37 P94MOD01C
Reference
Index
Name
Type
Format
EPM
Access
Description Range Unit RAM
Registers
32bit
Integer
Access
4X
Register #
RAM
Register
32bit
Float
Access
4X
Register #
EPM
Reg Copy
32bit
Integer
Access
4X
Register #
EPM
Reg Copy
32bit
Float
Access
4X
Register #
RAM
Register
16bit
Signed
Integer
4X
Register #
EPM
INT16
4X
Register #
234 VAR_CAN_BAUD_EPM W Y R/W CAN Bus Parameter: Baud Rate: 1 - 8
1 - 10k; 2 - 20k; 3 - 50k; 4 - 125k
5 - 250k; 6 - 500k; 7 - 800k; 8 - 1000k
1 - 8 469 981 1493 2005 2283 2539
235 VAR_CAN_ADDR_EPM W Y R/W CAN Bus Parameter: Address 1-127 471 983 1495 2007 2284 2540
236 VAR_CAN_OPERMODE_
EPM
W Y R/W CAN Bus Parameter: Boot-up Mode
(Operational State Control)
0 - enters into pre-operational state
1 - enters into operational state
2 - pseudo NMT: sends NMT Start Node
command after delay (set by variable 237)
0 - 2 473 985 1497 2009 2285 2541
237 VAR_CAN_OPERDELAY_
EPM
W Y R/W CAN Bus Parameter: pseudo NMT mode
delay time in seconds
Refer to
variable 236
sec 475 987 1499 2011 2286 2542
238 VAR_CAN_ENABLE_EPM W Y R/W CAN Bus Parameter: Mode Control
0 - Disable CAN interface
1 - Enable CAN interface in DS301 mode
2 - Enable CAN interface in DS402 mode
3 - Enable DeviceNet
4 - Enable PROFIBUS DP
0 - 4 477 989 1501 2013 2287 2543
239 VAR_HOME_ACCEL F Y R/W Homing Mode: ACCEL rate 0 -
10000000.0
UU/sec2 479 991 1503 2015 2288 2544
240 VAR_HOME_OFFSET F Y R/W Homing Mode: Home Position Offset -32767 to
+32767
UU 481 993 1505 2017 2289 2545
241 VAR_HOME_OFFSET_
PULSES
W Y R/W Homing Mode: Home Position Offset in
encoder counts
+/-
2147418112
EC 483 995 1507 2019 2290 2546
242 VAR_HOME_FAST_VEL F Y R/W Homing Mode: Fast Velocity -10000 to
+10000
UU/sec 485 997 1509 2021 2291 2547
243 VAR_HOME_SLOW_VEL F Y R/W Homing Mode: Slow Velocity -10000 to
+10000
UU/sec 487 999 1511 2023 2292 2548
244 VAR_HOME_METHOD W Y R/W Homing Mode: Homing Method 1 - 35 489 1001 1513 2025 2293 2549
245 VAR_START_HOMING W N W Homing Mode: Start Homing
0 - No action; 1 - Start Homing
0 - 1 491 1003 1515 2027 2294 2550
246 VAR_HOME_SWITCH_
INPUT
W Y R/W Homing Mode: Switch Input Assignment:
0-3: A1-A4
4-7: B1-B4
8-11: C1-C4
0-11 493 1005 1517 2029 2295 2551
247 VAR_M_VALIDATE_
MOTOR
W N W Makes Drive accept Motor’s parameters
0 - No action
1 - Validate Motor Data
0 -1 495 1007 1519 2031 2296 2552
248 VAR_M_I2T F Y R/W Motor 497 1009 1521 2033 2297 2553
249 VAR_M_EABSOLUTE F Y R/W Motor 499 1011 1523 2035 2298 2554
250 VAR_M_ABSWAP F Y R/W Motor Encoder Feedback: B leads A
0 - No Action
1 - B leads A for forward checked (active)
0 - 1 501 1013 1525 2037 2299 2555
251 VAR_M_HALLS_INVERTED F Y R/W Motor Encoder Feedback: Halls
0 - No Action
1 - Inverted Halls Box checked (active)
0 - 1 503 1015 1527 2039 2300 2556
252 RESERVED Do NOT use 505 1017 1529 2041 2301 2557
253 RESERVED Do NOT use 507 1019 1531 2043 2302 2558
254 RESERVED Do NOT use 509 1021 1533 2045 2303 2559
255 RESERVED Do NOT use 511 1023 1535 2047 2304 2560
256 RESERVED Do NOT use 513 1025 1537 2049 2305 2561
This is a condensed PID List to show the corresponding Modbus 4X Registers for PIDs 1-256. Modbus RTU
can not access beyond PID256. For the complete variable list refer to the PositionServo Programming Manual
(PM94P01 or PM94M01).
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