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Rockwell Automation Publication 2071-RM001B-EN-P - April 2013
21
Modbus Protocol Chapter 1
Group 11 – Index Deceleration 
Modbus 
Address 
Kinetix 3 
Parameter 
Modbus
Address 
Kinetix3 
Parameter 
Modbus
Address 
Kinetix 3 
Parameter 
Modbus
Address 
Kinetix 3 
Parameter 
7200
In11.00.Lo
7232
In11.16. Lo
7264
In11.32.Lo
7296
In11.48.Lo
7201
In11.00.Hi
7233
In11.16. Hi
7265
In11.32. Hi
7297
In11.48. Hi
7202
In11.01.Lo
7234
In11.17.Lo
7266
In11.33.Lo
7298
In11.49.Lo
7203
In11.01.Hi
7235
In11.17. Hi
7267
In11.33. Hi
7299
In11.49. Hi
7204
In11.02.Lo
7236
In11.18.Lo
7268
In11.34.Lo
7300
In11.50.Lo
7205
In11.02.Hi
7237
In11.18. Hi
7269
In11.34. Hi
7301
In11.50. Hi
7206
In11.03.Lo
7238
In11.19.Lo
7270
In11.35.Lo
7302
In11.51.Lo
7207
In11.03.Hi
7239
In11.19. Hi
7271
In11.35. Hi
7303
In11.51. Hi
7208
In11.04.Lo
7240
In11.20.Lo
7272
In11.36.Lo
7304
In11.52.Lo
7209
In11.04.Hi
7241
In11.20. Hi
7273
In11.36. Hi
7305
In11.52. Hi
7210
In11.05.Lo
7242
In11.21.Lo
7274
In11.37.Lo
7306
In11.53.Lo
7211
In11.05.Hi
7243
In11.21. Hi
7275
In11.37. Hi
7307
In11.53. Hi
7212
In11.06.Lo
7244
In11.22.Lo
7276
In11.38.Lo
7308
In11.54.Lo
7213
In11.06.Hi
7245
In11.22. Hi
7277
In11.38. Hi
7309
In11.54. Hi
7214
In11.07.Lo
7246
In11.23.Lo
7278
In11.39.Lo
7310
In11.55.Lo
7215
In11.07.Hi
7247
In11.23. Hi
7279
In11.39. Hi
7311
In11.55. Hi
7216
In11.08.Lo
7248
In11.24.Lo
7280
In11.40.Lo
7312
In11.56.Lo
7217
In11.08.Hi
7249
In11.24. Hi
7281
In11.40. Hi
7313
In11.56. Hi
7218
In11.09.Lo
7250
In11.25.Lo
7282
In11.41.Lo
7314
In11.57.Lo
7219
In11.09.Hi
7251
In11.25. Hi
7283
In11.41. Hi
7315
In11.57. Hi
7220
In11.10.Lo
7252
In11.26.Lo
7284
In11.42.Lo
7316
In11.58.Lo
7221
In11.10.Hi
7253
In11.26. Hi
7285
In11.42. Hi
7317
In11.58. Hi
7222
In11.11.Lo
7254
In11.27.Lo
7286
In11.43.Lo
7318
In11.59.Lo
7223
In11.11.Hi
7255
In11.27. Hi
7287
In11.43. Hi
7319
In11.59. Hi
7224
In11.12.Lo
7256
In11.28.Lo
7288
In11.44.Lo
7320
In11.60.Lo
7225
In11.12.Hi
7257
In11.28. Hi
7289
In11.44. Hi
7321
In11.60. Hi
7226
In11.13.Lo
7258
In11.29.Lo
7290
In11.45.Lo
7322
In11.61.Lo
7227
In11.13.Hi
7259
In11.29. Hi
7291
In11.45. Hi
7323
In11.61. Hi
7228
In11.14.Lo
7260
In11.30.Lo
7292
In11.46.Lo
7324
In11.62.Lo
7229
In11.14.Hi
7261
In11.30. Hi
7293
In11.46. Hi
7325
In11.62. Hi
7230
In11.15.Lo
7262
In11.31.Lo
7294
In11.47.Lo
7326
In11.63.Lo
7231
In11.15.Hi
7263
In11.31.Hi
7295
In11.47. Hi
7327
In11.63. Hi
7328 …7399
Reserved 
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22
Rockwell Automation Publication 2071-RM001B-EN-P - April 2013
Chapter 1
Modbus Protocol
Group 12 – Next Index
Modbus
Address 
Kinetix 3 
Parameter 
Modbus
Address 
Kinetix 3 
Parameter 
Modbus
Address 
Kinetix 3 
Parameter 
Modbus
Address 
Kinetix3 
Parameter 
7400
In12.00
7416
In12.16
7432
In12.32
7448
In12.48
7401
In12.01
7417
In12.17
7433
In12.33
7449
In12.49
7402
In07.02
7418
In12.18
7434
In12.34
7450
In12.50
7403
In12.03
7419
In12.19
7435
In12.35
7451
In12.51
7404
In12.04
7420
In12.20
7436
In12.36
