Page | 29
Appendix 1
In this section we describe all the MODBUS register and additional settings like gain and acceleration to
optimize the motor driving parameters depending on the load and application of the motor. However,
we would recommend to change the advanced settings after gaining some experience in using the drive.
Also please test the changed settings in actual use case before finalizing same to make sure drive
performs as per requirement. For going back to default mode please refer STEP 7.
Modbus Registers:
Control Register
Modbus Input
Register
No. of
Bit
Maximum
Value
Default
Values (Hex)
Description
DEVICE_MODBUS_ADDRESS
1
-
0007
Device Address
INP_CONTROL_BYTE
2
8 Bit
255
0000
Input Control Byte
INP_MODE_BYTE
3
8 Bit
255
2000
Input Mode Byte
Motor and Encoder
Dependent
Modbus Input
Register
No. of
Bits
Maximum
Value
Default
Values (Hex)
Description
VP_GAIN_BYTE
4
8 Bit
255
FF20
Velocity proportional
gain
VI_GAIN_BYTE
6
8 Bit
255
FF10
Velocity integral gain
VF_GAIN_BYTE
8
8 Bit
255
FF20
Velocity feed forward
gain
LINES_PER_ROT
10
16 Bit
65535
14E
Lines per Rotation
Motion Profiles
Modbus Input
Register
No. of
Bits
Maximum
Value
Default
Values (Hex)
Description
TRP_ACL_WORD
12
16 Bit
65535
4E20
Acceleration
TRP_SPD_WORD
14
16 Bit
65535
0800
speed of motor
CMD_LSB_WORD
16
65535
0000
Units for command are
in steps that depends
on the lines per rotation
of the encoder
CMD_MSB_WORD
18
32 Bit
65535
0000
Units for command are
in steps that depends
on the lines per rotation
of the encoder
User Feedback
Modbus Input
Register
No. of
Bits
Maximum
Value
Default
Values (Hex)
Description
POS_LSB_WORD
20
65535
0000
Position feedback
POS_MSB_WORD
22
32 Bit
65535
0000
Position feedback
ACT_SPD_WORD
24
16 Bit
65535
0048
Speed feedback