual bull Bulleted lists such as this one provide information not procedural stepsbull Numbered lists provide sequential steps or hierarchical information
Additional Resources These documents contain additional information concerning related Rockwell Automation products
You can view or download publications at httpwwwrockwellautomationcomliterature To order paper copies of technical documentation contact your local Rockwell Automation distributor or sales representative
Resource Description
Kinetix 3 Component Servo Drive Installation Instruction publication 2071-IN001
Mounting and wiring instructions and mounting dimensions
Kinetix 3 IO Breakout Board Installation Instructions publication 2071-IN002
Kinetix 3 Motor Feedback Breakout Board Installation Instructions publication 2071-IN003
Kinetix 3 Serial Communication Cables Installation Instructions publication 2090-IN019
Kinetix 3 Component Servo Drive User Manual publication 2071-UM001
Information on installing configuring starting up and troubleshooting for your Kinetix 3 servo drive system
Ultraware User Manual publication 2098-UM001
Information on configuring and operating Ultraware software with servo drives and motors
8 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Preface
Notes
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 9
Chapter 1
Modbus Protocol
This chapter defines the Modbus protocol as it applies to a Kinetix 3 drive
Function Codes The register number of MODBUS devices may begin with 0 or 1 Because this is determined by the MODBUS host you the customer have selected A 1 must be added to the register number if your controller requires it
The maximum number of parameters that can be read or written at the same time is the same as the number of MODBUS addresses which is the same as the number of the parameters in each group In other words all the parameters in each group can be read together or written together
Function Code Description
03(0x03) Read Holding Registers
04(0x04) Read Input Registers
06(0x06) Write Single Register
16(0x10) Write Multiple Register
10 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 1 Modbus Protocol
Exception Codes The Kinetix 3 Modbus protocol uses the following exception codes from the Modbus specifications
Exception Code
Name Meaning
0x01 Illegal Function The function code received in the query is not an allowable action for the slave
0x02 Illegal Data Address
The data address received in the query is not an allowable address for the slave
0x03 (1)
(1) Exception code 0x03 indicates an Illegal Data Value It means the length of data string is incorrect Exception code 14(0x0E) indicates an Illegal Data Range It means that data range exceeds the limit of the minimum or maximum value
Illegal Data Value
The length of query data field is not valid for the slave
0x06 Slave Device Busy
The slave is engaged in processing Run command The master should retransmit the message later when the slave is free
0x07 Illegal CRC Value
The CRC value received in the query is wrong value
0x0C Illegal Frame The byte length of the Query Reception frame is out of the limit
0x0D (2)
(2) Exception code 0x0D is generated if the master accesses a 32bit data address with function code 06 or either the high or low address of 32bit data with function code 10
Illegal Sequence
The data sequence received in the query is not an allowable write command for the slave
0x0E (1) Illegal Data Range
The value of query data field is not valid for the slave
0x0F (3)
(3) Exception code 15(0x0F) indicates an Illegal Command was issued It occurs when a received Run control cannot be executed at the moment
Illegal Command
The slave is in Run control and received an invalid command
0x10 (4)
(4) Exception code 16(0x10) is an Illegal Control It occurs when the Network Control Mode is not set but the drive requests a Run Control command or an IO Control command through the network
Illegal Control The slave is not in the Network mode but received a network control command
0x1F Servo Error Fail When the slave is Servo Error condition and receives a Servo ON command from master
0x21 Drive Type Fail When drive type of the slave is Indexing slave receives run command 02 03 04
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 11
Modbus Protocol Chapter 1
Address Maps All standard and indexing parameters (Pr-xxx or Inxxxx) require a unique register address The host computer assigns the initial address number and determines whether the register numbers begin with 0 or 1
Standard Parameters
Group 0 - System Level (1)
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
0 Pr-000 10 Pr-009 20 Pr-019 30 Pr-029
1 Pr-001[Lo] 11 Pr-010 21 Pr-020 31 Pr-030
2 Pr-001[Hi] 12 Pr-011 22 Pr-021 32 Pr-031
3 Pr-002 13 Pr-012 23 Pr-022 33 Pr-032
4 Pr-003 14 Pr-013 24 Pr-023 34hellip42 Reserved
5 Pr-004 15 Pr-014 25 Pr-024 43hellip99 Reserved
6 Pr-005 16 Pr-015 26 Pr-025
7 Pr-006 17 Pr-016 27 Pr-026
8 Pr-007 18 Pr-017 28 Pr-027
9 Pr-008 19 Pr-018 29 Pr-028
(1) Refer to Monitoring Parameter (Function Code 0x04) on page 22 for more detailed information on this parameter
Group 1 - Gain Control
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
100 (1) Pr-100 111 Pr-111 122 Pr-122 133 Pr-133
101 (1) Pr-101 112 Pr-112 123 Pr-123 134 Pr-134
102 Pr-102 113 Pr-113 124 Pr-124 135 Pr-135
103 Pr-103 114 Pr-114 125 Pr-125 136 Pr-136
104 Pr-104 115 Pr-115 126 Pr-126 137 Pr-137
105 Pr-105 116 Pr-116 127 Pr-127 138 Pr-138
106 Pr-106 117 Pr-117 128 Pr-128 139 Pr-139
107 Pr-107 118 Pr-118 129 Pr-129 140 Pr-140
108 Pr-108 119 Pr-119 130 Pr-130 141 Pr-141
109 Pr-109 120 Pr-120 131 Pr-131 142 Pr-142
110 Pr-110 121 Pr-121 132 Pr-132 143hellip199 Reserved
(1) Refer to Fault and Warning Status Parameter - Input Registers on page 22 for more detailed information on this parameter
12 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 1 Modbus Protocol
Group 2 - Speed Control
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
200 (1) Pr-200 206 Pr-204 212 Pr-210
201 (1) Pr-201 207 Pr-205 213 Pr-211
202 Pr-202[Lo] 208 Pr-206 214 Pr-212
203 Pr-202[Hi] 209 Pr-207 215 Pr-213
204 Pr-203[Lo] 210 Pr-208 216hellip299 Reserved
205 Pr-203[Hi] 211 Pr-209
(1) Refer to Output Function Status Parameter on page 23 for more detailed information on these parameters
Group 3 - Position Control
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
300 Pr-300 303 Pr-303 306 Pr-306 309hellip399 Reserved
301 Pr-301 304 Pr-304 307 Reserved
302 Pr-302 305 Pr-305 308 Pr-308
Group 4 - Torque Control
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
400 Pr-400 402 Pr-402 404 Pr-404 406 Pr-406
401 Pr-401 403 Pr-403 405 Pr-405 407hellip499 Reserved
Group 5 - Supplemental Drive Control
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
500 Pr-500 506 Pr-506 512 Pr-511 517 Pr-514[Hi]
501 Pr-501 507 Pr-507 513 Pr-512 518 Pr-515[Lo]
502 Pr-502 508 Pr-508 514 Pr-513 519 Pr-515[Hi]
503 Pr-503 509 Pr-509 514 Pr-513[Lo] 520 Pr-516[Lo]
504 Pr-504 510 Pr-510[Lo] 515 Pr-513[Hi] 521 Pr-516[Hi]
505 Pr-505 511 Pr-510[Hi] 516 Pr-514[Lo] 522hellip599 Reserved
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 13
Modbus Protocol Chapter 1
For parameters within the MODBUS address range of 600hellip4999 refer to the following parameters
bull Monitoring Parameter (Function Code 0x04) on page 22 for MODBUS Addresses 0hellip44
bull Fault and Warning Status Parameter - Input Registers on page 22 for MODBUS Addresses 100hellip101
bull Output Function Status Parameter on page 23 for MODBUS Addresses 2000hellip2016
bull Running Parameter (Function Code 0x06 or 0x10) on page 24 for MODBUS Addresses 2000hellip2016
bull Input Function Parameter (Function Code 0x03 0x06 or 0x10) on page 25 for MODBUS Addresses 3000hellip3002
Indexing Parameters
Group 0 - Indexing System
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
4000 Index 0 Distance Low
4005 Index 0 Accel Low
4001 Index 0 Distance High
4006 Index 0 Accel High
4002 Index 0 Velocity 4007 Index 0 Dwell
4003 Index 0 Decel Low
4008 Index 0 Option
4004 Index 0 Decel High
4009hellip4199 Reserved
Group 0 - Indexing System
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
5000 In0000 5006 In0003Hi
5001 In0001Lo 5007 In0004
5002 In0001Hi 5008 In0005Lo
5003 In0002Lo 5009 In0005Hi
5004 In0002Hi 5010 In0006Lo
5005 In0003Lo 5011 In0006Hi
5012hellip5199 Reserved
14 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 1 Modbus Protocol
Group 2 ndash Index Option
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
5400 In0200 5416 In0216 5432 In0232 5448 In0248
5401 In0201 5417 In0217 5433 In0233 5449 In0249
5402 In0202 5418 In0218 5434 In0234 5450 In0250
5403 In0203 5419 In0219 5435 In0235 5451 In0251
5404 In0204 5420 In0220 5436 In0236 5452 In0252
5405 In0205 5421 In0221 5437 In0237 5453 In0253
5406 In0206 5422 In0222 5438 In0238 5454 In0254
5407 In0207 5423 In0223 5439 In0239 5455 In0255
5408 In0208 5424 In0224 5440 In0240 5456 In0256
5409 In0209 5425 In0225 5441 In0241 5457 In0257
5410 In0210 5426 In0226 5442 In0242 5458 In0258
5411 In0211 5427 In0227 5443 In0243 5459 In0259
5412 In0212 5428 In0228 5443 In0243 5460 In0260
5413 In0213 5429 In0229 5444 In0244 5461 In0261
5414 In0214 5430 In0230 5445 In0245 5462 In0262
5415 In0215 5431 In0231 5446 In0246 5463 In0263
5447 In0247 5464 hellip5599 Reserved
Group 3 - Reserved
MODBUS Address
Kinetix 3 Parameter
5600hellip5799 Reserved
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 15
Modbus Protocol Chapter 1
Group 4 ndash Index PositionDistance
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
5800 In0400Lo 5834 In0417Lo 5868 In0434Lo 5902 In0451Lo
5801 In0400Hi 5835 In0417 Hi 5869 In0434 Hi 5903 In0451Hi
5802 In0401Lo 5836 In0418Lo 5870 In0435Lo 5904 In0452Lo
5803 In0401Hi 5837 In0418 Hi 5871 In0435 Hi 5905 In0452Hi
5804 In0402Lo 5838 In0419Lo 5872 In0436Lo 5906 In0453Lo
5805 In0402Hi 5839 In0419 Hi 5873 In0436 Hi 5907 In0453Hi
5806 In0403Lo 5840 In0420Lo 5874 In0437Lo 5908 In0454Lo
5807 In0403Hi 5841 In0420 Hi 5875 In0437 Hi 5909 In0454Hi
5808 In0404Lo 5842 In0421Lo 5876 In0438Lo 5910 In0455Lo
5809 In0404Hi 5843 In0421 Hi 5877 In0438 Hi 5911 In0455Hi
5810 In0405Lo 5844 In0422Lo 5878 In0439Lo 5912 In0456Lo
5811 In0405Hi 5845 In0422 Hi 5879 In0439 Hi 5913 In0456Hi
5812 In0406Lo 5846 In0423Lo 5880 In0440Lo 5914 In0457Lo
5813 In0406Hi 5847 In0423 Hi 5881 In0440 Hi 5915 In0457Hi
5814 In0407Lo 5848 In0424Lo 5882 In0441Lo 5916 In0458Lo
5815 In0407Hi 5849 In0424 Hi 5883 In0441 Hi 5917 In0458Hi
5816 In0408Lo 5850 In0425Lo 5884 In0442Lo 5918 In0459Lo
5817 In0408Hi 5851 In0425 Hi 5885 In0442 Hi 5919 In0459Hi
5818 In0409Lo 5852 In0426Lo 5886 In0443Lo 5920 In0460Lo
5819 In0409Hi 5853 In0426 Hi 5887 In0443 Hi 5921 In0460Hi
5820 In0410Lo 5854 In0427Lo 5888 In0444Lo 5922 In0461Lo
5821 In0410Hi 5855 In0427 Hi 5889 In0444 Hi 5923 In0461Hi
5822 In0411Lo 5856 In0428Lo 5890 In0445Lo 5924 In0462Lo
5823 In0411Hi 5857 In0428 Hi 5891 In0445 Hi 5925 In0462Hi
5824 In0412Lo 5858 In0429Lo 5892 In0446Lo 5926 In0463Lo
5825 In0412Hi 5859 In0429 Hi 5893 In0446 Hi 5927 In0463Hi
5826 In0413Lo 5860 In0430Lo 5894 In0447Lo 5928hellip5999 Reserved
5827 In0413Hi 5861 In0430 Hi 5895 In0447Hi
5828 In0414Lo 5862 In0431Lo 5896 In0448Lo
5829 In0414Hi 5863 In0431 Hi 5897 In0448Hi
5830 In0415Lo 5864 In0432Lo 5898 In0449Lo
5831 In0415Hi 5865 In0432 Hi 5899 In0449Hi
5832 In0416Lo 5866 In0433Lo 5900 In0450Lo
5833 In0416 Hi 5867 In0433 Hi 5901 In0450Hi
16 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 1 Modbus Protocol
Group 5 - Reserved
MODBUS Address
Kinetix 3 Parameter
6000hellip6199 Reserved
Group 6 - Reserved
MODBUS Address
Kinetix 3 Parameter
6200hellip6399 Reserved
Group 7 ndash Index Dwell
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
6400 In0700 6417 In0717 6434 In0734 6451 In0751
6401 In0701 6418 In0718 6435 In0735 6452 In0752
6402 In0702 6419 In0719 6436 In0736 6453 In0753
6403 In0703 6420 In0720 6437 In0737 6454 In0754
6404 In0704 6421 In0721 6438 In0738 6455 In0755
6405 In0705 6422 In0722 6439 In0739 6456 In0756
6406 In0706 6423 In0723 6440 In0740 6457 In0757
6407 In0707 6424 In0724 6441 In0741 6458 In0758
6408 In0708 6425 In0725 6442 In0742 6459 In0759
6409 In0709 6426 In0726 6443 In0743 6460 In0760
6410 In0710 6427 In0727 6444 In0744 6461 In0761
6411 In0711 6428 In0728 6445 In0745 6462 In0762
6412 In0712 6429 In0729 6446 In0746 6463 In0763
6413 In0713 6430 In0730 6447 In0747 6464 hellip6599 Reserved
6414 In0714 6431 In0731 6448 In0748
6415 In0715 6432 In0732 6449 In0749
6416 In0716 6433 In0733 6450 In0750
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 17
Modbus Protocol Chapter 1
Group 8 ndash Index Velocity
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
6600 In0800 6616 In0816 6632 In0832 6648 In0848
6601 In0801 6617 In0817 6633 In0833 6649 In0849
6602 In0802 6618 In0818 6634 In0834 6650 In0850
6603 In0803 6619 In0819 6635 In0835 6651 In0851
6604 In0804 6620 In0820 6636 In0836 6652 In0852
6605 In0805 6621 In0821 6637 In0837 6653 In0853
6606 In0806 6622 In0822 6638 In0838 6654 In0854
6607 In0807 6623 In0823 6639 In0839 6655 In0855
6608 In0808 6624 In0824 6640 In0840 6656 In0856
6609 In0809 6625 In0825 6641 In0841 6657 In0857
6610 In0810 6626 In0826 6642 In0842 6658 In0858
6611 In0811 6627 In0827 6643 In0843 6659 In0859
6612 In0812 6628 In0828 6644 In0844 6660 In0860
6613 In0813 6629 In0829 6645 In0845 6661 In0861
6614 In0814 6630 In0830 6646 In0846 6662 In0862
6615 In0815 6631 In0831 6647 In0847 6663 In0863
6664 hellip6799 Reserved
Group 9 - Reserved
MODBUS Address
Kinetix 3 Parameter
6800hellip6999 Reserved
18 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 1 Modbus Protocol
Group 10 ndash Index Acceleration
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
7000 In1000Lo 7032 In1016Lo 7064 In1032Lo 7096 In1048Lo
7001 In1000Hi 7033 In1016 Hi 7065 In1032 Hi 7097 In1048 Hi
7002 In1001Lo 7034 In1017Lo 7066 In1033Lo 7098 In1049Lo
7003 In1001Hi 7035 In1017 Hi 7067 In1033 Hi 7099 In1049 Hi
7004 In1002Lo 7036 In1018Lo 7068 In1034Lo 7100 In1050Lo
7005 In1002Hi 7037 In1018 Hi 7069 In1034 Hi 7101 In1050 Hi
7006 In1003Lo 7038 In1019Lo 7070 In1035Lo 7102 In1051Lo
7007 In1003Hi 7039 In1019 Hi 7071 In1035 Hi 7103 In1051 Hi
7008 In1004Lo 7040 In1020Lo 7072 In1036Lo 7104 In1052Lo
7009 In1004Hi 7041 In1020 Hi 7073 In1036 Hi 7105 In1052 Hi
7010 In1005Lo 7042 In1021Lo 7074 In1037Lo 7106 In1053Lo
7011 In1005Hi 7043 In1021 Hi 7075 In1037 Hi 7107 In1053 Hi
7012 In1006Lo 7044 In1022Lo 7076 In1038Lo 7108 In1054Lo
7013 In1006Hi 7045 In1022 Hi 7077 In1038 Hi 7109 In1054 Hi
7014 In1007Lo 7046 In1023Lo 7078 In1039Lo 7110 In1055Lo
7015 In1007Hi 7047 In1023 Hi 7079 In1039 Hi 7111 In1055 Hi
7016 In1008Lo 7048 In1024Lo 7080 In1040Lo 7112 In1056Lo
7017 In1008Hi 7049 In1024 Hi 7081 In1040 Hi 7113 In1056 Hi
7018 In1009Lo 7050 In1025Lo 7082 In1041Lo 7114 In1057Lo
7019 In1009Hi 7051 In1025 Hi 7083 In1041 Hi 7115 In1057 Hi
7020 In1010Lo 7052 In1026Lo 7084 In1042Lo 7116 In1058Lo
7021 In1010Hi 7053 In1026 Hi 7085 In1042 Hi 7117 In1058 Hi
7022 In1011Lo 7054 In1027Lo 7086 In1043Lo 7118 In1059Lo
7023 In1011Hi 7055 In1027 Hi 7087 In1043 Hi 7119 In1059 Hi
7024 In1012Lo 7056 In1028Lo 7088 In1044Lo 7120 In1060Lo
7025 In1012Hi 7057 In1028 Hi 7089 In1044 Hi 7121 In1060 Hi
7026 In1013Lo 7058 In1029Lo 7090 In1045Lo 7122 In1061Lo
7027 In1013Hi 7059 In1029 Hi 7091 In1045 Hi 7123 In1061 Hi
7028 In1014Lo 7060 In1030Lo 7092 In1046Lo 7124 In1062Lo
7029 In1014Hi 7061 In1030 Hi 7093 In1046 Hi 7125 In1062 Hi
7030 In1015Lo 7062 In1031Lo 7094 In1047Lo 7126 In1063Lo
7031 In1015Hi 7063 In1031 Hi 7095 In1047 Hi 7127 In1063 Hi
7128 hellip7199 Reserved
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 19
Modbus Protocol Chapter 1
Group 11 ndash Index Deceleration
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
7200 In1100Lo 7232 In1116 Lo 7264 In1132Lo 7296 In1148Lo
7201 In1100Hi 7233 In1116 Hi 7265 In1132 Hi 7297 In1148 Hi
7202 In1101Lo 7234 In1117Lo 7266 In1133Lo 7298 In1149Lo
7203 In1101Hi 7235 In1117 Hi 7267 In1133 Hi 7299 In1149 Hi
7204 In1102Lo 7236 In1118Lo 7268 In1134Lo 7300 In1150Lo
7205 In1102Hi 7237 In1118 Hi 7269 In1134 Hi 7301 In1150 Hi
7206 In1103Lo 7238 In1119Lo 7270 In1135Lo 7302 In1151Lo
7207 In1103Hi 7239 In1119 Hi 7271 In1135 Hi 7303 In1151 Hi
7208 In1104Lo 7240 In1120Lo 7272 In1136Lo 7304 In1152Lo
7209 In1104Hi 7241 In1120 Hi 7273 In1136 Hi 7305 In1152 Hi
7210 In1105Lo 7242 In1121Lo 7274 In1137Lo 7306 In1153Lo
7211 In1105Hi 7243 In1121 Hi 7275 In1137 Hi 7307 In1153 Hi
7212 In1106Lo 7244 In1122Lo 7276 In1138Lo 7308 In1154Lo
7213 In1106Hi 7245 In1122 Hi 7277 In1138 Hi 7309 In1154 Hi
7214 In1107Lo 7246 In1123Lo 7278 In1139Lo 7310 In1155Lo
7215 In1107Hi 7247 In1123 Hi 7279 In1139 Hi 7311 In1155 Hi
7216 In1108Lo 7248 In1124Lo 7280 In1140Lo 7312 In1156Lo
7217 In1108Hi 7249 In1124 Hi 7281 In1140 Hi 7313 In1156 Hi
7218 In1109Lo 7250 In1125Lo 7282 In1141Lo 7314 In1157Lo
7219 In1109Hi 7251 In1125 Hi 7283 In1141 Hi 7315 In1157 Hi
7220 In1110Lo 7252 In1126Lo 7284 In1142Lo 7316 In1158Lo
7221 In1110Hi 7253 In1126 Hi 7285 In1142 Hi 7317 In1158 Hi
7222 In1111Lo 7254 In1127Lo 7286 In1143Lo 7318 In1159Lo
7223 In1111Hi 7255 In1127 Hi 7287 In1143 Hi 7319 In1159 Hi
7224 In1112Lo 7256 In1128Lo 7288 In1144Lo 7320 In1160Lo
7225 In1112Hi 7257 In1128 Hi 7289 In1144 Hi 7321 In1160 Hi
7226 In1113Lo 7258 In1129Lo 7290 In1145Lo 7322 In1161Lo
7227 In1113Hi 7259 In1129 Hi 7291 In1145 Hi 7323 In1161 Hi
7228 In1114Lo 7260 In1130Lo 7292 In1146Lo 7324 In1162Lo
7229 In1114Hi 7261 In1130 Hi 7293 In1146 Hi 7325 In1162 Hi
7230 In1115Lo 7262 In1131Lo 7294 In1147Lo 7326 In1163Lo
7231 In1115Hi 7263 In1131Hi 7295 In1147 Hi 7327 In1163 Hi
7328 hellip7399 Reserved
20 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 1 Modbus Protocol
Group 12 ndash Next Index
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
7400 In1200 7416 In1216 7432 In1232 7448 In1248
7401 In1201 7417 In1217 7433 In1233 7449 In1249
7402 In0702 7418 In1218 7434 In1234 7450 In1250
7403 In1203 7419 In1219 7435 In1235 7451 In1251
7404 In1204 7420 In1220 7436 In1236 7452 In1252
7405 In1205 7421 In1221 7437 In1237 7453 In1253
7406 In1206 7422 In1222 7438 In1238 7454 In1254
7407 In1207 7423 In1223 7439 In1239 7455 In1255
7408 In1208 7424 In1224 7440 In1240 7456 In1256
7409 In1209 7425 In1225 7441 In1241 7457 In1257
7410 In1210 7426 In1226 7442 In1242 7458 In1258
7411 In1211 7427 In1227 7443 In1243 7459 In1259
7412 In1212 7428 In1228 7444 In1244 7460 In1260
7413 In1213 7429 In1229 7445 In1245 7461 In1261
7414 In1214 7430 In1230 7446 In1246 7462 In1262
7415 In1215 7431 In1231 7447 In1247 7463 In1263
7464 hellip7599 Reserved
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 21
Modbus Protocol Chapter 1
Save Flash Memory Parameter
MODBUS Address
Data Status Description
9999 (decimal) 1 Write data into flash memory
22 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 1 Modbus Protocol
Monitoring Parameter (Function Code 0x04)
Fault and Warning Status Parameter - Input Registers
Display Parameter - Input Registers (Default = 0)
MODBUS Address
Drive Name Unit
0 dis-00 Velocity Feedback rpm
1 dis-01 Velocity Command rpm
2 dis-02 Velocity Error rpm
3 dis-03 Torque Command 010
4hellip5 dis-04 Position Feedback counts
6hellip7 dis-05 Position Command counts
8hellip9 dis-06 Position Error counts
10 dis-07 Pulse Command Frequency 01pps
11 dis-08 Electrical Angle 01
12 dis-09 Mechanical Angle 01
13 dis-10 Regeneration Load Ratio
14 dis-11 DC-Link Voltage V
15 dis-12 Multi-Turn Data Turn number
16hellip17 dis-13 Offset in Velocity Command 01mV
18hellip19 dis-14 Torque Offset 01mV
20hellip24 dis-15 InputOutput Signal Status -
25hellip32 dis-16 Display Error History 8Alarm
33 dis-17 Display Software Version 1word
34hellip35 dis-18 Display Motor info 2word
36 dis-19 Analog Velocity Command Voltage 001V
37 dis-20 Analog Current Command Voltage 001V
38 dis-21 Drive Rated Output Power 1word
39hellip40 dis-22 Absolute Single Turn Data -
41hellip42 dis-23 Encoder Feedback Counter counts
43hellip99 Reserved - -
Fault and Warning Status Parameter - Input Registers (Default = 0)
Modbus Address Function Name Unit
100 Error Check Servo Error Code Word
101 Warning Check Servo Warning Code Word
102hellip199 Reserved - -
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 23
Modbus Protocol Chapter 1
Output Function Status Parameter
Modbus Address
Output Function Description Unit Position [bits]
200 S_ALM Alarm Bit [0]
P-COM Within position window Bit [1]
TG-ON Up to speed Bit [2]
BK Brake control Bit [3]
V-COM Within Speed window Bit [4]
A-VLD Absolute position valid Bit [5]
RDY Drive Ready Bit [6]
T-LMT NEAR Current Limited Bit [7]
V-LMT WARN Velocity Limited Bit [8]
NEAR Near position Bit [9]
WARN Warning Bit [10]
Reserved - Bit [11]
Reserved - Bit [12]
IMO In Motion Bit [13]
I-DW In Dwell Bit [14]
HOMC Axis Homed Bit [15]
201 O_ISEL0 Index Select 0 Out Bit [0]
O_ISEL1 Index Select 1 Out Bit [1]
O_ISEL2 Index Select 2 Out Bit [2]
O_ISEL3 Index Select 3 Out Bit [3]
O_ISEL4 Index Select 4 Out Bit [4]
O_ISEL5 Index Select 5 Out Bit [5]
E_SEQU End of Sequence Bit [6]
Reserved - Bit [7hellip15]
24 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 1 Modbus Protocol
Running Parameter (Function Code 0x06 or 0x10)
Run Parameter - Holding Registers (Default = 2000)
Modbus Address
Attribute RUN Name Access Unit
2000 User Open run-00 Jog Operation 1 byte
2001 run-01 Off-Line Auto Tuning 1 bit
2002 run-02 Reserved -
2003 run-03 Auto Adjustment of Speed Command Offset
1 bit
2004 run-04 Auto Adjustment of Current Command Offset
1 bit
2005hellip2007 run-05hellip run-07 Reserved -
2008 run-08 Alarm Reset 1 bit
2009 run-09 Reserved -
2010 run-10 Absolute Encoder Reset 1 bit
2011 run-11 2-Group Gain Storing 1 bit
2012 run-12 Parameter Initialization 1 bit
2013hellip2015 run-13helliprun-15 Reserved -
2016 run-16 Hardware Reset 1 bit
2017hellip2099 run-17helliprun-99 Reserved -
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 25
Modbus Protocol Chapter 1
Input Function Parameter (Function Code 0x03 0x06 or 0x10)
Input Function Control - Holding Registers
Modbus Address
IO Function Description Unit Position Bit
3000 SV-ON Drive Enable bit 0
- Reserved - [1] and [2]
P-CON Integrator Inhibit bit [3]
A-RST Fault Reset bit [4]
N-CL Negative Current Limit bit [5]
P-CL Positive Current Limit bit [6]
C-SEL Operation Mode Override bit [7]
C-DIR Preset Direction bit [8]
C-SP1 Preset Select 1 bit [9]
C-SP2 Preset Select 2 bit [10]
C-SP3 Preset Select 3 bit [11]
C-SP4 Preset Select 4 bit [12]
INHIB Pause Follower bit [13]
G-SEL Alternate Gain Select bit [14]
PCLR Position clear bit [15]
3001 ABS-DT Position Strobe bit [0]
START Motor Moving Enable bit [1]
Z-CLP Zero Speed Clamp Enable bit [2]
GEAR 2nd Electronic Gear Bank Selection bit [3]
R-ABS Reset multi-turn data of Absolute Encoder
bit [4]
- Reserved - [5]
SHOME Start Homing bit [6]
STOP Stop Indexing bit [7]
PAUSE Pause Indexing bit [8]
I-SEL0 Index Select 0 Input bit [9]
I-SEL1 Index Select 1 Input bit [10]
I-SEL2 Index Select 2 Input bit [11]
I-SEL3 Index Select 3 Input bit [12]
I-SEL4 Index Select 4 Input bit [13]
I-SEL5 Index Select 5 Input bit [14]
H_STOP Stop Homing bit [15]
3002 START_I Start Index bit [0]
BANK_SEL Gain Bank Select bit [1]
- Reserved - [2hellip15]
26 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 1 Modbus Protocol
Notes
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 27
Chapter 2
Communication Protocol (RS-232ASCII)
Introduction The drive command protocol is a client-server protocol A host computer is the server and each drive is a client This chapter provides details about the Special Symbols Packet Structure and Checksum in the serial communication protocol
Special Symbols Special symbols used in the host commands include the following
Packet Structure The packet structure is shown below
Some simple commands might not have the Data field (for example Fault Reset) Maximum packet size is 400 bytes Each letter and digit in Command and Data fields represents a single ASCII character
All commands begin with an STX and terminate with an ETX
If the drive receives the command without a communication error the response is in the same format as the host command Numeric parameters are encoded as strings
Symbol Value Description
STX 0x02 Start of Transmission
ETX 0x03 End of Transmission
ACK 0x06 Command Acknowledged
GS 0x29 Cannot change the value of the parameter while drive is enabled
RS 0x30 Value is out of range
US 0x31 Invalid command
NAK 0x15 Communication Error (Checksum Error)
CAN 0x18 Cancellation of Command (For example the drive will send CAN if the drive is already enabled but the JOG ON is requested)
Start ID HostResponse
Command Data Separator Checksum End
Symbol STX dd or $ SET orhellip d hellipd c c ETX
Bytes 1 2 1 3 0 - n 1 1 1
28 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 2 Communication Protocol (RS-232ASCII)
If the drive receives the hosts command with a communication error (for example parity or checksum errors) the drive sends an NAK The host should assume a communication error occurred if a response from the drive does not occur within a time-out period (generally 200 ms)
If drive does not recognize the command it sends a US response
Checksum The checksum range consists of ID to Separator fields Checksum is the ASCII hex code of the least significant digit from the sum of hexadecimal codes in the checksum range
For example this VER command has a checksum of 42 (ASCII hex code of B)
30H+31H+23H+56H+45H+52H+3AH = 1ABH The ASCII hex code of B is 42
However this VER command response also has a checksum of 35 (ASCII hex code of 5)
30H+31H+24H+56H+45H+52H+20H+31H+2EH+30H+32H+3AH = 295H The ASCII hex code of 5 is 35
Command STX 0 1 V E R B ETX
ASCII 2 30 31 23 56 45 52 3A 42 3
Command STX 0 1 amp V E R 9 0 2 5 ETX
ASCII 2 30 31 24 56 45 52 20 39 2E 30 32 3A 35 3
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 29
Chapter 3
General Commands (ASCII)
This chapter defines the general ASCII commands available to control a Kinetix 3 drive
Read Parameter (SET)
Attribute Value
Command SET
Description Read parameter value
Format STX ID SET PPP BSS ETX
Data Argument Description
PPP Parameter for example [Pr - 203] PPP=203=0x0CB Refer to this chapter Appendix A Standard Drive Parameters and Appendix B Indexing Drive Parameters for a available parameter descriptions
Response Format STX ID $SET V BSS ETX
Response Data Argument Description
V Bit-field type = 4 byte hexadecimal value Integer type = Signed integer of variable length
30 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 3 General Commands (ASCII)
Write Parameter (STR)
Write Parameter (CHP)
Attribute Value
Command STR
Description Write parameter value to RAM and then save data from RAM to flash memory
Format STX ID STR PPP V BSS ETX
Data Argument Description
PPP Parameter for example [Pr - 203] PPP=203=0x0CB Refer to Standard Drive Parameters beginning on page 45 for a description of available parameters Group 7 - Manufacturing Settings are product settings that are programmed during manufacturing
V Bit-field type = 4 byte hexadecimal value Normal type = Signed integer of variable length
Response Format ACK
Error Response If the drive is unable to change the variable because it is enabled it sends GS If the value is out of range RS is returned
Next Command STX ID STR BSS ETX
Usage Note To determine whether task is complete send STR without arguments
Response Format If task is not complete STX ID $BSY BSS ETX or If task is complete STX ID $TOK BSS ETX
Attribute Value
Command CHP
Description Write parameter value to RAM
Format STX ID CHP PPP V BSS ETX
Data Argument Description
PPP Parameter for example [Pr - 203] PPP=203=0x0CB Refer to Standard Drive Parameters beginning on page 45 for a description of available parameters Group 7 - Manufacturing Settings are product settings that are programmed during manufacturing
V Bit-field type = 4 byte hexadecimal value Normal type =Signed integer of variable length
Response Format ACK
Error Response If unable to change the variable because drive is enabled GS is sent If value is out of range RS is returned
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 31
General Commands (ASCII) Chapter 3
Indexing Command Extended (XCE)
Read Indexing Parameter (XET)
Attribute Value
Command XCE
Description Execute Indexing Control Panel command
Format STX ID XCE NNNNN amp VVVVV BSS ETX
Data Argument Description
NNNNN Index number 0hellip63Data Format 16-bit unsigned integer d
VVVVVV Indexing Function Command 0 = Start Homing 1 = Stop Homing 2 = Start IndexingData Format 16bit unsigned integer d
Response Format ACK If there is an error while executing the command the GS RS US NAK CAN exception code s can be used for the response
Usage Note This command executes only Indexing commands If the command to be executed is not specific to an Index number the NNNNN field should be 0
Attribute Value
Command XET
Description Read parameter value
Format STX ID XET PPPP BSS ETX
Data Argument Description
PPPP Parameter for example in the case of [IN0002] PPPP=0200 the two initial arguments (PPxx) indicate the indexing (Ix) group Refer to Indexing Drive Parameters beginning on page 115 for a description of available indexing parameters Group 7 - Manufacturing Settings are product settings that are programmed during manufacturing
Response Format STX ID $XET V BSS ETX
Response Data Argument Description
V Bit-field type = 4 byte hexadecimal value Integer type Signed integer of variable length
32 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 3 General Commands (ASCII)
Write Indexing Parameter (XHP)
Write Indexing Parameter (XTR)
Attribute Value
Command XHP
Description Write parameter value to RAM
Format STX ID XHP PPPP V BSS ETX
Data Argument Description
PPPP Parameter for example in the case of [IN0002] PPPP=0200 the two initial arguments (PPxx) indicate the indexing (Ix) group Refer to Indexing Drive Parameters beginning on page 115 for a description of available indexing parameters
V Bit-field type = 4 byte hexadecimal value Normal type = Signed integer of variable length
Response Format ACK
Error Response If the drive is unable to change the variable because it is enabled it sends GS If the value is out of range RS is returned
Attribute Value
Command XTR
Description Write parameter value to RAM and then saves data from RAM to flash memory
Format STX ID XTR PPPP V BSS ETX
Data Argument Description
PPPP Parameter In the case of [IN0002] PPPP=0200 the two initial arguments ((PPxx) indicate the indexing (Ix) group Refer to Indexing Drive Parameters beginning on page 115 for a description of available indexing parameters
V Bit-field type = 4 byte hexadecimal value Normal type = Signed integer of variable length
Response Format ACK
Error Response If the drive is unable to change the variable because it is enabled it sends GS If the value is out of range RS is returned
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 33
General Commands (ASCII) Chapter 3
Fault Reset (RST)
Monitor Variable (MDM)
Attribute Value
Command RST
Description Clear fault
Format STX ID RST BSS ETX
Response ACK
Usage Note Fault Reset will have no effect unless action was taken to resolve the fault Refer to Warnings and Fault Codes beginning on page 133 for a description of faults and warnings
Attribute Value
Command MDM
Description Monitor variables
Format STX ID MDM P1 P2 P3 P4 P5 BSS ETX
Data Argument Description
P1hellipP5 Variables to monitor
Usage Note MDM command can monitor up to five variables Refer to Monitor Variables on page 135 for the list of variables
Response Format STX ID $ MDM V1ampV2ampV3ampV4ampV5 BSS ETX
Response Data Argument Description
V1hellipV5 Variable values are 4 or 8 bytes signed See tables below for descriptions of specific variables
34 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 3 General Commands (ASCII)
Triggered Data Collection (MOT)
Attribute Value
Command MOT
Description Sets watches and reads trigger monitor
Format STX ID MOT Ch1 Ch2 Src SP Num Mode Pos Level BSS ETX
Data Argument Description
Ch1 Ch2 Input signals See Appendix A (variables 0x00hellip0x0F only)
Src Trigger Source (0x000hellip0x009 0x101hellip0x112) Refer to Monitor Variables on page 135 for the list of variables 0x101-0x10A DI1hellipDI10 0x10B Emergency Stop Input 0x10C-0x10E DO1hellipDO3 0x10F Safety Alarm Output 0x110-0x112 DO4hellipDO6
SP Sample Period Range 0x01hellip0x64 (02hellip20 ms)
Num Number of data points 10 Range 0x01hellip0x1E (1hellip30)
Mode Trigger mode 1 = Positive Edge 2 = Negative Edge
Pos Trigger Position (1hellip9) The percentage of data to be received before the trigger pointFor example if Pos = 3 then 30 of data received before the trigger point and 70 of data received after the trigger point
Level Trigger levelthreshold the value of the Trigger Source Values are 4 or 8 bytes signed
Usage Note This command is sent to the drive prior to monitoring or reading the Triggered Data Collection (MOT) command variants below See Figure 1 for command examples
Response ACK
Next Command MOT
Format STX ID MOT BSS ETX
Usage Note This command is sent to the drive to verify data is available
Response If data is not ready STX ID $ BSY BSS ETX If data is ready STX ID $ TOK BSS ETX
Next Command MOT
Format STX ID MOT NumD BSS ETX
Data Argument Description
NumD Data Point to retrieve the data from Range 00hellip(Num-1)
Usage Note This command can be used when previous command returned TOK Send ESC to stop data collection
Response Format STX ID $ MOT V1ampV2ampV20 BSS ETX
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 35
General Commands (ASCII) Chapter 3
Figure 1 - Triggered Data Collection (MOT) Command String Example
Attribute Value
Response Data Argument Description
V1hellipV20 Data transmission is done in blocks of 10 Because there are 2 channels 20 values are returned with values alternating between the first channel and the second channel Values are a signed integer of variable length (4 or 8 bytes)
Next Command STX ID ESC BSS ETX
Response ACK
MOR (setting)
ACK
MOT
$BSY
MOT
$TOK
MOT00
$MOT
PC Servo
Time lt200 ms
MOT29
$MOT
ESC
ACK
36 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 3 General Commands (ASCII)
Variable Roll Monitoring (MOR)
Attribute Value
Command MOR
Description Set up variable roll monitor
Format Data
STX ID MOR SP P1 P2 BSS ETX
Argument Description
SP Sampling period range 0x01hellip0x64 (01hellip100 ms)
P1 P2 Variables to monitor Range 0x00hellip0x1D
Usage Note Sets up the variable roll monitoring This command is sent to the drive prior to sending a Monitor Variable (MDM) command See Figure 2 for command examples
Response ACK
Next Command STX ID MOR BSS ETX
Usage Note Request to store data in the linear buffer (with a capacity of 100 data points) If the buffer is full and data has not been retrieved the buffer is emptied If data is requested before data is in the buffer the drive sends ACK
Response Format STX ID $ MOR V1ampV2amphellipVn BSS ETX
Response Data Argument Description
V1hellipVn Signed integer of variable length
Next Command STX ID ESC BSS ETX
Usage Note Send ESC to stop monitoring of the data
Response ACK
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 37
General Commands (ASCII) Chapter 3
Figure 2 - Variable Roll Monitoring (MOR) Command String Example
MOR (setting)
ACK
MOR
$MOR
MOR
$MOR
ESC
ACK
PC Servo
Time lt200 ms
38 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 3 General Commands (ASCII)
Automatic Task (TAT)
Figure 3 - Automatic Task (TAT) Command String Example
Attribute Value
Command TAT
Format STX ID TAT T1 BSS ETX
Data Argument Description
T1 Automatic task number See the following Values and Task Descriptions
Value Task Description
0x01 Auto Tuning
0x02 Move to Marker
0x03 Auto Adjustment of Velocity Command Offset
0x04 Auto Adjustment of Current Command Offset
0x07 Auto Adjustment of Current Feedback Offset
Response ACK
Usage Note Send TAT command without arguments to find out if a task is completed See Figure 3 for command examples
Next Command STX ID TAT BSS ETX
Response Format STX ID $ BSY BSS ETX - if task is not complete STX ID $ TOK BSS ETX - task is complete
TAT (setting)
ACK
TAT
$BSY
TAT
$TOK
PC Servo
Time lt200 ms
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 39
General Commands (ASCII) Chapter 3
Manual Task (TMN)
Figure 4 - Manual Task (TMN) Command String Example
Attribute Value
Command TMN
Format STX ID TMN 1 BSS ETX
Data Argument Description
T1 Manual task number See the following Values and Task Descriptions
Value Task Description
0x01 - Speed Command Offset - Decrement by 01 mV
0x02 + Speed Command Offset - Increment by 01 mV
0x03 Save Speed Command Offset change
0x04 - Current Command Offset - Decrement by 01 mV
0x05 + Current Command Offset - Increment by 01 mV
0x06 Save Current Command Offset change
0x07 Discard changes and exit
Response ACK
Usage Note Most manual tasks are complete by the time ACK is received Commands 0x03 and 0x06 may take longer because they save data to flash memory Send TMN command without arguments to find out if a task is completed See Figure 4 for command examples
Next Command STX ID TAT BSS ETX
Response Format STX ID $ BSY BSS ETX - if task is not complete STX ID $ TOK BSS ETX - task is complete
TMN (setting)
ACK
TMN
$BSY
TMN
$TOK
PC Servo
Time lt200 ms
40 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 3 General Commands (ASCII)
Read Fault Contents (EHY)
Jog (JOG)
Attribute Value
Command EHY
Description Read faults See Read Fault Detailed Data (DIE) on page 43 for alternative fault data
Format STX ID EHY F1 BSS ETX
Data Argument Description
F1 Fault Number Range is 0x01hellip0x08 where latest fault status is stored in 0x01 and oldest fault is stored in 0x08
Response Format STX ID $ EHYE FCode FChars BSS ETX
Data Data Description
FCode Fault Code See Appendix C for a list of fault codes
FChars Fault Name Abbreviated See Appendix C
Usage Note Use this command to find out more about one of the eight faults To receive all fault statuses use EHY command below
Attribute Value
Command EHY
Description Read all fault codes
Format STX ID EHY BSS ETX
Data Argument Description
Asterik () means all faults
Response Format STX ID $ EHY Fcode1ampFcode2ampFcode8 BSS ETX
Data Data Description
Fcode1hellipFcode8 Fault Code See Appendix C for a list of fault codes
Attribute Value
Command JOG
Description Jog forward or reverse
Format STX ID JOG P1 BSS ETX
Data Argument Description
P1 0 = prepare for jog operation + = jog forward - (dash) = jog reverse
Response ACK
Usage Note To keep jogging send JOG command more than once within 500 ms To end Jog mode send SVROF
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 41
General Commands (ASCII) Chapter 3
Read Drive Status (STS)
Attribute Value
Command STS
Description Read status
Format STX ID STS BSS ETX
Response Format STX ID $ STS Mode S1 S2 S3 S4 S5 SS FChars BSS ETX
Response Data Arguments Description
Mode One of these operating modes F = Follower mode S = Analog Velocity mode P = Preset Velocity mode C = Analog Current mode D = Dual Current Command mode PF PS PC FS FC SC = Mixed modes Refer to [Pr - 000] Operations Mode on page 46 for additional information
S1 S1 means In Follower mode 1 = In Position 0 = Not In Position In Analog Velocity or Preset Velocity modes 1 = In Speed Window 0 = not In Speed Window If position or speed data is not available S1= 0
S2 One of the following 1 = Up to Speed 0 = Not Up to Speed If speed data is not available S2=0
S3 One of the following 1 = Drive is Enabled 0 = Drive is Disabled
S4 One of the following 1 = Positive Overtravel is active 0 = Positive Overtravel is inactive
S5 One of the following 1 = Negative Overtravel is active 0 = Negative Overtravel is inactive
SS One of the following Edd = fault occurred (See Appendix C)
dd = 2 byte error code 0x00hellip0xFF Wdd = warning occurred (See Appendix C)
dd = 2 byte warning code RDY = no errors or warnings
FChars Abbreviation of the faultwarning name In the case of Estop fault Fchars = ESTOP FChars size is 5 bytes when fault occurs and 3 bytes when warning occurs
42 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 3 General Commands (ASCII)
Other Functions (ETC)
Attribute Value
Command ETC
Format STX ID ETC F1 BSS ETX
Data Argument Description
F1 Manual task number See the following Values and Task Descriptions
Value Task Description
0x09 Clear Fault History
0x0A Reset Absolute Encoder (1)
(1) Resetting of an absolute (17-bit) encoder is possible only when the drive is disabled The command Reset Absolute Encoder sets the rotation data to 0 and clears all encoder related faults and warnings
0x0B Store 2-Group Gain
0x0C Reset to Factory settings (2)
(2) Parameters in the table below are not affected by the Reset to Factory settings
0x0D Test Run
0x0E Upgrade Firmware
0x0F Erase Manufacturing Information
Response ACK
Usage Note Send ETC command without arguments to find out if a task is completed
Next Command STX ID ETC BSS ETX
Response Format STX ID $ BSY BSS ETX - if task is not complete orSTX ID $ TOK BSS ETX - task is complete
Parameter Number Description
600 Analog Velocity Command Offset
601 Analog Current Command Offset
602 U Phase Current Sensing Offset
603 W Phase Current Sensing Offset
700hellip707 Group 7 - Manufacturing Settings
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 43
General Commands (ASCII) Chapter 3
Verify Software Version (VER)
Verify Servo Connection (LIV)
Read Fault Detailed Data (DIE)
Attribute Value
Command VER
Description Verify software version
Format STX ID VER BSS ETX
Response Format STX ID $ VER V BSS ETX
Response Data Argument Description
V Firmware version Size 5 bytes including a space Example STX01$VER 100BSS ETX
Attribute Value
Command LIV
Description Verify servo connection
Format STX ID LIV BSS ETX
Response Format ACK if there is a connection
Attribute Value
Command DIE
Description Read detailed fault data stored in [Pr - 607] Fault Detail Data Selection 1 Sample period in microseconds = [Pr - 607] 200) See Read Fault Contents (EHY) on page 40 for alternative fault data
Format STX ID DIE A1 A2 BSS ETX
Data Argument Description
A1 Channel to get the data for Range 1hellip4 Channels are stored in [Pr - 607]hellip[Pr - 610] Fault Detail Data Selection 4
A2 Data Number Range 0hellip50 0 means all data
Usage Note Send DIE 02 00 to receive all the data for A1= 02 Send DIE 00 01 to receive data for data number 1 of 4 variables DIE 00 00 is invalid
Response Format STX ID $ DIE D1ampD2ampDN BSS ETX
Error Response STX ID $ DIE FFFF BSS ETX means data number is invalid
Response Data Argument Description
D1hellipDn Detailed data where n depends on A1 and A2 If A1=00 and A2 = 01 then n = 4 If A1=01hellip04 and A2 = 01hellip50 then n=1 If A1=01hellip04 and A2 = 00 then n= 50
44 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 3 General Commands (ASCII)
Enable Drive (SVRON)
Disable Drive (SVROF)
Reset Drive (HWR)
Attribute Value
Command SVRON
Description Enables the drive
Format STX ID SVRON BSS ETX
Response ACK
Attribute Value
Command SVROF
Description Disables the drive
Format STX ID SVROF BSS ETX
Response ACK
Attribute Value
Command HWR
Description Reset the drive by using watchdog counter
Format STX ID HWR BSS ETX
Response ACK
Usage Note Stops the watchdog timer allowing a hardware signal to reboot (reset) the drive
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 45
Appendix A
Standard Drive Parameters
Parameters control Kinetix 3 drive operations They are grouped by the type of drive Standard or Indexing and the settings they define
Descriptions of Indexing Drive Parameters begin on page 115
Parameter Groupings Standard drive parameters are grouped into these drive settings bull Group 0 - Basic drive system and IO settings bull Group 1 - Gain and gain tuning settings bull Group 2 - Velocity control settings bull Group 3 - Position control settings bull Group 4 - Torque control settings bull Group 5 - Supplementary drive system and IO settings bull Group 6 - Supplementary gain settings and fault reports bull Group 7 - Factory default settings bull Group 8 - Parameters reserved bull Group 9 - Motor and drive operating mode parameters
46 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
Parameter Descriptions Parameter descriptions list the size of each parameter and the data options within the parameter
Descriptions of Indexing Drive Parameters begin on page 115
Group 0 - System Level
[Pr - 000] Operations Mode
Ultraware Name Operation Modes (MainOverride)
Range 0hellip12
Display (Value) Normal operating mode Override operating mode
F (1) Follower Follower
S (2) Analog Velocity Input Analog Velocity Input
C (3) Analog Current Input Analog Current Input
SF (4) Analog Velocity Input Follower
CF (5) Analog Current Input Follower
CS (6) Analog Current Input Analog Velocity Input
P (7) Preset Velocity Preset Velocity
PF (8) Preset Velocity Follower
PS (9) Preset Velocity Analog Velocity Input
PC (10) Preset Velocity Analog Current Input
D (11) Reserved Reserved
I (12) Indexing Indexing
Default 1
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
MODBUS Address 0
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 47
Standard Drive Parameters Appendix A
[Pr - 001] Motor Configuration
Data Size 6 digits
Ultraware Name Motor configuration
Digit 0 Encoder type
Range Value Description
0x0hellip0xf Each number define a corresponding encoder type 9 line or 17-bit serial for example
Default 0x1 = 9 line
Digit 1hellip2 Rated power
Range Value Description
A5010204081015 501002004008001000 or 1500 Watts
Default 04 = 400 W
Digit 3hellip4 Motor type
Range Value Description
Motor type Motor initial ID
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
MODBUS Address 1
When Enabled Servo-Off -gt Setting
Applicable Operating Mode All
MODBUS Address Pr-001[Lo] = 1 Pr-001[Hi] = 2
48 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 002] Motor Basic Modes
Data Size 4 digits
Digit 0 Fault and Disable Braking
Ultraware Name Stopping Functions Fault and Disable Braking
Range Value Description
0x0 Brake and hold
0x1 Brake and release
0x2 Free stop
0x3 Free stop and hold
Default 0
Digit 1 Overtravel stop method
Ultraware Name Stopping Functions Over Travel Stop Method
Range Value Description
0x0 Stop by change of mode to Normal Current Set stopping current with Overtravel Current Limit parameter [Pr - 405]
0x1 Dynamic Brake
Default 0
Digit 2 Motor Forward Dir
Ultraware Name Command Polarity
Range Value Description
0x0 The command signal is not inverted so that a positive command value results in clockwise rotation as viewed from shaft end
0x1 The command signal is inverted so that a positive command value results in counter-clockwise rotation s viewed from shaft end
Default 0
Digit 3 Power input
Ultraware Name AC Line Loss Check
Range Value Description
0x0 Enables the following bull 50hellip400W drive Enable
single-phase open check bull 800hellip15kW drive Enable
three-phase open check
0x1 Disable
0x2 Single-phase input
Default 0
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 49
Standard Drive Parameters Appendix A
When Enabled Servo-Off -gt Setting
Applicable Operating Mode All
MODBUS Address 3
[Pr - 003] Auto Tuning Functions
Data Size 4 digits
Digit 0 Off-line Tuning Mode
Ultraware Name Off-line Tuning Mode
Range Value Description
0x0 Inertia Moment Estimation
0x1 Inertia Moment Estimation and Resonant Frequency Detection
0x2 Resonance frequency Detection
Default 1
Digit 1 Reserved
Digit 2 Autotuning Speed
Ultraware Name Autotuning Speed
Range 2hellip9
Default 7
Units rpm100
Digit 3 Dynamic Tuning Response Speed
Ultraware Name Online Tuning Response
Range Value Description
0x0 Off
0x1 Slowest
0x2 Slower
0x3 Slow
0x4 Medium-Slow
0x5 Medium
0x6 Medium-Fast
0x7 Fast
0x8 Faster
0x9 Fastest
Default 0
Units -
When Enabled Servo-Off -gt Setting
Applicable Operating Mode All
MODBUS Address 4
[Pr - 002] Motor Basic Modes (Continued)
50 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 004] Inertia Ratio
Description Load Inertia Motor Inertia
Ultraware Name Inertia Ratio
Range 0hellip6000
Default 100
Units (Load inertiaMotor inertia) 100
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 5
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 51
Standard Drive Parameters Appendix A
[Pr - 005] Auxiliary Function Selection 1
Applicable Operating Mode All
Data Size 4 digits
Digit 0 Encoder Back-up Battery
Ultraware Name Encoder Back-up Battery
Range Value Description
0x0 Battery Installed
0x1 Battery Not Installed
Default 0
Digit 1 Velocity Observer
Ultraware Name Velocity Observer
Range Value Description
0x0 Disable
0x1 Enable
Default 0
Digit 2 Alternative Gain Change Enable
Ultraware Name Gain Change Enable
Range Value Description
0x0 Disable
0x1 Enable
Default 0x0
Digit 3 Emergency stop input
Range Value Description
0x0 Disable
0x1 Enable
Default 0
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
MODBUS Address 6
52 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 006] Auxiliary Function Selection 2
Applicable Operating Mode All
Data Size 3 digits
Digit 0 Automatic Motor Identification
Ultraware Name Auto Motor Identification
Range Value Description
0x0 Disabled
0x1 Enabled
Default 1
Digit 1 Incremental Feedback Loss (Encoder Line Break Detection)
Ultraware Name Incremental Feedback Loss
Range Value Description
0x0 Monitored
0x1 Ignored
Default 0
Digit 2 Mode of Gain Switching
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 53
Standard Drive Parameters Appendix A
Range Value Description
0 Fixed to the 1st gain
1 Fixed to 2nd gain
2 2nd gain selection when the gain switching input is turned on
3 2nd gain selection when the toque command is larger than the set-up levels of the gain control switching and hysteresis of control switching
4 2nd gain selection when the command speed is larger than the set-up levels of the gain control switching and hysteresis of control switching
5 2nd gain selection when the positional deviation is larger than the setup set-up levels of the gain control switching and hysteresis of control switching
6 2nd gain selection when more then one command pulse exist between 200usec
7 2nd gain selection when the positional deviation counter value exceeds the set-up of the positioning complete range
8 2nd gain selection when the motor actual speed exceeds the set-up levels of the gain control switching and hysteresis of control switching)Switches to the 2nd gain while the position command exists
9 Switches to the 1st gain when no-position command status lasts for the set up of delay time of gain switching [x 200usec] and the speed falls slower than the set-up levels of the gain control switching level and hysteresis of control switching
Default 0
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 7
[Pr - 006] Auxiliary Function Selection 2 (Continued)
54 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 007] Drive Address
Applicable Operating Mode All
Ultraware Name Drive Address
Range 1hellip247
Default 1
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 8
[Pr - 008] Password
Applicable Operating Mode All
Ultraware Name Drive Password
Range 0hellip9999Usage Note Unprotected Code 777
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 9
[Pr - 009] Serial Port Configuration
Applicable Operating Mode All
Data Size 4 digits
Digit 0 Baud Rate
Ultraware Name Baud Rate
Range Value Description
0x0 9600 bps
0x1 14400 bps
0x2 19200 bps
0x3 38400 bps
0x4 56000 bps
0x5 57600 bps
Default 0x5
Digit 1 Data bits Parity Stop bit
Ultraware Name Data bits Parity Stop bit
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 55
Standard Drive Parameters Appendix A
Range Value Description
0x0 8 No 1
0x1 8 Even 1
0x2 8 Odd 1
0x3 8 No 2
0x4 8 Even 2
0x5 8 Odd 2
Default 0x0
Digit 2 Protocol
Ultraware Name Protocol
Range Value Description
0x0 ASCII
0x1 MODBUS-RTU
Default 0
Digit 3 Communication Method
Ultraware Name Communication Method
Range Value Description
0 0x0 RS232
1 Ox1 RS485
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 10
[Pr - 010] Allocation of Input Signals 1
Range for all digits 0hellipB where 0 is Off B is On and 1hellipA are digital inputs
Data Size 4 digits
Digit Description Default Unmapped IO Status
0 Drive enable (SV-ON) 0x1 ON
1 Positive overtravel (P-OT) 0xb ON
2 Negative overtravel (N-OT) 0xb ON
3 Integrator inhibit (CON) 0x4 OFF
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 010]hellip[Pr - 021] on page 60
Applicable Operating Mode All
MODBUS Address 11
[Pr - 009] Serial Port Configuration (Continued)
56 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 011] Allocation of Input Signals 2
Range for all digits 0hellipB where 0 is Off B is On and 1hellipA are digital inputs
Data Size 4 digits
Digit Description Default Unmapped IO Status
0 Fault reset (A-RST) 0x5 OFF
1 Negative current limit (N-TL) 0x6 OFF
2 Positive current limit (P-TL) 0x7 OFF
3 Operation mode override (C-SEL)
0x0 OFF
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 010]hellip[Pr - 021] on page 60
Applicable Operating Mode All
MODBUS Address 12
[Pr - 012] Allocation of Input Signals 3
Range for all digits 0hellipB where 0 is Off B is On and 1hellipA are digital inputs
Data Size 4 digits
Digit Description Default Unmapped IO Status
0 Preset direction (C-DIR) 0x0 OFF
1 Preset select 1 (C-SP1) 0x0 OFF
2 Preset select 2 (C-SP2) 0x0 OFF
3 Preset select 3 (C-SP3) 0x0 OFF
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 010]hellip[Pr - 021] on page 60
Applicable Operating Mode All
MODBUS Address 13
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 57
Standard Drive Parameters Appendix A
[Pr - 013] Allocation of Input Signals 4
Range for all digits 0hellipB where 0 is Off B is On and 1hellipA are digital inputs
Data Size 4 digits
Digit Description Default Unmapped IO Status
0 Zero speed clamp enable (Z-CLP)
0x0 OFF
1 Pause follower (INHIBIT) 0x0 OFF
2 Alternate gain select (G-SEL) 0x0 OFF
3 Position clear (PCLR) 0x0 OFF
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 010]hellip[Pr - 021] on page 60
Applicable Operating Mode All
MODBUS Address 14
[Pr - 014] Allocation of Input Signals 5
Range for all digits 0hellipB where 0 is Off B is On and 1hellipA are digital inputs
Data Size 4 digits
Digit Description Default Unmapped IO Status
0 Position strobe (ABS-DT) 0x0 OFF
1 Motor moving enable (START) 0x0 OFF
2 Analog speed command select (C-SP4)
0x0 OFF
3 2nd electronic gear bank selection (GEAR)
0x0 OFF
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 010]hellip[Pr - 021] on page 60
Applicable Operating Mode All
MODBUS Address 15
58 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 015] Allocation of Input Signals 6
Data Size 4 digits
Digit Description Default Unmapped IO Status
0 Reset multi-turn data of absolute encoder (R_ABS)
0x0 OFF
1 Gain bank select (BANK_SEL) 0x0 OFF
2 Reserved 0x0 OFF
3 Reserved 0x0 OFF
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 010]hellip[Pr - 021] on page 60
Applicable Operating Mode All
MODBUS Address 16
[Pr - 016] Allocation of Input Signals 7
Data Size 4 digits
Digit Description Default Unmapped IO Status
0 Home sensor (H_SENS) 0x0 OFF
1 Start homing (SHOME) 0x0 OFF
2 Stop indexing (STOP) 0x0 OFF
3 Pause indexing (PAUSE) 0x0 OFF
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 010]hellip[Pr - 021] on page 60
Applicable Operating Mode Indexing
MODBUS Address 17
[Pr - 017] Allocation of Input Signals 8
Data Size 4 digits
Digit Description Default Unmapped IO Status
0 Index select 0 input (I_SEL0) 0x0 OFF
1 Index select 1 input (I_SEL1) 0x0 OFF
2 Index select 2 input (I_SEL2) 0x0 OFF
3 Index select 3 input (I_SEL3) 0x0 OFF
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 010]hellip[Pr - 021] on page 60
Applicable Operating Mode Indexing
MODBUS Address 18
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 59
Standard Drive Parameters Appendix A
[Pr - 018] Allocation of Input Signals 9
Data Size 4 digits
Digit Description Default Unmapped IO Status
0 Index select 4 input (I_SEL4) 0x0 OFF
1 Index select 5 input (I_SEL5) 0x0 OFF
2 Stop homing (H_STOP) 0x0 OFF
3 Start index (START_I) 0x0 OFF
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 010]hellip[Pr - 021] on page 60
Applicable Operating Mode Indexing
MODBUS Address 19
[Pr - 019] Allocation of Input Signals 10
Data Size 4 digits
Digit Description Default Unmapped IO Status
0 Reserved 0x0 OFF
1 Reserved 0x0 OFF
2 Reserved 0x0 OFF
3 Reserved 0x0 OFF
When Enabled Reserved
Applicable Operating Mode Indexing
MODBUS Address 20
[Pr - 020] Allocation of Input Signals 11
Data Size 4 digits
Digit Description Default Unmapped IO Status
0 Reserved 0x0 OFF
1 Reserved 0x0 OFF
2 Reserved 0x0 OFF
3 Reserved 0x0 OFF
When Enabled Reserved
Applicable Operating Mode Indexing
MODBUS Address 21
60 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
Table 1 - Setting Values for Parameters [Pr - 010]hellip[Pr - 021]
[Pr - 021] Allocation of Input Signals 12
Data Size 4 digits
Digit Description Default Unmapped IO Status
0 Reserved 0x0 OFF
1 Reserved 0x0 OFF
2 Reserved 0x0 OFF
3 Reserved 0x0 OFF
When Enabled Reserved
Applicable Operating Mode Indexing
MODBUS Address 22
Setting Value (1)
1 Setting values are reserved (not available) for [Pr - 019] and [Pr - 020]
B A 9 6 7 6 5 4 3 2 1 0
Input Channel No
Input Signal
19 9 8 7 6 5 4 3 2 1 Input Signal
CN1 Pin No On 26 27 29 9 8 7 6 5 4 3 Off
[Pr - 022] Allocation of Output Signals 1
Range for all digits 0hellip3 where 0 is Off and 1hellip6 are digital outputs
Data Size 4 digits
Digit Description Default
0 Within position window (P-COM)
0x1
1 Up to speed (TG-ON) 0x2
2 Brake control (BK) 0x3
3 Within speed window (V-COM) 0x0
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 022]hellip[Pr - 032] on page 65
Applicable Operating Mode All
MODBUS Address 23
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 61
Standard Drive Parameters Appendix A
[Pr - 023] Allocation of Output Signals 2
Range for all digits 0hellip3 where 0 is Off and 1hellip6 are digital outputs
Data Size 4 digits
Digit Description Default
0 Current limited (T_LMT) 0x0
1 Velocity limited (V-LMT) 0x0
2 Near position (NEAR) 0x0
3 Warning (WARN) 0x0
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 022]hellip[Pr - 032] on page 65
Applicable Operating Mode All
MODBUS Address 24
[Pr - 024] Allocation of Output Signals 3
Range for all digits 0hellip3 where 0 is Off and 1hellip6 are digital outputs
Data Size 4 digits
Digit Description Default
0 Absolute position valid (A_VLD) 0x0
1 Ready 0x0
2 Reserved 0x0
3 Reserved 0x0
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 022]hellip[Pr - 032] on page 65
Applicable Operating Mode All
MODBUS Address 25
62 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 025] Allocation of Output Signals 4
Range for all digits 0hellip3 where 0 is Off and 1hellip6 are digital outputs
Data Size 4 digits
Digit Description Default
0 In Motion (IMO) 0x0
1 In Dwell (I_DW) 0x0
2 Axis Homed (HOMC) 0x0
3 Index Select 0 Out (O_ISEL0) 0x0
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 022]hellip[Pr - 032] on page 65
Applicable Operating Mode Indexing
MODBUS Address 26
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 63
Standard Drive Parameters Appendix A
[Pr - 026] Allocation of Output Signals 5
Range for all digits 0hellip3 where 0 is Off and 1hellip6 are digital outputs
Data Size 4 digits
Digit Description Default
0 Index Select 1 Out (O_ISEL1) 0x0
1 Index Select 2 Out (O_ISEL2) 0x0
2 Index Select 3 Out (O_ISEL3) 0x0
3 Index Select 4 Out (O_ISEL4) 0x0
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 022]hellip[Pr - 032] on page 65
Applicable Operating Mode Indexing
MODBUS Address 27
[Pr - 027] Allocation of Output Signals 6
Range for all digits 0hellip3 where 0 is Off and 1hellip6 are digital outputs
Data Size 4 digits
Digit Description Default
0 Index Select 5 Out (O_ISEL5) 0x0
1 End of Sequence (E_SEQU) 0x0
2 Reserved 0x0
3 Reserved 0x0
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 022]hellip[Pr - 032] on page 65
Applicable Operating Mode Indexing
MODBUS Address 28
[Pr - 028] Allocation of Output Signals 7
Range for all digits 0hellip3 where 0 is Off and 1hellip6 are digital outputs
Data Size 4 digits
Digit Description Default
0 Reserved 0x0
1 Reserved 0x0
2 Reserved 0x0
3 Reserved 0x0
When Enabled Reserved
Applicable Operating Mode Indexing
MODBUS Address 29
64 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 029] Allocation of Output Signals 8
Range for all digits 0hellip3 where 0 is Off and 1hellip6 are digital outputs
Data Size 4 digits
Digit Description Default
0 Reserved 0x0
1 Reserved 0x0
2 Reserved 0x0
3 Reserved 0x0
When Enabled Reserved
Applicable Operating Mode Indexing
MODBUS Address 30
[Pr - 030] Allocation of Output Signals 9
Range for all digits 0hellip3 where 0 is Off and 1hellip6 are digital outputs
Data Size 4 digits
Digit Description Default
0 Reserved 0x0
1 Reserved 0x0
2 Reserved 0x0
3 Reserved 0x0
When Enabled Reserved
Applicable Operating Mode Indexing
MODBUS Address 31
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 65
Standard Drive Parameters Appendix A
Table 2 - Setting Values for Parameters [Pr - 022]hellip[Pr - 032]
[Pr - 031] Allocation of Output Signals 10
Range for all digits 0hellip3 where 0 is Off and 1hellip6 are digital outputs
Data Size 4 digits
Digit Description Default
0 Reserved 0x0
1 Reserved 0x0
2 Reserved 0x0
3 Reserved 0x0
When Enabled Reserved
Applicable Operating Mode Indexing
MODBUS Address 32
[Pr - 032] IO Control Authority
Applicable Operating Mode All
Data Size 2 digits
Digit 0 MODBUS Input Function Control
Ultraware Name MODBUS Input Function Control
Range Value Description
0x0 Disable
0x1 Enable
Default 0
Digits 1 MODBUS Run Function Control
Ultraware Name MODBUS Run Function Control
Range Value Description
0x0 Disable
0x1 Enable
Default 0
When Enabled Servo-Off -gt Setting (1)
1 Refer to the Setting Values for Parameters [Pr - 022]hellip[Pr - 032] table immediately below
Applicable Operating Mode All
MODBUS Address 33
Setting Value (1)
1 Setting Values are reserved (not available) for [Pr - 028] and [Pr - 031]
6 5 4 3 2 1 0
Input Channel No AL 3 AL 2 DO1 DO3 DO2 DO1 Input Signal
CN1 Pin No 39 38 37 4748 4344 4142 Off
66 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
Group 1 - Gain Control
[Pr - 100] Velocity Regulator Response Level
Ultraware Name Velocity Regulator Response level
Range 1hellip150
Default 50
Units
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 100
[Pr - 101] System Gain
Ultraware Name Velocity Regulator Response level
Range 1hellip150
Default 50
Units Hz
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 101
[Pr - 102] Velocity Regulator P Gain
Ultraware Name Main Velocity Regulator Gains Proportional Gain
Range 0hellip10000
Default 60
Units -
Applicable Operating Mode
When Enabled Immediately
Applicable Operating Mode Follower Analog Speed Preset
MODBUS Address 102
[Pr - 103] Velocity Regulator I Gain
Ultraware Name Main Velocity Regulator Gains Integral Gain
Range 0hellip60000
Default 26
Units -
When Enabled Immediately
Applicable Operating Mode Follower Analog Speed Preset
MODBUS Address 103
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 67
Standard Drive Parameters Appendix A
[Pr - 104] Velocity Regulator D gain
Ultraware Name Main Velocity Regulator Gains Derivative Gain
Range 0hellip1000
Default 0
Units -
When Enabled Immediately
Applicable Operating Mode Follower Analog Speed Preset
MODBUS Address 104
[Pr - 105] Velocity Error Filter
Ultraware Name Calibration Error Filter Bandwidth
Range 0hellip2500
Default 30
Units Hz
When Enabled Immediately
Applicable Operating Mode Follower Analog Speed Preset
MODBUS Address 105
[Pr - 106] Position Regulator Kp Gain
Ultraware Name Main Position Regulator Gains Kp
Range 0hellip700
Default 20
Units Hz
When Enabled Immediately
Applicable Operating Mode Follower Analog Speed Preset
MODBUS Address 106
68 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 107] Current Command Lowpass Filter Bandwidth
Ultraware Name Main Current Regulator Gains Low Pass Filter Bandwidth
Range 0hellip10000
Default 300
Units Hz
Applicable Operating Mode All
When Enabled Immediately
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 107
[Pr - 108] Velocity Command Lowpass Filter Bandwidth
Ultraware Name Main Velocity Regulator Gains Low Pass Filter Bandwidth
Range 0hellip10000
Default 1000
Units Hz
When Enabled Immediately
Applicable Operating Mode Follower Analog Speed Preset
MODBUS Address 108
[Pr - 109] Position Command Lowpass Filter Bandwidth
Ultraware Name Main Position Regulator Gains Low Pass Filter Bandwidth
Range 0hellip1000
Default 0
Units Hz
When Enabled Immediately
Applicable Operating Mode Follower
MODBUS Address 109
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 69
Standard Drive Parameters Appendix A
[Pr - 110] 1st Resonant Frequency Suppression Filter
Ultraware Name Main Current Regulator Gains 1st Resonant Frequency Suppression Filter
Description Suppresses Vibration by cutting off Current Command in assigned frequency band
Range 0hellip10000
Default 10000
Units Hz
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 110
[Pr - 111] 1st Resonant Frequency Suppression Filter Width
Ultraware Name Main Current Regulator Gains 1st Resonant Frequency Suppression Filter Width
Description Set up the notch width of 1st resonance suppressing filter in 20 steps Higher the setup larger the notch width you can obtain
Range 0hellip20
Default 10
Units
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 111
[Pr - 112] 2nd Resonant Frequency Suppression Filter
Ultraware Name 2nd Main Current Regulator Gains 2nd Resonant Frequency Suppression Filter
Description Suppresses Vibration by cutting off Current Command in assigned frequency band
Range 0hellip10000
Default 10000
Units Hz
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 112
70 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 113] 2nd Resonant Frequency Suppression Filter Width
Ultraware Name Main Current Regulator Gains 2nd Resonant Frequency Suppression Filter Width
Description Set up the notch width of 2nd resonance suppressing filter in 20 steps The higher the setup larger the notch width you can obtain
Range 0hellip20
Default 10
Units -
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 113
[Pr - 114] 2nd Resonant Frequency Suppression Filter Depth
Ultraware Name Main Current Regulator Gains 2nd Resonant Frequency Suppression Filter Depth
Description Set up the 2nd notch depth of the resonance suppressing filter The higher the setup the shallower the notch depth and the smaller the phase delay you can obtain
Range 0hellip100
Default 100
Units -
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 114
[Pr - 115] Position Regulator Kff gain
Ultraware Name Main Position Regulator Gains Kff
Range 0hellip100
Default 0
Units
When Enabled Immediately
Applicable Operating Mode Follower
MODBUS Address 115
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 71
Standard Drive Parameters Appendix A
[Pr - 116] Position Regulator Kff Bandwidth
Ultraware Name Main Position Regulator Gains Kff Low Pass Filter Bandwidth
Range 0hellip2500
Default 200
Units Hz
When Enabled Immediately
Applicable Operating Mode Follower
MODBUS Address 116
[Pr - 117] Velocity Regulator I Gain Mode
Ultraware Name Main Velocity Regulator Gains I Gain Mode
Description During transient response Speed Response Overshoot can be suppressed by a speed controller change from a Proportional Integral (PI) controller into a Proportional (P) controller It reduces position completion time during position control
Range Value Description
0x0 Do not use PPI Mode Conversion
0x1 When Current Command exceeds Current Value in [Pr - 118] Speed Controller is changed from PI Controller to P Controller
0x2 When Speed Command exceeds Speed Value in [Pr - 118] Speed Controller is changed from PI Controller to P Controller
0x3 When Position error exceeds Position error Value in [Pr - 118] Speed Controller is changed from PI Controller to P Controller
0x4 Automatically velocity controller is changed from PI Controller to P Controller
Default 3
When Enabled Servo-Off -gt Setting
Applicable Operating Mode All
MODBUS Address 117
72 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 118] Velocity Regulator I Gain Disable Threshold
Ultraware Name Main Velocity Regulator Gains I Gain Disable Threshold
Range 0hellip3000
Default 100
Units If [Pr - 117] = 1 units are of rated continuous current
If [Pr - 117] = 2 units are rpm for rotary motors mmsec for linear motors
If [Pr - 117] = 3 units are Counts
When Enabled Follower Analog Velocity Preset
Applicable Operating Mode Immediately
MODBUS Address 118
[Pr - 119] Position Regulator High Error Output Offset
Ultraware Name Main Position Regulator Gains High Error Output Offset
Range 0hellip450
Default 0
Units Rotary rpm Linear mmsec
When Enabled All
Applicable Operating Mode Immediately
MODBUS Address 119
[Pr - 120] Position Regulator High Error Output Threshold
Ultraware Name Main Position Regulator Gains High Error Output Threshold
Range 0hellip50000
Default 1000
Units Counts
When Enabled All
Applicable Operating Mode Immediately
MODBUS Address 120
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 73
Standard Drive Parameters Appendix A
[Pr - 121] Current Regulator Bandwidth Reduction Scale
Ultraware Name Main Current Regulator Gains Gain
Range Value Description
0x0 High bandwidth
0x1 Medium bandwidth (06667 high)
0x2 Low bandwidth (03334 high)
Default 0x1
When Enabled All
Applicable Operating Mode Immediately
MODBUS Address 121
[Pr - 122] On-line Vibration Mode
Data Size 1 digits
Digit 0 On-line Vibration Suppression Mode
Ultraware Name On-line Vibration Suppression Mode
Range Value Description
0x0 Disable
0x1 Normal and High Velocity Mode
0x2 Slow Velocity Mode without initial value
Default 0x0
Digit 1 On-line Vibration Suppression Gain
Ultraware Name On-line Vibration Suppression Gain
Range Value Description
0x0 Low
0x1 High
Default 0x0
When Enabled All
Applicable Operating Mode Servo-Off -gt Setting
MODBUS Address 122
74 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 123] Velocity Regulator Configuration
Applicable Operating Mode All
Data Size 1 digits
Digit 0 Velocity Command Filter on Follower
Ultraware Name Velocity Command Filter on Follower
Range Value Description
0x0 Disable
0x1 Enable
Default 0x0
When Enabled Immediately
Applicable Operating Mode Servo-Off -gt Setting
MODBUS Address 123
[Pr - 124] Delay Time of Gain Switching
Ultraware Name Gain Switching Delay Time of Gain Switching
Range 0hellip10000
Default 0
Units X 200usec
When Enabled Immediately
Applicable Operating Mode Follower Analog Velocity Preset
MODBUS Address 124
[Pr - 125] Level of Gain Switching
Ultraware Name Gain Switching Level of Gain Switching
Range 0hellip10000
Default 0
Units -
When Enabled Immediately
Applicable Operating Mode Follower Analog Velocity Preset
MODBUS Address 125
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 75
Standard Drive Parameters Appendix A
[Pr - 126] Hysteresis of Gain Switching
Ultraware Name Gain Switching Hysteresis of Gain Switching
Range 0hellip10000
Default 0
Units -
When Enabled Immediately
Applicable Operating Mode Follower Analog Velocity Preset
MODBUS Address 126
[Pr - 127] Position Gain Switching Time
Ultraware Name Gain Switching Level of Gain Switching
Range 0hellip10000
Default 0
Units x 200usec
When Enabled Immediately
Applicable Operating Mode Follower Analog Velocity Preset
MODBUS Address 127
[Pr - 128] 2nd Velocity Regulator P Gain
Ultraware Name 2nd Regulator Gain P
Range 0hellip10000
Default 60
Units -
When Enabled Immediately
Applicable Operating Mode Follower Analog Velocity Preset
MODBUS Address 128
[Pr - 129] 2nd Velocity Regulator I Gain
Ultraware Name 2nd Regulator Gain Integrator Gain
Range 0hellip60000
Default 26
Units -
When Enabled Immediately
Applicable Operating Mode Follower Analog Velocity Preset
MODBUS Address 129
76 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 130] 2nd Position Regulator Kp Gain
Ultraware Name 2nd Regulator Gain Kp
Range 0hellip700
Default 20
Units Hz
When Enabled Immediately
Applicable Operating Mode Position
MODBUS Address 130
[Pr - 131] 2nd Current Command Lowpass Filter Bandwidth
Ultraware Name 2nd Regulator Gain Low Pass Bandwidth (IReg)
Range 0hellip10000
Default 300
Units Hz
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 131
[Pr - 132] 2nd Velocity Command Lowpass Filter Bandwidth
Ultraware Name 2nd Regulator Gain Low Pass Bandwidth (VReg)
Range 0hellip10000
Default 1000
Units Hz
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 132
[Pr - 133] 3rd Velocity Regulator P Gain
Ultraware Name 3rd Regulator Gain P Gain
Range 0hellip10000
Default 60
Units -
When Enabled Immediately
Applicable Operating Mode Follower Analog Velocity Preset
MODBUS Address 133
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 77
Standard Drive Parameters Appendix A
[Pr - 134] 3rd Velocity Regulator I Gain
Ultraware Name 3rd Regulator Gain Integrator Gain
Range 0hellip10000
Default 26
Units -
When Enabled Immediately Immediately
Applicable Operating Mode Follower Analog Velocity Preset
MODBUS Address 134
[Pr - 135] 3rd Position Regulator Kp Gain
Ultraware Name 3rd Regulator Gain Kp
Range 0hellip700
Default 20
Units Hz
When Enabled Immediately
Applicable Operating Mode Position
MODBUS Address 135
[Pr - 136] 3rd Current Command Lowpass Filter Bandwidth
Ultraware Name 3rd Regulator Gain Low Pass Bandwidth (IReg)
Range 0hellip10000
Default 300
Units Hz
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 136
[Pr - 137] 3rd Velocity Command Lowpass Filter Bandwidth
Ultraware Name 3rd Regulator Gain Low Pass Bandwidth (VReg)
Range 0hellip10000
Default 1000
Units Hz
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 137
78 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 138] 4th Velocity Regulator P Gain
Ultraware Name 4th Regulator Gain P
Range 0hellip10000
Default 60
Units -
When Enabled Immediately
Applicable Operating Mode Follower Analog Velocity Preset
MODBUS Address 138
[Pr - 139] 4th Velocity Regulator I Gain
Ultraware Name 4th Regulator Gain Integrator Gain
Range 0hellip60000
Default 26
Units
When Enabled Immediately
Applicable Operating Mode Follower Analog Velocity Preset
MODBUS Address 139
[Pr - 140] 4th Position Regulator Kp Gain
Ultraware Name 4th Regulator Gain Kp
Range 0hellip700
Default 20
Units Hz
When Enabled Immediately
Applicable Operating Mode Position
MODBUS Address 140
[Pr - 141] 4th Current Command Lowpass Filter Bandwidth
Ultraware Name 4th Regulator Gain Low Pass Bandwidth (IReg)
Range 0hellip10000
Default 300
Units Hz
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 141
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 79
Standard Drive Parameters Appendix A
[Pr - 142] 4th Velocity Command Lowpass Filter Bandwidth
Ultraware Name 4th Regulator Gain Low Pass Bandwidth (VReg)
Range 0hellip10000
Default 1000
Units Hz
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 142
80 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
Group 2 - Speed Control
[Pr - 200] Velocity Scale
Ultraware Name Velocity Scale
Range 100hellip20000
Default 5000
Units rpmV for rotary motors mmsec for linear motors
When Enabled Servo-Off -gt Setting
Applicable Operating Mode Analog Velocity
MODBUS Address 200 (1)
1 Refer to Output Function Status Parameter on page 23 for more detailed information on these parameters
[Pr - 201] Jog Velocity Command
Ultraware Name Velocity Control Panel Velocity Command
Range 0hellip6000
Default 50
Units rpm for rotary motors mmsec for linear motors
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 201
[Pr - 202] Acceleration
Ultraware Name Acceleration Limits Acceleration
Range 1hellip2147483647
Default 41667
Units 10-2Revsec2 for rotary mmsec2 for linear
When Enabled Immediately
Applicable Operating Mode Analog Velocity Input Preset Velocity
MODBUS Address 202
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 81
Standard Drive Parameters Appendix A
[Pr - 203] Deceleration
Ultraware Name Acceleration Limits Deceleration
Range 1hellip2147483647
Default 41667
Units 10-2Revsec2 for rotary mmsec2 for linear
When Enabled Immediately
Applicable Operating Mode Analog Velocity Input Preset Velocity
MODBUS Address 203
[Pr - 204] S-Curve Time
Ultraware Name Acceleration Limits S-Curve Time
Range 0hellip5000
Default 0
Units Ms
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 204
[Pr - 205] Preset Velocity 1
Ultraware Name Preset Velocity 1
Range -6000hellip6000
Default 0
Units rpm for rotary motors mmsec for linear motors
When Enabled Immediately
Applicable Operating Mode Preset
MODBUS Address 205
Pr - 206] Preset Velocity 2
Ultraware Name Preset Velocity 2
Range -6000hellip6000
Default 0
Units rpm for rotary motors mmsec for linear motors
When Enabled Immediately
Applicable Operating Mode Preset
MODBUS Address 206
82 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
Pr - 207] Preset Velocity 3
Ultraware Name Preset Velocity 3
Range -6000hellip6000
Default 0
Units rpm for rotary motors mmsec for linear motors
When Enabled Immediately
