Kinetix 3 Host Commands for Serial Communication...and troubleshooting host commands for serial communication with the Kinetix 3 drives. Who Should Use This Manual This manual is intended

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

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

Table of Contents

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

Preface

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

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

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

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

(1) Refer to Fault and Warning Status Parameter - Input Registers on page 22 for more detailed information on this parameter

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

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

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

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

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

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

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

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

Group 5 - Reserved

MODBUS Address

Kinetix 3 Parameter

Group 6 - Reserved

MODBUS Address

Kinetix 3 Parameter

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

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

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

7001 In1000Hi 7033 In1016 Hi 7065 In1032 Hi 7097 In1048 Hi

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

7231 In1115Hi 7263 In1131Hi 7295 In1147 Hi 7327 In1163 Hi

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

Save Flash Memory Parameter

MODBUS Address

Data Status Description

9999 (decimal) 1 Write data into flash memory

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

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]

E_SEQU End of Sequence Bit [6]

Reserved - Bit [7hellip15]

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

2004 run-04 Auto Adjustment of Current Command Offset

2005hellip2007 run-05hellip run-07 Reserved -

2008 run-08 Alarm Reset 1 bit

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

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]

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]

H_STOP Stop Homing bit [15]

3002 START_I Start Index bit [0]

BANK_SEL Gain Bank Select bit [1]

- Reserved - [2hellip15]

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

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

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

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

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

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

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

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

Format STX ID XET PPPP BSS ETX

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

V Bit-field type = 4 byte hexadecimal value Integer type Signed integer of variable length

Write Indexing Parameter (XHP)

Write Indexing Parameter (XTR)

Attribute Value

Command XHP

Format STX ID XHP PPPP V BSS ETX

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

Response Format ACK

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

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

Response Format ACK

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

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

V1hellipV5 Variable values are 4 or 8 bytes signed See tables below for descriptions of specific variables

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

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

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

Figure 1 - Triggered Data Collection (MOT) Command String Example

Attribute Value

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)

PC Servo

Time lt200 ms

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

V1hellipVn Signed integer of variable length

Usage Note Send ESC to stop monitoring of the data

Response ACK

Figure 2 - Variable Roll Monitoring (MOR) Command String Example

MOR (setting)

PC Servo

Time lt200 ms

Automatic Task (TAT)

Figure 3 - Automatic Task (TAT) Command String Example

Attribute Value

Command TAT

Format STX ID TAT T1 BSS ETX

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)

PC Servo

Time lt200 ms

Manual Task (TMN)

Figure 4 - Manual Task (TMN) Command String Example

Attribute Value

Command TMN

Format STX ID TMN 1 BSS ETX

T1 Manual task number See the following Values and Task Descriptions

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

TMN (setting)

PC Servo

Time lt200 ms

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

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

Asterik () means all faults

Response Format STX ID $ EHY Fcode1ampFcode2ampFcode8 BSS ETX

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

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

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

Other Functions (ETC)

Attribute Value

Command ETC

Format STX ID ETC F1 BSS ETX

F1 Manual task number See the following Values and Task Descriptions

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

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

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

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

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

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

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

Appendix A Standard Drive Parameters

Parameter Descriptions Parameter descriptions list the size of each parameter and the data options within the parameter

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

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

A5010204081015 501002004008001000 or 1500 Watts

Default 04 = 400 W

Digit 3hellip4 Motor type

Motor type Motor initial ID

MODBUS Address 1

When Enabled Servo-Off -gt Setting

MODBUS Address Pr-001[Lo] = 1 Pr-001[Hi] = 2

[Pr - 002] Motor Basic Modes

Data Size 4 digits

Digit 0 Fault and Disable Braking

Ultraware Name Stopping Functions Fault and Disable Braking

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

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

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

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

MODBUS Address 3

[Pr - 003] Auto Tuning Functions

Data Size 4 digits

Digit 0 Off-line Tuning Mode

Ultraware Name Off-line Tuning Mode

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

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 -

MODBUS Address 4

[Pr - 002] Motor Basic Modes (Continued)

[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

MODBUS Address 5

[Pr - 005] Auxiliary Function Selection 1

Data Size 4 digits

Digit 0 Encoder Back-up Battery

Ultraware Name Encoder Back-up Battery

0x0 Battery Installed

0x1 Battery Not Installed

Default 0

Digit 1 Velocity Observer

Ultraware Name Velocity Observer

0x0 Disable

0x1 Enable

Default 0

Digit 2 Alternative Gain Change Enable

Ultraware Name Gain Change Enable

0x0 Disable

0x1 Enable

Default 0x0

Digit 3 Emergency stop input

0x0 Disable

0x1 Enable

Default 0

MODBUS Address 6

Data Size 3 digits

Digit 0 Automatic Motor Identification

Ultraware Name Auto Motor Identification

0x0 Disabled

0x1 Enabled

Default 1

Digit 1 Incremental Feedback Loss (Encoder Line Break Detection)

Ultraware Name Incremental Feedback Loss

0x0 Monitored

0x1 Ignored

Default 0

Digit 2 Mode of Gain Switching

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

MODBUS Address 7

[Pr - 006] Auxiliary Function Selection 2 (Continued)

[Pr - 007] Drive Address

Ultraware Name Drive Address

Range 1hellip247

Default 1

MODBUS Address 8

[Pr - 008] Password

Ultraware Name Drive Password

Range 0hellip9999Usage Note Unprotected Code 777

MODBUS Address 9

[Pr - 009] Serial Port Configuration

Data Size 4 digits

Digit 0 Baud Rate

Ultraware Name Baud Rate

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

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

0x0 ASCII

0x1 MODBUS-RTU

Default 0

Digit 3 Communication Method

Ultraware Name Communication Method

0 0x0 RS232

1 Ox1 RS485

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

MODBUS Address 11

[Pr - 009] Serial Port Configuration (Continued)

Data Size 4 digits

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

MODBUS Address 12

Data Size 4 digits

0 Preset direction (C-DIR) 0x0 OFF

1 Preset select 1 (C-SP1) 0x0 OFF

MODBUS Address 13

Data Size 4 digits

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

MODBUS Address 14

Data Size 4 digits

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

MODBUS Address 15

Data Size 4 digits

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

MODBUS Address 16

Data Size 4 digits

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

Applicable Operating Mode Indexing

MODBUS Address 17

Data Size 4 digits

0 Index select 0 input (I_SEL0) 0x0 OFF

MODBUS Address 18

Data Size 4 digits

2 Stop homing (H_STOP) 0x0 OFF

3 Start index (START_I) 0x0 OFF

MODBUS Address 19

Data Size 4 digits

0 Reserved 0x0 OFF

1 Reserved 0x0 OFF

2 Reserved 0x0 OFF

3 Reserved 0x0 OFF

When Enabled Reserved

MODBUS Address 20

Data Size 4 digits

0 Reserved 0x0 OFF

1 Reserved 0x0 OFF

2 Reserved 0x0 OFF

3 Reserved 0x0 OFF

MODBUS Address 21

Table 1 - Setting Values for Parameters [Pr - 010]hellip[Pr - 021]

