Page History
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Protocol | Port # | # TCP | # UDP | Description |
|---|---|---|---|---|
| CML | 10001 | 1 | 1 | Protocol used by the standard motor. Program the motor to run from IO, etc. |
| Direct Control Port | 10002 | 1 | 1 | Directly control the motor in a number of modes such as position, speed and torque
|
| Modbus Modbus- TCP | 502 | 1 | 0 | Modbus access to all motor registers including CML and Direct Control.
|
| Motor Information Port | 30718 | 0 | 1 |
|
| EtherNet/IP | 44818 2222 | 2 0 | 1 | EtherNet/IP CIP
|
This section focus on the Direct Control Port and the Motor Information port. For information on the other protocols go to their specific section.
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- TCP/IP or UDP
- Port 10002
- Length = 21 28 bytes
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Data
| Byte | Name | Value | Description |
|---|---|---|---|
| 0 | B0 Data | Any 8 bit data | This value will be echoed on the response |
| 1 | Reserved | 0x00 | Ignored (N/A) |
| 2 | Process Byte(1) | 0x01 0x00 | Process the received data Do not process the received data |
| 3 | Command ID | 0xF0 | Required to indicate the type of command received |
(1) The process byte value 0 can be used if the motor needs to be queried for data but no update is required
Data Packet
| Register | Size/Type | Byte | Register | Description | ||
|---|---|---|---|---|---|---|
| 0-3 | HeaderTargetPosition | As described above | DINT | 4-7 | TargetPosition | Final target position |
| 4- | 117 | TargetSpeed | DINT | Maximum speedtargetspeed | ||
| 8- | 139 | TargetTorque | INT | Maximum torque | 14||
| 10- | 1511 | TargetAccelertion | TargetAccelerationINT | Acceleration (used when accelerating to target speed) | ||
| 12- | 1713 | TargetDeceleration | INT | Deceleration (used when stopping) | ||
| 14- | 1915 | Controlword | INT | Control the motor operation | ||
| 16 | ModeOfOperation | SINT | Set the required mode of operation | 21|||
| 17 | DigitalOUT | SINT | Set the 2 digital outputs. Requires K34=44. |
Send Data Packet
This is the data sent by the motor
- TCP/IP or UDP
- Port 10002
- Length = 32 bytes
4-Byte Header Description
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No error
Error in received packet. This is NOT a motor error
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| 18-19 | WriteAddress1 | INT | Address of the motor register to write to |
| 20-23 | WriteValue1 | DINT | Value to be written to the motor register |
| 24-25 | ReadAddress1 | INT | Address of the motor register to read |
| 26-27 | PAD | INT | 16-bit padding not used |
Send Data Packet
This is the data sent by the motor
- TCP/IP or UDP
- Port 10002
- Length = 36 bytes
Data
(1) The process byte value 0 can be used if the motor needs to be queried for data but no update is required
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| Byte | Register | Description | ||||||
|---|---|---|---|---|---|---|---|---|
| 0-3 | Headerus50Counter | See above | DINT | 4-7 | CPUTime | CPU clock time in 50us counts | ||
| 4- | 117 | ActualPosition | DINT | The actual position of the motor in encoder counts | ||||
| 8- | 1511 | MotionTarget | ActualTargetPositionDINT | The actual instantaneous position the motor is currently moving to. | ||||
| 12-15 | ActualSpeed | DINT | Actual speed of the motor in encoder counts/s | |||||
| 16-17 | MotorStatus | INT | The motors status (error, homing, in position, etc) | |||||
| 18-19 | PercentActualCurrent | ActualRatedCurrentINT | Percentage (0.1%) of rated current. 1000 = rated, 1100 = peak. | |||||
| 20-21 | PercentOverloadTorque | ActualOverloadTorqueINT | Percentage (0.1%) of overload torque. | |||||
| 22-23 | AnalogIN | INT | 10 bit analog input value (0-1023) | |||||
| 24 | DigitalIN | Digital IN status. B0-B3 = IN1-IN425 | TemperatureDCVoltage | Drive temperature in ºC | INT | 26-27 | DCVoltage | 24V DC bus voltage in 0.1V |
| 26 | 28DigitalIN | DigitalOUTSINT | Digital OUT IN status. B0-B1 B3 = OUT1IN1-OUT2IN4 | |||||
| 27 | 29Temperature | ReservedSINT | -Drive temperature in ºC | 30|||||
| 28 | ModeOfOperationDisplay | SINT | Indicates the mode of operation currently set | |||||
| 29 | ErrorCode | SINT | Error code on communication error | |||||
| 30-31 | ReadAddress1 | INT | Address of the motor register for ReadValue1 | |||||
| 32-35 | ReadValue1 | DINT | The value in the motor register displayed in ReadAddress1 | ActualSpeed | Actual speed of the motor in encoder counts/s |
Motor Information Port
| Anchor | ||||
|---|---|---|---|---|
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