Page History
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Introduction
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Expanded Read/Write Access
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Setting the motor up as a Modbus Slave
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- K20 sets the motor to Modbus mode with the relevant baud rate
- K62 sets the Modbus slave ID
- K89 sets the address offset. This would typically be 0.
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Parameter | Description | Range |
K20 | Modbus baud rate | 10: 38400 |
K62 | Modbus slave address | 0…255 |
K89 | Modbus address offset | 0…32767 |
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- K23: K23=0 should be set. All serial port events should be disabled in Modbus mode
- K52: K52=21 should be set. It is import the second digit is set to 1. This forces IN1/OUT1 to be set to serial COM1 communication. Setting the first digit to 2 will force IN2/OUT2 to be digital I/O. See the RT3.12 firmware update sheet for more information on K52.
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Disabling Modbus Mode
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Reserved 16-bit "Ping" Address
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Read/Write Access Table
Included below is a table which details the location and significance of motor-side MODBUS registers.
Note the addresses included below are referenced to the MODBUS data model. [1 … n]
The MODBUS PDU address is obtained by subtracting 1 from the MODBUS data model address. [0 … (n-1)]
Holding Register Address | Motor Parameter | Read Access | Write Access |
|---|---|---|---|
[K89] + 1 | Position Error (?95) | Yes | No |
[K89]+ 3 | Motor Position (?96) | Yes | No |
[K89]+ 5 | Motor Speed (?97) | Yes | No |
[K89]+ 7 | Motor Torque (?98) | Yes | No |
[K89]+ 9 | Motor Status (?99) | Yes | No |
[K89]+ 11 | V0 | Yes | Yes |
[K89]+ 13 | V1 | Yes | Yes |
[K89]+ 15 | V2 | Yes | Yes |
[K89]+ 17 | V3 | Yes | Yes |
[K89]+ 19 | V4 | Yes | Yes |
[K89]+ 21 | V5 | Yes | Yes |
[K89]+ 23 | V6 | Yes | Yes |
[K89]+ 25 | V7 | Yes | Yes |
[K89]+ 27 | V8 | Yes | Yes |
[K89]+ 29 | V9 | Yes | Yes |
[K89]+ 31 | V10 | Yes | Yes |
[K89]+ 33 | V11 | Yes | Yes |
[K89]+ 35 | V12 | Yes | Yes |
[K89]+ 37 | V13 | Yes | Yes |
[K89]+ 39 | V14 | Yes | Yes |
[K89]+ 41 | V15 | Yes | Yes |
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[K89]+ 43 | P0 | Yes | Yes |
[K89]+ 45 | S0 | Yes | Yes |
[K89]+ 47 | A0 | Yes | Yes |
[K89]+ 49 | V0 | Yes | Yes |
