MODBUS RTU

Epulse50 servo drive implements Modbus RTU protocol on a RS232 serial point to point communication interface.

Available functions

Function name	Function code
Read Holding Register	0x03
Write Single Register	0x06
Write Multiple Registers	0x10

Modbus register areas

Parameter type	MODBUS address
Servo parameter	0x00 to 0x3FF
Input variables	0x1000 to 0x103F
Output variables	0x1200 to 0x123F

Basic command

Enabling, disable and set the speed

Command	Address	Data Write	Unit	NOTE
Opmode	0x0010	2	-	2 = digital speed
Enabling	0x1000	bit 0 = 1	-
Disabling	0x1000	bit 0 = 0	-
Speed setpoint	0x1026	xxxx	RPM

Reading the status and the current

Command	Address	Data Write	Unit	NOTE
Enabling OK	0x1200	Bit 0 = 1	-	if enabled bit 0 is set to 1 otherwise is set to 0
Read speed	0x1218	xxxx	-
Read Q current	0x1210	xxxx	Amper x 10

Input Variable table

input_param.jpg

Output Variable Table

var_out.jpg