7452
In12.52
7405
In12.05
7421
In12.21
7437
In12.37
7453
In12.53
7406
In12.06
7422
In12.22
7438
In12.38
7454
In12.54
7407
In12.07
7423
In12.23
7439
In12.39
7455
In12.55
7408
In12.08
7424
In12.24
7440
In12.40
7456
In12.56
7409
In12.09
7425
In12.25
7441
In12.41
7457
In12.57
7410
In12.10
7426
In12.26
7442
In12.42
7458
In12.58
7411
In12.11
7427
In12.27
7443
In12.43
7459
In12.59
7412
In12.12
7428
In12.28
7444
In12.44
7460
In12.60
7413
In12.13
7429
In12.29
7445
In12.45
7461
In12.61
7414
In12.14
7430
In12.30
7446
In12.46
7462
In12.62
7415
In12.15
7431
In12.31
7447
In12.47
7463
In12.63
7464 …7599
Reserved
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Rockwell Automation Publication 2071-RM001B-EN-P - April 2013
23
Modbus Protocol Chapter 1
Save Parameters
When the Standard and Indexing parameters are written by using function code 
0x06, their values are stored to the volatile RAM temporarily and are lost after 
powering off. To permanently store the parameters values in the nonvolatile flash 
memory, write a 1 to the address 9999, by using the function code 0x06, 0x10. 
IMPORTAN T
Nonvolatile memory is limited to 100,000 erase/program cycles.
Modbus Address Data Status 
Description 
9999 (decimal)
1
Write data into nonvolatile memory 
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24
Rockwell Automation Publication 2071-RM001B-EN-P - April 2013
Chapter 1
Modbus Protocol
Monitoring Parameter (Function Code 0x04)
The Read or Multi-read of monitoring variables are possible through function 
code 04 Read Input Register. All display parameters of the drive are mapped to 
function code 04 range. The default address is 0x00. 
Fault and Warning Status Parameter - Input Registers 
Display Parameter - Input Registers (Default = 0) 
Modbus Address
Drive
Name
Unit
0
dis-00
Velocity Feedback
rpm
1
dis-01
Velocity Command
rpm
2
dis-02
Velocity Error
rpm
3
dis-03
Torque Command
0.10%
4…5
dis-04
Position Feedback
counts
6…7
dis-05
Position Command
counts
8…9
dis-06
Position Error
counts
10
dis-07
Pulse Command Frequency
0.1pps
11
dis-08
Electrical Angle
0.1'
12
dis-09
Mechanical Angle
0.1'
13
dis-10
Regeneration Load Ratio
%
14
dis-11
DC-Link Voltage
V
15
dis-12
Multi-Turn Data
Turn number
16…17
dis-13
Offset in Velocity Command
0.1mV
18…19
dis-14
Torque Offset
0.1mV
20…24
dis-15
Input/Output Signal Status
?-
25…32
dis-16
Display Error History
8Alarm
33
dis-17
Display Software Version
1word
34…35
dis-18
Display Motor info
2word
36
dis-19
Analog Velocity Command Voltage
0.01V
37
dis-20
Analog Current Command Voltage
0.01V
38
dis-21
Drive Rated Output Power
1word
39…40
dis-22
Absolute Single Turn Data
?-
41…42
dis-23
Encoder Feedback Counter
counts
43…99
Reserved
-
-
Fault and Warning Status Parameter - Input Registers (Default = 0) 
Modbus Address 
Function 
Name 
Unit 
100 
Error Check
Servo Error Code
Word
101 
Warning Check
Servo Warning Code
Word
102…199
Reserved
-
-
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Rockwell Automation Publication 2071-RM001B-EN-P - April 2013