[K89]+ 51 | R0 | Yes | Yes |
[K89]+ 53 | M0 | Yes | Yes |
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[K89]+ 55 | Analog Output | Yes | Yes |
[K89]+ 57 | Input Status (?70) | Yes | No |
[K89]+ 59 | Output Status (?50) | Yes | Yes |
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[K89]+ 103 | CML Port [ASCII] | No | Yes |
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[K89]+ 201 | P0 | Yes | Yes |
[K89]+ 203 | P1 | Yes | Yes |
[K89]+ 205 | P2 | Yes | Yes |
[K89]+ 207 | P3 | Yes | Yes |
[K89]+ 209 | P4 | Yes | Yes |
[K89]+ 211 | P5 | Yes | Yes |
[K89]+ 213 | P6 | Yes | Yes |
[K89]+ 215 | P7 | Yes | Yes |
[K89]+ 217 | P8 | Yes | Yes |
[K89]+ 219 | P9 | Yes | Yes |
[K89]+ 221 | P10 | Yes | Yes |
[K89]+ 223 | P11 | Yes | Yes |
[K89]+ 225 | P12 | Yes | Yes |
[K89]+ 227 | P13 | Yes | Yes |
[K89]+ 229 | P14 | Yes | Yes |
[K89]+ 231 | P15 | Yes | Yes |
[K89]+ 233 | P16 | Yes | Yes |
[K89]+ 235 | P17 | Yes | Yes |
[K89]+ 237 | P18 | Yes | Yes |
[K89]+ 239 | P19 | Yes | Yes |
[K89]+ 241 | P20 | Yes | Yes |
[K89]+ 243 | P21 | Yes | Yes |
[K89]+ 245 | P22 | Yes | Yes |
[K89]+ 247 | P23 | Yes | Yes |
[K89]+ 249 | P24 | Yes | Yes |
[K89]+ 251 | P25 | Yes | Yes |
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[K89]+ 301 | R0 | Yes | Yes |
[K89]+ 303 | R1 | Yes | Yes |
[K89]+ 305 | R2 | Yes | Yes |
[K89]+ 307 | R3 | Yes | Yes |
[K89]+ 309 | R4 | Yes | Yes |
[K89]+ 311 | R5 | Yes | Yes |
[K89]+ 313 | R6 | Yes | Yes |
[K89]+ 315 | R7 | Yes | Yes |
[K89]+ 317 | P8 | Yes | Yes |
[K89]+ 319 | P9 | Yes | Yes |
[K89]+ 321 | R10 | Yes | Yes |
[K89]+ 323 | R11 | Yes | Yes |
[K89]+ 325 | R12 | Yes | Yes |
[K89]+ 327 | R13 | Yes | Yes |
[K89]+ 329 | R14 | Yes | Yes |
[K89]+ 331 | R15 | Yes | Yes |
[K89]+ 333 | R16 | Yes | Yes |
[K89]+ 335 | R17 | Yes | Yes |
[K89]+ 337 | R18 | Yes | Yes |
[K89]+ 339 | R19 | Yes | Yes |
[K89]+ 341 | R20 | Yes | Yes |
[K89]+ 343 | R21 | Yes | Yes |
[K89]+ 345 | R22 | Yes | Yes |
[K89]+ 347 | R23 | Yes | Yes |
[K89]+ 349 | R24 | Yes | Yes |
[K89]+ 351 | R25 | Yes | Yes |
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[K89]+ 401 | N0 | Yes | Yes |
[K89]+ 403 | N1 | Yes | Yes |
[K89]+ 405 | N2 | Yes | Yes |
[K89]+ 407 | N3 | Yes | Yes |
[K89]+ 409 | N4 | Yes | Yes |
[K89]+ 411 | N5 | Yes | Yes |
[K89]+ 413 | N6 | Yes | Yes |
[K89]+ 415 | N7 | Yes | Yes |
[K89]+ 417 | N8 | Yes | Yes |
[K89]+ 419 | N9 | Yes | Yes |
[K89]+ 421 | N10 | Yes | Yes |
[K89]+ 423 | N11 | Yes | Yes |
[K89]+ 425 | N12 | Yes | Yes |
[K89]+ 427 | N13 | Yes | Yes |
[K89]+ 429 | N14 | Yes | Yes |
