Siemens SINAMICS V90 - Page 135

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Operating Manual, 04/2017, A5E36618042-003
135
● One byte for the byte count
● N bytes for the register values
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
Byte 7
+ N
Byte 8
+ N
Byte 9
+ N
Byte
10 + N
Ad-
dress
FC
(0x10)
Start address Number of regis-
ters
Num-
ber of
bytes
Register N value CRC
High
Low
High
Low
High
Low
High
Low
Mapping table
The SINAMICS V90 servo drive supports the following registers. "R", "W", "R/W" in the
column access stand for read, write, read/write.
Modbus register
number
Description
Modbus
access
Unit
Scaling factor
Range or
On/Off text
Data/parameter
40100 Control word (PTI, IPos,
S, T)
R/W - 1 - Process data 1, re-
ceive word, PZD1
40101 Speed setpoint (S) R/W - 0x4000 hex =
100% × motor
rated speed
- Process data 2, re-
ceive word, PZD2
40102 MDI position setpoint
high word (IPos)
R/W LU 1 -2147482648 to
2147482647
Process data 3, re-
ceive word, PZD3
40103 MDI position setpoint
low word (IPos)
R/W LU 1 Process data 4, re-
ceive word, PZD4
40104 MDI speed setpoint
high word (IPos)
R/W 1000
LU/min
1 1 to 40000000 Process data 5, re-
ceive word, PZD5
40105 MDI speed setpoint low
word (IPos)
R/W 1000
LU/min
1 Process data 6, re-
ceive word, PZD6
40110 Status word (PTI, IPos,
S, T)
R - 1 - Process data 1, send
word, PZD1
40111 Actual speed (PTI,
IPos, S, T)
R - 0x4000 hex =
100% × motor
rated speed
- Process data 2, send
word, PZD2
40112 Actual position high
word (PTI, IPos)
R LU 1 -2147482648 to
2147482647
Process data 3, send
word, PZD3
40113
Actual position low word
(PTI, IPos)
R LU 1 Process data 4, send
word, PZD4
40114 Actual speed high word
(PTI, IPos)
R 1000
LU/min
1 1 to 40000000 Process data 5, send
word, PZD5
40115 Actual speed low word
(PTI, IPos)
R 1000
LU/min
1 Process data 6, send
word, PZD6
40200
DO 1
R/W
-
1
HIGH/LOW
r0747.0
40201
DO 2
R/W
-
1
HIGH/LOW
r0747.1
40202
DO 3
R/W
-
1
HIGH/LOW
r0747.2
40203
DO 4
R/W
-
1
HIGH/LOW
r0747.3
40204
DO 5
R/W
-
1
HIGH/LOW
r0747.4