Siemens SINAMICS V90 Operating Instructions Manual page 210

Control functions
7.7 Communicating with the PLC
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 MDI position setpoint
high word (IPos)
40103 MDI position setpoint
low word (IPos)
40104 MDI speed setpoint
high word (IPos)
40105 MDI speed 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)
40114 Actual speed high word
(PTI, IPos)
40115 Actual speed low word
(PTI, IPos)
40200 DO 1
40201 DO 2
40202 DO 3
40203 DO 4
40204 DO 5
40205 DO 6
40220 AO 1
40221 AO 2
40240 DI 1
40241 DI 2
40242 DI 3
40243 DI 4
40244 DI 5
40245 DI 6
40246 DI 7
210
Modbus Unit Scaling factor
access
R/W - 1
R/W - 0x4000 hex =
100% × motor
rated speed
R/W LU 1
R/W LU 1
R/W 1000 1
LU/min
R/W 1000 1
LU/min
R - 1
R - 0x4000 hex =
100% × motor
rated speed
R LU 1
R LU 1
R 1000 1
LU/min
R 1000 1
LU/min
R/W - 1
R/W - 1
R/W - 1
R/W - 1
R/W - 1
R/W - 1
R % 100
R % 100
R - 1
R - 1
R - 1
R - 1
R - 1
R - 1
R - 1
Range or Data/parameter
On/Off text
- Process data 1, re-
ceive word, PZD1
- Process data 2, re-
ceive word, PZD2
-2147482648 to Process data 3, re-
2147482647 ceive word, PZD3
Process data 4, re-
ceive word, PZD4
1 to 40000000 Process data 5, re-
ceive word, PZD5
Process data 6, re-
ceive word, PZD6
- Process data 1, send
word, PZD1
- Process data 2, send
word, PZD2
-2147482648 to Process data 3, send
2147482647 word, PZD3
Process data 4, send
word, PZD4
1 to 40000000 Process data 5, send
word, PZD5
Process data 6, send
word, PZD6
HIGH/LOW r0747.0
HIGH/LOW r0747.1
HIGH/LOW r0747.2
HIGH/LOW r0747.3
HIGH/LOW r0747.4
HIGH/LOW r0747.5
-100.0 to 100.0 -
-100.0 to 100.0 -
HIGH/LOW r0722.0
HIGH/LOW r0722.1
HIGH/LOW r0722.2
HIGH/LOW r0722.3
HIGH/LOW r0722.4
HIGH/LOW r0722.5
HIGH/LOW r0722.6
SINAMICS V90, SIMOTICS S-1FL6
Operating Instructions, 09/2016, A5E36037884-002