Instruction Manual PSx3xxMod
10
Here’s a list of the implemented result codes:
Function
code (dez)
Description
00
idle (execution succeeded)
01
illegal function code
02
illegal data address
03
illegal data value
04
slave device failure (execution failed)
11
Frame-Error
A write request to a reserved register will always re
turn “idle”. It is recommended to
write the value 0. Reading a reserved register returs the value 0. Read or Write
accesses to addresses
≥ 256 are rejected with an exception code
Table of all Holding Registers:
Reg.
Nr.
Name
Function
Type/
Range
Back
up
Delivery
State
R/W
Status requests
0
status word
Bit 0: target position reached
Bit 1: drag error
Bit 2: reverse jog key active
Bit 3: forward jog key active
Bit 4: motor power present
Bit 5: positioning run aborted
Bit 6: drive is running
Bit 7: temperature exceeded
Bit 8: movement opposite loop
direction
Bit 9: error
Bit 10: positioning error (block)
Bit 11: manual displacement
Bit 12: incorrect target value
Bit 13: motor power was missing
Bit 14: positive range limit
Bit 15: negative range limit
16 bit
unsigned
R
1
actual rpm
value in rpm
16 bit
signed
R
2
actual value High
(Byte 3-2)
current actual position
value in 1/100 mm (for default
settings of numerator HR 45 and
denominator HR 46)
Writing onto this register causes
the current position to be
“referenced” onto the transferred
value
32 bit
signed
no
R/W
3
actual value Low
(Byte 1-0)
4
actual torque
value in cNm
16 bit
unsigned
R