25
Modbus Protocol Chapter 1
Output Function Status Parameter 
Modbus 
Address 
Output Function 
Description 
Unit 
Position
[bits]
200
/S_ALM
Alarm
Bit
[0]
/P-COM
Within position window 
Bit
[1]
/TG-ON
Up to speed
Bit
[2]
BK
Brake control
Bit
[3]
/V-COM
Within Speed window
Bit
[4]
/A-VLD
Absolute position valid 
Bit
[5]
/RDY
Drive Ready
Bit
[6]
/T-LMT /NEAR
Current Limited
Bit
[7]
/V-LMT /WARN
Velocity Limited
Bit
[8]
/NEAR
Near position 
Bit
[9]
/WARN
Warning 
Bit
[10]
Reserved
-
Bit
[11]
Reserved
-
Bit
[12]
/IMO
In Motion
Bit
[13]
/I-DW
In Dwell
Bit
[14]
/HOMC
Axis Homed
Bit
[15]
201
/O_ISEL0
Index Select 0 Out
Bit
[0]
/O_ISEL1
Index Select 1 Out
Bit
[1]
/O_ISEL2
Index Select 2 Out
Bit
[2]
/O_ISEL3
Index Select 3 Out
Bit
[3]
/O_ISEL4
Index Select 4 Out
Bit
[4]
/O_ISEL5
Index Select 5 Out
Bit
[5]
/E_SEQU
End of Sequence
Bit
[6]
Reserved
-
Bit
[7…15]
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26
Rockwell Automation Publication 2071-RM001B-EN-P - April 2013
Chapter 1
Modbus Protocol
Running Parameter (Function Code 0x06 or 0x10)
Input Function Parameter (Function Code 0x03, 0x06, or 0x10)
Run Parameter - Holding Registers (Default = 2000) 
Modbus 
Address 
Attribute
RUN
Name
Access Unit
2000
User Open
run-00
Jog Operation
1-byte
2001
run-01
Off-Line Auto Tuning
1 bit
2002 
run-02 
Reserved 
2003
run-03
Auto Adjustment of Speed Command 
Offset
1 bit
2004
run-04
Auto Adjustment of Current 
Command Offset
1 bit
2005…2007 
run-05… run-07 
Reserved 
2008 
run-08
Alarm Reset
1 bit 
2009 
run-09 
Reserved 
2010 
run-10 
Absolute Encoder Reset
1 bit 
2011 
run-11 
2-Group Gain Storing
1 bit 
2012 
run-12
Parameter Initialization
1 bit 
2013…2015 
run-13…run-15 
Reserved 
2016 
run-16
Hardware Reset
1 bit 
2017…2099 
run-17…run-99 
Reserved 
                                              
Input Function Control - Holding Registers 
Modbus 
Address 
I/O Function 
Description 
Unit
Position 
Bit 
3000
/SV-ON
Drive Enable
bit
0
-
Reserved 
-
[1] and [2]
/P-CON
Integrator Inhibit
bit
[3]
/A-RST
Fault Reset
bit
[4]
/N-CL
Negative Current Limit
bit
[5]
/P-CL
Positive Current Limit
bit
[6]
/C-SEL
Operation Mode Override
bit
[7]
/C-DIR
Preset Direction
bit
[8]
/C-SP1
Preset Select 1
bit
[9]
/C-SP2
Preset Select 2
bit
[10]
/C-SP3
Preset Select 3
bit
[11]
/C-SP4
Preset Select 4
bit
[12]
/INHIB
Pause Follower
bit
[13]
/G-SEL
Alternate Gain Select
bit
[14]
/PCLR
Position clear
bit
[15]
Rockwell Automation Publication 2071-RM001B-EN-P - April 2013
27
Modbus Protocol Chapter 1
3001
/ABS-DT
Position Strobe
bit
[0]
/START
Motor Moving Enable
bit
[1]
/Z-CLP
Zero Speed Clamp Enable 
bit
[2]
/GEAR
2nd Electronic Gear Bank Selection
bit
[3]
/R-ABS
Reset multi-turn data of Absolute Encoder
bit
[4]
-
Reserved 
-
[5]
/SHOME
Start Homing
bit
[6]
/STOP
Stop Indexing
bit
[7]
/PAUSE
Pause Indexing
bit
[8]
/I-SEL0
Index Select 0 Input
bit
[9]
/I-SEL1
Index Select 1 Input
bit
[10]
/I-SEL2
Index Select 2 Input
bit
[11]
/I-SEL3
Index Select 3 Input
bit
[12]