Data Size 4 digits

0 Reserved 0x0 OFF

1 Reserved 0x0 OFF

2 Reserved 0x0 OFF

3 Reserved 0x0 OFF

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)

1 Up to speed (TG-ON) 0x2

2 Brake control (BK) 0x3

3 Within speed window (V-COM) 0x0

MODBUS Address 23

Data Size 4 digits

0 Current limited (T_LMT) 0x0

1 Velocity limited (V-LMT) 0x0

2 Near position (NEAR) 0x0

3 Warning (WARN) 0x0

MODBUS Address 24

Data Size 4 digits

0 Absolute position valid (A_VLD) 0x0

1 Ready 0x0

2 Reserved 0x0

3 Reserved 0x0

MODBUS Address 25

Data Size 4 digits

0 In Motion (IMO) 0x0

1 In Dwell (I_DW) 0x0

2 Axis Homed (HOMC) 0x0

3 Index Select 0 Out (O_ISEL0) 0x0

MODBUS Address 26

Data Size 4 digits

MODBUS Address 27

Data Size 4 digits

1 End of Sequence (E_SEQU) 0x0

2 Reserved 0x0

3 Reserved 0x0

MODBUS Address 28

Data Size 4 digits

0 Reserved 0x0

1 Reserved 0x0

2 Reserved 0x0

3 Reserved 0x0

MODBUS Address 29

Data Size 4 digits

0 Reserved 0x0

1 Reserved 0x0

2 Reserved 0x0

3 Reserved 0x0

MODBUS Address 30

Data Size 4 digits

0 Reserved 0x0

1 Reserved 0x0

2 Reserved 0x0

3 Reserved 0x0

MODBUS Address 31

Data Size 4 digits

0 Reserved 0x0

1 Reserved 0x0

2 Reserved 0x0

3 Reserved 0x0

MODBUS Address 32

[Pr - 032] IO Control Authority

Data Size 2 digits

Digit 0 MODBUS Input Function Control

Ultraware Name MODBUS Input Function Control

0x0 Disable

0x1 Enable

Default 0

Digits 1 MODBUS Run Function Control

Ultraware Name MODBUS Run Function Control

0x0 Disable

0x1 Enable

Default 0

1 Refer to the Setting Values for Parameters [Pr - 022]hellip[Pr - 032] table immediately below

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

[Pr - 100] Velocity Regulator Response Level

Ultraware Name Velocity Regulator Response level

Range 1hellip150

Default 50

MODBUS Address 100

[Pr - 101] System Gain

Range 1hellip150

Default 50

Units Hz

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

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 -

MODBUS Address 103

[Pr - 104] Velocity Regulator D gain

Ultraware Name Main Velocity Regulator Gains Derivative Gain

Range 0hellip1000

Default 0

Units -

MODBUS Address 104

[Pr - 105] Velocity Error Filter

Ultraware Name Calibration Error Filter Bandwidth

Range 0hellip2500

Default 30

Units Hz

MODBUS Address 105

[Pr - 106] Position Regulator Kp Gain

Ultraware Name Main Position Regulator Gains Kp

Range 0hellip700

Default 20

Units Hz

MODBUS Address 106

[Pr - 107] Current Command Lowpass Filter Bandwidth

Ultraware Name Main Current Regulator Gains Low Pass Filter Bandwidth

Range 0hellip10000

Default 300

Units Hz

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

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

Applicable Operating Mode Follower

MODBUS Address 109

[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

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

MODBUS Address 111

[Pr - 112] 2nd Resonant Frequency Suppression Filter

Ultraware Name 2nd Main Current Regulator Gains 2nd Resonant Frequency Suppression Filter

Range 0hellip10000

Default 10000

Units Hz

MODBUS Address 112

[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 -

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 -

MODBUS Address 114

[Pr - 115] Position Regulator Kff gain

Ultraware Name Main Position Regulator Gains Kff

Range 0hellip100

Default 0

MODBUS Address 115

[Pr - 116] Position Regulator Kff Bandwidth

Ultraware Name Main Position Regulator Gains Kff Low Pass Filter Bandwidth

Range 0hellip2500

Default 200

Units Hz

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

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

MODBUS Address 117

[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

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

MODBUS Address 120

[Pr - 121] Current Regulator Bandwidth Reduction Scale

Ultraware Name Main Current Regulator Gains Gain

0x0 High bandwidth

0x1 Medium bandwidth (06667 high)

0x2 Low bandwidth (03334 high)

Default 0x1

When Enabled All

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

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

0x0 Low

0x1 High

Default 0x0

When Enabled All

Applicable Operating Mode Servo-Off -gt Setting

MODBUS Address 122

[Pr - 123] Velocity Regulator Configuration

Data Size 1 digits

Digit 0 Velocity Command Filter on Follower

Ultraware Name Velocity Command Filter on Follower

0x0 Disable

0x1 Enable

Default 0x0

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

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 -

MODBUS Address 125

[Pr - 126] Hysteresis of Gain Switching

Ultraware Name Gain Switching Hysteresis of Gain Switching

Range 0hellip10000

Default 0

Units -

MODBUS Address 126

[Pr - 127] Position Gain Switching Time

Range 0hellip10000

Default 0

Units x 200usec

MODBUS Address 127

[Pr - 128] 2nd Velocity Regulator P Gain

Ultraware Name 2nd Regulator Gain P

Range 0hellip10000

Default 60

Units -

MODBUS Address 128

[Pr - 129] 2nd Velocity Regulator I Gain

Ultraware Name 2nd Regulator Gain Integrator Gain

Range 0hellip60000

Default 26

Units -

MODBUS Address 129

[Pr - 130] 2nd Position Regulator Kp Gain

Ultraware Name 2nd Regulator Gain Kp

Range 0hellip700

Default 20

Units Hz

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

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

MODBUS Address 132

[Pr - 133] 3rd Velocity Regulator P Gain

Ultraware Name 3rd Regulator Gain P Gain

Range 0hellip10000

Default 60

Units -

MODBUS Address 133

[Pr - 134] 3rd Velocity Regulator I Gain

Ultraware Name 3rd Regulator Gain Integrator Gain

Range 0hellip10000

Default 26

Units -

When Enabled Immediately Immediately

MODBUS Address 134

[Pr - 135] 3rd Position Regulator Kp Gain

Ultraware Name 3rd Regulator Gain Kp

Range 0hellip700

Default 20

Units Hz

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

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

MODBUS Address 137

[Pr - 138] 4th Velocity Regulator P Gain

Ultraware Name 4th Regulator Gain P

Range 0hellip10000

Default 60

Units -

MODBUS Address 138

[Pr - 139] 4th Velocity Regulator I Gain

Ultraware Name 4th Regulator Gain Integrator Gain

Range 0hellip60000

Default 26

MODBUS Address 139

[Pr - 140] 4th Position Regulator Kp Gain

Ultraware Name 4th Regulator Gain Kp

Range 0hellip700

Default 20

Units Hz

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

MODBUS Address 141

[Pr - 142] 4th Velocity Command Lowpass Filter Bandwidth

Ultraware Name 4th Regulator Gain Low Pass Bandwidth (VReg)

