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Operating Manual dryve D1, ST-, DC-, EC/BLDC-Motor Control System - V2.4
6.5 Modbus TCP Gateway
The Modbus TCP Gateway communication is implemented as a gateway and is solely used for data telegram transmissions.
It is based on the CAN in Automation (CiA) specification "Access from other networks" part 1 " General principles and services"
and part 2 "Modbus/TCP
mapping“.
Internally the motion control is implemented with
Only SDO communication is available. PDO communication is not supported.
Predefined read/write coils via function code 11 and 12 or 22 and 23 (and others), as used in the Modbus TCP Gateway
communication without a gateway function, are not supported.
In the following chapter the data telegram read and write functions as well as the response telegrams are explained.
The customer must implement the read and write telegram communication in the master control on their own behalf.
6.5.1 Necessary User Interface Settings
The following objects/parameters must be set in the user interface of the dryve D1.
“Motor” page
All parameters relevant to the motor must be set in the user interface.
“Axis” page
The maximum value must be set for each of the following parameters.
Group
Parameter
CANopen object
Value set at user interface
Motion Limits
Available Stroke
No object available
1.000.000
Max. Velocity
No object available
100.000
Jog Velocity
No object available
100.000
Max. Acceleration
No object available
1.000.000
Reference
Method
6098h Homing Method
Selection
Offset
607Ch Home Offset
0
– 1.000.000 (application-specific)
“Communication” page
Parameterization and activation of the Modbus TCP as Gateway communication interface
“Drive Profile” page
Setting the dominance via the dropdown menu to allow the Modbus TCP as Gateway master to execute movements.