Applicable Operating Mode Preset
MODBUS Address 207
[Pr - 208] Preset Velocity 4
Ultraware Name Preset Velocity 4
Range -6000hellip6000
Default 0
Units rpm for rotary motors mmsec for linear motors
When Enabled Immediately
Applicable Operating Mode Preset
MODBUS Address 208
[Pr - 209] Preset Velocity 5
Ultraware Name Preset Velocity 5
Range -6000hellip6000
Default 0
Units rpm for rotary motors mmsec for linear motors
When Enabled Immediately
Applicable Operating Mode Preset
MODBUS Address 209
[Pr - 210] Preset Velocity 6
Ultraware Name Preset Velocity 6
Control Index 6
Range -6000hellip6000
Default 0
Units rpm for rotary motors mmsec for linear motors
When Enabled Immediately
Applicable Operating Mode Preset
MODBUS Address 210
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 83
Standard Drive Parameters Appendix A
[Pr - 211] Preset Velocity 7
Ultraware Name Preset Velocity 7
Range -6000hellip6000
Default 0
Units rpm for rotary motors mmsec for linear motors
When Enabled Immediately
Applicable Operating Mode Preset
MODBUS Address 211
[Pr - 212] Manual Velocity Limit
Ultraware Name Manual Velocity limit
Range 1hellip6000
Default 5000
Units rpm for rotary motors mmsec for linear motors
When Enabled Servo-Off -gt Setting
Applicable Operating Mode Follower Analog Velocity Preset
MODBUS Address 212
[Pr - 213] Velocity Limit Mode
Ultraware Name Velocity Limits Velocity Limit Mode
Range Value Description
0x0 Disabled
0x1 Limited by [Pr - 212]
0x2 Limited by Analog Speed Command Value (except Analog Speed Mode)
0x3 Limited by lesser one between [Pr - 212] and Analog Speed Command
Default 0
When Enabled Servo-Off -gt Setting
Applicable Operating Mode All
MODBUS Address 213
84 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
Group 3 - Position Control
[Pr - 300] Follower
Data Size 4 digits
Digit 0 Command Type
Ultraware Name Command Type
Range Value Description
0x0 Step UpStep Down Positive logic
0x1 Step UpStep Down Negative logic
0x2 StepDirection Positive Logic
0x3 StepDirection Negative Logic
0x4 Auxiliary Encoder x1
0x5 Auxiliary Encoder x2
0x6 Auxiliary Encoder x4
Default 0x0
Note For Command types 0x4 0x5 and 0x6Motor Counts = Master Lines MULT helliphelliphellip (4 Para301) Para302where MULT is 1 2 or 4 for command types 0x4 0x5 and 0x6 respectively
Applicable Operating Mode Follower
Digit 1 Controller Output Type
Ultraware Name Controller Output Type
Range Value Description
0x0 Use Low speed Line Drive Output in Host Controller for isolated electrical connection
0x1 Use Open Collector in Host Controller
0x2 Use High Frequency Line Drive Output in Host Controller
Default 0x0
Applicable Operating Mode Follower
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 85
Standard Drive Parameters Appendix A
Digit 2 Encoder Output Forward Direction
Ultraware Name Encoder Output Forward Direction
Range Value Description
0x0 During Forward Rotation Encoder Output Phase A have a lead of 90ordm over Phase B
0x1 During Forward Rotation Encoder Output Phase B have a lead of 90ordm over Phase A
Default 0x0
Applicable Operating Mode All
Digit 3 1st Gear ratio change
Ultraware Name 1st Gear ratio change
Range Value Description
0x0 Enable Only on Drive Disabled
0x1 Always Enable
Default 0x0
When Enabled Servo-Off -gt Setting
Applicable Operating Mode Follower
MODBUS Address 300
[Pr - 301] 1st Gear Ratio Follower Counts
Ultraware Name 1st Gear Ratio Numerator
Range 1hellip65535
Default 4
Units
When Enabled Servo-Off -gt Setting
Applicable Operating Mode Follower
MODBUS Address 301
[Pr - 300] (Continued) Follower
86 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 302] 1st Gear Ratio Master Counts
Ultraware Name 1st Gear Ratio Denominator
Range 1hellip65535
Default 1
Units
When Enabled Servo-Off -gt Setting
Applicable Operating Mode Follower
MODBUS Address 302
[Pr - 303] Encoder Output Ratio Output Counts
Ultraware Name Output Ratio Numerator
Range 1hellip32768
Default 1
Units
When Enabled Servo-Off -gt Setting
Applicable Operating Mode All
MODBUS Address 303
[Pr - 304] Encoder Output Ratio Motor Counts
Ultraware Name Output Ratio Numerator
Range 1hellip32768
Default 1
Units
When Enabled Servo-Off -gt Setting
Applicable Operating Mode All
MODBUS Address 304
[Pr - 305] 2nd Gear Ratio Follower Counts
Ultraware Name 2nd Gear Ratio Numerator
Range 1hellip65535
Default 4
Units
When Enabled Servo-Off -gt Setting
Applicable Operating Mode Follower
MODBUS Address 305
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 87
Standard Drive Parameters Appendix A
[Pr - 306] 2nd Gear Ratio Master Counts
Ultraware Name 2nd Gear Ratio Denominator
Range 1hellip65535
Default 1
Units
When Enabled Servo-Off -gt Setting
Applicable Operating Mode Follower
MODBUS Address 306
[Pr - 307] Reserved
When Enabled Reserved for future use
88 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 308] Digital Filter Cut-off Frequency
Data Size 3 digits
Digit 0 Low drive input
Value Description
0x0 hellip0x7 0 3MHz
1 175MHz
2 15MHz
3 1MHz
4 075MHz
5 0625MHz
6 0562MHz
7 0525MHz
Default = 1
Digit 1 Open collector input
Value Description
0x0 hellip0x7 0 3MHz
1 175MHz
2 15MHz
3 1MHz
4 075MHz
5 0625MHz
6 0562MHz
7 0525MHz
Default = 5
Digit 2 High frequency line drive input
0x0 hellip0x7 0 3MHz
1 175MHz
2 15MHz
3 1MHz
4 075MHz
5 0625MHz
6 0562MHz
7 0525MHz
Default = 0
When Enabled Servo-Off -gt Setting
Applicable Operating Mode All
MODBUS Address 308
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 89
Standard Drive Parameters Appendix A
Group 4 - Torque Controls
[Pr - 400] Current Scale
Ultraware Name Current Scale
Range 0hellip1000
Default 333
Units of rated continuous currentV
When Enabled Servo-Off -gt Setting
Applicable Operating Mode Analog Current command Dual current Command
MODBUS Address 400
[Pr - 401] Positive Internal Current Limit
Ultraware Name Current Limits Positive Internal
Range 0hellip500
Default 300
Units of motor rated continuous current
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 401
[Pr - 402] Negative Internal Current Limit
Ultraware Name Current Limits Negative Internal
Range 0hellip500
Default 300
Units of motor rated continuous current
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 402
[Pr - 403] Positive External Current Limit
Ultraware Name Current Limits Positive External
Range 0hellip500
Default 100
Units of motor rated continuous current
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 403
90 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[
Pr - 404] Negative External Current Limit
Ultraware Name Current Limits Negative External
Range 0hellip500
Default 100
Units of motor rated continuous current
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 404
[Pr - 405] Overtravel Current Limit
Ultraware Name Stopping Functions Maximum Stopping Current
Range 0hellip500
Default 300
Units of motor rated continuous current
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 405
[Pr - 406] Initial Current Bias
Ultraware Name Initial Current Bias
Description Constant current applied when the drive enables Meant to hold vertical loads
Range -100hellip100
Default 0
Units of motor rated continuous current
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 406
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 91
Standard Drive Parameters Appendix A
Group 5 - Supplemental Drive Controls
[Pr - 500] In Position Size
Ultraware Name Position Functions In Position Size
Description If position error lt In Position Size for 1 ms and the In Position Size output signal is assigned the In Position output is turned ON
Range 0hellip2500
Default 10
Units Counts
When Enabled Immediately
Applicable Operating Mode Follower
MODBUS Address 500
[Pr - 501] Reserved
When Enabled Reserved for future use
[Pr - 502] Near Position Size
Ultraware Name Position Functions Near Position Size
Description If position error lt Near Position Size and the Near Position output signal is assigned the Near Position output is turned ON
Range 0hellip2500
Default 20
Units Counts
When Enabled Immediately
Applicable Operating Mode Follower
MODBUS Address 502
92 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 503] Speed Window
Ultraware Name Speed Functions Speed Window
Description If the speed error lt Speed Window for 10 ms and the Within Speed Window output signal is assigned then the Within Speed Window output is turned ON
Range 0hellip1000
Default 10
Units rpm for rotary motors mmsec for linear motors
When Enabled Immediately
Applicable Operating Mode Follower Analog Velocity Input Preset
MODBUS Address 503
[Pr - 504] Up to Speed
Ultraware Name Speed Functions Up to Speed
Description If the motor speed gt Up to Speed and the Up to Speed output signal is assigned then the Up to Speed output is turned ON
Range 1hellip5000
Default 20
Units rpm for rotary motors mmsec for linear motors
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 504
[Pr - 505] Zero Clamp
Ultraware Name Speed Functions Zero Clamp
Description If the Analog Speed command lt Zero Clamp then the Analog Speed command is ignored and the Motor Speed command is set to zero
Range 1hellip5000
Default 20
Units rpm for rotary motors mmsec for linear motors
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 505
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 93
Standard Drive Parameters Appendix A
[Pr - 506] Brake Inactive Delay
Ultraware Name Digital Outputs Brake Inactive Delay
Description Brake Inactive delay is the time from when the drive is enabled to when the brake is released
Range 0hellip10000
Default 0
Units ms
When Enabled Immediately
Applicable Operating Mode Servo-Off -gt Setting
MODBUS Address 506
[Pr - 507] Disable Delay
Ultraware Name Stopping Functions Disable Delay
Description Disable Delay is the time from when the Drive Disable command is received to when the Drive Disable command is actually executed
Range 0hellip10000
Default 0
Units ms
When Enabled All
Applicable Operating Mode Servo-Off -gt Setting
MODBUS Address 507
[Pr - 508] Brake Active Delay
Ultraware Name Digital Outputs Brake Active Delay
Description Brake Active Delay is the time from when the drive is disabled to when the break starts operating
Range 0hellip10000
Default 500
Units ms
When Enabled All
Applicable Operating Mode Servo-Off -gt Setting
MODBUS Address 508
94 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 509] Disabled Braking Speed
Ultraware Name Stopping Functions Braking Application Speed
Description The Disabled Braking Speed is the feedback speed below which the motor break is engaged after disabling the drive
Range 0hellip1000
Default 100
Units rpm for rotary motors mmsec for linear motors
When Enabled All
Applicable Operating Mode Servo-Off -gt Setting
MODBUS Address 509
[Pr - 510] Following Error Limit
Ultraware Name Following Error Limit
Description A following error fault occurs when the difference between position command and actual position is greater than this parameter
Range 0hellip2147483647
Default 99999
Units Counts
When Enabled Immediately
Applicable Operating Mode Follower
MODBUS Address 510
[Pr - 511] Reserved
When Enabled Reserved for future use
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 95
Standard Drive Parameters Appendix A
[Pr - 512] AC line loss fault delay
Ultraware Name AC Line Loss Fault Delay
Description The AC Line Loss Fault is inhibited for this amount of time when a loss of AC power is detected
Range 20hellip1000
Default 20
Units ms
When Enabled Servo-Off -gt Setting
Applicable Operating Mode All
MODBUS Address 513
[Pr - 513] Analog Output CH1 Selection
Ultraware Name Analog Output 1 Signal
Range 0hellip28 (except 15232526)
Default 0
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 514
[Pr - 514] Analog Output CH2 Selection
Ultraware Name Analog Output 2 Signal
Range 0hellip28 (except 15232526)
Default 1
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 516
[Pr - 515] Analog Output CH1 Scale
Ultraware Name Analog Output 1 Scale
Range 1 hellip99999
Units Units depend on the channel selected in [Pr - 513]
Default 500
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 518
96 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 516] Analog Output CH2 Scale
Ultraware Name Analog Output 2 Scale
Range 1hellip99999
Units Units depends on the channel selected in [Pr - 514]
Default 500
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 520
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 97
Standard Drive Parameters Appendix A
Group 6 - Supplemental Gain and Report Settings
[Pr - 600] Analog Velocity Command Offset
Ultraware Name Velocity Command Offset
Range -10000hellip10000
Default 0
Units 01 mV
When Enabled Servo-Off -gt Setting (ENG Mode)
Applicable Operating Mode Analog Velocity Command
[Pr - 601] Analog Current Command Offset
Ultraware Name Current Command Offset
Range -10000hellip10000
Default 0
Units 01 mV
When Enabled Servo-Off -gt Setting (ENG Mode)
Applicable Operating Mode Analog Current Command
[Pr - 602] U Phase Current Sensing Offset
Ultraware Name Calibration U Phase Current Offset
Range -60000hellip60000
Default 0
Units 001 mA
When Enabled Servo-Off -gt Setting (ENG Mode)
Applicable Operating Mode All
[Pr - 603] W Phase Current Sensing Offset
Ultraware Name Calibration W Phase Current Offset
Range -60000hellip60000
Default 0
Units 001 mA
When Enabled Servo-Off -gt Setting (ENG Mode)
Applicable Operating Mode All
98 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 604] A lead B Swap
Ultraware Name A lead B Swap
Description Select A-lead-B or B-lead-A
Data Size 1 digit
Range Value Description
0 Disable
1 Enable
Default 0
Unit -
When Enabled Servo-Off -gt Setting -gt After power cycle (ENG Mode)
Applicable Operating Mode All
[Pr - 605] Dynamic Brake Circuit Protection
Ultraware Name Dynamic Brake Circuit Protection
Description The Dynamic Brake Circuit Protection is inhibited that the motor DB braking current is too large for the drive
Data Size 1 digit
Range Value Description
0 Disable
1 Enable
Default 1
Units -
When Enabled Servo-Off -gt Setting (ENG Mode)
Applicable Operating Mode All
[Pr - 606] Fault Detail Sampling Period
Ultraware Name Fault Detail Setup Sample Period
Range 1hellip100
Default 5
Units 02 ms
When Enabled Immediately (ENG Mode)
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 99
Standard Drive Parameters Appendix A
[Pr - 607] Fault Detail Data Selection 1
Ultraware Name Fault Detail Setup Channel A
Description Refer to Monitor Variables on page 135 for more information on the range options
Range 0hellip28 (except 15 23 25 and 26)
Default 0
When Enabled Immediately (ENG Mode)
[Pr - 608] Fault Detail Data Selection 2
Ultraware Name Fault Detail Setup Channel B
Description Refer to Monitor Variables on page 135 for more information on the range options
Range 0hellip28 (except 15 23 25 and 26)
Default 3
When Enabled Immediately (ENG Mode)
[Pr - 609] Fault Detail Data Selection 3
Ultraware Name Fault Detail Setup Channel C
Description Refer to Monitor Variables on page 135 for more information on the range options
Range 0hellip28 (except 15 23 25 and 26)
Default 11
When Enabled Immediately (ENG Mode)
[Pr - 610] Fault Detail Data Selection 4
Ultraware Name Fault Detail Setup Channel D
Description Refer to Monitor Variables on page 135 for more information on the range options
Range 0hellip28 (except 15 23 25 and 26)
Default 16
When Enabled Immediately (ENG Mode)
100 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 611] 1st Resonant Frequency Suppression Filter
Ultraware Name Main Current Regulator Gains 1st Resonant Frequency Suppression Filter
Description Suppresses Vibration by cutting off Current Command in assigned frequency band
Range 0hellip10000
Default 10000
Units Hz
When Enabled Immediately (Read Parameter for ENG)
Applicable Operating Mode All
[Pr - 612] 2nd Resonant Frequency Suppression Filter
Ultraware Name Main Current Regulator Gains 1st Resonant Frequency Suppression Filter
Description Suppresses Vibration by cutting off Current Command in assigned frequency band
Range 0hellip10000
Default 10000
Units Hz
When Enabled Immediately (Read Parameter for ENG)
Applicable Operating Mode All
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 101
Standard Drive Parameters Appendix A
Group 7 - Manufacturing Settings
This parameter group includes product settings that are programmed during the manufacturing process
IMPORTANT Group 7 - Manufacturing Settings are programmed at the factory Do not modify these settings as they provide a common drive setup that is useful when you bull develop a drive system or troubleshooting a drive or bull seek assistance through Rockwell Automation Technical
Support
[Pr - 700] Drive Capacity
Ultraware Name Drive Model
Range 50hellip1500
Default Factory settings determine default
Units W
When Enabled Servo-Off -gt Setting -gt After power cycle (ENG mode)
Applicable Operating Mode All
[Pr - 701] DC Bus Voltage Offset
Ultraware Name Calibration DC Bus Voltage Offset
Range -100hellip100
Default 0
Units V
When Enabled Servo-Off -gt Setting -gt After power cycle (ENG mode)
Applicable Operating Mode All
[Pr - 702] Reservedl
When Enabled Reserved for future use
102 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 703] Analog Monitor Output CH1 Offset
Ultraware Name Calibration Analog Output CH1 Offset
Range -1000hellip1000
Default 0
Units mV
When Enabled Servo-Off -gt Setting -gt After power cycle (ENG mode)
Applicable Operating Mode All
[Pr - 704] Analog Monitor Output CH1 Scaling
Ultraware Name Calibration Analog Output CH1 Scale
Range -1000hellip1000
Default 0
Units -
When Enabled Servo-Off -gt Setting -gt After power cycle (ENG mode)
Applicable Operating Mode All
[Pr - 705] Analog Monitor Output CH2 Offset
Ultraware Name Calibration Analog Output CH2 Offset
Range -1000hellip1000
Default 0
Units mV
When Enabled Servo-Off -gt Setting -gt After power cycle (ENG mode)
Applicable Operating Mode All
[Pr - 706] Analog Monitor Output CH2 Scaling
Ultraware Name Calibration Analog Output CH2 Scale
Range -1000hellip1000
Default 0
Units -
When Enabled Servo-Off -gt Setting -gt After power cycle (ENG mode)
Applicable Operating Mode All
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 103
Standard Drive Parameters Appendix A
Group 8 - Reserved Parameters
Group 8 parameters are reserved
[Pr - 707] DC Bus Measurement Scaling Calibration
Ultraware Name Calibration DC Bus ADC Calibration
Description This parameter is a calibration adjustment to the ideal ADC scaling The scaling adjustment range is -100 to +100 so the ADC scaling can be adjusted from 2 the ideal scaling to zero
Range -1000hellip1000
Default 0 (no adjustment)
Units 0001
When Enabled Servo-Off -gt Setting -gt After power cycle (ENG mode)
Applicable Operating Mode All
104 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
Group 9 - Motor Controls
[Pr - 900] Standard Motor Flag
Ultraware Name General Motor Flag
Range Value Description
0 Custom
1 Standard
Default 1
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 901] Motor Type
Ultraware Name General Motor Type
Range Value Description
0 Rotary
1 Linear
2 Reserved
3 Reserved
Default 0
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 902] Motor Resistance
Ultraware Name Electrical Resistance
Range 1hellip65535
Units Ohms 256
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 903] Motor Inductance
Ultraware Name Electrical Inductance
Range 1hellip65535
Units mH 256
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 105
Standard Drive Parameters Appendix A
[Pr - 904] Motor Intermittent Current
Ultraware Name Ratings Intermittent Current
Range 1hellip32767
Units A 128
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 905] Motor Continuous Current
Ultraware Name Ratings Continuous Current
Range 1hellip32767
Units A 128
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 906] Motor Rated Voltage
Ultraware Name Electrical Rated Voltage
Range 10hellip1000
Units V
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 907] Encoder Type
Ultraware Name Feedback Encoder
Range
Value Description
1 Incremental
4 Serial Incremental
5 Serial Absolute
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 908] Hall Offset
Ultraware Name Feedback Hall Input Offset
Range 0hellip359
Units Electrical degree
When Enabled Servo-Off -gt Setting -gt After power cycle
106 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 909] Current Constant
Ultraware Name General Torque Constant
Range 1hellip65535
Units N m A 4096
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 910] Motor Inertia
Ultraware Name General Inertia
Range 1hellip2147483647
Units Kgcm2 65536
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 911] PolesRevolution
Ultraware Name General PolesRevolution
Range 2hellip100
Units Poles
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 912] Encoder Lines Revolution
Ultraware Name General LinesRevolution
Range 100hellip1000000
Units Poles
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 913] Maximum Rotary Speed
Ultraware Name Ratings Maximum Speed
Range 10hellip32767
Units rpm
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 107
Standard Drive Parameters Appendix A
[Pr - 914] Force Constant
Ultraware Name General Force Constant
Range 1hellip32767
Units 16
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 915] Motor Mass
Ultraware Name General Mass
Range 1 hellip2147483647
Units Kg 65536
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 916] Electrical Cycle Length
Ultraware Name General Electrical Cycle
Range 100hellip10000
Units mm 10
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 917] Encoder Lines Meter
Ultraware Name Feedback LinesMeter
Range 4000hellip10000000
Units Lines
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 918] Maximum Linear Speed
Ultraware Name Ratings Maximum Speed
Range 32hellip32767
Units m s 256
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
108 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 919] Motor Thermal Protection Enable
Ultraware Name Thermal Software Protection
Range 0 = Disabled
1 = Enabled
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 920] Motor Thermostat
Ultraware Name Thermal Integral Thermostat
Range 0 = Disabled
1 = Enabled
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 921] Motor Thermal Resistance Winding to Encoder
Ultraware Name Thermal Rth (w-e)
Range 1hellip2147483647
Units degCWatt 65536
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 922] Motor Thermal Capacitance Winding to Encoder
Ultraware Name Thermal Cth (w-e)
Range 1hellip2147483647
Units JdegC 256
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 923] Motor Thermal Resistance Winding to Ambient
Ultraware Name Thermal Rth (w-a)
Range 1hellip2147483647
Units degCWatt 65536
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 109
Standard Drive Parameters Appendix A
[Pr - 924] Motor Thermal Capacitance Winding to Ambient
Ultraware Name Thermal Cth (w-a)
Range 1hellip2147483647
Units JdegC 256
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 925] Commutation Type
Ultraware Name Feedback Commutation
Range
Value Description
0 Brush
1 Trapezoidal
2 Sinusoidal
Applicable Operating Mode All
[Pr - 926] Start-up Commutation
Ultraware Name Feedback Sinusoidal Startup
Range Value Description
0 Self Sensing
1 Hall Inputs
2 Serial
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 927] Integral Limits
Ultraware Name General Integral Limits
Range 0hellip1
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
110 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 929 hellip Pr - 949] Reserved
When Enabled Reserved for future use
[Pr - 950] Motor Model
Ultraware Name Motor Model
Range 32 bytes character string
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 951] Drive Name
Ultraware Name Name
Range 32 bytes character string
Applicable Operating Mode All
[Pr - 952] Position Scaling Data
Ultraware Name Motor Encoder Units Position Scale
Range 8 bytes character string
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 953] Position Scaling Label
Ultraware Name Motor Encoder Units Position Label
Range 16 bytes character string
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
Pr - 954] Velocity Scaling Data
Ultraware Name Motor Encoder Units Velocity Scale
Range 8 bytes character string
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 111
Standard Drive Parameters Appendix A
[Pr - 955] Velocity Scaling Label
Ultraware Name Motor Encoder Units Velocity Label
Range 16 bytes character string
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 956] Acceleration Scaling Data
Ultraware Name Motor Encoder Units Acceleration Scale
Range 8 bytes character string
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 957] Acceleration Scaling Label
Ultraware Name Motor Encoder Units Acceleration Label
Range 16 bytes character string
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
112 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 958] Scope Config
Range 32 bytes character string
Data Size 21 digits
Applicable Operating Mode All
Digits Digits Description
0hellip1 Channel A Signal See Monitor Variables
2hellip3 Channel B Signal See Monitor Variables
4 Channel A Scale Type
0hellip1 0 - Auto (Default) 1- Manual
5 Channel B Scale Type
0hellip1 0 - Auto (Default) 1 - Manual
6hellip7 Sample Period
8hellip9 Samples per division
10hellip12 Trigger Signal See Monitor Variables
13 Trigger Mode
0 - Immediate
1 - Falling Edge
2 -Rising Edge
14 Pretrigger Percentage (10)
15hellip22 Trigger Threshold
Default 0x00000000000000100510011E05000100
When Enabled Servo-Off -gt Setting -gt After power cycle
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 113
Standard Drive Parameters Appendix A
[Pr - 959] Scope Scaling
Range 32 bytes character string
Data Size 32 digits
Digits Digits Description
0hellip7 Channel A Scale
8hellip15 Channel A Offset
16hellip23 Channel B Scale
24hellip31 Channel B Offset
Default 0x00000000000000000000000000000000
Ultraware Name Displayed Units
Range 1 byte character string
0 = Metric
1 = English
2 = User units
Default 0
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 960] Displayed Units
Ultraware Name Displayed Units
Range 1 byte character string
0 = Metric
1 = English
2 = User units
Default 0
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
114 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
Notes
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 115
Appendix B
Indexing Drive Parameters
Parameters control Kinetix 3 drive operations They are grouped by the type of drive Indexing or Standard and the drive settings they define
Descriptions of Standard Drive Parameters begin on page 45
Parameter Groupings Indexing drive parameters are grouped into these drive settings bull Group 0 - Indexing drive system and IO settings bull Group 1 - Homing controls bull Group 2 - Indexing operations bull Group 3 - Indexing move profiling bull Group 4 - Indexing position and distance setting bull Group 5 - Registration settings bull Group 6 - Batch count operations bull Group 7 - Dwell settings bull Group 8 - Velocity settings bull Group 9 - Move profile settings bull Group 10 - Acceleration settings bull Group 11 - Deceleration settings bull Group 12 - Next Index settings
116 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix B Indexing Drive Parameters
Parameter Descriptions Parameter descriptions list the size of each parameter and the data options within the parameter
Descriptions for Standard Drive Parameters begin on page 45
Group 0 - Indexing System
[IN0000] Auto Start Indexing
Ultraware Name Auto Start Indexing
Description When this field is set to ON the drive will begin executing the selected index whenever the drive enables
Range Value Description
0 OFF
1 ON
Default 0
Units NA
Access Set
Changeable Status Always
When Enabled Power Cycling
Applicable Operating Mode Indexing
MODBUS Address 5000
[IN0001] Abort Index Deceleration
Ultraware Name Abort Index Decel
Description The deceleration used to stop motion when the Stop Index input terminates an index move
Range Value Description
1 hellip2147483647 10minus2 Revsec2 for rotary mmsec2 for linear
Default 6250
Access Set
Changeable Status Always
When Enabled Power Cycling
Applicable Operating Mode Indexing
MODBUS Address 5001
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 117
Indexing Drive Parameters Appendix B
[IN0002] Positive Deceleration Distance
Ultraware Name Positive Deceleration Distance
Range Value Description
0 hellip2147483647 The stopping distance used when the drive encounters a positive overtravel limit
Default 0
Units Counts
Access Set
Changeable Status Always
When Enabled Always
Applicable Operating Mode Indexing
MODBUS Address 5002 hellip5003
[IN0003] Negative Deceleration Distance
Ultraware Name Negative Deceleration Distance
Range Value Description
0 hellip2147483647 The stopping distance used when the drive encounters a negative overtravel limit
Default 0
Units Counts
Access Set
Changeable Status Always
When Enabled Always
Applicable Operating Mode Indexing
Ultraware Name Positive Deceleration Distance
MODBUS Address 5004 hellip5005
118 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix B Indexing Drive Parameters
[IN0004] Enable Software Limits
Ultraware Name Enable Software Limits
Description Controls software overtravel limits of the axis
Range Value Description
0 Off Turns off software overtravel limit checking
1 On Causes the drive to compare the motor feedback position to the Positive and Negative Software Limits below to determine if the drive has exceeded an overtravel limit
Default 0
Units NA
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5006
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 119
Indexing Drive Parameters Appendix B
[IN0005] Positive Software Limit
Ultraware Name Positive Software Limit
Description If the motor feedback position is greater than this value the drive has exceeded the software overtravel limit
Range Value Description
-2147483647 hellip2147483647
Positive software overtravel limit
Default 2147483647
Units Counts
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5007
[IN0006] Negative Software Limit
Ultraware Name Negative Software Limit
Description If the motor feedback position is greater than this value the drive has exceeded the software overtravel limit
Range Value Description
-2147483647 hellip2147483647
Negative software overtravel limit
Default -2147483647
Units Counts
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5008
120 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix B Indexing Drive Parameters
Group 1 - Homing
[IN0100] Homing Type
Ultraware Name Homing Type
Description Select the type of homing operation the drive will perform
Range Value Description
0 Home to Present Position
1 To Home sensorBack to Marker (default)
2 To LimitBack to Marker
3 To Home sensorFwd to Marker
4 To LimitFwd to Marker
5 Home to Current Value
6 Home to Current ValueBack to Marker
7 To Home Sensor Move Fwd to Marker
8 Home to Marker
Default 1
Units NA
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5200
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 121
Indexing Drive Parameters Appendix B
[IN0101] Auto Start Homing on Enable
Ultraware Name Auto Start Homing on Enable
Description Causes the drive to begin the homing procedure automatically when the drive is enabled
Range Value Description
0 Active Automatically starts homing every time the drive is enabled
1 Active After Reset Only automatically starts homing when a drive is enabled if the drive has not already been homed
2 Inactive
Default 2
Units NA
Access Set
Changeable Status Always
When Enabled Power cycling
Applicable Operating Mode Indexing
MODBUS Address 5201
[IN0102] Homing Velocity
Ultraware Name Homing Velocity
Description The commanded velocity used during homing The sign of the this value (+-) indicates the direction of motion during homing
Range Value Description
-6000 hellip6000 rpm for rotary motors mmsec for linear motors
Default 100
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5202
122 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix B Indexing Drive Parameters
[IN0103] Creep Velocity
Ultraware Name Creep Velocity
Description For the To Sensor then Back to Marker Homing Type the velocity used for all remaining homing motion after the motor decelerates to a stop when it finds the sensor edge
Range Value Description
0 hellip6000 The velocity used for all homing motion after the motor decelerates to a stop at the sensor edge
Default 20
Units rpm for rotary motors mmsec for linear motors
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5203
[IN0104] Homing AccelerationDeceleration
Ultraware Name Homing AccelerationDeceleration
Description The rate of acceleration and deceleration used during homing
Range Value Description
1 hellip2147483647 The velocity used for all homing motion after the motor decelerates to a stop at the sensor edge
Default 6250
Units 10minus2 Revsec2 for rotary mmsec2 for linear
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5204 hellip5205
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 123
Indexing Drive Parameters Appendix B
[IN0105] Offset Move Distance
Ultraware Name Offset Move Distance
Description The distance the motor position is from the marker edge after the homing sequence is complete For Sensor Only Homing the distance the motor position is from the sensor edge after the homing sequence is complete
Range Value Description
-2147483647 hellip2147483647
Digital input state communicated to the drive when the Home Sensor input becomes active
Default 0
Units Counts
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5206 hellip5207
[IN0106] Home Sensor Polarity
Ultraware Name Home Sensor Polarity
Description Specifies the digital input state communicated to the drive when the Home Sensor input becomes active
Range Value Description
0 Active-Going Transition
1 Inactive-Going Transition
Default 0
Units Counts
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5208
124 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix B Indexing Drive Parameters
[IN0107] Home Position
Ultraware Name Home Position
Description The home position when a homing procedure is completed
Range Value Description
-2147483647 hellip2147483647
Digital input of the home position
Default 0
Units Counts
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5209 hellip5210
[IN0108] Moving Distance After Home Sensor
Ultraware Name Moving Distance After Home Sensor
Description This value is distance that the drive ignores the marker inputs after the home sensor is detected
Range Value Description
0 hellip2147483647 Distance the drive ignores the marker inputs after home is detected
Default 0
Units Counts
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5211 hellip5212
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 125
Indexing Drive Parameters Appendix B
[IN0109] Home Current
Ultraware Name Home Current
Description Specifies the torque feedback at which the drive stops moving the motor at the Homing Velocity
Range Value Description
1 hellip250 Percent of motor torque feedback
Default 100
Units Percentage of a motor rating torque
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5213
[IN0110] Home Current Time
Ultraware Name Home Current Time
Description Specifies the torque feedback at which the drive stops moving the motor at the Homing Velocity
Range Value Description
1 hellip1000 Percent of motor torque rating
Default 100
Units Percentage of motor torque rating
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5214
126 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix B Indexing Drive Parameters
[IN0111] Homing Time Limit
Ultraware Name Homing Time Limit
Description Drive fault when time for homing exceeds the homing time limit
Range Value Description
0 hellip65535 Homing time limit in seconds
Default 60
Units seconds
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5215
[IIN0112] Stop Home Deceleration
Ultraware Name Stop Home Decel
Description The rate of drive deceleration used when homing is stopped
Range Value Description
1 hellip2147483647 Rate of drive deceleration when homing is stopped
Default 6250
Units NA
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5216 hellip5217
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 127
Indexing Drive Parameters Appendix B
Group 2 - Indexing Options
[IN0200] hellip[IN0263] Index 0hellip63 Type and Action When Complete
Description Digit 0 homes the axis and digit 2 controls execution of the index move command
Digit 0 Homes the axis before the drive can executes any index
Ultraware Name Index 0hellip63 Option Type
Range Value Description
0 Absolute moves from its starting position to the specified Position below
1 Incremental moves from its starting position the specified Distance below
Default 1
Digit 1 Controls execution of the index move command after homing
Ultraware Name Index 0hellip63 Action When Complete
Range Value Description
0 Stop ends the execution of indexed move commands
1 Start next index commands execution of the Next Index move without additional input but after the scheduled Dwell
2 Wait for Start commands execution of the Next Index move the next time the Start Index input becomes active
Default 0
Access Set
Changeable Status Always
When Enabled Always
Applicable Operating Mode Indexing
MODBUS Address 5400 hellip5463
128 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix B Indexing Drive Parameters
Group 3 - Index Move Profile
These values are reserved for future use
Group 4 - Index PositionDistance
Group 5 - Index Registration Distance
These values are reserved for future use
Group 6 - Index Batch Count
These values are reserved for future use
[IN0400[hellip[IN0463] Index 0hellip63 PositionDistance
Ultraware Name Index 0hellip63 PositionDistance
Description Position For Absolute mode moves the fixed position to which the motor will travel Distance For Incremental and Registration mode moves the relative distance the motor will travel
Range Value Description
-2147483647 hellip2147483647
Counts
Default 1000
Access Set
Changeable Status Always
When Enabled Always
Applicable Operating Mode Indexing
MODBUS Address 5800 hellip5927
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 129
Indexing Drive Parameters Appendix B
Group 7 - Index Dwell
Group 8 - Index Velocity
Group 9 - Index Move Profile
These values are reserved for future use
[IN0700] hellip[IN0763] Index 0hellip63 Dwell
Ultraware Name Index 0hellip63 Dwell
Description Milliseconds to remain at current position before executing
Range Value Description
0 hellip65535 ms
Default 0
Access Set
Changeable Status Always
When Enabled Always
Applicable Operating Mode Indexing
MODBUS Address 6400 hellip6463
[IN0800] Index 0hellip63 Velocity
Ultraware Name Index 0hellip63 Velocity
Description Maximum velocity while in motion
Range Value Description
0 hellip6000 rpm for rotary motors mmsec for linear motors
Default 750
Access Set
Changeable Status Always
When Enabled Always
Applicable Operating Mode Indexing
MODBUS Address 6600 hellip6663
130 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix B Indexing Drive Parameters
Group 10 - Index Acceleration
Group 11 - Index Deceleration
[IN1000]hellip[IN1063] Index 0hellip63 Acceleration
Ultraware Name Index 0hellip63 Acceleration
Description Maximum acceleration while in motion
Range Value Description
1 hellip2147483647 10minus2 Revsec2 for rotary mmsec2 for linear
Default 6250
Access Set
Changeable Status Always
When Enabled Always
Applicable Operating Mode Indexing
MODBUS Address 7000 hellip7127
[IN1100]hellip[IN1163] Index 0hellip63 Deceleration
Ultraware Name Index 0hellip63 Deceleration
Description Maximum deceleration while in motion
Range Value Description
1 hellip2147483647 10minus2 Revsec2 for rotary mmsec2 for linear
Default 6250
Access Set
Changeable Status Always
When Enabled Always
Applicable Operating Mode Indexing
MODBUS Address 7200 hellip7327
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 131
Indexing Drive Parameters Appendix B
Group 12 - Index Next Index
[IN1200]hellip[IN1263] Index 0hellip63 Next Index
Ultraware Name Index 0hellip63 Next Index
Description The number (0hellip63) of the next indexed move to execute when Action When Complete is not set to STOP
Range Value Description
0hellip63 Value of the next indexed move
Default 0
Access Set
Changeable Status Always
When Enabled Always
Applicable Operating Mode Indexing
MODBUS Address 7400 hellip7464
132 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix B Indexing Drive Parameters
Notes
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 133
Appendix C
Warnings and Fault Codes
This Appendix lists the Warnings and Fault Codes for Kinetix 3 drives
Warnings Warnings are drive abnormalities that allow motor control to continue A three-digit text message is displayed using the last segments of the display
Fault Codes Faults are serious abnormalities that cause loss of motor control The Status indicator alternates between a three-digit error code preceded by the letter E and a five-digit text message This error message repeats until the problem is cleared
Warning Number
Warning Display Description
0x01 BAT Absolute encoder battery warning
0x02 CNT Absolute encoder counter overflow
0x04 PRE Power-up overspeed warning
0x08 OCC Over current command warning
0x10 OSC Over speed command warning
0x20 PIN Digital IO assignment warning
0x40 CAP Over motor rated output power warning
Fault Code Internal Fault Code
Fault Display Fault Name
E004 0x22 MTROT Motor over temperature
E005 0x11 IPMFT IPM
E009 0x41 UDVTG Bus under voltage fault
E010 0x40 OVVTG Bus over voltage fault
E012 0x73 HFAIL Home search failed
E018 0x50 OVSPD Motor over speed fault
E019 0x51 POSER Excess position error fault
E022 0x25 CONOL Motor continuous current overload
E023 0x27 DRVOL Drive overload fault
E025 0x72 SENSR Sensor unassigned
E027 0x74 NOTHM Axis not homed
E028 0x36 ENCDE Encoder data range fault
E030 0x31 ENCOP Encoder cable open fault
134 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix C Warnings and Fault Codes
E031 0x38 ENCPE Encoder data parameter fault
E036 0x24 DRVOT Drive over temperature
E037 0x42 ACOFF AC Line Loss Fault
E053 0x63 PINIT User parameter initialization fault
E054 0x13 OFSET Current feedback offset
E055 0x61 CHSUM User parameter checksum fault
E056 0x53 CPUFT Watchdog timeout fault
E057 0x10 HWARE PWM hardware
E058 0x62 RANGE User parameter range fault
E060 0x70 DINIT Drive initialization fault
E075 0x23 SHTOL Shunt overload protection
E079 0x12 SHTOC Shunt circuit over current
E083 0x33 ABSBE Absolute encoder battery fault
E084 0x34 ABSOS Absolute encoder overspeed
E085 0x35 ABSCT Absolute multi-turn count fault
E086 0x37 ENCCT Encoder single-turn count fault
E100 0x71 SETUP Drive set-up fault
E101 0x20 CABLE Motor power cable open
E102 0x21 INSOL Motor instantaneous current overload
E103 0x28 MATCH Motor mismatch fault
E104 0x26 PWROL Continuous power overload
E105 0x30 ENCTP Encoder type mismatch fault
E106 0x32 ENCCE Encoder communication fault
E107 0x60 SERCE Serial communication fault
E108 0x52 CDFRE Position command frequency fault
E112 0x54 ESTOP Emergency stop
E113 0x64 IRANG Indexing position range overflow
E114 0x14 OVCUR Motor phase over current
Fault Code Internal Fault Code
Fault Display Fault Name
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 135
Appendix D
Monitor Variables
Ultraware limits the number of variables that can be monitored to thirty-one (variables 0 through 30) However in customer applications additional monitor variables may be used
For example monitoring of variable 32 Selected index cannot be performed by Ultraware software because this variable is outside the range of Ultraware However a customer program that supports thirty-two variables or more can monitor this variable
Variables The table below lists the variables for monitoring a Kinetix 3 drive
Variable Name Unit
No Hex
0 0x00 Velocity feedback rpm
1 0x01 Velocity command rpm
2 0x02 Velocity error rpm
3 0x03 Current command
4 0x04 Follower position counts
5 0x05 Master position counts
6 0x06 Position error counts
7 0x07 Position command count frequency Kpps
8 0x08 Commutation angle ordm (degrees)
9 0x09 Mechanical angle ordm (degrees)
10 0x0A Shunt power limit ratio
11 0x0B Bus voltage V
12 0x0C Absolute rotations rev
13 0x0D Velocity command offset mV
14 0x0E Current command offset mV
15 0x0E Input and 0utput state Refer to Variable 15 - Digital Inputs and Outputs on page 137 for more information
16 0x0F U phase current 0001A
17 17 V phase current 0001A
18 18 W phase current 0001A
19 19 Motor temperature
136 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix D Monitor Variables
20 0x10 Analog command -velocity 001V
21 0x11 Analog command - current 001V
22 0x12 Current feedback 0001A
23 0x13 Hall states (wvu) digital
24 0x14 Motor feedback position counts
25 0x15 Digital input function state Refer to Variable 25 - Digital Inputs on page 137 for more information
digital
26 0x16 Digital output function state Refer to Variable 26 - Digital Outputs on page 138 for more information
Digital
27 0x17 Instantaneous shunt power Watts
28 0x18 Drive utilization
29 0x19 Indexing input function state Refer to Variable 29 - Indexing Inputs on page 138 for more information
digital
30 0x1A Indexing output function state Refer to Variable 30 - Indexing Outputs on page 139 for more information
digital
31 0x1B CPLD version
32 0x1C Selected index digital
33 0x1D Periodic counter Range 0 hellip512 Units counts 1 count = 2 ms
Variable (Continued) Name Unit
No Hex
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 137
Monitor Variables Appendix D
Compiled Variables The tables below list variables that compile data to more effectively monitor specific aspects of a Kinetix 3 drive
Variable 15 - Digital Inputs and Outputs
Monitoring of IO status is provided by Variable 15 - Digital Inputs and Outputs Digital inputs [Pr - 017] hellip[Pr - 018] and digital outputs [Pr - 022] hellip[Pr - 027] are compiled for this variable
The table below lists the data bits in this variable
Variable 25 - Digital Inputs
Digital input status is provided by Variable 25 - Digital Inputs Digital inputs [Pr - 010] hellip[Pr - 014] are compiled for this variable
The table below lists the data bits in this variable
Digital Outputs EMG Digital Inputs
Bit No 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
Data DO6 DO6 DO4 SALM DO3 DO2 DO1 EMG DI10 DI9 DI8 DI7 DI6 DI5 DI4 DI3 DI2 DI1
Bit Digital Input Function Bit Digital Input Function
0 Current Limit- Negative 10 Fault Reset
1 Current Limit- Positive 11 Integrator Inhibit
2 Alternate Gain Select 12 Negative Overtravel
3 Preset Direction 13 Operation Mode Override
4 Reset Multiturn Data 14 Position Strobe
5 Zero Speed Clamp 15 Positive Overtravel
6 Position Clear 16 Preset Select 0
7 Analog Speed Command Enable in Preset 17 Preset Select 1
8 Motor Moving Enable in Velocity Mode 18 Preset Select 2
9 2nd Electronic Gear Bank Selection
138 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix D Monitor Variables
Variable 26 - Digital Outputs
Digital output status is provided by Variable 26 - Digital Outputs Digital inputs and outputs [Pr - 002] and [Pr - 022] hellip[Pr - 024] are compiled for this variable
The table below lists the data bits in this variable
Variable 29 - Indexing Inputs
Indexing input function status is provided by Variable 29 - Indexing Inputs Digital inputs [Pr - 016] hellip[Pr - 018] are compiled for this variable
The table below lists the data bits in this variable
Bit Digital Output Function
0 Brake
1 Absolute Position Valid
2 Current Limited
3 Velocity Limited
4 Within Near Window
5 Warning
Bit Indexing Input function
0 Home Sensor
1 Start Homing
2 Start Indexing
3 Stop Indexing
4 Pause Index
5 Index Select 0 Input
6 Index Select 1 Input
7 Index Select 2 Input
8 Index Select 3 Input
9 Index Select 4 Input
10 Index Select 5 Input
11 Stop Homing
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 139
Monitor Variables Appendix D
Variable 30 - Indexing Outputs
Indexing output function status is provided by Variable 30 - Indexing Outputs Digital outputs [Pr - 025] hellip[Pr - 027] are compiled for this variable
The table below lists the data bits in this variable
Bit Indexing Output function Indexing Output function
0 In Motion Index Select 1 Output
1 In Dwell Index Select 2 Output
2 Axis Homed Index Select 3 Output
3 End of Sequence Index Select 4 Output
4 Index Select 0 Output Index Select 5 Output
140 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix D Monitor Variables
Notes
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 141
Index
Parameters(IN0000) auto start indexing 116(IN0001) abort index deceleration 116(IN0002) positive deceleration distance 117(IN0003) negative deceleration distance 117(IN0004) enable software limits 118(IN0005) positive software limit 119(IN0006) negative software limit 119(IN0100) homing type 120(IN0101) auto start homing on enable 121(IN0102) homing velocity 121(IN0103) creep velocity 122(IN03xx) index move profile 128(IN0400hellipIN0463) index positiondistance
128(IN05xx) index registration distance 128(IN06xx) index batch count 128(IN0700hellipIN0763) index dwell 129(IN0800hellipIN0863) index velocity 129(IN09xx) index move profile 129(IN1000hellipIN1063) index acceleration 130(IN1100hellipIN1163) index deceleration 130(IN1200hellipIN1263) next index 131(IN200hellipIN263) index type digit 0 127(Pr-000) operations mode 46(Pr-001) motor configuration 47(Pr-002) motor basic modes 48(Pr-003) auto tuning functions 49(Pr-004) inertia ratio 50(Pr-005) auxiliary function selection 1 51(Pr-006) auxiliary function selection 2 52(Pr-007) drive address 54(Pr-008) password 54(Pr-009) serial port configuration 54(Pr-010hellipPr-021) parameter setting values
60(Pr-010) allocation of input signals 1 55(Pr-011) allocation of input signals 2 56(Pr-012) allocation of input signals 3 56(Pr-013) allocation of input signals 4 57(Pr-014) allocation of input signals 5 57(Pr-015) allocation of input signals 6 58(Pr-016) allocation of input signals 7 58(Pr-017) allocation of input signals 8 58(Pr-018) allocation of input signals 9
59(Pr-019) allocation of input signals 10 59(Pr-020) allocation of input signals 11 59(Pr-021) allocation of input signals 12 60(Pr-022hellipPr-032) parameter setting values
65(Pr-022) allocation of output signals 1 60(Pr-023) allocation of output signals 2 61(Pr-024) allocation of output signals 3 61
(Pr-025) allocation of output signals 4 62(Pr-026) allocation of output signals 5 63(Pr-027) allocation of output signals 6 63(Pr-028) allocation of output signals 7 63(Pr-029) allocation of output signals 8 64(Pr-030) allocation of output signals 9 64(Pr-031) allocation of output signals 10 65(Pr-032) IO control authority 65(Pr-100) velocity regulator response level 66(Pr-101) system gain 66(Pr-102) velocity regulator P gain 66(Pr-103) velocity regulator I gain 66(Pr-104) velocity regulator D gain 67(Pr-105) velocity error filter 67(Pr-106) position regulator Kp gain 67(Pr-107) current command lowpass filter
bandwidth 68(Pr-108) velocity command lowpass filter
bandwidth 68(Pr-109) position command lowpass filter
bandwidth 68(Pr-110) 1st resonant frequency suppression
filter 69(Pr-111) 1st resonant frequency suppression
width 69(Pr-112) 2nd resonant frequency suppression
filter 69(Pr-113) 2nd resonant frequency suppression
filter width 70(Pr-114) 2nd resonant frequency suppression
filter depth 70(Pr-115) position regulator Kff gain 70(Pr-116) position regulator Kff bandwidth 71(Pr-117) velocity regulator I gain mode 71(Pr-118) velocity regulator I gain disable
threshold 72(Pr-119) position regulator high error output
offset 72(Pr-120) position regulator high error output
threshold 72(Pr-121) current regulator bandwidth
reduction scale 73(Pr-122) on-line vibration mode 73(Pr-123) velocity regulator configuration 74(Pr-124) delay time of gain switching 74(Pr-125) level of gain switching 74(Pr-126) hysteresis of gain switching 75(Pr-127) position gain switching time 75(Pr-128) 2nd velocity regulator P gain 75(Pr-129) 2nd velocity regulator i gain 75(Pr-130) 2nd position regulator Kp gain 76(Pr-131) 2nd current command low pass
filter bandwidth 76
142 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Index
(Pr-132) 2nd velocity command low pass filter bandwidth 76
(Pr-133) 3rd velocity regulator P gain 76(Pr-134) 3rd velocity regulator I gain 77(Pr-135) 3rd position regulator Kp gain 77(Pr-136) 3rd current command low pass filter
bandwidth 77(Pr-137) 3rd velocitycommand low pass filter
bandwidth 77(Pr-138) 4th velocity regulator P gain 78(Pr-139) 4th velocity regulator I gain 78(Pr-140) 4th position regulator Kp gain 78(Pr-141) 4th current command low pass filter
bandwidth 78(Pr-142) 4th velocitycommand low pass filter
bandwidth 79(Pr-200) velocity scale 80(Pr-201) jog velocity command 80(Pr-202) acceleration 80(Pr-203) deceleration 81(Pr-204) S-curve time 81(Pr-205) preset velocity 1 81(Pr-206) preset velocity 2 81(Pr-207) preset velocity 3 82(Pr-208) preset velocity 4 82(Pr-209) preset velocity 5 82(Pr-210) preset velocity 6 82(Pr-211) preset velocity 7 83(Pr-212) manual velocity limit 83(Pr-213) velocity limit mode 83(Pr-300) follower 84(Pr-301) 1st gear ratio follower counts 85(Pr-302) 1st gear ratio mastercounts 86(Pr-303) encoder output ratio output counts
86(Pr-304) encoder output ratio motor counts
86(Pr-305) 2nd gear ratio follower counts 86(Pr-306) 2nd gear ratio master counts 87(Pr-307) reserved 87(Pr-308) digital filter cut-off frequency 88(Pr-400) current scale 89(Pr-401) positive internal current limit 89(Pr-402) negative internal current limit 89(Pr-403) positive external current limit 89(Pr-404) negative external current limit 90(Pr-405) overtravel current limit 90(Pr-406) initial current bias 90(Pr-500) in position size 91(Pr-501) reserved 91(Pr-502) near position size 91(Pr-503) speed window 92(Pr-504) up to speed 92(Pr-505) zero clamp 92
(Pr-506) brake inactive delay 93(Pr-507) disable delay 93(Pr-508) brake active delay 93(Pr-509) disabled braking speed 94(Pr-510) following error limit 94(Pr-511) reserved 94(Pr-512) ac line loss fault delay 95(Pr-513) analog output ch1 selection 95(Pr-514) analog output ch2 selection 95(Pr-515) analog output ch1 scale 95(Pr-516) analog output ch2 scale 96(Pr-600) analog velocity command offset 97(Pr-601) analog current command offset 97(Pr-602) u phase current sensing offset 97(Pr-603) w phase current sensing offset 97(Pr-604) A-lead-B swap 98(Pr-605) dynamic brake circuit protection 98(Pr-606) fault detail sampling period 98(Pr-607) fault detail data selection 1 99(Pr-608) fault detail data selection 2 99(Pr-609) fault detail data selection 3 99(Pr-610) fault detail data selection 4 99(Pr-611) 1st resonant frequency suppression
filter 100(Pr-612) 2nd resonant frequency suppression
filter 100(Pr-700) drive capacity 101(Pr-701) dc bus voltage offset 101(Pr-702) reserved 101(Pr-703) analog monitor output ch1 offset 102(Pr-704) analog monitor output ch1 scaling
102(Pr-705) analog monitor output ch2 offset 102(Pr-706) analog monitor output ch2 scaling
102(Pr-707) dc bus measurement scaling
calibration 103(Pr-900) standard motor flag 104(Pr-901) motor type 104(Pr-902) motor resistance 104(Pr-903) motor inductance 104(Pr-904) motor intermittent current 105(Pr-905) motor continuous current 105(Pr-906) motor rated voltage 105(Pr-907) encoder type 105(Pr-908) hall offset 105(Pr-909) current constant 106(Pr-910) motor inertia 106(Pr-911) polesrevolution 106(Pr-912) encoder linesrevolution 106(Pr-913) maximum rotary speed 106(Pr-914) force constant 107(Pr-915) motor mass 107(Pr-916) electrical cycle length 107
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 143
Index
(Pr-917) encoder linesmeter 107(Pr-918) maximum linear speed 107(Pr-919) motor thermal protection enable 108(Pr-920) motor thermostat 108(Pr-921) motor thermal resistance winding
to encoder 108(Pr-922) motor thermal capacitance
winding to encoder 108(Pr-923) motor thermal resisitance winding
to ambient 108(Pr-924) motor thermal capacitance
winding to ambient 109(Pr-925) commutation type 109(Pr-927) integral limits 109(Pr-927) startup commutation 109(Pr-928hellipPr 949) reserved 110(Pr-950) motor model 110(Pr-951) drive name 110(Pr-952) position scaling data 110(Pr-953) position scaling label 110(Pr-954) velocity scaling data 110(Pr-955) velocity scaling label 111(Pr-956) acceleration scaling data 111(Pr-957) acceleration scaling label 111(Pr-958) scope config 112(Pr-959) scope scaling 113(Pr-960) displayed units 113
Numerics1st gear ratio follower counts (Pr-301) 851st gear ratio master counts (Pr-302) 861st resonant frequency suppression filter
(Pr-110) 691st resonant frequency suppression filter
(Pr-611) 1001st resonant frequency suppression
width(Pr-111) 692nd current command low pass filter
bandwidth (Pr-131) 762nd gear ratio follower counts (Pr-305) 862nd gear ratio master counts (Pr-306) 872nd position regulator Kp gain (Pr-130) 762nd resonant frequency suppression filter
(Pr-112) 692nd resonant frequency suppression filter
(Pr-612) 1002nd resonant frequency suppression filter
depth (Pr-114) 702nd resonant frequency suppression filter
width (Pr-113) 702nd velocity command low pass filter
bandwidth (Pr-132) 762nd velocity regulator i gain (Pr-129) 75
2nd velocity regulator P gain (Pr-128) 753rd current command low pass filter
bandwidth (Pr-136) 773rd position regulator Kp gain (Pr-135) 773rd velocity command low pass filter
bandwidth (Pr-137) 773rd velocity regulator I gain (Pr-134) 773rd velocity regulator P gain (Pr-133) 764th current command low pass filter
bandwidth (Pr-141) 784th position regulator Kp gain (Pr-140) 784th velocity command low pass filter
bandwidth (Pr-142) 794th velocity regulator I gain (Pr-139) 784th velocity regulator P gain (Pr-138) 78
Aabort index 116abort index deceleration (IN0001) 116ac line loss 48ac line loss fault delay (Pr-512) 95acceleration (Pr-202) 80acceleration scaling data (Pr-956) 111acceleration scaling label (Pr-957) 111additional resources 7address map
flash saving parameter 21index function parameter 25modbus 11monitoring parameters 22output function status parameter 23running parameter 24special indexing parameters 13standard parameters 11
A-lead-B swap (Pr-604) 98allocation of input signals 1 (Pr-010) 55allocation of input signals 10 (Pr-019) 59allocation of input signals 11 (Pr-020) 59allocation of input signals 12 (Pr-021) 60allocation of input signals 2 (Pr-011) 56allocation of input signals 3 (Pr-012) 56allocation of input signals 4 (Pr-013) 57allocation of input signals 5 (Pr-014) 57allocation of input signals 6 (Pr-015) 58allocation of input signals 7 (Pr-016) 58allocation of input signals 8 (Pr-017) 58allocation of input signals 9 (Pr-018) 59allocation of output signals 1 (Pr-022) 60allocation of output signals 10 (Pr-031) 65allocation of output signals 2 (Pr-023) 61allocation of output signals 3 (Pr-024) 61allocation of output signals 4 (Pr-025) 62allocation of output signals 5 (Pr-026) 63allocation of output signals 6 (Pr-027) 63
144 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Index
allocation of output signals 7 (Pr-028) 63allocation of output signals 8 (Pr-029) 64allocation of output signals 9 (Pr-030) 64alternate gain (G-SEL) 57alternative gain enable 51analog current command offset (Pr-601) 97analog current inputs 46analog monitor output ch1 offset (Pr-703) 102analog monitor output ch1 scaling (Pr-704)
102analog monitor output ch2 offset (Pr-705) 102analog monitor output ch2 scaling (Pr-706)
102analog offset 102analog output ch1 scale (Pr-515) 95analog output ch1 selection (Pr-513) 95analog output ch2 scale (Pr-516) 96analog output ch2 selection (Pr-514) 95analog scaling 102analog speed command (C-SP4) 57analog velocity command offset (Pr-600) 97analog velocity inputs 46ASCII commands 29auto motor identification 52auto start homing on enable (IN0101) 121auto start indexing (IN0000) 116auto tuning functions (Pr-003) 49automatic (TAT) 38autotuning speed 49auxiliary function selection 1 (Pr-005) 51auxiliary function selection 2 (Pr-006) 52axis homed (HOMC) 62
Bbackup battery 51baud rate 54brake active delay (Pr-508) 93brake delay 93brake dynamic 98brake inactive delay (Pr-506) 93brake speed 94bus calibration 103bus voltage 101
Cchecksum 28CHP command 30command
automatic task (TAT) 38disable drive (SVROF) 44
enable drive (SVRON) 44fault reset (RST) 33jog (JOG) 40monitor variable (MDM) 33other functions (ETC) 42perform manual task (TMN) 39read drive status (STS) 41read fault contents (EHY) 40read fault detailed data (DIE) 43read indexing parameter (XET) 31read parameter (SET) 29reset drive (HWR) 44triggered data collection (MOT) 34variable roll monitoring (MOR) 36verify servo connection (LIV) 43verify software version (VER) 43write indexing parameter (XHP) 32write indexing parameter (XTR) 32write parameter (CHP) 30write parameter (STR) 30
command polarity 48command type 84communication method
RS232 54RS485 54
communication protocolASCII 54MODBUS-RTU 54
commutation 109commutation type (Pr-925) 109compiled variable 137
15 - digital inputs and outputs 13725 - digital inputs 13726 - digital outputs 13829 - indexing inputs 13830 - indexing outputs 139
controller output type 84conventions used 7counts
follower 85 86master 86 87motor 86output 86
creep velocity (IN0103) 122current bias 90current command lowpass filter bandwidth
(Pr-107) 68current constant (Pr-909) 106current limit 89 90current limit (T_LMT) 61current offset 97current regulator bandwidth reduction scale
(Pr-121) 73current scale (Pr-400) 89cut-off frequency 88cycle length 107
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 145
Index
DD gain regulator 67data bit 54dc bus measurement scaling calibration
(Pr-707 103dc bus voltage offset (Pr-701) 101deceleration (Pr-203) 81delay gain 74delay time of gain switching (Pr-124) 74digital filter cut-off frequency (Pr-308) 88disable brake 48disable delay (Pr-507) 93disable drive (SVROF) 44disabled braking speed (Pr-509) 94display parameter - input register address
map 22displayed units (Pr-960) 113drive address (Pr-007) 54drive capacity (Pr-700) 101drive enable (SV-ON) 55drive name (Pr-951) 110drive password 54drive reset 44dynamic brake circuit protection (Pr-605) 98dynamic tuning 49dynamic tuning response speed 49
EEHY command 40electrical cycle length (Pr-916) 107electronic gear select (GEAR) 57emergency stop inputs 51enable drive (SVRON) 44enable software limits (IN0004) 118encoder back-up battery 51encoder detect 52encoder linesmeter (Pr-917) 107encoder linesrevolution (Pr-912) 106encoder output 84encoder output ratio motor counts (Pr-304)
86encoder output ratio output counts (Pr-303)
86encoder type 47encoder type (Pr-907) 105end of sequence (E_SEQU) 63error output offset 72error output threshold 72ETC command 42exception code modbus 10
Ffaul reset (A-RST) 56fault codes 133fault detail data selection 1 (Pr-607) 99fault detail data selection 2 (Pr-608) 99fault detail data selection 3 (PrR-609) 99fault detail data selection 4 (Pr-610) 99fault detail sampling period (Pr-606) 98fault reset (RST) 33fault selection 99faultwarning registers address map 22feedback linesmeter 107flash memory update 30 32 39flash saving parameter address map 21follower (Pr-300) 84follower counts 85follower mode 46following error limit (Pr-510) 94force constant (Pr-914) 107frequency suppression 69function code
modbus 9
Ggain bank select (BANK_SEL) 58gain delay 74gain hysteresis 75gain level 74gain switch 74gain switching 52gain timing 75gear ratio 84general commands (ASCII) 29group 0 - indexing system address map 13group 0 - system level address map 11group 1 - gain control address map 11group 10 - index acceleration address map 18group 11 - index deceleration address map 19group 12 - next index address map 20group 2 - index option address map 14group 2 - speed control address map 12group 3 - position control address maps 12group 3 - reserved 14group 4 - index positiondistance address
map 15group 4 - torque control address maps 12group 5 - reserved 16group 5 - supplemental drive control address
maps 12group 6 - reserved 16group 7 - index dwell address map 16group 8 - index velocity address map 17group 9 - reserved 17
146 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Index
Hhall offset (Pr-908) 105home sensor (H_SENS) 58homing (H_SENS and SHOME) 58homing type (IN0100) 120homing velocity (IN0102) 121host command
fault codes 133indexing command extended (XCE) 31warnings 133
hysteresis of gain switching (Pr-126) 75
II gain 71I gain disable 72I gain regulation 77 78I gain regulator 66IO control authority (Pr-032) 65In Dwell (I_DW) 62in motion (IMO) 62in position size (Pr-500) 91incremental feedback loss 52index abort 116index acceleration 0hellip63 (IN1000hellipIN1063)
130index batch count (IN06xx) 128index deceleration 0hellip63 (IN1100hellipIN1163)
130index dwell 0hellip63 (IN0700hellipIN0763) 129index move 127index move profile (IN03xx) 128index move profile (IN09xx) 129index positiondistance 0hellip63
(IN0400hellipIN0463) 128index registration distance (IN05xx) 128index select (I_SEL0hellipI_SEL3) 58index select (I_SEL4hellipI_SEL5) 59
index select 0 out (O_ISEL0) 62index select 1hellip4 out (O_ISEL0hellipO_ISEL4) 63index select 5 out (O_ISEL5) 63index start 116index type 0hellip63 digit 0 (IN100hellipIN163) 127index velocity 0hellip63 (IN0800hellipIN0863) 129indexing command extended (XCE) 31inertia ratio (Pr-004) 50inhibit delay 95initial current bias (Pr-406) 90input function parameter address map 25integral limits (Pr-927) 109integrator inhibit (CON) 55
Jjog (JOG) 40JOG command 40jog velocity command (Pr-201) 80
KKff gain 70Kp gain position regulator 67Kp gain regulation 77 78
Llevel of gain switching (Pr-125) 74line break detect 52line loss check 48LIV command 43load inertia 50low pass filter (IReg) 76 77 78low pass filter (VReg) 76 77 79lowpass filter
current 68position 68velocity 68
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 147
Index
Mmanual task (TMN) 39manual velocity limit (Pr-212) 83master counts 86maximum linear speed (Pr-918) 107maximum rotary speed (Pr-913) 106maximum speed 106 107MDM command 33mnemonic commands
DIE 43HWR 44SVROF 44SVRON 44
modbus address map 11display parameter - input register 22faultwarning registers 22indexing parameter
group 0 - indexing system 13group 10 - index acceleration 18group 11 - index deceleration 19group 12 - next index 20group 2 - index option 14group 3 - reserved 14group 4 - indexing positiondistance 15group 5 - reserved 16group 6 - reserved 16group 7 - index dwell 16group 8 - index velocity 17group 9 - reserved 17
standard parametersgroup 0 - system level 11group 1 - gain control 11group 2 - speed control 12group 3 - position control 12group 4 - torque control 12group 5 - supplemental drive control 12
modbus exception codes 10modbus function codes 9MODBUS input function control 65MODBUS run function control 65monitor offset 102monitor scaling 102monitor variable 135monitor variable (MDM) 33monitoring parameters address map 22MOR command 36MOT command 34motor basic modes (Pr-002) 48motor configuration (Pr-001) 47motor continuous current (Pr-905) 105motor enable (START) 57motor flag 104motor forward direction 48motor identification 52motor inductance (Pr-903) 104
motor inertia 50motor inertia (Pr-910) 106motor intermittent current (Pr-904) 105motor mass (Pr-915) 107motor model (Pr-950) 110motor rated voltage (Pr-906) 105motor resistance (Pr-902) 104motor thermal capacitance winding to
ambient (Pr-924) 109motor thermal capacitance winding to
encoder (Pr-922) 108motor thermal protection enable (Pr-919) 108motor thermal resistance winding to
ambient (Pr-923) 108motor thermal resistance winding to
encoder (Pr-921) 108motor thermostat (Pr-920) 108motor type 47motor type (Pr-901) 104
Nnear position (NEAR) 61near position size (Pr-502) 91negative current limit (N-TL)positive current
limit (P-TL) 56negative deceleration distance (IN0003) 117negative external current limit (Pr-404) 90negative internal current limit (Pr-402) 89negative overtravel (N-OT) 55negative software limit (IN0006) 119next index 0hellip63 (IN1200hellipIN1263) 131notch filter
1st resonance 692nd resonance 702nd resonance depth 70
Ooff-line tuning 49on-line vibration mode (Pr-122) 73on-line vibration suppression 73operation mode override (C_SEL) 56operations mode (Pr-000) 46oscilloscope 112oscilloscope scaling 113other functions(ETC) 42output function status address map 23overtravel current limit (Pr-405) 90overtravel settings (P-ot) and N-OT) 55overtravel stop 48overtravel stop method 48
148 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Index
PP gain regulation 76 78P gain regulator 66packet structure 27parameter setting values (Pr-010hellipPr-021)
60parameter setting values (Pr-022hellipPr-032)
65parity bit 54password (Pr-008) 54pause indexing (PAUSE) 58polesrevolution (Pr-911) 106position clear (PCLR) 57position command lowpass filter bandwidth
(Pr-109) 68position gain switching time (Pr-127) 75position regulator high error output offset
(Pr-119) 72position regulator high error output threshold
(Pr-120) 72position regulator Kff bandwidth (Pr-116) 71position regulator Kff gain (Pr-115) 70position regulator Kp gain (Pr-106) 67position scaling data(Pr-952) 110position scaling label (Pr-953) 110position strobe (ABS-DT) 57position window (P-COM) 60positive deceleration distance (IN0002) 117positive external current limit (Pr-403) 89positive internal current limit (Pr-401) 89positive overtravel (P-OT) 55positive software limit (IN0005) 119power input 48preset direction (C-DIR) 56preset select (C-SP1 C-SP2 C-SP3) 56preset velocity 46preset velocity 1 (Pr-205) 81preset velocity 2 (Pr-206) 81preset velocity 3 (Pr-207) 82preset velocity 4 (Pr-208) 82preset velocity 5 (Pr-209) 82preset velocity 6 (Pr-210) 82preset velocity 7 (Pr-211) 83proportional gain 71
Rrated power 47read drive status (STS) 41read fault contents (EHY) 40read fault detailed data (DIE) 43read indexing parameter (XET) 31read parameter (SET) 29reboot drive 44reserved (Pr-307) 87reserved (Pr-501) 91reserved (Pr-511) 94reserved (Pr-702) 101reserved (Pr-928hellipPr 949) 110reset absolute encoder data (R_ABS) 58reset drive (HWR) 44RST command 33run control 65running parameter 24
Ssafety considerations inside front coversampling period 98scaling
acceleration data 111acceleration label 111position data 110position label 110velocity data 110velocity label 111
scope config (Pr-958) 112scope scaling (Pr-959) 113S-csurve time (Pr-204) 81serial port configuration (Pr-009) 54SET command 29special indexing parameter
address map 13speed clamp (Z-CLP) 57speed window (Pr-503) 92speed window (V-COM) 60standard motor flag (Pr-900 104standard parameters address map 11start homing (SHOME) 58start index (START_I) 59start indexing 116startup commutation (Pr-927) 109stop bit 54stop homing (H_STOP) 59stop indexing STOP) 58STR command 30STS command 41suppression filter 100symbols 27system gain (Pr-101) 66
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 149
Index
TTAT command 38thermal capacitance 108 109thermal protection 108thermal resistance 108thermostat 108TMN command 39training See lt$emphasislt$default fonttriggered data collection (MOT) 34
Uu phase current sensing offset (Pr-602) 97up to speed (Pr-504) 92up to speed (TG-ON) 60
Vvariable 135 137
15 - digital inputs and outputs 13725 - digital inputs 13726 - digital outputs 13829 - indexing inputs 13830 - indexing outputs 139
variable roll monitoring (MOR) 36velocity error filter (Pr-105) 67velocity limit 83velocity limit (V-LMT) 61velocity limit mode (Pr-213) 83velocity observer 51velocity offset 97velocity presets 46velocity regulator configuration (Pr123) 74velocity regulator D gain (Pr-104) 67velocity regulator I gain (Pr-103) 66velocity regulator I gain disable threshold
(Pr-118) 72velocity regulator I gain mode (Pr-117) 71
velocity regulator P gain (Pr-102) 66velocity regulator response level (Pr-100) 66velocity scaling data (Pr-954) 110velocity scaling label (Pr-955) 111velocitycommand lowpass filter bandwidth
(Pr-108) 68velocityscale (Pr-200) 80VER command 43verify servo connection (LIV) 43verify software version (VER) 43vibration suppression 69 73
Ww phase current sensing offset (Pr-603) 97warning (WARN) 61warnings 133watchdog timer 44 134within position window (P-COM) 60within speed window (V-COM) 60write indexing parameter (XHP) 32write indexing parameter (XTR) 32write parameter (CHP) 30write parameter (STR) 30
XXCE command 31XET command 31XHP command 32XTR command 32
Zzero clamp (Pr-505) 92zero speed (Z-CLP) 57
150 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Index
Notes
Publication 2071-RM001A-EN-P - September 2010 152 PN-79403Copyright copy 2010 Rockwell Automation Inc All rights reserved Printed in the USA
Rockwell Automation Support
Rockwell Automation provides technical information on the Web to assist you in using its products At httpwwwrockwellautomationcomsupport you can find technical manuals a knowledge base of FAQs technical and application notes sample code and links to software service packs and a MySupport feature that you can customize to make thebest use of these tools
For an additional level of technical phone support for installation configuration and troubleshooting we offer TechConnect support programs For more information contact your local distributor or Rockwell Automation representative or visit httpwwwrockwellautomationcomsupport
Installation Assistance
If you experience an anomoly within the first 24 hours of installation review the information that is contained in this manualYou can contact Customer Support for initial help in getting your product up and running
New Product Satisfaction Return
Rockwell Automation tests all of its products to ensure that they are fully operational when shipped from the manufacturing facility However if your product is not functioning and needs to be returned follow these procedures
Documentation Feedback
Your comments will help us serve your documentation needs better If you have any suggestions on how to improve this document complete this form publication RA-DU002 available at httpwwwrockwellautomationcomliterature
United States or Canada 14406463434
Outside United States or Canada
Use the Worldwide Locator at httpwwwrockwellautomationcomsupportamericasphone_enhtml or contact your local Rockwell Automation representative
United States Contact your distributor You must provide a Customer Support case number (call the phone number above to obtain one) to your distributor to complete the return process
Outside United States Please contact your local Rockwell Automation representative for the return procedure
- 2071-RM001A-EN-P September 2010
- Important User Information
- Table of Contents
- Preface
-
- About This Publication
- Who Should Use This Manual
- Conventions Used in This Manual
- Additional Resources
-
- 1 - Modbus Protocol
-
- Function Codes
- Exception Codes
- Address Maps
-
- Standard Parameters
- Indexing Parameters
- Save Flash Memory Parameter
- Monitoring Parameter (Function Code 0x04)
- Fault and Warning Status Parameter - Input Registers
- Output Function Status Parameter
- Running Parameter (Function Code 0x06 or 0x10)
- Input Function Parameter (Function Code 0x03 0x06 or 0x10)
-
- 2 - Communication Protocol (RS-232ASCII)
-
- Introduction
- Special Symbols
- Packet Structure
- Checksum
-
- 3 - General Commands (ASCII)
-
- Read Parameter (SET)
- Write Parameter (STR)
- Write Parameter (CHP)
- Indexing Command Extended (XCE)
- Read Indexing Parameter (XET)
- Write Indexing Parameter (XHP)
- Write Indexing Parameter (XTR)
- Fault Reset (RST)
- Monitor Variable (MDM)
- Triggered Data Collection (MOT)
- Variable Roll Monitoring (MOR)
- Automatic Task (TAT)
- Manual Task (TMN)
- Read Fault Contents (EHY)
- Jog (JOG)
- Read Drive Status (STS)
- Other Functions (ETC)
- Verify Software Version (VER)
- Verify Servo Connection (LIV)
- Read Fault Detailed Data (DIE)
- Enable Drive (SVRON)
- Disable Drive (SVROF)
- Reset Drive (HWR)
-
- A - Standard Drive Parameters
-
- Parameter Groupings
- Parameter Descriptions
-
- Group 0 - System Level
- Group 1 - Gain Control
- Group 2 - Speed Control
- Group 3 - Position Control
- Group 4 - Torque Controls
- Group 5 - Supplemental Drive Controls
- Group 6 - Supplemental Gain and Report Settings
- Group 7 - Manufacturing Settings
- Group 8 - Reserved Parameters
- Group 9 - Motor Controls
-
- B - Indexing Drive Parameters
-
- Parameter Groupings
- Parameter Descriptions
-
- Group 0 - Indexing System
- Group 1 - Homing
- Group 2 - Indexing Options
- Group 3 - Index Move Profile
- Group 4 - Index PositionDistance
- Group 5 - Index Registration Distance
- Group 6 - Index Batch Count
- Group 7 - Index Dwell
- Group 8 - Index Velocity
- Group 9 - Index Move Profile
- Group 10 - Index Acceleration
- Group 11 - Index Deceleration
- Group 12 - Index Next Index