Range 0hellip10000

Default 1000

Units Hz

MODBUS Address 142

[Pr - 200] Velocity Scale

Ultraware Name Velocity Scale

Range 100hellip20000

Default 5000

Units rpmV for rotary motors mmsec for linear motors

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

MODBUS Address 201

[Pr - 202] Acceleration

Ultraware Name Acceleration Limits Acceleration

Default 41667

Units 10-2Revsec2 for rotary mmsec2 for linear

Applicable Operating Mode Analog Velocity Input Preset Velocity

MODBUS Address 202

[Pr - 203] Deceleration

Ultraware Name Acceleration Limits Deceleration

Default 41667

MODBUS Address 203

[Pr - 204] S-Curve Time

Ultraware Name Acceleration Limits S-Curve Time

Range 0hellip5000

Default 0

Units Ms

MODBUS Address 204

[Pr - 205] Preset Velocity 1

Ultraware Name Preset Velocity 1

Range -6000hellip6000

Default 0

Applicable Operating Mode Preset

MODBUS Address 205

Pr - 206] Preset Velocity 2

Default 0

MODBUS Address 206

Default 0

MODBUS Address 207

Default 0

MODBUS Address 208

Default 0

MODBUS Address 209

Control Index 6

Default 0

MODBUS Address 210

Default 0

MODBUS Address 211

[Pr - 212] Manual Velocity Limit

Ultraware Name Manual Velocity limit

Range 1hellip6000

Default 5000

MODBUS Address 212

[Pr - 213] Velocity Limit Mode

Ultraware Name Velocity Limits Velocity Limit Mode

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

MODBUS Address 213

[Pr - 300] Follower

Data Size 4 digits

Digit 0 Command Type

Ultraware Name Command Type

0x0 Step UpStep Down Positive logic

0x1 Step UpStep Down Negative logic

0x2 StepDirection Positive Logic

0x3 StepDirection Negative Logic

0x4 Auxiliary Encoder x1

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

Digit 1 Controller Output Type

Ultraware Name Controller Output Type

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

Digit 2 Encoder Output Forward Direction

Ultraware Name Encoder Output Forward Direction

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

Digit 3 1st Gear ratio change

Ultraware Name 1st Gear ratio change

0x0 Enable Only on Drive Disabled

0x1 Always Enable

Default 0x0

MODBUS Address 300

[Pr - 301] 1st Gear Ratio Follower Counts

Ultraware Name 1st Gear Ratio Numerator

Range 1hellip65535

Default 4

MODBUS Address 301

[Pr - 300] (Continued) Follower

[Pr - 302] 1st Gear Ratio Master Counts

Ultraware Name 1st Gear Ratio Denominator

Range 1hellip65535

Default 1

MODBUS Address 302

[Pr - 303] Encoder Output Ratio Output Counts

Ultraware Name Output Ratio Numerator

Range 1hellip32768

Default 1

MODBUS Address 303

[Pr - 304] Encoder Output Ratio Motor Counts

Range 1hellip32768

Default 1

MODBUS Address 304

[Pr - 305] 2nd Gear Ratio Follower Counts

Ultraware Name 2nd Gear Ratio Numerator

Range 1hellip65535

Default 4

MODBUS Address 305

[Pr - 306] 2nd Gear Ratio Master Counts

Ultraware Name 2nd Gear Ratio Denominator

Range 1hellip65535

Default 1

MODBUS Address 306

[Pr - 307] Reserved

When Enabled Reserved for future use

[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

1 175MHz

2 15MHz

3 1MHz

4 075MHz

5 0625MHz

6 0562MHz

7 0525MHz

Default = 5

Digit 2 High frequency line drive input

1 175MHz

2 15MHz

3 1MHz

4 075MHz

5 0625MHz

6 0562MHz

7 0525MHz

Default = 0

MODBUS Address 308

Group 4 - Torque Controls

[Pr - 400] Current Scale

Ultraware Name Current Scale

Range 0hellip1000

Default 333

Units of rated continuous currentV

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

MODBUS Address 401

[Pr - 402] Negative Internal Current Limit

Ultraware Name Current Limits Negative Internal

Range 0hellip500

Default 300

MODBUS Address 402

[Pr - 403] Positive External Current Limit

Ultraware Name Current Limits Positive External

Range 0hellip500

Default 100

MODBUS Address 403

Pr - 404] Negative External Current Limit

Ultraware Name Current Limits Negative External

Range 0hellip500

Default 100

MODBUS Address 404

[Pr - 405] Overtravel Current Limit

Ultraware Name Stopping Functions Maximum Stopping Current

Range 0hellip500

Default 300

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

MODBUS Address 406

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

MODBUS Address 500

[Pr - 501] Reserved

[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

MODBUS Address 502

[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

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

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

MODBUS Address 505

[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

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

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

MODBUS Address 508

[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

When Enabled All

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

Default 99999

Units Counts

MODBUS Address 510

[Pr - 511] Reserved

[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

MODBUS Address 513

[Pr - 513] Analog Output CH1 Selection

Ultraware Name Analog Output 1 Signal

Range 0hellip28 (except 15232526)

Default 0

MODBUS Address 514

Default 1

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

MODBUS Address 518

Range 1hellip99999

Units Units depends on the channel selected in [Pr - 514]

Default 500

MODBUS Address 520

Group 6 - Supplemental Gain and Report Settings

[Pr - 600] Analog Velocity Command Offset

Ultraware Name Velocity Command Offset

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

Default 0

Units 01 mV

Applicable Operating Mode Analog Current Command

[Pr - 602] U Phase Current Sensing Offset

Ultraware Name Calibration U Phase Current Offset

Default 0

Units 001 mA

[Pr - 603] W Phase Current Sensing Offset

Ultraware Name Calibration W Phase Current Offset

Default 0

Units 001 mA

[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

0 Disable

1 Enable

Default 0

Unit -

When Enabled Servo-Off -gt Setting -gt After power cycle (ENG Mode)

[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

0 Disable

1 Enable

Default 1

Units -

[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)

[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

Ultraware Name Fault Detail Setup Channel B

Default 3

Ultraware Name Fault Detail Setup Channel C

Default 11

Ultraware Name Fault Detail Setup Channel D

Default 16

Range 0hellip10000

Default 10000

Units Hz

When Enabled Immediately (Read Parameter for ENG)

Range 0hellip10000

Default 10000

Units Hz

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)

[Pr - 701] DC Bus Voltage Offset

Ultraware Name Calibration DC Bus Voltage Offset

Range -100hellip100

Default 0

Units V

[Pr - 702] Reservedl

[Pr - 703] Analog Monitor Output CH1 Offset

Ultraware Name Calibration Analog Output CH1 Offset

Default 0

Units mV

[Pr - 704] Analog Monitor Output CH1 Scaling

Ultraware Name Calibration Analog Output CH1 Scale

Default 0

Units -

Default 0

Units mV

Default 0

Units -

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

Default 0 (no adjustment)

