Yaskawa V1000-Series Option SI-EM3D/V Dual Port EtherNet Modbus TCP/IP Technical Manual - Manual (Page 23)

7 Modbus TCP/IP Messaging
u Modbus TCP/IP Overview
The Modbus TCP/IP protocol is essentially the Modbus protocol over an Modbus TCP/IP network. A master controller
(typically a PLC) sends commands to slave devices, which then perform the specified functions and send a response to the
master. The drive using the option has slave functionality.
n Supported Modbus TCP/IP Commands
Table 8 Supported Modbus TCP/IP Commands
Function Code Function Name
03H Read Multiple Registers
06H Write Single Register
10H Write Multiple Registers
17H Read/Write Multiple Registers
n Drive Modbus TCP/IP Option Registers
All of the command registers, monitor registers, and parameters documented in the drive Technical Manual are accessible via
the option.
n High Speed Access Drive Modbus TCP/IP Option Registers
Many of the registers required for control have been specially mapped to provide higher speed access to increase network
performance. Use these registers for the best response times.
All of the drive command registers have been mapped to this high speed access area (Modbus TCP/IP registers 01H to 01FH).
In addition, the monitors shown in Table 9 are mapped for high speed access.
Table 9 Drive Registers
Address
(hex)
Drive
Register
(hex)
Description Bit Description
2000 4B
Status Word
(U1-12)
0 During Run
1 During Zero Speed
2 During Reverse Direction
3 During Fault Reset Signal Input
4 During Speed Agree
5 Drive Ready
6 Alarm
7 Fault
8 During Operation Error (oPEoo)
9 During Momentary Power Loss
A Motor 2 Selected
B Reserved
C Reserved
D Reserved
E ComRef Status, NetRef Status
F ComCtrl Status, NetCtrl Status
2001 44 Motor Speed Monitor (U1-05)
2002 48 Torque Reference Monitor (U1-09)
2003 F0 PG Count Channel 1
2004 40 Frequency Reference Monitor (U1-01)
2005 41 Output Frequency Monitor (U1-02)
2006 26
Output Current (U1-03)
0.1 A
2007 4F Terminal A2 Input Level Monitor (U1-14)
7 Modbus TCP/IP Messaging
YASKAWA SIEP YAICOM 17A V1000 Option Dual-Port Modbus TCP/IP SI-EM3D/V Technical Manual 23