-
- C - Warnings and Fault Codes
-
- Warnings
- Fault Codes
-
- D - Monitor Variables
-
- Variables
- Compiled Variables
-
- Variable 15 - Digital Inputs and Outputs
- Variable 25 - Digital Inputs
- Variable 26 - Digital Outputs
- Variable 29 - Indexing Inputs
- Variable 30 - Indexing Outputs
-
- Index
- Technical Support
-
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 7
Preface
About This Publication This manual describes the host command set for end-user interface with a Kinetix 3 drive via serial communication Use this manual for designing programming and troubleshooting host commands for serial communication with the Kinetix 3 drives
Who Should Use This Manual
This manual is intended for engineers programmers or technicians directly involved in the installation operation programming and field maintenance of a Kinetix 3 drive by using host mode commands
If you do not have a basic understanding of the Kinetix 3 drive contact your local Rockwell Automation sales representative before using this product for the availability of training courses
Conventions Used in This Manual
The conventions starting below are used throughout this manual bull Bulleted lists such as this one provide information not procedural stepsbull Numbered lists provide sequential steps or hierarchical information
Additional Resources These documents contain additional information concerning related Rockwell Automation products
You can view or download publications at httpwwwrockwellautomationcomliterature To order paper copies of technical documentation contact your local Rockwell Automation distributor or sales representative
Resource Description
Kinetix 3 Component Servo Drive Installation Instruction publication 2071-IN001
Mounting and wiring instructions and mounting dimensions
Kinetix 3 IO Breakout Board Installation Instructions publication 2071-IN002
Kinetix 3 Motor Feedback Breakout Board Installation Instructions publication 2071-IN003
Kinetix 3 Serial Communication Cables Installation Instructions publication 2090-IN019
Kinetix 3 Component Servo Drive User Manual publication 2071-UM001
Information on installing configuring starting up and troubleshooting for your Kinetix 3 servo drive system
Ultraware User Manual publication 2098-UM001
Information on configuring and operating Ultraware software with servo drives and motors
8 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Preface
Notes
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 9
Chapter 1
Modbus Protocol
This chapter defines the Modbus protocol as it applies to a Kinetix 3 drive
Function Codes The register number of MODBUS devices may begin with 0 or 1 Because this is determined by the MODBUS host you the customer have selected A 1 must be added to the register number if your controller requires it
The maximum number of parameters that can be read or written at the same time is the same as the number of MODBUS addresses which is the same as the number of the parameters in each group In other words all the parameters in each group can be read together or written together
Function Code Description
03(0x03) Read Holding Registers
04(0x04) Read Input Registers
06(0x06) Write Single Register
16(0x10) Write Multiple Register
10 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 1 Modbus Protocol
Exception Codes The Kinetix 3 Modbus protocol uses the following exception codes from the Modbus specifications
Exception Code
Name Meaning
0x01 Illegal Function The function code received in the query is not an allowable action for the slave
0x02 Illegal Data Address
The data address received in the query is not an allowable address for the slave
0x03 (1)
(1) Exception code 0x03 indicates an Illegal Data Value It means the length of data string is incorrect Exception code 14(0x0E) indicates an Illegal Data Range It means that data range exceeds the limit of the minimum or maximum value
Illegal Data Value
The length of query data field is not valid for the slave
0x06 Slave Device Busy
The slave is engaged in processing Run command The master should retransmit the message later when the slave is free
0x07 Illegal CRC Value
The CRC value received in the query is wrong value
0x0C Illegal Frame The byte length of the Query Reception frame is out of the limit
0x0D (2)
(2) Exception code 0x0D is generated if the master accesses a 32bit data address with function code 06 or either the high or low address of 32bit data with function code 10
Illegal Sequence
The data sequence received in the query is not an allowable write command for the slave
0x0E (1) Illegal Data Range
The value of query data field is not valid for the slave
0x0F (3)
(3) Exception code 15(0x0F) indicates an Illegal Command was issued It occurs when a received Run control cannot be executed at the moment
Illegal Command
The slave is in Run control and received an invalid command
0x10 (4)
(4) Exception code 16(0x10) is an Illegal Control It occurs when the Network Control Mode is not set but the drive requests a Run Control command or an IO Control command through the network
Illegal Control The slave is not in the Network mode but received a network control command
0x1F Servo Error Fail When the slave is Servo Error condition and receives a Servo ON command from master
0x21 Drive Type Fail When drive type of the slave is Indexing slave receives run command 02 03 04
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 11
Modbus Protocol Chapter 1
Address Maps All standard and indexing parameters (Pr-xxx or Inxxxx) require a unique register address The host computer assigns the initial address number and determines whether the register numbers begin with 0 or 1
Standard Parameters
Group 0 - System Level (1)
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
0 Pr-000 10 Pr-009 20 Pr-019 30 Pr-029
1 Pr-001[Lo] 11 Pr-010 21 Pr-020 31 Pr-030
2 Pr-001[Hi] 12 Pr-011 22 Pr-021 32 Pr-031
3 Pr-002 13 Pr-012 23 Pr-022 33 Pr-032
4 Pr-003 14 Pr-013 24 Pr-023 34hellip42 Reserved
5 Pr-004 15 Pr-014 25 Pr-024 43hellip99 Reserved
6 Pr-005 16 Pr-015 26 Pr-025
7 Pr-006 17 Pr-016 27 Pr-026
8 Pr-007 18 Pr-017 28 Pr-027
9 Pr-008 19 Pr-018 29 Pr-028
(1) Refer to Monitoring Parameter (Function Code 0x04) on page 22 for more detailed information on this parameter
Group 1 - Gain Control
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
100 (1) Pr-100 111 Pr-111 122 Pr-122 133 Pr-133
101 (1) Pr-101 112 Pr-112 123 Pr-123 134 Pr-134
102 Pr-102 113 Pr-113 124 Pr-124 135 Pr-135
103 Pr-103 114 Pr-114 125 Pr-125 136 Pr-136
104 Pr-104 115 Pr-115 126 Pr-126 137 Pr-137
105 Pr-105 116 Pr-116 127 Pr-127 138 Pr-138
106 Pr-106 117 Pr-117 128 Pr-128 139 Pr-139
107 Pr-107 118 Pr-118 129 Pr-129 140 Pr-140
108 Pr-108 119 Pr-119 130 Pr-130 141 Pr-141
109 Pr-109 120 Pr-120 131 Pr-131 142 Pr-142
110 Pr-110 121 Pr-121 132 Pr-132 143hellip199 Reserved
(1) Refer to Fault and Warning Status Parameter - Input Registers on page 22 for more detailed information on this parameter
12 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 1 Modbus Protocol
Group 2 - Speed Control
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
200 (1) Pr-200 206 Pr-204 212 Pr-210
201 (1) Pr-201 207 Pr-205 213 Pr-211
202 Pr-202[Lo] 208 Pr-206 214 Pr-212
203 Pr-202[Hi] 209 Pr-207 215 Pr-213
204 Pr-203[Lo] 210 Pr-208 216hellip299 Reserved
205 Pr-203[Hi] 211 Pr-209
(1) Refer to Output Function Status Parameter on page 23 for more detailed information on these parameters
Group 3 - Position Control
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
300 Pr-300 303 Pr-303 306 Pr-306 309hellip399 Reserved
301 Pr-301 304 Pr-304 307 Reserved
302 Pr-302 305 Pr-305 308 Pr-308
Group 4 - Torque Control
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
400 Pr-400 402 Pr-402 404 Pr-404 406 Pr-406
401 Pr-401 403 Pr-403 405 Pr-405 407hellip499 Reserved
Group 5 - Supplemental Drive Control
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
500 Pr-500 506 Pr-506 512 Pr-511 517 Pr-514[Hi]
501 Pr-501 507 Pr-507 513 Pr-512 518 Pr-515[Lo]
502 Pr-502 508 Pr-508 514 Pr-513 519 Pr-515[Hi]
503 Pr-503 509 Pr-509 514 Pr-513[Lo] 520 Pr-516[Lo]
504 Pr-504 510 Pr-510[Lo] 515 Pr-513[Hi] 521 Pr-516[Hi]
505 Pr-505 511 Pr-510[Hi] 516 Pr-514[Lo] 522hellip599 Reserved
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 13
Modbus Protocol Chapter 1
For parameters within the MODBUS address range of 600hellip4999 refer to the following parameters
bull Monitoring Parameter (Function Code 0x04) on page 22 for MODBUS Addresses 0hellip44
bull Fault and Warning Status Parameter - Input Registers on page 22 for MODBUS Addresses 100hellip101
bull Output Function Status Parameter on page 23 for MODBUS Addresses 2000hellip2016
bull Running Parameter (Function Code 0x06 or 0x10) on page 24 for MODBUS Addresses 2000hellip2016
bull Input Function Parameter (Function Code 0x03 0x06 or 0x10) on page 25 for MODBUS Addresses 3000hellip3002
Indexing Parameters
Group 0 - Indexing System
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
4000 Index 0 Distance Low
4005 Index 0 Accel Low
4001 Index 0 Distance High
4006 Index 0 Accel High
4002 Index 0 Velocity 4007 Index 0 Dwell
4003 Index 0 Decel Low
4008 Index 0 Option
4004 Index 0 Decel High
4009hellip4199 Reserved
Group 0 - Indexing System
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
5000 In0000 5006 In0003Hi
5001 In0001Lo 5007 In0004
5002 In0001Hi 5008 In0005Lo
5003 In0002Lo 5009 In0005Hi
5004 In0002Hi 5010 In0006Lo
5005 In0003Lo 5011 In0006Hi
5012hellip5199 Reserved
14 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 1 Modbus Protocol
Group 2 ndash Index Option
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
5400 In0200 5416 In0216 5432 In0232 5448 In0248
5401 In0201 5417 In0217 5433 In0233 5449 In0249
5402 In0202 5418 In0218 5434 In0234 5450 In0250
5403 In0203 5419 In0219 5435 In0235 5451 In0251
5404 In0204 5420 In0220 5436 In0236 5452 In0252
5405 In0205 5421 In0221 5437 In0237 5453 In0253
5406 In0206 5422 In0222 5438 In0238 5454 In0254
5407 In0207 5423 In0223 5439 In0239 5455 In0255
5408 In0208 5424 In0224 5440 In0240 5456 In0256
5409 In0209 5425 In0225 5441 In0241 5457 In0257
5410 In0210 5426 In0226 5442 In0242 5458 In0258
5411 In0211 5427 In0227 5443 In0243 5459 In0259
5412 In0212 5428 In0228 5443 In0243 5460 In0260
5413 In0213 5429 In0229 5444 In0244 5461 In0261
5414 In0214 5430 In0230 5445 In0245 5462 In0262
5415 In0215 5431 In0231 5446 In0246 5463 In0263
5447 In0247 5464 hellip5599 Reserved
Group 3 - Reserved
MODBUS Address
Kinetix 3 Parameter
5600hellip5799 Reserved
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 15
Modbus Protocol Chapter 1
Group 4 ndash Index PositionDistance
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
5800 In0400Lo 5834 In0417Lo 5868 In0434Lo 5902 In0451Lo
5801 In0400Hi 5835 In0417 Hi 5869 In0434 Hi 5903 In0451Hi
5802 In0401Lo 5836 In0418Lo 5870 In0435Lo 5904 In0452Lo
5803 In0401Hi 5837 In0418 Hi 5871 In0435 Hi 5905 In0452Hi
5804 In0402Lo 5838 In0419Lo 5872 In0436Lo 5906 In0453Lo
5805 In0402Hi 5839 In0419 Hi 5873 In0436 Hi 5907 In0453Hi
5806 In0403Lo 5840 In0420Lo 5874 In0437Lo 5908 In0454Lo
5807 In0403Hi 5841 In0420 Hi 5875 In0437 Hi 5909 In0454Hi
5808 In0404Lo 5842 In0421Lo 5876 In0438Lo 5910 In0455Lo
5809 In0404Hi 5843 In0421 Hi 5877 In0438 Hi 5911 In0455Hi
5810 In0405Lo 5844 In0422Lo 5878 In0439Lo 5912 In0456Lo
5811 In0405Hi 5845 In0422 Hi 5879 In0439 Hi 5913 In0456Hi
5812 In0406Lo 5846 In0423Lo 5880 In0440Lo 5914 In0457Lo
5813 In0406Hi 5847 In0423 Hi 5881 In0440 Hi 5915 In0457Hi
5814 In0407Lo 5848 In0424Lo 5882 In0441Lo 5916 In0458Lo
5815 In0407Hi 5849 In0424 Hi 5883 In0441 Hi 5917 In0458Hi
5816 In0408Lo 5850 In0425Lo 5884 In0442Lo 5918 In0459Lo
5817 In0408Hi 5851 In0425 Hi 5885 In0442 Hi 5919 In0459Hi
5818 In0409Lo 5852 In0426Lo 5886 In0443Lo 5920 In0460Lo
5819 In0409Hi 5853 In0426 Hi 5887 In0443 Hi 5921 In0460Hi
5820 In0410Lo 5854 In0427Lo 5888 In0444Lo 5922 In0461Lo
5821 In0410Hi 5855 In0427 Hi 5889 In0444 Hi 5923 In0461Hi
5822 In0411Lo 5856 In0428Lo 5890 In0445Lo 5924 In0462Lo
5823 In0411Hi 5857 In0428 Hi 5891 In0445 Hi 5925 In0462Hi
5824 In0412Lo 5858 In0429Lo 5892 In0446Lo 5926 In0463Lo
5825 In0412Hi 5859 In0429 Hi 5893 In0446 Hi 5927 In0463Hi
5826 In0413Lo 5860 In0430Lo 5894 In0447Lo 5928hellip5999 Reserved
5827 In0413Hi 5861 In0430 Hi 5895 In0447Hi
5828 In0414Lo 5862 In0431Lo 5896 In0448Lo
5829 In0414Hi 5863 In0431 Hi 5897 In0448Hi
5830 In0415Lo 5864 In0432Lo 5898 In0449Lo
5831 In0415Hi 5865 In0432 Hi 5899 In0449Hi
5832 In0416Lo 5866 In0433Lo 5900 In0450Lo
5833 In0416 Hi 5867 In0433 Hi 5901 In0450Hi
16 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 1 Modbus Protocol
Group 5 - Reserved
MODBUS Address
Kinetix 3 Parameter
6000hellip6199 Reserved
Group 6 - Reserved
MODBUS Address
Kinetix 3 Parameter
6200hellip6399 Reserved
Group 7 ndash Index Dwell
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
6400 In0700 6417 In0717 6434 In0734 6451 In0751
6401 In0701 6418 In0718 6435 In0735 6452 In0752
6402 In0702 6419 In0719 6436 In0736 6453 In0753
6403 In0703 6420 In0720 6437 In0737 6454 In0754
6404 In0704 6421 In0721 6438 In0738 6455 In0755
6405 In0705 6422 In0722 6439 In0739 6456 In0756
6406 In0706 6423 In0723 6440 In0740 6457 In0757
6407 In0707 6424 In0724 6441 In0741 6458 In0758
6408 In0708 6425 In0725 6442 In0742 6459 In0759
6409 In0709 6426 In0726 6443 In0743 6460 In0760
6410 In0710 6427 In0727 6444 In0744 6461 In0761
6411 In0711 6428 In0728 6445 In0745 6462 In0762
6412 In0712 6429 In0729 6446 In0746 6463 In0763
6413 In0713 6430 In0730 6447 In0747 6464 hellip6599 Reserved
6414 In0714 6431 In0731 6448 In0748
6415 In0715 6432 In0732 6449 In0749
6416 In0716 6433 In0733 6450 In0750
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 17
Modbus Protocol Chapter 1
Group 8 ndash Index Velocity
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
6600 In0800 6616 In0816 6632 In0832 6648 In0848
6601 In0801 6617 In0817 6633 In0833 6649 In0849
6602 In0802 6618 In0818 6634 In0834 6650 In0850
6603 In0803 6619 In0819 6635 In0835 6651 In0851
6604 In0804 6620 In0820 6636 In0836 6652 In0852
6605 In0805 6621 In0821 6637 In0837 6653 In0853
6606 In0806 6622 In0822 6638 In0838 6654 In0854
6607 In0807 6623 In0823 6639 In0839 6655 In0855
6608 In0808 6624 In0824 6640 In0840 6656 In0856
6609 In0809 6625 In0825 6641 In0841 6657 In0857
6610 In0810 6626 In0826 6642 In0842 6658 In0858
6611 In0811 6627 In0827 6643 In0843 6659 In0859
6612 In0812 6628 In0828 6644 In0844 6660 In0860
6613 In0813 6629 In0829 6645 In0845 6661 In0861
6614 In0814 6630 In0830 6646 In0846 6662 In0862
6615 In0815 6631 In0831 6647 In0847 6663 In0863
6664 hellip6799 Reserved
Group 9 - Reserved
MODBUS Address
Kinetix 3 Parameter
6800hellip6999 Reserved
18 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 1 Modbus Protocol
Group 10 ndash Index Acceleration
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
7000 In1000Lo 7032 In1016Lo 7064 In1032Lo 7096 In1048Lo
7001 In1000Hi 7033 In1016 Hi 7065 In1032 Hi 7097 In1048 Hi
7002 In1001Lo 7034 In1017Lo 7066 In1033Lo 7098 In1049Lo
7003 In1001Hi 7035 In1017 Hi 7067 In1033 Hi 7099 In1049 Hi
7004 In1002Lo 7036 In1018Lo 7068 In1034Lo 7100 In1050Lo
7005 In1002Hi 7037 In1018 Hi 7069 In1034 Hi 7101 In1050 Hi
7006 In1003Lo 7038 In1019Lo 7070 In1035Lo 7102 In1051Lo
7007 In1003Hi 7039 In1019 Hi 7071 In1035 Hi 7103 In1051 Hi
7008 In1004Lo 7040 In1020Lo 7072 In1036Lo 7104 In1052Lo
7009 In1004Hi 7041 In1020 Hi 7073 In1036 Hi 7105 In1052 Hi
7010 In1005Lo 7042 In1021Lo 7074 In1037Lo 7106 In1053Lo
7011 In1005Hi 7043 In1021 Hi 7075 In1037 Hi 7107 In1053 Hi
7012 In1006Lo 7044 In1022Lo 7076 In1038Lo 7108 In1054Lo
7013 In1006Hi 7045 In1022 Hi 7077 In1038 Hi 7109 In1054 Hi
7014 In1007Lo 7046 In1023Lo 7078 In1039Lo 7110 In1055Lo
7015 In1007Hi 7047 In1023 Hi 7079 In1039 Hi 7111 In1055 Hi
7016 In1008Lo 7048 In1024Lo 7080 In1040Lo 7112 In1056Lo
7017 In1008Hi 7049 In1024 Hi 7081 In1040 Hi 7113 In1056 Hi
7018 In1009Lo 7050 In1025Lo 7082 In1041Lo 7114 In1057Lo
7019 In1009Hi 7051 In1025 Hi 7083 In1041 Hi 7115 In1057 Hi
7020 In1010Lo 7052 In1026Lo 7084 In1042Lo 7116 In1058Lo
7021 In1010Hi 7053 In1026 Hi 7085 In1042 Hi 7117 In1058 Hi
7022 In1011Lo 7054 In1027Lo 7086 In1043Lo 7118 In1059Lo
7023 In1011Hi 7055 In1027 Hi 7087 In1043 Hi 7119 In1059 Hi
7024 In1012Lo 7056 In1028Lo 7088 In1044Lo 7120 In1060Lo
7025 In1012Hi 7057 In1028 Hi 7089 In1044 Hi 7121 In1060 Hi
7026 In1013Lo 7058 In1029Lo 7090 In1045Lo 7122 In1061Lo
7027 In1013Hi 7059 In1029 Hi 7091 In1045 Hi 7123 In1061 Hi
7028 In1014Lo 7060 In1030Lo 7092 In1046Lo 7124 In1062Lo
7029 In1014Hi 7061 In1030 Hi 7093 In1046 Hi 7125 In1062 Hi
7030 In1015Lo 7062 In1031Lo 7094 In1047Lo 7126 In1063Lo
7031 In1015Hi 7063 In1031 Hi 7095 In1047 Hi 7127 In1063 Hi
7128 hellip7199 Reserved
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 19
Modbus Protocol Chapter 1
Group 11 ndash Index Deceleration
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
7200 In1100Lo 7232 In1116 Lo 7264 In1132Lo 7296 In1148Lo
7201 In1100Hi 7233 In1116 Hi 7265 In1132 Hi 7297 In1148 Hi
7202 In1101Lo 7234 In1117Lo 7266 In1133Lo 7298 In1149Lo
7203 In1101Hi 7235 In1117 Hi 7267 In1133 Hi 7299 In1149 Hi
7204 In1102Lo 7236 In1118Lo 7268 In1134Lo 7300 In1150Lo
7205 In1102Hi 7237 In1118 Hi 7269 In1134 Hi 7301 In1150 Hi
7206 In1103Lo 7238 In1119Lo 7270 In1135Lo 7302 In1151Lo
7207 In1103Hi 7239 In1119 Hi 7271 In1135 Hi 7303 In1151 Hi
7208 In1104Lo 7240 In1120Lo 7272 In1136Lo 7304 In1152Lo
7209 In1104Hi 7241 In1120 Hi 7273 In1136 Hi 7305 In1152 Hi
7210 In1105Lo 7242 In1121Lo 7274 In1137Lo 7306 In1153Lo
7211 In1105Hi 7243 In1121 Hi 7275 In1137 Hi 7307 In1153 Hi
7212 In1106Lo 7244 In1122Lo 7276 In1138Lo 7308 In1154Lo
7213 In1106Hi 7245 In1122 Hi 7277 In1138 Hi 7309 In1154 Hi
7214 In1107Lo 7246 In1123Lo 7278 In1139Lo 7310 In1155Lo
7215 In1107Hi 7247 In1123 Hi 7279 In1139 Hi 7311 In1155 Hi
7216 In1108Lo 7248 In1124Lo 7280 In1140Lo 7312 In1156Lo
7217 In1108Hi 7249 In1124 Hi 7281 In1140 Hi 7313 In1156 Hi
7218 In1109Lo 7250 In1125Lo 7282 In1141Lo 7314 In1157Lo
7219 In1109Hi 7251 In1125 Hi 7283 In1141 Hi 7315 In1157 Hi
7220 In1110Lo 7252 In1126Lo 7284 In1142Lo 7316 In1158Lo
7221 In1110Hi 7253 In1126 Hi 7285 In1142 Hi 7317 In1158 Hi
7222 In1111Lo 7254 In1127Lo 7286 In1143Lo 7318 In1159Lo
7223 In1111Hi 7255 In1127 Hi 7287 In1143 Hi 7319 In1159 Hi
7224 In1112Lo 7256 In1128Lo 7288 In1144Lo 7320 In1160Lo
7225 In1112Hi 7257 In1128 Hi 7289 In1144 Hi 7321 In1160 Hi
7226 In1113Lo 7258 In1129Lo 7290 In1145Lo 7322 In1161Lo
7227 In1113Hi 7259 In1129 Hi 7291 In1145 Hi 7323 In1161 Hi
7228 In1114Lo 7260 In1130Lo 7292 In1146Lo 7324 In1162Lo
7229 In1114Hi 7261 In1130 Hi 7293 In1146 Hi 7325 In1162 Hi
7230 In1115Lo 7262 In1131Lo 7294 In1147Lo 7326 In1163Lo
7231 In1115Hi 7263 In1131Hi 7295 In1147 Hi 7327 In1163 Hi
7328 hellip7399 Reserved
20 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 1 Modbus Protocol
Group 12 ndash Next Index
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
7400 In1200 7416 In1216 7432 In1232 7448 In1248
7401 In1201 7417 In1217 7433 In1233 7449 In1249
7402 In0702 7418 In1218 7434 In1234 7450 In1250
7403 In1203 7419 In1219 7435 In1235 7451 In1251
7404 In1204 7420 In1220 7436 In1236 7452 In1252
7405 In1205 7421 In1221 7437 In1237 7453 In1253
7406 In1206 7422 In1222 7438 In1238 7454 In1254
7407 In1207 7423 In1223 7439 In1239 7455 In1255
7408 In1208 7424 In1224 7440 In1240 7456 In1256
7409 In1209 7425 In1225 7441 In1241 7457 In1257
7410 In1210 7426 In1226 7442 In1242 7458 In1258
7411 In1211 7427 In1227 7443 In1243 7459 In1259
7412 In1212 7428 In1228 7444 In1244 7460 In1260
7413 In1213 7429 In1229 7445 In1245 7461 In1261
7414 In1214 7430 In1230 7446 In1246 7462 In1262
7415 In1215 7431 In1231 7447 In1247 7463 In1263
7464 hellip7599 Reserved
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 21
Modbus Protocol Chapter 1
Save Flash Memory Parameter
MODBUS Address
Data Status Description
9999 (decimal) 1 Write data into flash memory
22 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 1 Modbus Protocol
Monitoring Parameter (Function Code 0x04)
Fault and Warning Status Parameter - Input Registers
Display Parameter - Input Registers (Default = 0)
MODBUS Address
Drive Name Unit
0 dis-00 Velocity Feedback rpm
1 dis-01 Velocity Command rpm
2 dis-02 Velocity Error rpm
3 dis-03 Torque Command 010
4hellip5 dis-04 Position Feedback counts
6hellip7 dis-05 Position Command counts
8hellip9 dis-06 Position Error counts
10 dis-07 Pulse Command Frequency 01pps
11 dis-08 Electrical Angle 01
12 dis-09 Mechanical Angle 01
13 dis-10 Regeneration Load Ratio
14 dis-11 DC-Link Voltage V
15 dis-12 Multi-Turn Data Turn number
16hellip17 dis-13 Offset in Velocity Command 01mV
18hellip19 dis-14 Torque Offset 01mV
20hellip24 dis-15 InputOutput Signal Status -
25hellip32 dis-16 Display Error History 8Alarm
33 dis-17 Display Software Version 1word
34hellip35 dis-18 Display Motor info 2word
36 dis-19 Analog Velocity Command Voltage 001V
37 dis-20 Analog Current Command Voltage 001V
38 dis-21 Drive Rated Output Power 1word
39hellip40 dis-22 Absolute Single Turn Data -
41hellip42 dis-23 Encoder Feedback Counter counts
43hellip99 Reserved - -
Fault and Warning Status Parameter - Input Registers (Default = 0)
Modbus Address Function Name Unit
100 Error Check Servo Error Code Word
101 Warning Check Servo Warning Code Word
102hellip199 Reserved - -
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 23
Modbus Protocol Chapter 1
Output Function Status Parameter
Modbus Address
Output Function Description Unit Position [bits]
200 S_ALM Alarm Bit [0]
P-COM Within position window Bit [1]
TG-ON Up to speed Bit [2]
BK Brake control Bit [3]
V-COM Within Speed window Bit [4]
A-VLD Absolute position valid Bit [5]
RDY Drive Ready Bit [6]
T-LMT NEAR Current Limited Bit [7]
V-LMT WARN Velocity Limited Bit [8]
NEAR Near position Bit [9]
WARN Warning Bit [10]
Reserved - Bit [11]
Reserved - Bit [12]
IMO In Motion Bit [13]
I-DW In Dwell Bit [14]
HOMC Axis Homed Bit [15]
201 O_ISEL0 Index Select 0 Out Bit [0]
O_ISEL1 Index Select 1 Out Bit [1]
O_ISEL2 Index Select 2 Out Bit [2]
O_ISEL3 Index Select 3 Out Bit [3]
O_ISEL4 Index Select 4 Out Bit [4]
O_ISEL5 Index Select 5 Out Bit [5]
E_SEQU End of Sequence Bit [6]
Reserved - Bit [7hellip15]
24 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 1 Modbus Protocol
Running Parameter (Function Code 0x06 or 0x10)
Run Parameter - Holding Registers (Default = 2000)
Modbus Address
Attribute RUN Name Access Unit
2000 User Open run-00 Jog Operation 1 byte
2001 run-01 Off-Line Auto Tuning 1 bit
2002 run-02 Reserved -
2003 run-03 Auto Adjustment of Speed Command Offset
1 bit
2004 run-04 Auto Adjustment of Current Command Offset
1 bit
2005hellip2007 run-05hellip run-07 Reserved -
2008 run-08 Alarm Reset 1 bit
2009 run-09 Reserved -
2010 run-10 Absolute Encoder Reset 1 bit
2011 run-11 2-Group Gain Storing 1 bit
2012 run-12 Parameter Initialization 1 bit
2013hellip2015 run-13helliprun-15 Reserved -
2016 run-16 Hardware Reset 1 bit
2017hellip2099 run-17helliprun-99 Reserved -
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 25
Modbus Protocol Chapter 1
Input Function Parameter (Function Code 0x03 0x06 or 0x10)
Input Function Control - Holding Registers
Modbus Address
IO Function Description Unit Position Bit
3000 SV-ON Drive Enable bit 0
- Reserved - [1] and [2]
P-CON Integrator Inhibit bit [3]
A-RST Fault Reset bit [4]
N-CL Negative Current Limit bit [5]
P-CL Positive Current Limit bit [6]
C-SEL Operation Mode Override bit [7]
C-DIR Preset Direction bit [8]
C-SP1 Preset Select 1 bit [9]
C-SP2 Preset Select 2 bit [10]
C-SP3 Preset Select 3 bit [11]
C-SP4 Preset Select 4 bit [12]
INHIB Pause Follower bit [13]
G-SEL Alternate Gain Select bit [14]
PCLR Position clear bit [15]
3001 ABS-DT Position Strobe bit [0]
START Motor Moving Enable bit [1]
Z-CLP Zero Speed Clamp Enable bit [2]
GEAR 2nd Electronic Gear Bank Selection bit [3]
R-ABS Reset multi-turn data of Absolute Encoder
bit [4]
- Reserved - [5]
SHOME Start Homing bit [6]
STOP Stop Indexing bit [7]
PAUSE Pause Indexing bit [8]
I-SEL0 Index Select 0 Input bit [9]
I-SEL1 Index Select 1 Input bit [10]
I-SEL2 Index Select 2 Input bit [11]
I-SEL3 Index Select 3 Input bit [12]
I-SEL4 Index Select 4 Input bit [13]
I-SEL5 Index Select 5 Input bit [14]
H_STOP Stop Homing bit [15]
3002 START_I Start Index bit [0]
BANK_SEL Gain Bank Select bit [1]
- Reserved - [2hellip15]
26 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 1 Modbus Protocol
Notes
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 27
Chapter 2
Communication Protocol (RS-232ASCII)
Introduction The drive command protocol is a client-server protocol A host computer is the server and each drive is a client This chapter provides details about the Special Symbols Packet Structure and Checksum in the serial communication protocol
Special Symbols Special symbols used in the host commands include the following
Packet Structure The packet structure is shown below
Some simple commands might not have the Data field (for example Fault Reset) Maximum packet size is 400 bytes Each letter and digit in Command and Data fields represents a single ASCII character
All commands begin with an STX and terminate with an ETX
If the drive receives the command without a communication error the response is in the same format as the host command Numeric parameters are encoded as strings
Symbol Value Description
STX 0x02 Start of Transmission
ETX 0x03 End of Transmission
ACK 0x06 Command Acknowledged
GS 0x29 Cannot change the value of the parameter while drive is enabled
RS 0x30 Value is out of range
US 0x31 Invalid command
NAK 0x15 Communication Error (Checksum Error)
CAN 0x18 Cancellation of Command (For example the drive will send CAN if the drive is already enabled but the JOG ON is requested)
Start ID HostResponse
Command Data Separator Checksum End
Symbol STX dd or $ SET orhellip d hellipd c c ETX
Bytes 1 2 1 3 0 - n 1 1 1
28 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 2 Communication Protocol (RS-232ASCII)
If the drive receives the hosts command with a communication error (for example parity or checksum errors) the drive sends an NAK The host should assume a communication error occurred if a response from the drive does not occur within a time-out period (generally 200 ms)
If drive does not recognize the command it sends a US response
Checksum The checksum range consists of ID to Separator fields Checksum is the ASCII hex code of the least significant digit from the sum of hexadecimal codes in the checksum range
For example this VER command has a checksum of 42 (ASCII hex code of B)
30H+31H+23H+56H+45H+52H+3AH = 1ABH The ASCII hex code of B is 42
However this VER command response also has a checksum of 35 (ASCII hex code of 5)
30H+31H+24H+56H+45H+52H+20H+31H+2EH+30H+32H+3AH = 295H The ASCII hex code of 5 is 35
Command STX 0 1 V E R B ETX
ASCII 2 30 31 23 56 45 52 3A 42 3
Command STX 0 1 amp V E R 9 0 2 5 ETX
ASCII 2 30 31 24 56 45 52 20 39 2E 30 32 3A 35 3
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 29
Chapter 3
General Commands (ASCII)
This chapter defines the general ASCII commands available to control a Kinetix 3 drive
Read Parameter (SET)
Attribute Value
Command SET
Description Read parameter value
Format STX ID SET PPP BSS ETX
Data Argument Description
PPP Parameter for example [Pr - 203] PPP=203=0x0CB Refer to this chapter Appendix A Standard Drive Parameters and Appendix B Indexing Drive Parameters for a available parameter descriptions
Response Format STX ID $SET V BSS ETX
Response Data Argument Description
V Bit-field type = 4 byte hexadecimal value Integer type = Signed integer of variable length
30 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 3 General Commands (ASCII)
Write Parameter (STR)
Write Parameter (CHP)
Attribute Value
Command STR
Description Write parameter value to RAM and then save data from RAM to flash memory
Format STX ID STR PPP V BSS ETX
Data Argument Description
PPP Parameter for example [Pr - 203] PPP=203=0x0CB Refer to Standard Drive Parameters beginning on page 45 for a description of available parameters Group 7 - Manufacturing Settings are product settings that are programmed during manufacturing
V Bit-field type = 4 byte hexadecimal value Normal type = Signed integer of variable length
Response Format ACK
Error Response If the drive is unable to change the variable because it is enabled it sends GS If the value is out of range RS is returned
Next Command STX ID STR BSS ETX
Usage Note To determine whether task is complete send STR without arguments
Response Format If task is not complete STX ID $BSY BSS ETX or If task is complete STX ID $TOK BSS ETX
Attribute Value
Command CHP
Description Write parameter value to RAM
Format STX ID CHP PPP V BSS ETX
Data Argument Description
PPP Parameter for example [Pr - 203] PPP=203=0x0CB Refer to Standard Drive Parameters beginning on page 45 for a description of available parameters Group 7 - Manufacturing Settings are product settings that are programmed during manufacturing
V Bit-field type = 4 byte hexadecimal value Normal type =Signed integer of variable length
Response Format ACK
Error Response If unable to change the variable because drive is enabled GS is sent If value is out of range RS is returned
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 31
General Commands (ASCII) Chapter 3
Indexing Command Extended (XCE)
Read Indexing Parameter (XET)
Attribute Value
Command XCE
Description Execute Indexing Control Panel command
Format STX ID XCE NNNNN amp VVVVV BSS ETX
Data Argument Description
NNNNN Index number 0hellip63Data Format 16-bit unsigned integer d
VVVVVV Indexing Function Command 0 = Start Homing 1 = Stop Homing 2 = Start IndexingData Format 16bit unsigned integer d
Response Format ACK If there is an error while executing the command the GS RS US NAK CAN exception code s can be used for the response
Usage Note This command executes only Indexing commands If the command to be executed is not specific to an Index number the NNNNN field should be 0
Attribute Value
Command XET
Description Read parameter value
Format STX ID XET PPPP BSS ETX
Data Argument Description
PPPP Parameter for example in the case of [IN0002] PPPP=0200 the two initial arguments (PPxx) indicate the indexing (Ix) group Refer to Indexing Drive Parameters beginning on page 115 for a description of available indexing parameters Group 7 - Manufacturing Settings are product settings that are programmed during manufacturing
Response Format STX ID $XET V BSS ETX
Response Data Argument Description
V Bit-field type = 4 byte hexadecimal value Integer type Signed integer of variable length
32 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 3 General Commands (ASCII)
Write Indexing Parameter (XHP)
Write Indexing Parameter (XTR)
Attribute Value
Command XHP
Description Write parameter value to RAM
Format STX ID XHP PPPP V BSS ETX
Data Argument Description
PPPP Parameter for example in the case of [IN0002] PPPP=0200 the two initial arguments (PPxx) indicate the indexing (Ix) group Refer to Indexing Drive Parameters beginning on page 115 for a description of available indexing parameters
V Bit-field type = 4 byte hexadecimal value Normal type = Signed integer of variable length
Response Format ACK
Error Response If the drive is unable to change the variable because it is enabled it sends GS If the value is out of range RS is returned
Attribute Value
Command XTR
Description Write parameter value to RAM and then saves data from RAM to flash memory
Format STX ID XTR PPPP V BSS ETX
Data Argument Description
PPPP Parameter In the case of [IN0002] PPPP=0200 the two initial arguments ((PPxx) indicate the indexing (Ix) group Refer to Indexing Drive Parameters beginning on page 115 for a description of available indexing parameters
V Bit-field type = 4 byte hexadecimal value Normal type = Signed integer of variable length
Response Format ACK
Error Response If the drive is unable to change the variable because it is enabled it sends GS If the value is out of range RS is returned
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 33
General Commands (ASCII) Chapter 3
Fault Reset (RST)
Monitor Variable (MDM)
Attribute Value
Command RST
Description Clear fault
Format STX ID RST BSS ETX
Response ACK
Usage Note Fault Reset will have no effect unless action was taken to resolve the fault Refer to Warnings and Fault Codes beginning on page 133 for a description of faults and warnings
Attribute Value
Command MDM
Description Monitor variables
Format STX ID MDM P1 P2 P3 P4 P5 BSS ETX
Data Argument Description
P1hellipP5 Variables to monitor
Usage Note MDM command can monitor up to five variables Refer to Monitor Variables on page 135 for the list of variables
Response Format STX ID $ MDM V1ampV2ampV3ampV4ampV5 BSS ETX
Response Data Argument Description
V1hellipV5 Variable values are 4 or 8 bytes signed See tables below for descriptions of specific variables
34 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 3 General Commands (ASCII)
Triggered Data Collection (MOT)
Attribute Value
Command MOT
Description Sets watches and reads trigger monitor
Format STX ID MOT Ch1 Ch2 Src SP Num Mode Pos Level BSS ETX
Data Argument Description
Ch1 Ch2 Input signals See Appendix A (variables 0x00hellip0x0F only)
Src Trigger Source (0x000hellip0x009 0x101hellip0x112) Refer to Monitor Variables on page 135 for the list of variables 0x101-0x10A DI1hellipDI10 0x10B Emergency Stop Input 0x10C-0x10E DO1hellipDO3 0x10F Safety Alarm Output 0x110-0x112 DO4hellipDO6
SP Sample Period Range 0x01hellip0x64 (02hellip20 ms)
Num Number of data points 10 Range 0x01hellip0x1E (1hellip30)
Mode Trigger mode 1 = Positive Edge 2 = Negative Edge
Pos Trigger Position (1hellip9) The percentage of data to be received before the trigger pointFor example if Pos = 3 then 30 of data received before the trigger point and 70 of data received after the trigger point
Level Trigger levelthreshold the value of the Trigger Source Values are 4 or 8 bytes signed
Usage Note This command is sent to the drive prior to monitoring or reading the Triggered Data Collection (MOT) command variants below See Figure 1 for command examples
Response ACK
Next Command MOT
Format STX ID MOT BSS ETX
Usage Note This command is sent to the drive to verify data is available
Response If data is not ready STX ID $ BSY BSS ETX If data is ready STX ID $ TOK BSS ETX
Next Command MOT
Format STX ID MOT NumD BSS ETX
Data Argument Description
NumD Data Point to retrieve the data from Range 00hellip(Num-1)
Usage Note This command can be used when previous command returned TOK Send ESC to stop data collection
Response Format STX ID $ MOT V1ampV2ampV20 BSS ETX
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 35
General Commands (ASCII) Chapter 3
Figure 1 - Triggered Data Collection (MOT) Command String Example
Attribute Value
Response Data Argument Description
V1hellipV20 Data transmission is done in blocks of 10 Because there are 2 channels 20 values are returned with values alternating between the first channel and the second channel Values are a signed integer of variable length (4 or 8 bytes)
Next Command STX ID ESC BSS ETX
Response ACK
MOR (setting)
ACK
MOT
$BSY
MOT
$TOK
MOT00
$MOT
PC Servo
Time lt200 ms
MOT29
$MOT
ESC
ACK
36 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 3 General Commands (ASCII)
Variable Roll Monitoring (MOR)
Attribute Value
Command MOR
Description Set up variable roll monitor
Format Data
STX ID MOR SP P1 P2 BSS ETX
Argument Description
SP Sampling period range 0x01hellip0x64 (01hellip100 ms)
P1 P2 Variables to monitor Range 0x00hellip0x1D
Usage Note Sets up the variable roll monitoring This command is sent to the drive prior to sending a Monitor Variable (MDM) command See Figure 2 for command examples
Response ACK
Next Command STX ID MOR BSS ETX
Usage Note Request to store data in the linear buffer (with a capacity of 100 data points) If the buffer is full and data has not been retrieved the buffer is emptied If data is requested before data is in the buffer the drive sends ACK
Response Format STX ID $ MOR V1ampV2amphellipVn BSS ETX
Response Data Argument Description
V1hellipVn Signed integer of variable length
Next Command STX ID ESC BSS ETX
Usage Note Send ESC to stop monitoring of the data
Response ACK
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 37
General Commands (ASCII) Chapter 3
Figure 2 - Variable Roll Monitoring (MOR) Command String Example
MOR (setting)
ACK
MOR
$MOR
MOR
$MOR
ESC
ACK
PC Servo
Time lt200 ms
38 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 3 General Commands (ASCII)
Automatic Task (TAT)
Figure 3 - Automatic Task (TAT) Command String Example
Attribute Value
Command TAT
Format STX ID TAT T1 BSS ETX
Data Argument Description
T1 Automatic task number See the following Values and Task Descriptions
Value Task Description
0x01 Auto Tuning
0x02 Move to Marker
0x03 Auto Adjustment of Velocity Command Offset
0x04 Auto Adjustment of Current Command Offset
0x07 Auto Adjustment of Current Feedback Offset
Response ACK
Usage Note Send TAT command without arguments to find out if a task is completed See Figure 3 for command examples
Next Command STX ID TAT BSS ETX
Response Format STX ID $ BSY BSS ETX - if task is not complete STX ID $ TOK BSS ETX - task is complete
TAT (setting)
ACK
TAT
$BSY
TAT
$TOK
PC Servo
Time lt200 ms
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 39
General Commands (ASCII) Chapter 3
Manual Task (TMN)
Figure 4 - Manual Task (TMN) Command String Example
Attribute Value
Command TMN
Format STX ID TMN 1 BSS ETX
Data Argument Description
T1 Manual task number See the following Values and Task Descriptions
Value Task Description
0x01 - Speed Command Offset - Decrement by 01 mV
0x02 + Speed Command Offset - Increment by 01 mV
0x03 Save Speed Command Offset change
0x04 - Current Command Offset - Decrement by 01 mV
0x05 + Current Command Offset - Increment by 01 mV
0x06 Save Current Command Offset change
0x07 Discard changes and exit
Response ACK
Usage Note Most manual tasks are complete by the time ACK is received Commands 0x03 and 0x06 may take longer because they save data to flash memory Send TMN command without arguments to find out if a task is completed See Figure 4 for command examples
Next Command STX ID TAT BSS ETX
Response Format STX ID $ BSY BSS ETX - if task is not complete STX ID $ TOK BSS ETX - task is complete
TMN (setting)
ACK
TMN
$BSY
TMN
$TOK
PC Servo
Time lt200 ms
40 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 3 General Commands (ASCII)
Read Fault Contents (EHY)
Jog (JOG)
Attribute Value
Command EHY
Description Read faults See Read Fault Detailed Data (DIE) on page 43 for alternative fault data
Format STX ID EHY F1 BSS ETX
Data Argument Description
F1 Fault Number Range is 0x01hellip0x08 where latest fault status is stored in 0x01 and oldest fault is stored in 0x08
Response Format STX ID $ EHYE FCode FChars BSS ETX
Data Data Description
FCode Fault Code See Appendix C for a list of fault codes
FChars Fault Name Abbreviated See Appendix C
Usage Note Use this command to find out more about one of the eight faults To receive all fault statuses use EHY command below
Attribute Value
Command EHY
Description Read all fault codes
Format STX ID EHY BSS ETX
Data Argument Description
Asterik () means all faults
Response Format STX ID $ EHY Fcode1ampFcode2ampFcode8 BSS ETX
Data Data Description
Fcode1hellipFcode8 Fault Code See Appendix C for a list of fault codes
Attribute Value
Command JOG
Description Jog forward or reverse
Format STX ID JOG P1 BSS ETX
Data Argument Description
P1 0 = prepare for jog operation + = jog forward - (dash) = jog reverse
Response ACK
Usage Note To keep jogging send JOG command more than once within 500 ms To end Jog mode send SVROF
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 41
General Commands (ASCII) Chapter 3
Read Drive Status (STS)
Attribute Value
Command STS
Description Read status
Format STX ID STS BSS ETX
Response Format STX ID $ STS Mode S1 S2 S3 S4 S5 SS FChars BSS ETX
Response Data Arguments Description
Mode One of these operating modes F = Follower mode S = Analog Velocity mode P = Preset Velocity mode C = Analog Current mode D = Dual Current Command mode PF PS PC FS FC SC = Mixed modes Refer to [Pr - 000] Operations Mode on page 46 for additional information
S1 S1 means In Follower mode 1 = In Position 0 = Not In Position In Analog Velocity or Preset Velocity modes 1 = In Speed Window 0 = not In Speed Window If position or speed data is not available S1= 0
S2 One of the following 1 = Up to Speed 0 = Not Up to Speed If speed data is not available S2=0
S3 One of the following 1 = Drive is Enabled 0 = Drive is Disabled
S4 One of the following 1 = Positive Overtravel is active 0 = Positive Overtravel is inactive
S5 One of the following 1 = Negative Overtravel is active 0 = Negative Overtravel is inactive
SS One of the following Edd = fault occurred (See Appendix C)
dd = 2 byte error code 0x00hellip0xFF Wdd = warning occurred (See Appendix C)
dd = 2 byte warning code RDY = no errors or warnings
FChars Abbreviation of the faultwarning name In the case of Estop fault Fchars = ESTOP FChars size is 5 bytes when fault occurs and 3 bytes when warning occurs
42 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 3 General Commands (ASCII)
Other Functions (ETC)
Attribute Value
Command ETC
Format STX ID ETC F1 BSS ETX
Data Argument Description
F1 Manual task number See the following Values and Task Descriptions
Value Task Description
0x09 Clear Fault History
0x0A Reset Absolute Encoder (1)
(1) Resetting of an absolute (17-bit) encoder is possible only when the drive is disabled The command Reset Absolute Encoder sets the rotation data to 0 and clears all encoder related faults and warnings
0x0B Store 2-Group Gain
0x0C Reset to Factory settings (2)
(2) Parameters in the table below are not affected by the Reset to Factory settings
0x0D Test Run
0x0E Upgrade Firmware
0x0F Erase Manufacturing Information
Response ACK
Usage Note Send ETC command without arguments to find out if a task is completed
Next Command STX ID ETC BSS ETX
Response Format STX ID $ BSY BSS ETX - if task is not complete orSTX ID $ TOK BSS ETX - task is complete
Parameter Number Description
600 Analog Velocity Command Offset
601 Analog Current Command Offset
602 U Phase Current Sensing Offset
603 W Phase Current Sensing Offset
700hellip707 Group 7 - Manufacturing Settings
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 43
General Commands (ASCII) Chapter 3
Verify Software Version (VER)
Verify Servo Connection (LIV)
Read Fault Detailed Data (DIE)
Attribute Value
Command VER
Description Verify software version
Format STX ID VER BSS ETX
Response Format STX ID $ VER V BSS ETX
Response Data Argument Description
V Firmware version Size 5 bytes including a space Example STX01$VER 100BSS ETX
Attribute Value
Command LIV
Description Verify servo connection
Format STX ID LIV BSS ETX
Response Format ACK if there is a connection
Attribute Value
Command DIE
Description Read detailed fault data stored in [Pr - 607] Fault Detail Data Selection 1 Sample period in microseconds = [Pr - 607] 200) See Read Fault Contents (EHY) on page 40 for alternative fault data
Format STX ID DIE A1 A2 BSS ETX
Data Argument Description
A1 Channel to get the data for Range 1hellip4 Channels are stored in [Pr - 607]hellip[Pr - 610] Fault Detail Data Selection 4
A2 Data Number Range 0hellip50 0 means all data
Usage Note Send DIE 02 00 to receive all the data for A1= 02 Send DIE 00 01 to receive data for data number 1 of 4 variables DIE 00 00 is invalid
Response Format STX ID $ DIE D1ampD2ampDN BSS ETX
Error Response STX ID $ DIE FFFF BSS ETX means data number is invalid
Response Data Argument Description
D1hellipDn Detailed data where n depends on A1 and A2 If A1=00 and A2 = 01 then n = 4 If A1=01hellip04 and A2 = 01hellip50 then n=1 If A1=01hellip04 and A2 = 00 then n= 50
44 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 3 General Commands (ASCII)
Enable Drive (SVRON)
Disable Drive (SVROF)
Reset Drive (HWR)
Attribute Value
Command SVRON
Description Enables the drive
Format STX ID SVRON BSS ETX
Response ACK
Attribute Value
Command SVROF
Description Disables the drive
Format STX ID SVROF BSS ETX
Response ACK
Attribute Value
Command HWR
Description Reset the drive by using watchdog counter
Format STX ID HWR BSS ETX
Response ACK
Usage Note Stops the watchdog timer allowing a hardware signal to reboot (reset) the drive
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 45
Appendix A
Standard Drive Parameters
Parameters control Kinetix 3 drive operations They are grouped by the type of drive Standard or Indexing and the settings they define
Descriptions of Indexing Drive Parameters begin on page 115
Parameter Groupings Standard drive parameters are grouped into these drive settings bull Group 0 - Basic drive system and IO settings bull Group 1 - Gain and gain tuning settings bull Group 2 - Velocity control settings bull Group 3 - Position control settings bull Group 4 - Torque control settings bull Group 5 - Supplementary drive system and IO settings bull Group 6 - Supplementary gain settings and fault reports bull Group 7 - Factory default settings bull Group 8 - Parameters reserved bull Group 9 - Motor and drive operating mode parameters
46 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
Parameter Descriptions Parameter descriptions list the size of each parameter and the data options within the parameter
Descriptions of Indexing Drive Parameters begin on page 115
Group 0 - System Level
[Pr - 000] Operations Mode
Ultraware Name Operation Modes (MainOverride)
Range 0hellip12
Display (Value) Normal operating mode Override operating mode
F (1) Follower Follower
S (2) Analog Velocity Input Analog Velocity Input
C (3) Analog Current Input Analog Current Input
SF (4) Analog Velocity Input Follower
CF (5) Analog Current Input Follower
CS (6) Analog Current Input Analog Velocity Input
P (7) Preset Velocity Preset Velocity
PF (8) Preset Velocity Follower
PS (9) Preset Velocity Analog Velocity Input
PC (10) Preset Velocity Analog Current Input
D (11) Reserved Reserved
I (12) Indexing Indexing
Default 1
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
MODBUS Address 0
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 47
Standard Drive Parameters Appendix A
[Pr - 001] Motor Configuration
Data Size 6 digits
Ultraware Name Motor configuration
Digit 0 Encoder type
Range Value Description
0x0hellip0xf Each number define a corresponding encoder type 9 line or 17-bit serial for example
Default 0x1 = 9 line
Digit 1hellip2 Rated power
Range Value Description
A5010204081015 501002004008001000 or 1500 Watts
Default 04 = 400 W
Digit 3hellip4 Motor type
Range Value Description
Motor type Motor initial ID
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
MODBUS Address 1
When Enabled Servo-Off -gt Setting
Applicable Operating Mode All
MODBUS Address Pr-001[Lo] = 1 Pr-001[Hi] = 2
48 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 002] Motor Basic Modes
Data Size 4 digits
Digit 0 Fault and Disable Braking
Ultraware Name Stopping Functions Fault and Disable Braking
Range Value Description
0x0 Brake and hold
0x1 Brake and release
0x2 Free stop
0x3 Free stop and hold
Default 0
Digit 1 Overtravel stop method
Ultraware Name Stopping Functions Over Travel Stop Method
Range Value Description
0x0 Stop by change of mode to Normal Current Set stopping current with Overtravel Current Limit parameter [Pr - 405]
0x1 Dynamic Brake
Default 0
Digit 2 Motor Forward Dir
Ultraware Name Command Polarity
Range Value Description
0x0 The command signal is not inverted so that a positive command value results in clockwise rotation as viewed from shaft end
0x1 The command signal is inverted so that a positive command value results in counter-clockwise rotation s viewed from shaft end
Default 0
Digit 3 Power input
Ultraware Name AC Line Loss Check
Range Value Description
0x0 Enables the following bull 50hellip400W drive Enable
single-phase open check bull 800hellip15kW drive Enable
three-phase open check
0x1 Disable
0x2 Single-phase input
Default 0
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 49
Standard Drive Parameters Appendix A
When Enabled Servo-Off -gt Setting
Applicable Operating Mode All
MODBUS Address 3
[Pr - 003] Auto Tuning Functions
Data Size 4 digits
Digit 0 Off-line Tuning Mode
Ultraware Name Off-line Tuning Mode
Range Value Description
0x0 Inertia Moment Estimation
0x1 Inertia Moment Estimation and Resonant Frequency Detection
0x2 Resonance frequency Detection
Default 1
Digit 1 Reserved
Digit 2 Autotuning Speed
Ultraware Name Autotuning Speed
Range 2hellip9
Default 7
Units rpm100
Digit 3 Dynamic Tuning Response Speed
Ultraware Name Online Tuning Response
Range Value Description
0x0 Off
0x1 Slowest
0x2 Slower
0x3 Slow
0x4 Medium-Slow
0x5 Medium
0x6 Medium-Fast
0x7 Fast
0x8 Faster
0x9 Fastest
Default 0
Units -
When Enabled Servo-Off -gt Setting
Applicable Operating Mode All
MODBUS Address 4
[Pr - 002] Motor Basic Modes (Continued)
50 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 004] Inertia Ratio
Description Load Inertia Motor Inertia
Ultraware Name Inertia Ratio
Range 0hellip6000
Default 100
Units (Load inertiaMotor inertia) 100
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 5
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 51
Standard Drive Parameters Appendix A
[Pr - 005] Auxiliary Function Selection 1
Applicable Operating Mode All
Data Size 4 digits
Digit 0 Encoder Back-up Battery
Ultraware Name Encoder Back-up Battery
Range Value Description
0x0 Battery Installed
0x1 Battery Not Installed
Default 0
Digit 1 Velocity Observer
Ultraware Name Velocity Observer
Range Value Description
0x0 Disable
0x1 Enable
Default 0
Digit 2 Alternative Gain Change Enable
Ultraware Name Gain Change Enable
Range Value Description
0x0 Disable
0x1 Enable
Default 0x0
Digit 3 Emergency stop input
Range Value Description
0x0 Disable
0x1 Enable
Default 0
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
MODBUS Address 6
52 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 006] Auxiliary Function Selection 2
Applicable Operating Mode All
Data Size 3 digits
Digit 0 Automatic Motor Identification
Ultraware Name Auto Motor Identification
Range Value Description
0x0 Disabled
0x1 Enabled
Default 1
Digit 1 Incremental Feedback Loss (Encoder Line Break Detection)
Ultraware Name Incremental Feedback Loss
Range Value Description
0x0 Monitored
0x1 Ignored
Default 0
Digit 2 Mode of Gain Switching
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 53
Standard Drive Parameters Appendix A
Range Value Description
0 Fixed to the 1st gain
1 Fixed to 2nd gain
2 2nd gain selection when the gain switching input is turned on
3 2nd gain selection when the toque command is larger than the set-up levels of the gain control switching and hysteresis of control switching
4 2nd gain selection when the command speed is larger than the set-up levels of the gain control switching and hysteresis of control switching
5 2nd gain selection when the positional deviation is larger than the setup set-up levels of the gain control switching and hysteresis of control switching
6 2nd gain selection when more then one command pulse exist between 200usec
7 2nd gain selection when the positional deviation counter value exceeds the set-up of the positioning complete range
8 2nd gain selection when the motor actual speed exceeds the set-up levels of the gain control switching and hysteresis of control switching)Switches to the 2nd gain while the position command exists
9 Switches to the 1st gain when no-position command status lasts for the set up of delay time of gain switching [x 200usec] and the speed falls slower than the set-up levels of the gain control switching level and hysteresis of control switching
Default 0
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 7
[Pr - 006] Auxiliary Function Selection 2 (Continued)
54 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 007] Drive Address
Applicable Operating Mode All
Ultraware Name Drive Address
Range 1hellip247
Default 1
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 8
[Pr - 008] Password
Applicable Operating Mode All
Ultraware Name Drive Password
Range 0hellip9999Usage Note Unprotected Code 777
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 9
[Pr - 009] Serial Port Configuration
Applicable Operating Mode All
Data Size 4 digits
Digit 0 Baud Rate
Ultraware Name Baud Rate
Range Value Description
0x0 9600 bps
0x1 14400 bps
0x2 19200 bps
0x3 38400 bps
0x4 56000 bps
0x5 57600 bps
Default 0x5
Digit 1 Data bits Parity Stop bit
Ultraware Name Data bits Parity Stop bit
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 55
Standard Drive Parameters Appendix A
Range Value Description
0x0 8 No 1
0x1 8 Even 1
0x2 8 Odd 1
0x3 8 No 2
0x4 8 Even 2
0x5 8 Odd 2
Default 0x0
Digit 2 Protocol
Ultraware Name Protocol
Range Value Description
0x0 ASCII
0x1 MODBUS-RTU
Default 0
Digit 3 Communication Method
Ultraware Name Communication Method
Range Value Description
0 0x0 RS232
1 Ox1 RS485
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 10
[Pr - 010] Allocation of Input Signals 1
Range for all digits 0hellipB where 0 is Off B is On and 1hellipA are digital inputs
Data Size 4 digits
Digit Description Default Unmapped IO Status
0 Drive enable (SV-ON) 0x1 ON
1 Positive overtravel (P-OT) 0xb ON
2 Negative overtravel (N-OT) 0xb ON
3 Integrator inhibit (CON) 0x4 OFF
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 010]hellip[Pr - 021] on page 60
Applicable Operating Mode All
MODBUS Address 11
[Pr - 009] Serial Port Configuration (Continued)
56 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 011] Allocation of Input Signals 2
Range for all digits 0hellipB where 0 is Off B is On and 1hellipA are digital inputs
Data Size 4 digits
Digit Description Default Unmapped IO Status
0 Fault reset (A-RST) 0x5 OFF
1 Negative current limit (N-TL) 0x6 OFF
2 Positive current limit (P-TL) 0x7 OFF
3 Operation mode override (C-SEL)
0x0 OFF
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 010]hellip[Pr - 021] on page 60
Applicable Operating Mode All
MODBUS Address 12
[Pr - 012] Allocation of Input Signals 3
Range for all digits 0hellipB where 0 is Off B is On and 1hellipA are digital inputs
Data Size 4 digits
Digit Description Default Unmapped IO Status
0 Preset direction (C-DIR) 0x0 OFF
1 Preset select 1 (C-SP1) 0x0 OFF
2 Preset select 2 (C-SP2) 0x0 OFF
3 Preset select 3 (C-SP3) 0x0 OFF
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 010]hellip[Pr - 021] on page 60
Applicable Operating Mode All
MODBUS Address 13
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 57
Standard Drive Parameters Appendix A
[Pr - 013] Allocation of Input Signals 4
Range for all digits 0hellipB where 0 is Off B is On and 1hellipA are digital inputs
Data Size 4 digits
Digit Description Default Unmapped IO Status
0 Zero speed clamp enable (Z-CLP)
0x0 OFF
1 Pause follower (INHIBIT) 0x0 OFF
2 Alternate gain select (G-SEL) 0x0 OFF
3 Position clear (PCLR) 0x0 OFF
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 010]hellip[Pr - 021] on page 60
Applicable Operating Mode All
MODBUS Address 14
[Pr - 014] Allocation of Input Signals 5
Range for all digits 0hellipB where 0 is Off B is On and 1hellipA are digital inputs
Data Size 4 digits
Digit Description Default Unmapped IO Status
0 Position strobe (ABS-DT) 0x0 OFF
1 Motor moving enable (START) 0x0 OFF
2 Analog speed command select (C-SP4)
0x0 OFF
3 2nd electronic gear bank selection (GEAR)
0x0 OFF
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 010]hellip[Pr - 021] on page 60
Applicable Operating Mode All
MODBUS Address 15
58 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 015] Allocation of Input Signals 6
Data Size 4 digits
Digit Description Default Unmapped IO Status
0 Reset multi-turn data of absolute encoder (R_ABS)
0x0 OFF
1 Gain bank select (BANK_SEL) 0x0 OFF
2 Reserved 0x0 OFF
3 Reserved 0x0 OFF
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 010]hellip[Pr - 021] on page 60
Applicable Operating Mode All
MODBUS Address 16
[Pr - 016] Allocation of Input Signals 7
Data Size 4 digits
Digit Description Default Unmapped IO Status
0 Home sensor (H_SENS) 0x0 OFF
1 Start homing (SHOME) 0x0 OFF
2 Stop indexing (STOP) 0x0 OFF
3 Pause indexing (PAUSE) 0x0 OFF
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 010]hellip[Pr - 021] on page 60
Applicable Operating Mode Indexing
MODBUS Address 17
[Pr - 017] Allocation of Input Signals 8
Data Size 4 digits
Digit Description Default Unmapped IO Status
0 Index select 0 input (I_SEL0) 0x0 OFF
1 Index select 1 input (I_SEL1) 0x0 OFF
2 Index select 2 input (I_SEL2) 0x0 OFF
3 Index select 3 input (I_SEL3) 0x0 OFF
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 010]hellip[Pr - 021] on page 60
Applicable Operating Mode Indexing
MODBUS Address 18
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 59
Standard Drive Parameters Appendix A
[Pr - 018] Allocation of Input Signals 9
Data Size 4 digits
Digit Description Default Unmapped IO Status
0 Index select 4 input (I_SEL4) 0x0 OFF
1 Index select 5 input (I_SEL5) 0x0 OFF
2 Stop homing (H_STOP) 0x0 OFF
3 Start index (START_I) 0x0 OFF
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 010]hellip[Pr - 021] on page 60
Applicable Operating Mode Indexing
MODBUS Address 19
[Pr - 019] Allocation of Input Signals 10
Data Size 4 digits
Digit Description Default Unmapped IO Status
0 Reserved 0x0 OFF
1 Reserved 0x0 OFF
2 Reserved 0x0 OFF
3 Reserved 0x0 OFF
When Enabled Reserved
Applicable Operating Mode Indexing
MODBUS Address 20
[Pr - 020] Allocation of Input Signals 11
Data Size 4 digits
Digit Description Default Unmapped IO Status
0 Reserved 0x0 OFF
1 Reserved 0x0 OFF
2 Reserved 0x0 OFF
3 Reserved 0x0 OFF
When Enabled Reserved
Applicable Operating Mode Indexing
MODBUS Address 21
60 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
Table 1 - Setting Values for Parameters [Pr - 010]hellip[Pr - 021]
[Pr - 021] Allocation of Input Signals 12
Data Size 4 digits
Digit Description Default Unmapped IO Status
0 Reserved 0x0 OFF
1 Reserved 0x0 OFF
2 Reserved 0x0 OFF
3 Reserved 0x0 OFF
When Enabled Reserved
Applicable Operating Mode Indexing
MODBUS Address 22
Setting Value (1)
1 Setting values are reserved (not available) for [Pr - 019] and [Pr - 020]
B A 9 6 7 6 5 4 3 2 1 0
Input Channel No
Input Signal
19 9 8 7 6 5 4 3 2 1 Input Signal
CN1 Pin No On 26 27 29 9 8 7 6 5 4 3 Off
[Pr - 022] Allocation of Output Signals 1
Range for all digits 0hellip3 where 0 is Off and 1hellip6 are digital outputs
Data Size 4 digits
Digit Description Default
0 Within position window (P-COM)
0x1
1 Up to speed (TG-ON) 0x2
2 Brake control (BK) 0x3
3 Within speed window (V-COM) 0x0
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 022]hellip[Pr - 032] on page 65
Applicable Operating Mode All
MODBUS Address 23
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 61
Standard Drive Parameters Appendix A
[Pr - 023] Allocation of Output Signals 2
Range for all digits 0hellip3 where 0 is Off and 1hellip6 are digital outputs
Data Size 4 digits
Digit Description Default
0 Current limited (T_LMT) 0x0
1 Velocity limited (V-LMT) 0x0
2 Near position (NEAR) 0x0
3 Warning (WARN) 0x0
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 022]hellip[Pr - 032] on page 65
Applicable Operating Mode All
MODBUS Address 24
[Pr - 024] Allocation of Output Signals 3
Range for all digits 0hellip3 where 0 is Off and 1hellip6 are digital outputs
Data Size 4 digits
Digit Description Default
0 Absolute position valid (A_VLD) 0x0
1 Ready 0x0
2 Reserved 0x0
3 Reserved 0x0
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 022]hellip[Pr - 032] on page 65
Applicable Operating Mode All
MODBUS Address 25
62 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 025] Allocation of Output Signals 4
Range for all digits 0hellip3 where 0 is Off and 1hellip6 are digital outputs
Data Size 4 digits
Digit Description Default
0 In Motion (IMO) 0x0
1 In Dwell (I_DW) 0x0
2 Axis Homed (HOMC) 0x0
3 Index Select 0 Out (O_ISEL0) 0x0
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 022]hellip[Pr - 032] on page 65
Applicable Operating Mode Indexing
MODBUS Address 26
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 63
Standard Drive Parameters Appendix A
[Pr - 026] Allocation of Output Signals 5
Range for all digits 0hellip3 where 0 is Off and 1hellip6 are digital outputs
Data Size 4 digits
Digit Description Default
0 Index Select 1 Out (O_ISEL1) 0x0
1 Index Select 2 Out (O_ISEL2) 0x0
2 Index Select 3 Out (O_ISEL3) 0x0
3 Index Select 4 Out (O_ISEL4) 0x0
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 022]hellip[Pr - 032] on page 65
Applicable Operating Mode Indexing
MODBUS Address 27
[Pr - 027] Allocation of Output Signals 6
Range for all digits 0hellip3 where 0 is Off and 1hellip6 are digital outputs
Data Size 4 digits
Digit Description Default
0 Index Select 5 Out (O_ISEL5) 0x0
1 End of Sequence (E_SEQU) 0x0
2 Reserved 0x0
3 Reserved 0x0
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 022]hellip[Pr - 032] on page 65
Applicable Operating Mode Indexing
MODBUS Address 28
[Pr - 028] Allocation of Output Signals 7
Range for all digits 0hellip3 where 0 is Off and 1hellip6 are digital outputs
Data Size 4 digits
Digit Description Default
0 Reserved 0x0
1 Reserved 0x0
2 Reserved 0x0
3 Reserved 0x0
When Enabled Reserved
Applicable Operating Mode Indexing
MODBUS Address 29
64 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 029] Allocation of Output Signals 8
Range for all digits 0hellip3 where 0 is Off and 1hellip6 are digital outputs
Data Size 4 digits
Digit Description Default
0 Reserved 0x0
1 Reserved 0x0
2 Reserved 0x0
3 Reserved 0x0
When Enabled Reserved
Applicable Operating Mode Indexing
MODBUS Address 30
[Pr - 030] Allocation of Output Signals 9
Range for all digits 0hellip3 where 0 is Off and 1hellip6 are digital outputs
Data Size 4 digits
Digit Description Default
0 Reserved 0x0
1 Reserved 0x0
2 Reserved 0x0
3 Reserved 0x0
When Enabled Reserved
Applicable Operating Mode Indexing
MODBUS Address 31
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 65
Standard Drive Parameters Appendix A
Table 2 - Setting Values for Parameters [Pr - 022]hellip[Pr - 032]
[Pr - 031] Allocation of Output Signals 10
Range for all digits 0hellip3 where 0 is Off and 1hellip6 are digital outputs
Data Size 4 digits
Digit Description Default
0 Reserved 0x0
1 Reserved 0x0
2 Reserved 0x0
3 Reserved 0x0
When Enabled Reserved
Applicable Operating Mode Indexing
MODBUS Address 32
[Pr - 032] IO Control Authority
Applicable Operating Mode All
Data Size 2 digits
Digit 0 MODBUS Input Function Control
Ultraware Name MODBUS Input Function Control
Range Value Description
0x0 Disable
0x1 Enable
Default 0
Digits 1 MODBUS Run Function Control
Ultraware Name MODBUS Run Function Control
Range Value Description
0x0 Disable
0x1 Enable
Default 0
When Enabled Servo-Off -gt Setting (1)
1 Refer to the Setting Values for Parameters [Pr - 022]hellip[Pr - 032] table immediately below
Applicable Operating Mode All
MODBUS Address 33
Setting Value (1)
1 Setting Values are reserved (not available) for [Pr - 028] and [Pr - 031]
6 5 4 3 2 1 0
Input Channel No AL 3 AL 2 DO1 DO3 DO2 DO1 Input Signal
CN1 Pin No 39 38 37 4748 4344 4142 Off
66 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
Group 1 - Gain Control
[Pr - 100] Velocity Regulator Response Level
Ultraware Name Velocity Regulator Response level
Range 1hellip150
Default 50
Units
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 100
[Pr - 101] System Gain
Ultraware Name Velocity Regulator Response level
Range 1hellip150
Default 50
Units Hz
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 101
[Pr - 102] Velocity Regulator P Gain
Ultraware Name Main Velocity Regulator Gains Proportional Gain
Range 0hellip10000
Default 60
Units -
Applicable Operating Mode
When Enabled Immediately
Applicable Operating Mode Follower Analog Speed Preset
MODBUS Address 102
[Pr - 103] Velocity Regulator I Gain
Ultraware Name Main Velocity Regulator Gains Integral Gain
Range 0hellip60000
Default 26
Units -
When Enabled Immediately
Applicable Operating Mode Follower Analog Speed Preset
MODBUS Address 103
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 67
Standard Drive Parameters Appendix A
[Pr - 104] Velocity Regulator D gain
Ultraware Name Main Velocity Regulator Gains Derivative Gain
Range 0hellip1000
Default 0
Units -
When Enabled Immediately
Applicable Operating Mode Follower Analog Speed Preset
MODBUS Address 104
[Pr - 105] Velocity Error Filter
Ultraware Name Calibration Error Filter Bandwidth
Range 0hellip2500
Default 30
Units Hz
When Enabled Immediately
Applicable Operating Mode Follower Analog Speed Preset
MODBUS Address 105
[Pr - 106] Position Regulator Kp Gain
Ultraware Name Main Position Regulator Gains Kp
Range 0hellip700
Default 20
Units Hz
When Enabled Immediately
Applicable Operating Mode Follower Analog Speed Preset
MODBUS Address 106
68 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 107] Current Command Lowpass Filter Bandwidth
Ultraware Name Main Current Regulator Gains Low Pass Filter Bandwidth
Range 0hellip10000
Default 300
Units Hz
Applicable Operating Mode All
When Enabled Immediately
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 107
[Pr - 108] Velocity Command Lowpass Filter Bandwidth
Ultraware Name Main Velocity Regulator Gains Low Pass Filter Bandwidth
Range 0hellip10000
Default 1000
Units Hz
When Enabled Immediately
Applicable Operating Mode Follower Analog Speed Preset
MODBUS Address 108
[Pr - 109] Position Command Lowpass Filter Bandwidth
Ultraware Name Main Position Regulator Gains Low Pass Filter Bandwidth
Range 0hellip1000
Default 0
Units Hz
When Enabled Immediately
Applicable Operating Mode Follower
MODBUS Address 109
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 69
Standard Drive Parameters Appendix A
[Pr - 110] 1st Resonant Frequency Suppression Filter
Ultraware Name Main Current Regulator Gains 1st Resonant Frequency Suppression Filter
Description Suppresses Vibration by cutting off Current Command in assigned frequency band
Range 0hellip10000
Default 10000
Units Hz
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 110
[Pr - 111] 1st Resonant Frequency Suppression Filter Width
Ultraware Name Main Current Regulator Gains 1st Resonant Frequency Suppression Filter Width
Description Set up the notch width of 1st resonance suppressing filter in 20 steps Higher the setup larger the notch width you can obtain
Range 0hellip20
Default 10
Units
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 111
[Pr - 112] 2nd Resonant Frequency Suppression Filter
Ultraware Name 2nd Main Current Regulator Gains 2nd Resonant Frequency Suppression Filter
Description Suppresses Vibration by cutting off Current Command in assigned frequency band
Range 0hellip10000
Default 10000
Units Hz
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 112
70 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 113] 2nd Resonant Frequency Suppression Filter Width
Ultraware Name Main Current Regulator Gains 2nd Resonant Frequency Suppression Filter Width
Description Set up the notch width of 2nd resonance suppressing filter in 20 steps The higher the setup larger the notch width you can obtain
Range 0hellip20
Default 10
Units -
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 113
[Pr - 114] 2nd Resonant Frequency Suppression Filter Depth
Ultraware Name Main Current Regulator Gains 2nd Resonant Frequency Suppression Filter Depth
Description Set up the 2nd notch depth of the resonance suppressing filter The higher the setup the shallower the notch depth and the smaller the phase delay you can obtain
Range 0hellip100
Default 100
Units -
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 114
[Pr - 115] Position Regulator Kff gain
Ultraware Name Main Position Regulator Gains Kff
Range 0hellip100
Default 0
Units
When Enabled Immediately
Applicable Operating Mode Follower
MODBUS Address 115
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 71
Standard Drive Parameters Appendix A
[Pr - 116] Position Regulator Kff Bandwidth
Ultraware Name Main Position Regulator Gains Kff Low Pass Filter Bandwidth
Range 0hellip2500
Default 200
Units Hz
When Enabled Immediately
Applicable Operating Mode Follower
MODBUS Address 116
[Pr - 117] Velocity Regulator I Gain Mode
Ultraware Name Main Velocity Regulator Gains I Gain Mode
Description During transient response Speed Response Overshoot can be suppressed by a speed controller change from a Proportional Integral (PI) controller into a Proportional (P) controller It reduces position completion time during position control
Range Value Description
0x0 Do not use PPI Mode Conversion
0x1 When Current Command exceeds Current Value in [Pr - 118] Speed Controller is changed from PI Controller to P Controller
0x2 When Speed Command exceeds Speed Value in [Pr - 118] Speed Controller is changed from PI Controller to P Controller
0x3 When Position error exceeds Position error Value in [Pr - 118] Speed Controller is changed from PI Controller to P Controller
0x4 Automatically velocity controller is changed from PI Controller to P Controller
Default 3
When Enabled Servo-Off -gt Setting
Applicable Operating Mode All
MODBUS Address 117
72 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 118] Velocity Regulator I Gain Disable Threshold
Ultraware Name Main Velocity Regulator Gains I Gain Disable Threshold
Range 0hellip3000
Default 100
Units If [Pr - 117] = 1 units are of rated continuous current
If [Pr - 117] = 2 units are rpm for rotary motors mmsec for linear motors
If [Pr - 117] = 3 units are Counts
When Enabled Follower Analog Velocity Preset
Applicable Operating Mode Immediately
MODBUS Address 118
[Pr - 119] Position Regulator High Error Output Offset
Ultraware Name Main Position Regulator Gains High Error Output Offset
Range 0hellip450
Default 0
Units Rotary rpm Linear mmsec
When Enabled All
Applicable Operating Mode Immediately
MODBUS Address 119
[Pr - 120] Position Regulator High Error Output Threshold
Ultraware Name Main Position Regulator Gains High Error Output Threshold
Range 0hellip50000
Default 1000
Units Counts
When Enabled All
Applicable Operating Mode Immediately
MODBUS Address 120
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 73
Standard Drive Parameters Appendix A
[Pr - 121] Current Regulator Bandwidth Reduction Scale
Ultraware Name Main Current Regulator Gains Gain
Range Value Description
0x0 High bandwidth
0x1 Medium bandwidth (06667 high)
0x2 Low bandwidth (03334 high)
Default 0x1
When Enabled All
Applicable Operating Mode Immediately
MODBUS Address 121
[Pr - 122] On-line Vibration Mode
Data Size 1 digits
Digit 0 On-line Vibration Suppression Mode
Ultraware Name On-line Vibration Suppression Mode
Range Value Description
0x0 Disable
0x1 Normal and High Velocity Mode
0x2 Slow Velocity Mode without initial value
Default 0x0
Digit 1 On-line Vibration Suppression Gain
Ultraware Name On-line Vibration Suppression Gain
Range Value Description
0x0 Low
0x1 High
Default 0x0
When Enabled All
Applicable Operating Mode Servo-Off -gt Setting
MODBUS Address 122
74 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 123] Velocity Regulator Configuration
Applicable Operating Mode All
Data Size 1 digits
Digit 0 Velocity Command Filter on Follower
Ultraware Name Velocity Command Filter on Follower
Range Value Description
0x0 Disable
0x1 Enable
Default 0x0
When Enabled Immediately
Applicable Operating Mode Servo-Off -gt Setting
MODBUS Address 123
[Pr - 124] Delay Time of Gain Switching
Ultraware Name Gain Switching Delay Time of Gain Switching
Range 0hellip10000
Default 0
Units X 200usec
When Enabled Immediately
Applicable Operating Mode Follower Analog Velocity Preset
MODBUS Address 124
[Pr - 125] Level of Gain Switching
Ultraware Name Gain Switching Level of Gain Switching
Range 0hellip10000
Default 0
Units -
When Enabled Immediately
Applicable Operating Mode Follower Analog Velocity Preset
MODBUS Address 125
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 75
Standard Drive Parameters Appendix A
[Pr - 126] Hysteresis of Gain Switching
Ultraware Name Gain Switching Hysteresis of Gain Switching
Range 0hellip10000
Default 0
Units -
When Enabled Immediately
Applicable Operating Mode Follower Analog Velocity Preset
MODBUS Address 126
[Pr - 127] Position Gain Switching Time
Ultraware Name Gain Switching Level of Gain Switching
Range 0hellip10000
Default 0
Units x 200usec
When Enabled Immediately
Applicable Operating Mode Follower Analog Velocity Preset
MODBUS Address 127
[Pr - 128] 2nd Velocity Regulator P Gain
Ultraware Name 2nd Regulator Gain P
Range 0hellip10000
Default 60
Units -
When Enabled Immediately
Applicable Operating Mode Follower Analog Velocity Preset
MODBUS Address 128
[Pr - 129] 2nd Velocity Regulator I Gain
Ultraware Name 2nd Regulator Gain Integrator Gain
Range 0hellip60000
Default 26
Units -
When Enabled Immediately
Applicable Operating Mode Follower Analog Velocity Preset
MODBUS Address 129
76 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 130] 2nd Position Regulator Kp Gain
Ultraware Name 2nd Regulator Gain Kp
Range 0hellip700
Default 20
Units Hz
When Enabled Immediately
Applicable Operating Mode Position
MODBUS Address 130
[Pr - 131] 2nd Current Command Lowpass Filter Bandwidth
Ultraware Name 2nd Regulator Gain Low Pass Bandwidth (IReg)
Range 0hellip10000
Default 300
Units Hz
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 131
[Pr - 132] 2nd Velocity Command Lowpass Filter Bandwidth
Ultraware Name 2nd Regulator Gain Low Pass Bandwidth (VReg)
Range 0hellip10000
Default 1000
Units Hz
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 132
[Pr - 133] 3rd Velocity Regulator P Gain
Ultraware Name 3rd Regulator Gain P Gain
Range 0hellip10000
Default 60
Units -
When Enabled Immediately
Applicable Operating Mode Follower Analog Velocity Preset
MODBUS Address 133
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 77
Standard Drive Parameters Appendix A
[Pr - 134] 3rd Velocity Regulator I Gain
Ultraware Name 3rd Regulator Gain Integrator Gain
Range 0hellip10000
Default 26
Units -
When Enabled Immediately Immediately
Applicable Operating Mode Follower Analog Velocity Preset
MODBUS Address 134
[Pr - 135] 3rd Position Regulator Kp Gain
Ultraware Name 3rd Regulator Gain Kp
Range 0hellip700
Default 20
Units Hz
When Enabled Immediately
Applicable Operating Mode Position
MODBUS Address 135
[Pr - 136] 3rd Current Command Lowpass Filter Bandwidth
Ultraware Name 3rd Regulator Gain Low Pass Bandwidth (IReg)
Range 0hellip10000
Default 300
Units Hz
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 136
[Pr - 137] 3rd Velocity Command Lowpass Filter Bandwidth
Ultraware Name 3rd Regulator Gain Low Pass Bandwidth (VReg)
Range 0hellip10000
Default 1000
Units Hz
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 137
78 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 138] 4th Velocity Regulator P Gain
Ultraware Name 4th Regulator Gain P
Range 0hellip10000
Default 60
Units -
When Enabled Immediately
Applicable Operating Mode Follower Analog Velocity Preset
MODBUS Address 138
[Pr - 139] 4th Velocity Regulator I Gain
Ultraware Name 4th Regulator Gain Integrator Gain
Range 0hellip60000
Default 26
Units
When Enabled Immediately
Applicable Operating Mode Follower Analog Velocity Preset
MODBUS Address 139
[Pr - 140] 4th Position Regulator Kp Gain
Ultraware Name 4th Regulator Gain Kp
Range 0hellip700
Default 20
Units Hz
When Enabled Immediately
Applicable Operating Mode Position
MODBUS Address 140
[Pr - 141] 4th Current Command Lowpass Filter Bandwidth
Ultraware Name 4th Regulator Gain Low Pass Bandwidth (IReg)
Range 0hellip10000
Default 300
Units Hz
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 141
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 79
Standard Drive Parameters Appendix A
[Pr - 142] 4th Velocity Command Lowpass Filter Bandwidth
Ultraware Name 4th Regulator Gain Low Pass Bandwidth (VReg)
Range 0hellip10000
Default 1000
Units Hz
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 142
80 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
Group 2 - Speed Control
[Pr - 200] Velocity Scale
Ultraware Name Velocity Scale
Range 100hellip20000
Default 5000
Units rpmV for rotary motors mmsec for linear motors
When Enabled Servo-Off -gt Setting
Applicable Operating Mode Analog Velocity
MODBUS Address 200 (1)
1 Refer to Output Function Status Parameter on page 23 for more detailed information on these parameters
[Pr - 201] Jog Velocity Command
Ultraware Name Velocity Control Panel Velocity Command
Range 0hellip6000
Default 50
Units rpm for rotary motors mmsec for linear motors
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 201
[Pr - 202] Acceleration
Ultraware Name Acceleration Limits Acceleration
Range 1hellip2147483647
Default 41667
Units 10-2Revsec2 for rotary mmsec2 for linear
When Enabled Immediately
Applicable Operating Mode Analog Velocity Input Preset Velocity
MODBUS Address 202
