Group 2 Parameter Descriptions
Group 2.1 - Communications - Modbus RTU
Parameter Number | Parameter Name | Units | Default | Available Settings | Access | Change During Run | Scaling | Size (Bytes) | CAN Register | CAN Sub Index | Modbus Register |
|---|---|---|---|---|---|---|---|---|---|---|---|
P2-01 | Modbus Slave Address | N/A | 1 | 0 ... 247 | RW | N | N/A | 1 | 20C9h | 0 | 201 |
P2-02 | Modbus RTU Baud Rate | N/A | 4: 115200bps | 0: 9600bps 1: 19200bps 2: 38400bps 3: 57600bps 4: 115200bps | RW | N | N/A | 1 | 20CAh | 0 | 202 |
P2-03 | Modbus RTU Data Format | N/A | 0: n-1 | 0: n-1 1: n-2 2: 0-1 3: E-1 | RW | N | N/A | 1 | 20CBh | 0 | 203 |
P2-04 | Modbus Communications Loss Timeout | sec | 1.0s | 0.0 ... 5.0s | RW | N | 1 = 0.1s | 1 | 20CCh | 0 | 204 |
P2-05 | Communications Loss Action | N/A | 0: Trip | 0: Trip 1: Ramp to Stop the Trip 2: Ramp to Stop Only (No Trip) 3: Run at Inspection Speed (P8-08) | RW | Y | N/A | 1 | 20CDh | 0 | 205 |
P2-06 | Modbus RTU Response Delay | N/A | 0 char | 0 ... 16 char | RW | N | N/A | 1 | 20CEh | 0 | 206 |
Sets the drive address when communicating over Modbus RTU via the RJ45 port on the drive.
Sets the baud rate when Modbus RTU communications is being used.
Value | Setting | Format |
|---|---|---|
0 | n-1 | No Parity, 1 stop bit |
1 | n-2 | No parity, 2 stop bits |
2 | 0-1 | Odd parity, 1 stop bit |
3 | E-1 | Even parity, 1 stop bit |
Sets the timeframe for a Modbus message to be sent to the drive before tripping.
Controls the behaviour of the drive following a loss of communications from either Modbus RTU or CANopen.
Setting | Drive Display | Reaction |
|---|---|---|
0 | triP | Immediate trip |
1 | r-triP | Ramp to stop then trip |
2 | StoP | Ramp to stop only (No Trip) |
3 | InSPct | Run at Inspection Speed (P8-08) |
Allows the user to configure an additional delay between the drive receiving a request via the Modbus RTU interface and transmitting a reply. The value entered represents the delay in addition to the minimum delay permissible according to the Modbus RTU specification, and is expressed as the number of additional characters.
Group 2.2 - Communications - CANopen
Parameter Number | Parameter Name | Units | Default | Available Settings | Access | Change During Run | Scaling | Size (Bytes) | CAN Register | CAN Sub Index | Modbus Register |
|---|---|---|---|---|---|---|---|---|---|---|---|
P2-07 | CANopen Address | N/A | 1 | 1 ... 127 | RW | N | N/A | 1 | 20CFh | 0 | 207 |
P2-08 | CANopen Baud Rate | N/A | 2: 500kbps | 0: 125kbps 1: 250kbps 2: 500kbps 3: 1Mbps | RW | N | N/A | 1 | 20D0h | 0 | 208 |
P2-09 | CANopen Communication Loss Reaction | N/A | 2: Ramp to Stop Only (No Trip) | 0: Trip 1: Ramp to Stop then Trip 2: Ramp to Stop Only (No Trip) 3: Run at Inspection Speed (P8-09) | RW | Y | N/A | 1 | 20D1h | 0 | 209 |
Specifies the node ID of this device on the CANopen network. Set to 0 to disable the CANopen port.
Sets the baud rate when CANopen communications is being used.
Controls the behaviour of the drive following a loss of communications with a CANopen device while using Heartbeat or Node Guarding.
Setting | Reaction |
|---|---|
0 | Immediate trip |
1 | Ramp to stop then trip |
2 | Ramp to stop only (No Trip) |
3 | Run at Inspection Speed (P8-08) |
Group 2.3 - Communications - USB-C
Parameter Number | Parameter Name | Units | Default | Available Settings | Access | Change During Run | Scaling | Size (Bytes) | CAN Register | CAN Sub Index | Modbus Register |
|---|---|---|---|---|---|---|---|---|---|---|---|
P2-10 | PC/App Communications Loss Timeout | sec | 2.0s | 0.0 ... 5.0s | RW | N | 1 = 0.1s | 1 | 20D2h | 0 | 210 |
P2-11 | PC/App Communications Loss Action | N/A | 0: Trip | 0: Trip 1: Ramp to Stop then Trip 2: Ramp to Stop Only (No Trip) 3: Run at Inspection Speed (P8-09) | RW | N | N/A | 1 | 20D3h | 0 | 211 |
P2-13 | USB Port Enable | N/A | 1: Enabled | 0: Disabled 1: Enabled | RW | Y | N/A | 1 | 20D5h | 0 | 213 |
Sets the timeframe for a PC/App message to be sent to the drive before tripping.
Controls the behaviour of the drive following a loss of communications from either PC Tool/Mobile App.
Setting | Drive Display | Reaction |
|---|---|---|
0 | triP | Immediate trip |
1 | r-triP | Ramp to stop then trip |
2 | StoP | Ramp to stop only (No Trip) |
3 | InSPct | Run at Inspection Speed (P8-08) |
Determines whether the USB port on the drive is enabled or not.