[K89]+ 431 | N15 | Yes | Yes |
[K89]+ 433 | N16 | Yes | Yes |
[K89]+ 435 | N17 | Yes | Yes |
[K89]+ 437 | N18 | Yes | Yes |
[K89]+ 439 | N19 | Yes | Yes |
[K89]+ 441 | N20 | Yes | Yes |
[K89]+ 443 | N21 | Yes | Yes |
[K89]+ 445 | N22 | Yes | Yes |
[K89]+ 447 | N23 | Yes | Yes |
[K89]+ 449 | N24 | Yes | Yes |
[K89]+ 451 | N25 | Yes | Yes |
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[K89]+ 603 | S0 | Yes | Yes |
[K89]+ 605 | S1 | Yes | Yes |
[K89]+ 607 | S2 | Yes | Yes |
[K89]+ 609 | S3 | Yes | Yes |
[K89]+ 611 | S4 | Yes | Yes |
[K89]+ 613 | S5 | Yes | Yes |
[K89]+ 615 | S6 | Yes | Yes |
[K89]+ 617 | S7 | Yes | Yes |
[K89]+ 619 | S8 | Yes | Yes |
[K89]+ 621 | S9 | Yes | Yes |
[K89]+ 623 | S10 | Yes | Yes |
[K89]+ 625 | S11 | Yes | Yes |
[K89]+ 627 | S12 | Yes | Yes |
[K89]+ 629 | S13 | Yes | Yes |
[K89]+ 631 | S14 | Yes | Yes |
[K89]+ 633 | S15 | Yes | Yes |
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[K89]+ 635 | A0 | Yes | Yes |
[K89]+ 637 | A1 | Yes | Yes |
[K89]+ 639 | A2 | Yes | Yes |
[K89]+ 641 | A3 | Yes | Yes |
[K89]+ 643 | A4 | Yes | Yes |
[K89]+ 645 | A5 | Yes | Yes |
[K89]+ 647 | A6 | Yes | Yes |
[K89]+ 649 | A7 | Yes | Yes |
[K89]+ 651 | A8 | Yes | Yes |
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[K89]+ 653 | M0 | Yes | Yes |
[K89]+ 655 | M1 | Yes | Yes |
[K89]+ 657 | M2 | Yes | Yes |
[K89]+ 659 | M3 | Yes | Yes |
[K89]+ 661 | M4 | Yes | Yes |
[K89]+ 663 | M5 | Yes | Yes |
[K89]+ 665 | M6 | Yes | Yes |
[K89]+ 667 | M7 | Yes | Yes |
[K89]+ 669 | M8 | Yes | Yes |
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[K89]+ 671 | K0 | Yes | Yes |
[K89]+ 673 | K1 | Yes | Yes |
[K89]+ 675 | K2 | Yes | Yes |
[K89]+ 677 | K3 | Yes | Yes |
[K89]+ 679 | K4 | Yes | Yes |
[K89]+ 681 | K5 | Yes | Yes |
[K89]+ 683 | K6 | Yes | Yes |
[K89]+ 685 | K7 | Yes | Yes |
[K89]+ 687 | K8 | Yes | Yes |
[K89]+ 689 | K9 | Yes | Yes |
[K89]+ 691 | K10 | Yes | Yes |
[K89]+ 693 | K11 | Yes | Yes |
[K89]+ 695 | K12 | Yes | Yes |
[K89]+ 697 | K13 | Yes | Yes |
[K89]+ 699 | K14 | Yes | Yes |
[K89]+ 701 | K15 | Yes | Yes |
[K89]+ 703 | K16 | Yes | Yes |
[K89]+ 705 | K17 | Yes | Yes |
[K89]+ 707 | K18 | Yes | Yes |
[K89]+ 709 | K19 | Yes | Yes |
[K89]+ 711 | K20 | Yes | Yes |
[K89]+ 713 | K21 | Yes | Yes |
[K89]+ 715 | K22 | Yes | Yes |
[K89]+ 717 | K23 | Yes | Yes |
[K89]+ 719 | K24 | Yes | Yes |
[K89]+ 721 | K25 | Yes | Yes |
[K89]+ 723 | K26 | Yes | Yes |
[K89]+ 725 | K27 | Yes | Yes |
[K89]+ 727 | K28 | Yes | Yes |
[K89]+ 729 | K29 | Yes | Yes |
[K89]+ 731 | K30 | Yes | Yes |