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 81
Standard Drive Parameters Appendix A
[Pr - 203] Deceleration
Ultraware Name Acceleration Limits Deceleration
Range 1hellip2147483647
Default 41667
Units 10-2Revsec2 for rotary mmsec2 for linear
When Enabled Immediately
Applicable Operating Mode Analog Velocity Input Preset Velocity
MODBUS Address 203
[Pr - 204] S-Curve Time
Ultraware Name Acceleration Limits S-Curve Time
Range 0hellip5000
Default 0
Units Ms
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 204
[Pr - 205] Preset Velocity 1
Ultraware Name Preset Velocity 1
Range -6000hellip6000
Default 0
Units rpm for rotary motors mmsec for linear motors
When Enabled Immediately
Applicable Operating Mode Preset
MODBUS Address 205
Pr - 206] Preset Velocity 2
Ultraware Name Preset Velocity 2
Range -6000hellip6000
Default 0
Units rpm for rotary motors mmsec for linear motors
When Enabled Immediately
Applicable Operating Mode Preset
MODBUS Address 206
82 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
Pr - 207] Preset Velocity 3
Ultraware Name Preset Velocity 3
Range -6000hellip6000
Default 0
Units rpm for rotary motors mmsec for linear motors
When Enabled Immediately
Applicable Operating Mode Preset
MODBUS Address 207
[Pr - 208] Preset Velocity 4
Ultraware Name Preset Velocity 4
Range -6000hellip6000
Default 0
Units rpm for rotary motors mmsec for linear motors
When Enabled Immediately
Applicable Operating Mode Preset
MODBUS Address 208
[Pr - 209] Preset Velocity 5
Ultraware Name Preset Velocity 5
Range -6000hellip6000
Default 0
Units rpm for rotary motors mmsec for linear motors
When Enabled Immediately
Applicable Operating Mode Preset
MODBUS Address 209
[Pr - 210] Preset Velocity 6
Ultraware Name Preset Velocity 6
Control Index 6
Range -6000hellip6000
Default 0
Units rpm for rotary motors mmsec for linear motors
When Enabled Immediately
Applicable Operating Mode Preset
MODBUS Address 210
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 83
Standard Drive Parameters Appendix A
[Pr - 211] Preset Velocity 7
Ultraware Name Preset Velocity 7
Range -6000hellip6000
Default 0
Units rpm for rotary motors mmsec for linear motors
When Enabled Immediately
Applicable Operating Mode Preset
MODBUS Address 211
[Pr - 212] Manual Velocity Limit
Ultraware Name Manual Velocity limit
Range 1hellip6000
Default 5000
Units rpm for rotary motors mmsec for linear motors
When Enabled Servo-Off -gt Setting
Applicable Operating Mode Follower Analog Velocity Preset
MODBUS Address 212
[Pr - 213] Velocity Limit Mode
Ultraware Name Velocity Limits Velocity Limit Mode
Range Value Description
0x0 Disabled
0x1 Limited by [Pr - 212]
0x2 Limited by Analog Speed Command Value (except Analog Speed Mode)
0x3 Limited by lesser one between [Pr - 212] and Analog Speed Command
Default 0
When Enabled Servo-Off -gt Setting
Applicable Operating Mode All
MODBUS Address 213
84 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
Group 3 - Position Control
[Pr - 300] Follower
Data Size 4 digits
Digit 0 Command Type
Ultraware Name Command Type
Range Value Description
0x0 Step UpStep Down Positive logic
0x1 Step UpStep Down Negative logic
0x2 StepDirection Positive Logic
0x3 StepDirection Negative Logic
0x4 Auxiliary Encoder x1
0x5 Auxiliary Encoder x2
0x6 Auxiliary Encoder x4
Default 0x0
Note For Command types 0x4 0x5 and 0x6Motor Counts = Master Lines MULT helliphelliphellip (4 Para301) Para302where MULT is 1 2 or 4 for command types 0x4 0x5 and 0x6 respectively
Applicable Operating Mode Follower
Digit 1 Controller Output Type
Ultraware Name Controller Output Type
Range Value Description
0x0 Use Low speed Line Drive Output in Host Controller for isolated electrical connection
0x1 Use Open Collector in Host Controller
0x2 Use High Frequency Line Drive Output in Host Controller
Default 0x0
Applicable Operating Mode Follower
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 85
Standard Drive Parameters Appendix A
Digit 2 Encoder Output Forward Direction
Ultraware Name Encoder Output Forward Direction
Range Value Description
0x0 During Forward Rotation Encoder Output Phase A have a lead of 90ordm over Phase B
0x1 During Forward Rotation Encoder Output Phase B have a lead of 90ordm over Phase A
Default 0x0
Applicable Operating Mode All
Digit 3 1st Gear ratio change
Ultraware Name 1st Gear ratio change
Range Value Description
0x0 Enable Only on Drive Disabled
0x1 Always Enable
Default 0x0
When Enabled Servo-Off -gt Setting
Applicable Operating Mode Follower
MODBUS Address 300
[Pr - 301] 1st Gear Ratio Follower Counts
Ultraware Name 1st Gear Ratio Numerator
Range 1hellip65535
Default 4
Units
When Enabled Servo-Off -gt Setting
Applicable Operating Mode Follower
MODBUS Address 301
[Pr - 300] (Continued) Follower
86 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 302] 1st Gear Ratio Master Counts
Ultraware Name 1st Gear Ratio Denominator
Range 1hellip65535
Default 1
Units
When Enabled Servo-Off -gt Setting
Applicable Operating Mode Follower
MODBUS Address 302
[Pr - 303] Encoder Output Ratio Output Counts
Ultraware Name Output Ratio Numerator
Range 1hellip32768
Default 1
Units
When Enabled Servo-Off -gt Setting
Applicable Operating Mode All
MODBUS Address 303
[Pr - 304] Encoder Output Ratio Motor Counts
Ultraware Name Output Ratio Numerator
Range 1hellip32768
Default 1
Units
When Enabled Servo-Off -gt Setting
Applicable Operating Mode All
MODBUS Address 304
[Pr - 305] 2nd Gear Ratio Follower Counts
Ultraware Name 2nd Gear Ratio Numerator
Range 1hellip65535
Default 4
Units
When Enabled Servo-Off -gt Setting
Applicable Operating Mode Follower
MODBUS Address 305
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 87
Standard Drive Parameters Appendix A
[Pr - 306] 2nd Gear Ratio Master Counts
Ultraware Name 2nd Gear Ratio Denominator
Range 1hellip65535
Default 1
Units
When Enabled Servo-Off -gt Setting
Applicable Operating Mode Follower
MODBUS Address 306
[Pr - 307] Reserved
When Enabled Reserved for future use
88 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 308] Digital Filter Cut-off Frequency
Data Size 3 digits
Digit 0 Low drive input
Value Description
0x0 hellip0x7 0 3MHz
1 175MHz
2 15MHz
3 1MHz
4 075MHz
5 0625MHz
6 0562MHz
7 0525MHz
Default = 1
Digit 1 Open collector input
Value Description
0x0 hellip0x7 0 3MHz
1 175MHz
2 15MHz
3 1MHz
4 075MHz
5 0625MHz
6 0562MHz
7 0525MHz
Default = 5
Digit 2 High frequency line drive input
0x0 hellip0x7 0 3MHz
1 175MHz
2 15MHz
3 1MHz
4 075MHz
5 0625MHz
6 0562MHz
7 0525MHz
Default = 0
When Enabled Servo-Off -gt Setting
Applicable Operating Mode All
MODBUS Address 308
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 89
Standard Drive Parameters Appendix A
Group 4 - Torque Controls
[Pr - 400] Current Scale
Ultraware Name Current Scale
Range 0hellip1000
Default 333
Units of rated continuous currentV
When Enabled Servo-Off -gt Setting
Applicable Operating Mode Analog Current command Dual current Command
MODBUS Address 400
[Pr - 401] Positive Internal Current Limit
Ultraware Name Current Limits Positive Internal
Range 0hellip500
Default 300
Units of motor rated continuous current
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 401
[Pr - 402] Negative Internal Current Limit
Ultraware Name Current Limits Negative Internal
Range 0hellip500
Default 300
Units of motor rated continuous current
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 402
[Pr - 403] Positive External Current Limit
Ultraware Name Current Limits Positive External
Range 0hellip500
Default 100
Units of motor rated continuous current
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 403
90 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[
Pr - 404] Negative External Current Limit
Ultraware Name Current Limits Negative External
Range 0hellip500
Default 100
Units of motor rated continuous current
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 404
[Pr - 405] Overtravel Current Limit
Ultraware Name Stopping Functions Maximum Stopping Current
Range 0hellip500
Default 300
Units of motor rated continuous current
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 405
[Pr - 406] Initial Current Bias
Ultraware Name Initial Current Bias
Description Constant current applied when the drive enables Meant to hold vertical loads
Range -100hellip100
Default 0
Units of motor rated continuous current
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 406
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 91
Standard Drive Parameters Appendix A
Group 5 - Supplemental Drive Controls
[Pr - 500] In Position Size
Ultraware Name Position Functions In Position Size
Description If position error lt In Position Size for 1 ms and the In Position Size output signal is assigned the In Position output is turned ON
Range 0hellip2500
Default 10
Units Counts
When Enabled Immediately
Applicable Operating Mode Follower
MODBUS Address 500
[Pr - 501] Reserved
When Enabled Reserved for future use
[Pr - 502] Near Position Size
Ultraware Name Position Functions Near Position Size
Description If position error lt Near Position Size and the Near Position output signal is assigned the Near Position output is turned ON
Range 0hellip2500
Default 20
Units Counts
When Enabled Immediately
Applicable Operating Mode Follower
MODBUS Address 502
92 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 503] Speed Window
Ultraware Name Speed Functions Speed Window
Description If the speed error lt Speed Window for 10 ms and the Within Speed Window output signal is assigned then the Within Speed Window output is turned ON
Range 0hellip1000
Default 10
Units rpm for rotary motors mmsec for linear motors
When Enabled Immediately
Applicable Operating Mode Follower Analog Velocity Input Preset
MODBUS Address 503
[Pr - 504] Up to Speed
Ultraware Name Speed Functions Up to Speed
Description If the motor speed gt Up to Speed and the Up to Speed output signal is assigned then the Up to Speed output is turned ON
Range 1hellip5000
Default 20
Units rpm for rotary motors mmsec for linear motors
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 504
[Pr - 505] Zero Clamp
Ultraware Name Speed Functions Zero Clamp
Description If the Analog Speed command lt Zero Clamp then the Analog Speed command is ignored and the Motor Speed command is set to zero
Range 1hellip5000
Default 20
Units rpm for rotary motors mmsec for linear motors
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 505
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 93
Standard Drive Parameters Appendix A
[Pr - 506] Brake Inactive Delay
Ultraware Name Digital Outputs Brake Inactive Delay
Description Brake Inactive delay is the time from when the drive is enabled to when the brake is released
Range 0hellip10000
Default 0
Units ms
When Enabled Immediately
Applicable Operating Mode Servo-Off -gt Setting
MODBUS Address 506
[Pr - 507] Disable Delay
Ultraware Name Stopping Functions Disable Delay
Description Disable Delay is the time from when the Drive Disable command is received to when the Drive Disable command is actually executed
Range 0hellip10000
Default 0
Units ms
When Enabled All
Applicable Operating Mode Servo-Off -gt Setting
MODBUS Address 507
[Pr - 508] Brake Active Delay
Ultraware Name Digital Outputs Brake Active Delay
Description Brake Active Delay is the time from when the drive is disabled to when the break starts operating
Range 0hellip10000
Default 500
Units ms
When Enabled All
Applicable Operating Mode Servo-Off -gt Setting
MODBUS Address 508
94 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 509] Disabled Braking Speed
Ultraware Name Stopping Functions Braking Application Speed
Description The Disabled Braking Speed is the feedback speed below which the motor break is engaged after disabling the drive
Range 0hellip1000
Default 100
Units rpm for rotary motors mmsec for linear motors
When Enabled All
Applicable Operating Mode Servo-Off -gt Setting
MODBUS Address 509
[Pr - 510] Following Error Limit
Ultraware Name Following Error Limit
Description A following error fault occurs when the difference between position command and actual position is greater than this parameter
Range 0hellip2147483647
Default 99999
Units Counts
When Enabled Immediately
Applicable Operating Mode Follower
MODBUS Address 510
[Pr - 511] Reserved
When Enabled Reserved for future use
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 95
Standard Drive Parameters Appendix A
[Pr - 512] AC line loss fault delay
Ultraware Name AC Line Loss Fault Delay
Description The AC Line Loss Fault is inhibited for this amount of time when a loss of AC power is detected
Range 20hellip1000
Default 20
Units ms
When Enabled Servo-Off -gt Setting
Applicable Operating Mode All
MODBUS Address 513
[Pr - 513] Analog Output CH1 Selection
Ultraware Name Analog Output 1 Signal
Range 0hellip28 (except 15232526)
Default 0
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 514
[Pr - 514] Analog Output CH2 Selection
Ultraware Name Analog Output 2 Signal
Range 0hellip28 (except 15232526)
Default 1
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 516
[Pr - 515] Analog Output CH1 Scale
Ultraware Name Analog Output 1 Scale
Range 1 hellip99999
Units Units depend on the channel selected in [Pr - 513]
Default 500
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 518
96 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 516] Analog Output CH2 Scale
Ultraware Name Analog Output 2 Scale
Range 1hellip99999
Units Units depends on the channel selected in [Pr - 514]
Default 500
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 520
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 97
Standard Drive Parameters Appendix A
Group 6 - Supplemental Gain and Report Settings
[Pr - 600] Analog Velocity Command Offset
Ultraware Name Velocity Command Offset
Range -10000hellip10000
Default 0
Units 01 mV
When Enabled Servo-Off -gt Setting (ENG Mode)
Applicable Operating Mode Analog Velocity Command
[Pr - 601] Analog Current Command Offset
Ultraware Name Current Command Offset
Range -10000hellip10000
Default 0
Units 01 mV
When Enabled Servo-Off -gt Setting (ENG Mode)
Applicable Operating Mode Analog Current Command
[Pr - 602] U Phase Current Sensing Offset
Ultraware Name Calibration U Phase Current Offset
Range -60000hellip60000
Default 0
Units 001 mA
When Enabled Servo-Off -gt Setting (ENG Mode)
Applicable Operating Mode All
[Pr - 603] W Phase Current Sensing Offset
Ultraware Name Calibration W Phase Current Offset
Range -60000hellip60000
Default 0
Units 001 mA
When Enabled Servo-Off -gt Setting (ENG Mode)
Applicable Operating Mode All
98 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 604] A lead B Swap
Ultraware Name A lead B Swap
Description Select A-lead-B or B-lead-A
Data Size 1 digit
Range Value Description
0 Disable
1 Enable
Default 0
Unit -
When Enabled Servo-Off -gt Setting -gt After power cycle (ENG Mode)
Applicable Operating Mode All
[Pr - 605] Dynamic Brake Circuit Protection
Ultraware Name Dynamic Brake Circuit Protection
Description The Dynamic Brake Circuit Protection is inhibited that the motor DB braking current is too large for the drive
Data Size 1 digit
Range Value Description
0 Disable
1 Enable
Default 1
Units -
When Enabled Servo-Off -gt Setting (ENG Mode)
Applicable Operating Mode All
[Pr - 606] Fault Detail Sampling Period
Ultraware Name Fault Detail Setup Sample Period
Range 1hellip100
Default 5
Units 02 ms
When Enabled Immediately (ENG Mode)
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 99
Standard Drive Parameters Appendix A
[Pr - 607] Fault Detail Data Selection 1
Ultraware Name Fault Detail Setup Channel A
Description Refer to Monitor Variables on page 135 for more information on the range options
Range 0hellip28 (except 15 23 25 and 26)
Default 0
When Enabled Immediately (ENG Mode)
[Pr - 608] Fault Detail Data Selection 2
Ultraware Name Fault Detail Setup Channel B
Description Refer to Monitor Variables on page 135 for more information on the range options
Range 0hellip28 (except 15 23 25 and 26)
Default 3
When Enabled Immediately (ENG Mode)
[Pr - 609] Fault Detail Data Selection 3
Ultraware Name Fault Detail Setup Channel C
Description Refer to Monitor Variables on page 135 for more information on the range options
Range 0hellip28 (except 15 23 25 and 26)
Default 11
When Enabled Immediately (ENG Mode)
[Pr - 610] Fault Detail Data Selection 4
Ultraware Name Fault Detail Setup Channel D
Description Refer to Monitor Variables on page 135 for more information on the range options
Range 0hellip28 (except 15 23 25 and 26)
Default 16
When Enabled Immediately (ENG Mode)
100 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 611] 1st Resonant Frequency Suppression Filter
Ultraware Name Main Current Regulator Gains 1st Resonant Frequency Suppression Filter
Description Suppresses Vibration by cutting off Current Command in assigned frequency band
Range 0hellip10000
Default 10000
Units Hz
When Enabled Immediately (Read Parameter for ENG)
Applicable Operating Mode All
[Pr - 612] 2nd Resonant Frequency Suppression Filter
Ultraware Name Main Current Regulator Gains 1st Resonant Frequency Suppression Filter
Description Suppresses Vibration by cutting off Current Command in assigned frequency band
Range 0hellip10000
Default 10000
Units Hz
When Enabled Immediately (Read Parameter for ENG)
Applicable Operating Mode All
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 101
Standard Drive Parameters Appendix A
Group 7 - Manufacturing Settings
This parameter group includes product settings that are programmed during the manufacturing process
IMPORTANT Group 7 - Manufacturing Settings are programmed at the factory Do not modify these settings as they provide a common drive setup that is useful when you bull develop a drive system or troubleshooting a drive or bull seek assistance through Rockwell Automation Technical
Support
[Pr - 700] Drive Capacity
Ultraware Name Drive Model
Range 50hellip1500
Default Factory settings determine default
Units W
When Enabled Servo-Off -gt Setting -gt After power cycle (ENG mode)
Applicable Operating Mode All
[Pr - 701] DC Bus Voltage Offset
Ultraware Name Calibration DC Bus Voltage Offset
Range -100hellip100
Default 0
Units V
When Enabled Servo-Off -gt Setting -gt After power cycle (ENG mode)
Applicable Operating Mode All
[Pr - 702] Reservedl
When Enabled Reserved for future use
102 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 703] Analog Monitor Output CH1 Offset
Ultraware Name Calibration Analog Output CH1 Offset
Range -1000hellip1000
Default 0
Units mV
When Enabled Servo-Off -gt Setting -gt After power cycle (ENG mode)
Applicable Operating Mode All
[Pr - 704] Analog Monitor Output CH1 Scaling
Ultraware Name Calibration Analog Output CH1 Scale
Range -1000hellip1000
Default 0
Units -
When Enabled Servo-Off -gt Setting -gt After power cycle (ENG mode)
Applicable Operating Mode All
[Pr - 705] Analog Monitor Output CH2 Offset
Ultraware Name Calibration Analog Output CH2 Offset
Range -1000hellip1000
Default 0
Units mV
When Enabled Servo-Off -gt Setting -gt After power cycle (ENG mode)
Applicable Operating Mode All
[Pr - 706] Analog Monitor Output CH2 Scaling
Ultraware Name Calibration Analog Output CH2 Scale
Range -1000hellip1000
Default 0
Units -
When Enabled Servo-Off -gt Setting -gt After power cycle (ENG mode)
Applicable Operating Mode All
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 103
Standard Drive Parameters Appendix A
Group 8 - Reserved Parameters
Group 8 parameters are reserved
[Pr - 707] DC Bus Measurement Scaling Calibration
Ultraware Name Calibration DC Bus ADC Calibration
Description This parameter is a calibration adjustment to the ideal ADC scaling The scaling adjustment range is -100 to +100 so the ADC scaling can be adjusted from 2 the ideal scaling to zero
Range -1000hellip1000
Default 0 (no adjustment)
Units 0001
When Enabled Servo-Off -gt Setting -gt After power cycle (ENG mode)
Applicable Operating Mode All
104 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
Group 9 - Motor Controls
[Pr - 900] Standard Motor Flag
Ultraware Name General Motor Flag
Range Value Description
0 Custom
1 Standard
Default 1
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 901] Motor Type
Ultraware Name General Motor Type
Range Value Description
0 Rotary
1 Linear
2 Reserved
3 Reserved
Default 0
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 902] Motor Resistance
Ultraware Name Electrical Resistance
Range 1hellip65535
Units Ohms 256
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 903] Motor Inductance
Ultraware Name Electrical Inductance
Range 1hellip65535
Units mH 256
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 105
Standard Drive Parameters Appendix A
[Pr - 904] Motor Intermittent Current
Ultraware Name Ratings Intermittent Current
Range 1hellip32767
Units A 128
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 905] Motor Continuous Current
Ultraware Name Ratings Continuous Current
Range 1hellip32767
Units A 128
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 906] Motor Rated Voltage
Ultraware Name Electrical Rated Voltage
Range 10hellip1000
Units V
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 907] Encoder Type
Ultraware Name Feedback Encoder
Range
Value Description
1 Incremental
4 Serial Incremental
5 Serial Absolute
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 908] Hall Offset
Ultraware Name Feedback Hall Input Offset
Range 0hellip359
Units Electrical degree
When Enabled Servo-Off -gt Setting -gt After power cycle
106 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 909] Current Constant
Ultraware Name General Torque Constant
Range 1hellip65535
Units N m A 4096
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 910] Motor Inertia
Ultraware Name General Inertia
Range 1hellip2147483647
Units Kgcm2 65536
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 911] PolesRevolution
Ultraware Name General PolesRevolution
Range 2hellip100
Units Poles
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 912] Encoder Lines Revolution
Ultraware Name General LinesRevolution
Range 100hellip1000000
Units Poles
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 913] Maximum Rotary Speed
Ultraware Name Ratings Maximum Speed
Range 10hellip32767
Units rpm
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 107
Standard Drive Parameters Appendix A
[Pr - 914] Force Constant
Ultraware Name General Force Constant
Range 1hellip32767
Units 16
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 915] Motor Mass
Ultraware Name General Mass
Range 1 hellip2147483647
Units Kg 65536
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 916] Electrical Cycle Length
Ultraware Name General Electrical Cycle
Range 100hellip10000
Units mm 10
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 917] Encoder Lines Meter
Ultraware Name Feedback LinesMeter
Range 4000hellip10000000
Units Lines
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 918] Maximum Linear Speed
Ultraware Name Ratings Maximum Speed
Range 32hellip32767
Units m s 256
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
108 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 919] Motor Thermal Protection Enable
Ultraware Name Thermal Software Protection
Range 0 = Disabled
1 = Enabled
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 920] Motor Thermostat
Ultraware Name Thermal Integral Thermostat
Range 0 = Disabled
1 = Enabled
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 921] Motor Thermal Resistance Winding to Encoder
Ultraware Name Thermal Rth (w-e)
Range 1hellip2147483647
Units degCWatt 65536
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 922] Motor Thermal Capacitance Winding to Encoder
Ultraware Name Thermal Cth (w-e)
Range 1hellip2147483647
Units JdegC 256
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 923] Motor Thermal Resistance Winding to Ambient
Ultraware Name Thermal Rth (w-a)
Range 1hellip2147483647
Units degCWatt 65536
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 109
Standard Drive Parameters Appendix A
[Pr - 924] Motor Thermal Capacitance Winding to Ambient
Ultraware Name Thermal Cth (w-a)
Range 1hellip2147483647
Units JdegC 256
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 925] Commutation Type
Ultraware Name Feedback Commutation
Range
Value Description
0 Brush
1 Trapezoidal
2 Sinusoidal
Applicable Operating Mode All
[Pr - 926] Start-up Commutation
Ultraware Name Feedback Sinusoidal Startup
Range Value Description
0 Self Sensing
1 Hall Inputs
2 Serial
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 927] Integral Limits
Ultraware Name General Integral Limits
Range 0hellip1
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
110 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 929 hellip Pr - 949] Reserved
When Enabled Reserved for future use
[Pr - 950] Motor Model
Ultraware Name Motor Model
Range 32 bytes character string
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 951] Drive Name
Ultraware Name Name
Range 32 bytes character string
Applicable Operating Mode All
[Pr - 952] Position Scaling Data
Ultraware Name Motor Encoder Units Position Scale
Range 8 bytes character string
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 953] Position Scaling Label
Ultraware Name Motor Encoder Units Position Label
Range 16 bytes character string
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
Pr - 954] Velocity Scaling Data
Ultraware Name Motor Encoder Units Velocity Scale
Range 8 bytes character string
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 111
Standard Drive Parameters Appendix A
[Pr - 955] Velocity Scaling Label
Ultraware Name Motor Encoder Units Velocity Label
Range 16 bytes character string
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 956] Acceleration Scaling Data
Ultraware Name Motor Encoder Units Acceleration Scale
Range 8 bytes character string
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 957] Acceleration Scaling Label
Ultraware Name Motor Encoder Units Acceleration Label
Range 16 bytes character string
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
112 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 958] Scope Config
Range 32 bytes character string
Data Size 21 digits
Applicable Operating Mode All
Digits Digits Description
0hellip1 Channel A Signal See Monitor Variables
2hellip3 Channel B Signal See Monitor Variables
4 Channel A Scale Type
0hellip1 0 - Auto (Default) 1- Manual
5 Channel B Scale Type
0hellip1 0 - Auto (Default) 1 - Manual
6hellip7 Sample Period
8hellip9 Samples per division
10hellip12 Trigger Signal See Monitor Variables
13 Trigger Mode
0 - Immediate
1 - Falling Edge
2 -Rising Edge
14 Pretrigger Percentage (10)
15hellip22 Trigger Threshold
Default 0x00000000000000100510011E05000100
When Enabled Servo-Off -gt Setting -gt After power cycle
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 113
Standard Drive Parameters Appendix A
[Pr - 959] Scope Scaling
Range 32 bytes character string
Data Size 32 digits
Digits Digits Description
0hellip7 Channel A Scale
8hellip15 Channel A Offset
16hellip23 Channel B Scale
24hellip31 Channel B Offset
Default 0x00000000000000000000000000000000
Ultraware Name Displayed Units
Range 1 byte character string
0 = Metric
1 = English
2 = User units
Default 0
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 960] Displayed Units
Ultraware Name Displayed Units
Range 1 byte character string
0 = Metric
1 = English
2 = User units
Default 0
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
114 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
Notes
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 115
Appendix B
Indexing Drive Parameters
Parameters control Kinetix 3 drive operations They are grouped by the type of drive Indexing or Standard and the drive settings they define
Descriptions of Standard Drive Parameters begin on page 45
Parameter Groupings Indexing drive parameters are grouped into these drive settings bull Group 0 - Indexing drive system and IO settings bull Group 1 - Homing controls bull Group 2 - Indexing operations bull Group 3 - Indexing move profiling bull Group 4 - Indexing position and distance setting bull Group 5 - Registration settings bull Group 6 - Batch count operations bull Group 7 - Dwell settings bull Group 8 - Velocity settings bull Group 9 - Move profile settings bull Group 10 - Acceleration settings bull Group 11 - Deceleration settings bull Group 12 - Next Index settings
116 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix B Indexing Drive Parameters
Parameter Descriptions Parameter descriptions list the size of each parameter and the data options within the parameter
Descriptions for Standard Drive Parameters begin on page 45
Group 0 - Indexing System
[IN0000] Auto Start Indexing
Ultraware Name Auto Start Indexing
Description When this field is set to ON the drive will begin executing the selected index whenever the drive enables
Range Value Description
0 OFF
1 ON
Default 0
Units NA
Access Set
Changeable Status Always
When Enabled Power Cycling
Applicable Operating Mode Indexing
MODBUS Address 5000
[IN0001] Abort Index Deceleration
Ultraware Name Abort Index Decel
Description The deceleration used to stop motion when the Stop Index input terminates an index move
Range Value Description
1 hellip2147483647 10minus2 Revsec2 for rotary mmsec2 for linear
Default 6250
Access Set
Changeable Status Always
When Enabled Power Cycling
Applicable Operating Mode Indexing
MODBUS Address 5001
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 117
Indexing Drive Parameters Appendix B
[IN0002] Positive Deceleration Distance
Ultraware Name Positive Deceleration Distance
Range Value Description
0 hellip2147483647 The stopping distance used when the drive encounters a positive overtravel limit
Default 0
Units Counts
Access Set
Changeable Status Always
When Enabled Always
Applicable Operating Mode Indexing
MODBUS Address 5002 hellip5003
[IN0003] Negative Deceleration Distance
Ultraware Name Negative Deceleration Distance
Range Value Description
0 hellip2147483647 The stopping distance used when the drive encounters a negative overtravel limit
Default 0
Units Counts
Access Set
Changeable Status Always
When Enabled Always
Applicable Operating Mode Indexing
Ultraware Name Positive Deceleration Distance
MODBUS Address 5004 hellip5005
118 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix B Indexing Drive Parameters
[IN0004] Enable Software Limits
Ultraware Name Enable Software Limits
Description Controls software overtravel limits of the axis
Range Value Description
0 Off Turns off software overtravel limit checking
1 On Causes the drive to compare the motor feedback position to the Positive and Negative Software Limits below to determine if the drive has exceeded an overtravel limit
Default 0
Units NA
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5006
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 119
Indexing Drive Parameters Appendix B
[IN0005] Positive Software Limit
Ultraware Name Positive Software Limit
Description If the motor feedback position is greater than this value the drive has exceeded the software overtravel limit
Range Value Description
-2147483647 hellip2147483647
Positive software overtravel limit
Default 2147483647
Units Counts
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5007
[IN0006] Negative Software Limit
Ultraware Name Negative Software Limit
Description If the motor feedback position is greater than this value the drive has exceeded the software overtravel limit
Range Value Description
-2147483647 hellip2147483647
Negative software overtravel limit
Default -2147483647
Units Counts
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5008
120 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix B Indexing Drive Parameters
Group 1 - Homing
[IN0100] Homing Type
Ultraware Name Homing Type
Description Select the type of homing operation the drive will perform
Range Value Description
0 Home to Present Position
1 To Home sensorBack to Marker (default)
2 To LimitBack to Marker
3 To Home sensorFwd to Marker
4 To LimitFwd to Marker
5 Home to Current Value
6 Home to Current ValueBack to Marker
7 To Home Sensor Move Fwd to Marker
8 Home to Marker
Default 1
Units NA
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5200
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 121
Indexing Drive Parameters Appendix B
[IN0101] Auto Start Homing on Enable
Ultraware Name Auto Start Homing on Enable
Description Causes the drive to begin the homing procedure automatically when the drive is enabled
Range Value Description
0 Active Automatically starts homing every time the drive is enabled
1 Active After Reset Only automatically starts homing when a drive is enabled if the drive has not already been homed
2 Inactive
Default 2
Units NA
Access Set
Changeable Status Always
When Enabled Power cycling
Applicable Operating Mode Indexing
MODBUS Address 5201
[IN0102] Homing Velocity
Ultraware Name Homing Velocity
Description The commanded velocity used during homing The sign of the this value (+-) indicates the direction of motion during homing
Range Value Description
-6000 hellip6000 rpm for rotary motors mmsec for linear motors
Default 100
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5202
122 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix B Indexing Drive Parameters
[IN0103] Creep Velocity
Ultraware Name Creep Velocity
Description For the To Sensor then Back to Marker Homing Type the velocity used for all remaining homing motion after the motor decelerates to a stop when it finds the sensor edge
Range Value Description
0 hellip6000 The velocity used for all homing motion after the motor decelerates to a stop at the sensor edge
Default 20
Units rpm for rotary motors mmsec for linear motors
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5203
[IN0104] Homing AccelerationDeceleration
Ultraware Name Homing AccelerationDeceleration
Description The rate of acceleration and deceleration used during homing
Range Value Description
1 hellip2147483647 The velocity used for all homing motion after the motor decelerates to a stop at the sensor edge
Default 6250
Units 10minus2 Revsec2 for rotary mmsec2 for linear
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5204 hellip5205
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 123
Indexing Drive Parameters Appendix B
[IN0105] Offset Move Distance
Ultraware Name Offset Move Distance
Description The distance the motor position is from the marker edge after the homing sequence is complete For Sensor Only Homing the distance the motor position is from the sensor edge after the homing sequence is complete
Range Value Description
-2147483647 hellip2147483647
Digital input state communicated to the drive when the Home Sensor input becomes active
Default 0
Units Counts
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5206 hellip5207
[IN0106] Home Sensor Polarity
Ultraware Name Home Sensor Polarity
Description Specifies the digital input state communicated to the drive when the Home Sensor input becomes active
Range Value Description
0 Active-Going Transition
1 Inactive-Going Transition
Default 0
Units Counts
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5208
124 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix B Indexing Drive Parameters
[IN0107] Home Position
Ultraware Name Home Position
Description The home position when a homing procedure is completed
Range Value Description
-2147483647 hellip2147483647
Digital input of the home position
Default 0
Units Counts
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5209 hellip5210
[IN0108] Moving Distance After Home Sensor
Ultraware Name Moving Distance After Home Sensor
Description This value is distance that the drive ignores the marker inputs after the home sensor is detected
Range Value Description
0 hellip2147483647 Distance the drive ignores the marker inputs after home is detected
Default 0
Units Counts
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5211 hellip5212
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 125
Indexing Drive Parameters Appendix B
[IN0109] Home Current
Ultraware Name Home Current
Description Specifies the torque feedback at which the drive stops moving the motor at the Homing Velocity
Range Value Description
1 hellip250 Percent of motor torque feedback
Default 100
Units Percentage of a motor rating torque
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5213
[IN0110] Home Current Time
Ultraware Name Home Current Time
Description Specifies the torque feedback at which the drive stops moving the motor at the Homing Velocity
Range Value Description
1 hellip1000 Percent of motor torque rating
Default 100
Units Percentage of motor torque rating
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5214
126 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix B Indexing Drive Parameters
[IN0111] Homing Time Limit
Ultraware Name Homing Time Limit
Description Drive fault when time for homing exceeds the homing time limit
Range Value Description
0 hellip65535 Homing time limit in seconds
Default 60
Units seconds
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5215
[IIN0112] Stop Home Deceleration
Ultraware Name Stop Home Decel
Description The rate of drive deceleration used when homing is stopped
Range Value Description
1 hellip2147483647 Rate of drive deceleration when homing is stopped
Default 6250
Units NA
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5216 hellip5217
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 127
Indexing Drive Parameters Appendix B
Group 2 - Indexing Options
[IN0200] hellip[IN0263] Index 0hellip63 Type and Action When Complete
Description Digit 0 homes the axis and digit 2 controls execution of the index move command
Digit 0 Homes the axis before the drive can executes any index
Ultraware Name Index 0hellip63 Option Type
Range Value Description
0 Absolute moves from its starting position to the specified Position below
1 Incremental moves from its starting position the specified Distance below
Default 1
Digit 1 Controls execution of the index move command after homing
Ultraware Name Index 0hellip63 Action When Complete
Range Value Description
0 Stop ends the execution of indexed move commands
1 Start next index commands execution of the Next Index move without additional input but after the scheduled Dwell
2 Wait for Start commands execution of the Next Index move the next time the Start Index input becomes active
Default 0
Access Set
Changeable Status Always
When Enabled Always
Applicable Operating Mode Indexing
MODBUS Address 5400 hellip5463
128 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix B Indexing Drive Parameters
Group 3 - Index Move Profile
These values are reserved for future use
Group 4 - Index PositionDistance
Group 5 - Index Registration Distance
These values are reserved for future use
Group 6 - Index Batch Count
These values are reserved for future use
[IN0400[hellip[IN0463] Index 0hellip63 PositionDistance
Ultraware Name Index 0hellip63 PositionDistance
Description Position For Absolute mode moves the fixed position to which the motor will travel Distance For Incremental and Registration mode moves the relative distance the motor will travel
Range Value Description
-2147483647 hellip2147483647
Counts
Default 1000
Access Set
Changeable Status Always
When Enabled Always
Applicable Operating Mode Indexing
MODBUS Address 5800 hellip5927
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 129
Indexing Drive Parameters Appendix B
Group 7 - Index Dwell
Group 8 - Index Velocity
Group 9 - Index Move Profile
These values are reserved for future use
[IN0700] hellip[IN0763] Index 0hellip63 Dwell
Ultraware Name Index 0hellip63 Dwell
Description Milliseconds to remain at current position before executing
Range Value Description
0 hellip65535 ms
Default 0
Access Set
Changeable Status Always
When Enabled Always
Applicable Operating Mode Indexing
MODBUS Address 6400 hellip6463
[IN0800] Index 0hellip63 Velocity
Ultraware Name Index 0hellip63 Velocity
Description Maximum velocity while in motion
Range Value Description
0 hellip6000 rpm for rotary motors mmsec for linear motors
Default 750
Access Set
Changeable Status Always
When Enabled Always
Applicable Operating Mode Indexing
MODBUS Address 6600 hellip6663
130 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix B Indexing Drive Parameters
Group 10 - Index Acceleration
Group 11 - Index Deceleration
[IN1000]hellip[IN1063] Index 0hellip63 Acceleration
Ultraware Name Index 0hellip63 Acceleration
Description Maximum acceleration while in motion
Range Value Description
1 hellip2147483647 10minus2 Revsec2 for rotary mmsec2 for linear
Default 6250
Access Set
Changeable Status Always
When Enabled Always
Applicable Operating Mode Indexing
MODBUS Address 7000 hellip7127
[IN1100]hellip[IN1163] Index 0hellip63 Deceleration
Ultraware Name Index 0hellip63 Deceleration
Description Maximum deceleration while in motion
Range Value Description
1 hellip2147483647 10minus2 Revsec2 for rotary mmsec2 for linear
Default 6250
Access Set
Changeable Status Always
When Enabled Always
Applicable Operating Mode Indexing
MODBUS Address 7200 hellip7327
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 131
Indexing Drive Parameters Appendix B
Group 12 - Index Next Index
[IN1200]hellip[IN1263] Index 0hellip63 Next Index
Ultraware Name Index 0hellip63 Next Index
Description The number (0hellip63) of the next indexed move to execute when Action When Complete is not set to STOP
Range Value Description
0hellip63 Value of the next indexed move
Default 0
Access Set
Changeable Status Always
When Enabled Always
Applicable Operating Mode Indexing
MODBUS Address 7400 hellip7464
132 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix B Indexing Drive Parameters
Notes
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 133
Appendix C
Warnings and Fault Codes
This Appendix lists the Warnings and Fault Codes for Kinetix 3 drives
Warnings Warnings are drive abnormalities that allow motor control to continue A three-digit text message is displayed using the last segments of the display
Fault Codes Faults are serious abnormalities that cause loss of motor control The Status indicator alternates between a three-digit error code preceded by the letter E and a five-digit text message This error message repeats until the problem is cleared
Warning Number
Warning Display Description
0x01 BAT Absolute encoder battery warning
0x02 CNT Absolute encoder counter overflow
0x04 PRE Power-up overspeed warning
0x08 OCC Over current command warning
0x10 OSC Over speed command warning
0x20 PIN Digital IO assignment warning
0x40 CAP Over motor rated output power warning
Fault Code Internal Fault Code
Fault Display Fault Name
E004 0x22 MTROT Motor over temperature
E005 0x11 IPMFT IPM
E009 0x41 UDVTG Bus under voltage fault
E010 0x40 OVVTG Bus over voltage fault
E012 0x73 HFAIL Home search failed
E018 0x50 OVSPD Motor over speed fault
E019 0x51 POSER Excess position error fault
E022 0x25 CONOL Motor continuous current overload
E023 0x27 DRVOL Drive overload fault
E025 0x72 SENSR Sensor unassigned
E027 0x74 NOTHM Axis not homed
E028 0x36 ENCDE Encoder data range fault
E030 0x31 ENCOP Encoder cable open fault
134 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix C Warnings and Fault Codes
E031 0x38 ENCPE Encoder data parameter fault
E036 0x24 DRVOT Drive over temperature
E037 0x42 ACOFF AC Line Loss Fault
E053 0x63 PINIT User parameter initialization fault
E054 0x13 OFSET Current feedback offset
E055 0x61 CHSUM User parameter checksum fault
E056 0x53 CPUFT Watchdog timeout fault
E057 0x10 HWARE PWM hardware
E058 0x62 RANGE User parameter range fault
E060 0x70 DINIT Drive initialization fault
E075 0x23 SHTOL Shunt overload protection
E079 0x12 SHTOC Shunt circuit over current
E083 0x33 ABSBE Absolute encoder battery fault
E084 0x34 ABSOS Absolute encoder overspeed
E085 0x35 ABSCT Absolute multi-turn count fault
E086 0x37 ENCCT Encoder single-turn count fault
E100 0x71 SETUP Drive set-up fault
E101 0x20 CABLE Motor power cable open
E102 0x21 INSOL Motor instantaneous current overload
E103 0x28 MATCH Motor mismatch fault
E104 0x26 PWROL Continuous power overload
E105 0x30 ENCTP Encoder type mismatch fault
E106 0x32 ENCCE Encoder communication fault
E107 0x60 SERCE Serial communication fault
E108 0x52 CDFRE Position command frequency fault
E112 0x54 ESTOP Emergency stop
E113 0x64 IRANG Indexing position range overflow
E114 0x14 OVCUR Motor phase over current
Fault Code Internal Fault Code
Fault Display Fault Name
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 135
Appendix D
Monitor Variables
Ultraware limits the number of variables that can be monitored to thirty-one (variables 0 through 30) However in customer applications additional monitor variables may be used
For example monitoring of variable 32 Selected index cannot be performed by Ultraware software because this variable is outside the range of Ultraware However a customer program that supports thirty-two variables or more can monitor this variable
Variables The table below lists the variables for monitoring a Kinetix 3 drive
Variable Name Unit
No Hex
0 0x00 Velocity feedback rpm
1 0x01 Velocity command rpm
2 0x02 Velocity error rpm
3 0x03 Current command
4 0x04 Follower position counts
5 0x05 Master position counts
6 0x06 Position error counts
7 0x07 Position command count frequency Kpps
8 0x08 Commutation angle ordm (degrees)
9 0x09 Mechanical angle ordm (degrees)
10 0x0A Shunt power limit ratio
11 0x0B Bus voltage V
12 0x0C Absolute rotations rev
13 0x0D Velocity command offset mV
14 0x0E Current command offset mV
15 0x0E Input and 0utput state Refer to Variable 15 - Digital Inputs and Outputs on page 137 for more information
16 0x0F U phase current 0001A
17 17 V phase current 0001A
18 18 W phase current 0001A
19 19 Motor temperature
136 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix D Monitor Variables
20 0x10 Analog command -velocity 001V
21 0x11 Analog command - current 001V
22 0x12 Current feedback 0001A
23 0x13 Hall states (wvu) digital
24 0x14 Motor feedback position counts
25 0x15 Digital input function state Refer to Variable 25 - Digital Inputs on page 137 for more information
digital
26 0x16 Digital output function state Refer to Variable 26 - Digital Outputs on page 138 for more information
Digital
27 0x17 Instantaneous shunt power Watts
28 0x18 Drive utilization
29 0x19 Indexing input function state Refer to Variable 29 - Indexing Inputs on page 138 for more information
digital
30 0x1A Indexing output function state Refer to Variable 30 - Indexing Outputs on page 139 for more information
digital
31 0x1B CPLD version
32 0x1C Selected index digital
33 0x1D Periodic counter Range 0 hellip512 Units counts 1 count = 2 ms
Variable (Continued) Name Unit
No Hex
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 137
Monitor Variables Appendix D
Compiled Variables The tables below list variables that compile data to more effectively monitor specific aspects of a Kinetix 3 drive
Variable 15 - Digital Inputs and Outputs
Monitoring of IO status is provided by Variable 15 - Digital Inputs and Outputs Digital inputs [Pr - 017] hellip[Pr - 018] and digital outputs [Pr - 022] hellip[Pr - 027] are compiled for this variable
The table below lists the data bits in this variable
Variable 25 - Digital Inputs
Digital input status is provided by Variable 25 - Digital Inputs Digital inputs [Pr - 010] hellip[Pr - 014] are compiled for this variable
The table below lists the data bits in this variable
Digital Outputs EMG Digital Inputs
Bit No 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
Data DO6 DO6 DO4 SALM DO3 DO2 DO1 EMG DI10 DI9 DI8 DI7 DI6 DI5 DI4 DI3 DI2 DI1
Bit Digital Input Function Bit Digital Input Function
0 Current Limit- Negative 10 Fault Reset
1 Current Limit- Positive 11 Integrator Inhibit
2 Alternate Gain Select 12 Negative Overtravel
3 Preset Direction 13 Operation Mode Override
4 Reset Multiturn Data 14 Position Strobe
5 Zero Speed Clamp 15 Positive Overtravel
6 Position Clear 16 Preset Select 0
7 Analog Speed Command Enable in Preset 17 Preset Select 1
8 Motor Moving Enable in Velocity Mode 18 Preset Select 2
9 2nd Electronic Gear Bank Selection
138 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix D Monitor Variables
Variable 26 - Digital Outputs
Digital output status is provided by Variable 26 - Digital Outputs Digital inputs and outputs [Pr - 002] and [Pr - 022] hellip[Pr - 024] are compiled for this variable
The table below lists the data bits in this variable
Variable 29 - Indexing Inputs
Indexing input function status is provided by Variable 29 - Indexing Inputs Digital inputs [Pr - 016] hellip[Pr - 018] are compiled for this variable
The table below lists the data bits in this variable
Bit Digital Output Function
0 Brake
1 Absolute Position Valid
2 Current Limited
3 Velocity Limited
4 Within Near Window
5 Warning
Bit Indexing Input function
0 Home Sensor
1 Start Homing
2 Start Indexing
3 Stop Indexing
4 Pause Index
5 Index Select 0 Input
6 Index Select 1 Input
7 Index Select 2 Input
8 Index Select 3 Input
9 Index Select 4 Input
10 Index Select 5 Input
11 Stop Homing
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 139
Monitor Variables Appendix D
Variable 30 - Indexing Outputs
Indexing output function status is provided by Variable 30 - Indexing Outputs Digital outputs [Pr - 025] hellip[Pr - 027] are compiled for this variable
The table below lists the data bits in this variable
Bit Indexing Output function Indexing Output function
0 In Motion Index Select 1 Output
1 In Dwell Index Select 2 Output
2 Axis Homed Index Select 3 Output
3 End of Sequence Index Select 4 Output
4 Index Select 0 Output Index Select 5 Output
140 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix D Monitor Variables
Notes
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 141
Index
Parameters(IN0000) auto start indexing 116(IN0001) abort index deceleration 116(IN0002) positive deceleration distance 117(IN0003) negative deceleration distance 117(IN0004) enable software limits 118(IN0005) positive software limit 119(IN0006) negative software limit 119(IN0100) homing type 120(IN0101) auto start homing on enable 121(IN0102) homing velocity 121(IN0103) creep velocity 122(IN03xx) index move profile 128(IN0400hellipIN0463) index positiondistance
128(IN05xx) index registration distance 128(IN06xx) index batch count 128(IN0700hellipIN0763) index dwell 129(IN0800hellipIN0863) index velocity 129(IN09xx) index move profile 129(IN1000hellipIN1063) index acceleration 130(IN1100hellipIN1163) index deceleration 130(IN1200hellipIN1263) next index 131(IN200hellipIN263) index type digit 0 127(Pr-000) operations mode 46(Pr-001) motor configuration 47(Pr-002) motor basic modes 48(Pr-003) auto tuning functions 49(Pr-004) inertia ratio 50(Pr-005) auxiliary function selection 1 51(Pr-006) auxiliary function selection 2 52(Pr-007) drive address 54(Pr-008) password 54(Pr-009) serial port configuration 54(Pr-010hellipPr-021) parameter setting values
60(Pr-010) allocation of input signals 1 55(Pr-011) allocation of input signals 2 56(Pr-012) allocation of input signals 3 56(Pr-013) allocation of input signals 4 57(Pr-014) allocation of input signals 5 57(Pr-015) allocation of input signals 6 58(Pr-016) allocation of input signals 7 58(Pr-017) allocation of input signals 8 58(Pr-018) allocation of input signals 9
59(Pr-019) allocation of input signals 10 59(Pr-020) allocation of input signals 11 59(Pr-021) allocation of input signals 12 60(Pr-022hellipPr-032) parameter setting values
65(Pr-022) allocation of output signals 1 60(Pr-023) allocation of output signals 2 61(Pr-024) allocation of output signals 3 61
(Pr-025) allocation of output signals 4 62(Pr-026) allocation of output signals 5 63(Pr-027) allocation of output signals 6 63(Pr-028) allocation of output signals 7 63(Pr-029) allocation of output signals 8 64(Pr-030) allocation of output signals 9 64(Pr-031) allocation of output signals 10 65(Pr-032) IO control authority 65(Pr-100) velocity regulator response level 66(Pr-101) system gain 66(Pr-102) velocity regulator P gain 66(Pr-103) velocity regulator I gain 66(Pr-104) velocity regulator D gain 67(Pr-105) velocity error filter 67(Pr-106) position regulator Kp gain 67(Pr-107) current command lowpass filter
bandwidth 68(Pr-108) velocity command lowpass filter
bandwidth 68(Pr-109) position command lowpass filter
bandwidth 68(Pr-110) 1st resonant frequency suppression
filter 69(Pr-111) 1st resonant frequency suppression
width 69(Pr-112) 2nd resonant frequency suppression
filter 69(Pr-113) 2nd resonant frequency suppression
filter width 70(Pr-114) 2nd resonant frequency suppression
filter depth 70(Pr-115) position regulator Kff gain 70(Pr-116) position regulator Kff bandwidth 71(Pr-117) velocity regulator I gain mode 71(Pr-118) velocity regulator I gain disable
threshold 72(Pr-119) position regulator high error output
offset 72(Pr-120) position regulator high error output
threshold 72(Pr-121) current regulator bandwidth
reduction scale 73(Pr-122) on-line vibration mode 73(Pr-123) velocity regulator configuration 74(Pr-124) delay time of gain switching 74(Pr-125) level of gain switching 74(Pr-126) hysteresis of gain switching 75(Pr-127) position gain switching time 75(Pr-128) 2nd velocity regulator P gain 75(Pr-129) 2nd velocity regulator i gain 75(Pr-130) 2nd position regulator Kp gain 76(Pr-131) 2nd current command low pass
filter bandwidth 76
142 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Index
(Pr-132) 2nd velocity command low pass filter bandwidth 76
(Pr-133) 3rd velocity regulator P gain 76(Pr-134) 3rd velocity regulator I gain 77(Pr-135) 3rd position regulator Kp gain 77(Pr-136) 3rd current command low pass filter
bandwidth 77(Pr-137) 3rd velocitycommand low pass filter
bandwidth 77(Pr-138) 4th velocity regulator P gain 78(Pr-139) 4th velocity regulator I gain 78(Pr-140) 4th position regulator Kp gain 78(Pr-141) 4th current command low pass filter
bandwidth 78(Pr-142) 4th velocitycommand low pass filter
bandwidth 79(Pr-200) velocity scale 80(Pr-201) jog velocity command 80(Pr-202) acceleration 80(Pr-203) deceleration 81(Pr-204) S-curve time 81(Pr-205) preset velocity 1 81(Pr-206) preset velocity 2 81(Pr-207) preset velocity 3 82(Pr-208) preset velocity 4 82(Pr-209) preset velocity 5 82(Pr-210) preset velocity 6 82(Pr-211) preset velocity 7 83(Pr-212) manual velocity limit 83(Pr-213) velocity limit mode 83(Pr-300) follower 84(Pr-301) 1st gear ratio follower counts 85(Pr-302) 1st gear ratio mastercounts 86(Pr-303) encoder output ratio output counts
86(Pr-304) encoder output ratio motor counts
86(Pr-305) 2nd gear ratio follower counts 86(Pr-306) 2nd gear ratio master counts 87(Pr-307) reserved 87(Pr-308) digital filter cut-off frequency 88(Pr-400) current scale 89(Pr-401) positive internal current limit 89(Pr-402) negative internal current limit 89(Pr-403) positive external current limit 89(Pr-404) negative external current limit 90(Pr-405) overtravel current limit 90(Pr-406) initial current bias 90(Pr-500) in position size 91(Pr-501) reserved 91(Pr-502) near position size 91(Pr-503) speed window 92(Pr-504) up to speed 92(Pr-505) zero clamp 92
(Pr-506) brake inactive delay 93(Pr-507) disable delay 93(Pr-508) brake active delay 93(Pr-509) disabled braking speed 94(Pr-510) following error limit 94(Pr-511) reserved 94(Pr-512) ac line loss fault delay 95(Pr-513) analog output ch1 selection 95(Pr-514) analog output ch2 selection 95(Pr-515) analog output ch1 scale 95(Pr-516) analog output ch2 scale 96(Pr-600) analog velocity command offset 97(Pr-601) analog current command offset 97(Pr-602) u phase current sensing offset 97(Pr-603) w phase current sensing offset 97(Pr-604) A-lead-B swap 98(Pr-605) dynamic brake circuit protection 98(Pr-606) fault detail sampling period 98(Pr-607) fault detail data selection 1 99(Pr-608) fault detail data selection 2 99(Pr-609) fault detail data selection 3 99(Pr-610) fault detail data selection 4 99(Pr-611) 1st resonant frequency suppression
filter 100(Pr-612) 2nd resonant frequency suppression
filter 100(Pr-700) drive capacity 101(Pr-701) dc bus voltage offset 101(Pr-702) reserved 101(Pr-703) analog monitor output ch1 offset 102(Pr-704) analog monitor output ch1 scaling
102(Pr-705) analog monitor output ch2 offset 102(Pr-706) analog monitor output ch2 scaling
102(Pr-707) dc bus measurement scaling
calibration 103(Pr-900) standard motor flag 104(Pr-901) motor type 104(Pr-902) motor resistance 104(Pr-903) motor inductance 104(Pr-904) motor intermittent current 105(Pr-905) motor continuous current 105(Pr-906) motor rated voltage 105(Pr-907) encoder type 105(Pr-908) hall offset 105(Pr-909) current constant 106(Pr-910) motor inertia 106(Pr-911) polesrevolution 106(Pr-912) encoder linesrevolution 106(Pr-913) maximum rotary speed 106(Pr-914) force constant 107(Pr-915) motor mass 107(Pr-916) electrical cycle length 107
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 143
Index
(Pr-917) encoder linesmeter 107(Pr-918) maximum linear speed 107(Pr-919) motor thermal protection enable 108(Pr-920) motor thermostat 108(Pr-921) motor thermal resistance winding
to encoder 108(Pr-922) motor thermal capacitance
winding to encoder 108(Pr-923) motor thermal resisitance winding
to ambient 108(Pr-924) motor thermal capacitance
winding to ambient 109(Pr-925) commutation type 109(Pr-927) integral limits 109(Pr-927) startup commutation 109(Pr-928hellipPr 949) reserved 110(Pr-950) motor model 110(Pr-951) drive name 110(Pr-952) position scaling data 110(Pr-953) position scaling label 110(Pr-954) velocity scaling data 110(Pr-955) velocity scaling label 111(Pr-956) acceleration scaling data 111(Pr-957) acceleration scaling label 111(Pr-958) scope config 112(Pr-959) scope scaling 113(Pr-960) displayed units 113
Numerics1st gear ratio follower counts (Pr-301) 851st gear ratio master counts (Pr-302) 861st resonant frequency suppression filter
(Pr-110) 691st resonant frequency suppression filter
(Pr-611) 1001st resonant frequency suppression
width(Pr-111) 692nd current command low pass filter
bandwidth (Pr-131) 762nd gear ratio follower counts (Pr-305) 862nd gear ratio master counts (Pr-306) 872nd position regulator Kp gain (Pr-130) 762nd resonant frequency suppression filter
(Pr-112) 692nd resonant frequency suppression filter
(Pr-612) 1002nd resonant frequency suppression filter
depth (Pr-114) 702nd resonant frequency suppression filter
width (Pr-113) 702nd velocity command low pass filter
bandwidth (Pr-132) 762nd velocity regulator i gain (Pr-129) 75
2nd velocity regulator P gain (Pr-128) 753rd current command low pass filter
bandwidth (Pr-136) 773rd position regulator Kp gain (Pr-135) 773rd velocity command low pass filter
bandwidth (Pr-137) 773rd velocity regulator I gain (Pr-134) 773rd velocity regulator P gain (Pr-133) 764th current command low pass filter
bandwidth (Pr-141) 784th position regulator Kp gain (Pr-140) 784th velocity command low pass filter
bandwidth (Pr-142) 794th velocity regulator I gain (Pr-139) 784th velocity regulator P gain (Pr-138) 78
Aabort index 116abort index deceleration (IN0001) 116ac line loss 48ac line loss fault delay (Pr-512) 95acceleration (Pr-202) 80acceleration scaling data (Pr-956) 111acceleration scaling label (Pr-957) 111additional resources 7address map
flash saving parameter 21index function parameter 25modbus 11monitoring parameters 22output function status parameter 23running parameter 24special indexing parameters 13standard parameters 11
A-lead-B swap (Pr-604) 98allocation of input signals 1 (Pr-010) 55allocation of input signals 10 (Pr-019) 59allocation of input signals 11 (Pr-020) 59allocation of input signals 12 (Pr-021) 60allocation of input signals 2 (Pr-011) 56allocation of input signals 3 (Pr-012) 56allocation of input signals 4 (Pr-013) 57allocation of input signals 5 (Pr-014) 57allocation of input signals 6 (Pr-015) 58allocation of input signals 7 (Pr-016) 58allocation of input signals 8 (Pr-017) 58allocation of input signals 9 (Pr-018) 59allocation of output signals 1 (Pr-022) 60allocation of output signals 10 (Pr-031) 65allocation of output signals 2 (Pr-023) 61allocation of output signals 3 (Pr-024) 61allocation of output signals 4 (Pr-025) 62allocation of output signals 5 (Pr-026) 63allocation of output signals 6 (Pr-027) 63
144 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Index
allocation of output signals 7 (Pr-028) 63allocation of output signals 8 (Pr-029) 64allocation of output signals 9 (Pr-030) 64alternate gain (G-SEL) 57alternative gain enable 51analog current command offset (Pr-601) 97analog current inputs 46analog monitor output ch1 offset (Pr-703) 102analog monitor output ch1 scaling (Pr-704)
102analog monitor output ch2 offset (Pr-705) 102analog monitor output ch2 scaling (Pr-706)
102analog offset 102analog output ch1 scale (Pr-515) 95analog output ch1 selection (Pr-513) 95analog output ch2 scale (Pr-516) 96analog output ch2 selection (Pr-514) 95analog scaling 102analog speed command (C-SP4) 57analog velocity command offset (Pr-600) 97analog velocity inputs 46ASCII commands 29auto motor identification 52auto start homing on enable (IN0101) 121auto start indexing (IN0000) 116auto tuning functions (Pr-003) 49automatic (TAT) 38autotuning speed 49auxiliary function selection 1 (Pr-005) 51auxiliary function selection 2 (Pr-006) 52axis homed (HOMC) 62
Bbackup battery 51baud rate 54brake active delay (Pr-508) 93brake delay 93brake dynamic 98brake inactive delay (Pr-506) 93brake speed 94bus calibration 103bus voltage 101
Cchecksum 28CHP command 30command
automatic task (TAT) 38disable drive (SVROF) 44
enable drive (SVRON) 44fault reset (RST) 33jog (JOG) 40monitor variable (MDM) 33other functions (ETC) 42perform manual task (TMN) 39read drive status (STS) 41read fault contents (EHY) 40read fault detailed data (DIE) 43read indexing parameter (XET) 31read parameter (SET) 29reset drive (HWR) 44triggered data collection (MOT) 34variable roll monitoring (MOR) 36verify servo connection (LIV) 43verify software version (VER) 43write indexing parameter (XHP) 32write indexing parameter (XTR) 32write parameter (CHP) 30write parameter (STR) 30
command polarity 48command type 84communication method
RS232 54RS485 54
communication protocolASCII 54MODBUS-RTU 54
commutation 109commutation type (Pr-925) 109compiled variable 137
15 - digital inputs and outputs 13725 - digital inputs 13726 - digital outputs 13829 - indexing inputs 13830 - indexing outputs 139
controller output type 84conventions used 7counts
follower 85 86master 86 87motor 86output 86
creep velocity (IN0103) 122current bias 90current command lowpass filter bandwidth
(Pr-107) 68current constant (Pr-909) 106current limit 89 90current limit (T_LMT) 61current offset 97current regulator bandwidth reduction scale
(Pr-121) 73current scale (Pr-400) 89cut-off frequency 88cycle length 107
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 145
Index
DD gain regulator 67data bit 54dc bus measurement scaling calibration
(Pr-707 103dc bus voltage offset (Pr-701) 101deceleration (Pr-203) 81delay gain 74delay time of gain switching (Pr-124) 74digital filter cut-off frequency (Pr-308) 88disable brake 48disable delay (Pr-507) 93disable drive (SVROF) 44disabled braking speed (Pr-509) 94display parameter - input register address
map 22displayed units (Pr-960) 113drive address (Pr-007) 54drive capacity (Pr-700) 101drive enable (SV-ON) 55drive name (Pr-951) 110drive password 54drive reset 44dynamic brake circuit protection (Pr-605) 98dynamic tuning 49dynamic tuning response speed 49
EEHY command 40electrical cycle length (Pr-916) 107electronic gear select (GEAR) 57emergency stop inputs 51enable drive (SVRON) 44enable software limits (IN0004) 118encoder back-up battery 51encoder detect 52encoder linesmeter (Pr-917) 107encoder linesrevolution (Pr-912) 106encoder output 84encoder output ratio motor counts (Pr-304)
86encoder output ratio output counts (Pr-303)
86encoder type 47encoder type (Pr-907) 105end of sequence (E_SEQU) 63error output offset 72error output threshold 72ETC command 42exception code modbus 10
Ffaul reset (A-RST) 56fault codes 133fault detail data selection 1 (Pr-607) 99fault detail data selection 2 (Pr-608) 99fault detail data selection 3 (PrR-609) 99fault detail data selection 4 (Pr-610) 99fault detail sampling period (Pr-606) 98fault reset (RST) 33fault selection 99faultwarning registers address map 22feedback linesmeter 107flash memory update 30 32 39flash saving parameter address map 21follower (Pr-300) 84follower counts 85follower mode 46following error limit (Pr-510) 94force constant (Pr-914) 107frequency suppression 69function code
modbus 9
Ggain bank select (BANK_SEL) 58gain delay 74gain hysteresis 75gain level 74gain switch 74gain switching 52gain timing 75gear ratio 84general commands (ASCII) 29group 0 - indexing system address map 13group 0 - system level address map 11group 1 - gain control address map 11group 10 - index acceleration address map 18group 11 - index deceleration address map 19group 12 - next index address map 20group 2 - index option address map 14group 2 - speed control address map 12group 3 - position control address maps 12group 3 - reserved 14group 4 - index positiondistance address
map 15group 4 - torque control address maps 12group 5 - reserved 16group 5 - supplemental drive control address
maps 12group 6 - reserved 16group 7 - index dwell address map 16group 8 - index velocity address map 17group 9 - reserved 17
146 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Index
Hhall offset (Pr-908) 105home sensor (H_SENS) 58homing (H_SENS and SHOME) 58homing type (IN0100) 120homing velocity (IN0102) 121host command
fault codes 133indexing command extended (XCE) 31warnings 133
hysteresis of gain switching (Pr-126) 75
II gain 71I gain disable 72I gain regulation 77 78I gain regulator 66IO control authority (Pr-032) 65In Dwell (I_DW) 62in motion (IMO) 62in position size (Pr-500) 91incremental feedback loss 52index abort 116index acceleration 0hellip63 (IN1000hellipIN1063)
130index batch count (IN06xx) 128index deceleration 0hellip63 (IN1100hellipIN1163)
130index dwell 0hellip63 (IN0700hellipIN0763) 129index move 127index move profile (IN03xx) 128index move profile (IN09xx) 129index positiondistance 0hellip63
(IN0400hellipIN0463) 128index registration distance (IN05xx) 128index select (I_SEL0hellipI_SEL3) 58index select (I_SEL4hellipI_SEL5) 59
index select 0 out (O_ISEL0) 62index select 1hellip4 out (O_ISEL0hellipO_ISEL4) 63index select 5 out (O_ISEL5) 63index start 116index type 0hellip63 digit 0 (IN100hellipIN163) 127index velocity 0hellip63 (IN0800hellipIN0863) 129indexing command extended (XCE) 31inertia ratio (Pr-004) 50inhibit delay 95initial current bias (Pr-406) 90input function parameter address map 25integral limits (Pr-927) 109integrator inhibit (CON) 55
Jjog (JOG) 40JOG command 40jog velocity command (Pr-201) 80
KKff gain 70Kp gain position regulator 67Kp gain regulation 77 78
Llevel of gain switching (Pr-125) 74line break detect 52line loss check 48LIV command 43load inertia 50low pass filter (IReg) 76 77 78low pass filter (VReg) 76 77 79lowpass filter
current 68position 68velocity 68
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 147
Index
Mmanual task (TMN) 39manual velocity limit (Pr-212) 83master counts 86maximum linear speed (Pr-918) 107maximum rotary speed (Pr-913) 106maximum speed 106 107MDM command 33mnemonic commands
DIE 43HWR 44SVROF 44SVRON 44
modbus address map 11display parameter - input register 22faultwarning registers 22indexing parameter
group 0 - indexing system 13group 10 - index acceleration 18group 11 - index deceleration 19group 12 - next index 20group 2 - index option 14group 3 - reserved 14group 4 - indexing positiondistance 15group 5 - reserved 16group 6 - reserved 16group 7 - index dwell 16group 8 - index velocity 17group 9 - reserved 17
standard parametersgroup 0 - system level 11group 1 - gain control 11group 2 - speed control 12group 3 - position control 12group 4 - torque control 12group 5 - supplemental drive control 12
modbus exception codes 10modbus function codes 9MODBUS input function control 65MODBUS run function control 65monitor offset 102monitor scaling 102monitor variable 135monitor variable (MDM) 33monitoring parameters address map 22MOR command 36MOT command 34motor basic modes (Pr-002) 48motor configuration (Pr-001) 47motor continuous current (Pr-905) 105motor enable (START) 57motor flag 104motor forward direction 48motor identification 52motor inductance (Pr-903) 104
motor inertia 50motor inertia (Pr-910) 106motor intermittent current (Pr-904) 105motor mass (Pr-915) 107motor model (Pr-950) 110motor rated voltage (Pr-906) 105motor resistance (Pr-902) 104motor thermal capacitance winding to
ambient (Pr-924) 109motor thermal capacitance winding to
encoder (Pr-922) 108motor thermal protection enable (Pr-919) 108motor thermal resistance winding to
ambient (Pr-923) 108motor thermal resistance winding to
encoder (Pr-921) 108motor thermostat (Pr-920) 108motor type 47motor type (Pr-901) 104
Nnear position (NEAR) 61near position size (Pr-502) 91negative current limit (N-TL)positive current
limit (P-TL) 56negative deceleration distance (IN0003) 117negative external current limit (Pr-404) 90negative internal current limit (Pr-402) 89negative overtravel (N-OT) 55negative software limit (IN0006) 119next index 0hellip63 (IN1200hellipIN1263) 131notch filter
1st resonance 692nd resonance 702nd resonance depth 70
Ooff-line tuning 49on-line vibration mode (Pr-122) 73on-line vibration suppression 73operation mode override (C_SEL) 56operations mode (Pr-000) 46oscilloscope 112oscilloscope scaling 113other functions(ETC) 42output function status address map 23overtravel current limit (Pr-405) 90overtravel settings (P-ot) and N-OT) 55overtravel stop 48overtravel stop method 48
148 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Index
PP gain regulation 76 78P gain regulator 66packet structure 27parameter setting values (Pr-010hellipPr-021)
60parameter setting values (Pr-022hellipPr-032)
65parity bit 54password (Pr-008) 54pause indexing (PAUSE) 58polesrevolution (Pr-911) 106position clear (PCLR) 57position command lowpass filter bandwidth
(Pr-109) 68position gain switching time (Pr-127) 75position regulator high error output offset
(Pr-119) 72position regulator high error output threshold
(Pr-120) 72position regulator Kff bandwidth (Pr-116) 71position regulator Kff gain (Pr-115) 70position regulator Kp gain (Pr-106) 67position scaling data(Pr-952) 110position scaling label (Pr-953) 110position strobe (ABS-DT) 57position window (P-COM) 60positive deceleration distance (IN0002) 117positive external current limit (Pr-403) 89positive internal current limit (Pr-401) 89positive overtravel (P-OT) 55positive software limit (IN0005) 119power input 48preset direction (C-DIR) 56preset select (C-SP1 C-SP2 C-SP3) 56preset velocity 46preset velocity 1 (Pr-205) 81preset velocity 2 (Pr-206) 81preset velocity 3 (Pr-207) 82preset velocity 4 (Pr-208) 82preset velocity 5 (Pr-209) 82preset velocity 6 (Pr-210) 82preset velocity 7 (Pr-211) 83proportional gain 71
Rrated power 47read drive status (STS) 41read fault contents (EHY) 40read fault detailed data (DIE) 43read indexing parameter (XET) 31read parameter (SET) 29reboot drive 44reserved (Pr-307) 87reserved (Pr-501) 91reserved (Pr-511) 94reserved (Pr-702) 101reserved (Pr-928hellipPr 949) 110reset absolute encoder data (R_ABS) 58reset drive (HWR) 44RST command 33run control 65running parameter 24
Ssafety considerations inside front coversampling period 98scaling
acceleration data 111acceleration label 111position data 110position label 110velocity data 110velocity label 111
scope config (Pr-958) 112scope scaling (Pr-959) 113S-csurve time (Pr-204) 81serial port configuration (Pr-009) 54SET command 29special indexing parameter
address map 13speed clamp (Z-CLP) 57speed window (Pr-503) 92speed window (V-COM) 60standard motor flag (Pr-900 104standard parameters address map 11start homing (SHOME) 58start index (START_I) 59start indexing 116startup commutation (Pr-927) 109stop bit 54stop homing (H_STOP) 59stop indexing STOP) 58STR command 30STS command 41suppression filter 100symbols 27system gain (Pr-101) 66
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 149
Index
TTAT command 38thermal capacitance 108 109thermal protection 108thermal resistance 108thermostat 108TMN command 39training See lt$emphasislt$default fonttriggered data collection (MOT) 34
Uu phase current sensing offset (Pr-602) 97up to speed (Pr-504) 92up to speed (TG-ON) 60
Vvariable 135 137
15 - digital inputs and outputs 13725 - digital inputs 13726 - digital outputs 13829 - indexing inputs 13830 - indexing outputs 139
variable roll monitoring (MOR) 36velocity error filter (Pr-105) 67velocity limit 83velocity limit (V-LMT) 61velocity limit mode (Pr-213) 83velocity observer 51velocity offset 97velocity presets 46velocity regulator configuration (Pr123) 74velocity regulator D gain (Pr-104) 67velocity regulator I gain (Pr-103) 66velocity regulator I gain disable threshold
(Pr-118) 72velocity regulator I gain mode (Pr-117) 71
velocity regulator P gain (Pr-102) 66velocity regulator response level (Pr-100) 66velocity scaling data (Pr-954) 110velocity scaling label (Pr-955) 111velocitycommand lowpass filter bandwidth
(Pr-108) 68velocityscale (Pr-200) 80VER command 43verify servo connection (LIV) 43verify software version (VER) 43vibration suppression 69 73
Ww phase current sensing offset (Pr-603) 97warning (WARN) 61warnings 133watchdog timer 44 134within position window (P-COM) 60within speed window (V-COM) 60write indexing parameter (XHP) 32write indexing parameter (XTR) 32write parameter (CHP) 30write parameter (STR) 30
XXCE command 31XET command 31XHP command 32XTR command 32
Zzero clamp (Pr-505) 92zero speed (Z-CLP) 57
150 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Index
Notes
Publication 2071-RM001A-EN-P - September 2010 152 PN-79403Copyright copy 2010 Rockwell Automation Inc All rights reserved Printed in the USA
Rockwell Automation Support
Rockwell Automation provides technical information on the Web to assist you in using its products At httpwwwrockwellautomationcomsupport you can find technical manuals a knowledge base of FAQs technical and application notes sample code and links to software service packs and a MySupport feature that you can customize to make thebest use of these tools
For an additional level of technical phone support for installation configuration and troubleshooting we offer TechConnect support programs For more information contact your local distributor or Rockwell Automation representative or visit httpwwwrockwellautomationcomsupport
Installation Assistance
If you experience an anomoly within the first 24 hours of installation review the information that is contained in this manualYou can contact Customer Support for initial help in getting your product up and running
New Product Satisfaction Return
Rockwell Automation tests all of its products to ensure that they are fully operational when shipped from the manufacturing facility However if your product is not functioning and needs to be returned follow these procedures
Documentation Feedback
Your comments will help us serve your documentation needs better If you have any suggestions on how to improve this document complete this form publication RA-DU002 available at httpwwwrockwellautomationcomliterature
United States or Canada 14406463434
Outside United States or Canada
Use the Worldwide Locator at httpwwwrockwellautomationcomsupportamericasphone_enhtml or contact your local Rockwell Automation representative
United States Contact your distributor You must provide a Customer Support case number (call the phone number above to obtain one) to your distributor to complete the return process
Outside United States Please contact your local Rockwell Automation representative for the return procedure
- 2071-RM001A-EN-P September 2010
- Important User Information
- Table of Contents
- Preface
-
- About This Publication
- Who Should Use This Manual
- Conventions Used in This Manual
- Additional Resources
-
- 1 - Modbus Protocol
-
- Function Codes
- Exception Codes
- Address Maps
-
- Standard Parameters
- Indexing Parameters
- Save Flash Memory Parameter
- Monitoring Parameter (Function Code 0x04)
- Fault and Warning Status Parameter - Input Registers
- Output Function Status Parameter
- Running Parameter (Function Code 0x06 or 0x10)
- Input Function Parameter (Function Code 0x03 0x06 or 0x10)
-
- 2 - Communication Protocol (RS-232ASCII)
-
- Introduction
- Special Symbols
- Packet Structure
- Checksum
-
- 3 - General Commands (ASCII)
-
- Read Parameter (SET)
- Write Parameter (STR)
- Write Parameter (CHP)
- Indexing Command Extended (XCE)
- Read Indexing Parameter (XET)
- Write Indexing Parameter (XHP)
- Write Indexing Parameter (XTR)
- Fault Reset (RST)
- Monitor Variable (MDM)
- Triggered Data Collection (MOT)
- Variable Roll Monitoring (MOR)
