8-25
3. Control and monitor parameters
Parameters Description Address Initial value Unit
Tn105 Internal speed limit 1 0105H 100 rpm
Tn113 Digital torque command value 010DH 0 0.1%
Hn618
Communication control digital input
contact status
0512H 0 -
Un-01 Actual motor speed 0601H - rpm
Un-02 Actual motor torque 0602H - %
Un-30 Digital output contact status (Do) 061EH - -
Un-31 Digital input contact status (Di) 061FH - -
Un-32
Currently failed modbus
communication display
0620H - -
4. Control steps
● Control SERVO ON: Hn618 = H0001 “DI-01(SON)=ON”
Send: 01 06 05 12 00 01 E8 C3 (the last two 2 codes are CRC)
● Control RS1 ON: Hn618 = H0021 “DI-01 (SON)=ON, DI-06 (RS1)=ON”
Send: 01 06 05 12 00 21 E9 1B (the last 2 codes are CRC)
● Control torque command: Tn113 = 100 (10%)
Send: 01 06 01 0D 00 64 18 1E (the last 2 codes are CRC)
● Control speed limit: Tn105 = 50 (50rpm)
Send: 01 06 01 05 00 32 19 E2 (the last 2 codes are CRC)
Input contact
Description
Control
mode
OFF (Switch OFF)
OFF (Switch OFF)
OFF (Switch OFF)
OFF (Switch OFF)
OFF (Switch OFF)
OFF (Switch OFF)
ON (Switch ON)
ON (Switch ON)
ON (Switch ON)
No torque generated
No torque generated
Rotate reversely according to the direction of the
current torque command
Rotate according to the direction of the current
tor
ue command
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