[K89]+ 733 | K31 | Yes | Yes |
[K89]+ 735 | K32 | Yes | Yes |
[K89]+ 737 | K33 | Yes | Yes |
[K89]+ 739 | K34 | Yes | Yes |
[K89]+ 741 | K35 | Yes | Yes |
[K89]+ 743 | K36 | Yes | Yes |
[K89]+ 745 | K37 | Yes | Yes |
[K89]+ 747 | K38 | Yes | Yes |
[K89]+ 749 | K39 | Yes | Yes |
[K89]+ 751 | K40 | Yes | Yes |
[K89]+ 753 | K41 | Yes | Yes |
[K89]+ 755 | K42 | Yes | Yes |
[K89]+ 757 | K43 | Yes | Yes |
[K89]+ 759 | K44 | Yes | Yes |
[K89]+ 761 | K45 | Yes | Yes |
[K89]+ 763 | K46 | Yes | Yes |
[K89]+ 765 | K47 | Yes | Yes |
[K89]+ 767 | K48 | Yes | Yes |
[K89]+ 769 | K49 | Yes | Yes |
[K89]+ 771 | K50 | Yes | Yes |
[K89]+ 773 | K51 | Yes | Yes |
[K89]+ 775 | K52 | Yes | Yes |
[K89]+ 777 | K53 | Yes | Yes |
[K89]+ 779 | K54 | Yes | Yes |
[K89]+ 781 | K55 | Yes | Yes |
[K89]+ 783 | K56 | Yes | Yes |
[K89]+ 785 | K57 | Yes | Yes |
[K89]+ 787 | K58 | Yes | Yes |
[K89]+ 789 | K59 | Yes | Yes |
[K89]+ 791 | K60 | Yes | Yes |
[K89]+ 793 | K61 | Yes | Yes |
[K89]+ 795 | K62 | Yes | Yes |
[K89]+ 797 | K63 | Yes | Yes |
[K89]+ 799 | K64 | Yes | Yes |
[K89]+ 801 | K65 | Yes | Yes |
[K89]+ 803 | K66 | Yes | Yes |
[K89]+ 805 | K67 | Yes | Yes |
[K89]+ 807 | K68 | Yes | Yes |
[K89]+ 809 | K69 | Yes | Yes |
[K89]+ 811 | K70 | Yes | Yes |
[K89]+ 813 | K71 | Yes | Yes |
[K89]+ 815 | K72 | Yes | Yes |
[K89]+ 817 | K73 | Yes | Yes |
[K89]+ 819 | K74 | Yes | Yes |
[K89]+ 821 | K75 | Yes | Yes |
[K89]+ 823 | K76 | Yes | Yes |
[K89]+ 825 | K77 | Yes | Yes |
[K89]+ 827 | K78 | Yes | Yes |
[K89]+ 829 | K79 | Yes | Yes |
[K89]+ 831 | K80 | Yes | Yes |
[K89]+ 833 | K81 | Yes | Yes |
[K89]+ 835 | K82 | Yes | Yes |
[K89]+ 837 | K83 | Yes | Yes |
[K89]+ 839 | K84 | Yes | Yes |
[K89]+ 841 | K85 | Yes | Yes |
[K89]+ 843 | K86 | Yes | Yes |
[K89]+ 845 | K87 | Yes | Yes |
[K89]+ 847 | K88 | Yes | Yes |
[K89]+ 849 | K89 | Yes | Yes |
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[K89]+ 875 | RESERVED | Yes | Yes |
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[K89]+ 901 | H0 | Yes | Yes |
[K89]+ 903 | H1 | Yes | Yes |
[K89]+ 905 | H2 | Yes | Yes |
[K89]+ 907 | H3 | Yes | Yes |
[K89]+ 909 | H4 | Yes | Yes |
[K89]+ 911 | H5 | Yes | Yes |
[K89]+ 913 | H6 | Yes | Yes |
[K89]+ 915 | H7 | Yes | Yes |
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[K89]+ 951 | T0 | Yes | No |
[K89]+ 953 | T1 | Yes | Yes |
[K89]+ 955 | T2 | Yes | Yes |
[K89]+ 957 | T3 | Yes | Yes |
[K89]+ 959 | T4 | Yes | Yes |
[K89]+ 951 | T5 | Yes | Yes |
[K89]+ 953 | T6 | Yes | Yes |
[K89]+ 955 | T7 | Yes | Yes |
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