- Automatic Task (TAT)
- Manual Task (TMN)
- Read Fault Contents (EHY)
- Jog (JOG)
- Read Drive Status (STS)
- Other Functions (ETC)
- Verify Software Version (VER)
- Verify Servo Connection (LIV)
- Read Fault Detailed Data (DIE)
- Enable Drive (SVRON)
- Disable Drive (SVROF)
- Reset Drive (HWR)
-
- A - Standard Drive Parameters
-
- Parameter Groupings
- Parameter Descriptions
-
- Group 0 - System Level
- Group 1 - Gain Control
- Group 2 - Speed Control
- Group 3 - Position Control
- Group 4 - Torque Controls
- Group 5 - Supplemental Drive Controls
- Group 6 - Supplemental Gain and Report Settings
- Group 7 - Manufacturing Settings
- Group 8 - Reserved Parameters
- Group 9 - Motor Controls
-
- B - Indexing Drive Parameters
-
- Parameter Groupings
- Parameter Descriptions
-
- Group 0 - Indexing System
- Group 1 - Homing
- Group 2 - Indexing Options
- Group 3 - Index Move Profile
- Group 4 - Index PositionDistance
- Group 5 - Index Registration Distance
- Group 6 - Index Batch Count
- Group 7 - Index Dwell
- Group 8 - Index Velocity
- Group 9 - Index Move Profile
- Group 10 - Index Acceleration
- Group 11 - Index Deceleration
- Group 12 - Index Next Index
-
- C - Warnings and Fault Codes
-
- Warnings
- Fault Codes
-
- D - Monitor Variables
-
- Variables
- Compiled Variables
-
- Variable 15 - Digital Inputs and Outputs
- Variable 25 - Digital Inputs
- Variable 26 - Digital Outputs
- Variable 29 - Indexing Inputs
- Variable 30 - Indexing Outputs
-
- Index
- Technical Support
-
8 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Preface
Notes
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 9
Chapter 1
Modbus Protocol
This chapter defines the Modbus protocol as it applies to a Kinetix 3 drive
Function Codes The register number of MODBUS devices may begin with 0 or 1 Because this is determined by the MODBUS host you the customer have selected A 1 must be added to the register number if your controller requires it
The maximum number of parameters that can be read or written at the same time is the same as the number of MODBUS addresses which is the same as the number of the parameters in each group In other words all the parameters in each group can be read together or written together
Function Code Description
03(0x03) Read Holding Registers
04(0x04) Read Input Registers
06(0x06) Write Single Register
16(0x10) Write Multiple Register
10 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 1 Modbus Protocol
Exception Codes The Kinetix 3 Modbus protocol uses the following exception codes from the Modbus specifications
Exception Code
Name Meaning
0x01 Illegal Function The function code received in the query is not an allowable action for the slave
0x02 Illegal Data Address
The data address received in the query is not an allowable address for the slave
0x03 (1)
(1) Exception code 0x03 indicates an Illegal Data Value It means the length of data string is incorrect Exception code 14(0x0E) indicates an Illegal Data Range It means that data range exceeds the limit of the minimum or maximum value
Illegal Data Value
The length of query data field is not valid for the slave
0x06 Slave Device Busy
The slave is engaged in processing Run command The master should retransmit the message later when the slave is free
0x07 Illegal CRC Value
The CRC value received in the query is wrong value
0x0C Illegal Frame The byte length of the Query Reception frame is out of the limit
0x0D (2)
(2) Exception code 0x0D is generated if the master accesses a 32bit data address with function code 06 or either the high or low address of 32bit data with function code 10
Illegal Sequence
The data sequence received in the query is not an allowable write command for the slave
0x0E (1) Illegal Data Range
The value of query data field is not valid for the slave
0x0F (3)
(3) Exception code 15(0x0F) indicates an Illegal Command was issued It occurs when a received Run control cannot be executed at the moment
Illegal Command
The slave is in Run control and received an invalid command
0x10 (4)
(4) Exception code 16(0x10) is an Illegal Control It occurs when the Network Control Mode is not set but the drive requests a Run Control command or an IO Control command through the network
Illegal Control The slave is not in the Network mode but received a network control command
0x1F Servo Error Fail When the slave is Servo Error condition and receives a Servo ON command from master
0x21 Drive Type Fail When drive type of the slave is Indexing slave receives run command 02 03 04
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 11
Modbus Protocol Chapter 1
Address Maps All standard and indexing parameters (Pr-xxx or Inxxxx) require a unique register address The host computer assigns the initial address number and determines whether the register numbers begin with 0 or 1
Standard Parameters
Group 0 - System Level (1)
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
0 Pr-000 10 Pr-009 20 Pr-019 30 Pr-029
1 Pr-001[Lo] 11 Pr-010 21 Pr-020 31 Pr-030
2 Pr-001[Hi] 12 Pr-011 22 Pr-021 32 Pr-031
3 Pr-002 13 Pr-012 23 Pr-022 33 Pr-032
4 Pr-003 14 Pr-013 24 Pr-023 34hellip42 Reserved
5 Pr-004 15 Pr-014 25 Pr-024 43hellip99 Reserved
6 Pr-005 16 Pr-015 26 Pr-025
7 Pr-006 17 Pr-016 27 Pr-026
8 Pr-007 18 Pr-017 28 Pr-027
9 Pr-008 19 Pr-018 29 Pr-028
(1) Refer to Monitoring Parameter (Function Code 0x04) on page 22 for more detailed information on this parameter
Group 1 - Gain Control
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
100 (1) Pr-100 111 Pr-111 122 Pr-122 133 Pr-133
101 (1) Pr-101 112 Pr-112 123 Pr-123 134 Pr-134
102 Pr-102 113 Pr-113 124 Pr-124 135 Pr-135
103 Pr-103 114 Pr-114 125 Pr-125 136 Pr-136
104 Pr-104 115 Pr-115 126 Pr-126 137 Pr-137
105 Pr-105 116 Pr-116 127 Pr-127 138 Pr-138
106 Pr-106 117 Pr-117 128 Pr-128 139 Pr-139
107 Pr-107 118 Pr-118 129 Pr-129 140 Pr-140
108 Pr-108 119 Pr-119 130 Pr-130 141 Pr-141
109 Pr-109 120 Pr-120 131 Pr-131 142 Pr-142
110 Pr-110 121 Pr-121 132 Pr-132 143hellip199 Reserved
(1) Refer to Fault and Warning Status Parameter - Input Registers on page 22 for more detailed information on this parameter
12 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 1 Modbus Protocol
Group 2 - Speed Control
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
200 (1) Pr-200 206 Pr-204 212 Pr-210
201 (1) Pr-201 207 Pr-205 213 Pr-211
202 Pr-202[Lo] 208 Pr-206 214 Pr-212
203 Pr-202[Hi] 209 Pr-207 215 Pr-213
204 Pr-203[Lo] 210 Pr-208 216hellip299 Reserved
205 Pr-203[Hi] 211 Pr-209
(1) Refer to Output Function Status Parameter on page 23 for more detailed information on these parameters
Group 3 - Position Control
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
300 Pr-300 303 Pr-303 306 Pr-306 309hellip399 Reserved
301 Pr-301 304 Pr-304 307 Reserved
302 Pr-302 305 Pr-305 308 Pr-308
Group 4 - Torque Control
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
400 Pr-400 402 Pr-402 404 Pr-404 406 Pr-406
401 Pr-401 403 Pr-403 405 Pr-405 407hellip499 Reserved
Group 5 - Supplemental Drive Control
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
500 Pr-500 506 Pr-506 512 Pr-511 517 Pr-514[Hi]
501 Pr-501 507 Pr-507 513 Pr-512 518 Pr-515[Lo]
502 Pr-502 508 Pr-508 514 Pr-513 519 Pr-515[Hi]
503 Pr-503 509 Pr-509 514 Pr-513[Lo] 520 Pr-516[Lo]
504 Pr-504 510 Pr-510[Lo] 515 Pr-513[Hi] 521 Pr-516[Hi]
505 Pr-505 511 Pr-510[Hi] 516 Pr-514[Lo] 522hellip599 Reserved
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 13
Modbus Protocol Chapter 1
For parameters within the MODBUS address range of 600hellip4999 refer to the following parameters
bull Monitoring Parameter (Function Code 0x04) on page 22 for MODBUS Addresses 0hellip44
bull Fault and Warning Status Parameter - Input Registers on page 22 for MODBUS Addresses 100hellip101
bull Output Function Status Parameter on page 23 for MODBUS Addresses 2000hellip2016
bull Running Parameter (Function Code 0x06 or 0x10) on page 24 for MODBUS Addresses 2000hellip2016
bull Input Function Parameter (Function Code 0x03 0x06 or 0x10) on page 25 for MODBUS Addresses 3000hellip3002
Indexing Parameters
Group 0 - Indexing System
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
4000 Index 0 Distance Low
4005 Index 0 Accel Low
4001 Index 0 Distance High
4006 Index 0 Accel High
4002 Index 0 Velocity 4007 Index 0 Dwell
4003 Index 0 Decel Low
4008 Index 0 Option
4004 Index 0 Decel High
4009hellip4199 Reserved
Group 0 - Indexing System
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
5000 In0000 5006 In0003Hi
5001 In0001Lo 5007 In0004
5002 In0001Hi 5008 In0005Lo
5003 In0002Lo 5009 In0005Hi
5004 In0002Hi 5010 In0006Lo
5005 In0003Lo 5011 In0006Hi
5012hellip5199 Reserved
14 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 1 Modbus Protocol
Group 2 ndash Index Option
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
5400 In0200 5416 In0216 5432 In0232 5448 In0248
5401 In0201 5417 In0217 5433 In0233 5449 In0249
5402 In0202 5418 In0218 5434 In0234 5450 In0250
5403 In0203 5419 In0219 5435 In0235 5451 In0251
5404 In0204 5420 In0220 5436 In0236 5452 In0252
5405 In0205 5421 In0221 5437 In0237 5453 In0253
5406 In0206 5422 In0222 5438 In0238 5454 In0254
5407 In0207 5423 In0223 5439 In0239 5455 In0255
5408 In0208 5424 In0224 5440 In0240 5456 In0256
5409 In0209 5425 In0225 5441 In0241 5457 In0257
5410 In0210 5426 In0226 5442 In0242 5458 In0258
5411 In0211 5427 In0227 5443 In0243 5459 In0259
5412 In0212 5428 In0228 5443 In0243 5460 In0260
5413 In0213 5429 In0229 5444 In0244 5461 In0261
5414 In0214 5430 In0230 5445 In0245 5462 In0262
5415 In0215 5431 In0231 5446 In0246 5463 In0263
5447 In0247 5464 hellip5599 Reserved
Group 3 - Reserved
MODBUS Address
Kinetix 3 Parameter
5600hellip5799 Reserved
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 15
Modbus Protocol Chapter 1
Group 4 ndash Index PositionDistance
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
5800 In0400Lo 5834 In0417Lo 5868 In0434Lo 5902 In0451Lo
5801 In0400Hi 5835 In0417 Hi 5869 In0434 Hi 5903 In0451Hi
5802 In0401Lo 5836 In0418Lo 5870 In0435Lo 5904 In0452Lo
5803 In0401Hi 5837 In0418 Hi 5871 In0435 Hi 5905 In0452Hi
5804 In0402Lo 5838 In0419Lo 5872 In0436Lo 5906 In0453Lo
5805 In0402Hi 5839 In0419 Hi 5873 In0436 Hi 5907 In0453Hi
5806 In0403Lo 5840 In0420Lo 5874 In0437Lo 5908 In0454Lo
5807 In0403Hi 5841 In0420 Hi 5875 In0437 Hi 5909 In0454Hi
5808 In0404Lo 5842 In0421Lo 5876 In0438Lo 5910 In0455Lo
5809 In0404Hi 5843 In0421 Hi 5877 In0438 Hi 5911 In0455Hi
5810 In0405Lo 5844 In0422Lo 5878 In0439Lo 5912 In0456Lo
5811 In0405Hi 5845 In0422 Hi 5879 In0439 Hi 5913 In0456Hi
5812 In0406Lo 5846 In0423Lo 5880 In0440Lo 5914 In0457Lo
5813 In0406Hi 5847 In0423 Hi 5881 In0440 Hi 5915 In0457Hi
5814 In0407Lo 5848 In0424Lo 5882 In0441Lo 5916 In0458Lo
5815 In0407Hi 5849 In0424 Hi 5883 In0441 Hi 5917 In0458Hi
5816 In0408Lo 5850 In0425Lo 5884 In0442Lo 5918 In0459Lo
5817 In0408Hi 5851 In0425 Hi 5885 In0442 Hi 5919 In0459Hi
5818 In0409Lo 5852 In0426Lo 5886 In0443Lo 5920 In0460Lo
5819 In0409Hi 5853 In0426 Hi 5887 In0443 Hi 5921 In0460Hi
5820 In0410Lo 5854 In0427Lo 5888 In0444Lo 5922 In0461Lo
5821 In0410Hi 5855 In0427 Hi 5889 In0444 Hi 5923 In0461Hi
5822 In0411Lo 5856 In0428Lo 5890 In0445Lo 5924 In0462Lo
5823 In0411Hi 5857 In0428 Hi 5891 In0445 Hi 5925 In0462Hi
5824 In0412Lo 5858 In0429Lo 5892 In0446Lo 5926 In0463Lo
5825 In0412Hi 5859 In0429 Hi 5893 In0446 Hi 5927 In0463Hi
5826 In0413Lo 5860 In0430Lo 5894 In0447Lo 5928hellip5999 Reserved
5827 In0413Hi 5861 In0430 Hi 5895 In0447Hi
5828 In0414Lo 5862 In0431Lo 5896 In0448Lo
5829 In0414Hi 5863 In0431 Hi 5897 In0448Hi
5830 In0415Lo 5864 In0432Lo 5898 In0449Lo
5831 In0415Hi 5865 In0432 Hi 5899 In0449Hi
5832 In0416Lo 5866 In0433Lo 5900 In0450Lo
5833 In0416 Hi 5867 In0433 Hi 5901 In0450Hi
16 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 1 Modbus Protocol
Group 5 - Reserved
MODBUS Address
Kinetix 3 Parameter
6000hellip6199 Reserved
Group 6 - Reserved
MODBUS Address
Kinetix 3 Parameter
6200hellip6399 Reserved
Group 7 ndash Index Dwell
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
6400 In0700 6417 In0717 6434 In0734 6451 In0751
6401 In0701 6418 In0718 6435 In0735 6452 In0752
6402 In0702 6419 In0719 6436 In0736 6453 In0753
6403 In0703 6420 In0720 6437 In0737 6454 In0754
6404 In0704 6421 In0721 6438 In0738 6455 In0755
6405 In0705 6422 In0722 6439 In0739 6456 In0756
6406 In0706 6423 In0723 6440 In0740 6457 In0757
6407 In0707 6424 In0724 6441 In0741 6458 In0758
6408 In0708 6425 In0725 6442 In0742 6459 In0759
6409 In0709 6426 In0726 6443 In0743 6460 In0760
6410 In0710 6427 In0727 6444 In0744 6461 In0761
6411 In0711 6428 In0728 6445 In0745 6462 In0762
6412 In0712 6429 In0729 6446 In0746 6463 In0763
6413 In0713 6430 In0730 6447 In0747 6464 hellip6599 Reserved
6414 In0714 6431 In0731 6448 In0748
6415 In0715 6432 In0732 6449 In0749
6416 In0716 6433 In0733 6450 In0750
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 17
Modbus Protocol Chapter 1
Group 8 ndash Index Velocity
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
6600 In0800 6616 In0816 6632 In0832 6648 In0848
6601 In0801 6617 In0817 6633 In0833 6649 In0849
6602 In0802 6618 In0818 6634 In0834 6650 In0850
6603 In0803 6619 In0819 6635 In0835 6651 In0851
6604 In0804 6620 In0820 6636 In0836 6652 In0852
6605 In0805 6621 In0821 6637 In0837 6653 In0853
6606 In0806 6622 In0822 6638 In0838 6654 In0854
6607 In0807 6623 In0823 6639 In0839 6655 In0855
6608 In0808 6624 In0824 6640 In0840 6656 In0856
6609 In0809 6625 In0825 6641 In0841 6657 In0857
6610 In0810 6626 In0826 6642 In0842 6658 In0858
6611 In0811 6627 In0827 6643 In0843 6659 In0859
6612 In0812 6628 In0828 6644 In0844 6660 In0860
6613 In0813 6629 In0829 6645 In0845 6661 In0861
6614 In0814 6630 In0830 6646 In0846 6662 In0862
6615 In0815 6631 In0831 6647 In0847 6663 In0863
6664 hellip6799 Reserved
Group 9 - Reserved
MODBUS Address
Kinetix 3 Parameter
6800hellip6999 Reserved
18 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 1 Modbus Protocol
Group 10 ndash Index Acceleration
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
7000 In1000Lo 7032 In1016Lo 7064 In1032Lo 7096 In1048Lo
7001 In1000Hi 7033 In1016 Hi 7065 In1032 Hi 7097 In1048 Hi
7002 In1001Lo 7034 In1017Lo 7066 In1033Lo 7098 In1049Lo
7003 In1001Hi 7035 In1017 Hi 7067 In1033 Hi 7099 In1049 Hi
7004 In1002Lo 7036 In1018Lo 7068 In1034Lo 7100 In1050Lo
7005 In1002Hi 7037 In1018 Hi 7069 In1034 Hi 7101 In1050 Hi
7006 In1003Lo 7038 In1019Lo 7070 In1035Lo 7102 In1051Lo
7007 In1003Hi 7039 In1019 Hi 7071 In1035 Hi 7103 In1051 Hi
7008 In1004Lo 7040 In1020Lo 7072 In1036Lo 7104 In1052Lo
7009 In1004Hi 7041 In1020 Hi 7073 In1036 Hi 7105 In1052 Hi
7010 In1005Lo 7042 In1021Lo 7074 In1037Lo 7106 In1053Lo
7011 In1005Hi 7043 In1021 Hi 7075 In1037 Hi 7107 In1053 Hi
7012 In1006Lo 7044 In1022Lo 7076 In1038Lo 7108 In1054Lo
7013 In1006Hi 7045 In1022 Hi 7077 In1038 Hi 7109 In1054 Hi
7014 In1007Lo 7046 In1023Lo 7078 In1039Lo 7110 In1055Lo
7015 In1007Hi 7047 In1023 Hi 7079 In1039 Hi 7111 In1055 Hi
7016 In1008Lo 7048 In1024Lo 7080 In1040Lo 7112 In1056Lo
7017 In1008Hi 7049 In1024 Hi 7081 In1040 Hi 7113 In1056 Hi
7018 In1009Lo 7050 In1025Lo 7082 In1041Lo 7114 In1057Lo
7019 In1009Hi 7051 In1025 Hi 7083 In1041 Hi 7115 In1057 Hi
7020 In1010Lo 7052 In1026Lo 7084 In1042Lo 7116 In1058Lo
7021 In1010Hi 7053 In1026 Hi 7085 In1042 Hi 7117 In1058 Hi
7022 In1011Lo 7054 In1027Lo 7086 In1043Lo 7118 In1059Lo
7023 In1011Hi 7055 In1027 Hi 7087 In1043 Hi 7119 In1059 Hi
7024 In1012Lo 7056 In1028Lo 7088 In1044Lo 7120 In1060Lo
7025 In1012Hi 7057 In1028 Hi 7089 In1044 Hi 7121 In1060 Hi
7026 In1013Lo 7058 In1029Lo 7090 In1045Lo 7122 In1061Lo
7027 In1013Hi 7059 In1029 Hi 7091 In1045 Hi 7123 In1061 Hi
7028 In1014Lo 7060 In1030Lo 7092 In1046Lo 7124 In1062Lo
7029 In1014Hi 7061 In1030 Hi 7093 In1046 Hi 7125 In1062 Hi
7030 In1015Lo 7062 In1031Lo 7094 In1047Lo 7126 In1063Lo
7031 In1015Hi 7063 In1031 Hi 7095 In1047 Hi 7127 In1063 Hi
7128 hellip7199 Reserved
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 19
Modbus Protocol Chapter 1
Group 11 ndash Index Deceleration
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
7200 In1100Lo 7232 In1116 Lo 7264 In1132Lo 7296 In1148Lo
7201 In1100Hi 7233 In1116 Hi 7265 In1132 Hi 7297 In1148 Hi
7202 In1101Lo 7234 In1117Lo 7266 In1133Lo 7298 In1149Lo
7203 In1101Hi 7235 In1117 Hi 7267 In1133 Hi 7299 In1149 Hi
7204 In1102Lo 7236 In1118Lo 7268 In1134Lo 7300 In1150Lo
7205 In1102Hi 7237 In1118 Hi 7269 In1134 Hi 7301 In1150 Hi
7206 In1103Lo 7238 In1119Lo 7270 In1135Lo 7302 In1151Lo
7207 In1103Hi 7239 In1119 Hi 7271 In1135 Hi 7303 In1151 Hi
7208 In1104Lo 7240 In1120Lo 7272 In1136Lo 7304 In1152Lo
7209 In1104Hi 7241 In1120 Hi 7273 In1136 Hi 7305 In1152 Hi
7210 In1105Lo 7242 In1121Lo 7274 In1137Lo 7306 In1153Lo
7211 In1105Hi 7243 In1121 Hi 7275 In1137 Hi 7307 In1153 Hi
7212 In1106Lo 7244 In1122Lo 7276 In1138Lo 7308 In1154Lo
7213 In1106Hi 7245 In1122 Hi 7277 In1138 Hi 7309 In1154 Hi
7214 In1107Lo 7246 In1123Lo 7278 In1139Lo 7310 In1155Lo
7215 In1107Hi 7247 In1123 Hi 7279 In1139 Hi 7311 In1155 Hi
7216 In1108Lo 7248 In1124Lo 7280 In1140Lo 7312 In1156Lo
7217 In1108Hi 7249 In1124 Hi 7281 In1140 Hi 7313 In1156 Hi
7218 In1109Lo 7250 In1125Lo 7282 In1141Lo 7314 In1157Lo
7219 In1109Hi 7251 In1125 Hi 7283 In1141 Hi 7315 In1157 Hi
7220 In1110Lo 7252 In1126Lo 7284 In1142Lo 7316 In1158Lo
7221 In1110Hi 7253 In1126 Hi 7285 In1142 Hi 7317 In1158 Hi
7222 In1111Lo 7254 In1127Lo 7286 In1143Lo 7318 In1159Lo
7223 In1111Hi 7255 In1127 Hi 7287 In1143 Hi 7319 In1159 Hi
7224 In1112Lo 7256 In1128Lo 7288 In1144Lo 7320 In1160Lo
7225 In1112Hi 7257 In1128 Hi 7289 In1144 Hi 7321 In1160 Hi
7226 In1113Lo 7258 In1129Lo 7290 In1145Lo 7322 In1161Lo
7227 In1113Hi 7259 In1129 Hi 7291 In1145 Hi 7323 In1161 Hi
7228 In1114Lo 7260 In1130Lo 7292 In1146Lo 7324 In1162Lo
7229 In1114Hi 7261 In1130 Hi 7293 In1146 Hi 7325 In1162 Hi
7230 In1115Lo 7262 In1131Lo 7294 In1147Lo 7326 In1163Lo
7231 In1115Hi 7263 In1131Hi 7295 In1147 Hi 7327 In1163 Hi
7328 hellip7399 Reserved
20 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 1 Modbus Protocol
Group 12 ndash Next Index
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
7400 In1200 7416 In1216 7432 In1232 7448 In1248
7401 In1201 7417 In1217 7433 In1233 7449 In1249
7402 In0702 7418 In1218 7434 In1234 7450 In1250
7403 In1203 7419 In1219 7435 In1235 7451 In1251
7404 In1204 7420 In1220 7436 In1236 7452 In1252
7405 In1205 7421 In1221 7437 In1237 7453 In1253
7406 In1206 7422 In1222 7438 In1238 7454 In1254
7407 In1207 7423 In1223 7439 In1239 7455 In1255
7408 In1208 7424 In1224 7440 In1240 7456 In1256
7409 In1209 7425 In1225 7441 In1241 7457 In1257
7410 In1210 7426 In1226 7442 In1242 7458 In1258
7411 In1211 7427 In1227 7443 In1243 7459 In1259
7412 In1212 7428 In1228 7444 In1244 7460 In1260
7413 In1213 7429 In1229 7445 In1245 7461 In1261
7414 In1214 7430 In1230 7446 In1246 7462 In1262
7415 In1215 7431 In1231 7447 In1247 7463 In1263
7464 hellip7599 Reserved
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 21
Modbus Protocol Chapter 1
Save Flash Memory Parameter
MODBUS Address
Data Status Description
9999 (decimal) 1 Write data into flash memory
22 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 1 Modbus Protocol
Monitoring Parameter (Function Code 0x04)
Fault and Warning Status Parameter - Input Registers
Display Parameter - Input Registers (Default = 0)
MODBUS Address
Drive Name Unit
0 dis-00 Velocity Feedback rpm
1 dis-01 Velocity Command rpm
2 dis-02 Velocity Error rpm
3 dis-03 Torque Command 010
4hellip5 dis-04 Position Feedback counts
6hellip7 dis-05 Position Command counts
8hellip9 dis-06 Position Error counts
10 dis-07 Pulse Command Frequency 01pps
11 dis-08 Electrical Angle 01
12 dis-09 Mechanical Angle 01
13 dis-10 Regeneration Load Ratio
14 dis-11 DC-Link Voltage V
15 dis-12 Multi-Turn Data Turn number
16hellip17 dis-13 Offset in Velocity Command 01mV
18hellip19 dis-14 Torque Offset 01mV
20hellip24 dis-15 InputOutput Signal Status -
25hellip32 dis-16 Display Error History 8Alarm
33 dis-17 Display Software Version 1word
34hellip35 dis-18 Display Motor info 2word
36 dis-19 Analog Velocity Command Voltage 001V
37 dis-20 Analog Current Command Voltage 001V
38 dis-21 Drive Rated Output Power 1word
39hellip40 dis-22 Absolute Single Turn Data -
41hellip42 dis-23 Encoder Feedback Counter counts
43hellip99 Reserved - -
Fault and Warning Status Parameter - Input Registers (Default = 0)
Modbus Address Function Name Unit
100 Error Check Servo Error Code Word
101 Warning Check Servo Warning Code Word
102hellip199 Reserved - -
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 23
Modbus Protocol Chapter 1
Output Function Status Parameter
Modbus Address
Output Function Description Unit Position [bits]
200 S_ALM Alarm Bit [0]
P-COM Within position window Bit [1]
TG-ON Up to speed Bit [2]
BK Brake control Bit [3]
V-COM Within Speed window Bit [4]
A-VLD Absolute position valid Bit [5]
RDY Drive Ready Bit [6]
T-LMT NEAR Current Limited Bit [7]
V-LMT WARN Velocity Limited Bit [8]
NEAR Near position Bit [9]
WARN Warning Bit [10]
Reserved - Bit [11]
Reserved - Bit [12]
IMO In Motion Bit [13]
I-DW In Dwell Bit [14]
HOMC Axis Homed Bit [15]
201 O_ISEL0 Index Select 0 Out Bit [0]
O_ISEL1 Index Select 1 Out Bit [1]
O_ISEL2 Index Select 2 Out Bit [2]
O_ISEL3 Index Select 3 Out Bit [3]
O_ISEL4 Index Select 4 Out Bit [4]
O_ISEL5 Index Select 5 Out Bit [5]
E_SEQU End of Sequence Bit [6]
Reserved - Bit [7hellip15]
24 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 1 Modbus Protocol
Running Parameter (Function Code 0x06 or 0x10)
Run Parameter - Holding Registers (Default = 2000)
Modbus Address
Attribute RUN Name Access Unit
2000 User Open run-00 Jog Operation 1 byte
2001 run-01 Off-Line Auto Tuning 1 bit
2002 run-02 Reserved -
2003 run-03 Auto Adjustment of Speed Command Offset
1 bit
2004 run-04 Auto Adjustment of Current Command Offset
1 bit
2005hellip2007 run-05hellip run-07 Reserved -
2008 run-08 Alarm Reset 1 bit
2009 run-09 Reserved -
2010 run-10 Absolute Encoder Reset 1 bit
2011 run-11 2-Group Gain Storing 1 bit
2012 run-12 Parameter Initialization 1 bit
2013hellip2015 run-13helliprun-15 Reserved -
2016 run-16 Hardware Reset 1 bit
2017hellip2099 run-17helliprun-99 Reserved -
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 25
Modbus Protocol Chapter 1
Input Function Parameter (Function Code 0x03 0x06 or 0x10)
Input Function Control - Holding Registers
Modbus Address
IO Function Description Unit Position Bit
3000 SV-ON Drive Enable bit 0
- Reserved - [1] and [2]
P-CON Integrator Inhibit bit [3]
A-RST Fault Reset bit [4]
N-CL Negative Current Limit bit [5]
P-CL Positive Current Limit bit [6]
C-SEL Operation Mode Override bit [7]
C-DIR Preset Direction bit [8]
C-SP1 Preset Select 1 bit [9]
C-SP2 Preset Select 2 bit [10]
C-SP3 Preset Select 3 bit [11]
C-SP4 Preset Select 4 bit [12]
INHIB Pause Follower bit [13]
G-SEL Alternate Gain Select bit [14]
PCLR Position clear bit [15]
3001 ABS-DT Position Strobe bit [0]
START Motor Moving Enable bit [1]
Z-CLP Zero Speed Clamp Enable bit [2]
GEAR 2nd Electronic Gear Bank Selection bit [3]
R-ABS Reset multi-turn data of Absolute Encoder
bit [4]
- Reserved - [5]
SHOME Start Homing bit [6]
STOP Stop Indexing bit [7]
PAUSE Pause Indexing bit [8]
I-SEL0 Index Select 0 Input bit [9]
I-SEL1 Index Select 1 Input bit [10]
I-SEL2 Index Select 2 Input bit [11]
I-SEL3 Index Select 3 Input bit [12]
I-SEL4 Index Select 4 Input bit [13]
I-SEL5 Index Select 5 Input bit [14]
H_STOP Stop Homing bit [15]
3002 START_I Start Index bit [0]
BANK_SEL Gain Bank Select bit [1]
- Reserved - [2hellip15]
26 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 1 Modbus Protocol
Notes
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 27
Chapter 2
Communication Protocol (RS-232ASCII)
Introduction The drive command protocol is a client-server protocol A host computer is the server and each drive is a client This chapter provides details about the Special Symbols Packet Structure and Checksum in the serial communication protocol
Special Symbols Special symbols used in the host commands include the following
Packet Structure The packet structure is shown below
Some simple commands might not have the Data field (for example Fault Reset) Maximum packet size is 400 bytes Each letter and digit in Command and Data fields represents a single ASCII character
All commands begin with an STX and terminate with an ETX
If the drive receives the command without a communication error the response is in the same format as the host command Numeric parameters are encoded as strings
Symbol Value Description
STX 0x02 Start of Transmission
ETX 0x03 End of Transmission
ACK 0x06 Command Acknowledged
GS 0x29 Cannot change the value of the parameter while drive is enabled
RS 0x30 Value is out of range
US 0x31 Invalid command
NAK 0x15 Communication Error (Checksum Error)
CAN 0x18 Cancellation of Command (For example the drive will send CAN if the drive is already enabled but the JOG ON is requested)
Start ID HostResponse
Command Data Separator Checksum End
Symbol STX dd or $ SET orhellip d hellipd c c ETX
Bytes 1 2 1 3 0 - n 1 1 1
28 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 2 Communication Protocol (RS-232ASCII)
If the drive receives the hosts command with a communication error (for example parity or checksum errors) the drive sends an NAK The host should assume a communication error occurred if a response from the drive does not occur within a time-out period (generally 200 ms)
If drive does not recognize the command it sends a US response
Checksum The checksum range consists of ID to Separator fields Checksum is the ASCII hex code of the least significant digit from the sum of hexadecimal codes in the checksum range
For example this VER command has a checksum of 42 (ASCII hex code of B)
30H+31H+23H+56H+45H+52H+3AH = 1ABH The ASCII hex code of B is 42
However this VER command response also has a checksum of 35 (ASCII hex code of 5)
30H+31H+24H+56H+45H+52H+20H+31H+2EH+30H+32H+3AH = 295H The ASCII hex code of 5 is 35
Command STX 0 1 V E R B ETX
ASCII 2 30 31 23 56 45 52 3A 42 3
Command STX 0 1 amp V E R 9 0 2 5 ETX
ASCII 2 30 31 24 56 45 52 20 39 2E 30 32 3A 35 3
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 29
Chapter 3
General Commands (ASCII)
This chapter defines the general ASCII commands available to control a Kinetix 3 drive
Read Parameter (SET)
Attribute Value
Command SET
Description Read parameter value
Format STX ID SET PPP BSS ETX
Data Argument Description
PPP Parameter for example [Pr - 203] PPP=203=0x0CB Refer to this chapter Appendix A Standard Drive Parameters and Appendix B Indexing Drive Parameters for a available parameter descriptions
Response Format STX ID $SET V BSS ETX
Response Data Argument Description
V Bit-field type = 4 byte hexadecimal value Integer type = Signed integer of variable length
30 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 3 General Commands (ASCII)
Write Parameter (STR)
Write Parameter (CHP)
Attribute Value
Command STR
Description Write parameter value to RAM and then save data from RAM to flash memory
Format STX ID STR PPP V BSS ETX
Data Argument Description
PPP Parameter for example [Pr - 203] PPP=203=0x0CB Refer to Standard Drive Parameters beginning on page 45 for a description of available parameters Group 7 - Manufacturing Settings are product settings that are programmed during manufacturing
V Bit-field type = 4 byte hexadecimal value Normal type = Signed integer of variable length
Response Format ACK
Error Response If the drive is unable to change the variable because it is enabled it sends GS If the value is out of range RS is returned
Next Command STX ID STR BSS ETX
Usage Note To determine whether task is complete send STR without arguments
Response Format If task is not complete STX ID $BSY BSS ETX or If task is complete STX ID $TOK BSS ETX
Attribute Value
Command CHP
Description Write parameter value to RAM
Format STX ID CHP PPP V BSS ETX
Data Argument Description
PPP Parameter for example [Pr - 203] PPP=203=0x0CB Refer to Standard Drive Parameters beginning on page 45 for a description of available parameters Group 7 - Manufacturing Settings are product settings that are programmed during manufacturing
V Bit-field type = 4 byte hexadecimal value Normal type =Signed integer of variable length
Response Format ACK
Error Response If unable to change the variable because drive is enabled GS is sent If value is out of range RS is returned
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 31
General Commands (ASCII) Chapter 3
Indexing Command Extended (XCE)
Read Indexing Parameter (XET)
Attribute Value
Command XCE
Description Execute Indexing Control Panel command
Format STX ID XCE NNNNN amp VVVVV BSS ETX
Data Argument Description
NNNNN Index number 0hellip63Data Format 16-bit unsigned integer d
VVVVVV Indexing Function Command 0 = Start Homing 1 = Stop Homing 2 = Start IndexingData Format 16bit unsigned integer d
Response Format ACK If there is an error while executing the command the GS RS US NAK CAN exception code s can be used for the response
Usage Note This command executes only Indexing commands If the command to be executed is not specific to an Index number the NNNNN field should be 0
Attribute Value
Command XET
Description Read parameter value
Format STX ID XET PPPP BSS ETX
Data Argument Description
PPPP Parameter for example in the case of [IN0002] PPPP=0200 the two initial arguments (PPxx) indicate the indexing (Ix) group Refer to Indexing Drive Parameters beginning on page 115 for a description of available indexing parameters Group 7 - Manufacturing Settings are product settings that are programmed during manufacturing
Response Format STX ID $XET V BSS ETX
Response Data Argument Description
V Bit-field type = 4 byte hexadecimal value Integer type Signed integer of variable length
32 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 3 General Commands (ASCII)
Write Indexing Parameter (XHP)
Write Indexing Parameter (XTR)
Attribute Value
Command XHP
Description Write parameter value to RAM
Format STX ID XHP PPPP V BSS ETX
Data Argument Description
PPPP Parameter for example in the case of [IN0002] PPPP=0200 the two initial arguments (PPxx) indicate the indexing (Ix) group Refer to Indexing Drive Parameters beginning on page 115 for a description of available indexing parameters
V Bit-field type = 4 byte hexadecimal value Normal type = Signed integer of variable length
Response Format ACK
Error Response If the drive is unable to change the variable because it is enabled it sends GS If the value is out of range RS is returned
Attribute Value
Command XTR
Description Write parameter value to RAM and then saves data from RAM to flash memory
Format STX ID XTR PPPP V BSS ETX
Data Argument Description
PPPP Parameter In the case of [IN0002] PPPP=0200 the two initial arguments ((PPxx) indicate the indexing (Ix) group Refer to Indexing Drive Parameters beginning on page 115 for a description of available indexing parameters
V Bit-field type = 4 byte hexadecimal value Normal type = Signed integer of variable length
Response Format ACK
Error Response If the drive is unable to change the variable because it is enabled it sends GS If the value is out of range RS is returned
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 33
General Commands (ASCII) Chapter 3
Fault Reset (RST)
Monitor Variable (MDM)
Attribute Value
Command RST
Description Clear fault
Format STX ID RST BSS ETX
Response ACK
Usage Note Fault Reset will have no effect unless action was taken to resolve the fault Refer to Warnings and Fault Codes beginning on page 133 for a description of faults and warnings
Attribute Value
Command MDM
Description Monitor variables
Format STX ID MDM P1 P2 P3 P4 P5 BSS ETX
Data Argument Description
P1hellipP5 Variables to monitor
Usage Note MDM command can monitor up to five variables Refer to Monitor Variables on page 135 for the list of variables
Response Format STX ID $ MDM V1ampV2ampV3ampV4ampV5 BSS ETX
Response Data Argument Description
V1hellipV5 Variable values are 4 or 8 bytes signed See tables below for descriptions of specific variables
34 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 3 General Commands (ASCII)
Triggered Data Collection (MOT)
Attribute Value
Command MOT
Description Sets watches and reads trigger monitor
Format STX ID MOT Ch1 Ch2 Src SP Num Mode Pos Level BSS ETX
Data Argument Description
Ch1 Ch2 Input signals See Appendix A (variables 0x00hellip0x0F only)
Src Trigger Source (0x000hellip0x009 0x101hellip0x112) Refer to Monitor Variables on page 135 for the list of variables 0x101-0x10A DI1hellipDI10 0x10B Emergency Stop Input 0x10C-0x10E DO1hellipDO3 0x10F Safety Alarm Output 0x110-0x112 DO4hellipDO6
SP Sample Period Range 0x01hellip0x64 (02hellip20 ms)
Num Number of data points 10 Range 0x01hellip0x1E (1hellip30)
Mode Trigger mode 1 = Positive Edge 2 = Negative Edge
Pos Trigger Position (1hellip9) The percentage of data to be received before the trigger pointFor example if Pos = 3 then 30 of data received before the trigger point and 70 of data received after the trigger point
Level Trigger levelthreshold the value of the Trigger Source Values are 4 or 8 bytes signed
Usage Note This command is sent to the drive prior to monitoring or reading the Triggered Data Collection (MOT) command variants below See Figure 1 for command examples
Response ACK
Next Command MOT
Format STX ID MOT BSS ETX
Usage Note This command is sent to the drive to verify data is available
Response If data is not ready STX ID $ BSY BSS ETX If data is ready STX ID $ TOK BSS ETX
Next Command MOT
Format STX ID MOT NumD BSS ETX
Data Argument Description
NumD Data Point to retrieve the data from Range 00hellip(Num-1)
Usage Note This command can be used when previous command returned TOK Send ESC to stop data collection
Response Format STX ID $ MOT V1ampV2ampV20 BSS ETX
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 35
General Commands (ASCII) Chapter 3
Figure 1 - Triggered Data Collection (MOT) Command String Example
Attribute Value
Response Data Argument Description
V1hellipV20 Data transmission is done in blocks of 10 Because there are 2 channels 20 values are returned with values alternating between the first channel and the second channel Values are a signed integer of variable length (4 or 8 bytes)
Next Command STX ID ESC BSS ETX
Response ACK
MOR (setting)
ACK
MOT
$BSY
MOT
$TOK
MOT00
$MOT
PC Servo
Time lt200 ms
MOT29
$MOT
ESC
ACK
36 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 3 General Commands (ASCII)
Variable Roll Monitoring (MOR)
Attribute Value
Command MOR
Description Set up variable roll monitor
Format Data
STX ID MOR SP P1 P2 BSS ETX
Argument Description
SP Sampling period range 0x01hellip0x64 (01hellip100 ms)
P1 P2 Variables to monitor Range 0x00hellip0x1D
Usage Note Sets up the variable roll monitoring This command is sent to the drive prior to sending a Monitor Variable (MDM) command See Figure 2 for command examples
Response ACK
Next Command STX ID MOR BSS ETX
Usage Note Request to store data in the linear buffer (with a capacity of 100 data points) If the buffer is full and data has not been retrieved the buffer is emptied If data is requested before data is in the buffer the drive sends ACK
Response Format STX ID $ MOR V1ampV2amphellipVn BSS ETX
Response Data Argument Description
V1hellipVn Signed integer of variable length
Next Command STX ID ESC BSS ETX
Usage Note Send ESC to stop monitoring of the data
Response ACK
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 37
General Commands (ASCII) Chapter 3
Figure 2 - Variable Roll Monitoring (MOR) Command String Example
MOR (setting)
ACK
MOR
$MOR
MOR
$MOR
ESC
ACK
PC Servo
Time lt200 ms
38 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 3 General Commands (ASCII)
Automatic Task (TAT)
Figure 3 - Automatic Task (TAT) Command String Example
Attribute Value
Command TAT
Format STX ID TAT T1 BSS ETX
Data Argument Description
T1 Automatic task number See the following Values and Task Descriptions
Value Task Description
0x01 Auto Tuning
0x02 Move to Marker
0x03 Auto Adjustment of Velocity Command Offset
0x04 Auto Adjustment of Current Command Offset
0x07 Auto Adjustment of Current Feedback Offset
Response ACK
Usage Note Send TAT command without arguments to find out if a task is completed See Figure 3 for command examples
Next Command STX ID TAT BSS ETX
Response Format STX ID $ BSY BSS ETX - if task is not complete STX ID $ TOK BSS ETX - task is complete
TAT (setting)
ACK
TAT
$BSY
TAT
$TOK
PC Servo
Time lt200 ms
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 39
General Commands (ASCII) Chapter 3
Manual Task (TMN)
Figure 4 - Manual Task (TMN) Command String Example
Attribute Value
Command TMN
Format STX ID TMN 1 BSS ETX
Data Argument Description
T1 Manual task number See the following Values and Task Descriptions
Value Task Description
0x01 - Speed Command Offset - Decrement by 01 mV
0x02 + Speed Command Offset - Increment by 01 mV
0x03 Save Speed Command Offset change
0x04 - Current Command Offset - Decrement by 01 mV
0x05 + Current Command Offset - Increment by 01 mV
0x06 Save Current Command Offset change
0x07 Discard changes and exit
Response ACK
Usage Note Most manual tasks are complete by the time ACK is received Commands 0x03 and 0x06 may take longer because they save data to flash memory Send TMN command without arguments to find out if a task is completed See Figure 4 for command examples
Next Command STX ID TAT BSS ETX
Response Format STX ID $ BSY BSS ETX - if task is not complete STX ID $ TOK BSS ETX - task is complete
TMN (setting)
ACK
TMN
$BSY
TMN
$TOK
PC Servo
Time lt200 ms
40 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 3 General Commands (ASCII)
Read Fault Contents (EHY)
Jog (JOG)
Attribute Value
Command EHY
Description Read faults See Read Fault Detailed Data (DIE) on page 43 for alternative fault data
Format STX ID EHY F1 BSS ETX
Data Argument Description
F1 Fault Number Range is 0x01hellip0x08 where latest fault status is stored in 0x01 and oldest fault is stored in 0x08
Response Format STX ID $ EHYE FCode FChars BSS ETX
Data Data Description
FCode Fault Code See Appendix C for a list of fault codes
FChars Fault Name Abbreviated See Appendix C
Usage Note Use this command to find out more about one of the eight faults To receive all fault statuses use EHY command below
Attribute Value
Command EHY
Description Read all fault codes
Format STX ID EHY BSS ETX
Data Argument Description
Asterik () means all faults
Response Format STX ID $ EHY Fcode1ampFcode2ampFcode8 BSS ETX
Data Data Description
Fcode1hellipFcode8 Fault Code See Appendix C for a list of fault codes
Attribute Value
Command JOG
Description Jog forward or reverse
Format STX ID JOG P1 BSS ETX
Data Argument Description
P1 0 = prepare for jog operation + = jog forward - (dash) = jog reverse
Response ACK
Usage Note To keep jogging send JOG command more than once within 500 ms To end Jog mode send SVROF
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 41
General Commands (ASCII) Chapter 3
Read Drive Status (STS)
Attribute Value
Command STS
Description Read status
Format STX ID STS BSS ETX
Response Format STX ID $ STS Mode S1 S2 S3 S4 S5 SS FChars BSS ETX
Response Data Arguments Description
Mode One of these operating modes F = Follower mode S = Analog Velocity mode P = Preset Velocity mode C = Analog Current mode D = Dual Current Command mode PF PS PC FS FC SC = Mixed modes Refer to [Pr - 000] Operations Mode on page 46 for additional information
S1 S1 means In Follower mode 1 = In Position 0 = Not In Position In Analog Velocity or Preset Velocity modes 1 = In Speed Window 0 = not In Speed Window If position or speed data is not available S1= 0
S2 One of the following 1 = Up to Speed 0 = Not Up to Speed If speed data is not available S2=0
S3 One of the following 1 = Drive is Enabled 0 = Drive is Disabled
S4 One of the following 1 = Positive Overtravel is active 0 = Positive Overtravel is inactive
S5 One of the following 1 = Negative Overtravel is active 0 = Negative Overtravel is inactive
SS One of the following Edd = fault occurred (See Appendix C)
dd = 2 byte error code 0x00hellip0xFF Wdd = warning occurred (See Appendix C)
dd = 2 byte warning code RDY = no errors or warnings
FChars Abbreviation of the faultwarning name In the case of Estop fault Fchars = ESTOP FChars size is 5 bytes when fault occurs and 3 bytes when warning occurs
42 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 3 General Commands (ASCII)
Other Functions (ETC)
Attribute Value
Command ETC
Format STX ID ETC F1 BSS ETX
Data Argument Description
F1 Manual task number See the following Values and Task Descriptions
Value Task Description
0x09 Clear Fault History
0x0A Reset Absolute Encoder (1)
(1) Resetting of an absolute (17-bit) encoder is possible only when the drive is disabled The command Reset Absolute Encoder sets the rotation data to 0 and clears all encoder related faults and warnings
0x0B Store 2-Group Gain
0x0C Reset to Factory settings (2)
(2) Parameters in the table below are not affected by the Reset to Factory settings
0x0D Test Run
0x0E Upgrade Firmware
0x0F Erase Manufacturing Information
Response ACK
Usage Note Send ETC command without arguments to find out if a task is completed
Next Command STX ID ETC BSS ETX
Response Format STX ID $ BSY BSS ETX - if task is not complete orSTX ID $ TOK BSS ETX - task is complete
Parameter Number Description
600 Analog Velocity Command Offset
601 Analog Current Command Offset
602 U Phase Current Sensing Offset
603 W Phase Current Sensing Offset
700hellip707 Group 7 - Manufacturing Settings
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 43
General Commands (ASCII) Chapter 3
Verify Software Version (VER)
Verify Servo Connection (LIV)
Read Fault Detailed Data (DIE)
Attribute Value
Command VER
Description Verify software version
Format STX ID VER BSS ETX
Response Format STX ID $ VER V BSS ETX
Response Data Argument Description
V Firmware version Size 5 bytes including a space Example STX01$VER 100BSS ETX
Attribute Value
Command LIV
Description Verify servo connection
Format STX ID LIV BSS ETX
Response Format ACK if there is a connection
Attribute Value
Command DIE
Description Read detailed fault data stored in [Pr - 607] Fault Detail Data Selection 1 Sample period in microseconds = [Pr - 607] 200) See Read Fault Contents (EHY) on page 40 for alternative fault data
Format STX ID DIE A1 A2 BSS ETX
Data Argument Description
A1 Channel to get the data for Range 1hellip4 Channels are stored in [Pr - 607]hellip[Pr - 610] Fault Detail Data Selection 4
A2 Data Number Range 0hellip50 0 means all data
Usage Note Send DIE 02 00 to receive all the data for A1= 02 Send DIE 00 01 to receive data for data number 1 of 4 variables DIE 00 00 is invalid
Response Format STX ID $ DIE D1ampD2ampDN BSS ETX
Error Response STX ID $ DIE FFFF BSS ETX means data number is invalid
Response Data Argument Description
D1hellipDn Detailed data where n depends on A1 and A2 If A1=00 and A2 = 01 then n = 4 If A1=01hellip04 and A2 = 01hellip50 then n=1 If A1=01hellip04 and A2 = 00 then n= 50
44 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 3 General Commands (ASCII)
Enable Drive (SVRON)
Disable Drive (SVROF)
Reset Drive (HWR)
Attribute Value
Command SVRON
Description Enables the drive
Format STX ID SVRON BSS ETX
Response ACK
Attribute Value
Command SVROF
Description Disables the drive
Format STX ID SVROF BSS ETX
Response ACK
Attribute Value
Command HWR
Description Reset the drive by using watchdog counter
Format STX ID HWR BSS ETX
Response ACK
Usage Note Stops the watchdog timer allowing a hardware signal to reboot (reset) the drive
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 45
Appendix A
Standard Drive Parameters
Parameters control Kinetix 3 drive operations They are grouped by the type of drive Standard or Indexing and the settings they define
Descriptions of Indexing Drive Parameters begin on page 115
Parameter Groupings Standard drive parameters are grouped into these drive settings bull Group 0 - Basic drive system and IO settings bull Group 1 - Gain and gain tuning settings bull Group 2 - Velocity control settings bull Group 3 - Position control settings bull Group 4 - Torque control settings bull Group 5 - Supplementary drive system and IO settings bull Group 6 - Supplementary gain settings and fault reports bull Group 7 - Factory default settings bull Group 8 - Parameters reserved bull Group 9 - Motor and drive operating mode parameters
46 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
Parameter Descriptions Parameter descriptions list the size of each parameter and the data options within the parameter
Descriptions of Indexing Drive Parameters begin on page 115
Group 0 - System Level
[Pr - 000] Operations Mode
Ultraware Name Operation Modes (MainOverride)
Range 0hellip12
Display (Value) Normal operating mode Override operating mode
F (1) Follower Follower
S (2) Analog Velocity Input Analog Velocity Input
C (3) Analog Current Input Analog Current Input
SF (4) Analog Velocity Input Follower
CF (5) Analog Current Input Follower
CS (6) Analog Current Input Analog Velocity Input
P (7) Preset Velocity Preset Velocity
PF (8) Preset Velocity Follower
PS (9) Preset Velocity Analog Velocity Input
PC (10) Preset Velocity Analog Current Input
D (11) Reserved Reserved
I (12) Indexing Indexing
Default 1
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
MODBUS Address 0
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 47
Standard Drive Parameters Appendix A
[Pr - 001] Motor Configuration
Data Size 6 digits
Ultraware Name Motor configuration
Digit 0 Encoder type
Range Value Description
0x0hellip0xf Each number define a corresponding encoder type 9 line or 17-bit serial for example
Default 0x1 = 9 line
Digit 1hellip2 Rated power
Range Value Description
A5010204081015 501002004008001000 or 1500 Watts
Default 04 = 400 W
Digit 3hellip4 Motor type
Range Value Description
Motor type Motor initial ID
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
MODBUS Address 1
When Enabled Servo-Off -gt Setting
Applicable Operating Mode All
MODBUS Address Pr-001[Lo] = 1 Pr-001[Hi] = 2
48 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 002] Motor Basic Modes
Data Size 4 digits
Digit 0 Fault and Disable Braking
Ultraware Name Stopping Functions Fault and Disable Braking
Range Value Description
0x0 Brake and hold
0x1 Brake and release
0x2 Free stop
0x3 Free stop and hold
Default 0
Digit 1 Overtravel stop method
Ultraware Name Stopping Functions Over Travel Stop Method
Range Value Description
0x0 Stop by change of mode to Normal Current Set stopping current with Overtravel Current Limit parameter [Pr - 405]
0x1 Dynamic Brake
Default 0
Digit 2 Motor Forward Dir
Ultraware Name Command Polarity
Range Value Description
0x0 The command signal is not inverted so that a positive command value results in clockwise rotation as viewed from shaft end
0x1 The command signal is inverted so that a positive command value results in counter-clockwise rotation s viewed from shaft end
Default 0
Digit 3 Power input
Ultraware Name AC Line Loss Check
Range Value Description
0x0 Enables the following bull 50hellip400W drive Enable
single-phase open check bull 800hellip15kW drive Enable
three-phase open check
0x1 Disable
0x2 Single-phase input
Default 0
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 49
Standard Drive Parameters Appendix A
When Enabled Servo-Off -gt Setting
Applicable Operating Mode All
MODBUS Address 3
[Pr - 003] Auto Tuning Functions
Data Size 4 digits
Digit 0 Off-line Tuning Mode
Ultraware Name Off-line Tuning Mode
Range Value Description
0x0 Inertia Moment Estimation
0x1 Inertia Moment Estimation and Resonant Frequency Detection
0x2 Resonance frequency Detection
Default 1
Digit 1 Reserved
Digit 2 Autotuning Speed
Ultraware Name Autotuning Speed
Range 2hellip9
Default 7
Units rpm100
Digit 3 Dynamic Tuning Response Speed
Ultraware Name Online Tuning Response
Range Value Description
0x0 Off
0x1 Slowest
0x2 Slower
0x3 Slow
0x4 Medium-Slow
0x5 Medium
0x6 Medium-Fast
0x7 Fast
0x8 Faster
0x9 Fastest
Default 0
Units -
When Enabled Servo-Off -gt Setting
Applicable Operating Mode All
MODBUS Address 4
[Pr - 002] Motor Basic Modes (Continued)
50 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 004] Inertia Ratio
Description Load Inertia Motor Inertia
Ultraware Name Inertia Ratio
Range 0hellip6000
Default 100
Units (Load inertiaMotor inertia) 100
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 5
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 51
Standard Drive Parameters Appendix A
[Pr - 005] Auxiliary Function Selection 1
Applicable Operating Mode All
Data Size 4 digits
Digit 0 Encoder Back-up Battery
Ultraware Name Encoder Back-up Battery
Range Value Description
0x0 Battery Installed
0x1 Battery Not Installed
Default 0
Digit 1 Velocity Observer
Ultraware Name Velocity Observer
Range Value Description
0x0 Disable
0x1 Enable
Default 0
Digit 2 Alternative Gain Change Enable
Ultraware Name Gain Change Enable
Range Value Description
0x0 Disable
0x1 Enable
Default 0x0
Digit 3 Emergency stop input
Range Value Description
0x0 Disable
0x1 Enable
Default 0
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
MODBUS Address 6
52 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 006] Auxiliary Function Selection 2
Applicable Operating Mode All
Data Size 3 digits
Digit 0 Automatic Motor Identification
Ultraware Name Auto Motor Identification
Range Value Description
0x0 Disabled
0x1 Enabled
Default 1
Digit 1 Incremental Feedback Loss (Encoder Line Break Detection)
Ultraware Name Incremental Feedback Loss
Range Value Description
0x0 Monitored
0x1 Ignored
Default 0
Digit 2 Mode of Gain Switching
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 53
Standard Drive Parameters Appendix A
Range Value Description
0 Fixed to the 1st gain
1 Fixed to 2nd gain
2 2nd gain selection when the gain switching input is turned on
3 2nd gain selection when the toque command is larger than the set-up levels of the gain control switching and hysteresis of control switching
4 2nd gain selection when the command speed is larger than the set-up levels of the gain control switching and hysteresis of control switching
5 2nd gain selection when the positional deviation is larger than the setup set-up levels of the gain control switching and hysteresis of control switching
6 2nd gain selection when more then one command pulse exist between 200usec
7 2nd gain selection when the positional deviation counter value exceeds the set-up of the positioning complete range
8 2nd gain selection when the motor actual speed exceeds the set-up levels of the gain control switching and hysteresis of control switching)Switches to the 2nd gain while the position command exists
9 Switches to the 1st gain when no-position command status lasts for the set up of delay time of gain switching [x 200usec] and the speed falls slower than the set-up levels of the gain control switching level and hysteresis of control switching
Default 0
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 7
[Pr - 006] Auxiliary Function Selection 2 (Continued)
54 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 007] Drive Address
Applicable Operating Mode All
Ultraware Name Drive Address
Range 1hellip247
Default 1
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 8
[Pr - 008] Password
Applicable Operating Mode All
Ultraware Name Drive Password
Range 0hellip9999Usage Note Unprotected Code 777
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 9
[Pr - 009] Serial Port Configuration
Applicable Operating Mode All
Data Size 4 digits
Digit 0 Baud Rate
Ultraware Name Baud Rate
Range Value Description
0x0 9600 bps
0x1 14400 bps
0x2 19200 bps
0x3 38400 bps
0x4 56000 bps
0x5 57600 bps
Default 0x5
Digit 1 Data bits Parity Stop bit
Ultraware Name Data bits Parity Stop bit
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 55
Standard Drive Parameters Appendix A
Range Value Description
0x0 8 No 1
0x1 8 Even 1
0x2 8 Odd 1
0x3 8 No 2
0x4 8 Even 2
0x5 8 Odd 2
Default 0x0
Digit 2 Protocol
Ultraware Name Protocol
Range Value Description
0x0 ASCII
0x1 MODBUS-RTU
Default 0
Digit 3 Communication Method
Ultraware Name Communication Method
Range Value Description
0 0x0 RS232
1 Ox1 RS485
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 10
[Pr - 010] Allocation of Input Signals 1
Range for all digits 0hellipB where 0 is Off B is On and 1hellipA are digital inputs
Data Size 4 digits
Digit Description Default Unmapped IO Status
0 Drive enable (SV-ON) 0x1 ON
1 Positive overtravel (P-OT) 0xb ON
2 Negative overtravel (N-OT) 0xb ON
3 Integrator inhibit (CON) 0x4 OFF
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 010]hellip[Pr - 021] on page 60
Applicable Operating Mode All
MODBUS Address 11
[Pr - 009] Serial Port Configuration (Continued)
56 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 011] Allocation of Input Signals 2
Range for all digits 0hellipB where 0 is Off B is On and 1hellipA are digital inputs
Data Size 4 digits
Digit Description Default Unmapped IO Status
0 Fault reset (A-RST) 0x5 OFF
1 Negative current limit (N-TL) 0x6 OFF
2 Positive current limit (P-TL) 0x7 OFF
3 Operation mode override (C-SEL)
0x0 OFF
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 010]hellip[Pr - 021] on page 60
Applicable Operating Mode All
MODBUS Address 12
[Pr - 012] Allocation of Input Signals 3
Range for all digits 0hellipB where 0 is Off B is On and 1hellipA are digital inputs
Data Size 4 digits
Digit Description Default Unmapped IO Status
0 Preset direction (C-DIR) 0x0 OFF
1 Preset select 1 (C-SP1) 0x0 OFF
2 Preset select 2 (C-SP2) 0x0 OFF
3 Preset select 3 (C-SP3) 0x0 OFF
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 010]hellip[Pr - 021] on page 60
Applicable Operating Mode All
MODBUS Address 13
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 57
Standard Drive Parameters Appendix A
[Pr - 013] Allocation of Input Signals 4
Range for all digits 0hellipB where 0 is Off B is On and 1hellipA are digital inputs
Data Size 4 digits
Digit Description Default Unmapped IO Status
0 Zero speed clamp enable (Z-CLP)
0x0 OFF
1 Pause follower (INHIBIT) 0x0 OFF
2 Alternate gain select (G-SEL) 0x0 OFF
3 Position clear (PCLR) 0x0 OFF
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 010]hellip[Pr - 021] on page 60
Applicable Operating Mode All
MODBUS Address 14
[Pr - 014] Allocation of Input Signals 5
Range for all digits 0hellipB where 0 is Off B is On and 1hellipA are digital inputs
Data Size 4 digits
Digit Description Default Unmapped IO Status
0 Position strobe (ABS-DT) 0x0 OFF
1 Motor moving enable (START) 0x0 OFF
2 Analog speed command select (C-SP4)
0x0 OFF
3 2nd electronic gear bank selection (GEAR)
0x0 OFF
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 010]hellip[Pr - 021] on page 60
Applicable Operating Mode All
MODBUS Address 15
58 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 015] Allocation of Input Signals 6
Data Size 4 digits
Digit Description Default Unmapped IO Status
0 Reset multi-turn data of absolute encoder (R_ABS)
0x0 OFF
1 Gain bank select (BANK_SEL) 0x0 OFF
2 Reserved 0x0 OFF
3 Reserved 0x0 OFF
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 010]hellip[Pr - 021] on page 60
Applicable Operating Mode All
MODBUS Address 16
[Pr - 016] Allocation of Input Signals 7
Data Size 4 digits
Digit Description Default Unmapped IO Status
0 Home sensor (H_SENS) 0x0 OFF
1 Start homing (SHOME) 0x0 OFF
2 Stop indexing (STOP) 0x0 OFF
3 Pause indexing (PAUSE) 0x0 OFF
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 010]hellip[Pr - 021] on page 60
Applicable Operating Mode Indexing
MODBUS Address 17
[Pr - 017] Allocation of Input Signals 8
Data Size 4 digits
Digit Description Default Unmapped IO Status
0 Index select 0 input (I_SEL0) 0x0 OFF
1 Index select 1 input (I_SEL1) 0x0 OFF
2 Index select 2 input (I_SEL2) 0x0 OFF
3 Index select 3 input (I_SEL3) 0x0 OFF
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 010]hellip[Pr - 021] on page 60
Applicable Operating Mode Indexing
MODBUS Address 18
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 59
Standard Drive Parameters Appendix A
[Pr - 018] Allocation of Input Signals 9
Data Size 4 digits
Digit Description Default Unmapped IO Status
0 Index select 4 input (I_SEL4) 0x0 OFF
1 Index select 5 input (I_SEL5) 0x0 OFF
2 Stop homing (H_STOP) 0x0 OFF
3 Start index (START_I) 0x0 OFF
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 010]hellip[Pr - 021] on page 60
Applicable Operating Mode Indexing
MODBUS Address 19
[Pr - 019] Allocation of Input Signals 10
Data Size 4 digits
Digit Description Default Unmapped IO Status
0 Reserved 0x0 OFF
1 Reserved 0x0 OFF
2 Reserved 0x0 OFF
3 Reserved 0x0 OFF
When Enabled Reserved
Applicable Operating Mode Indexing
MODBUS Address 20
[Pr - 020] Allocation of Input Signals 11
Data Size 4 digits
Digit Description Default Unmapped IO Status
0 Reserved 0x0 OFF
1 Reserved 0x0 OFF
2 Reserved 0x0 OFF
3 Reserved 0x0 OFF
When Enabled Reserved
Applicable Operating Mode Indexing
MODBUS Address 21
60 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
Table 1 - Setting Values for Parameters [Pr - 010]hellip[Pr - 021]
[Pr - 021] Allocation of Input Signals 12
Data Size 4 digits
Digit Description Default Unmapped IO Status
0 Reserved 0x0 OFF
1 Reserved 0x0 OFF
2 Reserved 0x0 OFF
3 Reserved 0x0 OFF
When Enabled Reserved
Applicable Operating Mode Indexing
MODBUS Address 22
Setting Value (1)
1 Setting values are reserved (not available) for [Pr - 019] and [Pr - 020]
B A 9 6 7 6 5 4 3 2 1 0
Input Channel No
Input Signal
19 9 8 7 6 5 4 3 2 1 Input Signal
CN1 Pin No On 26 27 29 9 8 7 6 5 4 3 Off
[Pr - 022] Allocation of Output Signals 1
Range for all digits 0hellip3 where 0 is Off and 1hellip6 are digital outputs
Data Size 4 digits
Digit Description Default
0 Within position window (P-COM)
0x1
1 Up to speed (TG-ON) 0x2
2 Brake control (BK) 0x3
3 Within speed window (V-COM) 0x0
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 022]hellip[Pr - 032] on page 65
Applicable Operating Mode All
MODBUS Address 23
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 61
Standard Drive Parameters Appendix A
[Pr - 023] Allocation of Output Signals 2
Range for all digits 0hellip3 where 0 is Off and 1hellip6 are digital outputs
Data Size 4 digits
Digit Description Default
0 Current limited (T_LMT) 0x0
1 Velocity limited (V-LMT) 0x0
2 Near position (NEAR) 0x0
3 Warning (WARN) 0x0
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 022]hellip[Pr - 032] on page 65
Applicable Operating Mode All
MODBUS Address 24
[Pr - 024] Allocation of Output Signals 3
Range for all digits 0hellip3 where 0 is Off and 1hellip6 are digital outputs
Data Size 4 digits
Digit Description Default
0 Absolute position valid (A_VLD) 0x0
1 Ready 0x0
2 Reserved 0x0
3 Reserved 0x0
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 022]hellip[Pr - 032] on page 65
Applicable Operating Mode All
MODBUS Address 25
62 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 025] Allocation of Output Signals 4
Range for all digits 0hellip3 where 0 is Off and 1hellip6 are digital outputs
Data Size 4 digits
Digit Description Default
0 In Motion (IMO) 0x0
1 In Dwell (I_DW) 0x0
2 Axis Homed (HOMC) 0x0
3 Index Select 0 Out (O_ISEL0) 0x0
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 022]hellip[Pr - 032] on page 65
Applicable Operating Mode Indexing
MODBUS Address 26
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 63
Standard Drive Parameters Appendix A
[Pr - 026] Allocation of Output Signals 5
Range for all digits 0hellip3 where 0 is Off and 1hellip6 are digital outputs
Data Size 4 digits
Digit Description Default
0 Index Select 1 Out (O_ISEL1) 0x0
1 Index Select 2 Out (O_ISEL2) 0x0
2 Index Select 3 Out (O_ISEL3) 0x0
3 Index Select 4 Out (O_ISEL4) 0x0
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 022]hellip[Pr - 032] on page 65
Applicable Operating Mode Indexing
MODBUS Address 27
[Pr - 027] Allocation of Output Signals 6
Range for all digits 0hellip3 where 0 is Off and 1hellip6 are digital outputs
Data Size 4 digits
Digit Description Default
0 Index Select 5 Out (O_ISEL5) 0x0
1 End of Sequence (E_SEQU) 0x0
2 Reserved 0x0
3 Reserved 0x0
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 022]hellip[Pr - 032] on page 65
Applicable Operating Mode Indexing
MODBUS Address 28
[Pr - 028] Allocation of Output Signals 7
Range for all digits 0hellip3 where 0 is Off and 1hellip6 are digital outputs
Data Size 4 digits
Digit Description Default
0 Reserved 0x0
1 Reserved 0x0
2 Reserved 0x0
3 Reserved 0x0
When Enabled Reserved
Applicable Operating Mode Indexing
MODBUS Address 29
64 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 029] Allocation of Output Signals 8
Range for all digits 0hellip3 where 0 is Off and 1hellip6 are digital outputs
Data Size 4 digits
Digit Description Default
0 Reserved 0x0
1 Reserved 0x0
2 Reserved 0x0
3 Reserved 0x0
When Enabled Reserved
Applicable Operating Mode Indexing
MODBUS Address 30
[Pr - 030] Allocation of Output Signals 9
Range for all digits 0hellip3 where 0 is Off and 1hellip6 are digital outputs
Data Size 4 digits
Digit Description Default
0 Reserved 0x0
1 Reserved 0x0
2 Reserved 0x0
3 Reserved 0x0
When Enabled Reserved
Applicable Operating Mode Indexing
MODBUS Address 31
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 65
Standard Drive Parameters Appendix A
Table 2 - Setting Values for Parameters [Pr - 022]hellip[Pr - 032]
[Pr - 031] Allocation of Output Signals 10
Range for all digits 0hellip3 where 0 is Off and 1hellip6 are digital outputs
Data Size 4 digits
Digit Description Default
0 Reserved 0x0
1 Reserved 0x0
2 Reserved 0x0
3 Reserved 0x0
When Enabled Reserved
Applicable Operating Mode Indexing
MODBUS Address 32
[Pr - 032] IO Control Authority
Applicable Operating Mode All
Data Size 2 digits
Digit 0 MODBUS Input Function Control
Ultraware Name MODBUS Input Function Control
Range Value Description
0x0 Disable
0x1 Enable
Default 0
Digits 1 MODBUS Run Function Control
Ultraware Name MODBUS Run Function Control
Range Value Description
0x0 Disable
0x1 Enable
Default 0
When Enabled Servo-Off -gt Setting (1)
1 Refer to the Setting Values for Parameters [Pr - 022]hellip[Pr - 032] table immediately below
Applicable Operating Mode All
MODBUS Address 33
Setting Value (1)
1 Setting Values are reserved (not available) for [Pr - 028] and [Pr - 031]
6 5 4 3 2 1 0
Input Channel No AL 3 AL 2 DO1 DO3 DO2 DO1 Input Signal
CN1 Pin No 39 38 37 4748 4344 4142 Off
66 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
Group 1 - Gain Control
[Pr - 100] Velocity Regulator Response Level
Ultraware Name Velocity Regulator Response level
Range 1hellip150
Default 50
Units
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 100
[Pr - 101] System Gain
Ultraware Name Velocity Regulator Response level
Range 1hellip150
Default 50
Units Hz
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 101
[Pr - 102] Velocity Regulator P Gain
Ultraware Name Main Velocity Regulator Gains Proportional Gain
Range 0hellip10000
Default 60
Units -
Applicable Operating Mode
When Enabled Immediately
Applicable Operating Mode Follower Analog Speed Preset
MODBUS Address 102
[Pr - 103] Velocity Regulator I Gain
Ultraware Name Main Velocity Regulator Gains Integral Gain
Range 0hellip60000
Default 26
Units -
When Enabled Immediately
Applicable Operating Mode Follower Analog Speed Preset
MODBUS Address 103
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 67
Standard Drive Parameters Appendix A
[Pr - 104] Velocity Regulator D gain
Ultraware Name Main Velocity Regulator Gains Derivative Gain
Range 0hellip1000
Default 0
Units -
When Enabled Immediately
Applicable Operating Mode Follower Analog Speed Preset
MODBUS Address 104
[Pr - 105] Velocity Error Filter
Ultraware Name Calibration Error Filter Bandwidth
Range 0hellip2500
Default 30
Units Hz
When Enabled Immediately
Applicable Operating Mode Follower Analog Speed Preset
MODBUS Address 105
[Pr - 106] Position Regulator Kp Gain
Ultraware Name Main Position Regulator Gains Kp
Range 0hellip700
Default 20
Units Hz
When Enabled Immediately
Applicable Operating Mode Follower Analog Speed Preset
MODBUS Address 106
68 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 107] Current Command Lowpass Filter Bandwidth
Ultraware Name Main Current Regulator Gains Low Pass Filter Bandwidth
Range 0hellip10000
Default 300
Units Hz
Applicable Operating Mode All
When Enabled Immediately
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 107
[Pr - 108] Velocity Command Lowpass Filter Bandwidth
Ultraware Name Main Velocity Regulator Gains Low Pass Filter Bandwidth
Range 0hellip10000
Default 1000
Units Hz
When Enabled Immediately
Applicable Operating Mode Follower Analog Speed Preset
MODBUS Address 108
[Pr - 109] Position Command Lowpass Filter Bandwidth
Ultraware Name Main Position Regulator Gains Low Pass Filter Bandwidth
Range 0hellip1000
Default 0
Units Hz
When Enabled Immediately
Applicable Operating Mode Follower
MODBUS Address 109
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 69
Standard Drive Parameters Appendix A
[Pr - 110] 1st Resonant Frequency Suppression Filter
Ultraware Name Main Current Regulator Gains 1st Resonant Frequency Suppression Filter
Description Suppresses Vibration by cutting off Current Command in assigned frequency band
Range 0hellip10000
Default 10000
Units Hz
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 110
[Pr - 111] 1st Resonant Frequency Suppression Filter Width
Ultraware Name Main Current Regulator Gains 1st Resonant Frequency Suppression Filter Width
Description Set up the notch width of 1st resonance suppressing filter in 20 steps Higher the setup larger the notch width you can obtain
Range 0hellip20
Default 10
Units
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 111
[Pr - 112] 2nd Resonant Frequency Suppression Filter
Ultraware Name 2nd Main Current Regulator Gains 2nd Resonant Frequency Suppression Filter
Description Suppresses Vibration by cutting off Current Command in assigned frequency band
Range 0hellip10000
Default 10000
Units Hz
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 112
70 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 113] 2nd Resonant Frequency Suppression Filter Width
Ultraware Name Main Current Regulator Gains 2nd Resonant Frequency Suppression Filter Width
Description Set up the notch width of 2nd resonance suppressing filter in 20 steps The higher the setup larger the notch width you can obtain
Range 0hellip20
Default 10
Units -
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 113
[Pr - 114] 2nd Resonant Frequency Suppression Filter Depth
Ultraware Name Main Current Regulator Gains 2nd Resonant Frequency Suppression Filter Depth
Description Set up the 2nd notch depth of the resonance suppressing filter The higher the setup the shallower the notch depth and the smaller the phase delay you can obtain
Range 0hellip100
Default 100
Units -
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 114
[Pr - 115] Position Regulator Kff gain
Ultraware Name Main Position Regulator Gains Kff
Range 0hellip100
Default 0
Units
When Enabled Immediately
Applicable Operating Mode Follower
MODBUS Address 115
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 71
Standard Drive Parameters Appendix A
[Pr - 116] Position Regulator Kff Bandwidth
Ultraware Name Main Position Regulator Gains Kff Low Pass Filter Bandwidth
Range 0hellip2500
Default 200
Units Hz
When Enabled Immediately
Applicable Operating Mode Follower
MODBUS Address 116
[Pr - 117] Velocity Regulator I Gain Mode
Ultraware Name Main Velocity Regulator Gains I Gain Mode
Description During transient response Speed Response Overshoot can be suppressed by a speed controller change from a Proportional Integral (PI) controller into a Proportional (P) controller It reduces position completion time during position control
Range Value Description
0x0 Do not use PPI Mode Conversion
0x1 When Current Command exceeds Current Value in [Pr - 118] Speed Controller is changed from PI Controller to P Controller
0x2 When Speed Command exceeds Speed Value in [Pr - 118] Speed Controller is changed from PI Controller to P Controller
0x3 When Position error exceeds Position error Value in [Pr - 118] Speed Controller is changed from PI Controller to P Controller
0x4 Automatically velocity controller is changed from PI Controller to P Controller
Default 3
When Enabled Servo-Off -gt Setting
Applicable Operating Mode All
MODBUS Address 117
72 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 118] Velocity Regulator I Gain Disable Threshold
Ultraware Name Main Velocity Regulator Gains I Gain Disable Threshold
Range 0hellip3000
Default 100
Units If [Pr - 117] = 1 units are of rated continuous current
If [Pr - 117] = 2 units are rpm for rotary motors mmsec for linear motors
If [Pr - 117] = 3 units are Counts
When Enabled Follower Analog Velocity Preset
Applicable Operating Mode Immediately
MODBUS Address 118
[Pr - 119] Position Regulator High Error Output Offset
Ultraware Name Main Position Regulator Gains High Error Output Offset
Range 0hellip450
Default 0
Units Rotary rpm Linear mmsec
When Enabled All
Applicable Operating Mode Immediately
MODBUS Address 119
[Pr - 120] Position Regulator High Error Output Threshold
Ultraware Name Main Position Regulator Gains High Error Output Threshold
Range 0hellip50000
Default 1000
Units Counts
When Enabled All
Applicable Operating Mode Immediately
MODBUS Address 120
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 73
Standard Drive Parameters Appendix A
[Pr - 121] Current Regulator Bandwidth Reduction Scale
Ultraware Name Main Current Regulator Gains Gain
Range Value Description
0x0 High bandwidth
0x1 Medium bandwidth (06667 high)
0x2 Low bandwidth (03334 high)
Default 0x1
When Enabled All
Applicable Operating Mode Immediately
MODBUS Address 121
[Pr - 122] On-line Vibration Mode
Data Size 1 digits
Digit 0 On-line Vibration Suppression Mode
Ultraware Name On-line Vibration Suppression Mode
Range Value Description
0x0 Disable
0x1 Normal and High Velocity Mode
0x2 Slow Velocity Mode without initial value
Default 0x0
Digit 1 On-line Vibration Suppression Gain
Ultraware Name On-line Vibration Suppression Gain
Range Value Description
0x0 Low
0x1 High
Default 0x0
When Enabled All
Applicable Operating Mode Servo-Off -gt Setting
MODBUS Address 122
74 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 123] Velocity Regulator Configuration
Applicable Operating Mode All
Data Size 1 digits
Digit 0 Velocity Command Filter on Follower
Ultraware Name Velocity Command Filter on Follower
Range Value Description
0x0 Disable
0x1 Enable
Default 0x0
When Enabled Immediately
Applicable Operating Mode Servo-Off -gt Setting
MODBUS Address 123
[Pr - 124] Delay Time of Gain Switching
Ultraware Name Gain Switching Delay Time of Gain Switching
Range 0hellip10000
Default 0
Units X 200usec
When Enabled Immediately
Applicable Operating Mode Follower Analog Velocity Preset
MODBUS Address 124
[Pr - 125] Level of Gain Switching
Ultraware Name Gain Switching Level of Gain Switching
Range 0hellip10000
Default 0
Units -
When Enabled Immediately
Applicable Operating Mode Follower Analog Velocity Preset
MODBUS Address 125
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 75
Standard Drive Parameters Appendix A
[Pr - 126] Hysteresis of Gain Switching
Ultraware Name Gain Switching Hysteresis of Gain Switching
Range 0hellip10000
Default 0
Units -
When Enabled Immediately
Applicable Operating Mode Follower Analog Velocity Preset
MODBUS Address 126
[Pr - 127] Position Gain Switching Time
Ultraware Name Gain Switching Level of Gain Switching
Range 0hellip10000
Default 0
Units x 200usec
When Enabled Immediately
Applicable Operating Mode Follower Analog Velocity Preset
MODBUS Address 127
[Pr - 128] 2nd Velocity Regulator P Gain
Ultraware Name 2nd Regulator Gain P
Range 0hellip10000
Default 60
Units -
When Enabled Immediately
Applicable Operating Mode Follower Analog Velocity Preset
MODBUS Address 128
[Pr - 129] 2nd Velocity Regulator I Gain
Ultraware Name 2nd Regulator Gain Integrator Gain
Range 0hellip60000
Default 26
Units -
When Enabled Immediately
Applicable Operating Mode Follower Analog Velocity Preset
MODBUS Address 129
76 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 130] 2nd Position Regulator Kp Gain
Ultraware Name 2nd Regulator Gain Kp
Range 0hellip700
Default 20
Units Hz
When Enabled Immediately
Applicable Operating Mode Position
MODBUS Address 130
[Pr - 131] 2nd Current Command Lowpass Filter Bandwidth
Ultraware Name 2nd Regulator Gain Low Pass Bandwidth (IReg)
Range 0hellip10000
Default 300
Units Hz
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 131
[Pr - 132] 2nd Velocity Command Lowpass Filter Bandwidth
Ultraware Name 2nd Regulator Gain Low Pass Bandwidth (VReg)
Range 0hellip10000
Default 1000
Units Hz
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 132
[Pr - 133] 3rd Velocity Regulator P Gain
Ultraware Name 3rd Regulator Gain P Gain
Range 0hellip10000
Default 60
Units -
When Enabled Immediately
Applicable Operating Mode Follower Analog Velocity Preset
MODBUS Address 133
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 77
Standard Drive Parameters Appendix A
[Pr - 134] 3rd Velocity Regulator I Gain
Ultraware Name 3rd Regulator Gain Integrator Gain
Range 0hellip10000
Default 26
Units -
When Enabled Immediately Immediately
Applicable Operating Mode Follower Analog Velocity Preset
MODBUS Address 134
[Pr - 135] 3rd Position Regulator Kp Gain
Ultraware Name 3rd Regulator Gain Kp
Range 0hellip700
Default 20
Units Hz
When Enabled Immediately
Applicable Operating Mode Position
MODBUS Address 135
[Pr - 136] 3rd Current Command Lowpass Filter Bandwidth
Ultraware Name 3rd Regulator Gain Low Pass Bandwidth (IReg)
Range 0hellip10000
Default 300
Units Hz
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 136
[Pr - 137] 3rd Velocity Command Lowpass Filter Bandwidth
Ultraware Name 3rd Regulator Gain Low Pass Bandwidth (VReg)
Range 0hellip10000
Default 1000
Units Hz
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 137
78 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 138] 4th Velocity Regulator P Gain
Ultraware Name 4th Regulator Gain P
Range 0hellip10000
Default 60
Units -
When Enabled Immediately
Applicable Operating Mode Follower Analog Velocity Preset
MODBUS Address 138
[Pr - 139] 4th Velocity Regulator I Gain
Ultraware Name 4th Regulator Gain Integrator Gain
Range 0hellip60000
Default 26
Units
When Enabled Immediately
Applicable Operating Mode Follower Analog Velocity Preset
MODBUS Address 139
[Pr - 140] 4th Position Regulator Kp Gain
Ultraware Name 4th Regulator Gain Kp
Range 0hellip700
Default 20
Units Hz
When Enabled Immediately
Applicable Operating Mode Position
MODBUS Address 140
[Pr - 141] 4th Current Command Lowpass Filter Bandwidth
Ultraware Name 4th Regulator Gain Low Pass Bandwidth (IReg)
Range 0hellip10000
Default 300
Units Hz
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 141
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 79
Standard Drive Parameters Appendix A
[Pr - 142] 4th Velocity Command Lowpass Filter Bandwidth
Ultraware Name 4th Regulator Gain Low Pass Bandwidth (VReg)
Range 0hellip10000
Default 1000
Units Hz
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 142
80 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
Group 2 - Speed Control
[Pr - 200] Velocity Scale
Ultraware Name Velocity Scale
Range 100hellip20000
Default 5000
Units rpmV for rotary motors mmsec for linear motors
When Enabled Servo-Off -gt Setting
Applicable Operating Mode Analog Velocity
MODBUS Address 200 (1)
1 Refer to Output Function Status Parameter on page 23 for more detailed information on these parameters
[Pr - 201] Jog Velocity Command
Ultraware Name Velocity Control Panel Velocity Command
Range 0hellip6000
Default 50
Units rpm for rotary motors mmsec for linear motors
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 201
[Pr - 202] Acceleration
Ultraware Name Acceleration Limits Acceleration
Range 1hellip2147483647
Default 41667
Units 10-2Revsec2 for rotary mmsec2 for linear
When Enabled Immediately
Applicable Operating Mode Analog Velocity Input Preset Velocity
MODBUS Address 202
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 81
Standard Drive Parameters Appendix A
[Pr - 203] Deceleration
Ultraware Name Acceleration Limits Deceleration
Range 1hellip2147483647
Default 41667
Units 10-2Revsec2 for rotary mmsec2 for linear
When Enabled Immediately
Applicable Operating Mode Analog Velocity Input Preset Velocity
MODBUS Address 203
[Pr - 204] S-Curve Time
Ultraware Name Acceleration Limits S-Curve Time
Range 0hellip5000
Default 0
Units Ms
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 204
[Pr - 205] Preset Velocity 1
Ultraware Name Preset Velocity 1
Range -6000hellip6000
Default 0
Units rpm for rotary motors mmsec for linear motors
When Enabled Immediately
Applicable Operating Mode Preset
MODBUS Address 205
Pr - 206] Preset Velocity 2
Ultraware Name Preset Velocity 2
Range -6000hellip6000
Default 0
Units rpm for rotary motors mmsec for linear motors