Units 0001

Group 9 - Motor Controls

[Pr - 900] Standard Motor Flag

Ultraware Name General Motor Flag

0 Custom

1 Standard

Default 1

[Pr - 901] Motor Type

Ultraware Name General Motor Type

0 Rotary

1 Linear

2 Reserved

3 Reserved

Default 0

[Pr - 902] Motor Resistance

Ultraware Name Electrical Resistance

Range 1hellip65535

Units Ohms 256

[Pr - 903] Motor Inductance

Ultraware Name Electrical Inductance

Range 1hellip65535

Units mH 256

[Pr - 904] Motor Intermittent Current

Ultraware Name Ratings Intermittent Current

Range 1hellip32767

Units A 128

[Pr - 905] Motor Continuous Current

Ultraware Name Ratings Continuous Current

Range 1hellip32767

Units A 128

[Pr - 906] Motor Rated Voltage

Ultraware Name Electrical Rated Voltage

Range 10hellip1000

Units V

[Pr - 907] Encoder Type

Ultraware Name Feedback Encoder

Value Description

1 Incremental

4 Serial Incremental

5 Serial Absolute

[Pr - 908] Hall Offset

Ultraware Name Feedback Hall Input Offset

Range 0hellip359

Units Electrical degree

[Pr - 909] Current Constant

Ultraware Name General Torque Constant

Range 1hellip65535

Units N m A 4096

[Pr - 910] Motor Inertia

Ultraware Name General Inertia

Units Kgcm2 65536

[Pr - 911] PolesRevolution

Ultraware Name General PolesRevolution

Range 2hellip100

Units Poles

[Pr - 912] Encoder Lines Revolution

Ultraware Name General LinesRevolution

Units Poles

[Pr - 913] Maximum Rotary Speed

Ultraware Name Ratings Maximum Speed

Range 10hellip32767

Units rpm

[Pr - 914] Force Constant

Ultraware Name General Force Constant

Range 1hellip32767

Units 16

[Pr - 915] Motor Mass

Ultraware Name General Mass

Range 1 hellip2147483647

Units Kg 65536

[Pr - 916] Electrical Cycle Length

Ultraware Name General Electrical Cycle

Units mm 10

[Pr - 917] Encoder Lines Meter

Ultraware Name Feedback LinesMeter

Units Lines

[Pr - 918] Maximum Linear Speed

Range 32hellip32767

Units m s 256

[Pr - 919] Motor Thermal Protection Enable

Ultraware Name Thermal Software Protection

Range 0 = Disabled

1 = Enabled

[Pr - 920] Motor Thermostat

Ultraware Name Thermal Integral Thermostat

Range 0 = Disabled

1 = Enabled

[Pr - 921] Motor Thermal Resistance Winding to Encoder

Ultraware Name Thermal Rth (w-e)

Units degCWatt 65536

[Pr - 922] Motor Thermal Capacitance Winding to Encoder

Ultraware Name Thermal Cth (w-e)

Units JdegC 256

[Pr - 923] Motor Thermal Resistance Winding to Ambient

Ultraware Name Thermal Rth (w-a)

[Pr - 924] Motor Thermal Capacitance Winding to Ambient

Ultraware Name Thermal Cth (w-a)

Units JdegC 256

[Pr - 925] Commutation Type

Ultraware Name Feedback Commutation

Value Description

0 Brush

1 Trapezoidal

2 Sinusoidal

[Pr - 926] Start-up Commutation

Ultraware Name Feedback Sinusoidal Startup

0 Self Sensing

1 Hall Inputs

2 Serial

[Pr - 927] Integral Limits

Ultraware Name General Integral Limits

Range 0hellip1

[Pr - 929 hellip Pr - 949] Reserved

[Pr - 950] Motor Model

Ultraware Name Motor Model

Range 32 bytes character string

[Pr - 951] Drive Name

Ultraware Name Name

[Pr - 952] Position Scaling Data

Ultraware Name Motor Encoder Units Position Scale

[Pr - 953] Position Scaling Label

Ultraware Name Motor Encoder Units Position Label

Pr - 954] Velocity Scaling Data

Ultraware Name Motor Encoder Units Velocity Scale

[Pr - 955] Velocity Scaling Label

Ultraware Name Motor Encoder Units Velocity Label

[Pr - 956] Acceleration Scaling Data

Ultraware Name Motor Encoder Units Acceleration Scale

[Pr - 957] Acceleration Scaling Label

Ultraware Name Motor Encoder Units Acceleration Label

[Pr - 958] Scope Config

Data Size 21 digits

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

[Pr - 959] Scope Scaling

Data Size 32 digits

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

[Pr - 960] Displayed Units

0 = Metric

1 = English

2 = User units

Default 0

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

Appendix B Indexing Drive Parameters

Descriptions for Standard Drive Parameters begin on page 45

[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

Default 0

Units NA

Access Set

Changeable Status Always

When Enabled Power Cycling

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

1 hellip2147483647 10minus2 Revsec2 for rotary mmsec2 for linear

Default 6250

Access Set

MODBUS Address 5001

Indexing Drive Parameters Appendix B

[IN0002] Positive Deceleration Distance

Ultraware Name Positive Deceleration Distance

0 hellip2147483647 The stopping distance used when the drive encounters a positive overtravel limit

Default 0

Units Counts

Access Set

When Enabled Always

MODBUS Address 5002 hellip5003

[IN0003] Negative Deceleration Distance

Ultraware Name Negative Deceleration Distance

0 hellip2147483647 The stopping distance used when the drive encounters a negative overtravel limit

Default 0

Units Counts

Access Set

When Enabled Always

[IN0004] Enable Software Limits

Ultraware Name Enable Software Limits

Description Controls software overtravel limits of the axis

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

MODBUS Address 5006

[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

-2147483647 hellip2147483647

Positive software overtravel limit

Default 2147483647

Units Counts

Access Set

MODBUS Address 5007

[IN0006] Negative Software Limit

Ultraware Name Negative Software Limit

-2147483647 hellip2147483647

Negative software overtravel limit

Default -2147483647

Units Counts

Access Set

MODBUS Address 5008

Group 1 - Homing

[IN0100] Homing Type

Ultraware Name Homing Type

Description Select the type of homing operation the drive will perform

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

MODBUS Address 5200

[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

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

When Enabled Power cycling

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

-6000 hellip6000 rpm for rotary motors mmsec for linear motors

Default 100

Access Set

MODBUS Address 5202

[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

0 hellip6000 The velocity used for all homing motion after the motor decelerates to a stop at the sensor edge

Default 20

Access Set

MODBUS Address 5203

[IN0104] Homing AccelerationDeceleration

Ultraware Name Homing AccelerationDeceleration

Description The rate of acceleration and deceleration used during homing

Default 6250

Units 10minus2 Revsec2 for rotary mmsec2 for linear

Access Set

[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

-2147483647 hellip2147483647

Digital input state communicated to the drive when the Home Sensor input becomes active

