refer also to the “Positioning: position and speed
control” section on page 43.
bits 9 … 11
Not used.
PWM saturation
bit 12
The current supplied for controlling the motor phases
has reached the saturation point and cannot be
increased further. The motor operation is affected by
excessive dynamics or something is jamming the
movement.
bits 13 … 15
Not used.
Current position [0x02-0x03]
[Registers 3-4, Integer32, ro]
Current position of the device expressed in pulses.
Current velocity [0x04]
[Register 5, Integer16, ro]
Speed of the device expressed in revolutions per minute [rpm], updated at every
second.
Position following error [0x05-0x06]
[Registers 6-7, Integer32, ro]
This variable contains the difference between the target position and the
current position step by step. If this value is greater than the one set in the
triggered and the unit stops. The value is expressed in pulses.
Temperature value [0x07]
[Register 8, Integer16, ro]
This variable shows both the temperature of the motor and the temperature of
the electronics as detected by internal probes. The value is expressed in °C
(Celsius degrees). The minimum detectable temperature is -20°C.
The meaning of the 16 bits in the register is as follows:
15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00
MSB
LSB
Major number
Minor number
Temperature of the motor
Temperature of the electronics
MAN RD6 MB E 1.1
Programming parameters
79 of 92
RD6 Modbus®