When Enabled Immediately
Applicable Operating Mode Preset
MODBUS Address 206
82 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
Pr - 207] Preset Velocity 3
Ultraware Name Preset Velocity 3
Range -6000hellip6000
Default 0
Units rpm for rotary motors mmsec for linear motors
When Enabled Immediately
Applicable Operating Mode Preset
MODBUS Address 207
[Pr - 208] Preset Velocity 4
Ultraware Name Preset Velocity 4
Range -6000hellip6000
Default 0
Units rpm for rotary motors mmsec for linear motors
When Enabled Immediately
Applicable Operating Mode Preset
MODBUS Address 208
[Pr - 209] Preset Velocity 5
Ultraware Name Preset Velocity 5
Range -6000hellip6000
Default 0
Units rpm for rotary motors mmsec for linear motors
When Enabled Immediately
Applicable Operating Mode Preset
MODBUS Address 209
[Pr - 210] Preset Velocity 6
Ultraware Name Preset Velocity 6
Control Index 6
Range -6000hellip6000
Default 0
Units rpm for rotary motors mmsec for linear motors
When Enabled Immediately
Applicable Operating Mode Preset
MODBUS Address 210
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 83
Standard Drive Parameters Appendix A
[Pr - 211] Preset Velocity 7
Ultraware Name Preset Velocity 7
Range -6000hellip6000
Default 0
Units rpm for rotary motors mmsec for linear motors
When Enabled Immediately
Applicable Operating Mode Preset
MODBUS Address 211
[Pr - 212] Manual Velocity Limit
Ultraware Name Manual Velocity limit
Range 1hellip6000
Default 5000
Units rpm for rotary motors mmsec for linear motors
When Enabled Servo-Off -gt Setting
Applicable Operating Mode Follower Analog Velocity Preset
MODBUS Address 212
[Pr - 213] Velocity Limit Mode
Ultraware Name Velocity Limits Velocity Limit Mode
Range Value Description
0x0 Disabled
0x1 Limited by [Pr - 212]
0x2 Limited by Analog Speed Command Value (except Analog Speed Mode)
0x3 Limited by lesser one between [Pr - 212] and Analog Speed Command
Default 0
When Enabled Servo-Off -gt Setting
Applicable Operating Mode All
MODBUS Address 213
84 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
Group 3 - Position Control
[Pr - 300] Follower
Data Size 4 digits
Digit 0 Command Type
Ultraware Name Command Type
Range Value Description
0x0 Step UpStep Down Positive logic
0x1 Step UpStep Down Negative logic
0x2 StepDirection Positive Logic
0x3 StepDirection Negative Logic
0x4 Auxiliary Encoder x1
0x5 Auxiliary Encoder x2
0x6 Auxiliary Encoder x4
Default 0x0
Note For Command types 0x4 0x5 and 0x6Motor Counts = Master Lines MULT helliphelliphellip (4 Para301) Para302where MULT is 1 2 or 4 for command types 0x4 0x5 and 0x6 respectively
Applicable Operating Mode Follower
Digit 1 Controller Output Type
Ultraware Name Controller Output Type
Range Value Description
0x0 Use Low speed Line Drive Output in Host Controller for isolated electrical connection
0x1 Use Open Collector in Host Controller
0x2 Use High Frequency Line Drive Output in Host Controller
Default 0x0
Applicable Operating Mode Follower
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 85
Standard Drive Parameters Appendix A
Digit 2 Encoder Output Forward Direction
Ultraware Name Encoder Output Forward Direction
Range Value Description
0x0 During Forward Rotation Encoder Output Phase A have a lead of 90ordm over Phase B
0x1 During Forward Rotation Encoder Output Phase B have a lead of 90ordm over Phase A
Default 0x0
Applicable Operating Mode All
Digit 3 1st Gear ratio change
Ultraware Name 1st Gear ratio change
Range Value Description
0x0 Enable Only on Drive Disabled
0x1 Always Enable
Default 0x0
When Enabled Servo-Off -gt Setting
Applicable Operating Mode Follower
MODBUS Address 300
[Pr - 301] 1st Gear Ratio Follower Counts
Ultraware Name 1st Gear Ratio Numerator
Range 1hellip65535
Default 4
Units
When Enabled Servo-Off -gt Setting
Applicable Operating Mode Follower
MODBUS Address 301
[Pr - 300] (Continued) Follower
86 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 302] 1st Gear Ratio Master Counts
Ultraware Name 1st Gear Ratio Denominator
Range 1hellip65535
Default 1
Units
When Enabled Servo-Off -gt Setting
Applicable Operating Mode Follower
MODBUS Address 302
[Pr - 303] Encoder Output Ratio Output Counts
Ultraware Name Output Ratio Numerator
Range 1hellip32768
Default 1
Units
When Enabled Servo-Off -gt Setting
Applicable Operating Mode All
MODBUS Address 303
[Pr - 304] Encoder Output Ratio Motor Counts
Ultraware Name Output Ratio Numerator
Range 1hellip32768
Default 1
Units
When Enabled Servo-Off -gt Setting
Applicable Operating Mode All
MODBUS Address 304
[Pr - 305] 2nd Gear Ratio Follower Counts
Ultraware Name 2nd Gear Ratio Numerator
Range 1hellip65535
Default 4
Units
When Enabled Servo-Off -gt Setting
Applicable Operating Mode Follower
MODBUS Address 305
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 87
Standard Drive Parameters Appendix A
[Pr - 306] 2nd Gear Ratio Master Counts
Ultraware Name 2nd Gear Ratio Denominator
Range 1hellip65535
Default 1
Units
When Enabled Servo-Off -gt Setting
Applicable Operating Mode Follower
MODBUS Address 306
[Pr - 307] Reserved
When Enabled Reserved for future use
88 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 308] Digital Filter Cut-off Frequency
Data Size 3 digits
Digit 0 Low drive input
Value Description
0x0 hellip0x7 0 3MHz
1 175MHz
2 15MHz
3 1MHz
4 075MHz
5 0625MHz
6 0562MHz
7 0525MHz
Default = 1
Digit 1 Open collector input
Value Description
0x0 hellip0x7 0 3MHz
1 175MHz
2 15MHz
3 1MHz
4 075MHz
5 0625MHz
6 0562MHz
7 0525MHz
Default = 5
Digit 2 High frequency line drive input
0x0 hellip0x7 0 3MHz
1 175MHz
2 15MHz
3 1MHz
4 075MHz
5 0625MHz
6 0562MHz
7 0525MHz
Default = 0
When Enabled Servo-Off -gt Setting
Applicable Operating Mode All
MODBUS Address 308
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 89
Standard Drive Parameters Appendix A
Group 4 - Torque Controls
[Pr - 400] Current Scale
Ultraware Name Current Scale
Range 0hellip1000
Default 333
Units of rated continuous currentV
When Enabled Servo-Off -gt Setting
Applicable Operating Mode Analog Current command Dual current Command
MODBUS Address 400
[Pr - 401] Positive Internal Current Limit
Ultraware Name Current Limits Positive Internal
Range 0hellip500
Default 300
Units of motor rated continuous current
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 401
[Pr - 402] Negative Internal Current Limit
Ultraware Name Current Limits Negative Internal
Range 0hellip500
Default 300
Units of motor rated continuous current
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 402
[Pr - 403] Positive External Current Limit
Ultraware Name Current Limits Positive External
Range 0hellip500
Default 100
Units of motor rated continuous current
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 403
90 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[
Pr - 404] Negative External Current Limit
Ultraware Name Current Limits Negative External
Range 0hellip500
Default 100
Units of motor rated continuous current
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 404
[Pr - 405] Overtravel Current Limit
Ultraware Name Stopping Functions Maximum Stopping Current
Range 0hellip500
Default 300
Units of motor rated continuous current
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 405
[Pr - 406] Initial Current Bias
Ultraware Name Initial Current Bias
Description Constant current applied when the drive enables Meant to hold vertical loads
Range -100hellip100
Default 0
Units of motor rated continuous current
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 406
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 91
Standard Drive Parameters Appendix A
Group 5 - Supplemental Drive Controls
[Pr - 500] In Position Size
Ultraware Name Position Functions In Position Size
Description If position error lt In Position Size for 1 ms and the In Position Size output signal is assigned the In Position output is turned ON
Range 0hellip2500
Default 10
Units Counts
When Enabled Immediately
Applicable Operating Mode Follower
MODBUS Address 500
[Pr - 501] Reserved
When Enabled Reserved for future use
[Pr - 502] Near Position Size
Ultraware Name Position Functions Near Position Size
Description If position error lt Near Position Size and the Near Position output signal is assigned the Near Position output is turned ON
Range 0hellip2500
Default 20
Units Counts
When Enabled Immediately
Applicable Operating Mode Follower
MODBUS Address 502
92 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 503] Speed Window
Ultraware Name Speed Functions Speed Window
Description If the speed error lt Speed Window for 10 ms and the Within Speed Window output signal is assigned then the Within Speed Window output is turned ON
Range 0hellip1000
Default 10
Units rpm for rotary motors mmsec for linear motors
When Enabled Immediately
Applicable Operating Mode Follower Analog Velocity Input Preset
MODBUS Address 503
[Pr - 504] Up to Speed
Ultraware Name Speed Functions Up to Speed
Description If the motor speed gt Up to Speed and the Up to Speed output signal is assigned then the Up to Speed output is turned ON
Range 1hellip5000
Default 20
Units rpm for rotary motors mmsec for linear motors
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 504
[Pr - 505] Zero Clamp
Ultraware Name Speed Functions Zero Clamp
Description If the Analog Speed command lt Zero Clamp then the Analog Speed command is ignored and the Motor Speed command is set to zero
Range 1hellip5000
Default 20
Units rpm for rotary motors mmsec for linear motors
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 505
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 93
Standard Drive Parameters Appendix A
[Pr - 506] Brake Inactive Delay
Ultraware Name Digital Outputs Brake Inactive Delay
Description Brake Inactive delay is the time from when the drive is enabled to when the brake is released
Range 0hellip10000
Default 0
Units ms
When Enabled Immediately
Applicable Operating Mode Servo-Off -gt Setting
MODBUS Address 506
[Pr - 507] Disable Delay
Ultraware Name Stopping Functions Disable Delay
Description Disable Delay is the time from when the Drive Disable command is received to when the Drive Disable command is actually executed
Range 0hellip10000
Default 0
Units ms
When Enabled All
Applicable Operating Mode Servo-Off -gt Setting
MODBUS Address 507
[Pr - 508] Brake Active Delay
Ultraware Name Digital Outputs Brake Active Delay
Description Brake Active Delay is the time from when the drive is disabled to when the break starts operating
Range 0hellip10000
Default 500
Units ms
When Enabled All
Applicable Operating Mode Servo-Off -gt Setting
MODBUS Address 508
94 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 509] Disabled Braking Speed
Ultraware Name Stopping Functions Braking Application Speed
Description The Disabled Braking Speed is the feedback speed below which the motor break is engaged after disabling the drive
Range 0hellip1000
Default 100
Units rpm for rotary motors mmsec for linear motors
When Enabled All
Applicable Operating Mode Servo-Off -gt Setting
MODBUS Address 509
[Pr - 510] Following Error Limit
Ultraware Name Following Error Limit
Description A following error fault occurs when the difference between position command and actual position is greater than this parameter
Range 0hellip2147483647
Default 99999
Units Counts
When Enabled Immediately
Applicable Operating Mode Follower
MODBUS Address 510
[Pr - 511] Reserved
When Enabled Reserved for future use
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 95
Standard Drive Parameters Appendix A
[Pr - 512] AC line loss fault delay
Ultraware Name AC Line Loss Fault Delay
Description The AC Line Loss Fault is inhibited for this amount of time when a loss of AC power is detected
Range 20hellip1000
Default 20
Units ms
When Enabled Servo-Off -gt Setting
Applicable Operating Mode All
MODBUS Address 513
[Pr - 513] Analog Output CH1 Selection
Ultraware Name Analog Output 1 Signal
Range 0hellip28 (except 15232526)
Default 0
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 514
[Pr - 514] Analog Output CH2 Selection
Ultraware Name Analog Output 2 Signal
Range 0hellip28 (except 15232526)
Default 1
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 516
[Pr - 515] Analog Output CH1 Scale
Ultraware Name Analog Output 1 Scale
Range 1 hellip99999
Units Units depend on the channel selected in [Pr - 513]
Default 500
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 518
96 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 516] Analog Output CH2 Scale
Ultraware Name Analog Output 2 Scale
Range 1hellip99999
Units Units depends on the channel selected in [Pr - 514]
Default 500
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 520
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 97
Standard Drive Parameters Appendix A
Group 6 - Supplemental Gain and Report Settings
[Pr - 600] Analog Velocity Command Offset
Ultraware Name Velocity Command Offset
Range -10000hellip10000
Default 0
Units 01 mV
When Enabled Servo-Off -gt Setting (ENG Mode)
Applicable Operating Mode Analog Velocity Command
[Pr - 601] Analog Current Command Offset
Ultraware Name Current Command Offset
Range -10000hellip10000
Default 0
Units 01 mV
When Enabled Servo-Off -gt Setting (ENG Mode)
Applicable Operating Mode Analog Current Command
[Pr - 602] U Phase Current Sensing Offset
Ultraware Name Calibration U Phase Current Offset
Range -60000hellip60000
Default 0
Units 001 mA
When Enabled Servo-Off -gt Setting (ENG Mode)
Applicable Operating Mode All
[Pr - 603] W Phase Current Sensing Offset
Ultraware Name Calibration W Phase Current Offset
Range -60000hellip60000
Default 0
Units 001 mA
When Enabled Servo-Off -gt Setting (ENG Mode)
Applicable Operating Mode All
98 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 604] A lead B Swap
Ultraware Name A lead B Swap
Description Select A-lead-B or B-lead-A
Data Size 1 digit
Range Value Description
0 Disable
1 Enable
Default 0
Unit -
When Enabled Servo-Off -gt Setting -gt After power cycle (ENG Mode)
Applicable Operating Mode All
[Pr - 605] Dynamic Brake Circuit Protection
Ultraware Name Dynamic Brake Circuit Protection
Description The Dynamic Brake Circuit Protection is inhibited that the motor DB braking current is too large for the drive
Data Size 1 digit
Range Value Description
0 Disable
1 Enable
Default 1
Units -
When Enabled Servo-Off -gt Setting (ENG Mode)
Applicable Operating Mode All
[Pr - 606] Fault Detail Sampling Period
Ultraware Name Fault Detail Setup Sample Period
Range 1hellip100
Default 5
Units 02 ms
When Enabled Immediately (ENG Mode)
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 99
Standard Drive Parameters Appendix A
[Pr - 607] Fault Detail Data Selection 1
Ultraware Name Fault Detail Setup Channel A
Description Refer to Monitor Variables on page 135 for more information on the range options
Range 0hellip28 (except 15 23 25 and 26)
Default 0
When Enabled Immediately (ENG Mode)
[Pr - 608] Fault Detail Data Selection 2
Ultraware Name Fault Detail Setup Channel B
Description Refer to Monitor Variables on page 135 for more information on the range options
Range 0hellip28 (except 15 23 25 and 26)
Default 3
When Enabled Immediately (ENG Mode)
[Pr - 609] Fault Detail Data Selection 3
Ultraware Name Fault Detail Setup Channel C
Description Refer to Monitor Variables on page 135 for more information on the range options
Range 0hellip28 (except 15 23 25 and 26)
Default 11
When Enabled Immediately (ENG Mode)
[Pr - 610] Fault Detail Data Selection 4
Ultraware Name Fault Detail Setup Channel D
Description Refer to Monitor Variables on page 135 for more information on the range options
Range 0hellip28 (except 15 23 25 and 26)
Default 16
When Enabled Immediately (ENG Mode)
100 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 611] 1st Resonant Frequency Suppression Filter
Ultraware Name Main Current Regulator Gains 1st Resonant Frequency Suppression Filter
Description Suppresses Vibration by cutting off Current Command in assigned frequency band
Range 0hellip10000
Default 10000
Units Hz
When Enabled Immediately (Read Parameter for ENG)
Applicable Operating Mode All
[Pr - 612] 2nd Resonant Frequency Suppression Filter
Ultraware Name Main Current Regulator Gains 1st Resonant Frequency Suppression Filter
Description Suppresses Vibration by cutting off Current Command in assigned frequency band
Range 0hellip10000
Default 10000
Units Hz
When Enabled Immediately (Read Parameter for ENG)
Applicable Operating Mode All
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 101
Standard Drive Parameters Appendix A
Group 7 - Manufacturing Settings
This parameter group includes product settings that are programmed during the manufacturing process
IMPORTANT Group 7 - Manufacturing Settings are programmed at the factory Do not modify these settings as they provide a common drive setup that is useful when you bull develop a drive system or troubleshooting a drive or bull seek assistance through Rockwell Automation Technical
Support
[Pr - 700] Drive Capacity
Ultraware Name Drive Model
Range 50hellip1500
Default Factory settings determine default
Units W
When Enabled Servo-Off -gt Setting -gt After power cycle (ENG mode)
Applicable Operating Mode All
[Pr - 701] DC Bus Voltage Offset
Ultraware Name Calibration DC Bus Voltage Offset
Range -100hellip100
Default 0
Units V
When Enabled Servo-Off -gt Setting -gt After power cycle (ENG mode)
Applicable Operating Mode All
[Pr - 702] Reservedl
When Enabled Reserved for future use
102 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 703] Analog Monitor Output CH1 Offset
Ultraware Name Calibration Analog Output CH1 Offset
Range -1000hellip1000
Default 0
Units mV
When Enabled Servo-Off -gt Setting -gt After power cycle (ENG mode)
Applicable Operating Mode All
[Pr - 704] Analog Monitor Output CH1 Scaling
Ultraware Name Calibration Analog Output CH1 Scale
Range -1000hellip1000
Default 0
Units -
When Enabled Servo-Off -gt Setting -gt After power cycle (ENG mode)
Applicable Operating Mode All
[Pr - 705] Analog Monitor Output CH2 Offset
Ultraware Name Calibration Analog Output CH2 Offset
Range -1000hellip1000
Default 0
Units mV
When Enabled Servo-Off -gt Setting -gt After power cycle (ENG mode)
Applicable Operating Mode All
[Pr - 706] Analog Monitor Output CH2 Scaling
Ultraware Name Calibration Analog Output CH2 Scale
Range -1000hellip1000
Default 0
Units -
When Enabled Servo-Off -gt Setting -gt After power cycle (ENG mode)
Applicable Operating Mode All
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 103
Standard Drive Parameters Appendix A
Group 8 - Reserved Parameters
Group 8 parameters are reserved
[Pr - 707] DC Bus Measurement Scaling Calibration
Ultraware Name Calibration DC Bus ADC Calibration
Description This parameter is a calibration adjustment to the ideal ADC scaling The scaling adjustment range is -100 to +100 so the ADC scaling can be adjusted from 2 the ideal scaling to zero
Range -1000hellip1000
Default 0 (no adjustment)
Units 0001
When Enabled Servo-Off -gt Setting -gt After power cycle (ENG mode)
Applicable Operating Mode All
104 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
Group 9 - Motor Controls
[Pr - 900] Standard Motor Flag
Ultraware Name General Motor Flag
Range Value Description
0 Custom
1 Standard
Default 1
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 901] Motor Type
Ultraware Name General Motor Type
Range Value Description
0 Rotary
1 Linear
2 Reserved
3 Reserved
Default 0
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 902] Motor Resistance
Ultraware Name Electrical Resistance
Range 1hellip65535
Units Ohms 256
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 903] Motor Inductance
Ultraware Name Electrical Inductance
Range 1hellip65535
Units mH 256
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 105
Standard Drive Parameters Appendix A
[Pr - 904] Motor Intermittent Current
Ultraware Name Ratings Intermittent Current
Range 1hellip32767
Units A 128
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 905] Motor Continuous Current
Ultraware Name Ratings Continuous Current
Range 1hellip32767
Units A 128
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 906] Motor Rated Voltage
Ultraware Name Electrical Rated Voltage
Range 10hellip1000
Units V
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 907] Encoder Type
Ultraware Name Feedback Encoder
Range
Value Description
1 Incremental
4 Serial Incremental
5 Serial Absolute
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 908] Hall Offset
Ultraware Name Feedback Hall Input Offset
Range 0hellip359
Units Electrical degree
When Enabled Servo-Off -gt Setting -gt After power cycle
106 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 909] Current Constant
Ultraware Name General Torque Constant
Range 1hellip65535
Units N m A 4096
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 910] Motor Inertia
Ultraware Name General Inertia
Range 1hellip2147483647
Units Kgcm2 65536
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 911] PolesRevolution
Ultraware Name General PolesRevolution
Range 2hellip100
Units Poles
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 912] Encoder Lines Revolution
Ultraware Name General LinesRevolution
Range 100hellip1000000
Units Poles
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 913] Maximum Rotary Speed
Ultraware Name Ratings Maximum Speed
Range 10hellip32767
Units rpm
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 107
Standard Drive Parameters Appendix A
[Pr - 914] Force Constant
Ultraware Name General Force Constant
Range 1hellip32767
Units 16
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 915] Motor Mass
Ultraware Name General Mass
Range 1 hellip2147483647
Units Kg 65536
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 916] Electrical Cycle Length
Ultraware Name General Electrical Cycle
Range 100hellip10000
Units mm 10
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 917] Encoder Lines Meter
Ultraware Name Feedback LinesMeter
Range 4000hellip10000000
Units Lines
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 918] Maximum Linear Speed
Ultraware Name Ratings Maximum Speed
Range 32hellip32767
Units m s 256
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
108 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 919] Motor Thermal Protection Enable
Ultraware Name Thermal Software Protection
Range 0 = Disabled
1 = Enabled
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 920] Motor Thermostat
Ultraware Name Thermal Integral Thermostat
Range 0 = Disabled
1 = Enabled
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 921] Motor Thermal Resistance Winding to Encoder
Ultraware Name Thermal Rth (w-e)
Range 1hellip2147483647
Units degCWatt 65536
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 922] Motor Thermal Capacitance Winding to Encoder
Ultraware Name Thermal Cth (w-e)
Range 1hellip2147483647
Units JdegC 256
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 923] Motor Thermal Resistance Winding to Ambient
Ultraware Name Thermal Rth (w-a)
Range 1hellip2147483647
Units degCWatt 65536
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 109
Standard Drive Parameters Appendix A
[Pr - 924] Motor Thermal Capacitance Winding to Ambient
Ultraware Name Thermal Cth (w-a)
Range 1hellip2147483647
Units JdegC 256
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 925] Commutation Type
Ultraware Name Feedback Commutation
Range
Value Description
0 Brush
1 Trapezoidal
2 Sinusoidal
Applicable Operating Mode All
[Pr - 926] Start-up Commutation
Ultraware Name Feedback Sinusoidal Startup
Range Value Description
0 Self Sensing
1 Hall Inputs
2 Serial
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 927] Integral Limits
Ultraware Name General Integral Limits
Range 0hellip1
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
110 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 929 hellip Pr - 949] Reserved
When Enabled Reserved for future use
[Pr - 950] Motor Model
Ultraware Name Motor Model
Range 32 bytes character string
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 951] Drive Name
Ultraware Name Name
Range 32 bytes character string
Applicable Operating Mode All
[Pr - 952] Position Scaling Data
Ultraware Name Motor Encoder Units Position Scale
Range 8 bytes character string
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 953] Position Scaling Label
Ultraware Name Motor Encoder Units Position Label
Range 16 bytes character string
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
Pr - 954] Velocity Scaling Data
Ultraware Name Motor Encoder Units Velocity Scale
Range 8 bytes character string
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 111
Standard Drive Parameters Appendix A
[Pr - 955] Velocity Scaling Label
Ultraware Name Motor Encoder Units Velocity Label
Range 16 bytes character string
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 956] Acceleration Scaling Data
Ultraware Name Motor Encoder Units Acceleration Scale
Range 8 bytes character string
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 957] Acceleration Scaling Label
Ultraware Name Motor Encoder Units Acceleration Label
Range 16 bytes character string
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
112 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 958] Scope Config
Range 32 bytes character string
Data Size 21 digits
Applicable Operating Mode All
Digits Digits Description
0hellip1 Channel A Signal See Monitor Variables
2hellip3 Channel B Signal See Monitor Variables
4 Channel A Scale Type
0hellip1 0 - Auto (Default) 1- Manual
5 Channel B Scale Type
0hellip1 0 - Auto (Default) 1 - Manual
6hellip7 Sample Period
8hellip9 Samples per division
10hellip12 Trigger Signal See Monitor Variables
13 Trigger Mode
0 - Immediate
1 - Falling Edge
2 -Rising Edge
14 Pretrigger Percentage (10)
15hellip22 Trigger Threshold
Default 0x00000000000000100510011E05000100
When Enabled Servo-Off -gt Setting -gt After power cycle
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 113
Standard Drive Parameters Appendix A
[Pr - 959] Scope Scaling
Range 32 bytes character string
Data Size 32 digits
Digits Digits Description
0hellip7 Channel A Scale
8hellip15 Channel A Offset
16hellip23 Channel B Scale
24hellip31 Channel B Offset
Default 0x00000000000000000000000000000000
Ultraware Name Displayed Units
Range 1 byte character string
0 = Metric
1 = English
2 = User units
Default 0
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 960] Displayed Units
Ultraware Name Displayed Units
Range 1 byte character string
0 = Metric
1 = English
2 = User units
Default 0
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
114 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
Notes
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 115
Appendix B
Indexing Drive Parameters
Parameters control Kinetix 3 drive operations They are grouped by the type of drive Indexing or Standard and the drive settings they define
Descriptions of Standard Drive Parameters begin on page 45
Parameter Groupings Indexing drive parameters are grouped into these drive settings bull Group 0 - Indexing drive system and IO settings bull Group 1 - Homing controls bull Group 2 - Indexing operations bull Group 3 - Indexing move profiling bull Group 4 - Indexing position and distance setting bull Group 5 - Registration settings bull Group 6 - Batch count operations bull Group 7 - Dwell settings bull Group 8 - Velocity settings bull Group 9 - Move profile settings bull Group 10 - Acceleration settings bull Group 11 - Deceleration settings bull Group 12 - Next Index settings
116 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix B Indexing Drive Parameters
Parameter Descriptions Parameter descriptions list the size of each parameter and the data options within the parameter
Descriptions for Standard Drive Parameters begin on page 45
Group 0 - Indexing System
[IN0000] Auto Start Indexing
Ultraware Name Auto Start Indexing
Description When this field is set to ON the drive will begin executing the selected index whenever the drive enables
Range Value Description
0 OFF
1 ON
Default 0
Units NA
Access Set
Changeable Status Always
When Enabled Power Cycling
Applicable Operating Mode Indexing
MODBUS Address 5000
[IN0001] Abort Index Deceleration
Ultraware Name Abort Index Decel
Description The deceleration used to stop motion when the Stop Index input terminates an index move
Range Value Description
1 hellip2147483647 10minus2 Revsec2 for rotary mmsec2 for linear
Default 6250
Access Set
Changeable Status Always
When Enabled Power Cycling
Applicable Operating Mode Indexing
MODBUS Address 5001
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 117
Indexing Drive Parameters Appendix B
[IN0002] Positive Deceleration Distance
Ultraware Name Positive Deceleration Distance
Range Value Description
0 hellip2147483647 The stopping distance used when the drive encounters a positive overtravel limit
Default 0
Units Counts
Access Set
Changeable Status Always
When Enabled Always
Applicable Operating Mode Indexing
MODBUS Address 5002 hellip5003
[IN0003] Negative Deceleration Distance
Ultraware Name Negative Deceleration Distance
Range Value Description
0 hellip2147483647 The stopping distance used when the drive encounters a negative overtravel limit
Default 0
Units Counts
Access Set
Changeable Status Always
When Enabled Always
Applicable Operating Mode Indexing
Ultraware Name Positive Deceleration Distance
MODBUS Address 5004 hellip5005
118 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix B Indexing Drive Parameters
[IN0004] Enable Software Limits
Ultraware Name Enable Software Limits
Description Controls software overtravel limits of the axis
Range Value Description
0 Off Turns off software overtravel limit checking
1 On Causes the drive to compare the motor feedback position to the Positive and Negative Software Limits below to determine if the drive has exceeded an overtravel limit
Default 0
Units NA
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5006
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 119
Indexing Drive Parameters Appendix B
[IN0005] Positive Software Limit
Ultraware Name Positive Software Limit
Description If the motor feedback position is greater than this value the drive has exceeded the software overtravel limit
Range Value Description
-2147483647 hellip2147483647
Positive software overtravel limit
Default 2147483647
Units Counts
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5007
[IN0006] Negative Software Limit
Ultraware Name Negative Software Limit
Description If the motor feedback position is greater than this value the drive has exceeded the software overtravel limit
Range Value Description
-2147483647 hellip2147483647
Negative software overtravel limit
Default -2147483647
Units Counts
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5008
120 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix B Indexing Drive Parameters
Group 1 - Homing
[IN0100] Homing Type
Ultraware Name Homing Type
Description Select the type of homing operation the drive will perform
Range Value Description
0 Home to Present Position
1 To Home sensorBack to Marker (default)
2 To LimitBack to Marker
3 To Home sensorFwd to Marker
4 To LimitFwd to Marker
5 Home to Current Value
6 Home to Current ValueBack to Marker
7 To Home Sensor Move Fwd to Marker
8 Home to Marker
Default 1
Units NA
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5200
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 121
Indexing Drive Parameters Appendix B
[IN0101] Auto Start Homing on Enable
Ultraware Name Auto Start Homing on Enable
Description Causes the drive to begin the homing procedure automatically when the drive is enabled
Range Value Description
0 Active Automatically starts homing every time the drive is enabled
1 Active After Reset Only automatically starts homing when a drive is enabled if the drive has not already been homed
2 Inactive
Default 2
Units NA
Access Set
Changeable Status Always
When Enabled Power cycling
Applicable Operating Mode Indexing
MODBUS Address 5201
[IN0102] Homing Velocity
Ultraware Name Homing Velocity
Description The commanded velocity used during homing The sign of the this value (+-) indicates the direction of motion during homing
Range Value Description
-6000 hellip6000 rpm for rotary motors mmsec for linear motors
Default 100
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5202
122 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix B Indexing Drive Parameters
[IN0103] Creep Velocity
Ultraware Name Creep Velocity
Description For the To Sensor then Back to Marker Homing Type the velocity used for all remaining homing motion after the motor decelerates to a stop when it finds the sensor edge
Range Value Description
0 hellip6000 The velocity used for all homing motion after the motor decelerates to a stop at the sensor edge
Default 20
Units rpm for rotary motors mmsec for linear motors
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5203
[IN0104] Homing AccelerationDeceleration
Ultraware Name Homing AccelerationDeceleration
Description The rate of acceleration and deceleration used during homing
Range Value Description
1 hellip2147483647 The velocity used for all homing motion after the motor decelerates to a stop at the sensor edge
Default 6250
Units 10minus2 Revsec2 for rotary mmsec2 for linear
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5204 hellip5205
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 123
Indexing Drive Parameters Appendix B
[IN0105] Offset Move Distance
Ultraware Name Offset Move Distance
Description The distance the motor position is from the marker edge after the homing sequence is complete For Sensor Only Homing the distance the motor position is from the sensor edge after the homing sequence is complete
Range Value Description
-2147483647 hellip2147483647
Digital input state communicated to the drive when the Home Sensor input becomes active
Default 0
Units Counts
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5206 hellip5207
[IN0106] Home Sensor Polarity
Ultraware Name Home Sensor Polarity
Description Specifies the digital input state communicated to the drive when the Home Sensor input becomes active
Range Value Description
0 Active-Going Transition
1 Inactive-Going Transition
Default 0
Units Counts
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5208
124 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix B Indexing Drive Parameters
[IN0107] Home Position
Ultraware Name Home Position
Description The home position when a homing procedure is completed
Range Value Description
-2147483647 hellip2147483647
Digital input of the home position
Default 0
Units Counts
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5209 hellip5210
[IN0108] Moving Distance After Home Sensor
Ultraware Name Moving Distance After Home Sensor
Description This value is distance that the drive ignores the marker inputs after the home sensor is detected
Range Value Description
0 hellip2147483647 Distance the drive ignores the marker inputs after home is detected
Default 0
Units Counts
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5211 hellip5212
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 125
Indexing Drive Parameters Appendix B
[IN0109] Home Current
Ultraware Name Home Current
Description Specifies the torque feedback at which the drive stops moving the motor at the Homing Velocity
Range Value Description
1 hellip250 Percent of motor torque feedback
Default 100
Units Percentage of a motor rating torque
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5213
[IN0110] Home Current Time
Ultraware Name Home Current Time
Description Specifies the torque feedback at which the drive stops moving the motor at the Homing Velocity
Range Value Description
1 hellip1000 Percent of motor torque rating
Default 100
Units Percentage of motor torque rating
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5214
126 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix B Indexing Drive Parameters
[IN0111] Homing Time Limit
Ultraware Name Homing Time Limit
Description Drive fault when time for homing exceeds the homing time limit
Range Value Description
0 hellip65535 Homing time limit in seconds
Default 60
Units seconds
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5215
[IIN0112] Stop Home Deceleration
Ultraware Name Stop Home Decel
Description The rate of drive deceleration used when homing is stopped
Range Value Description
1 hellip2147483647 Rate of drive deceleration when homing is stopped
Default 6250
Units NA
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5216 hellip5217
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 127
Indexing Drive Parameters Appendix B
Group 2 - Indexing Options
[IN0200] hellip[IN0263] Index 0hellip63 Type and Action When Complete
Description Digit 0 homes the axis and digit 2 controls execution of the index move command
Digit 0 Homes the axis before the drive can executes any index
Ultraware Name Index 0hellip63 Option Type
Range Value Description
0 Absolute moves from its starting position to the specified Position below
1 Incremental moves from its starting position the specified Distance below
Default 1
Digit 1 Controls execution of the index move command after homing
Ultraware Name Index 0hellip63 Action When Complete
Range Value Description
0 Stop ends the execution of indexed move commands
1 Start next index commands execution of the Next Index move without additional input but after the scheduled Dwell
2 Wait for Start commands execution of the Next Index move the next time the Start Index input becomes active
Default 0
Access Set
Changeable Status Always
When Enabled Always
Applicable Operating Mode Indexing
MODBUS Address 5400 hellip5463
128 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix B Indexing Drive Parameters
Group 3 - Index Move Profile
These values are reserved for future use
Group 4 - Index PositionDistance
Group 5 - Index Registration Distance
These values are reserved for future use
Group 6 - Index Batch Count
These values are reserved for future use
[IN0400[hellip[IN0463] Index 0hellip63 PositionDistance
Ultraware Name Index 0hellip63 PositionDistance
Description Position For Absolute mode moves the fixed position to which the motor will travel Distance For Incremental and Registration mode moves the relative distance the motor will travel
Range Value Description
-2147483647 hellip2147483647
Counts
Default 1000
Access Set
Changeable Status Always
When Enabled Always
Applicable Operating Mode Indexing
MODBUS Address 5800 hellip5927
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 129
Indexing Drive Parameters Appendix B
Group 7 - Index Dwell
Group 8 - Index Velocity
Group 9 - Index Move Profile
These values are reserved for future use
[IN0700] hellip[IN0763] Index 0hellip63 Dwell
Ultraware Name Index 0hellip63 Dwell
Description Milliseconds to remain at current position before executing
Range Value Description
0 hellip65535 ms
Default 0
Access Set
Changeable Status Always
When Enabled Always
Applicable Operating Mode Indexing
MODBUS Address 6400 hellip6463
[IN0800] Index 0hellip63 Velocity
Ultraware Name Index 0hellip63 Velocity
Description Maximum velocity while in motion
Range Value Description
0 hellip6000 rpm for rotary motors mmsec for linear motors
Default 750
Access Set
Changeable Status Always
When Enabled Always
Applicable Operating Mode Indexing
MODBUS Address 6600 hellip6663
130 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix B Indexing Drive Parameters
Group 10 - Index Acceleration
Group 11 - Index Deceleration
[IN1000]hellip[IN1063] Index 0hellip63 Acceleration
Ultraware Name Index 0hellip63 Acceleration
Description Maximum acceleration while in motion
Range Value Description
1 hellip2147483647 10minus2 Revsec2 for rotary mmsec2 for linear
Default 6250
Access Set
Changeable Status Always
When Enabled Always
Applicable Operating Mode Indexing
MODBUS Address 7000 hellip7127
[IN1100]hellip[IN1163] Index 0hellip63 Deceleration
Ultraware Name Index 0hellip63 Deceleration
Description Maximum deceleration while in motion
Range Value Description
1 hellip2147483647 10minus2 Revsec2 for rotary mmsec2 for linear
Default 6250
Access Set
Changeable Status Always
When Enabled Always
Applicable Operating Mode Indexing
MODBUS Address 7200 hellip7327
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 131
Indexing Drive Parameters Appendix B
Group 12 - Index Next Index
[IN1200]hellip[IN1263] Index 0hellip63 Next Index
Ultraware Name Index 0hellip63 Next Index
Description The number (0hellip63) of the next indexed move to execute when Action When Complete is not set to STOP
Range Value Description
0hellip63 Value of the next indexed move
Default 0
Access Set
Changeable Status Always
When Enabled Always
Applicable Operating Mode Indexing
MODBUS Address 7400 hellip7464
132 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix B Indexing Drive Parameters
Notes
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 133
Appendix C
Warnings and Fault Codes
This Appendix lists the Warnings and Fault Codes for Kinetix 3 drives
Warnings Warnings are drive abnormalities that allow motor control to continue A three-digit text message is displayed using the last segments of the display
Fault Codes Faults are serious abnormalities that cause loss of motor control The Status indicator alternates between a three-digit error code preceded by the letter E and a five-digit text message This error message repeats until the problem is cleared
Warning Number
Warning Display Description
0x01 BAT Absolute encoder battery warning
0x02 CNT Absolute encoder counter overflow
0x04 PRE Power-up overspeed warning
0x08 OCC Over current command warning
0x10 OSC Over speed command warning
0x20 PIN Digital IO assignment warning
0x40 CAP Over motor rated output power warning
Fault Code Internal Fault Code
Fault Display Fault Name
E004 0x22 MTROT Motor over temperature
E005 0x11 IPMFT IPM
E009 0x41 UDVTG Bus under voltage fault
E010 0x40 OVVTG Bus over voltage fault
E012 0x73 HFAIL Home search failed
E018 0x50 OVSPD Motor over speed fault
E019 0x51 POSER Excess position error fault
E022 0x25 CONOL Motor continuous current overload
E023 0x27 DRVOL Drive overload fault
E025 0x72 SENSR Sensor unassigned
E027 0x74 NOTHM Axis not homed
E028 0x36 ENCDE Encoder data range fault
E030 0x31 ENCOP Encoder cable open fault
134 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix C Warnings and Fault Codes
E031 0x38 ENCPE Encoder data parameter fault
E036 0x24 DRVOT Drive over temperature
E037 0x42 ACOFF AC Line Loss Fault
E053 0x63 PINIT User parameter initialization fault
E054 0x13 OFSET Current feedback offset
E055 0x61 CHSUM User parameter checksum fault
E056 0x53 CPUFT Watchdog timeout fault
E057 0x10 HWARE PWM hardware
E058 0x62 RANGE User parameter range fault
E060 0x70 DINIT Drive initialization fault
E075 0x23 SHTOL Shunt overload protection
E079 0x12 SHTOC Shunt circuit over current
E083 0x33 ABSBE Absolute encoder battery fault
E084 0x34 ABSOS Absolute encoder overspeed
E085 0x35 ABSCT Absolute multi-turn count fault
E086 0x37 ENCCT Encoder single-turn count fault
E100 0x71 SETUP Drive set-up fault
E101 0x20 CABLE Motor power cable open
E102 0x21 INSOL Motor instantaneous current overload
E103 0x28 MATCH Motor mismatch fault
E104 0x26 PWROL Continuous power overload
E105 0x30 ENCTP Encoder type mismatch fault
E106 0x32 ENCCE Encoder communication fault
E107 0x60 SERCE Serial communication fault
E108 0x52 CDFRE Position command frequency fault
E112 0x54 ESTOP Emergency stop
E113 0x64 IRANG Indexing position range overflow
E114 0x14 OVCUR Motor phase over current
Fault Code Internal Fault Code
Fault Display Fault Name
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 135
Appendix D
Monitor Variables
Ultraware limits the number of variables that can be monitored to thirty-one (variables 0 through 30) However in customer applications additional monitor variables may be used
For example monitoring of variable 32 Selected index cannot be performed by Ultraware software because this variable is outside the range of Ultraware However a customer program that supports thirty-two variables or more can monitor this variable
Variables The table below lists the variables for monitoring a Kinetix 3 drive
Variable Name Unit
No Hex
0 0x00 Velocity feedback rpm
1 0x01 Velocity command rpm
2 0x02 Velocity error rpm
3 0x03 Current command
4 0x04 Follower position counts
5 0x05 Master position counts
6 0x06 Position error counts
7 0x07 Position command count frequency Kpps
8 0x08 Commutation angle ordm (degrees)
9 0x09 Mechanical angle ordm (degrees)
10 0x0A Shunt power limit ratio
11 0x0B Bus voltage V
12 0x0C Absolute rotations rev
13 0x0D Velocity command offset mV
14 0x0E Current command offset mV
15 0x0E Input and 0utput state Refer to Variable 15 - Digital Inputs and Outputs on page 137 for more information
16 0x0F U phase current 0001A
17 17 V phase current 0001A
18 18 W phase current 0001A
19 19 Motor temperature
136 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix D Monitor Variables
20 0x10 Analog command -velocity 001V
21 0x11 Analog command - current 001V
22 0x12 Current feedback 0001A
23 0x13 Hall states (wvu) digital
24 0x14 Motor feedback position counts
25 0x15 Digital input function state Refer to Variable 25 - Digital Inputs on page 137 for more information
digital
26 0x16 Digital output function state Refer to Variable 26 - Digital Outputs on page 138 for more information
Digital
27 0x17 Instantaneous shunt power Watts
28 0x18 Drive utilization
29 0x19 Indexing input function state Refer to Variable 29 - Indexing Inputs on page 138 for more information
digital
30 0x1A Indexing output function state Refer to Variable 30 - Indexing Outputs on page 139 for more information
digital
31 0x1B CPLD version
32 0x1C Selected index digital
33 0x1D Periodic counter Range 0 hellip512 Units counts 1 count = 2 ms
Variable (Continued) Name Unit
No Hex
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 137
Monitor Variables Appendix D
Compiled Variables The tables below list variables that compile data to more effectively monitor specific aspects of a Kinetix 3 drive
Variable 15 - Digital Inputs and Outputs
Monitoring of IO status is provided by Variable 15 - Digital Inputs and Outputs Digital inputs [Pr - 017] hellip[Pr - 018] and digital outputs [Pr - 022] hellip[Pr - 027] are compiled for this variable
The table below lists the data bits in this variable
Variable 25 - Digital Inputs
Digital input status is provided by Variable 25 - Digital Inputs Digital inputs [Pr - 010] hellip[Pr - 014] are compiled for this variable
The table below lists the data bits in this variable
Digital Outputs EMG Digital Inputs
Bit No 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
Data DO6 DO6 DO4 SALM DO3 DO2 DO1 EMG DI10 DI9 DI8 DI7 DI6 DI5 DI4 DI3 DI2 DI1
Bit Digital Input Function Bit Digital Input Function
0 Current Limit- Negative 10 Fault Reset
1 Current Limit- Positive 11 Integrator Inhibit
2 Alternate Gain Select 12 Negative Overtravel
3 Preset Direction 13 Operation Mode Override
4 Reset Multiturn Data 14 Position Strobe
5 Zero Speed Clamp 15 Positive Overtravel
6 Position Clear 16 Preset Select 0
7 Analog Speed Command Enable in Preset 17 Preset Select 1
8 Motor Moving Enable in Velocity Mode 18 Preset Select 2
9 2nd Electronic Gear Bank Selection
138 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix D Monitor Variables
Variable 26 - Digital Outputs
Digital output status is provided by Variable 26 - Digital Outputs Digital inputs and outputs [Pr - 002] and [Pr - 022] hellip[Pr - 024] are compiled for this variable
The table below lists the data bits in this variable
Variable 29 - Indexing Inputs
Indexing input function status is provided by Variable 29 - Indexing Inputs Digital inputs [Pr - 016] hellip[Pr - 018] are compiled for this variable
The table below lists the data bits in this variable
Bit Digital Output Function
0 Brake
1 Absolute Position Valid
2 Current Limited
3 Velocity Limited
4 Within Near Window
5 Warning
Bit Indexing Input function
0 Home Sensor
1 Start Homing
2 Start Indexing
3 Stop Indexing
4 Pause Index
5 Index Select 0 Input
6 Index Select 1 Input
7 Index Select 2 Input
8 Index Select 3 Input
9 Index Select 4 Input
10 Index Select 5 Input
11 Stop Homing
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 139
Monitor Variables Appendix D
Variable 30 - Indexing Outputs
Indexing output function status is provided by Variable 30 - Indexing Outputs Digital outputs [Pr - 025] hellip[Pr - 027] are compiled for this variable
The table below lists the data bits in this variable
Bit Indexing Output function Indexing Output function
0 In Motion Index Select 1 Output
1 In Dwell Index Select 2 Output
2 Axis Homed Index Select 3 Output
3 End of Sequence Index Select 4 Output
4 Index Select 0 Output Index Select 5 Output
140 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix D Monitor Variables
Notes
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 141
Index
Parameters(IN0000) auto start indexing 116(IN0001) abort index deceleration 116(IN0002) positive deceleration distance 117(IN0003) negative deceleration distance 117(IN0004) enable software limits 118(IN0005) positive software limit 119(IN0006) negative software limit 119(IN0100) homing type 120(IN0101) auto start homing on enable 121(IN0102) homing velocity 121(IN0103) creep velocity 122(IN03xx) index move profile 128(IN0400hellipIN0463) index positiondistance
128(IN05xx) index registration distance 128(IN06xx) index batch count 128(IN0700hellipIN0763) index dwell 129(IN0800hellipIN0863) index velocity 129(IN09xx) index move profile 129(IN1000hellipIN1063) index acceleration 130(IN1100hellipIN1163) index deceleration 130(IN1200hellipIN1263) next index 131(IN200hellipIN263) index type digit 0 127(Pr-000) operations mode 46(Pr-001) motor configuration 47(Pr-002) motor basic modes 48(Pr-003) auto tuning functions 49(Pr-004) inertia ratio 50(Pr-005) auxiliary function selection 1 51(Pr-006) auxiliary function selection 2 52(Pr-007) drive address 54(Pr-008) password 54(Pr-009) serial port configuration 54(Pr-010hellipPr-021) parameter setting values
60(Pr-010) allocation of input signals 1 55(Pr-011) allocation of input signals 2 56(Pr-012) allocation of input signals 3 56(Pr-013) allocation of input signals 4 57(Pr-014) allocation of input signals 5 57(Pr-015) allocation of input signals 6 58(Pr-016) allocation of input signals 7 58(Pr-017) allocation of input signals 8 58(Pr-018) allocation of input signals 9
59(Pr-019) allocation of input signals 10 59(Pr-020) allocation of input signals 11 59(Pr-021) allocation of input signals 12 60(Pr-022hellipPr-032) parameter setting values
65(Pr-022) allocation of output signals 1 60(Pr-023) allocation of output signals 2 61(Pr-024) allocation of output signals 3 61
(Pr-025) allocation of output signals 4 62(Pr-026) allocation of output signals 5 63(Pr-027) allocation of output signals 6 63(Pr-028) allocation of output signals 7 63(Pr-029) allocation of output signals 8 64(Pr-030) allocation of output signals 9 64(Pr-031) allocation of output signals 10 65(Pr-032) IO control authority 65(Pr-100) velocity regulator response level 66(Pr-101) system gain 66(Pr-102) velocity regulator P gain 66(Pr-103) velocity regulator I gain 66(Pr-104) velocity regulator D gain 67(Pr-105) velocity error filter 67(Pr-106) position regulator Kp gain 67(Pr-107) current command lowpass filter
bandwidth 68(Pr-108) velocity command lowpass filter
bandwidth 68(Pr-109) position command lowpass filter
bandwidth 68(Pr-110) 1st resonant frequency suppression
filter 69(Pr-111) 1st resonant frequency suppression
width 69(Pr-112) 2nd resonant frequency suppression
filter 69(Pr-113) 2nd resonant frequency suppression
filter width 70(Pr-114) 2nd resonant frequency suppression
filter depth 70(Pr-115) position regulator Kff gain 70(Pr-116) position regulator Kff bandwidth 71(Pr-117) velocity regulator I gain mode 71(Pr-118) velocity regulator I gain disable
threshold 72(Pr-119) position regulator high error output
offset 72(Pr-120) position regulator high error output
threshold 72(Pr-121) current regulator bandwidth
reduction scale 73(Pr-122) on-line vibration mode 73(Pr-123) velocity regulator configuration 74(Pr-124) delay time of gain switching 74(Pr-125) level of gain switching 74(Pr-126) hysteresis of gain switching 75(Pr-127) position gain switching time 75(Pr-128) 2nd velocity regulator P gain 75(Pr-129) 2nd velocity regulator i gain 75(Pr-130) 2nd position regulator Kp gain 76(Pr-131) 2nd current command low pass
filter bandwidth 76
142 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Index
(Pr-132) 2nd velocity command low pass filter bandwidth 76
(Pr-133) 3rd velocity regulator P gain 76(Pr-134) 3rd velocity regulator I gain 77(Pr-135) 3rd position regulator Kp gain 77(Pr-136) 3rd current command low pass filter
bandwidth 77(Pr-137) 3rd velocitycommand low pass filter
bandwidth 77(Pr-138) 4th velocity regulator P gain 78(Pr-139) 4th velocity regulator I gain 78(Pr-140) 4th position regulator Kp gain 78(Pr-141) 4th current command low pass filter
bandwidth 78(Pr-142) 4th velocitycommand low pass filter
bandwidth 79(Pr-200) velocity scale 80(Pr-201) jog velocity command 80(Pr-202) acceleration 80(Pr-203) deceleration 81(Pr-204) S-curve time 81(Pr-205) preset velocity 1 81(Pr-206) preset velocity 2 81(Pr-207) preset velocity 3 82(Pr-208) preset velocity 4 82(Pr-209) preset velocity 5 82(Pr-210) preset velocity 6 82(Pr-211) preset velocity 7 83(Pr-212) manual velocity limit 83(Pr-213) velocity limit mode 83(Pr-300) follower 84(Pr-301) 1st gear ratio follower counts 85(Pr-302) 1st gear ratio mastercounts 86(Pr-303) encoder output ratio output counts
86(Pr-304) encoder output ratio motor counts
86(Pr-305) 2nd gear ratio follower counts 86(Pr-306) 2nd gear ratio master counts 87(Pr-307) reserved 87(Pr-308) digital filter cut-off frequency 88(Pr-400) current scale 89(Pr-401) positive internal current limit 89(Pr-402) negative internal current limit 89(Pr-403) positive external current limit 89(Pr-404) negative external current limit 90(Pr-405) overtravel current limit 90(Pr-406) initial current bias 90(Pr-500) in position size 91(Pr-501) reserved 91(Pr-502) near position size 91(Pr-503) speed window 92(Pr-504) up to speed 92(Pr-505) zero clamp 92
(Pr-506) brake inactive delay 93(Pr-507) disable delay 93(Pr-508) brake active delay 93(Pr-509) disabled braking speed 94(Pr-510) following error limit 94(Pr-511) reserved 94(Pr-512) ac line loss fault delay 95(Pr-513) analog output ch1 selection 95(Pr-514) analog output ch2 selection 95(Pr-515) analog output ch1 scale 95(Pr-516) analog output ch2 scale 96(Pr-600) analog velocity command offset 97(Pr-601) analog current command offset 97(Pr-602) u phase current sensing offset 97(Pr-603) w phase current sensing offset 97(Pr-604) A-lead-B swap 98(Pr-605) dynamic brake circuit protection 98(Pr-606) fault detail sampling period 98(Pr-607) fault detail data selection 1 99(Pr-608) fault detail data selection 2 99(Pr-609) fault detail data selection 3 99(Pr-610) fault detail data selection 4 99(Pr-611) 1st resonant frequency suppression
filter 100(Pr-612) 2nd resonant frequency suppression
filter 100(Pr-700) drive capacity 101(Pr-701) dc bus voltage offset 101(Pr-702) reserved 101(Pr-703) analog monitor output ch1 offset 102(Pr-704) analog monitor output ch1 scaling
102(Pr-705) analog monitor output ch2 offset 102(Pr-706) analog monitor output ch2 scaling
102(Pr-707) dc bus measurement scaling
calibration 103(Pr-900) standard motor flag 104(Pr-901) motor type 104(Pr-902) motor resistance 104(Pr-903) motor inductance 104(Pr-904) motor intermittent current 105(Pr-905) motor continuous current 105(Pr-906) motor rated voltage 105(Pr-907) encoder type 105(Pr-908) hall offset 105(Pr-909) current constant 106(Pr-910) motor inertia 106(Pr-911) polesrevolution 106(Pr-912) encoder linesrevolution 106(Pr-913) maximum rotary speed 106(Pr-914) force constant 107(Pr-915) motor mass 107(Pr-916) electrical cycle length 107
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 143
Index
(Pr-917) encoder linesmeter 107(Pr-918) maximum linear speed 107(Pr-919) motor thermal protection enable 108(Pr-920) motor thermostat 108(Pr-921) motor thermal resistance winding
to encoder 108(Pr-922) motor thermal capacitance
winding to encoder 108(Pr-923) motor thermal resisitance winding
to ambient 108(Pr-924) motor thermal capacitance
winding to ambient 109(Pr-925) commutation type 109(Pr-927) integral limits 109(Pr-927) startup commutation 109(Pr-928hellipPr 949) reserved 110(Pr-950) motor model 110(Pr-951) drive name 110(Pr-952) position scaling data 110(Pr-953) position scaling label 110(Pr-954) velocity scaling data 110(Pr-955) velocity scaling label 111(Pr-956) acceleration scaling data 111(Pr-957) acceleration scaling label 111(Pr-958) scope config 112(Pr-959) scope scaling 113(Pr-960) displayed units 113
Numerics1st gear ratio follower counts (Pr-301) 851st gear ratio master counts (Pr-302) 861st resonant frequency suppression filter
(Pr-110) 691st resonant frequency suppression filter
(Pr-611) 1001st resonant frequency suppression
width(Pr-111) 692nd current command low pass filter
bandwidth (Pr-131) 762nd gear ratio follower counts (Pr-305) 862nd gear ratio master counts (Pr-306) 872nd position regulator Kp gain (Pr-130) 762nd resonant frequency suppression filter
(Pr-112) 692nd resonant frequency suppression filter
(Pr-612) 1002nd resonant frequency suppression filter
depth (Pr-114) 702nd resonant frequency suppression filter
width (Pr-113) 702nd velocity command low pass filter
bandwidth (Pr-132) 762nd velocity regulator i gain (Pr-129) 75
2nd velocity regulator P gain (Pr-128) 753rd current command low pass filter
bandwidth (Pr-136) 773rd position regulator Kp gain (Pr-135) 773rd velocity command low pass filter
bandwidth (Pr-137) 773rd velocity regulator I gain (Pr-134) 773rd velocity regulator P gain (Pr-133) 764th current command low pass filter
bandwidth (Pr-141) 784th position regulator Kp gain (Pr-140) 784th velocity command low pass filter
bandwidth (Pr-142) 794th velocity regulator I gain (Pr-139) 784th velocity regulator P gain (Pr-138) 78
Aabort index 116abort index deceleration (IN0001) 116ac line loss 48ac line loss fault delay (Pr-512) 95acceleration (Pr-202) 80acceleration scaling data (Pr-956) 111acceleration scaling label (Pr-957) 111additional resources 7address map
flash saving parameter 21index function parameter 25modbus 11monitoring parameters 22output function status parameter 23running parameter 24special indexing parameters 13standard parameters 11
A-lead-B swap (Pr-604) 98allocation of input signals 1 (Pr-010) 55allocation of input signals 10 (Pr-019) 59allocation of input signals 11 (Pr-020) 59allocation of input signals 12 (Pr-021) 60allocation of input signals 2 (Pr-011) 56allocation of input signals 3 (Pr-012) 56allocation of input signals 4 (Pr-013) 57allocation of input signals 5 (Pr-014) 57allocation of input signals 6 (Pr-015) 58allocation of input signals 7 (Pr-016) 58allocation of input signals 8 (Pr-017) 58allocation of input signals 9 (Pr-018) 59allocation of output signals 1 (Pr-022) 60allocation of output signals 10 (Pr-031) 65allocation of output signals 2 (Pr-023) 61allocation of output signals 3 (Pr-024) 61allocation of output signals 4 (Pr-025) 62allocation of output signals 5 (Pr-026) 63allocation of output signals 6 (Pr-027) 63
144 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Index
allocation of output signals 7 (Pr-028) 63allocation of output signals 8 (Pr-029) 64allocation of output signals 9 (Pr-030) 64alternate gain (G-SEL) 57alternative gain enable 51analog current command offset (Pr-601) 97analog current inputs 46analog monitor output ch1 offset (Pr-703) 102analog monitor output ch1 scaling (Pr-704)
102analog monitor output ch2 offset (Pr-705) 102analog monitor output ch2 scaling (Pr-706)
102analog offset 102analog output ch1 scale (Pr-515) 95analog output ch1 selection (Pr-513) 95analog output ch2 scale (Pr-516) 96analog output ch2 selection (Pr-514) 95analog scaling 102analog speed command (C-SP4) 57analog velocity command offset (Pr-600) 97analog velocity inputs 46ASCII commands 29auto motor identification 52auto start homing on enable (IN0101) 121auto start indexing (IN0000) 116auto tuning functions (Pr-003) 49automatic (TAT) 38autotuning speed 49auxiliary function selection 1 (Pr-005) 51auxiliary function selection 2 (Pr-006) 52axis homed (HOMC) 62
Bbackup battery 51baud rate 54brake active delay (Pr-508) 93brake delay 93brake dynamic 98brake inactive delay (Pr-506) 93brake speed 94bus calibration 103bus voltage 101
Cchecksum 28CHP command 30command
automatic task (TAT) 38disable drive (SVROF) 44
enable drive (SVRON) 44fault reset (RST) 33jog (JOG) 40monitor variable (MDM) 33other functions (ETC) 42perform manual task (TMN) 39read drive status (STS) 41read fault contents (EHY) 40read fault detailed data (DIE) 43read indexing parameter (XET) 31read parameter (SET) 29reset drive (HWR) 44triggered data collection (MOT) 34variable roll monitoring (MOR) 36verify servo connection (LIV) 43verify software version (VER) 43write indexing parameter (XHP) 32write indexing parameter (XTR) 32write parameter (CHP) 30write parameter (STR) 30
command polarity 48command type 84communication method
RS232 54RS485 54
communication protocolASCII 54MODBUS-RTU 54
commutation 109commutation type (Pr-925) 109compiled variable 137
15 - digital inputs and outputs 13725 - digital inputs 13726 - digital outputs 13829 - indexing inputs 13830 - indexing outputs 139
controller output type 84conventions used 7counts
follower 85 86master 86 87motor 86output 86
creep velocity (IN0103) 122current bias 90current command lowpass filter bandwidth
(Pr-107) 68current constant (Pr-909) 106current limit 89 90current limit (T_LMT) 61current offset 97current regulator bandwidth reduction scale
(Pr-121) 73current scale (Pr-400) 89cut-off frequency 88cycle length 107
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 145
Index
DD gain regulator 67data bit 54dc bus measurement scaling calibration
(Pr-707 103dc bus voltage offset (Pr-701) 101deceleration (Pr-203) 81delay gain 74delay time of gain switching (Pr-124) 74digital filter cut-off frequency (Pr-308) 88disable brake 48disable delay (Pr-507) 93disable drive (SVROF) 44disabled braking speed (Pr-509) 94display parameter - input register address
map 22displayed units (Pr-960) 113drive address (Pr-007) 54drive capacity (Pr-700) 101drive enable (SV-ON) 55drive name (Pr-951) 110drive password 54drive reset 44dynamic brake circuit protection (Pr-605) 98dynamic tuning 49dynamic tuning response speed 49
EEHY command 40electrical cycle length (Pr-916) 107electronic gear select (GEAR) 57emergency stop inputs 51enable drive (SVRON) 44enable software limits (IN0004) 118encoder back-up battery 51encoder detect 52encoder linesmeter (Pr-917) 107encoder linesrevolution (Pr-912) 106encoder output 84encoder output ratio motor counts (Pr-304)
86encoder output ratio output counts (Pr-303)
86encoder type 47encoder type (Pr-907) 105end of sequence (E_SEQU) 63error output offset 72error output threshold 72ETC command 42exception code modbus 10
Ffaul reset (A-RST) 56fault codes 133fault detail data selection 1 (Pr-607) 99fault detail data selection 2 (Pr-608) 99fault detail data selection 3 (PrR-609) 99fault detail data selection 4 (Pr-610) 99fault detail sampling period (Pr-606) 98fault reset (RST) 33fault selection 99faultwarning registers address map 22feedback linesmeter 107flash memory update 30 32 39flash saving parameter address map 21follower (Pr-300) 84follower counts 85follower mode 46following error limit (Pr-510) 94force constant (Pr-914) 107frequency suppression 69function code
modbus 9
Ggain bank select (BANK_SEL) 58gain delay 74gain hysteresis 75gain level 74gain switch 74gain switching 52gain timing 75gear ratio 84general commands (ASCII) 29group 0 - indexing system address map 13group 0 - system level address map 11group 1 - gain control address map 11group 10 - index acceleration address map 18group 11 - index deceleration address map 19group 12 - next index address map 20group 2 - index option address map 14group 2 - speed control address map 12group 3 - position control address maps 12group 3 - reserved 14group 4 - index positiondistance address
map 15group 4 - torque control address maps 12group 5 - reserved 16group 5 - supplemental drive control address
maps 12group 6 - reserved 16group 7 - index dwell address map 16group 8 - index velocity address map 17group 9 - reserved 17
146 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Index
Hhall offset (Pr-908) 105home sensor (H_SENS) 58homing (H_SENS and SHOME) 58homing type (IN0100) 120homing velocity (IN0102) 121host command
fault codes 133indexing command extended (XCE) 31warnings 133
hysteresis of gain switching (Pr-126) 75
II gain 71I gain disable 72I gain regulation 77 78I gain regulator 66IO control authority (Pr-032) 65In Dwell (I_DW) 62in motion (IMO) 62in position size (Pr-500) 91incremental feedback loss 52index abort 116index acceleration 0hellip63 (IN1000hellipIN1063)
130index batch count (IN06xx) 128index deceleration 0hellip63 (IN1100hellipIN1163)
130index dwell 0hellip63 (IN0700hellipIN0763) 129index move 127index move profile (IN03xx) 128index move profile (IN09xx) 129index positiondistance 0hellip63
(IN0400hellipIN0463) 128index registration distance (IN05xx) 128index select (I_SEL0hellipI_SEL3) 58index select (I_SEL4hellipI_SEL5) 59
index select 0 out (O_ISEL0) 62index select 1hellip4 out (O_ISEL0hellipO_ISEL4) 63index select 5 out (O_ISEL5) 63index start 116index type 0hellip63 digit 0 (IN100hellipIN163) 127index velocity 0hellip63 (IN0800hellipIN0863) 129indexing command extended (XCE) 31inertia ratio (Pr-004) 50inhibit delay 95initial current bias (Pr-406) 90input function parameter address map 25integral limits (Pr-927) 109integrator inhibit (CON) 55
Jjog (JOG) 40JOG command 40jog velocity command (Pr-201) 80
KKff gain 70Kp gain position regulator 67Kp gain regulation 77 78
Llevel of gain switching (Pr-125) 74line break detect 52line loss check 48LIV command 43load inertia 50low pass filter (IReg) 76 77 78low pass filter (VReg) 76 77 79lowpass filter
current 68position 68velocity 68
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 147
Index
Mmanual task (TMN) 39manual velocity limit (Pr-212) 83master counts 86maximum linear speed (Pr-918) 107maximum rotary speed (Pr-913) 106maximum speed 106 107MDM command 33mnemonic commands
DIE 43HWR 44SVROF 44SVRON 44
modbus address map 11display parameter - input register 22faultwarning registers 22indexing parameter
group 0 - indexing system 13group 10 - index acceleration 18group 11 - index deceleration 19group 12 - next index 20group 2 - index option 14group 3 - reserved 14group 4 - indexing positiondistance 15group 5 - reserved 16group 6 - reserved 16group 7 - index dwell 16group 8 - index velocity 17group 9 - reserved 17
standard parametersgroup 0 - system level 11group 1 - gain control 11group 2 - speed control 12group 3 - position control 12group 4 - torque control 12group 5 - supplemental drive control 12
modbus exception codes 10modbus function codes 9MODBUS input function control 65MODBUS run function control 65monitor offset 102monitor scaling 102monitor variable 135monitor variable (MDM) 33monitoring parameters address map 22MOR command 36MOT command 34motor basic modes (Pr-002) 48motor configuration (Pr-001) 47motor continuous current (Pr-905) 105motor enable (START) 57motor flag 104motor forward direction 48motor identification 52motor inductance (Pr-903) 104
motor inertia 50motor inertia (Pr-910) 106motor intermittent current (Pr-904) 105motor mass (Pr-915) 107motor model (Pr-950) 110motor rated voltage (Pr-906) 105motor resistance (Pr-902) 104motor thermal capacitance winding to
ambient (Pr-924) 109motor thermal capacitance winding to
encoder (Pr-922) 108motor thermal protection enable (Pr-919) 108motor thermal resistance winding to
ambient (Pr-923) 108motor thermal resistance winding to
encoder (Pr-921) 108motor thermostat (Pr-920) 108motor type 47motor type (Pr-901) 104
Nnear position (NEAR) 61near position size (Pr-502) 91negative current limit (N-TL)positive current
limit (P-TL) 56negative deceleration distance (IN0003) 117negative external current limit (Pr-404) 90negative internal current limit (Pr-402) 89negative overtravel (N-OT) 55negative software limit (IN0006) 119next index 0hellip63 (IN1200hellipIN1263) 131notch filter
1st resonance 692nd resonance 702nd resonance depth 70
Ooff-line tuning 49on-line vibration mode (Pr-122) 73on-line vibration suppression 73operation mode override (C_SEL) 56operations mode (Pr-000) 46oscilloscope 112oscilloscope scaling 113other functions(ETC) 42output function status address map 23overtravel current limit (Pr-405) 90overtravel settings (P-ot) and N-OT) 55overtravel stop 48overtravel stop method 48
148 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Index
PP gain regulation 76 78P gain regulator 66packet structure 27parameter setting values (Pr-010hellipPr-021)
60parameter setting values (Pr-022hellipPr-032)
65parity bit 54password (Pr-008) 54pause indexing (PAUSE) 58polesrevolution (Pr-911) 106position clear (PCLR) 57position command lowpass filter bandwidth
(Pr-109) 68position gain switching time (Pr-127) 75position regulator high error output offset
(Pr-119) 72position regulator high error output threshold
(Pr-120) 72position regulator Kff bandwidth (Pr-116) 71position regulator Kff gain (Pr-115) 70position regulator Kp gain (Pr-106) 67position scaling data(Pr-952) 110position scaling label (Pr-953) 110position strobe (ABS-DT) 57position window (P-COM) 60positive deceleration distance (IN0002) 117positive external current limit (Pr-403) 89positive internal current limit (Pr-401) 89positive overtravel (P-OT) 55positive software limit (IN0005) 119power input 48preset direction (C-DIR) 56preset select (C-SP1 C-SP2 C-SP3) 56preset velocity 46preset velocity 1 (Pr-205) 81preset velocity 2 (Pr-206) 81preset velocity 3 (Pr-207) 82preset velocity 4 (Pr-208) 82preset velocity 5 (Pr-209) 82preset velocity 6 (Pr-210) 82preset velocity 7 (Pr-211) 83proportional gain 71
Rrated power 47read drive status (STS) 41read fault contents (EHY) 40read fault detailed data (DIE) 43read indexing parameter (XET) 31read parameter (SET) 29reboot drive 44reserved (Pr-307) 87reserved (Pr-501) 91reserved (Pr-511) 94reserved (Pr-702) 101reserved (Pr-928hellipPr 949) 110reset absolute encoder data (R_ABS) 58reset drive (HWR) 44RST command 33run control 65running parameter 24
Ssafety considerations inside front coversampling period 98scaling
acceleration data 111acceleration label 111position data 110position label 110velocity data 110velocity label 111
scope config (Pr-958) 112scope scaling (Pr-959) 113S-csurve time (Pr-204) 81serial port configuration (Pr-009) 54SET command 29special indexing parameter
address map 13speed clamp (Z-CLP) 57speed window (Pr-503) 92speed window (V-COM) 60standard motor flag (Pr-900 104standard parameters address map 11start homing (SHOME) 58start index (START_I) 59start indexing 116startup commutation (Pr-927) 109stop bit 54stop homing (H_STOP) 59stop indexing STOP) 58STR command 30STS command 41suppression filter 100symbols 27system gain (Pr-101) 66
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 149
Index
TTAT command 38thermal capacitance 108 109thermal protection 108thermal resistance 108thermostat 108TMN command 39training See lt$emphasislt$default fonttriggered data collection (MOT) 34
Uu phase current sensing offset (Pr-602) 97up to speed (Pr-504) 92up to speed (TG-ON) 60
Vvariable 135 137
15 - digital inputs and outputs 13725 - digital inputs 13726 - digital outputs 13829 - indexing inputs 13830 - indexing outputs 139
variable roll monitoring (MOR) 36velocity error filter (Pr-105) 67velocity limit 83velocity limit (V-LMT) 61velocity limit mode (Pr-213) 83velocity observer 51velocity offset 97velocity presets 46velocity regulator configuration (Pr123) 74velocity regulator D gain (Pr-104) 67velocity regulator I gain (Pr-103) 66velocity regulator I gain disable threshold
(Pr-118) 72velocity regulator I gain mode (Pr-117) 71
velocity regulator P gain (Pr-102) 66velocity regulator response level (Pr-100) 66velocity scaling data (Pr-954) 110velocity scaling label (Pr-955) 111velocitycommand lowpass filter bandwidth
(Pr-108) 68velocityscale (Pr-200) 80VER command 43verify servo connection (LIV) 43verify software version (VER) 43vibration suppression 69 73
Ww phase current sensing offset (Pr-603) 97warning (WARN) 61warnings 133watchdog timer 44 134within position window (P-COM) 60within speed window (V-COM) 60write indexing parameter (XHP) 32write indexing parameter (XTR) 32write parameter (CHP) 30write parameter (STR) 30
XXCE command 31XET command 31XHP command 32XTR command 32
Zzero clamp (Pr-505) 92zero speed (Z-CLP) 57
150 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Index
Notes
Publication 2071-RM001A-EN-P - September 2010 152 PN-79403Copyright copy 2010 Rockwell Automation Inc All rights reserved Printed in the USA
Rockwell Automation Support
Rockwell Automation provides technical information on the Web to assist you in using its products At httpwwwrockwellautomationcomsupport you can find technical manuals a knowledge base of FAQs technical and application notes sample code and links to software service packs and a MySupport feature that you can customize to make thebest use of these tools
For an additional level of technical phone support for installation configuration and troubleshooting we offer TechConnect support programs For more information contact your local distributor or Rockwell Automation representative or visit httpwwwrockwellautomationcomsupport
Installation Assistance
If you experience an anomoly within the first 24 hours of installation review the information that is contained in this manualYou can contact Customer Support for initial help in getting your product up and running
New Product Satisfaction Return
Rockwell Automation tests all of its products to ensure that they are fully operational when shipped from the manufacturing facility However if your product is not functioning and needs to be returned follow these procedures
Documentation Feedback
Your comments will help us serve your documentation needs better If you have any suggestions on how to improve this document complete this form publication RA-DU002 available at httpwwwrockwellautomationcomliterature
United States or Canada 14406463434
Outside United States or Canada
Use the Worldwide Locator at httpwwwrockwellautomationcomsupportamericasphone_enhtml or contact your local Rockwell Automation representative
United States Contact your distributor You must provide a Customer Support case number (call the phone number above to obtain one) to your distributor to complete the return process
Outside United States Please contact your local Rockwell Automation representative for the return procedure
- 2071-RM001A-EN-P September 2010
- Important User Information
- Table of Contents
- Preface
-
- About This Publication
- Who Should Use This Manual
- Conventions Used in This Manual
- Additional Resources
-
- 1 - Modbus Protocol
-
- Function Codes
- Exception Codes
- Address Maps
-
- Standard Parameters
- Indexing Parameters
- Save Flash Memory Parameter
- Monitoring Parameter (Function Code 0x04)
- Fault and Warning Status Parameter - Input Registers
- Output Function Status Parameter
- Running Parameter (Function Code 0x06 or 0x10)
- Input Function Parameter (Function Code 0x03 0x06 or 0x10)
-
- 2 - Communication Protocol (RS-232ASCII)
-
- Introduction
- Special Symbols
- Packet Structure
- Checksum
-
- 3 - General Commands (ASCII)
-
- Read Parameter (SET)
- Write Parameter (STR)
- Write Parameter (CHP)
- Indexing Command Extended (XCE)
- Read Indexing Parameter (XET)
- Write Indexing Parameter (XHP)
- Write Indexing Parameter (XTR)
- Fault Reset (RST)
- Monitor Variable (MDM)
- Triggered Data Collection (MOT)
- Variable Roll Monitoring (MOR)
- Automatic Task (TAT)
- Manual Task (TMN)
- Read Fault Contents (EHY)
- Jog (JOG)
- Read Drive Status (STS)
- Other Functions (ETC)
- Verify Software Version (VER)
- Verify Servo Connection (LIV)
- Read Fault Detailed Data (DIE)
- Enable Drive (SVRON)
- Disable Drive (SVROF)
- Reset Drive (HWR)
-
- A - Standard Drive Parameters
-
- Parameter Groupings
- Parameter Descriptions
-
- Group 0 - System Level
- Group 1 - Gain Control
- Group 2 - Speed Control
- Group 3 - Position Control
- Group 4 - Torque Controls
- Group 5 - Supplemental Drive Controls
- Group 6 - Supplemental Gain and Report Settings
- Group 7 - Manufacturing Settings
- Group 8 - Reserved Parameters
- Group 9 - Motor Controls
-
- B - Indexing Drive Parameters
-
- Parameter Groupings
- Parameter Descriptions
-
- Group 0 - Indexing System
- Group 1 - Homing