Default 0

Units Counts

Access Set

[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

0 Active-Going Transition

1 Inactive-Going Transition

Default 0

Units Counts

Access Set

MODBUS Address 5208

[IN0107] Home Position

Ultraware Name Home Position

Description The home position when a homing procedure is completed

-2147483647 hellip2147483647

Digital input of the home position

Default 0

Units Counts

Access Set

[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

0 hellip2147483647 Distance the drive ignores the marker inputs after home is detected

Default 0

Units Counts

Access Set

[IN0109] Home Current

Ultraware Name Home Current

Description Specifies the torque feedback at which the drive stops moving the motor at the Homing Velocity

1 hellip250 Percent of motor torque feedback

Default 100

Units Percentage of a motor rating torque

Access Set

MODBUS Address 5213

[IN0110] Home Current Time

Ultraware Name Home Current Time

1 hellip1000 Percent of motor torque rating

Default 100

Units Percentage of motor torque rating

Access Set

MODBUS Address 5214

[IN0111] Homing Time Limit

Ultraware Name Homing Time Limit

Description Drive fault when time for homing exceeds the homing time limit

0 hellip65535 Homing time limit in seconds

Default 60

Units seconds

Access Set

MODBUS Address 5215

[IIN0112] Stop Home Deceleration

Ultraware Name Stop Home Decel

Description The rate of drive deceleration used when homing is stopped

1 hellip2147483647 Rate of drive deceleration when homing is stopped

Default 6250

Units NA

Access Set

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

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

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

When Enabled Always

Group 3 - Index Move Profile

These values are reserved for future use

Group 4 - Index PositionDistance

Group 5 - Index Registration Distance

Group 6 - Index Batch Count

[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

-2147483647 hellip2147483647

Counts

Default 1000

Access Set

When Enabled Always

Group 7 - Index Dwell

Group 8 - Index Velocity

[IN0700] hellip[IN0763] Index 0hellip63 Dwell

Ultraware Name Index 0hellip63 Dwell

Description Milliseconds to remain at current position before executing

0 hellip65535 ms

Default 0

Access Set

When Enabled Always

[IN0800] Index 0hellip63 Velocity

Ultraware Name Index 0hellip63 Velocity

Description Maximum velocity while in motion

0 hellip6000 rpm for rotary motors mmsec for linear motors

Default 750

Access Set

When Enabled Always

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

Default 6250

Access Set

When Enabled Always

[IN1100]hellip[IN1163] Index 0hellip63 Deceleration

Ultraware Name Index 0hellip63 Deceleration

Description Maximum deceleration while in motion

Default 6250

Access Set

When Enabled Always

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

0hellip63 Value of the next indexed move

Default 0

Access Set

When Enabled Always

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

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

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

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

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

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

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

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

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

11 Stop Homing

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

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

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

(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-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

(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

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

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

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

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

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

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

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

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

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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

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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

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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



Additional Resources

1 - Modbus Protocol

Function Codes

Exception Codes

Address Maps

Standard Parameters

Indexing Parameters







2 - Communication Protocol (RS-232ASCII)

Introduction

Special Symbols

Packet Structure

Checksum

3 - General Commands (ASCII)








Fault Reset (RST)





Manual Task (TMN)


Jog (JOG)








Reset Drive (HWR)

