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三菱通用AC伺服MR-JE-_A伺服放大器技术资料集 (Modbus-RTU通信篇).pdf
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目录
第1章 功能和构成 1- 1～1- 4
1.1 概要 ............................................................................... 1- 1
1.2 功能一览 ........................................................................... 1- 2
1.3 通信规格 ........................................................................... 1- 2
1.4 系统构成 ........................................................................... 1- 3
1.4.1 示意图.......................................................................... 1- 3
1.4.2 电缆连接图 ...................................................................... 1- 4
第2章 参数 2- 1～2- 4
第3章 Modbus协议 3- 1～3-10
3.1 Modbus-RTU信息形式 ................................................................. 3- 1
3.2 广播通信 ........................................................................... 3- 1
3.3 Modbus-RTU通信信息框 ............................................................... 3- 2
3.4 功能代码 ........................................................................... 3- 3
3.4.1 功能代码一览 .................................................................... 3- 3
3.4.2 Read Holding Registers(保持寄存器的数据读取: 03h) ............................... 3- 4
3.4.3 Diagnostics(功能诊断: 08h) ...................................................... 3- 6
3.4.4 Preset Multiple Registers(多个保持寄存器的数据写入: 10h) ........................ 3- 8
3.4.5 异常时的处理 .................................................................... 3-10
第4章 Modbus寄存器 4- 1～4-24
4.1 支持寄存器一览 ..................................................................... 4- 1
4.2 监视(地址: 2B01h～2B7Fh) ........................................................... 4- 2
4.2.1 寄存器一览 ...................................................................... 4- 2
4.2.2 使用方法........................................................................ 4- 3
4.3 参数设定(地址: 2001h～27FFh) ....................................................... 4- 4
4.3.1 寄存器一览 ...................................................................... 4- 4
4.3.2 使用方法........................................................................ 4- 4
4.4 点位表设定(地址: 2801h～281Fh) ..................................................... 4- 5
4.4.1 寄存器一览 ...................................................................... 4- 5
4.4.2 使用方法........................................................................ 4- 5
4.5 EEP-ROM写入指令(地址: 1010h) ....................................................... 4- 6
4.5.1 寄存器一览 ...................................................................... 4- 6
4.5.2 使用方法........................................................................ 4- 7
4.6 报警信息(地址: 1001h) .............................................................. 4- 8
4.6.1 寄存器一览 ...................................................................... 4- 8
4.6.2 使用方法........................................................................ 4- 8
4.7 报警编号(地址: 2A41h) .............................................................. 4- 8
4.7.1 寄存器一览 ...................................................................... 4- 8
4.7.2 使用方法........................................................................ 4- 8
4.8 发生报警时监视(地址: 2B81h～2BFFh) ................................................. 4- 9
4.8.1 寄存器一览 ...................................................................... 4- 92
4.8.2 使用方法........................................................................ 4-10
4.9 报警历史(地址: 2A00h～2A0Fh) ....................................................... 4-10
4.9.1 寄存器一览 ...................................................................... 4-10
4.9.2 使用方法........................................................................ 4-11
4.10 报警历史清除(地址: 2A40h) ......................................................... 4-11
4.10.1 寄存器一览..................................................................... 4-11
4.10.2 使用方法....................................................................... 4-11
4.11 参数错误个数(地址: 2A44h) ......................................................... 4-11
4.11.1 寄存器一览..................................................................... 4-11
4.11.2 使用方法....................................................................... 4-11
4.12 参数错误编号(地址: 2A45h) ......................................................... 4-12
4.12.1 寄存器一览..................................................................... 4-12
4.12.2 使用方法....................................................................... 4-12
4.13 点位表错误编号(地址: 2A43h) ....................................................... 4-12
4.13.1 寄存器一览..................................................................... 4-12
4.13.2 使用方法....................................................................... 4-13
4.14 外部输入引脚状态(地址: 2C10h) ..................................................... 4-13
4.14.1 寄存器一览..................................................................... 4-13
4.14.2 使用方法....................................................................... 4-13
4.15 外部输出引脚状态(地址: 2C11h) ..................................................... 4-14
4.15.1 寄存器一览..................................................................... 4-14
4.15.2 使用方法....................................................................... 4-14
4.16 输入软元件状态(地址: 2C12h) ....................................................... 4-14
4.16.1 寄存器一览..................................................................... 4-14
4.16.2 使用方法....................................................................... 4-15
4.17 输出软元件状态(地址: 2C13h) ....................................................... 4-16
4.17.1 寄存器一览..................................................................... 4-16
4.17.2 使用方法....................................................................... 4-17
4.18 伺服放大器型号(地址: 1008h) ....................................................... 4-18
4.18.1 寄存器一览..................................................................... 4-18
4.18.2 使用方法....................................................................... 4-18
4.19 伺服放大器软件版本(地址: 100Ah) ................................................... 4-18
4.19.1 寄存器一览..................................................................... 4-18
4.19.2 使用方法....................................................................... 4-18
4.20 广播设定(地址: 2D98h) ............................................................. 4-19
4.20.1 寄存器一览..................................................................... 4-19
4.20.2 使用方法....................................................................... 4-19