- Group 2 - Indexing Options
- Group 3 - Index Move Profile
- Group 4 - Index PositionDistance
- Group 5 - Index Registration Distance
- Group 6 - Index Batch Count
- Group 7 - Index Dwell
- Group 8 - Index Velocity
- Group 9 - Index Move Profile
- Group 10 - Index Acceleration
- Group 11 - Index Deceleration
- Group 12 - Index Next Index
-
- C - Warnings and Fault Codes
-
- Warnings
- Fault Codes
-
- D - Monitor Variables
-
- Variables
- Compiled Variables
-
- Variable 15 - Digital Inputs and Outputs
- Variable 25 - Digital Inputs
- Variable 26 - Digital Outputs
- Variable 29 - Indexing Inputs
- Variable 30 - Indexing Outputs
-
- Index
- Technical Support
-
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 9
Chapter 1
Modbus Protocol
This chapter defines the Modbus protocol as it applies to a Kinetix 3 drive
Function Codes The register number of MODBUS devices may begin with 0 or 1 Because this is determined by the MODBUS host you the customer have selected A 1 must be added to the register number if your controller requires it
The maximum number of parameters that can be read or written at the same time is the same as the number of MODBUS addresses which is the same as the number of the parameters in each group In other words all the parameters in each group can be read together or written together
Function Code Description
03(0x03) Read Holding Registers
04(0x04) Read Input Registers
06(0x06) Write Single Register
16(0x10) Write Multiple Register
10 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 1 Modbus Protocol
Exception Codes The Kinetix 3 Modbus protocol uses the following exception codes from the Modbus specifications
Exception Code
Name Meaning
0x01 Illegal Function The function code received in the query is not an allowable action for the slave
0x02 Illegal Data Address
The data address received in the query is not an allowable address for the slave
0x03 (1)
(1) Exception code 0x03 indicates an Illegal Data Value It means the length of data string is incorrect Exception code 14(0x0E) indicates an Illegal Data Range It means that data range exceeds the limit of the minimum or maximum value
Illegal Data Value
The length of query data field is not valid for the slave
0x06 Slave Device Busy
The slave is engaged in processing Run command The master should retransmit the message later when the slave is free
0x07 Illegal CRC Value
The CRC value received in the query is wrong value
0x0C Illegal Frame The byte length of the Query Reception frame is out of the limit
0x0D (2)
(2) Exception code 0x0D is generated if the master accesses a 32bit data address with function code 06 or either the high or low address of 32bit data with function code 10
Illegal Sequence
The data sequence received in the query is not an allowable write command for the slave
0x0E (1) Illegal Data Range
The value of query data field is not valid for the slave
0x0F (3)
(3) Exception code 15(0x0F) indicates an Illegal Command was issued It occurs when a received Run control cannot be executed at the moment
Illegal Command
The slave is in Run control and received an invalid command
0x10 (4)
(4) Exception code 16(0x10) is an Illegal Control It occurs when the Network Control Mode is not set but the drive requests a Run Control command or an IO Control command through the network
Illegal Control The slave is not in the Network mode but received a network control command
0x1F Servo Error Fail When the slave is Servo Error condition and receives a Servo ON command from master
0x21 Drive Type Fail When drive type of the slave is Indexing slave receives run command 02 03 04
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 11
Modbus Protocol Chapter 1
Address Maps All standard and indexing parameters (Pr-xxx or Inxxxx) require a unique register address The host computer assigns the initial address number and determines whether the register numbers begin with 0 or 1
Standard Parameters
Group 0 - System Level (1)
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
0 Pr-000 10 Pr-009 20 Pr-019 30 Pr-029
1 Pr-001[Lo] 11 Pr-010 21 Pr-020 31 Pr-030
2 Pr-001[Hi] 12 Pr-011 22 Pr-021 32 Pr-031
3 Pr-002 13 Pr-012 23 Pr-022 33 Pr-032
4 Pr-003 14 Pr-013 24 Pr-023 34hellip42 Reserved
5 Pr-004 15 Pr-014 25 Pr-024 43hellip99 Reserved
6 Pr-005 16 Pr-015 26 Pr-025
7 Pr-006 17 Pr-016 27 Pr-026
8 Pr-007 18 Pr-017 28 Pr-027
9 Pr-008 19 Pr-018 29 Pr-028
(1) Refer to Monitoring Parameter (Function Code 0x04) on page 22 for more detailed information on this parameter
Group 1 - Gain Control
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
100 (1) Pr-100 111 Pr-111 122 Pr-122 133 Pr-133
101 (1) Pr-101 112 Pr-112 123 Pr-123 134 Pr-134
102 Pr-102 113 Pr-113 124 Pr-124 135 Pr-135
103 Pr-103 114 Pr-114 125 Pr-125 136 Pr-136
104 Pr-104 115 Pr-115 126 Pr-126 137 Pr-137
105 Pr-105 116 Pr-116 127 Pr-127 138 Pr-138
106 Pr-106 117 Pr-117 128 Pr-128 139 Pr-139
107 Pr-107 118 Pr-118 129 Pr-129 140 Pr-140
108 Pr-108 119 Pr-119 130 Pr-130 141 Pr-141
109 Pr-109 120 Pr-120 131 Pr-131 142 Pr-142
110 Pr-110 121 Pr-121 132 Pr-132 143hellip199 Reserved
(1) Refer to Fault and Warning Status Parameter - Input Registers on page 22 for more detailed information on this parameter
12 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 1 Modbus Protocol
Group 2 - Speed Control
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
200 (1) Pr-200 206 Pr-204 212 Pr-210
201 (1) Pr-201 207 Pr-205 213 Pr-211
202 Pr-202[Lo] 208 Pr-206 214 Pr-212
203 Pr-202[Hi] 209 Pr-207 215 Pr-213
204 Pr-203[Lo] 210 Pr-208 216hellip299 Reserved
205 Pr-203[Hi] 211 Pr-209
(1) Refer to Output Function Status Parameter on page 23 for more detailed information on these parameters
Group 3 - Position Control
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
300 Pr-300 303 Pr-303 306 Pr-306 309hellip399 Reserved
301 Pr-301 304 Pr-304 307 Reserved
302 Pr-302 305 Pr-305 308 Pr-308
Group 4 - Torque Control
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
400 Pr-400 402 Pr-402 404 Pr-404 406 Pr-406
401 Pr-401 403 Pr-403 405 Pr-405 407hellip499 Reserved
Group 5 - Supplemental Drive Control
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
500 Pr-500 506 Pr-506 512 Pr-511 517 Pr-514[Hi]
501 Pr-501 507 Pr-507 513 Pr-512 518 Pr-515[Lo]
502 Pr-502 508 Pr-508 514 Pr-513 519 Pr-515[Hi]
503 Pr-503 509 Pr-509 514 Pr-513[Lo] 520 Pr-516[Lo]
504 Pr-504 510 Pr-510[Lo] 515 Pr-513[Hi] 521 Pr-516[Hi]
505 Pr-505 511 Pr-510[Hi] 516 Pr-514[Lo] 522hellip599 Reserved
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 13
Modbus Protocol Chapter 1
For parameters within the MODBUS address range of 600hellip4999 refer to the following parameters
bull Monitoring Parameter (Function Code 0x04) on page 22 for MODBUS Addresses 0hellip44
bull Fault and Warning Status Parameter - Input Registers on page 22 for MODBUS Addresses 100hellip101
bull Output Function Status Parameter on page 23 for MODBUS Addresses 2000hellip2016
bull Running Parameter (Function Code 0x06 or 0x10) on page 24 for MODBUS Addresses 2000hellip2016
bull Input Function Parameter (Function Code 0x03 0x06 or 0x10) on page 25 for MODBUS Addresses 3000hellip3002
Indexing Parameters
Group 0 - Indexing System
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
4000 Index 0 Distance Low
4005 Index 0 Accel Low
4001 Index 0 Distance High
4006 Index 0 Accel High
4002 Index 0 Velocity 4007 Index 0 Dwell
4003 Index 0 Decel Low
4008 Index 0 Option
4004 Index 0 Decel High
4009hellip4199 Reserved
Group 0 - Indexing System
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
5000 In0000 5006 In0003Hi
5001 In0001Lo 5007 In0004
5002 In0001Hi 5008 In0005Lo
5003 In0002Lo 5009 In0005Hi
5004 In0002Hi 5010 In0006Lo
5005 In0003Lo 5011 In0006Hi
5012hellip5199 Reserved
14 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 1 Modbus Protocol
Group 2 ndash Index Option
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
5400 In0200 5416 In0216 5432 In0232 5448 In0248
5401 In0201 5417 In0217 5433 In0233 5449 In0249
5402 In0202 5418 In0218 5434 In0234 5450 In0250
5403 In0203 5419 In0219 5435 In0235 5451 In0251
5404 In0204 5420 In0220 5436 In0236 5452 In0252
5405 In0205 5421 In0221 5437 In0237 5453 In0253
5406 In0206 5422 In0222 5438 In0238 5454 In0254
5407 In0207 5423 In0223 5439 In0239 5455 In0255
5408 In0208 5424 In0224 5440 In0240 5456 In0256
5409 In0209 5425 In0225 5441 In0241 5457 In0257
5410 In0210 5426 In0226 5442 In0242 5458 In0258
5411 In0211 5427 In0227 5443 In0243 5459 In0259
5412 In0212 5428 In0228 5443 In0243 5460 In0260
5413 In0213 5429 In0229 5444 In0244 5461 In0261
5414 In0214 5430 In0230 5445 In0245 5462 In0262
5415 In0215 5431 In0231 5446 In0246 5463 In0263
5447 In0247 5464 hellip5599 Reserved
Group 3 - Reserved
MODBUS Address
Kinetix 3 Parameter
5600hellip5799 Reserved
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 15
Modbus Protocol Chapter 1
Group 4 ndash Index PositionDistance
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
5800 In0400Lo 5834 In0417Lo 5868 In0434Lo 5902 In0451Lo
5801 In0400Hi 5835 In0417 Hi 5869 In0434 Hi 5903 In0451Hi
5802 In0401Lo 5836 In0418Lo 5870 In0435Lo 5904 In0452Lo
5803 In0401Hi 5837 In0418 Hi 5871 In0435 Hi 5905 In0452Hi
5804 In0402Lo 5838 In0419Lo 5872 In0436Lo 5906 In0453Lo
5805 In0402Hi 5839 In0419 Hi 5873 In0436 Hi 5907 In0453Hi
5806 In0403Lo 5840 In0420Lo 5874 In0437Lo 5908 In0454Lo
5807 In0403Hi 5841 In0420 Hi 5875 In0437 Hi 5909 In0454Hi
5808 In0404Lo 5842 In0421Lo 5876 In0438Lo 5910 In0455Lo
5809 In0404Hi 5843 In0421 Hi 5877 In0438 Hi 5911 In0455Hi
5810 In0405Lo 5844 In0422Lo 5878 In0439Lo 5912 In0456Lo
5811 In0405Hi 5845 In0422 Hi 5879 In0439 Hi 5913 In0456Hi
5812 In0406Lo 5846 In0423Lo 5880 In0440Lo 5914 In0457Lo
5813 In0406Hi 5847 In0423 Hi 5881 In0440 Hi 5915 In0457Hi
5814 In0407Lo 5848 In0424Lo 5882 In0441Lo 5916 In0458Lo
5815 In0407Hi 5849 In0424 Hi 5883 In0441 Hi 5917 In0458Hi
5816 In0408Lo 5850 In0425Lo 5884 In0442Lo 5918 In0459Lo
5817 In0408Hi 5851 In0425 Hi 5885 In0442 Hi 5919 In0459Hi
5818 In0409Lo 5852 In0426Lo 5886 In0443Lo 5920 In0460Lo
5819 In0409Hi 5853 In0426 Hi 5887 In0443 Hi 5921 In0460Hi
5820 In0410Lo 5854 In0427Lo 5888 In0444Lo 5922 In0461Lo
5821 In0410Hi 5855 In0427 Hi 5889 In0444 Hi 5923 In0461Hi
5822 In0411Lo 5856 In0428Lo 5890 In0445Lo 5924 In0462Lo
5823 In0411Hi 5857 In0428 Hi 5891 In0445 Hi 5925 In0462Hi
5824 In0412Lo 5858 In0429Lo 5892 In0446Lo 5926 In0463Lo
5825 In0412Hi 5859 In0429 Hi 5893 In0446 Hi 5927 In0463Hi
5826 In0413Lo 5860 In0430Lo 5894 In0447Lo 5928hellip5999 Reserved
5827 In0413Hi 5861 In0430 Hi 5895 In0447Hi
5828 In0414Lo 5862 In0431Lo 5896 In0448Lo
5829 In0414Hi 5863 In0431 Hi 5897 In0448Hi
5830 In0415Lo 5864 In0432Lo 5898 In0449Lo
5831 In0415Hi 5865 In0432 Hi 5899 In0449Hi
5832 In0416Lo 5866 In0433Lo 5900 In0450Lo
5833 In0416 Hi 5867 In0433 Hi 5901 In0450Hi
16 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 1 Modbus Protocol
Group 5 - Reserved
MODBUS Address
Kinetix 3 Parameter
6000hellip6199 Reserved
Group 6 - Reserved
MODBUS Address
Kinetix 3 Parameter
6200hellip6399 Reserved
Group 7 ndash Index Dwell
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
6400 In0700 6417 In0717 6434 In0734 6451 In0751
6401 In0701 6418 In0718 6435 In0735 6452 In0752
6402 In0702 6419 In0719 6436 In0736 6453 In0753
6403 In0703 6420 In0720 6437 In0737 6454 In0754
6404 In0704 6421 In0721 6438 In0738 6455 In0755
6405 In0705 6422 In0722 6439 In0739 6456 In0756
6406 In0706 6423 In0723 6440 In0740 6457 In0757
6407 In0707 6424 In0724 6441 In0741 6458 In0758
6408 In0708 6425 In0725 6442 In0742 6459 In0759
6409 In0709 6426 In0726 6443 In0743 6460 In0760
6410 In0710 6427 In0727 6444 In0744 6461 In0761
6411 In0711 6428 In0728 6445 In0745 6462 In0762
6412 In0712 6429 In0729 6446 In0746 6463 In0763
6413 In0713 6430 In0730 6447 In0747 6464 hellip6599 Reserved
6414 In0714 6431 In0731 6448 In0748
6415 In0715 6432 In0732 6449 In0749
6416 In0716 6433 In0733 6450 In0750
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 17
Modbus Protocol Chapter 1
Group 8 ndash Index Velocity
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
6600 In0800 6616 In0816 6632 In0832 6648 In0848
6601 In0801 6617 In0817 6633 In0833 6649 In0849
6602 In0802 6618 In0818 6634 In0834 6650 In0850
6603 In0803 6619 In0819 6635 In0835 6651 In0851
6604 In0804 6620 In0820 6636 In0836 6652 In0852
6605 In0805 6621 In0821 6637 In0837 6653 In0853
6606 In0806 6622 In0822 6638 In0838 6654 In0854
6607 In0807 6623 In0823 6639 In0839 6655 In0855
6608 In0808 6624 In0824 6640 In0840 6656 In0856
6609 In0809 6625 In0825 6641 In0841 6657 In0857
6610 In0810 6626 In0826 6642 In0842 6658 In0858
6611 In0811 6627 In0827 6643 In0843 6659 In0859
6612 In0812 6628 In0828 6644 In0844 6660 In0860
6613 In0813 6629 In0829 6645 In0845 6661 In0861
6614 In0814 6630 In0830 6646 In0846 6662 In0862
6615 In0815 6631 In0831 6647 In0847 6663 In0863
6664 hellip6799 Reserved
Group 9 - Reserved
MODBUS Address
Kinetix 3 Parameter
6800hellip6999 Reserved
18 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 1 Modbus Protocol
Group 10 ndash Index Acceleration
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
7000 In1000Lo 7032 In1016Lo 7064 In1032Lo 7096 In1048Lo
7001 In1000Hi 7033 In1016 Hi 7065 In1032 Hi 7097 In1048 Hi
7002 In1001Lo 7034 In1017Lo 7066 In1033Lo 7098 In1049Lo
7003 In1001Hi 7035 In1017 Hi 7067 In1033 Hi 7099 In1049 Hi
7004 In1002Lo 7036 In1018Lo 7068 In1034Lo 7100 In1050Lo
7005 In1002Hi 7037 In1018 Hi 7069 In1034 Hi 7101 In1050 Hi
7006 In1003Lo 7038 In1019Lo 7070 In1035Lo 7102 In1051Lo
7007 In1003Hi 7039 In1019 Hi 7071 In1035 Hi 7103 In1051 Hi
7008 In1004Lo 7040 In1020Lo 7072 In1036Lo 7104 In1052Lo
7009 In1004Hi 7041 In1020 Hi 7073 In1036 Hi 7105 In1052 Hi
7010 In1005Lo 7042 In1021Lo 7074 In1037Lo 7106 In1053Lo
7011 In1005Hi 7043 In1021 Hi 7075 In1037 Hi 7107 In1053 Hi
7012 In1006Lo 7044 In1022Lo 7076 In1038Lo 7108 In1054Lo
7013 In1006Hi 7045 In1022 Hi 7077 In1038 Hi 7109 In1054 Hi
7014 In1007Lo 7046 In1023Lo 7078 In1039Lo 7110 In1055Lo
7015 In1007Hi 7047 In1023 Hi 7079 In1039 Hi 7111 In1055 Hi
7016 In1008Lo 7048 In1024Lo 7080 In1040Lo 7112 In1056Lo
7017 In1008Hi 7049 In1024 Hi 7081 In1040 Hi 7113 In1056 Hi
7018 In1009Lo 7050 In1025Lo 7082 In1041Lo 7114 In1057Lo
7019 In1009Hi 7051 In1025 Hi 7083 In1041 Hi 7115 In1057 Hi
7020 In1010Lo 7052 In1026Lo 7084 In1042Lo 7116 In1058Lo
7021 In1010Hi 7053 In1026 Hi 7085 In1042 Hi 7117 In1058 Hi
7022 In1011Lo 7054 In1027Lo 7086 In1043Lo 7118 In1059Lo
7023 In1011Hi 7055 In1027 Hi 7087 In1043 Hi 7119 In1059 Hi
7024 In1012Lo 7056 In1028Lo 7088 In1044Lo 7120 In1060Lo
7025 In1012Hi 7057 In1028 Hi 7089 In1044 Hi 7121 In1060 Hi
7026 In1013Lo 7058 In1029Lo 7090 In1045Lo 7122 In1061Lo
7027 In1013Hi 7059 In1029 Hi 7091 In1045 Hi 7123 In1061 Hi
7028 In1014Lo 7060 In1030Lo 7092 In1046Lo 7124 In1062Lo
7029 In1014Hi 7061 In1030 Hi 7093 In1046 Hi 7125 In1062 Hi
7030 In1015Lo 7062 In1031Lo 7094 In1047Lo 7126 In1063Lo
7031 In1015Hi 7063 In1031 Hi 7095 In1047 Hi 7127 In1063 Hi
7128 hellip7199 Reserved
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 19
Modbus Protocol Chapter 1
Group 11 ndash Index Deceleration
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
7200 In1100Lo 7232 In1116 Lo 7264 In1132Lo 7296 In1148Lo
7201 In1100Hi 7233 In1116 Hi 7265 In1132 Hi 7297 In1148 Hi
7202 In1101Lo 7234 In1117Lo 7266 In1133Lo 7298 In1149Lo
7203 In1101Hi 7235 In1117 Hi 7267 In1133 Hi 7299 In1149 Hi
7204 In1102Lo 7236 In1118Lo 7268 In1134Lo 7300 In1150Lo
7205 In1102Hi 7237 In1118 Hi 7269 In1134 Hi 7301 In1150 Hi
7206 In1103Lo 7238 In1119Lo 7270 In1135Lo 7302 In1151Lo
7207 In1103Hi 7239 In1119 Hi 7271 In1135 Hi 7303 In1151 Hi
7208 In1104Lo 7240 In1120Lo 7272 In1136Lo 7304 In1152Lo
7209 In1104Hi 7241 In1120 Hi 7273 In1136 Hi 7305 In1152 Hi
7210 In1105Lo 7242 In1121Lo 7274 In1137Lo 7306 In1153Lo
7211 In1105Hi 7243 In1121 Hi 7275 In1137 Hi 7307 In1153 Hi
7212 In1106Lo 7244 In1122Lo 7276 In1138Lo 7308 In1154Lo
7213 In1106Hi 7245 In1122 Hi 7277 In1138 Hi 7309 In1154 Hi
7214 In1107Lo 7246 In1123Lo 7278 In1139Lo 7310 In1155Lo
7215 In1107Hi 7247 In1123 Hi 7279 In1139 Hi 7311 In1155 Hi
7216 In1108Lo 7248 In1124Lo 7280 In1140Lo 7312 In1156Lo
7217 In1108Hi 7249 In1124 Hi 7281 In1140 Hi 7313 In1156 Hi
7218 In1109Lo 7250 In1125Lo 7282 In1141Lo 7314 In1157Lo
7219 In1109Hi 7251 In1125 Hi 7283 In1141 Hi 7315 In1157 Hi
7220 In1110Lo 7252 In1126Lo 7284 In1142Lo 7316 In1158Lo
7221 In1110Hi 7253 In1126 Hi 7285 In1142 Hi 7317 In1158 Hi
7222 In1111Lo 7254 In1127Lo 7286 In1143Lo 7318 In1159Lo
7223 In1111Hi 7255 In1127 Hi 7287 In1143 Hi 7319 In1159 Hi
7224 In1112Lo 7256 In1128Lo 7288 In1144Lo 7320 In1160Lo
7225 In1112Hi 7257 In1128 Hi 7289 In1144 Hi 7321 In1160 Hi
7226 In1113Lo 7258 In1129Lo 7290 In1145Lo 7322 In1161Lo
7227 In1113Hi 7259 In1129 Hi 7291 In1145 Hi 7323 In1161 Hi
7228 In1114Lo 7260 In1130Lo 7292 In1146Lo 7324 In1162Lo
7229 In1114Hi 7261 In1130 Hi 7293 In1146 Hi 7325 In1162 Hi
7230 In1115Lo 7262 In1131Lo 7294 In1147Lo 7326 In1163Lo
7231 In1115Hi 7263 In1131Hi 7295 In1147 Hi 7327 In1163 Hi
7328 hellip7399 Reserved
20 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 1 Modbus Protocol
Group 12 ndash Next Index
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
MODBUS Address
Kinetix 3 Parameter
7400 In1200 7416 In1216 7432 In1232 7448 In1248
7401 In1201 7417 In1217 7433 In1233 7449 In1249
7402 In0702 7418 In1218 7434 In1234 7450 In1250
7403 In1203 7419 In1219 7435 In1235 7451 In1251
7404 In1204 7420 In1220 7436 In1236 7452 In1252
7405 In1205 7421 In1221 7437 In1237 7453 In1253
7406 In1206 7422 In1222 7438 In1238 7454 In1254
7407 In1207 7423 In1223 7439 In1239 7455 In1255
7408 In1208 7424 In1224 7440 In1240 7456 In1256
7409 In1209 7425 In1225 7441 In1241 7457 In1257
7410 In1210 7426 In1226 7442 In1242 7458 In1258
7411 In1211 7427 In1227 7443 In1243 7459 In1259
7412 In1212 7428 In1228 7444 In1244 7460 In1260
7413 In1213 7429 In1229 7445 In1245 7461 In1261
7414 In1214 7430 In1230 7446 In1246 7462 In1262
7415 In1215 7431 In1231 7447 In1247 7463 In1263
7464 hellip7599 Reserved
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 21
Modbus Protocol Chapter 1
Save Flash Memory Parameter
MODBUS Address
Data Status Description
9999 (decimal) 1 Write data into flash memory
22 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 1 Modbus Protocol
Monitoring Parameter (Function Code 0x04)
Fault and Warning Status Parameter - Input Registers
Display Parameter - Input Registers (Default = 0)
MODBUS Address
Drive Name Unit
0 dis-00 Velocity Feedback rpm
1 dis-01 Velocity Command rpm
2 dis-02 Velocity Error rpm
3 dis-03 Torque Command 010
4hellip5 dis-04 Position Feedback counts
6hellip7 dis-05 Position Command counts
8hellip9 dis-06 Position Error counts
10 dis-07 Pulse Command Frequency 01pps
11 dis-08 Electrical Angle 01
12 dis-09 Mechanical Angle 01
13 dis-10 Regeneration Load Ratio
14 dis-11 DC-Link Voltage V
15 dis-12 Multi-Turn Data Turn number
16hellip17 dis-13 Offset in Velocity Command 01mV
18hellip19 dis-14 Torque Offset 01mV
20hellip24 dis-15 InputOutput Signal Status -
25hellip32 dis-16 Display Error History 8Alarm
33 dis-17 Display Software Version 1word
34hellip35 dis-18 Display Motor info 2word
36 dis-19 Analog Velocity Command Voltage 001V
37 dis-20 Analog Current Command Voltage 001V
38 dis-21 Drive Rated Output Power 1word
39hellip40 dis-22 Absolute Single Turn Data -
41hellip42 dis-23 Encoder Feedback Counter counts
43hellip99 Reserved - -
Fault and Warning Status Parameter - Input Registers (Default = 0)
Modbus Address Function Name Unit
100 Error Check Servo Error Code Word
101 Warning Check Servo Warning Code Word
102hellip199 Reserved - -
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 23
Modbus Protocol Chapter 1
Output Function Status Parameter
Modbus Address
Output Function Description Unit Position [bits]
200 S_ALM Alarm Bit [0]
P-COM Within position window Bit [1]
TG-ON Up to speed Bit [2]
BK Brake control Bit [3]
V-COM Within Speed window Bit [4]
A-VLD Absolute position valid Bit [5]
RDY Drive Ready Bit [6]
T-LMT NEAR Current Limited Bit [7]
V-LMT WARN Velocity Limited Bit [8]
NEAR Near position Bit [9]
WARN Warning Bit [10]
Reserved - Bit [11]
Reserved - Bit [12]
IMO In Motion Bit [13]
I-DW In Dwell Bit [14]
HOMC Axis Homed Bit [15]
201 O_ISEL0 Index Select 0 Out Bit [0]
O_ISEL1 Index Select 1 Out Bit [1]
O_ISEL2 Index Select 2 Out Bit [2]
O_ISEL3 Index Select 3 Out Bit [3]
O_ISEL4 Index Select 4 Out Bit [4]
O_ISEL5 Index Select 5 Out Bit [5]
E_SEQU End of Sequence Bit [6]
Reserved - Bit [7hellip15]
24 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 1 Modbus Protocol
Running Parameter (Function Code 0x06 or 0x10)
Run Parameter - Holding Registers (Default = 2000)
Modbus Address
Attribute RUN Name Access Unit
2000 User Open run-00 Jog Operation 1 byte
2001 run-01 Off-Line Auto Tuning 1 bit
2002 run-02 Reserved -
2003 run-03 Auto Adjustment of Speed Command Offset
1 bit
2004 run-04 Auto Adjustment of Current Command Offset
1 bit
2005hellip2007 run-05hellip run-07 Reserved -
2008 run-08 Alarm Reset 1 bit
2009 run-09 Reserved -
2010 run-10 Absolute Encoder Reset 1 bit
2011 run-11 2-Group Gain Storing 1 bit
2012 run-12 Parameter Initialization 1 bit
2013hellip2015 run-13helliprun-15 Reserved -
2016 run-16 Hardware Reset 1 bit
2017hellip2099 run-17helliprun-99 Reserved -
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 25
Modbus Protocol Chapter 1
Input Function Parameter (Function Code 0x03 0x06 or 0x10)
Input Function Control - Holding Registers
Modbus Address
IO Function Description Unit Position Bit
3000 SV-ON Drive Enable bit 0
- Reserved - [1] and [2]
P-CON Integrator Inhibit bit [3]
A-RST Fault Reset bit [4]
N-CL Negative Current Limit bit [5]
P-CL Positive Current Limit bit [6]
C-SEL Operation Mode Override bit [7]
C-DIR Preset Direction bit [8]
C-SP1 Preset Select 1 bit [9]
C-SP2 Preset Select 2 bit [10]
C-SP3 Preset Select 3 bit [11]
C-SP4 Preset Select 4 bit [12]
INHIB Pause Follower bit [13]
G-SEL Alternate Gain Select bit [14]
PCLR Position clear bit [15]
3001 ABS-DT Position Strobe bit [0]
START Motor Moving Enable bit [1]
Z-CLP Zero Speed Clamp Enable bit [2]
GEAR 2nd Electronic Gear Bank Selection bit [3]
R-ABS Reset multi-turn data of Absolute Encoder
bit [4]
- Reserved - [5]
SHOME Start Homing bit [6]
STOP Stop Indexing bit [7]
PAUSE Pause Indexing bit [8]
I-SEL0 Index Select 0 Input bit [9]
I-SEL1 Index Select 1 Input bit [10]
I-SEL2 Index Select 2 Input bit [11]
I-SEL3 Index Select 3 Input bit [12]
I-SEL4 Index Select 4 Input bit [13]
I-SEL5 Index Select 5 Input bit [14]
H_STOP Stop Homing bit [15]
3002 START_I Start Index bit [0]
BANK_SEL Gain Bank Select bit [1]
- Reserved - [2hellip15]
26 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 1 Modbus Protocol
Notes
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 27
Chapter 2
Communication Protocol (RS-232ASCII)
Introduction The drive command protocol is a client-server protocol A host computer is the server and each drive is a client This chapter provides details about the Special Symbols Packet Structure and Checksum in the serial communication protocol
Special Symbols Special symbols used in the host commands include the following
Packet Structure The packet structure is shown below
Some simple commands might not have the Data field (for example Fault Reset) Maximum packet size is 400 bytes Each letter and digit in Command and Data fields represents a single ASCII character
All commands begin with an STX and terminate with an ETX
If the drive receives the command without a communication error the response is in the same format as the host command Numeric parameters are encoded as strings
Symbol Value Description
STX 0x02 Start of Transmission
ETX 0x03 End of Transmission
ACK 0x06 Command Acknowledged
GS 0x29 Cannot change the value of the parameter while drive is enabled
RS 0x30 Value is out of range
US 0x31 Invalid command
NAK 0x15 Communication Error (Checksum Error)
CAN 0x18 Cancellation of Command (For example the drive will send CAN if the drive is already enabled but the JOG ON is requested)
Start ID HostResponse
Command Data Separator Checksum End
Symbol STX dd or $ SET orhellip d hellipd c c ETX
Bytes 1 2 1 3 0 - n 1 1 1
28 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 2 Communication Protocol (RS-232ASCII)
If the drive receives the hosts command with a communication error (for example parity or checksum errors) the drive sends an NAK The host should assume a communication error occurred if a response from the drive does not occur within a time-out period (generally 200 ms)
If drive does not recognize the command it sends a US response
Checksum The checksum range consists of ID to Separator fields Checksum is the ASCII hex code of the least significant digit from the sum of hexadecimal codes in the checksum range
For example this VER command has a checksum of 42 (ASCII hex code of B)
30H+31H+23H+56H+45H+52H+3AH = 1ABH The ASCII hex code of B is 42
However this VER command response also has a checksum of 35 (ASCII hex code of 5)
30H+31H+24H+56H+45H+52H+20H+31H+2EH+30H+32H+3AH = 295H The ASCII hex code of 5 is 35
Command STX 0 1 V E R B ETX
ASCII 2 30 31 23 56 45 52 3A 42 3
Command STX 0 1 amp V E R 9 0 2 5 ETX
ASCII 2 30 31 24 56 45 52 20 39 2E 30 32 3A 35 3
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 29
Chapter 3
General Commands (ASCII)
This chapter defines the general ASCII commands available to control a Kinetix 3 drive
Read Parameter (SET)
Attribute Value
Command SET
Description Read parameter value
Format STX ID SET PPP BSS ETX
Data Argument Description
PPP Parameter for example [Pr - 203] PPP=203=0x0CB Refer to this chapter Appendix A Standard Drive Parameters and Appendix B Indexing Drive Parameters for a available parameter descriptions
Response Format STX ID $SET V BSS ETX
Response Data Argument Description
V Bit-field type = 4 byte hexadecimal value Integer type = Signed integer of variable length
30 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 3 General Commands (ASCII)
Write Parameter (STR)
Write Parameter (CHP)
Attribute Value
Command STR
Description Write parameter value to RAM and then save data from RAM to flash memory
Format STX ID STR PPP V BSS ETX
Data Argument Description
PPP Parameter for example [Pr - 203] PPP=203=0x0CB Refer to Standard Drive Parameters beginning on page 45 for a description of available parameters Group 7 - Manufacturing Settings are product settings that are programmed during manufacturing
V Bit-field type = 4 byte hexadecimal value Normal type = Signed integer of variable length
Response Format ACK
Error Response If the drive is unable to change the variable because it is enabled it sends GS If the value is out of range RS is returned
Next Command STX ID STR BSS ETX
Usage Note To determine whether task is complete send STR without arguments
Response Format If task is not complete STX ID $BSY BSS ETX or If task is complete STX ID $TOK BSS ETX
Attribute Value
Command CHP
Description Write parameter value to RAM
Format STX ID CHP PPP V BSS ETX
Data Argument Description
PPP Parameter for example [Pr - 203] PPP=203=0x0CB Refer to Standard Drive Parameters beginning on page 45 for a description of available parameters Group 7 - Manufacturing Settings are product settings that are programmed during manufacturing
V Bit-field type = 4 byte hexadecimal value Normal type =Signed integer of variable length
Response Format ACK
Error Response If unable to change the variable because drive is enabled GS is sent If value is out of range RS is returned
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 31
General Commands (ASCII) Chapter 3
Indexing Command Extended (XCE)
Read Indexing Parameter (XET)
Attribute Value
Command XCE
Description Execute Indexing Control Panel command
Format STX ID XCE NNNNN amp VVVVV BSS ETX
Data Argument Description
NNNNN Index number 0hellip63Data Format 16-bit unsigned integer d
VVVVVV Indexing Function Command 0 = Start Homing 1 = Stop Homing 2 = Start IndexingData Format 16bit unsigned integer d
Response Format ACK If there is an error while executing the command the GS RS US NAK CAN exception code s can be used for the response
Usage Note This command executes only Indexing commands If the command to be executed is not specific to an Index number the NNNNN field should be 0
Attribute Value
Command XET
Description Read parameter value
Format STX ID XET PPPP BSS ETX
Data Argument Description
PPPP Parameter for example in the case of [IN0002] PPPP=0200 the two initial arguments (PPxx) indicate the indexing (Ix) group Refer to Indexing Drive Parameters beginning on page 115 for a description of available indexing parameters Group 7 - Manufacturing Settings are product settings that are programmed during manufacturing
Response Format STX ID $XET V BSS ETX
Response Data Argument Description
V Bit-field type = 4 byte hexadecimal value Integer type Signed integer of variable length
32 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 3 General Commands (ASCII)
Write Indexing Parameter (XHP)
Write Indexing Parameter (XTR)
Attribute Value
Command XHP
Description Write parameter value to RAM
Format STX ID XHP PPPP V BSS ETX
Data Argument Description
PPPP Parameter for example in the case of [IN0002] PPPP=0200 the two initial arguments (PPxx) indicate the indexing (Ix) group Refer to Indexing Drive Parameters beginning on page 115 for a description of available indexing parameters
V Bit-field type = 4 byte hexadecimal value Normal type = Signed integer of variable length
Response Format ACK
Error Response If the drive is unable to change the variable because it is enabled it sends GS If the value is out of range RS is returned
Attribute Value
Command XTR
Description Write parameter value to RAM and then saves data from RAM to flash memory
Format STX ID XTR PPPP V BSS ETX
Data Argument Description
PPPP Parameter In the case of [IN0002] PPPP=0200 the two initial arguments ((PPxx) indicate the indexing (Ix) group Refer to Indexing Drive Parameters beginning on page 115 for a description of available indexing parameters
V Bit-field type = 4 byte hexadecimal value Normal type = Signed integer of variable length
Response Format ACK
Error Response If the drive is unable to change the variable because it is enabled it sends GS If the value is out of range RS is returned
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 33
General Commands (ASCII) Chapter 3
Fault Reset (RST)
Monitor Variable (MDM)
Attribute Value
Command RST
Description Clear fault
Format STX ID RST BSS ETX
Response ACK
Usage Note Fault Reset will have no effect unless action was taken to resolve the fault Refer to Warnings and Fault Codes beginning on page 133 for a description of faults and warnings
Attribute Value
Command MDM
Description Monitor variables
Format STX ID MDM P1 P2 P3 P4 P5 BSS ETX
Data Argument Description
P1hellipP5 Variables to monitor
Usage Note MDM command can monitor up to five variables Refer to Monitor Variables on page 135 for the list of variables
Response Format STX ID $ MDM V1ampV2ampV3ampV4ampV5 BSS ETX
Response Data Argument Description
V1hellipV5 Variable values are 4 or 8 bytes signed See tables below for descriptions of specific variables
34 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 3 General Commands (ASCII)
Triggered Data Collection (MOT)
Attribute Value
Command MOT
Description Sets watches and reads trigger monitor
Format STX ID MOT Ch1 Ch2 Src SP Num Mode Pos Level BSS ETX
Data Argument Description
Ch1 Ch2 Input signals See Appendix A (variables 0x00hellip0x0F only)
Src Trigger Source (0x000hellip0x009 0x101hellip0x112) Refer to Monitor Variables on page 135 for the list of variables 0x101-0x10A DI1hellipDI10 0x10B Emergency Stop Input 0x10C-0x10E DO1hellipDO3 0x10F Safety Alarm Output 0x110-0x112 DO4hellipDO6
SP Sample Period Range 0x01hellip0x64 (02hellip20 ms)
Num Number of data points 10 Range 0x01hellip0x1E (1hellip30)
Mode Trigger mode 1 = Positive Edge 2 = Negative Edge
Pos Trigger Position (1hellip9) The percentage of data to be received before the trigger pointFor example if Pos = 3 then 30 of data received before the trigger point and 70 of data received after the trigger point
Level Trigger levelthreshold the value of the Trigger Source Values are 4 or 8 bytes signed
Usage Note This command is sent to the drive prior to monitoring or reading the Triggered Data Collection (MOT) command variants below See Figure 1 for command examples
Response ACK
Next Command MOT
Format STX ID MOT BSS ETX
Usage Note This command is sent to the drive to verify data is available
Response If data is not ready STX ID $ BSY BSS ETX If data is ready STX ID $ TOK BSS ETX
Next Command MOT
Format STX ID MOT NumD BSS ETX
Data Argument Description
NumD Data Point to retrieve the data from Range 00hellip(Num-1)
Usage Note This command can be used when previous command returned TOK Send ESC to stop data collection
Response Format STX ID $ MOT V1ampV2ampV20 BSS ETX
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 35
General Commands (ASCII) Chapter 3
Figure 1 - Triggered Data Collection (MOT) Command String Example
Attribute Value
Response Data Argument Description
V1hellipV20 Data transmission is done in blocks of 10 Because there are 2 channels 20 values are returned with values alternating between the first channel and the second channel Values are a signed integer of variable length (4 or 8 bytes)
Next Command STX ID ESC BSS ETX
Response ACK
MOR (setting)
ACK
MOT
$BSY
MOT
$TOK
MOT00
$MOT
PC Servo
Time lt200 ms
MOT29
$MOT
ESC
ACK
36 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 3 General Commands (ASCII)
Variable Roll Monitoring (MOR)
Attribute Value
Command MOR
Description Set up variable roll monitor
Format Data
STX ID MOR SP P1 P2 BSS ETX
Argument Description
SP Sampling period range 0x01hellip0x64 (01hellip100 ms)
P1 P2 Variables to monitor Range 0x00hellip0x1D
Usage Note Sets up the variable roll monitoring This command is sent to the drive prior to sending a Monitor Variable (MDM) command See Figure 2 for command examples
Response ACK
Next Command STX ID MOR BSS ETX
Usage Note Request to store data in the linear buffer (with a capacity of 100 data points) If the buffer is full and data has not been retrieved the buffer is emptied If data is requested before data is in the buffer the drive sends ACK
Response Format STX ID $ MOR V1ampV2amphellipVn BSS ETX
Response Data Argument Description
V1hellipVn Signed integer of variable length
Next Command STX ID ESC BSS ETX
Usage Note Send ESC to stop monitoring of the data
Response ACK
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 37
General Commands (ASCII) Chapter 3
Figure 2 - Variable Roll Monitoring (MOR) Command String Example
MOR (setting)
ACK
MOR
$MOR
MOR
$MOR
ESC
ACK
PC Servo
Time lt200 ms
38 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 3 General Commands (ASCII)
Automatic Task (TAT)
Figure 3 - Automatic Task (TAT) Command String Example
Attribute Value
Command TAT
Format STX ID TAT T1 BSS ETX
Data Argument Description
T1 Automatic task number See the following Values and Task Descriptions
Value Task Description
0x01 Auto Tuning
0x02 Move to Marker
0x03 Auto Adjustment of Velocity Command Offset
0x04 Auto Adjustment of Current Command Offset
0x07 Auto Adjustment of Current Feedback Offset
Response ACK
Usage Note Send TAT command without arguments to find out if a task is completed See Figure 3 for command examples
Next Command STX ID TAT BSS ETX
Response Format STX ID $ BSY BSS ETX - if task is not complete STX ID $ TOK BSS ETX - task is complete
TAT (setting)
ACK
TAT
$BSY
TAT
$TOK
PC Servo
Time lt200 ms
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 39
General Commands (ASCII) Chapter 3
Manual Task (TMN)
Figure 4 - Manual Task (TMN) Command String Example
Attribute Value
Command TMN
Format STX ID TMN 1 BSS ETX
Data Argument Description
T1 Manual task number See the following Values and Task Descriptions
Value Task Description
0x01 - Speed Command Offset - Decrement by 01 mV
0x02 + Speed Command Offset - Increment by 01 mV
0x03 Save Speed Command Offset change
0x04 - Current Command Offset - Decrement by 01 mV
0x05 + Current Command Offset - Increment by 01 mV
0x06 Save Current Command Offset change
0x07 Discard changes and exit
Response ACK
Usage Note Most manual tasks are complete by the time ACK is received Commands 0x03 and 0x06 may take longer because they save data to flash memory Send TMN command without arguments to find out if a task is completed See Figure 4 for command examples
Next Command STX ID TAT BSS ETX
Response Format STX ID $ BSY BSS ETX - if task is not complete STX ID $ TOK BSS ETX - task is complete
TMN (setting)
ACK
TMN
$BSY
TMN
$TOK
PC Servo
Time lt200 ms
40 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 3 General Commands (ASCII)
Read Fault Contents (EHY)
Jog (JOG)
Attribute Value
Command EHY
Description Read faults See Read Fault Detailed Data (DIE) on page 43 for alternative fault data
Format STX ID EHY F1 BSS ETX
Data Argument Description
F1 Fault Number Range is 0x01hellip0x08 where latest fault status is stored in 0x01 and oldest fault is stored in 0x08
Response Format STX ID $ EHYE FCode FChars BSS ETX
Data Data Description
FCode Fault Code See Appendix C for a list of fault codes
FChars Fault Name Abbreviated See Appendix C
Usage Note Use this command to find out more about one of the eight faults To receive all fault statuses use EHY command below
Attribute Value
Command EHY
Description Read all fault codes
Format STX ID EHY BSS ETX
Data Argument Description
Asterik () means all faults
Response Format STX ID $ EHY Fcode1ampFcode2ampFcode8 BSS ETX
Data Data Description
Fcode1hellipFcode8 Fault Code See Appendix C for a list of fault codes
Attribute Value
Command JOG
Description Jog forward or reverse
Format STX ID JOG P1 BSS ETX
Data Argument Description
P1 0 = prepare for jog operation + = jog forward - (dash) = jog reverse
Response ACK
Usage Note To keep jogging send JOG command more than once within 500 ms To end Jog mode send SVROF
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 41
General Commands (ASCII) Chapter 3
Read Drive Status (STS)
Attribute Value
Command STS
Description Read status
Format STX ID STS BSS ETX
Response Format STX ID $ STS Mode S1 S2 S3 S4 S5 SS FChars BSS ETX
Response Data Arguments Description
Mode One of these operating modes F = Follower mode S = Analog Velocity mode P = Preset Velocity mode C = Analog Current mode D = Dual Current Command mode PF PS PC FS FC SC = Mixed modes Refer to [Pr - 000] Operations Mode on page 46 for additional information
S1 S1 means In Follower mode 1 = In Position 0 = Not In Position In Analog Velocity or Preset Velocity modes 1 = In Speed Window 0 = not In Speed Window If position or speed data is not available S1= 0
S2 One of the following 1 = Up to Speed 0 = Not Up to Speed If speed data is not available S2=0
S3 One of the following 1 = Drive is Enabled 0 = Drive is Disabled
S4 One of the following 1 = Positive Overtravel is active 0 = Positive Overtravel is inactive
S5 One of the following 1 = Negative Overtravel is active 0 = Negative Overtravel is inactive
SS One of the following Edd = fault occurred (See Appendix C)
dd = 2 byte error code 0x00hellip0xFF Wdd = warning occurred (See Appendix C)
dd = 2 byte warning code RDY = no errors or warnings
FChars Abbreviation of the faultwarning name In the case of Estop fault Fchars = ESTOP FChars size is 5 bytes when fault occurs and 3 bytes when warning occurs
42 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 3 General Commands (ASCII)
Other Functions (ETC)
Attribute Value
Command ETC
Format STX ID ETC F1 BSS ETX
Data Argument Description
F1 Manual task number See the following Values and Task Descriptions
Value Task Description
0x09 Clear Fault History
0x0A Reset Absolute Encoder (1)
(1) Resetting of an absolute (17-bit) encoder is possible only when the drive is disabled The command Reset Absolute Encoder sets the rotation data to 0 and clears all encoder related faults and warnings
0x0B Store 2-Group Gain
0x0C Reset to Factory settings (2)
(2) Parameters in the table below are not affected by the Reset to Factory settings
0x0D Test Run
0x0E Upgrade Firmware
0x0F Erase Manufacturing Information
Response ACK
Usage Note Send ETC command without arguments to find out if a task is completed
Next Command STX ID ETC BSS ETX
Response Format STX ID $ BSY BSS ETX - if task is not complete orSTX ID $ TOK BSS ETX - task is complete
Parameter Number Description
600 Analog Velocity Command Offset
601 Analog Current Command Offset
602 U Phase Current Sensing Offset
603 W Phase Current Sensing Offset
700hellip707 Group 7 - Manufacturing Settings
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 43
General Commands (ASCII) Chapter 3
Verify Software Version (VER)
Verify Servo Connection (LIV)
Read Fault Detailed Data (DIE)
Attribute Value
Command VER
Description Verify software version
Format STX ID VER BSS ETX
Response Format STX ID $ VER V BSS ETX
Response Data Argument Description
V Firmware version Size 5 bytes including a space Example STX01$VER 100BSS ETX
Attribute Value
Command LIV
Description Verify servo connection
Format STX ID LIV BSS ETX
Response Format ACK if there is a connection
Attribute Value
Command DIE
Description Read detailed fault data stored in [Pr - 607] Fault Detail Data Selection 1 Sample period in microseconds = [Pr - 607] 200) See Read Fault Contents (EHY) on page 40 for alternative fault data
Format STX ID DIE A1 A2 BSS ETX
Data Argument Description
A1 Channel to get the data for Range 1hellip4 Channels are stored in [Pr - 607]hellip[Pr - 610] Fault Detail Data Selection 4
A2 Data Number Range 0hellip50 0 means all data
Usage Note Send DIE 02 00 to receive all the data for A1= 02 Send DIE 00 01 to receive data for data number 1 of 4 variables DIE 00 00 is invalid
Response Format STX ID $ DIE D1ampD2ampDN BSS ETX
Error Response STX ID $ DIE FFFF BSS ETX means data number is invalid
Response Data Argument Description
D1hellipDn Detailed data where n depends on A1 and A2 If A1=00 and A2 = 01 then n = 4 If A1=01hellip04 and A2 = 01hellip50 then n=1 If A1=01hellip04 and A2 = 00 then n= 50
44 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Chapter 3 General Commands (ASCII)
Enable Drive (SVRON)
Disable Drive (SVROF)
Reset Drive (HWR)
Attribute Value
Command SVRON
Description Enables the drive
Format STX ID SVRON BSS ETX
Response ACK
Attribute Value
Command SVROF
Description Disables the drive
Format STX ID SVROF BSS ETX
Response ACK
Attribute Value
Command HWR
Description Reset the drive by using watchdog counter
Format STX ID HWR BSS ETX
Response ACK
Usage Note Stops the watchdog timer allowing a hardware signal to reboot (reset) the drive
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 45
Appendix A
Standard Drive Parameters
Parameters control Kinetix 3 drive operations They are grouped by the type of drive Standard or Indexing and the settings they define
Descriptions of Indexing Drive Parameters begin on page 115
Parameter Groupings Standard drive parameters are grouped into these drive settings bull Group 0 - Basic drive system and IO settings bull Group 1 - Gain and gain tuning settings bull Group 2 - Velocity control settings bull Group 3 - Position control settings bull Group 4 - Torque control settings bull Group 5 - Supplementary drive system and IO settings bull Group 6 - Supplementary gain settings and fault reports bull Group 7 - Factory default settings bull Group 8 - Parameters reserved bull Group 9 - Motor and drive operating mode parameters
46 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
Parameter Descriptions Parameter descriptions list the size of each parameter and the data options within the parameter
Descriptions of Indexing Drive Parameters begin on page 115
Group 0 - System Level
[Pr - 000] Operations Mode
Ultraware Name Operation Modes (MainOverride)
Range 0hellip12
Display (Value) Normal operating mode Override operating mode
F (1) Follower Follower
S (2) Analog Velocity Input Analog Velocity Input
C (3) Analog Current Input Analog Current Input
SF (4) Analog Velocity Input Follower
CF (5) Analog Current Input Follower
CS (6) Analog Current Input Analog Velocity Input
P (7) Preset Velocity Preset Velocity
PF (8) Preset Velocity Follower
PS (9) Preset Velocity Analog Velocity Input
PC (10) Preset Velocity Analog Current Input
D (11) Reserved Reserved
I (12) Indexing Indexing
Default 1
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
MODBUS Address 0
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 47
Standard Drive Parameters Appendix A
[Pr - 001] Motor Configuration
Data Size 6 digits
Ultraware Name Motor configuration
Digit 0 Encoder type
Range Value Description
0x0hellip0xf Each number define a corresponding encoder type 9 line or 17-bit serial for example
Default 0x1 = 9 line
Digit 1hellip2 Rated power
Range Value Description
A5010204081015 501002004008001000 or 1500 Watts
Default 04 = 400 W
Digit 3hellip4 Motor type
Range Value Description
Motor type Motor initial ID
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
MODBUS Address 1
When Enabled Servo-Off -gt Setting
Applicable Operating Mode All
MODBUS Address Pr-001[Lo] = 1 Pr-001[Hi] = 2
48 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 002] Motor Basic Modes
Data Size 4 digits
Digit 0 Fault and Disable Braking
Ultraware Name Stopping Functions Fault and Disable Braking
Range Value Description
0x0 Brake and hold
0x1 Brake and release
0x2 Free stop
0x3 Free stop and hold
Default 0
Digit 1 Overtravel stop method
Ultraware Name Stopping Functions Over Travel Stop Method
Range Value Description
0x0 Stop by change of mode to Normal Current Set stopping current with Overtravel Current Limit parameter [Pr - 405]
0x1 Dynamic Brake
Default 0
Digit 2 Motor Forward Dir
Ultraware Name Command Polarity
Range Value Description
0x0 The command signal is not inverted so that a positive command value results in clockwise rotation as viewed from shaft end
0x1 The command signal is inverted so that a positive command value results in counter-clockwise rotation s viewed from shaft end
Default 0
Digit 3 Power input
Ultraware Name AC Line Loss Check
Range Value Description
0x0 Enables the following bull 50hellip400W drive Enable
single-phase open check bull 800hellip15kW drive Enable
three-phase open check
0x1 Disable
0x2 Single-phase input
Default 0
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 49
Standard Drive Parameters Appendix A
When Enabled Servo-Off -gt Setting
Applicable Operating Mode All
MODBUS Address 3
[Pr - 003] Auto Tuning Functions
Data Size 4 digits
Digit 0 Off-line Tuning Mode
Ultraware Name Off-line Tuning Mode
Range Value Description
0x0 Inertia Moment Estimation
0x1 Inertia Moment Estimation and Resonant Frequency Detection
0x2 Resonance frequency Detection
Default 1
Digit 1 Reserved
Digit 2 Autotuning Speed
Ultraware Name Autotuning Speed
Range 2hellip9
Default 7
Units rpm100
Digit 3 Dynamic Tuning Response Speed
Ultraware Name Online Tuning Response
Range Value Description
0x0 Off
0x1 Slowest
0x2 Slower
0x3 Slow
0x4 Medium-Slow
0x5 Medium
0x6 Medium-Fast
0x7 Fast
0x8 Faster
0x9 Fastest
Default 0
Units -
When Enabled Servo-Off -gt Setting
Applicable Operating Mode All
MODBUS Address 4
[Pr - 002] Motor Basic Modes (Continued)
50 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 004] Inertia Ratio
Description Load Inertia Motor Inertia
Ultraware Name Inertia Ratio
Range 0hellip6000
Default 100
Units (Load inertiaMotor inertia) 100
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 5
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 51
Standard Drive Parameters Appendix A
[Pr - 005] Auxiliary Function Selection 1
Applicable Operating Mode All
Data Size 4 digits
Digit 0 Encoder Back-up Battery
Ultraware Name Encoder Back-up Battery
Range Value Description
0x0 Battery Installed
0x1 Battery Not Installed
Default 0
Digit 1 Velocity Observer
Ultraware Name Velocity Observer
Range Value Description
0x0 Disable
0x1 Enable
Default 0
Digit 2 Alternative Gain Change Enable
Ultraware Name Gain Change Enable
Range Value Description
0x0 Disable
0x1 Enable
Default 0x0
Digit 3 Emergency stop input
Range Value Description
0x0 Disable
0x1 Enable
Default 0
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
MODBUS Address 6
52 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 006] Auxiliary Function Selection 2
Applicable Operating Mode All
Data Size 3 digits
Digit 0 Automatic Motor Identification
Ultraware Name Auto Motor Identification
Range Value Description
0x0 Disabled
0x1 Enabled
Default 1
Digit 1 Incremental Feedback Loss (Encoder Line Break Detection)
Ultraware Name Incremental Feedback Loss
Range Value Description
0x0 Monitored
0x1 Ignored
Default 0
Digit 2 Mode of Gain Switching
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 53
Standard Drive Parameters Appendix A
Range Value Description
0 Fixed to the 1st gain
1 Fixed to 2nd gain
2 2nd gain selection when the gain switching input is turned on
3 2nd gain selection when the toque command is larger than the set-up levels of the gain control switching and hysteresis of control switching
4 2nd gain selection when the command speed is larger than the set-up levels of the gain control switching and hysteresis of control switching
5 2nd gain selection when the positional deviation is larger than the setup set-up levels of the gain control switching and hysteresis of control switching
6 2nd gain selection when more then one command pulse exist between 200usec
7 2nd gain selection when the positional deviation counter value exceeds the set-up of the positioning complete range
8 2nd gain selection when the motor actual speed exceeds the set-up levels of the gain control switching and hysteresis of control switching)Switches to the 2nd gain while the position command exists
9 Switches to the 1st gain when no-position command status lasts for the set up of delay time of gain switching [x 200usec] and the speed falls slower than the set-up levels of the gain control switching level and hysteresis of control switching
Default 0
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 7
[Pr - 006] Auxiliary Function Selection 2 (Continued)
54 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 007] Drive Address
Applicable Operating Mode All
Ultraware Name Drive Address
Range 1hellip247
Default 1
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 8
[Pr - 008] Password
Applicable Operating Mode All
Ultraware Name Drive Password
Range 0hellip9999Usage Note Unprotected Code 777
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 9
[Pr - 009] Serial Port Configuration
Applicable Operating Mode All
Data Size 4 digits
Digit 0 Baud Rate
Ultraware Name Baud Rate
Range Value Description
0x0 9600 bps
0x1 14400 bps
0x2 19200 bps
0x3 38400 bps
0x4 56000 bps
0x5 57600 bps
Default 0x5
Digit 1 Data bits Parity Stop bit
Ultraware Name Data bits Parity Stop bit
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 55
Standard Drive Parameters Appendix A
Range Value Description
0x0 8 No 1
0x1 8 Even 1
0x2 8 Odd 1
0x3 8 No 2
0x4 8 Even 2
0x5 8 Odd 2
Default 0x0
Digit 2 Protocol
Ultraware Name Protocol
Range Value Description
0x0 ASCII
0x1 MODBUS-RTU
Default 0
Digit 3 Communication Method
Ultraware Name Communication Method
Range Value Description
0 0x0 RS232
1 Ox1 RS485
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 10
[Pr - 010] Allocation of Input Signals 1
Range for all digits 0hellipB where 0 is Off B is On and 1hellipA are digital inputs
Data Size 4 digits
Digit Description Default Unmapped IO Status
0 Drive enable (SV-ON) 0x1 ON
1 Positive overtravel (P-OT) 0xb ON
2 Negative overtravel (N-OT) 0xb ON
3 Integrator inhibit (CON) 0x4 OFF
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 010]hellip[Pr - 021] on page 60
Applicable Operating Mode All
MODBUS Address 11
[Pr - 009] Serial Port Configuration (Continued)
56 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 011] Allocation of Input Signals 2
Range for all digits 0hellipB where 0 is Off B is On and 1hellipA are digital inputs
Data Size 4 digits
Digit Description Default Unmapped IO Status
0 Fault reset (A-RST) 0x5 OFF
1 Negative current limit (N-TL) 0x6 OFF
2 Positive current limit (P-TL) 0x7 OFF
3 Operation mode override (C-SEL)
0x0 OFF
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 010]hellip[Pr - 021] on page 60
Applicable Operating Mode All
MODBUS Address 12
[Pr - 012] Allocation of Input Signals 3
Range for all digits 0hellipB where 0 is Off B is On and 1hellipA are digital inputs
Data Size 4 digits
Digit Description Default Unmapped IO Status
0 Preset direction (C-DIR) 0x0 OFF
1 Preset select 1 (C-SP1) 0x0 OFF
2 Preset select 2 (C-SP2) 0x0 OFF
3 Preset select 3 (C-SP3) 0x0 OFF
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 010]hellip[Pr - 021] on page 60
Applicable Operating Mode All
MODBUS Address 13
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 57
Standard Drive Parameters Appendix A
[Pr - 013] Allocation of Input Signals 4
Range for all digits 0hellipB where 0 is Off B is On and 1hellipA are digital inputs
Data Size 4 digits
Digit Description Default Unmapped IO Status
0 Zero speed clamp enable (Z-CLP)
0x0 OFF
1 Pause follower (INHIBIT) 0x0 OFF
2 Alternate gain select (G-SEL) 0x0 OFF
3 Position clear (PCLR) 0x0 OFF
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 010]hellip[Pr - 021] on page 60
Applicable Operating Mode All
MODBUS Address 14
[Pr - 014] Allocation of Input Signals 5
Range for all digits 0hellipB where 0 is Off B is On and 1hellipA are digital inputs
Data Size 4 digits
Digit Description Default Unmapped IO Status
0 Position strobe (ABS-DT) 0x0 OFF
1 Motor moving enable (START) 0x0 OFF
2 Analog speed command select (C-SP4)
0x0 OFF
3 2nd electronic gear bank selection (GEAR)
0x0 OFF
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 010]hellip[Pr - 021] on page 60
Applicable Operating Mode All
MODBUS Address 15
58 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 015] Allocation of Input Signals 6
Data Size 4 digits
Digit Description Default Unmapped IO Status
0 Reset multi-turn data of absolute encoder (R_ABS)
0x0 OFF
1 Gain bank select (BANK_SEL) 0x0 OFF
2 Reserved 0x0 OFF
3 Reserved 0x0 OFF
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 010]hellip[Pr - 021] on page 60
Applicable Operating Mode All
MODBUS Address 16
[Pr - 016] Allocation of Input Signals 7
Data Size 4 digits
Digit Description Default Unmapped IO Status
0 Home sensor (H_SENS) 0x0 OFF
1 Start homing (SHOME) 0x0 OFF
2 Stop indexing (STOP) 0x0 OFF
3 Pause indexing (PAUSE) 0x0 OFF
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 010]hellip[Pr - 021] on page 60
Applicable Operating Mode Indexing
MODBUS Address 17
[Pr - 017] Allocation of Input Signals 8
Data Size 4 digits
Digit Description Default Unmapped IO Status
0 Index select 0 input (I_SEL0) 0x0 OFF
1 Index select 1 input (I_SEL1) 0x0 OFF
2 Index select 2 input (I_SEL2) 0x0 OFF
3 Index select 3 input (I_SEL3) 0x0 OFF
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 010]hellip[Pr - 021] on page 60
Applicable Operating Mode Indexing
MODBUS Address 18
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 59
Standard Drive Parameters Appendix A
[Pr - 018] Allocation of Input Signals 9
Data Size 4 digits
Digit Description Default Unmapped IO Status
0 Index select 4 input (I_SEL4) 0x0 OFF
1 Index select 5 input (I_SEL5) 0x0 OFF
2 Stop homing (H_STOP) 0x0 OFF
3 Start index (START_I) 0x0 OFF
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 010]hellip[Pr - 021] on page 60
Applicable Operating Mode Indexing
MODBUS Address 19
[Pr - 019] Allocation of Input Signals 10
Data Size 4 digits
Digit Description Default Unmapped IO Status
0 Reserved 0x0 OFF
1 Reserved 0x0 OFF
2 Reserved 0x0 OFF
3 Reserved 0x0 OFF
When Enabled Reserved
Applicable Operating Mode Indexing
MODBUS Address 20
[Pr - 020] Allocation of Input Signals 11
Data Size 4 digits
Digit Description Default Unmapped IO Status
0 Reserved 0x0 OFF
1 Reserved 0x0 OFF
2 Reserved 0x0 OFF
3 Reserved 0x0 OFF
When Enabled Reserved
Applicable Operating Mode Indexing
MODBUS Address 21
60 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
Table 1 - Setting Values for Parameters [Pr - 010]hellip[Pr - 021]
[Pr - 021] Allocation of Input Signals 12
Data Size 4 digits
Digit Description Default Unmapped IO Status
0 Reserved 0x0 OFF
1 Reserved 0x0 OFF
2 Reserved 0x0 OFF
3 Reserved 0x0 OFF
When Enabled Reserved
Applicable Operating Mode Indexing
MODBUS Address 22
Setting Value (1)
1 Setting values are reserved (not available) for [Pr - 019] and [Pr - 020]
B A 9 6 7 6 5 4 3 2 1 0
Input Channel No
Input Signal
19 9 8 7 6 5 4 3 2 1 Input Signal
CN1 Pin No On 26 27 29 9 8 7 6 5 4 3 Off
[Pr - 022] Allocation of Output Signals 1
Range for all digits 0hellip3 where 0 is Off and 1hellip6 are digital outputs
Data Size 4 digits
Digit Description Default
0 Within position window (P-COM)
0x1
1 Up to speed (TG-ON) 0x2
2 Brake control (BK) 0x3
3 Within speed window (V-COM) 0x0
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 022]hellip[Pr - 032] on page 65
Applicable Operating Mode All
MODBUS Address 23
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 61
Standard Drive Parameters Appendix A
[Pr - 023] Allocation of Output Signals 2
Range for all digits 0hellip3 where 0 is Off and 1hellip6 are digital outputs
Data Size 4 digits
Digit Description Default
0 Current limited (T_LMT) 0x0
1 Velocity limited (V-LMT) 0x0
2 Near position (NEAR) 0x0
3 Warning (WARN) 0x0
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 022]hellip[Pr - 032] on page 65
Applicable Operating Mode All
MODBUS Address 24
[Pr - 024] Allocation of Output Signals 3
Range for all digits 0hellip3 where 0 is Off and 1hellip6 are digital outputs
Data Size 4 digits
Digit Description Default
0 Absolute position valid (A_VLD) 0x0
1 Ready 0x0
2 Reserved 0x0
3 Reserved 0x0
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 022]hellip[Pr - 032] on page 65
Applicable Operating Mode All
MODBUS Address 25
62 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 025] Allocation of Output Signals 4
Range for all digits 0hellip3 where 0 is Off and 1hellip6 are digital outputs
Data Size 4 digits
Digit Description Default
0 In Motion (IMO) 0x0
1 In Dwell (I_DW) 0x0
2 Axis Homed (HOMC) 0x0
3 Index Select 0 Out (O_ISEL0) 0x0
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 022]hellip[Pr - 032] on page 65
Applicable Operating Mode Indexing
MODBUS Address 26
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 63
Standard Drive Parameters Appendix A
[Pr - 026] Allocation of Output Signals 5
Range for all digits 0hellip3 where 0 is Off and 1hellip6 are digital outputs
Data Size 4 digits
Digit Description Default
0 Index Select 1 Out (O_ISEL1) 0x0
1 Index Select 2 Out (O_ISEL2) 0x0
2 Index Select 3 Out (O_ISEL3) 0x0
3 Index Select 4 Out (O_ISEL4) 0x0
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 022]hellip[Pr - 032] on page 65
Applicable Operating Mode Indexing
MODBUS Address 27
[Pr - 027] Allocation of Output Signals 6
Range for all digits 0hellip3 where 0 is Off and 1hellip6 are digital outputs
Data Size 4 digits
Digit Description Default
0 Index Select 5 Out (O_ISEL5) 0x0
1 End of Sequence (E_SEQU) 0x0
2 Reserved 0x0
3 Reserved 0x0
When Enabled Servo-Off -gt Setting (1)
1 Refer to Setting Values for Parameters [Pr - 022]hellip[Pr - 032] on page 65
Applicable Operating Mode Indexing
MODBUS Address 28
[Pr - 028] Allocation of Output Signals 7
Range for all digits 0hellip3 where 0 is Off and 1hellip6 are digital outputs
Data Size 4 digits
Digit Description Default
0 Reserved 0x0
1 Reserved 0x0
2 Reserved 0x0
3 Reserved 0x0
When Enabled Reserved
Applicable Operating Mode Indexing
MODBUS Address 29
64 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 029] Allocation of Output Signals 8
Range for all digits 0hellip3 where 0 is Off and 1hellip6 are digital outputs
Data Size 4 digits
Digit Description Default
0 Reserved 0x0
1 Reserved 0x0
2 Reserved 0x0
3 Reserved 0x0
When Enabled Reserved
Applicable Operating Mode Indexing
MODBUS Address 30
[Pr - 030] Allocation of Output Signals 9
Range for all digits 0hellip3 where 0 is Off and 1hellip6 are digital outputs
Data Size 4 digits
Digit Description Default
0 Reserved 0x0
1 Reserved 0x0
2 Reserved 0x0
3 Reserved 0x0
When Enabled Reserved
Applicable Operating Mode Indexing
MODBUS Address 31
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 65
Standard Drive Parameters Appendix A
Table 2 - Setting Values for Parameters [Pr - 022]hellip[Pr - 032]
[Pr - 031] Allocation of Output Signals 10
Range for all digits 0hellip3 where 0 is Off and 1hellip6 are digital outputs
Data Size 4 digits
Digit Description Default
0 Reserved 0x0
1 Reserved 0x0
2 Reserved 0x0
3 Reserved 0x0
When Enabled Reserved
Applicable Operating Mode Indexing
MODBUS Address 32
[Pr - 032] IO Control Authority
Applicable Operating Mode All
Data Size 2 digits
Digit 0 MODBUS Input Function Control
Ultraware Name MODBUS Input Function Control
Range Value Description
0x0 Disable
0x1 Enable
Default 0
Digits 1 MODBUS Run Function Control
Ultraware Name MODBUS Run Function Control
Range Value Description
0x0 Disable
0x1 Enable
Default 0
When Enabled Servo-Off -gt Setting (1)
1 Refer to the Setting Values for Parameters [Pr - 022]hellip[Pr - 032] table immediately below
Applicable Operating Mode All
MODBUS Address 33
Setting Value (1)
1 Setting Values are reserved (not available) for [Pr - 028] and [Pr - 031]
6 5 4 3 2 1 0
Input Channel No AL 3 AL 2 DO1 DO3 DO2 DO1 Input Signal
CN1 Pin No 39 38 37 4748 4344 4142 Off
66 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
Group 1 - Gain Control
[Pr - 100] Velocity Regulator Response Level
Ultraware Name Velocity Regulator Response level
Range 1hellip150
Default 50
Units
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 100
[Pr - 101] System Gain
Ultraware Name Velocity Regulator Response level
Range 1hellip150
Default 50
Units Hz
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 101
[Pr - 102] Velocity Regulator P Gain
Ultraware Name Main Velocity Regulator Gains Proportional Gain
Range 0hellip10000
Default 60
Units -
Applicable Operating Mode
When Enabled Immediately
Applicable Operating Mode Follower Analog Speed Preset
MODBUS Address 102
[Pr - 103] Velocity Regulator I Gain
Ultraware Name Main Velocity Regulator Gains Integral Gain
Range 0hellip60000
Default 26
Units -
When Enabled Immediately
Applicable Operating Mode Follower Analog Speed Preset
MODBUS Address 103
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 67
Standard Drive Parameters Appendix A
[Pr - 104] Velocity Regulator D gain
Ultraware Name Main Velocity Regulator Gains Derivative Gain
Range 0hellip1000
Default 0
Units -
When Enabled Immediately
Applicable Operating Mode Follower Analog Speed Preset
MODBUS Address 104
[Pr - 105] Velocity Error Filter
Ultraware Name Calibration Error Filter Bandwidth
Range 0hellip2500
Default 30
Units Hz
When Enabled Immediately
Applicable Operating Mode Follower Analog Speed Preset
MODBUS Address 105
[Pr - 106] Position Regulator Kp Gain
Ultraware Name Main Position Regulator Gains Kp
Range 0hellip700
Default 20
Units Hz
When Enabled Immediately
Applicable Operating Mode Follower Analog Speed Preset
MODBUS Address 106
68 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 107] Current Command Lowpass Filter Bandwidth
Ultraware Name Main Current Regulator Gains Low Pass Filter Bandwidth
Range 0hellip10000
Default 300
Units Hz
Applicable Operating Mode All
When Enabled Immediately
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 107
[Pr - 108] Velocity Command Lowpass Filter Bandwidth
Ultraware Name Main Velocity Regulator Gains Low Pass Filter Bandwidth
Range 0hellip10000
Default 1000
Units Hz
When Enabled Immediately
Applicable Operating Mode Follower Analog Speed Preset
MODBUS Address 108
[Pr - 109] Position Command Lowpass Filter Bandwidth
Ultraware Name Main Position Regulator Gains Low Pass Filter Bandwidth
Range 0hellip1000
Default 0
Units Hz
When Enabled Immediately
Applicable Operating Mode Follower
MODBUS Address 109
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 69
Standard Drive Parameters Appendix A
[Pr - 110] 1st Resonant Frequency Suppression Filter
Ultraware Name Main Current Regulator Gains 1st Resonant Frequency Suppression Filter
Description Suppresses Vibration by cutting off Current Command in assigned frequency band
Range 0hellip10000
Default 10000
Units Hz
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 110
[Pr - 111] 1st Resonant Frequency Suppression Filter Width
Ultraware Name Main Current Regulator Gains 1st Resonant Frequency Suppression Filter Width
Description Set up the notch width of 1st resonance suppressing filter in 20 steps Higher the setup larger the notch width you can obtain
Range 0hellip20
Default 10
Units
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 111
[Pr - 112] 2nd Resonant Frequency Suppression Filter
Ultraware Name 2nd Main Current Regulator Gains 2nd Resonant Frequency Suppression Filter
Description Suppresses Vibration by cutting off Current Command in assigned frequency band
Range 0hellip10000
Default 10000
Units Hz
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 112
70 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 113] 2nd Resonant Frequency Suppression Filter Width
Ultraware Name Main Current Regulator Gains 2nd Resonant Frequency Suppression Filter Width
Description Set up the notch width of 2nd resonance suppressing filter in 20 steps The higher the setup larger the notch width you can obtain
Range 0hellip20
Default 10
Units -
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 113
[Pr - 114] 2nd Resonant Frequency Suppression Filter Depth
Ultraware Name Main Current Regulator Gains 2nd Resonant Frequency Suppression Filter Depth
Description Set up the 2nd notch depth of the resonance suppressing filter The higher the setup the shallower the notch depth and the smaller the phase delay you can obtain
Range 0hellip100
Default 100
Units -
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 114
[Pr - 115] Position Regulator Kff gain
Ultraware Name Main Position Regulator Gains Kff
Range 0hellip100
Default 0
Units
When Enabled Immediately
Applicable Operating Mode Follower
MODBUS Address 115
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 71
Standard Drive Parameters Appendix A
[Pr - 116] Position Regulator Kff Bandwidth
Ultraware Name Main Position Regulator Gains Kff Low Pass Filter Bandwidth
Range 0hellip2500
Default 200
Units Hz
When Enabled Immediately
Applicable Operating Mode Follower
MODBUS Address 116
[Pr - 117] Velocity Regulator I Gain Mode
Ultraware Name Main Velocity Regulator Gains I Gain Mode
Description During transient response Speed Response Overshoot can be suppressed by a speed controller change from a Proportional Integral (PI) controller into a Proportional (P) controller It reduces position completion time during position control
Range Value Description
0x0 Do not use PPI Mode Conversion
0x1 When Current Command exceeds Current Value in [Pr - 118] Speed Controller is changed from PI Controller to P Controller
0x2 When Speed Command exceeds Speed Value in [Pr - 118] Speed Controller is changed from PI Controller to P Controller
0x3 When Position error exceeds Position error Value in [Pr - 118] Speed Controller is changed from PI Controller to P Controller
0x4 Automatically velocity controller is changed from PI Controller to P Controller
Default 3
When Enabled Servo-Off -gt Setting
Applicable Operating Mode All
MODBUS Address 117
72 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 118] Velocity Regulator I Gain Disable Threshold
Ultraware Name Main Velocity Regulator Gains I Gain Disable Threshold
Range 0hellip3000
Default 100
Units If [Pr - 117] = 1 units are of rated continuous current
If [Pr - 117] = 2 units are rpm for rotary motors mmsec for linear motors
If [Pr - 117] = 3 units are Counts
When Enabled Follower Analog Velocity Preset
Applicable Operating Mode Immediately
MODBUS Address 118
[Pr - 119] Position Regulator High Error Output Offset
Ultraware Name Main Position Regulator Gains High Error Output Offset
Range 0hellip450
Default 0
Units Rotary rpm Linear mmsec
When Enabled All
Applicable Operating Mode Immediately
MODBUS Address 119
[Pr - 120] Position Regulator High Error Output Threshold
Ultraware Name Main Position Regulator Gains High Error Output Threshold
Range 0hellip50000
Default 1000
Units Counts
When Enabled All
Applicable Operating Mode Immediately
MODBUS Address 120
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 73
Standard Drive Parameters Appendix A
[Pr - 121] Current Regulator Bandwidth Reduction Scale
Ultraware Name Main Current Regulator Gains Gain
Range Value Description
0x0 High bandwidth
0x1 Medium bandwidth (06667 high)
0x2 Low bandwidth (03334 high)
Default 0x1
When Enabled All
Applicable Operating Mode Immediately
MODBUS Address 121
[Pr - 122] On-line Vibration Mode
Data Size 1 digits
Digit 0 On-line Vibration Suppression Mode
Ultraware Name On-line Vibration Suppression Mode
Range Value Description
0x0 Disable
0x1 Normal and High Velocity Mode
0x2 Slow Velocity Mode without initial value
Default 0x0
Digit 1 On-line Vibration Suppression Gain
Ultraware Name On-line Vibration Suppression Gain
Range Value Description
0x0 Low
0x1 High
Default 0x0
When Enabled All
Applicable Operating Mode Servo-Off -gt Setting
MODBUS Address 122
74 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 123] Velocity Regulator Configuration
Applicable Operating Mode All
Data Size 1 digits
Digit 0 Velocity Command Filter on Follower
Ultraware Name Velocity Command Filter on Follower
Range Value Description
0x0 Disable
0x1 Enable
Default 0x0
When Enabled Immediately
Applicable Operating Mode Servo-Off -gt Setting
MODBUS Address 123
[Pr - 124] Delay Time of Gain Switching
Ultraware Name Gain Switching Delay Time of Gain Switching
Range 0hellip10000
Default 0
Units X 200usec
When Enabled Immediately
Applicable Operating Mode Follower Analog Velocity Preset
MODBUS Address 124
[Pr - 125] Level of Gain Switching
Ultraware Name Gain Switching Level of Gain Switching
Range 0hellip10000
Default 0
Units -
When Enabled Immediately
Applicable Operating Mode Follower Analog Velocity Preset
MODBUS Address 125
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 75
Standard Drive Parameters Appendix A
[Pr - 126] Hysteresis of Gain Switching
Ultraware Name Gain Switching Hysteresis of Gain Switching
Range 0hellip10000
Default 0
Units -
When Enabled Immediately
Applicable Operating Mode Follower Analog Velocity Preset
MODBUS Address 126
[Pr - 127] Position Gain Switching Time
Ultraware Name Gain Switching Level of Gain Switching
Range 0hellip10000
Default 0
Units x 200usec
When Enabled Immediately
Applicable Operating Mode Follower Analog Velocity Preset
MODBUS Address 127
[Pr - 128] 2nd Velocity Regulator P Gain
Ultraware Name 2nd Regulator Gain P
Range 0hellip10000
Default 60
Units -
When Enabled Immediately
Applicable Operating Mode Follower Analog Velocity Preset
MODBUS Address 128
[Pr - 129] 2nd Velocity Regulator I Gain
Ultraware Name 2nd Regulator Gain Integrator Gain
Range 0hellip60000
Default 26
Units -
When Enabled Immediately
Applicable Operating Mode Follower Analog Velocity Preset
MODBUS Address 129
76 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 130] 2nd Position Regulator Kp Gain
Ultraware Name 2nd Regulator Gain Kp
Range 0hellip700
Default 20
Units Hz
When Enabled Immediately
Applicable Operating Mode Position
MODBUS Address 130
[Pr - 131] 2nd Current Command Lowpass Filter Bandwidth
Ultraware Name 2nd Regulator Gain Low Pass Bandwidth (IReg)
Range 0hellip10000
Default 300
Units Hz
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 131
[Pr - 132] 2nd Velocity Command Lowpass Filter Bandwidth
Ultraware Name 2nd Regulator Gain Low Pass Bandwidth (VReg)
Range 0hellip10000
Default 1000
Units Hz
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 132
[Pr - 133] 3rd Velocity Regulator P Gain
Ultraware Name 3rd Regulator Gain P Gain
Range 0hellip10000
Default 60
Units -
When Enabled Immediately
Applicable Operating Mode Follower Analog Velocity Preset
MODBUS Address 133
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 77
Standard Drive Parameters Appendix A
[Pr - 134] 3rd Velocity Regulator I Gain
Ultraware Name 3rd Regulator Gain Integrator Gain
Range 0hellip10000
Default 26
Units -
When Enabled Immediately Immediately
Applicable Operating Mode Follower Analog Velocity Preset
MODBUS Address 134
[Pr - 135] 3rd Position Regulator Kp Gain
Ultraware Name 3rd Regulator Gain Kp
Range 0hellip700
Default 20
Units Hz
When Enabled Immediately
Applicable Operating Mode Position
MODBUS Address 135
[Pr - 136] 3rd Current Command Lowpass Filter Bandwidth
Ultraware Name 3rd Regulator Gain Low Pass Bandwidth (IReg)
Range 0hellip10000
Default 300
Units Hz
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 136
[Pr - 137] 3rd Velocity Command Lowpass Filter Bandwidth
Ultraware Name 3rd Regulator Gain Low Pass Bandwidth (VReg)
Range 0hellip10000
Default 1000
Units Hz
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 137
78 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 138] 4th Velocity Regulator P Gain
Ultraware Name 4th Regulator Gain P
Range 0hellip10000
Default 60
Units -
When Enabled Immediately
Applicable Operating Mode Follower Analog Velocity Preset
MODBUS Address 138
[Pr - 139] 4th Velocity Regulator I Gain
Ultraware Name 4th Regulator Gain Integrator Gain
Range 0hellip60000
Default 26
Units
When Enabled Immediately
Applicable Operating Mode Follower Analog Velocity Preset
MODBUS Address 139
[Pr - 140] 4th Position Regulator Kp Gain
Ultraware Name 4th Regulator Gain Kp
Range 0hellip700
Default 20
Units Hz
When Enabled Immediately
Applicable Operating Mode Position
MODBUS Address 140
[Pr - 141] 4th Current Command Lowpass Filter Bandwidth
Ultraware Name 4th Regulator Gain Low Pass Bandwidth (IReg)
Range 0hellip10000
Default 300
Units Hz
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 141
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 79
Standard Drive Parameters Appendix A
[Pr - 142] 4th Velocity Command Lowpass Filter Bandwidth
Ultraware Name 4th Regulator Gain Low Pass Bandwidth (VReg)
Range 0hellip10000
Default 1000
Units Hz
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 142
80 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
Group 2 - Speed Control
[Pr - 200] Velocity Scale
Ultraware Name Velocity Scale
Range 100hellip20000
Default 5000
Units rpmV for rotary motors mmsec for linear motors
When Enabled Servo-Off -gt Setting
Applicable Operating Mode Analog Velocity
MODBUS Address 200 (1)
1 Refer to Output Function Status Parameter on page 23 for more detailed information on these parameters
[Pr - 201] Jog Velocity Command
Ultraware Name Velocity Control Panel Velocity Command
Range 0hellip6000
Default 50
Units rpm for rotary motors mmsec for linear motors
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 201
[Pr - 202] Acceleration
Ultraware Name Acceleration Limits Acceleration
Range 1hellip2147483647
Default 41667
Units 10-2Revsec2 for rotary mmsec2 for linear
When Enabled Immediately
Applicable Operating Mode Analog Velocity Input Preset Velocity
MODBUS Address 202
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 81
Standard Drive Parameters Appendix A
[Pr - 203] Deceleration
Ultraware Name Acceleration Limits Deceleration
Range 1hellip2147483647
Default 41667
Units 10-2Revsec2 for rotary mmsec2 for linear
When Enabled Immediately
Applicable Operating Mode Analog Velocity Input Preset Velocity
MODBUS Address 203
[Pr - 204] S-Curve Time
Ultraware Name Acceleration Limits S-Curve Time
Range 0hellip5000
Default 0
Units Ms
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 204
[Pr - 205] Preset Velocity 1
Ultraware Name Preset Velocity 1
Range -6000hellip6000
Default 0
Units rpm for rotary motors mmsec for linear motors
When Enabled Immediately
Applicable Operating Mode Preset
MODBUS Address 205
Pr - 206] Preset Velocity 2
Ultraware Name Preset Velocity 2
Range -6000hellip6000
Default 0
Units rpm for rotary motors mmsec for linear motors
When Enabled Immediately
Applicable Operating Mode Preset
MODBUS Address 206
82 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
Pr - 207] Preset Velocity 3
Ultraware Name Preset Velocity 3
Range -6000hellip6000
Default 0
Units rpm for rotary motors mmsec for linear motors
When Enabled Immediately
Applicable Operating Mode Preset
MODBUS Address 207
[Pr - 208] Preset Velocity 4
Ultraware Name Preset Velocity 4
Range -6000hellip6000
Default 0
Units rpm for rotary motors mmsec for linear motors
When Enabled Immediately
Applicable Operating Mode Preset
MODBUS Address 208
[Pr - 209] Preset Velocity 5
Ultraware Name Preset Velocity 5
Range -6000hellip6000
Default 0
Units rpm for rotary motors mmsec for linear motors
When Enabled Immediately
Applicable Operating Mode Preset
MODBUS Address 209
[Pr - 210] Preset Velocity 6