A - Standard Drive Parameters

Parameter Groupings

Parameter Descriptions











B - Indexing Drive Parameters

Parameter Groupings



Group 1 - Homing












C - Warnings and Fault Codes

Warnings

Fault Codes

D - Monitor Variables

Variables

Compiled Variables






Index

Technical Support

ltlt ASCII85EncodePages false AllowTransparency false AutoPositionEPSFiles true AutoRotatePages All Binding Left CalGrayProfile (Dot Gain 20) CalRGBProfile (sRGB IEC61966-21) CalCMYKProfile (US Web Coated 050SWOP051 v2) sRGBProfile (sRGB IEC61966-21) CannotEmbedFontPolicy Error CompatibilityLevel 14 CompressObjects Tags CompressPages true ConvertImagesToIndexed true PassThroughJPEGImages true CreateJobTicket false DefaultRenderingIntent Default DetectBlends true DetectCurves 00000 ColorConversionStrategy LeaveColorUnchanged DoThumbnails false EmbedAllFonts true EmbedOpenType false ParseICCProfilesInComments true EmbedJobOptions true DSCReportingLevel 0 EmitDSCWarnings false EndPage -1 ImageMemory 1048576 LockDistillerParams true MaxSubsetPct 1 Optimize true OPM 1 ParseDSCComments false ParseDSCCommentsForDocInfo true PreserveCopyPage true PreserveDICMYKValues true PreserveEPSInfo true PreserveFlatness true PreserveHalftoneInfo false PreserveOPIComments false PreserveOverprintSettings true StartPage 1 SubsetFonts false TransferFunctionInfo Apply UCRandBGInfo Remove UsePrologue false ColorSettingsFile () AlwaysEmbed [ true ] NeverEmbed [ true ] AntiAliasColorImages false CropColorImages true ColorImageMinResolution 300 ColorImageMinResolutionPolicy OK DownsampleColorImages true ColorImageDownsampleType Average ColorImageResolution 300 ColorImageDepth 8 ColorImageMinDownsampleDepth 1 ColorImageDownsampleThreshold 200000 EncodeColorImages true ColorImageFilter FlateEncode AutoFilterColorImages false ColorImageAutoFilterStrategy JPEG ColorACSImageDict ltlt QFactor 015 HSamples [1 1 1 1] VSamples [1 1 1 1] gtgt ColorImageDict ltlt QFactor 015 HSamples [1 1 1 1] VSamples [1 1 1 1] gtgt JPEG2000ColorACSImageDict ltlt TileWidth 256 TileHeight 256 Quality 30 gtgt JPEG2000ColorImageDict ltlt TileWidth 256 TileHeight 256 Quality 30 gtgt AntiAliasGrayImages false CropGrayImages true GrayImageMinResolution 300 GrayImageMinResolutionPolicy OK DownsampleGrayImages true GrayImageDownsampleType Average GrayImageResolution 300 GrayImageDepth 8 GrayImageMinDownsampleDepth 2 GrayImageDownsampleThreshold 200000 EncodeGrayImages true GrayImageFilter FlateEncode AutoFilterGrayImages false GrayImageAutoFilterStrategy JPEG GrayACSImageDict ltlt QFactor 015 HSamples [1 1 1 1] VSamples [1 1 1 1] gtgt GrayImageDict ltlt QFactor 015 HSamples [1 1 1 1] VSamples [1 1 1 1] gtgt JPEG2000GrayACSImageDict ltlt TileWidth 256 TileHeight 256 Quality 30 gtgt JPEG2000GrayImageDict ltlt TileWidth 256 TileHeight 256 Quality 30 gtgt AntiAliasMonoImages false CropMonoImages true MonoImageMinResolution 1200 MonoImageMinResolutionPolicy OK DownsampleMonoImages true MonoImageDownsampleType Average MonoImageResolution 1200 MonoImageDepth -1 MonoImageDownsampleThreshold 150000 EncodeMonoImages true MonoImageFilter CCITTFaxEncode MonoImageDict ltlt K -1 gtgt AllowPSXObjects false CheckCompliance [ None ] PDFX1aCheck false PDFX3Check false PDFXCompliantPDFOnly false PDFXNoTrimBoxError true PDFXTrimBoxToMediaBoxOffset [ 000000 000000 000000 000000 ] PDFXSetBleedBoxToMediaBox true PDFXBleedBoxToTrimBoxOffset [ 000000 000000 000000 000000 ] PDFXOutputIntentProfile (None) PDFXOutputConditionIdentifier () PDFXOutputCondition () PDFXRegistryName () PDFXTrapped False CreateJDFFile false Description ltlt CHS ltFEFF4f7f75288fd94e9b8bbe5b9a521b5efa7684002000500044004600206587686353ef901a8fc7684c976262535370673a548c002000700072006f006f00660065007200208fdb884c9ad88d2891cf62535370300260a853ef4ee54f7f75280020004100630072006f0062006100740020548c002000410064006f00620065002000520065006100640065007200200035002e003000204ee553ca66f49ad87248672c676562535f00521b5efa768400200050004400460020658768633002gt CHT ltFEFF4f7f752890194e9b8a2d7f6e5efa7acb7684002000410064006f006200650020005000440046002065874ef653ef5728684c9762537088686a5f548c002000700072006f006f00660065007200204e0a73725f979ad854c18cea7684521753706548679c300260a853ef4ee54f7f75280020004100630072006f0062006100740020548c002000410064006f00620065002000520065006100640065007200200035002e003000204ee553ca66f49ad87248672c4f86958b555f5df25efa7acb76840020005000440046002065874ef63002gt DAN ltFEFF004200720075006700200069006e0064007300740069006c006c0069006e006700650072006e0065002000740069006c0020006100740020006f007000720065007400740065002000410064006f006200650020005000440046002d0064006f006b0075006d0065006e007400650072002000740069006c0020006b00760061006c00690074006500740073007500640073006b007200690076006e0069006e006700200065006c006c006500720020006b006f007200720065006b007400750072006c00e60073006e0069006e0067002e0020004400650020006f007000720065007400740065006400650020005000440046002d0064006f006b0075006d0065006e0074006500720020006b0061006e002000e50062006e00650073002000690020004100630072006f00620061007400200065006c006c006500720020004100630072006f006200610074002000520065006100640065007200200035002e00300020006f00670020006e0079006500720065002egt DEU ltFEFF00560065007200770065006e00640065006e0020005300690065002000640069006500730065002000450069006e007300740065006c006c0075006e00670065006e0020007a0075006d002000450072007300740065006c006c0065006e00200076006f006e002000410064006f006200650020005000440046002d0044006f006b0075006d0065006e00740065006e002c00200076006f006e002000640065006e0065006e002000530069006500200068006f00630068007700650072007400690067006500200044007200750063006b006500200061007500660020004400650073006b0074006f0070002d0044007200750063006b00650072006e00200075006e0064002000500072006f006f0066002d00470065007200e400740065006e002000650072007a0065007500670065006e0020006d00f60063006800740065006e002e002000450072007300740065006c006c007400650020005000440046002d0044006f006b0075006d0065006e007400650020006b00f6006e006e0065006e0020006d006900740020004100630072006f00620061007400200075006e0064002000410064006f00620065002000520065006100640065007200200035002e00300020006f0064006500720020006800f600680065007200200067006500f600660066006e00650074002000770065007200640065006e002egt ESP ltFEFF005500740069006c0069006300650020006500730074006100200063006f006e0066006900670075007200610063006900f3006e0020007000610072006100200063007200650061007200200064006f00630075006d0065006e0074006f0073002000640065002000410064006f0062006500200050004400460020007000610072006100200063006f006e00730065006700750069007200200069006d0070007200650073006900f3006e002000640065002000630061006c006900640061006400200065006e00200069006d0070007200650073006f0072006100730020006400650020006500730063007200690074006f00720069006f00200079002000680065007200720061006d00690065006e00740061007300200064006500200063006f00720072006500630063006900f3006e002e002000530065002000700075006500640065006e00200061006200720069007200200064006f00630075006d0065006e0074006f00730020005000440046002000630072006500610064006f007300200063006f006e0020004100630072006f006200610074002c002000410064006f00620065002000520065006100640065007200200035002e003000200079002000760065007200730069006f006e0065007300200070006f00730074006500720069006f007200650073002egt FRA ltFEFF005500740069006c006900730065007a00200063006500730020006f007000740069006f006e00730020006100660069006e00200064006500200063007200e900650072002000640065007300200064006f00630075006d0065006e00740073002000410064006f00620065002000500044004600200070006f007500720020006400650073002000e90070007200650075007600650073002000650074002000640065007300200069006d007000720065007300730069006f006e00730020006400650020006800610075007400650020007100750061006c0069007400e90020007300750072002000640065007300200069006d007000720069006d0061006e0074006500730020006400650020006200750072006500610075002e0020004c0065007300200064006f00630075006d0065006e00740073002000500044004600200063007200e900e90073002000700065007500760065006e0074002000ea0074007200650020006f007500760065007200740073002000640061006e00730020004100630072006f006200610074002c002000610069006e00730069002000710075002700410064006f00620065002000520065006100640065007200200035002e0030002000650074002000760065007200730069006f006e007300200075006c007400e90072006900650075007200650073002egt ITA ltFEFF005500740069006c0069007a007a006100720065002000710075006500730074006500200069006d0070006f007300740061007a0069006f006e00690020007000650072002000630072006500610072006500200064006f00630075006d0065006e00740069002000410064006f006200650020005000440046002000700065007200200075006e00610020007300740061006d007000610020006400690020007100750061006c0069007400e00020007300750020007300740061006d00700061006e0074006900200065002000700072006f006f0066006500720020006400650073006b0074006f0070002e0020004900200064006f00630075006d0065006e007400690020005000440046002000630072006500610074006900200070006f00730073006f006e006f0020006500730073006500720065002000610070006500720074006900200063006f006e0020004100630072006f00620061007400200065002000410064006f00620065002000520065006100640065007200200035002e003000200065002000760065007200730069006f006e006900200073007500630063006500730073006900760065002egt JPN ltFEFF9ad854c18cea51fa529b7528002000410064006f0062006500200050004400460020658766f8306e4f5c6210306b4f7f75283057307e30593002537052376642306e753b8cea3092670059279650306b4fdd306430533068304c3067304d307e3059300230c730b930af30c830c330d730d730ea30f330bf3067306e53705237307e305f306f30d730eb30fc30d57528306b9069305730663044307e305930023053306e8a2d5b9a30674f5c62103055308c305f0020005000440046002030d530a130a430eb306f3001004100630072006f0062006100740020304a30883073002000410064006f00620065002000520065006100640065007200200035002e003000204ee5964d3067958b304f30533068304c3067304d307e30593002gt KOR ltFEFFc7740020c124c815c7440020c0acc6a9d558c5ec0020b370c2a4d06cd0d10020d504b9b0d1300020bc0f0020ad50c815ae30c5d0c11c0020ace0d488c9c8b85c0020c778c1c4d560002000410064006f0062006500200050004400460020bb38c11cb97c0020c791c131d569b2c8b2e4002e0020c774b807ac8c0020c791c131b41c00200050004400460020bb38c11cb2940020004100630072006f0062006100740020bc0f002000410064006f00620065002000520065006100640065007200200035002e00300020c774c0c1c5d0c11c0020c5f40020c2180020c788c2b5b2c8b2e4002egt NLD (Gebruik deze instellingen om Adobe PDF-documenten te maken voor kwaliteitsafdrukken op desktopprinters en proofers De gemaakte PDF-documenten kunnen worden geopend met Acrobat en Adobe Reader 50 en hoger) NOR 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ltFEFF005500740069006c0069007a006500200065007300730061007300200063006f006e00660069006700750072006100e700f50065007300200064006500200066006f0072006d00610020006100200063007200690061007200200064006f00630075006d0065006e0074006f0073002000410064006f0062006500200050004400460020007000610072006100200069006d0070007200650073007300f5006500730020006400650020007100750061006c0069006400610064006500200065006d00200069006d00700072006500730073006f0072006100730020006400650073006b0074006f00700020006500200064006900730070006f00730069007400690076006f0073002000640065002000700072006f00760061002e0020004f007300200064006f00630075006d0065006e0074006f00730020005000440046002000630072006900610064006f007300200070006f00640065006d0020007300650072002000610062006500720074006f007300200063006f006d0020006f0020004100630072006f006200610074002000650020006f002000410064006f00620065002000520065006100640065007200200035002e0030002000650020007600650072007300f50065007300200070006f00730074006500720069006f007200650073002egt SUO ltFEFF004b00e40079007400e40020006e00e40069007400e4002000610073006500740075006b007300690061002c0020006b0075006e0020006c0075006f0074002000410064006f0062006500200050004400460020002d0064006f006b0075006d0065006e007400740065006a00610020006c0061006100640075006b006100730074006100200074007900f6007000f60079007400e400740075006c006f0073007400750073007400610020006a00610020007600650064006f007300740075007300740061002000760061007200740065006e002e00200020004c0075006f0064007500740020005000440046002d0064006f006b0075006d0065006e00740069007400200076006f0069006400610061006e0020006100760061007400610020004100630072006f0062006100740069006c006c00610020006a0061002000410064006f00620065002000520065006100640065007200200035002e0030003a006c006c00610020006a006100200075007500640065006d006d0069006c006c0061002egt SVE ltFEFF0041006e007600e4006e00640020006400650020006800e4007200200069006e0073007400e4006c006c006e0069006e006700610072006e00610020006f006d002000640075002000760069006c006c00200073006b006100700061002000410064006f006200650020005000440046002d0064006f006b0075006d0065006e00740020006600f600720020006b00760061006c00690074006500740073007500740073006b0072006900660074006500720020007000e5002000760061006e006c00690067006100200073006b0072006900760061007200650020006f006300680020006600f600720020006b006f007200720065006b007400750072002e002000200053006b006100700061006400650020005000440046002d0064006f006b0075006d0065006e00740020006b0061006e002000f600700070006e00610073002000690020004100630072006f0062006100740020006f00630068002000410064006f00620065002000520065006100640065007200200035002e00300020006f00630068002000730065006e006100720065002egt ENU (Use these settings to create Adobe PDF documents for quality printing on desktop printers and proofers Created PDF documents can be opened with Acrobat and Adobe Reader 50 and later) gtgt Namespace [ (Adobe) (Common) (10) ] OtherNamespaces [ ltlt AsReaderSpreads false CropImagesToFrames true ErrorControl WarnAndContinue FlattenerIgnoreSpreadOverrides false IncludeGuidesGrids false IncludeNonPrinting false IncludeSlug false Namespace [ (Adobe) (InDesign) (40) ] OmitPlacedBitmaps false OmitPlacedEPS false OmitPlacedPDF false SimulateOverprint Legacy gtgt ltlt AddBleedMarks false AddColorBars false AddCropMarks false AddPageInfo false AddRegMarks false ConvertColors NoConversion DestinationProfileName () DestinationProfileSelector NA Downsample16BitImages true FlattenerPreset ltlt PresetSelector MediumResolution gtgt FormElements false GenerateStructure true IncludeBookmarks false IncludeHyperlinks false IncludeInteractive false IncludeLayers false IncludeProfiles true MultimediaHandling UseObjectSettings Namespace [ (Adobe) (CreativeSuite) (20) ] PDFXOutputIntentProfileSelector NA PreserveEditing true UntaggedCMYKHandling LeaveUntagged UntaggedRGBHandling LeaveUntagged UseDocumentBleed false gtgt ]gtgt setdistillerparamsltlt HWResolution [2400 2400] PageSize [612000 792000]gtgt setpagedevice

