Siemens SINAMICS V90 Operating Instructions Manual page 190

Control functions
7.7 Communicating with the PLC
10.
Mapping table
The SINAMICS V90 servo drive supports the following registers. "R", "W", "R/W" in the
column access stand for read, write, read/write.
Modbus register Description
number
40100 Control word (PTI, IPos,
S, T)
40101 Speed setpoint (S)
40102 Position setpoint high-
word (IPos)
40103 Position setpoint low-word
(IPos)
40110 Status word (PTI, IPos, S,
T)
40111 Actual speed (PTI, IPos,
S, T)
40112 Actual position high-word
(PTI, IPos)
40113 Actual position low-word
(PTI, IPos)
40200 DO 1
40201 DO 2
40202 DO 3
190
Write the position setpoint and speed setpoint via the registers 40932, 40933, 40934,
40935, 40102 and 40103.
Modbus
access
R/W
R/W
R/W
R/W
R
R
R
R
R/W
R/W
R/W
Unit Scaling factor Range or
On/Off text
- 1 -
- 0x4000 hex = -
100% × motor
rated speed
LU 1 -2147482648 to
2147482647
LU 1
- 1 -
- 0x4000 hex = -
100% × motor
rated speed
LU 1 -2147482648 to
2147482647
LU 1
- 1 HIGH/LOW
- 1 HIGH/LOW
- 1 HIGH/LOW
Operating Instructions, 07/2015, 6SL3298-0AV60-0BP0
Data/parameter
Process data 1, re-
ceive word, PZD1
Process data 2, re-
ceive word, PZD2
Process data 3, re-
ceive word, PZD3
Process data 4, re-
ceive word, PZD4
Process data 1, send
word, PZD1
Process data 2, send
word, PZD2
Process data 3, send
word, PZD3
Process data 4, send
word, PZD4
r0747.0
r0747.1
r0747.2
SINAMICS V90, SIMOTICS S-1FL6