Ultraware Name Preset Velocity 6
Control Index 6
Range -6000hellip6000
Default 0
Units rpm for rotary motors mmsec for linear motors
When Enabled Immediately
Applicable Operating Mode Preset
MODBUS Address 210
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 83
Standard Drive Parameters Appendix A
[Pr - 211] Preset Velocity 7
Ultraware Name Preset Velocity 7
Range -6000hellip6000
Default 0
Units rpm for rotary motors mmsec for linear motors
When Enabled Immediately
Applicable Operating Mode Preset
MODBUS Address 211
[Pr - 212] Manual Velocity Limit
Ultraware Name Manual Velocity limit
Range 1hellip6000
Default 5000
Units rpm for rotary motors mmsec for linear motors
When Enabled Servo-Off -gt Setting
Applicable Operating Mode Follower Analog Velocity Preset
MODBUS Address 212
[Pr - 213] Velocity Limit Mode
Ultraware Name Velocity Limits Velocity Limit Mode
Range Value Description
0x0 Disabled
0x1 Limited by [Pr - 212]
0x2 Limited by Analog Speed Command Value (except Analog Speed Mode)
0x3 Limited by lesser one between [Pr - 212] and Analog Speed Command
Default 0
When Enabled Servo-Off -gt Setting
Applicable Operating Mode All
MODBUS Address 213
84 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
Group 3 - Position Control
[Pr - 300] Follower
Data Size 4 digits
Digit 0 Command Type
Ultraware Name Command Type
Range Value Description
0x0 Step UpStep Down Positive logic
0x1 Step UpStep Down Negative logic
0x2 StepDirection Positive Logic
0x3 StepDirection Negative Logic
0x4 Auxiliary Encoder x1
0x5 Auxiliary Encoder x2
0x6 Auxiliary Encoder x4
Default 0x0
Note For Command types 0x4 0x5 and 0x6Motor Counts = Master Lines MULT helliphelliphellip (4 Para301) Para302where MULT is 1 2 or 4 for command types 0x4 0x5 and 0x6 respectively
Applicable Operating Mode Follower
Digit 1 Controller Output Type
Ultraware Name Controller Output Type
Range Value Description
0x0 Use Low speed Line Drive Output in Host Controller for isolated electrical connection
0x1 Use Open Collector in Host Controller
0x2 Use High Frequency Line Drive Output in Host Controller
Default 0x0
Applicable Operating Mode Follower
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 85
Standard Drive Parameters Appendix A
Digit 2 Encoder Output Forward Direction
Ultraware Name Encoder Output Forward Direction
Range Value Description
0x0 During Forward Rotation Encoder Output Phase A have a lead of 90ordm over Phase B
0x1 During Forward Rotation Encoder Output Phase B have a lead of 90ordm over Phase A
Default 0x0
Applicable Operating Mode All
Digit 3 1st Gear ratio change
Ultraware Name 1st Gear ratio change
Range Value Description
0x0 Enable Only on Drive Disabled
0x1 Always Enable
Default 0x0
When Enabled Servo-Off -gt Setting
Applicable Operating Mode Follower
MODBUS Address 300
[Pr - 301] 1st Gear Ratio Follower Counts
Ultraware Name 1st Gear Ratio Numerator
Range 1hellip65535
Default 4
Units
When Enabled Servo-Off -gt Setting
Applicable Operating Mode Follower
MODBUS Address 301
[Pr - 300] (Continued) Follower
86 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 302] 1st Gear Ratio Master Counts
Ultraware Name 1st Gear Ratio Denominator
Range 1hellip65535
Default 1
Units
When Enabled Servo-Off -gt Setting
Applicable Operating Mode Follower
MODBUS Address 302
[Pr - 303] Encoder Output Ratio Output Counts
Ultraware Name Output Ratio Numerator
Range 1hellip32768
Default 1
Units
When Enabled Servo-Off -gt Setting
Applicable Operating Mode All
MODBUS Address 303
[Pr - 304] Encoder Output Ratio Motor Counts
Ultraware Name Output Ratio Numerator
Range 1hellip32768
Default 1
Units
When Enabled Servo-Off -gt Setting
Applicable Operating Mode All
MODBUS Address 304
[Pr - 305] 2nd Gear Ratio Follower Counts
Ultraware Name 2nd Gear Ratio Numerator
Range 1hellip65535
Default 4
Units
When Enabled Servo-Off -gt Setting
Applicable Operating Mode Follower
MODBUS Address 305
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 87
Standard Drive Parameters Appendix A
[Pr - 306] 2nd Gear Ratio Master Counts
Ultraware Name 2nd Gear Ratio Denominator
Range 1hellip65535
Default 1
Units
When Enabled Servo-Off -gt Setting
Applicable Operating Mode Follower
MODBUS Address 306
[Pr - 307] Reserved
When Enabled Reserved for future use
88 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 308] Digital Filter Cut-off Frequency
Data Size 3 digits
Digit 0 Low drive input
Value Description
0x0 hellip0x7 0 3MHz
1 175MHz
2 15MHz
3 1MHz
4 075MHz
5 0625MHz
6 0562MHz
7 0525MHz
Default = 1
Digit 1 Open collector input
Value Description
0x0 hellip0x7 0 3MHz
1 175MHz
2 15MHz
3 1MHz
4 075MHz
5 0625MHz
6 0562MHz
7 0525MHz
Default = 5
Digit 2 High frequency line drive input
0x0 hellip0x7 0 3MHz
1 175MHz
2 15MHz
3 1MHz
4 075MHz
5 0625MHz
6 0562MHz
7 0525MHz
Default = 0
When Enabled Servo-Off -gt Setting
Applicable Operating Mode All
MODBUS Address 308
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 89
Standard Drive Parameters Appendix A
Group 4 - Torque Controls
[Pr - 400] Current Scale
Ultraware Name Current Scale
Range 0hellip1000
Default 333
Units of rated continuous currentV
When Enabled Servo-Off -gt Setting
Applicable Operating Mode Analog Current command Dual current Command
MODBUS Address 400
[Pr - 401] Positive Internal Current Limit
Ultraware Name Current Limits Positive Internal
Range 0hellip500
Default 300
Units of motor rated continuous current
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 401
[Pr - 402] Negative Internal Current Limit
Ultraware Name Current Limits Negative Internal
Range 0hellip500
Default 300
Units of motor rated continuous current
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 402
[Pr - 403] Positive External Current Limit
Ultraware Name Current Limits Positive External
Range 0hellip500
Default 100
Units of motor rated continuous current
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 403
90 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[
Pr - 404] Negative External Current Limit
Ultraware Name Current Limits Negative External
Range 0hellip500
Default 100
Units of motor rated continuous current
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 404
[Pr - 405] Overtravel Current Limit
Ultraware Name Stopping Functions Maximum Stopping Current
Range 0hellip500
Default 300
Units of motor rated continuous current
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 405
[Pr - 406] Initial Current Bias
Ultraware Name Initial Current Bias
Description Constant current applied when the drive enables Meant to hold vertical loads
Range -100hellip100
Default 0
Units of motor rated continuous current
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 406
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 91
Standard Drive Parameters Appendix A
Group 5 - Supplemental Drive Controls
[Pr - 500] In Position Size
Ultraware Name Position Functions In Position Size
Description If position error lt In Position Size for 1 ms and the In Position Size output signal is assigned the In Position output is turned ON
Range 0hellip2500
Default 10
Units Counts
When Enabled Immediately
Applicable Operating Mode Follower
MODBUS Address 500
[Pr - 501] Reserved
When Enabled Reserved for future use
[Pr - 502] Near Position Size
Ultraware Name Position Functions Near Position Size
Description If position error lt Near Position Size and the Near Position output signal is assigned the Near Position output is turned ON
Range 0hellip2500
Default 20
Units Counts
When Enabled Immediately
Applicable Operating Mode Follower
MODBUS Address 502
92 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 503] Speed Window
Ultraware Name Speed Functions Speed Window
Description If the speed error lt Speed Window for 10 ms and the Within Speed Window output signal is assigned then the Within Speed Window output is turned ON
Range 0hellip1000
Default 10
Units rpm for rotary motors mmsec for linear motors
When Enabled Immediately
Applicable Operating Mode Follower Analog Velocity Input Preset
MODBUS Address 503
[Pr - 504] Up to Speed
Ultraware Name Speed Functions Up to Speed
Description If the motor speed gt Up to Speed and the Up to Speed output signal is assigned then the Up to Speed output is turned ON
Range 1hellip5000
Default 20
Units rpm for rotary motors mmsec for linear motors
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 504
[Pr - 505] Zero Clamp
Ultraware Name Speed Functions Zero Clamp
Description If the Analog Speed command lt Zero Clamp then the Analog Speed command is ignored and the Motor Speed command is set to zero
Range 1hellip5000
Default 20
Units rpm for rotary motors mmsec for linear motors
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 505
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 93
Standard Drive Parameters Appendix A
[Pr - 506] Brake Inactive Delay
Ultraware Name Digital Outputs Brake Inactive Delay
Description Brake Inactive delay is the time from when the drive is enabled to when the brake is released
Range 0hellip10000
Default 0
Units ms
When Enabled Immediately
Applicable Operating Mode Servo-Off -gt Setting
MODBUS Address 506
[Pr - 507] Disable Delay
Ultraware Name Stopping Functions Disable Delay
Description Disable Delay is the time from when the Drive Disable command is received to when the Drive Disable command is actually executed
Range 0hellip10000
Default 0
Units ms
When Enabled All
Applicable Operating Mode Servo-Off -gt Setting
MODBUS Address 507
[Pr - 508] Brake Active Delay
Ultraware Name Digital Outputs Brake Active Delay
Description Brake Active Delay is the time from when the drive is disabled to when the break starts operating
Range 0hellip10000
Default 500
Units ms
When Enabled All
Applicable Operating Mode Servo-Off -gt Setting
MODBUS Address 508
94 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 509] Disabled Braking Speed
Ultraware Name Stopping Functions Braking Application Speed
Description The Disabled Braking Speed is the feedback speed below which the motor break is engaged after disabling the drive
Range 0hellip1000
Default 100
Units rpm for rotary motors mmsec for linear motors
When Enabled All
Applicable Operating Mode Servo-Off -gt Setting
MODBUS Address 509
[Pr - 510] Following Error Limit
Ultraware Name Following Error Limit
Description A following error fault occurs when the difference between position command and actual position is greater than this parameter
Range 0hellip2147483647
Default 99999
Units Counts
When Enabled Immediately
Applicable Operating Mode Follower
MODBUS Address 510
[Pr - 511] Reserved
When Enabled Reserved for future use
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 95
Standard Drive Parameters Appendix A
[Pr - 512] AC line loss fault delay
Ultraware Name AC Line Loss Fault Delay
Description The AC Line Loss Fault is inhibited for this amount of time when a loss of AC power is detected
Range 20hellip1000
Default 20
Units ms
When Enabled Servo-Off -gt Setting
Applicable Operating Mode All
MODBUS Address 513
[Pr - 513] Analog Output CH1 Selection
Ultraware Name Analog Output 1 Signal
Range 0hellip28 (except 15232526)
Default 0
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 514
[Pr - 514] Analog Output CH2 Selection
Ultraware Name Analog Output 2 Signal
Range 0hellip28 (except 15232526)
Default 1
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 516
[Pr - 515] Analog Output CH1 Scale
Ultraware Name Analog Output 1 Scale
Range 1 hellip99999
Units Units depend on the channel selected in [Pr - 513]
Default 500
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 518
96 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 516] Analog Output CH2 Scale
Ultraware Name Analog Output 2 Scale
Range 1hellip99999
Units Units depends on the channel selected in [Pr - 514]
Default 500
When Enabled Immediately
Applicable Operating Mode All
MODBUS Address 520
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 97
Standard Drive Parameters Appendix A
Group 6 - Supplemental Gain and Report Settings
[Pr - 600] Analog Velocity Command Offset
Ultraware Name Velocity Command Offset
Range -10000hellip10000
Default 0
Units 01 mV
When Enabled Servo-Off -gt Setting (ENG Mode)
Applicable Operating Mode Analog Velocity Command
[Pr - 601] Analog Current Command Offset
Ultraware Name Current Command Offset
Range -10000hellip10000
Default 0
Units 01 mV
When Enabled Servo-Off -gt Setting (ENG Mode)
Applicable Operating Mode Analog Current Command
[Pr - 602] U Phase Current Sensing Offset
Ultraware Name Calibration U Phase Current Offset
Range -60000hellip60000
Default 0
Units 001 mA
When Enabled Servo-Off -gt Setting (ENG Mode)
Applicable Operating Mode All
[Pr - 603] W Phase Current Sensing Offset
Ultraware Name Calibration W Phase Current Offset
Range -60000hellip60000
Default 0
Units 001 mA
When Enabled Servo-Off -gt Setting (ENG Mode)
Applicable Operating Mode All
98 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 604] A lead B Swap
Ultraware Name A lead B Swap
Description Select A-lead-B or B-lead-A
Data Size 1 digit
Range Value Description
0 Disable
1 Enable
Default 0
Unit -
When Enabled Servo-Off -gt Setting -gt After power cycle (ENG Mode)
Applicable Operating Mode All
[Pr - 605] Dynamic Brake Circuit Protection
Ultraware Name Dynamic Brake Circuit Protection
Description The Dynamic Brake Circuit Protection is inhibited that the motor DB braking current is too large for the drive
Data Size 1 digit
Range Value Description
0 Disable
1 Enable
Default 1
Units -
When Enabled Servo-Off -gt Setting (ENG Mode)
Applicable Operating Mode All
[Pr - 606] Fault Detail Sampling Period
Ultraware Name Fault Detail Setup Sample Period
Range 1hellip100
Default 5
Units 02 ms
When Enabled Immediately (ENG Mode)
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 99
Standard Drive Parameters Appendix A
[Pr - 607] Fault Detail Data Selection 1
Ultraware Name Fault Detail Setup Channel A
Description Refer to Monitor Variables on page 135 for more information on the range options
Range 0hellip28 (except 15 23 25 and 26)
Default 0
When Enabled Immediately (ENG Mode)
[Pr - 608] Fault Detail Data Selection 2
Ultraware Name Fault Detail Setup Channel B
Description Refer to Monitor Variables on page 135 for more information on the range options
Range 0hellip28 (except 15 23 25 and 26)
Default 3
When Enabled Immediately (ENG Mode)
[Pr - 609] Fault Detail Data Selection 3
Ultraware Name Fault Detail Setup Channel C
Description Refer to Monitor Variables on page 135 for more information on the range options
Range 0hellip28 (except 15 23 25 and 26)
Default 11
When Enabled Immediately (ENG Mode)
[Pr - 610] Fault Detail Data Selection 4
Ultraware Name Fault Detail Setup Channel D
Description Refer to Monitor Variables on page 135 for more information on the range options
Range 0hellip28 (except 15 23 25 and 26)
Default 16
When Enabled Immediately (ENG Mode)
100 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 611] 1st Resonant Frequency Suppression Filter
Ultraware Name Main Current Regulator Gains 1st Resonant Frequency Suppression Filter
Description Suppresses Vibration by cutting off Current Command in assigned frequency band
Range 0hellip10000
Default 10000
Units Hz
When Enabled Immediately (Read Parameter for ENG)
Applicable Operating Mode All
[Pr - 612] 2nd Resonant Frequency Suppression Filter
Ultraware Name Main Current Regulator Gains 1st Resonant Frequency Suppression Filter
Description Suppresses Vibration by cutting off Current Command in assigned frequency band
Range 0hellip10000
Default 10000
Units Hz
When Enabled Immediately (Read Parameter for ENG)
Applicable Operating Mode All
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 101
Standard Drive Parameters Appendix A
Group 7 - Manufacturing Settings
This parameter group includes product settings that are programmed during the manufacturing process
IMPORTANT Group 7 - Manufacturing Settings are programmed at the factory Do not modify these settings as they provide a common drive setup that is useful when you bull develop a drive system or troubleshooting a drive or bull seek assistance through Rockwell Automation Technical
Support
[Pr - 700] Drive Capacity
Ultraware Name Drive Model
Range 50hellip1500
Default Factory settings determine default
Units W
When Enabled Servo-Off -gt Setting -gt After power cycle (ENG mode)
Applicable Operating Mode All
[Pr - 701] DC Bus Voltage Offset
Ultraware Name Calibration DC Bus Voltage Offset
Range -100hellip100
Default 0
Units V
When Enabled Servo-Off -gt Setting -gt After power cycle (ENG mode)
Applicable Operating Mode All
[Pr - 702] Reservedl
When Enabled Reserved for future use
102 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 703] Analog Monitor Output CH1 Offset
Ultraware Name Calibration Analog Output CH1 Offset
Range -1000hellip1000
Default 0
Units mV
When Enabled Servo-Off -gt Setting -gt After power cycle (ENG mode)
Applicable Operating Mode All
[Pr - 704] Analog Monitor Output CH1 Scaling
Ultraware Name Calibration Analog Output CH1 Scale
Range -1000hellip1000
Default 0
Units -
When Enabled Servo-Off -gt Setting -gt After power cycle (ENG mode)
Applicable Operating Mode All
[Pr - 705] Analog Monitor Output CH2 Offset
Ultraware Name Calibration Analog Output CH2 Offset
Range -1000hellip1000
Default 0
Units mV
When Enabled Servo-Off -gt Setting -gt After power cycle (ENG mode)
Applicable Operating Mode All
[Pr - 706] Analog Monitor Output CH2 Scaling
Ultraware Name Calibration Analog Output CH2 Scale
Range -1000hellip1000
Default 0
Units -
When Enabled Servo-Off -gt Setting -gt After power cycle (ENG mode)
Applicable Operating Mode All
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 103
Standard Drive Parameters Appendix A
Group 8 - Reserved Parameters
Group 8 parameters are reserved
[Pr - 707] DC Bus Measurement Scaling Calibration
Ultraware Name Calibration DC Bus ADC Calibration
Description This parameter is a calibration adjustment to the ideal ADC scaling The scaling adjustment range is -100 to +100 so the ADC scaling can be adjusted from 2 the ideal scaling to zero
Range -1000hellip1000
Default 0 (no adjustment)
Units 0001
When Enabled Servo-Off -gt Setting -gt After power cycle (ENG mode)
Applicable Operating Mode All
104 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
Group 9 - Motor Controls
[Pr - 900] Standard Motor Flag
Ultraware Name General Motor Flag
Range Value Description
0 Custom
1 Standard
Default 1
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 901] Motor Type
Ultraware Name General Motor Type
Range Value Description
0 Rotary
1 Linear
2 Reserved
3 Reserved
Default 0
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 902] Motor Resistance
Ultraware Name Electrical Resistance
Range 1hellip65535
Units Ohms 256
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 903] Motor Inductance
Ultraware Name Electrical Inductance
Range 1hellip65535
Units mH 256
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 105
Standard Drive Parameters Appendix A
[Pr - 904] Motor Intermittent Current
Ultraware Name Ratings Intermittent Current
Range 1hellip32767
Units A 128
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 905] Motor Continuous Current
Ultraware Name Ratings Continuous Current
Range 1hellip32767
Units A 128
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 906] Motor Rated Voltage
Ultraware Name Electrical Rated Voltage
Range 10hellip1000
Units V
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 907] Encoder Type
Ultraware Name Feedback Encoder
Range
Value Description
1 Incremental
4 Serial Incremental
5 Serial Absolute
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 908] Hall Offset
Ultraware Name Feedback Hall Input Offset
Range 0hellip359
Units Electrical degree
When Enabled Servo-Off -gt Setting -gt After power cycle
106 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 909] Current Constant
Ultraware Name General Torque Constant
Range 1hellip65535
Units N m A 4096
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 910] Motor Inertia
Ultraware Name General Inertia
Range 1hellip2147483647
Units Kgcm2 65536
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 911] PolesRevolution
Ultraware Name General PolesRevolution
Range 2hellip100
Units Poles
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 912] Encoder Lines Revolution
Ultraware Name General LinesRevolution
Range 100hellip1000000
Units Poles
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 913] Maximum Rotary Speed
Ultraware Name Ratings Maximum Speed
Range 10hellip32767
Units rpm
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 107
Standard Drive Parameters Appendix A
[Pr - 914] Force Constant
Ultraware Name General Force Constant
Range 1hellip32767
Units 16
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 915] Motor Mass
Ultraware Name General Mass
Range 1 hellip2147483647
Units Kg 65536
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 916] Electrical Cycle Length
Ultraware Name General Electrical Cycle
Range 100hellip10000
Units mm 10
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 917] Encoder Lines Meter
Ultraware Name Feedback LinesMeter
Range 4000hellip10000000
Units Lines
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 918] Maximum Linear Speed
Ultraware Name Ratings Maximum Speed
Range 32hellip32767
Units m s 256
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
108 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 919] Motor Thermal Protection Enable
Ultraware Name Thermal Software Protection
Range 0 = Disabled
1 = Enabled
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 920] Motor Thermostat
Ultraware Name Thermal Integral Thermostat
Range 0 = Disabled
1 = Enabled
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 921] Motor Thermal Resistance Winding to Encoder
Ultraware Name Thermal Rth (w-e)
Range 1hellip2147483647
Units degCWatt 65536
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 922] Motor Thermal Capacitance Winding to Encoder
Ultraware Name Thermal Cth (w-e)
Range 1hellip2147483647
Units JdegC 256
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 923] Motor Thermal Resistance Winding to Ambient
Ultraware Name Thermal Rth (w-a)
Range 1hellip2147483647
Units degCWatt 65536
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 109
Standard Drive Parameters Appendix A
[Pr - 924] Motor Thermal Capacitance Winding to Ambient
Ultraware Name Thermal Cth (w-a)
Range 1hellip2147483647
Units JdegC 256
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 925] Commutation Type
Ultraware Name Feedback Commutation
Range
Value Description
0 Brush
1 Trapezoidal
2 Sinusoidal
Applicable Operating Mode All
[Pr - 926] Start-up Commutation
Ultraware Name Feedback Sinusoidal Startup
Range Value Description
0 Self Sensing
1 Hall Inputs
2 Serial
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 927] Integral Limits
Ultraware Name General Integral Limits
Range 0hellip1
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
110 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 929 hellip Pr - 949] Reserved
When Enabled Reserved for future use
[Pr - 950] Motor Model
Ultraware Name Motor Model
Range 32 bytes character string
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 951] Drive Name
Ultraware Name Name
Range 32 bytes character string
Applicable Operating Mode All
[Pr - 952] Position Scaling Data
Ultraware Name Motor Encoder Units Position Scale
Range 8 bytes character string
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 953] Position Scaling Label
Ultraware Name Motor Encoder Units Position Label
Range 16 bytes character string
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
Pr - 954] Velocity Scaling Data
Ultraware Name Motor Encoder Units Velocity Scale
Range 8 bytes character string
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 111
Standard Drive Parameters Appendix A
[Pr - 955] Velocity Scaling Label
Ultraware Name Motor Encoder Units Velocity Label
Range 16 bytes character string
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 956] Acceleration Scaling Data
Ultraware Name Motor Encoder Units Acceleration Scale
Range 8 bytes character string
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 957] Acceleration Scaling Label
Ultraware Name Motor Encoder Units Acceleration Label
Range 16 bytes character string
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
112 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
[Pr - 958] Scope Config
Range 32 bytes character string
Data Size 21 digits
Applicable Operating Mode All
Digits Digits Description
0hellip1 Channel A Signal See Monitor Variables
2hellip3 Channel B Signal See Monitor Variables
4 Channel A Scale Type
0hellip1 0 - Auto (Default) 1- Manual
5 Channel B Scale Type
0hellip1 0 - Auto (Default) 1 - Manual
6hellip7 Sample Period
8hellip9 Samples per division
10hellip12 Trigger Signal See Monitor Variables
13 Trigger Mode
0 - Immediate
1 - Falling Edge
2 -Rising Edge
14 Pretrigger Percentage (10)
15hellip22 Trigger Threshold
Default 0x00000000000000100510011E05000100
When Enabled Servo-Off -gt Setting -gt After power cycle
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 113
Standard Drive Parameters Appendix A
[Pr - 959] Scope Scaling
Range 32 bytes character string
Data Size 32 digits
Digits Digits Description
0hellip7 Channel A Scale
8hellip15 Channel A Offset
16hellip23 Channel B Scale
24hellip31 Channel B Offset
Default 0x00000000000000000000000000000000
Ultraware Name Displayed Units
Range 1 byte character string
0 = Metric
1 = English
2 = User units
Default 0
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
[Pr - 960] Displayed Units
Ultraware Name Displayed Units
Range 1 byte character string
0 = Metric
1 = English
2 = User units
Default 0
When Enabled Servo-Off -gt Setting -gt After power cycle
Applicable Operating Mode All
114 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix A Standard Drive Parameters
Notes
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 115
Appendix B
Indexing Drive Parameters
Parameters control Kinetix 3 drive operations They are grouped by the type of drive Indexing or Standard and the drive settings they define
Descriptions of Standard Drive Parameters begin on page 45
Parameter Groupings Indexing drive parameters are grouped into these drive settings bull Group 0 - Indexing drive system and IO settings bull Group 1 - Homing controls bull Group 2 - Indexing operations bull Group 3 - Indexing move profiling bull Group 4 - Indexing position and distance setting bull Group 5 - Registration settings bull Group 6 - Batch count operations bull Group 7 - Dwell settings bull Group 8 - Velocity settings bull Group 9 - Move profile settings bull Group 10 - Acceleration settings bull Group 11 - Deceleration settings bull Group 12 - Next Index settings
116 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix B Indexing Drive Parameters
Parameter Descriptions Parameter descriptions list the size of each parameter and the data options within the parameter
Descriptions for Standard Drive Parameters begin on page 45
Group 0 - Indexing System
[IN0000] Auto Start Indexing
Ultraware Name Auto Start Indexing
Description When this field is set to ON the drive will begin executing the selected index whenever the drive enables
Range Value Description
0 OFF
1 ON
Default 0
Units NA
Access Set
Changeable Status Always
When Enabled Power Cycling
Applicable Operating Mode Indexing
MODBUS Address 5000
[IN0001] Abort Index Deceleration
Ultraware Name Abort Index Decel
Description The deceleration used to stop motion when the Stop Index input terminates an index move
Range Value Description
1 hellip2147483647 10minus2 Revsec2 for rotary mmsec2 for linear
Default 6250
Access Set
Changeable Status Always
When Enabled Power Cycling
Applicable Operating Mode Indexing
MODBUS Address 5001
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 117
Indexing Drive Parameters Appendix B
[IN0002] Positive Deceleration Distance
Ultraware Name Positive Deceleration Distance
Range Value Description
0 hellip2147483647 The stopping distance used when the drive encounters a positive overtravel limit
Default 0
Units Counts
Access Set
Changeable Status Always
When Enabled Always
Applicable Operating Mode Indexing
MODBUS Address 5002 hellip5003
[IN0003] Negative Deceleration Distance
Ultraware Name Negative Deceleration Distance
Range Value Description
0 hellip2147483647 The stopping distance used when the drive encounters a negative overtravel limit
Default 0
Units Counts
Access Set
Changeable Status Always
When Enabled Always
Applicable Operating Mode Indexing
Ultraware Name Positive Deceleration Distance
MODBUS Address 5004 hellip5005
118 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix B Indexing Drive Parameters
[IN0004] Enable Software Limits
Ultraware Name Enable Software Limits
Description Controls software overtravel limits of the axis
Range Value Description
0 Off Turns off software overtravel limit checking
1 On Causes the drive to compare the motor feedback position to the Positive and Negative Software Limits below to determine if the drive has exceeded an overtravel limit
Default 0
Units NA
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5006
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 119
Indexing Drive Parameters Appendix B
[IN0005] Positive Software Limit
Ultraware Name Positive Software Limit
Description If the motor feedback position is greater than this value the drive has exceeded the software overtravel limit
Range Value Description
-2147483647 hellip2147483647
Positive software overtravel limit
Default 2147483647
Units Counts
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5007
[IN0006] Negative Software Limit
Ultraware Name Negative Software Limit
Description If the motor feedback position is greater than this value the drive has exceeded the software overtravel limit
Range Value Description
-2147483647 hellip2147483647
Negative software overtravel limit
Default -2147483647
Units Counts
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5008
120 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix B Indexing Drive Parameters
Group 1 - Homing
[IN0100] Homing Type
Ultraware Name Homing Type
Description Select the type of homing operation the drive will perform
Range Value Description
0 Home to Present Position
1 To Home sensorBack to Marker (default)
2 To LimitBack to Marker
3 To Home sensorFwd to Marker
4 To LimitFwd to Marker
5 Home to Current Value
6 Home to Current ValueBack to Marker
7 To Home Sensor Move Fwd to Marker
8 Home to Marker
Default 1
Units NA
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5200
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 121
Indexing Drive Parameters Appendix B
[IN0101] Auto Start Homing on Enable
Ultraware Name Auto Start Homing on Enable
Description Causes the drive to begin the homing procedure automatically when the drive is enabled
Range Value Description
0 Active Automatically starts homing every time the drive is enabled
1 Active After Reset Only automatically starts homing when a drive is enabled if the drive has not already been homed
2 Inactive
Default 2
Units NA
Access Set
Changeable Status Always
When Enabled Power cycling
Applicable Operating Mode Indexing
MODBUS Address 5201
[IN0102] Homing Velocity
Ultraware Name Homing Velocity
Description The commanded velocity used during homing The sign of the this value (+-) indicates the direction of motion during homing
Range Value Description
-6000 hellip6000 rpm for rotary motors mmsec for linear motors
Default 100
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5202
122 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix B Indexing Drive Parameters
[IN0103] Creep Velocity
Ultraware Name Creep Velocity
Description For the To Sensor then Back to Marker Homing Type the velocity used for all remaining homing motion after the motor decelerates to a stop when it finds the sensor edge
Range Value Description
0 hellip6000 The velocity used for all homing motion after the motor decelerates to a stop at the sensor edge
Default 20
Units rpm for rotary motors mmsec for linear motors
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5203
[IN0104] Homing AccelerationDeceleration
Ultraware Name Homing AccelerationDeceleration
Description The rate of acceleration and deceleration used during homing
Range Value Description
1 hellip2147483647 The velocity used for all homing motion after the motor decelerates to a stop at the sensor edge
Default 6250
Units 10minus2 Revsec2 for rotary mmsec2 for linear
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5204 hellip5205
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 123
Indexing Drive Parameters Appendix B
[IN0105] Offset Move Distance
Ultraware Name Offset Move Distance
Description The distance the motor position is from the marker edge after the homing sequence is complete For Sensor Only Homing the distance the motor position is from the sensor edge after the homing sequence is complete
Range Value Description
-2147483647 hellip2147483647
Digital input state communicated to the drive when the Home Sensor input becomes active
Default 0
Units Counts
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5206 hellip5207
[IN0106] Home Sensor Polarity
Ultraware Name Home Sensor Polarity
Description Specifies the digital input state communicated to the drive when the Home Sensor input becomes active
Range Value Description
0 Active-Going Transition
1 Inactive-Going Transition
Default 0
Units Counts
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5208
124 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix B Indexing Drive Parameters
[IN0107] Home Position
Ultraware Name Home Position
Description The home position when a homing procedure is completed
Range Value Description
-2147483647 hellip2147483647
Digital input of the home position
Default 0
Units Counts
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5209 hellip5210
[IN0108] Moving Distance After Home Sensor
Ultraware Name Moving Distance After Home Sensor
Description This value is distance that the drive ignores the marker inputs after the home sensor is detected
Range Value Description
0 hellip2147483647 Distance the drive ignores the marker inputs after home is detected
Default 0
Units Counts
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5211 hellip5212
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 125
Indexing Drive Parameters Appendix B
[IN0109] Home Current
Ultraware Name Home Current
Description Specifies the torque feedback at which the drive stops moving the motor at the Homing Velocity
Range Value Description
1 hellip250 Percent of motor torque feedback
Default 100
Units Percentage of a motor rating torque
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5213
[IN0110] Home Current Time
Ultraware Name Home Current Time
Description Specifies the torque feedback at which the drive stops moving the motor at the Homing Velocity
Range Value Description
1 hellip1000 Percent of motor torque rating
Default 100
Units Percentage of motor torque rating
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5214
126 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix B Indexing Drive Parameters
[IN0111] Homing Time Limit
Ultraware Name Homing Time Limit
Description Drive fault when time for homing exceeds the homing time limit
Range Value Description
0 hellip65535 Homing time limit in seconds
Default 60
Units seconds
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5215
[IIN0112] Stop Home Deceleration
Ultraware Name Stop Home Decel
Description The rate of drive deceleration used when homing is stopped
Range Value Description
1 hellip2147483647 Rate of drive deceleration when homing is stopped
Default 6250
Units NA
Access Set
Changeable Status Disable Drive
When Enabled Disable Drive
Applicable Operating Mode Indexing
MODBUS Address 5216 hellip5217
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 127
Indexing Drive Parameters Appendix B
Group 2 - Indexing Options
[IN0200] hellip[IN0263] Index 0hellip63 Type and Action When Complete
Description Digit 0 homes the axis and digit 2 controls execution of the index move command
Digit 0 Homes the axis before the drive can executes any index
Ultraware Name Index 0hellip63 Option Type
Range Value Description
0 Absolute moves from its starting position to the specified Position below
1 Incremental moves from its starting position the specified Distance below
Default 1
Digit 1 Controls execution of the index move command after homing
Ultraware Name Index 0hellip63 Action When Complete
Range Value Description
0 Stop ends the execution of indexed move commands
1 Start next index commands execution of the Next Index move without additional input but after the scheduled Dwell
2 Wait for Start commands execution of the Next Index move the next time the Start Index input becomes active
Default 0
Access Set
Changeable Status Always
When Enabled Always
Applicable Operating Mode Indexing
MODBUS Address 5400 hellip5463
128 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix B Indexing Drive Parameters
Group 3 - Index Move Profile
These values are reserved for future use
Group 4 - Index PositionDistance
Group 5 - Index Registration Distance
These values are reserved for future use
Group 6 - Index Batch Count
These values are reserved for future use
[IN0400[hellip[IN0463] Index 0hellip63 PositionDistance
Ultraware Name Index 0hellip63 PositionDistance
Description Position For Absolute mode moves the fixed position to which the motor will travel Distance For Incremental and Registration mode moves the relative distance the motor will travel
Range Value Description
-2147483647 hellip2147483647
Counts
Default 1000
Access Set
Changeable Status Always
When Enabled Always
Applicable Operating Mode Indexing
MODBUS Address 5800 hellip5927
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 129
Indexing Drive Parameters Appendix B
Group 7 - Index Dwell
Group 8 - Index Velocity
Group 9 - Index Move Profile
These values are reserved for future use
[IN0700] hellip[IN0763] Index 0hellip63 Dwell
Ultraware Name Index 0hellip63 Dwell
Description Milliseconds to remain at current position before executing
Range Value Description
0 hellip65535 ms
Default 0
Access Set
Changeable Status Always
When Enabled Always
Applicable Operating Mode Indexing
MODBUS Address 6400 hellip6463
[IN0800] Index 0hellip63 Velocity
Ultraware Name Index 0hellip63 Velocity
Description Maximum velocity while in motion
Range Value Description
0 hellip6000 rpm for rotary motors mmsec for linear motors
Default 750
Access Set
Changeable Status Always
When Enabled Always
Applicable Operating Mode Indexing
MODBUS Address 6600 hellip6663
130 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix B Indexing Drive Parameters
Group 10 - Index Acceleration
Group 11 - Index Deceleration
[IN1000]hellip[IN1063] Index 0hellip63 Acceleration
Ultraware Name Index 0hellip63 Acceleration
Description Maximum acceleration while in motion
Range Value Description
1 hellip2147483647 10minus2 Revsec2 for rotary mmsec2 for linear
Default 6250
Access Set
Changeable Status Always
When Enabled Always
Applicable Operating Mode Indexing
MODBUS Address 7000 hellip7127
[IN1100]hellip[IN1163] Index 0hellip63 Deceleration
Ultraware Name Index 0hellip63 Deceleration
Description Maximum deceleration while in motion
Range Value Description
1 hellip2147483647 10minus2 Revsec2 for rotary mmsec2 for linear
Default 6250
Access Set
Changeable Status Always
When Enabled Always
Applicable Operating Mode Indexing
MODBUS Address 7200 hellip7327
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 131
Indexing Drive Parameters Appendix B
Group 12 - Index Next Index
[IN1200]hellip[IN1263] Index 0hellip63 Next Index
Ultraware Name Index 0hellip63 Next Index
Description The number (0hellip63) of the next indexed move to execute when Action When Complete is not set to STOP
Range Value Description
0hellip63 Value of the next indexed move
Default 0
Access Set
Changeable Status Always
When Enabled Always
Applicable Operating Mode Indexing
MODBUS Address 7400 hellip7464
132 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix B Indexing Drive Parameters
Notes
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 133
Appendix C
Warnings and Fault Codes
This Appendix lists the Warnings and Fault Codes for Kinetix 3 drives
Warnings Warnings are drive abnormalities that allow motor control to continue A three-digit text message is displayed using the last segments of the display
Fault Codes Faults are serious abnormalities that cause loss of motor control The Status indicator alternates between a three-digit error code preceded by the letter E and a five-digit text message This error message repeats until the problem is cleared
Warning Number
Warning Display Description
0x01 BAT Absolute encoder battery warning
0x02 CNT Absolute encoder counter overflow
0x04 PRE Power-up overspeed warning
0x08 OCC Over current command warning
0x10 OSC Over speed command warning
0x20 PIN Digital IO assignment warning
0x40 CAP Over motor rated output power warning
Fault Code Internal Fault Code
Fault Display Fault Name
E004 0x22 MTROT Motor over temperature
E005 0x11 IPMFT IPM
E009 0x41 UDVTG Bus under voltage fault
E010 0x40 OVVTG Bus over voltage fault
E012 0x73 HFAIL Home search failed
E018 0x50 OVSPD Motor over speed fault
E019 0x51 POSER Excess position error fault
E022 0x25 CONOL Motor continuous current overload
E023 0x27 DRVOL Drive overload fault
E025 0x72 SENSR Sensor unassigned
E027 0x74 NOTHM Axis not homed
E028 0x36 ENCDE Encoder data range fault
E030 0x31 ENCOP Encoder cable open fault
134 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix C Warnings and Fault Codes
E031 0x38 ENCPE Encoder data parameter fault
E036 0x24 DRVOT Drive over temperature
E037 0x42 ACOFF AC Line Loss Fault
E053 0x63 PINIT User parameter initialization fault
E054 0x13 OFSET Current feedback offset
E055 0x61 CHSUM User parameter checksum fault
E056 0x53 CPUFT Watchdog timeout fault
E057 0x10 HWARE PWM hardware
E058 0x62 RANGE User parameter range fault
E060 0x70 DINIT Drive initialization fault
E075 0x23 SHTOL Shunt overload protection
E079 0x12 SHTOC Shunt circuit over current
E083 0x33 ABSBE Absolute encoder battery fault
E084 0x34 ABSOS Absolute encoder overspeed
E085 0x35 ABSCT Absolute multi-turn count fault
E086 0x37 ENCCT Encoder single-turn count fault
E100 0x71 SETUP Drive set-up fault
E101 0x20 CABLE Motor power cable open
E102 0x21 INSOL Motor instantaneous current overload
E103 0x28 MATCH Motor mismatch fault
E104 0x26 PWROL Continuous power overload
E105 0x30 ENCTP Encoder type mismatch fault
E106 0x32 ENCCE Encoder communication fault
E107 0x60 SERCE Serial communication fault
E108 0x52 CDFRE Position command frequency fault
E112 0x54 ESTOP Emergency stop
E113 0x64 IRANG Indexing position range overflow
E114 0x14 OVCUR Motor phase over current
Fault Code Internal Fault Code
Fault Display Fault Name
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 135
Appendix D
Monitor Variables
Ultraware limits the number of variables that can be monitored to thirty-one (variables 0 through 30) However in customer applications additional monitor variables may be used
For example monitoring of variable 32 Selected index cannot be performed by Ultraware software because this variable is outside the range of Ultraware However a customer program that supports thirty-two variables or more can monitor this variable
Variables The table below lists the variables for monitoring a Kinetix 3 drive
Variable Name Unit
No Hex
0 0x00 Velocity feedback rpm
1 0x01 Velocity command rpm
2 0x02 Velocity error rpm
3 0x03 Current command
4 0x04 Follower position counts
5 0x05 Master position counts
6 0x06 Position error counts
7 0x07 Position command count frequency Kpps
8 0x08 Commutation angle ordm (degrees)
9 0x09 Mechanical angle ordm (degrees)
10 0x0A Shunt power limit ratio
11 0x0B Bus voltage V
12 0x0C Absolute rotations rev
13 0x0D Velocity command offset mV
14 0x0E Current command offset mV
15 0x0E Input and 0utput state Refer to Variable 15 - Digital Inputs and Outputs on page 137 for more information
16 0x0F U phase current 0001A
17 17 V phase current 0001A
18 18 W phase current 0001A
19 19 Motor temperature
136 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix D Monitor Variables
20 0x10 Analog command -velocity 001V
21 0x11 Analog command - current 001V
22 0x12 Current feedback 0001A
23 0x13 Hall states (wvu) digital
24 0x14 Motor feedback position counts
25 0x15 Digital input function state Refer to Variable 25 - Digital Inputs on page 137 for more information
digital
26 0x16 Digital output function state Refer to Variable 26 - Digital Outputs on page 138 for more information
Digital
27 0x17 Instantaneous shunt power Watts
28 0x18 Drive utilization
29 0x19 Indexing input function state Refer to Variable 29 - Indexing Inputs on page 138 for more information
digital
30 0x1A Indexing output function state Refer to Variable 30 - Indexing Outputs on page 139 for more information
digital
31 0x1B CPLD version
32 0x1C Selected index digital
33 0x1D Periodic counter Range 0 hellip512 Units counts 1 count = 2 ms
Variable (Continued) Name Unit
No Hex
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 137
Monitor Variables Appendix D
Compiled Variables The tables below list variables that compile data to more effectively monitor specific aspects of a Kinetix 3 drive
Variable 15 - Digital Inputs and Outputs
Monitoring of IO status is provided by Variable 15 - Digital Inputs and Outputs Digital inputs [Pr - 017] hellip[Pr - 018] and digital outputs [Pr - 022] hellip[Pr - 027] are compiled for this variable
The table below lists the data bits in this variable
Variable 25 - Digital Inputs
Digital input status is provided by Variable 25 - Digital Inputs Digital inputs [Pr - 010] hellip[Pr - 014] are compiled for this variable
The table below lists the data bits in this variable
Digital Outputs EMG Digital Inputs
Bit No 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
Data DO6 DO6 DO4 SALM DO3 DO2 DO1 EMG DI10 DI9 DI8 DI7 DI6 DI5 DI4 DI3 DI2 DI1
Bit Digital Input Function Bit Digital Input Function
0 Current Limit- Negative 10 Fault Reset
1 Current Limit- Positive 11 Integrator Inhibit
2 Alternate Gain Select 12 Negative Overtravel
3 Preset Direction 13 Operation Mode Override
4 Reset Multiturn Data 14 Position Strobe
5 Zero Speed Clamp 15 Positive Overtravel
6 Position Clear 16 Preset Select 0
7 Analog Speed Command Enable in Preset 17 Preset Select 1
8 Motor Moving Enable in Velocity Mode 18 Preset Select 2
9 2nd Electronic Gear Bank Selection
138 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix D Monitor Variables
Variable 26 - Digital Outputs
Digital output status is provided by Variable 26 - Digital Outputs Digital inputs and outputs [Pr - 002] and [Pr - 022] hellip[Pr - 024] are compiled for this variable
The table below lists the data bits in this variable
Variable 29 - Indexing Inputs
Indexing input function status is provided by Variable 29 - Indexing Inputs Digital inputs [Pr - 016] hellip[Pr - 018] are compiled for this variable
The table below lists the data bits in this variable
Bit Digital Output Function
0 Brake
1 Absolute Position Valid
2 Current Limited
3 Velocity Limited
4 Within Near Window
5 Warning
Bit Indexing Input function
0 Home Sensor
1 Start Homing
2 Start Indexing
3 Stop Indexing
4 Pause Index
5 Index Select 0 Input
6 Index Select 1 Input
7 Index Select 2 Input
8 Index Select 3 Input
9 Index Select 4 Input
10 Index Select 5 Input
11 Stop Homing
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 139
Monitor Variables Appendix D
Variable 30 - Indexing Outputs
Indexing output function status is provided by Variable 30 - Indexing Outputs Digital outputs [Pr - 025] hellip[Pr - 027] are compiled for this variable
The table below lists the data bits in this variable
Bit Indexing Output function Indexing Output function
0 In Motion Index Select 1 Output
1 In Dwell Index Select 2 Output
2 Axis Homed Index Select 3 Output
3 End of Sequence Index Select 4 Output
4 Index Select 0 Output Index Select 5 Output
140 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Appendix D Monitor Variables
Notes
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 141
Index
Parameters(IN0000) auto start indexing 116(IN0001) abort index deceleration 116(IN0002) positive deceleration distance 117(IN0003) negative deceleration distance 117(IN0004) enable software limits 118(IN0005) positive software limit 119(IN0006) negative software limit 119(IN0100) homing type 120(IN0101) auto start homing on enable 121(IN0102) homing velocity 121(IN0103) creep velocity 122(IN03xx) index move profile 128(IN0400hellipIN0463) index positiondistance
128(IN05xx) index registration distance 128(IN06xx) index batch count 128(IN0700hellipIN0763) index dwell 129(IN0800hellipIN0863) index velocity 129(IN09xx) index move profile 129(IN1000hellipIN1063) index acceleration 130(IN1100hellipIN1163) index deceleration 130(IN1200hellipIN1263) next index 131(IN200hellipIN263) index type digit 0 127(Pr-000) operations mode 46(Pr-001) motor configuration 47(Pr-002) motor basic modes 48(Pr-003) auto tuning functions 49(Pr-004) inertia ratio 50(Pr-005) auxiliary function selection 1 51(Pr-006) auxiliary function selection 2 52(Pr-007) drive address 54(Pr-008) password 54(Pr-009) serial port configuration 54(Pr-010hellipPr-021) parameter setting values
60(Pr-010) allocation of input signals 1 55(Pr-011) allocation of input signals 2 56(Pr-012) allocation of input signals 3 56(Pr-013) allocation of input signals 4 57(Pr-014) allocation of input signals 5 57(Pr-015) allocation of input signals 6 58(Pr-016) allocation of input signals 7 58(Pr-017) allocation of input signals 8 58(Pr-018) allocation of input signals 9
59(Pr-019) allocation of input signals 10 59(Pr-020) allocation of input signals 11 59(Pr-021) allocation of input signals 12 60(Pr-022hellipPr-032) parameter setting values
65(Pr-022) allocation of output signals 1 60(Pr-023) allocation of output signals 2 61(Pr-024) allocation of output signals 3 61
(Pr-025) allocation of output signals 4 62(Pr-026) allocation of output signals 5 63(Pr-027) allocation of output signals 6 63(Pr-028) allocation of output signals 7 63(Pr-029) allocation of output signals 8 64(Pr-030) allocation of output signals 9 64(Pr-031) allocation of output signals 10 65(Pr-032) IO control authority 65(Pr-100) velocity regulator response level 66(Pr-101) system gain 66(Pr-102) velocity regulator P gain 66(Pr-103) velocity regulator I gain 66(Pr-104) velocity regulator D gain 67(Pr-105) velocity error filter 67(Pr-106) position regulator Kp gain 67(Pr-107) current command lowpass filter
bandwidth 68(Pr-108) velocity command lowpass filter
bandwidth 68(Pr-109) position command lowpass filter
bandwidth 68(Pr-110) 1st resonant frequency suppression
filter 69(Pr-111) 1st resonant frequency suppression
width 69(Pr-112) 2nd resonant frequency suppression
filter 69(Pr-113) 2nd resonant frequency suppression
filter width 70(Pr-114) 2nd resonant frequency suppression
filter depth 70(Pr-115) position regulator Kff gain 70(Pr-116) position regulator Kff bandwidth 71(Pr-117) velocity regulator I gain mode 71(Pr-118) velocity regulator I gain disable
threshold 72(Pr-119) position regulator high error output
offset 72(Pr-120) position regulator high error output
threshold 72(Pr-121) current regulator bandwidth
reduction scale 73(Pr-122) on-line vibration mode 73(Pr-123) velocity regulator configuration 74(Pr-124) delay time of gain switching 74(Pr-125) level of gain switching 74(Pr-126) hysteresis of gain switching 75(Pr-127) position gain switching time 75(Pr-128) 2nd velocity regulator P gain 75(Pr-129) 2nd velocity regulator i gain 75(Pr-130) 2nd position regulator Kp gain 76(Pr-131) 2nd current command low pass
filter bandwidth 76
142 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Index
(Pr-132) 2nd velocity command low pass filter bandwidth 76
(Pr-133) 3rd velocity regulator P gain 76(Pr-134) 3rd velocity regulator I gain 77(Pr-135) 3rd position regulator Kp gain 77(Pr-136) 3rd current command low pass filter
bandwidth 77(Pr-137) 3rd velocitycommand low pass filter
bandwidth 77(Pr-138) 4th velocity regulator P gain 78(Pr-139) 4th velocity regulator I gain 78(Pr-140) 4th position regulator Kp gain 78(Pr-141) 4th current command low pass filter
bandwidth 78(Pr-142) 4th velocitycommand low pass filter
bandwidth 79(Pr-200) velocity scale 80(Pr-201) jog velocity command 80(Pr-202) acceleration 80(Pr-203) deceleration 81(Pr-204) S-curve time 81(Pr-205) preset velocity 1 81(Pr-206) preset velocity 2 81(Pr-207) preset velocity 3 82(Pr-208) preset velocity 4 82(Pr-209) preset velocity 5 82(Pr-210) preset velocity 6 82(Pr-211) preset velocity 7 83(Pr-212) manual velocity limit 83(Pr-213) velocity limit mode 83(Pr-300) follower 84(Pr-301) 1st gear ratio follower counts 85(Pr-302) 1st gear ratio mastercounts 86(Pr-303) encoder output ratio output counts
86(Pr-304) encoder output ratio motor counts
86(Pr-305) 2nd gear ratio follower counts 86(Pr-306) 2nd gear ratio master counts 87(Pr-307) reserved 87(Pr-308) digital filter cut-off frequency 88(Pr-400) current scale 89(Pr-401) positive internal current limit 89(Pr-402) negative internal current limit 89(Pr-403) positive external current limit 89(Pr-404) negative external current limit 90(Pr-405) overtravel current limit 90(Pr-406) initial current bias 90(Pr-500) in position size 91(Pr-501) reserved 91(Pr-502) near position size 91(Pr-503) speed window 92(Pr-504) up to speed 92(Pr-505) zero clamp 92
(Pr-506) brake inactive delay 93(Pr-507) disable delay 93(Pr-508) brake active delay 93(Pr-509) disabled braking speed 94(Pr-510) following error limit 94(Pr-511) reserved 94(Pr-512) ac line loss fault delay 95(Pr-513) analog output ch1 selection 95(Pr-514) analog output ch2 selection 95(Pr-515) analog output ch1 scale 95(Pr-516) analog output ch2 scale 96(Pr-600) analog velocity command offset 97(Pr-601) analog current command offset 97(Pr-602) u phase current sensing offset 97(Pr-603) w phase current sensing offset 97(Pr-604) A-lead-B swap 98(Pr-605) dynamic brake circuit protection 98(Pr-606) fault detail sampling period 98(Pr-607) fault detail data selection 1 99(Pr-608) fault detail data selection 2 99(Pr-609) fault detail data selection 3 99(Pr-610) fault detail data selection 4 99(Pr-611) 1st resonant frequency suppression
filter 100(Pr-612) 2nd resonant frequency suppression
filter 100(Pr-700) drive capacity 101(Pr-701) dc bus voltage offset 101(Pr-702) reserved 101(Pr-703) analog monitor output ch1 offset 102(Pr-704) analog monitor output ch1 scaling
102(Pr-705) analog monitor output ch2 offset 102(Pr-706) analog monitor output ch2 scaling
102(Pr-707) dc bus measurement scaling
calibration 103(Pr-900) standard motor flag 104(Pr-901) motor type 104(Pr-902) motor resistance 104(Pr-903) motor inductance 104(Pr-904) motor intermittent current 105(Pr-905) motor continuous current 105(Pr-906) motor rated voltage 105(Pr-907) encoder type 105(Pr-908) hall offset 105(Pr-909) current constant 106(Pr-910) motor inertia 106(Pr-911) polesrevolution 106(Pr-912) encoder linesrevolution 106(Pr-913) maximum rotary speed 106(Pr-914) force constant 107(Pr-915) motor mass 107(Pr-916) electrical cycle length 107
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 143
Index
(Pr-917) encoder linesmeter 107(Pr-918) maximum linear speed 107(Pr-919) motor thermal protection enable 108(Pr-920) motor thermostat 108(Pr-921) motor thermal resistance winding
to encoder 108(Pr-922) motor thermal capacitance
winding to encoder 108(Pr-923) motor thermal resisitance winding
to ambient 108(Pr-924) motor thermal capacitance
winding to ambient 109(Pr-925) commutation type 109(Pr-927) integral limits 109(Pr-927) startup commutation 109(Pr-928hellipPr 949) reserved 110(Pr-950) motor model 110(Pr-951) drive name 110(Pr-952) position scaling data 110(Pr-953) position scaling label 110(Pr-954) velocity scaling data 110(Pr-955) velocity scaling label 111(Pr-956) acceleration scaling data 111(Pr-957) acceleration scaling label 111(Pr-958) scope config 112(Pr-959) scope scaling 113(Pr-960) displayed units 113
Numerics1st gear ratio follower counts (Pr-301) 851st gear ratio master counts (Pr-302) 861st resonant frequency suppression filter
(Pr-110) 691st resonant frequency suppression filter
(Pr-611) 1001st resonant frequency suppression
width(Pr-111) 692nd current command low pass filter
bandwidth (Pr-131) 762nd gear ratio follower counts (Pr-305) 862nd gear ratio master counts (Pr-306) 872nd position regulator Kp gain (Pr-130) 762nd resonant frequency suppression filter
(Pr-112) 692nd resonant frequency suppression filter
(Pr-612) 1002nd resonant frequency suppression filter
depth (Pr-114) 702nd resonant frequency suppression filter
width (Pr-113) 702nd velocity command low pass filter
bandwidth (Pr-132) 762nd velocity regulator i gain (Pr-129) 75
2nd velocity regulator P gain (Pr-128) 753rd current command low pass filter
bandwidth (Pr-136) 773rd position regulator Kp gain (Pr-135) 773rd velocity command low pass filter
bandwidth (Pr-137) 773rd velocity regulator I gain (Pr-134) 773rd velocity regulator P gain (Pr-133) 764th current command low pass filter
bandwidth (Pr-141) 784th position regulator Kp gain (Pr-140) 784th velocity command low pass filter
bandwidth (Pr-142) 794th velocity regulator I gain (Pr-139) 784th velocity regulator P gain (Pr-138) 78
Aabort index 116abort index deceleration (IN0001) 116ac line loss 48ac line loss fault delay (Pr-512) 95acceleration (Pr-202) 80acceleration scaling data (Pr-956) 111acceleration scaling label (Pr-957) 111additional resources 7address map
flash saving parameter 21index function parameter 25modbus 11monitoring parameters 22output function status parameter 23running parameter 24special indexing parameters 13standard parameters 11
A-lead-B swap (Pr-604) 98allocation of input signals 1 (Pr-010) 55allocation of input signals 10 (Pr-019) 59allocation of input signals 11 (Pr-020) 59allocation of input signals 12 (Pr-021) 60allocation of input signals 2 (Pr-011) 56allocation of input signals 3 (Pr-012) 56allocation of input signals 4 (Pr-013) 57allocation of input signals 5 (Pr-014) 57allocation of input signals 6 (Pr-015) 58allocation of input signals 7 (Pr-016) 58allocation of input signals 8 (Pr-017) 58allocation of input signals 9 (Pr-018) 59allocation of output signals 1 (Pr-022) 60allocation of output signals 10 (Pr-031) 65allocation of output signals 2 (Pr-023) 61allocation of output signals 3 (Pr-024) 61allocation of output signals 4 (Pr-025) 62allocation of output signals 5 (Pr-026) 63allocation of output signals 6 (Pr-027) 63
144 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Index
allocation of output signals 7 (Pr-028) 63allocation of output signals 8 (Pr-029) 64allocation of output signals 9 (Pr-030) 64alternate gain (G-SEL) 57alternative gain enable 51analog current command offset (Pr-601) 97analog current inputs 46analog monitor output ch1 offset (Pr-703) 102analog monitor output ch1 scaling (Pr-704)
102analog monitor output ch2 offset (Pr-705) 102analog monitor output ch2 scaling (Pr-706)
102analog offset 102analog output ch1 scale (Pr-515) 95analog output ch1 selection (Pr-513) 95analog output ch2 scale (Pr-516) 96analog output ch2 selection (Pr-514) 95analog scaling 102analog speed command (C-SP4) 57analog velocity command offset (Pr-600) 97analog velocity inputs 46ASCII commands 29auto motor identification 52auto start homing on enable (IN0101) 121auto start indexing (IN0000) 116auto tuning functions (Pr-003) 49automatic (TAT) 38autotuning speed 49auxiliary function selection 1 (Pr-005) 51auxiliary function selection 2 (Pr-006) 52axis homed (HOMC) 62
Bbackup battery 51baud rate 54brake active delay (Pr-508) 93brake delay 93brake dynamic 98brake inactive delay (Pr-506) 93brake speed 94bus calibration 103bus voltage 101
Cchecksum 28CHP command 30command
automatic task (TAT) 38disable drive (SVROF) 44
enable drive (SVRON) 44fault reset (RST) 33jog (JOG) 40monitor variable (MDM) 33other functions (ETC) 42perform manual task (TMN) 39read drive status (STS) 41read fault contents (EHY) 40read fault detailed data (DIE) 43read indexing parameter (XET) 31read parameter (SET) 29reset drive (HWR) 44triggered data collection (MOT) 34variable roll monitoring (MOR) 36verify servo connection (LIV) 43verify software version (VER) 43write indexing parameter (XHP) 32write indexing parameter (XTR) 32write parameter (CHP) 30write parameter (STR) 30
command polarity 48command type 84communication method
RS232 54RS485 54
communication protocolASCII 54MODBUS-RTU 54
commutation 109commutation type (Pr-925) 109compiled variable 137
15 - digital inputs and outputs 13725 - digital inputs 13726 - digital outputs 13829 - indexing inputs 13830 - indexing outputs 139
controller output type 84conventions used 7counts
follower 85 86master 86 87motor 86output 86
creep velocity (IN0103) 122current bias 90current command lowpass filter bandwidth
(Pr-107) 68current constant (Pr-909) 106current limit 89 90current limit (T_LMT) 61current offset 97current regulator bandwidth reduction scale
(Pr-121) 73current scale (Pr-400) 89cut-off frequency 88cycle length 107
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 145
Index
DD gain regulator 67data bit 54dc bus measurement scaling calibration
(Pr-707 103dc bus voltage offset (Pr-701) 101deceleration (Pr-203) 81delay gain 74delay time of gain switching (Pr-124) 74digital filter cut-off frequency (Pr-308) 88disable brake 48disable delay (Pr-507) 93disable drive (SVROF) 44disabled braking speed (Pr-509) 94display parameter - input register address
map 22displayed units (Pr-960) 113drive address (Pr-007) 54drive capacity (Pr-700) 101drive enable (SV-ON) 55drive name (Pr-951) 110drive password 54drive reset 44dynamic brake circuit protection (Pr-605) 98dynamic tuning 49dynamic tuning response speed 49
EEHY command 40electrical cycle length (Pr-916) 107electronic gear select (GEAR) 57emergency stop inputs 51enable drive (SVRON) 44enable software limits (IN0004) 118encoder back-up battery 51encoder detect 52encoder linesmeter (Pr-917) 107encoder linesrevolution (Pr-912) 106encoder output 84encoder output ratio motor counts (Pr-304)
86encoder output ratio output counts (Pr-303)
86encoder type 47encoder type (Pr-907) 105end of sequence (E_SEQU) 63error output offset 72error output threshold 72ETC command 42exception code modbus 10
Ffaul reset (A-RST) 56fault codes 133fault detail data selection 1 (Pr-607) 99fault detail data selection 2 (Pr-608) 99fault detail data selection 3 (PrR-609) 99fault detail data selection 4 (Pr-610) 99fault detail sampling period (Pr-606) 98fault reset (RST) 33fault selection 99faultwarning registers address map 22feedback linesmeter 107flash memory update 30 32 39flash saving parameter address map 21follower (Pr-300) 84follower counts 85follower mode 46following error limit (Pr-510) 94force constant (Pr-914) 107frequency suppression 69function code
modbus 9
Ggain bank select (BANK_SEL) 58gain delay 74gain hysteresis 75gain level 74gain switch 74gain switching 52gain timing 75gear ratio 84general commands (ASCII) 29group 0 - indexing system address map 13group 0 - system level address map 11group 1 - gain control address map 11group 10 - index acceleration address map 18group 11 - index deceleration address map 19group 12 - next index address map 20group 2 - index option address map 14group 2 - speed control address map 12group 3 - position control address maps 12group 3 - reserved 14group 4 - index positiondistance address
map 15group 4 - torque control address maps 12group 5 - reserved 16group 5 - supplemental drive control address
maps 12group 6 - reserved 16group 7 - index dwell address map 16group 8 - index velocity address map 17group 9 - reserved 17
146 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Index
Hhall offset (Pr-908) 105home sensor (H_SENS) 58homing (H_SENS and SHOME) 58homing type (IN0100) 120homing velocity (IN0102) 121host command
fault codes 133indexing command extended (XCE) 31warnings 133
hysteresis of gain switching (Pr-126) 75
II gain 71I gain disable 72I gain regulation 77 78I gain regulator 66IO control authority (Pr-032) 65In Dwell (I_DW) 62in motion (IMO) 62in position size (Pr-500) 91incremental feedback loss 52index abort 116index acceleration 0hellip63 (IN1000hellipIN1063)
130index batch count (IN06xx) 128index deceleration 0hellip63 (IN1100hellipIN1163)
130index dwell 0hellip63 (IN0700hellipIN0763) 129index move 127index move profile (IN03xx) 128index move profile (IN09xx) 129index positiondistance 0hellip63
(IN0400hellipIN0463) 128index registration distance (IN05xx) 128index select (I_SEL0hellipI_SEL3) 58index select (I_SEL4hellipI_SEL5) 59
index select 0 out (O_ISEL0) 62index select 1hellip4 out (O_ISEL0hellipO_ISEL4) 63index select 5 out (O_ISEL5) 63index start 116index type 0hellip63 digit 0 (IN100hellipIN163) 127index velocity 0hellip63 (IN0800hellipIN0863) 129indexing command extended (XCE) 31inertia ratio (Pr-004) 50inhibit delay 95initial current bias (Pr-406) 90input function parameter address map 25integral limits (Pr-927) 109integrator inhibit (CON) 55
Jjog (JOG) 40JOG command 40jog velocity command (Pr-201) 80
KKff gain 70Kp gain position regulator 67Kp gain regulation 77 78
Llevel of gain switching (Pr-125) 74line break detect 52line loss check 48LIV command 43load inertia 50low pass filter (IReg) 76 77 78low pass filter (VReg) 76 77 79lowpass filter
current 68position 68velocity 68
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 147
Index
Mmanual task (TMN) 39manual velocity limit (Pr-212) 83master counts 86maximum linear speed (Pr-918) 107maximum rotary speed (Pr-913) 106maximum speed 106 107MDM command 33mnemonic commands
DIE 43HWR 44SVROF 44SVRON 44
modbus address map 11display parameter - input register 22faultwarning registers 22indexing parameter
group 0 - indexing system 13group 10 - index acceleration 18group 11 - index deceleration 19group 12 - next index 20group 2 - index option 14group 3 - reserved 14group 4 - indexing positiondistance 15group 5 - reserved 16group 6 - reserved 16group 7 - index dwell 16group 8 - index velocity 17group 9 - reserved 17
standard parametersgroup 0 - system level 11group 1 - gain control 11group 2 - speed control 12group 3 - position control 12group 4 - torque control 12group 5 - supplemental drive control 12
modbus exception codes 10modbus function codes 9MODBUS input function control 65MODBUS run function control 65monitor offset 102monitor scaling 102monitor variable 135monitor variable (MDM) 33monitoring parameters address map 22MOR command 36MOT command 34motor basic modes (Pr-002) 48motor configuration (Pr-001) 47motor continuous current (Pr-905) 105motor enable (START) 57motor flag 104motor forward direction 48motor identification 52motor inductance (Pr-903) 104
motor inertia 50motor inertia (Pr-910) 106motor intermittent current (Pr-904) 105motor mass (Pr-915) 107motor model (Pr-950) 110motor rated voltage (Pr-906) 105motor resistance (Pr-902) 104motor thermal capacitance winding to
ambient (Pr-924) 109motor thermal capacitance winding to
encoder (Pr-922) 108motor thermal protection enable (Pr-919) 108motor thermal resistance winding to
ambient (Pr-923) 108motor thermal resistance winding to
encoder (Pr-921) 108motor thermostat (Pr-920) 108motor type 47motor type (Pr-901) 104
Nnear position (NEAR) 61near position size (Pr-502) 91negative current limit (N-TL)positive current
limit (P-TL) 56negative deceleration distance (IN0003) 117negative external current limit (Pr-404) 90negative internal current limit (Pr-402) 89negative overtravel (N-OT) 55negative software limit (IN0006) 119next index 0hellip63 (IN1200hellipIN1263) 131notch filter
1st resonance 692nd resonance 702nd resonance depth 70
Ooff-line tuning 49on-line vibration mode (Pr-122) 73on-line vibration suppression 73operation mode override (C_SEL) 56operations mode (Pr-000) 46oscilloscope 112oscilloscope scaling 113other functions(ETC) 42output function status address map 23overtravel current limit (Pr-405) 90overtravel settings (P-ot) and N-OT) 55overtravel stop 48overtravel stop method 48
148 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Index
PP gain regulation 76 78P gain regulator 66packet structure 27parameter setting values (Pr-010hellipPr-021)
60parameter setting values (Pr-022hellipPr-032)
65parity bit 54password (Pr-008) 54pause indexing (PAUSE) 58polesrevolution (Pr-911) 106position clear (PCLR) 57position command lowpass filter bandwidth
(Pr-109) 68position gain switching time (Pr-127) 75position regulator high error output offset
(Pr-119) 72position regulator high error output threshold
(Pr-120) 72position regulator Kff bandwidth (Pr-116) 71position regulator Kff gain (Pr-115) 70position regulator Kp gain (Pr-106) 67position scaling data(Pr-952) 110position scaling label (Pr-953) 110position strobe (ABS-DT) 57position window (P-COM) 60positive deceleration distance (IN0002) 117positive external current limit (Pr-403) 89positive internal current limit (Pr-401) 89positive overtravel (P-OT) 55positive software limit (IN0005) 119power input 48preset direction (C-DIR) 56preset select (C-SP1 C-SP2 C-SP3) 56preset velocity 46preset velocity 1 (Pr-205) 81preset velocity 2 (Pr-206) 81preset velocity 3 (Pr-207) 82preset velocity 4 (Pr-208) 82preset velocity 5 (Pr-209) 82preset velocity 6 (Pr-210) 82preset velocity 7 (Pr-211) 83proportional gain 71
Rrated power 47read drive status (STS) 41read fault contents (EHY) 40read fault detailed data (DIE) 43read indexing parameter (XET) 31read parameter (SET) 29reboot drive 44reserved (Pr-307) 87reserved (Pr-501) 91reserved (Pr-511) 94reserved (Pr-702) 101reserved (Pr-928hellipPr 949) 110reset absolute encoder data (R_ABS) 58reset drive (HWR) 44RST command 33run control 65running parameter 24
Ssafety considerations inside front coversampling period 98scaling
acceleration data 111acceleration label 111position data 110position label 110velocity data 110velocity label 111
scope config (Pr-958) 112scope scaling (Pr-959) 113S-csurve time (Pr-204) 81serial port configuration (Pr-009) 54SET command 29special indexing parameter
address map 13speed clamp (Z-CLP) 57speed window (Pr-503) 92speed window (V-COM) 60standard motor flag (Pr-900 104standard parameters address map 11start homing (SHOME) 58start index (START_I) 59start indexing 116startup commutation (Pr-927) 109stop bit 54stop homing (H_STOP) 59stop indexing STOP) 58STR command 30STS command 41suppression filter 100symbols 27system gain (Pr-101) 66
Rockwell Automation Publication 2071-RM001A-EN-P - September 2010 149
Index
TTAT command 38thermal capacitance 108 109thermal protection 108thermal resistance 108thermostat 108TMN command 39training See lt$emphasislt$default fonttriggered data collection (MOT) 34
Uu phase current sensing offset (Pr-602) 97up to speed (Pr-504) 92up to speed (TG-ON) 60
Vvariable 135 137
15 - digital inputs and outputs 13725 - digital inputs 13726 - digital outputs 13829 - indexing inputs 13830 - indexing outputs 139
variable roll monitoring (MOR) 36velocity error filter (Pr-105) 67velocity limit 83velocity limit (V-LMT) 61velocity limit mode (Pr-213) 83velocity observer 51velocity offset 97velocity presets 46velocity regulator configuration (Pr123) 74velocity regulator D gain (Pr-104) 67velocity regulator I gain (Pr-103) 66velocity regulator I gain disable threshold
(Pr-118) 72velocity regulator I gain mode (Pr-117) 71
velocity regulator P gain (Pr-102) 66velocity regulator response level (Pr-100) 66velocity scaling data (Pr-954) 110velocity scaling label (Pr-955) 111velocitycommand lowpass filter bandwidth
(Pr-108) 68velocityscale (Pr-200) 80VER command 43verify servo connection (LIV) 43verify software version (VER) 43vibration suppression 69 73
Ww phase current sensing offset (Pr-603) 97warning (WARN) 61warnings 133watchdog timer 44 134within position window (P-COM) 60within speed window (V-COM) 60write indexing parameter (XHP) 32write indexing parameter (XTR) 32write parameter (CHP) 30write parameter (STR) 30
XXCE command 31XET command 31XHP command 32XTR command 32
Zzero clamp (Pr-505) 92zero speed (Z-CLP) 57
150 Rockwell Automation Publication 2071-RM001A-EN-P - September 2010
Index
Notes
Publication 2071-RM001A-EN-P - September 2010 152 PN-79403Copyright copy 2010 Rockwell Automation Inc All rights reserved Printed in the USA
Rockwell Automation Support
Rockwell Automation provides technical information on the Web to assist you in using its products At httpwwwrockwellautomationcomsupport you can find technical manuals a knowledge base of FAQs technical and application notes sample code and links to software service packs and a MySupport feature that you can customize to make thebest use of these tools
For an additional level of technical phone support for installation configuration and troubleshooting we offer TechConnect support programs For more information contact your local distributor or Rockwell Automation representative or visit httpwwwrockwellautomationcomsupport
Installation Assistance
If you experience an anomoly within the first 24 hours of installation review the information that is contained in this manualYou can contact Customer Support for initial help in getting your product up and running
New Product Satisfaction Return
Rockwell Automation tests all of its products to ensure that they are fully operational when shipped from the manufacturing facility However if your product is not functioning and needs to be returned follow these procedures
Documentation Feedback
Your comments will help us serve your documentation needs better If you have any suggestions on how to improve this document complete this form publication RA-DU002 available at httpwwwrockwellautomationcomliterature
United States or Canada 14406463434
Outside United States or Canada
Use the Worldwide Locator at httpwwwrockwellautomationcomsupportamericasphone_enhtml or contact your local Rockwell Automation representative
United States Contact your distributor You must provide a Customer Support case number (call the phone number above to obtain one) to your distributor to complete the return process
Outside United States Please contact your local Rockwell Automation representative for the return procedure
- 2071-RM001A-EN-P September 2010
- Important User Information
- Table of Contents
- Preface
-
- About This Publication
- Who Should Use This Manual
- Conventions Used in This Manual
- Additional Resources
-
- 1 - Modbus Protocol
-
- Function Codes
- Exception Codes
- Address Maps
-
- Standard Parameters
- Indexing Parameters
- Save Flash Memory Parameter
- Monitoring Parameter (Function Code 0x04)
- Fault and Warning Status Parameter - Input Registers
- Output Function Status Parameter
- Running Parameter (Function Code 0x06 or 0x10)
- Input Function Parameter (Function Code 0x03 0x06 or 0x10)
-
- 2 - Communication Protocol (RS-232ASCII)
-
- Introduction
- Special Symbols
- Packet Structure
- Checksum
-
- 3 - General Commands (ASCII)
-
- Read Parameter (SET)
- Write Parameter (STR)
- Write Parameter (CHP)
- Indexing Command Extended (XCE)
- Read Indexing Parameter (XET)
- Write Indexing Parameter (XHP)
- Write Indexing Parameter (XTR)
- Fault Reset (RST)
- Monitor Variable (MDM)
- Triggered Data Collection (MOT)
- Variable Roll Monitoring (MOR)
- Automatic Task (TAT)
- Manual Task (TMN)
- Read Fault Contents (EHY)
- Jog (JOG)
- Read Drive Status (STS)
- Other Functions (ETC)
- Verify Software Version (VER)
- Verify Servo Connection (LIV)
- Read Fault Detailed Data (DIE)
- Enable Drive (SVRON)
- Disable Drive (SVROF)
- Reset Drive (HWR)
-
- A - Standard Drive Parameters
-
- Parameter Groupings
- Parameter Descriptions
-
- Group 0 - System Level
- Group 1 - Gain Control
- Group 2 - Speed Control
- Group 3 - Position Control
- Group 4 - Torque Controls
- Group 5 - Supplemental Drive Controls
- Group 6 - Supplemental Gain and Report Settings
- Group 7 - Manufacturing Settings
- Group 8 - Reserved Parameters
- Group 9 - Motor Controls
-
- B - Indexing Drive Parameters
-
- Parameter Groupings
- Parameter Descriptions
-
- Group 0 - Indexing System
- Group 1 - Homing
- Group 2 - Indexing Options
- Group 3 - Index Move Profile
- Group 4 - Index PositionDistance
- Group 5 - Index Registration Distance
- Group 6 - Index Batch Count
- Group 7 - Index Dwell
- Group 8 - Index Velocity
- Group 9 - Index Move Profile
- Group 10 - Index Acceleration
- Group 11 - Index Deceleration
- Group 12 - Index Next Index
-
- C - Warnings and Fault Codes
-
- Warnings
- Fault Codes
-
- D - Monitor Variables
-
- Variables
- Compiled Variables
-
- Variable 15 - Digital Inputs and Outputs
- Variable 25 - Digital Inputs
- Variable 26 - Digital Outputs
- Variable 29 - Indexing Inputs
- Variable 30 - Indexing Outputs
-
- Index
- Technical Support
-