Modbus Register Mapping:
➢
Device Modbus Address(MOD_ID)
Address: 0x00 (40001)
Default value: 0x0BFF
MOD_ID[15:8]
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Bits 15:8 MOD_ID[15:8]: Modbus address bits
Default: 0x0B
Maximum value: 0xF7
Minimum value: 0x01
Bits 7:0 SP[7:0]: Save parameters to eeprom
Default: 0x00
If slave id is 7 then write 07FF
➢
Control and Mode Register
Address: 0x02(40003)
Default value: 0x0000
MODE[15:8]
0
0
0
0
Bits 15:8 MODE [15:8]: Mode byte
Default: 0x00
Bits [11:8] 0000: Analog Control Mode
0001: Digital Control mode
0010: position Control Mode
0111: Stop mode
1000: Set Home Position
1001: Restart Drive
Bits 7:0 CRTL [7:0]: Control Byte
Default: 0x00
Bit 3 DIR: Direction (only Digital mode)
0: Clockwise direction
1: Counter-clockwise direction
Bit 2 BRK: Brake
0: Disable Brake
1: Enable Brake
Note: This function is only available in Digital control mode.
Bit 0 EN: Enable bit
0: Disable mode
1: Enable mode
Note: Enable has more priority than brake.
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CRTL[7:0]
0
0
0
0
SP[7:0]
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DIR
BRK
0
EN
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