/I-SEL4
Index Select 4 Input
bit
[13]
/I-SEL5
Index Select 5 Input
bit
[14]
/H_STOP
Stop Homing
bit
[15]
3002
/START_I
Start Index
bit
[0]
/BANK_SEL
Gain Bank Select
bit
[1]
-
Reserved 
-
[2…15]
Input Function Control - Holding Registers 
Modbus 
Address 
I/O Function 
Description 
Unit
Position 
Bit 
28
Rockwell Automation Publication 2071-RM001B-EN-P - April 2013
Chapter 1
Modbus Protocol
Notes:
Rockwell Automation Publication 2071-RM001B-EN-P - April 2013
29
Chapter
2
Communication Protocol (RS-232/ASCII) 
Introduction 
The drive command protocol is a client-server protocol. A host computer is the 
server, and each drive is a client. This chapter provides details about the Special 
Symbols, Packet Structure, and Checksum in the serial communication protocol. 
Special Symbols 
Special symbols used in the host commands include the following.
Packet Structure 
The packet structure is shown below. 
Some simple commands might not have the Data field (for example, Fault Reset). 
Maximum packet size is 400 bytes. Each letter and digit in Command and Data 
fields represents a single ASCII character. 
All commands begin with an STX
, and terminate with an ETX
If the drive receives the command without a communication error, the response is 
in the same format as the host command. Numeric parameters are encoded as 
strings. 
Symbol
Value
Description
STX
0x02
Start of text
ETX
0x03
End of text
ACK
0x06
Acknowledged 
BEL
0x07
Acknowledge alarm 
NAK
0x15
Not acknowledged 
CAN
0x18
Cancellation of command (For example, the drive sends CAN if the drive is already enabled, 
but the JOG ON is requested.) 
ETB
0x17
End of block 
GS
0x1D
Cannot save parameter 
RS
0x1E
Range over 
US
0x1F
Undefined 
Start
ID
Host/
Response
Command
Data
Separator
Checksum
End
Symbol
STX
dd 
# or $
SET or…
d …d 
c c 
ETX 
Bytes
1
2
0 - n 
30
Rockwell Automation Publication 2071-RM001B-EN-P - April 2013
Chapter 2
Communication Protocol (RS-232/ASCII)
If the drive receives the host's command with a communication error (for 
example, parity or checksum errors), the drive sends an NAK
. The host should 
assume a communication error occurred if a response from the drive does not 
occur within a time-out period (generally 200 ms). 
If drive does not recognize the command, it sends a US
response. 
Checksum 
The checksum range consists of ID to Separator fields. Checksum is the ASCII 
hex code of the least significant digit from the sum of hexadecimal codes in the 
checksum range. 
For example, this VER command has a checksum of 42 (ASCII hex code of B). 
30H+31H+23H+56H+45H+52H+3AH = 1ABH 
The ASCII hex code of B is 42. 
However, this VER command response also has a checksum of 35 (ASCII hex 
code of 5). 
30H+31H+24H+56H+45H+52H+20H+31H+2EH+30H+32H+3AH = 295H 
The ASCII hex code of 5 is 35. 
Command 
STX
0
1
#
V
E
R
B
ETX
ASCII 
2
30
31
23
56
45
52
3A
42
3
Command 
STX
0
1
&
V
E
R
9
.
0
2
:
5
ETX
ASCII 
2
30
31
24
56
45
52
20
39
2E
30
32
3A
35
3
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