If the USB port is disabled then the drive will show the message USB P on the drive display, indicating that the USB port is disabled.
Setting | Function |
|---|---|
0 | Disabled - Messages can not be transferred via USB to the drive. |
1 | Enabled - Messages can be transferred via USB to the drive. |
Group 2.4 - Communications - Modbus Message Monitoring
Parameter Number | Parameter Name | Units | Default | Available Settings | Access | Change During Run | Scaling | Size (Bytes) | CAN Register | CAN Sub Index | Modbus Register |
|---|---|---|---|---|---|---|---|---|---|---|---|
P2-20 | Modbus Messages Per Second | msg/s | 0 | 0 ... 1000msg/s | RO | N | N/A | 2 | 20DCh | 0 | 220 |
P2-21 | Modbus Messages Processed | N/A | 0 | 0 ... 4294967295 | RO | N | N/A | 4 | 20DDh | 0 | 221 |
P2-22 | Modbus Errors | N/A | 0 | 0 ... 4294967295 | RO | N | N/A | 4 | 20Deh | 0 | 222 |
Number of Modbus RTU messages currently being processed per second.
Total number of Modbus RTU messages processed.
Number of Modbus RTU messages that could not be processed due to errors.
Group 2.5 - Communications - USB-C Message Monitoring
Parameter Number | Parameter Name | Units | Default | Available Settings | Access | Change During Run | Scaling | Size (Bytes) | CAN Register | CAN Sub Index | Modbus Register |
|---|---|---|---|---|---|---|---|---|---|---|---|
P2-23 | USB Messages Processed Per Second | msg/s | 0 | 0 ... 1000ms | RO | N | N/A | 2 | 20DFh | 0 | 223 |
P2-24 | USB Messages Processed | N/A | 0 | 0 ... 4294967295 | RO | N | N/A | 4 | 20E0h | 0 | 224 |
P2-25 | USB Errors | N/A | 0 | 0 ... 4294967295 | RO | N | N/A | 4 | 20E1h | 0 | 225 |
The number of messages currently being processed per second.
Total number of messages processed from the USB port.
The number of messages from the USB port that failed to be processed.
Group 2.6 - Communications - Modbus Drive Monitoring
Parameter Number | Parameter Name | Units | Default | Available Settings | Access | Change During Run | Scaling | Size (Bytes) | CAN Register | CAN Sub Index | Modbus Register |
|---|---|---|---|---|---|---|---|---|---|---|---|
P2-50 | Modbus Control Word | N/A | 0 | 0 ... 7 | RO | N | N/A | 1 | 20FAh | 0 | 250 |
P2-51 | Modbus Speed Reference | Hz | 0.00 | -P8-01 ... P8-01 | RO | Y | N/A | 2 | 20FBh | 0 | 251 |
P2-52 | Modbus Torque Reference | % | 0.0 | 0.0 ... 100.0% | RO | Y | 1 = 0.1% | 2 | 20FCh | 0 | 252 |
P2-53 | Modbus Ramp Rate | sec | 0.0 | 0.0 ... 600.0 | RO | Y | 1 - 0.1s | 2 | 20FDh | 0 | 253 |
P2-56 | Modbus Status Word Lower Byte: Drive Status | N/A | 0 | 0 ... 255 | RO | N | N/A | 2 | 2100h | 0 | 256 |
P2-56 (1) | Modbus Status Word Upper Byte: Error Code | N/A | 0 | 0 ... 255 | RO | N | N/A | 2 | 2100h | 1 | 256 |
P2-57 | Modbus Speed Feedback | Hz / rpm / Linear | 0.00 | -P8-01 ... P8-01 | RO | N | 1 = 0.1Hz | 2 | 2101h | 0 | 257 |
P2-58 | Modbus Motor Current | Amps | 0.0A | -3276.7 ... 3276.7A | RO | N | 1 = 0.1A | 2 | 2102h | 0 | 258 |
P2-59 | Modbus Output Torque | % | 0.0% | -200.0 ... 200.0% | RO | N | 1 = 0.1% | 2 | 2103h | 0 | 259 |
Allows the user to monitor the Control word individual bits
The drive Control Word is as follows:
Bit | Function when Bit = 0 | Function When Bit = 1 |
|---|---|---|
0 | No Function | Drive Run Forward |
1 | No Function | Drive Run Reverse |
2 | No Function | Reset Fault |
Displays the speed reference received via Modbus.
Displays the torque reference received via Modbus
Displays the ramp rate received via Modbus.
Shows the real-time Modbus status word lower byte.
The below table shows the lower bytes individual bits
Bit | Function when Bit = 0 | Function When Bit = 1 |
|---|---|---|
0 | Drive Stopped | Drive Running |
1 | Drive Healthy | Drive Tripped |
2 | STO Closed | STO Open (Drive Inhibited) |
3 | Service Time not Reached | Service Time Reached |
4 | Drive not in Standby | Drive in Standby |
5 | Reserved | Reserved |
6 | Reserved | Reserved |
7 | Reserved | |
Shows the real-time Modbus status word upper byte.
Speed feedback from Modbus command.
Only active while P1-01 is set to rtu
Motor Current feedback while using Modbus.
Only active while P1-01 is set to rtu
Output Torque feedback while using Modbus.
Only active while P1-01 is set to rtu