4.21 伺服电机额定转速(地址: 2D28h) ..................................................... 4-19
4.21.1 寄存器一览..................................................................... 4-19
4.21.2 使用方法....................................................................... 4-19
4.22 伺服电机最大转速(地址: 2D29h) ..................................................... 4-20
4.22.1 寄存器一览..................................................................... 4-20
4.22.2 使用方法....................................................................... 4-20
4.23 SDO Abort Code(地址: 2A60h) ....................................................... 4-20
4.23.1 寄存器一览..................................................................... 4-20
4.23.2 使用方法....................................................................... 4-20
4.24 访问日志1(地址: 2A64h) ............................................................ 4-21
4.24.1 寄存器一览..................................................................... 4-21
4.24.2 使用方法....................................................................... 4-21
4.25 访问日志2(地址: 2A65h) ............................................................ 4-213
4.25.1 寄存器一览..................................................................... 4-21
4.25.2 使用方法....................................................................... 4-21
4.26 通信错误计数(地址: 2A68h) ......................................................... 4-22
4.26.1 寄存器一览..................................................................... 4-22
4.26.2 使用方法....................................................................... 4-22
4.27 支持配置文件信息(地址: 1000h) ..................................................... 4-22
4.27.1 寄存器一览..................................................................... 4-22
4.27.2 使用方法....................................................................... 4-22
4.28 软元件信息(地址: 1018h) ........................................................... 4-23
4.28.1 寄存器一览..................................................................... 4-23
4.28.2 使用方法....................................................................... 4-23
第5章 电机驱动 5- 1～5-44
5.1 软元件控制 ......................................................................... 5- 1
5.1.1 功能说明........................................................................ 5- 1
5.1.2 相关寄存器 ...................................................................... 5- 2
5.1.3 寄存器详情 ...................................................................... 5- 2
5.1.4 使用方法........................................................................ 5- 3
5.2 控制模式 ........................................................................... 5- 4
5.2.1 功能说明........................................................................ 5- 4
5.2.2 相关寄存器 ...................................................................... 5- 4
5.2.3 寄存器详情 ...................................................................... 5- 5
5.2.4 使用方法........................................................................ 5- 6
5.3 原点复位模式 ....................................................................... 5- 7
5.3.1 功能说明........................................................................ 5- 7
5.3.2 相关寄存器 ...................................................................... 5- 7
5.3.3 寄存器详情 ...................................................................... 5- 8
5.3.4 使用方法........................................................................ 5-11
5.4 JOG运行模式 ........................................................................ 5-12
5.4.1 功能说明........................................................................ 5-12
5.4.2 相关寄存器 ...................................................................... 5-12
5.4.3 寄存器详情 ...................................................................... 5-13
5.4.4 使用方法........................................................................ 5-15
5.5 点位表运行模式 ..................................................................... 5-16
5.5.1 功能说明........................................................................ 5-16
5.5.2 相关寄存器 ...................................................................... 5-16
5.5.3 寄存器详情 ...................................................................... 5-17
5.5.4 使用方法........................................................................ 5-20
5.6 程序运行模式 ....................................................................... 5-22
5.6.1 功能说明........................................................................ 5-22
5.6.2 相关寄存器 ...................................................................... 5-22
5.6.3 寄存器详情 ...................................................................... 5-23
5.6.4 使用方法........................................................................ 5-25
5.7 接触式探头(地址: 60B8h～60BBh) ..................................................... 5-26
5.7.1 功能说明........................................................................ 5-26
5.7.2 寄存器一览 ...................................................................... 5-26
5.7.3 寄存器详情 ...................................................................... 5-27
5.7.4 使用方法........................................................................ 5-29
5.8 各模式通用功能 ..................................................................... 5-31
5.8.1 寄存器一览 ...................................................................... 5-314
5.8.2 控制输入(2D01h～2D09h) .......................................................... 5-31
5.8.3 控制输出(2D11h～2D19h) .......................................................... 5-36
5.8.4 同时启动位设定(2D9Ah) ........................................................... 5-41
5.8.5 控制器强制停止(2D9Bh) ........................................................... 5-41
5.8.6 倍率修调(2DB0h)................................................................. 5-42
5.8.7 正转转矩限制值(60E0h) ........................................................... 5-42
5.8.8 反转转矩限制值(60E1h) ........................................................... 5-42
5.8.9 当前位置(6064h)................................................................. 5-42
5.8.10 当前速度(606Ch)................................................................ 5-42
5.8.11 当前转矩(6077h)................................................................ 5-43
5.8.12 凸轮编号设定(2D80h)............................................................ 5-43
5.8.13 控制中凸轮编号(2D82h).......................................................... 5-43
5.8.14 凸轮轴1周期长度设定(2D84h)..................................................... 5-43
5.8.15 凸轮行程量设定(2D85h).......................................................... 5-43
第6章 Modbus寄存器一览 6- 1～6- 4
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