Introduction_Catagory Types

Print Spec Sheet

JIT Printing Specifications RA-QR005D-EN-P - 4032009

Printing Specification YOUR DATA HERE Instructions NO

(required) Category B4 Select Print Category ABC or D from category list on Introduction_Catagory Types tab 11rdquo x 17rdquo LOOSE -Loose Leaf YES Pre-sale Marketing TOP

(required) Finished Trim Size Width 85rdquo x 11rdquo 85rdquo x 11rdquo PERFECT - Perfect Bound A1 LEFT

(required) Publication Number 2071-RM001A-EN-P Sample 2030-SP001B-EN-P 3rdquo x 5rdquo SADDLE - Saddle Stitch A2 RIGHT CORNER

Use Legacy Number NO YES or NO 18rdquo x 24rdquo Poster PLASTCOIL - Plastic Coil (Coil Bound) A4 BOTTOM SIDE

Legacy Number if applicable Sample Legacy Number 0160-533 24rdquo x 36rdquo Poster STAPLED1 -1 position A3

Publication Title Reference Manual Kinetix 3 Host Commands for Serial Communication Sample ElectroGuard Selling Brief 36rdquo x 24rdquo Poster STAPLED1B - bottom 1 position A5

(required) Business Group Marketing Commercial As entered in DocMan 4rdquo x 6rdquo STAPLED2 - 2 positions A6

(required) Cost Center 19021 As entered in DocMan - enter number only no description Example - 19021 CMKMKE CM Integrated Arch - 19021CMKMKE Market Access Program - 19105 475rdquo x 7rdquo (slightly smaller half-size) THERMAL - Thermal bound (Tape bound) A7

BindingStitching PERFECT - Perfect Bound Review key on right Saddle-Stitch Items All page quantities must be divisible by 420 sheets max on 20 (text and cover) 20 sheets = 80-page pub16 sheets max on 20 (text) and 90 (cover) 16 sheets = 64-page pubPerfect Bound Items475 sheets max on 20 no cover 475 sheets = 950-page pub470 sheets max wcover 90 index unless indicated otherwise) 470 sheets = 940-page pubCoil Bound Items400 sheets max of 20 (if adding cover deduct equivalent number of pages to equal cover thickness) (90 index unless indicated otherwise) 400 sheets = 800-page pubTape Bound Items125 sheets max on 20 no cover 125 sheets = 250-page pub120 sheets max wcover (90 index unless indicated otherwise) 120 sheets = 240-page pubDouble Wire Bound Items250 sheets max on 20 (if adding cover deduct equivalent number of pages to equal cover thickness) (90 index unless indicated otherwise) 250 sheets = 500-page pub 475rdquo x 775rdquo THERMALO - Thermal Bound (Tape bound - offline) A8

(required) Page Count of Publication 152 Total page count including cover 55rdquo x 85rdquo (half-size) Wire O - Double Wire Bound (offline) A9

Paper Stock Color WHITE White is assumed For color options contact your vendor 6rdquo x 4rdquo Post Sale Technical Communication

Number of Tabs Needed 5 tab in stock at RR Donnelley 7385rdquo x 9rdquo (RSI Std) B1

Stitching Location Blank Corner or Side 825rdquo x 10875rdquo B2

Drill Hole YESNO NO All drilled publications use the 5-hole standard 516 inch-size hole and a minimum of frac14 inch from the inner page border 825rdquo x 11rdquo (RA product profile std) B3

Glue Location on Pad Glue location on pads 8375rdquo x 10875 B4

Number of Pages per Pad Average sheets of paper 25 50 75100 Max 9rdquo x 12rdquo (Folder) B5

Ink Color BLACK One color assumes BLACK 4 color assume CMYK Indicate PMS number herehellip A4 (8 frac14rdquo x 11 frac34rdquo) (210 x 297 mm) Catalogs

Used in Manufacturing NO A5 (583rdquo x 826rdquo) (148 x 210 mm) C1

Comments JITPOD publication C2

Part Number PN-79403 JIT POD

D1

D2

D3

D4

D5

D6

D7

D8

D9

This tab summarizes Rockwell Automation Global Sales and Marketing preferred printing standards It also provides guidance on whether a publication should be released as JIT (print on demand) or if it requires an RFQ for offset printingFind your publication type in the first section below Use the assigned Printing Category information to determine the standard print specifications for that document type The Printing Categories are defined below the Publication Type section Note there may be slightly different print specifications for the categories depending on the region (EMEA or Americas)For more information on Global Sales and Marketing Printing Standards see publication RA-CO004 in DocMan

Publication Type and Print Category

Publication Type Off Set Print Category Spec (See table below) JIT Spec (See table below) Description Order Min Order Max Life Cycle Usage Release Option

AD NA - Puttman NA Advertisement Reprint Colour NA NA Presale Internal

AP A3 D2 Application Solution or Customer Success Story 5 100 Presale External

AR NA NA ArticleEditorialByline NA NA Presale Internal

News Release (press releases should not be checked into DocMan or printed)

AT B3 B4 D5 Application Techniques 5 100 Presale External

BR A2 Primary A1 NA Brochures 5 100 Presale External

CA C2 Primary C1 NA Catalogue 1 50 Presale External

CG NA NA Catalogue Guide 1 50 Presale External

CL NA NA Collection 5 50 Presale External

CO A5 A6 A9 D5 Company Confidential Information NA NA NA Confidential

CP E-only E-only D5 Competitive Information 5 50 NA Confidential

DC E-only E-only Discount Schedules NA NA Presale Internal

DI A1 A3 NA Direct Mail 5 100 Presale Internal

DM NA NA Product Demo 5 50 Presale Internal

DS B3 D5 Dimensions Sheet 1 5 Post External

DU B3 D5 Document Update 1 5 Post External

GR B2 D6 Getting Results 1 5 Post External

IN B3 D5 Installation instructions 1 5 Post External

LM NA NA Launch KitMaterials 5 50 Presale Internal

PC B3 D5 Packaging Contents

PL E-only Primary B3 E-only Price List 5 50 Presale Internal

PM B2 D6 Programming Manual 1 5 Post External

PP A3 D1 Product Profile NOTE Application Solutions are to be assigned the AP pub type 5 100 Presale External

QR B2 Primary B3 B5 D5 D6 Quick Reference 1 5 Post External

QS B2 Primary B3 B5 D5 D6 Quick Start 1 5 Post External

RM B2 D5 D6 Reference Manual 1 5 Post External

RN B3 D5 Release Notes 1 5 Post External

SG B1 Primary B4 D5 D6 Selection Guide Colour 5 100 Presale External

SG B2 D5 D6 Selection Guide BW 5 100 Presale External

SP A1 A2 A3 A4 NA Service ProfileSales Promotion NOTE Service profiles are to be assigned the PP pub type 5 100 Presale Internal

SR B2 B3 D5 D6 Specification Rating Sheet 5 100 Presale External

TD B2 Primary B3 B4 B5 D5 D6 Technical Data 5 100 Presale External

TG B2 B3 D6 Troubleshooting Guide 1 5 Post External

UM B2 Primary B4 D6 User Manual BW 1 5 Post External

WD B3 D5 Wiring Diagrams Dwgs 1 5 Post Internal

WP B3 Primary B5 D5 White Paper 5 100 Presale External

Pre-sale Marketing All paper in this category is White Brightness 85 or better Opacity 87 or better

Category Color Options AP EMEA Paper Requirements Canada LA US Paper Requirements

A1 4 color 170gsm 2pp 100 gloss cover 100 gloss text

A2 4 color 170gsm folded 4pp 100 gloss cover 80 gloss text

A3 4 color Cover 170gsm with Body 120gsm gt 4pp 80 gloss cover 80 gloss text

A4 2 color 80 gloss cover 80 gloss text

170gsm Silk ndash 120gsm Silk

A5 2 color 80 gloss cover 80 matt sheet text


A6 1 color 170gsm Silk ndash 120gsm Silk 80 gloss cover 80 matt sheet text

A7 4 color cover 10 Point Cover C2S

2 color text Category being deleted 50 matte sheet text

Selection Guide

A8 4 color cover Category being deleted 50 matte sheet text self cover

2 color text

Selection Guide

A9 2 color 100gsm bond 50 matte sheet text self cover

Selection Guide

Post Sale Technical Communication


B1 4 color cover 270gsm Gloss 100gsm bond 10 Point Cover C2S

2 color text 50 matte sheet text

B2 1 color 60 Cover

160gsm Colortech amp 100gsm Bond 50 matte sheet text

B3 1 color 50 matte sheet text self cover

100gsm bond

B4 2 color 60 Cover



100gsm bond

Catalogs


C1 4 color cover 270gsm Gloss 90gsm silk 10 Point Cover C2S

4 color text 45 Coated Sheet


2 color text 32-33 Coated Sheet

JIT POD


D1 4 color 170gsm white silk 80 gloss cover coated 2 sides

D2 4 color 120gsm white silk 80 gloss text coated 2 sides self cover

D3 4 color Cover 170gsm with Body 120gsm 80 gloss cover 80 gloss text coated 2 sides

D4 1 color 160gsm tab 90 index

D5 1 color 80gsm bond 20 bond self cover

D6 1 color Cover 160gsm tab with Body 80gsm bond 90 index 20 bond




D10 Combination 4 color cover with 2 color body Cover 160gsm with Body 80gsm 90 index 20 bond