DMM DYN 5 Series User manual

AC SERVO DRIVE
Modbus TCP/IP Specication
MANUAL CODE: DYN5-MBTCP-SL425-10A
REVISION: 10A
RELEASE DATE: October 2021
DYN 5 Series
This manual must be kept accessible for the user or operator.
Copyright © 2021 DMM Technology Corp.
Document Layout Dimension:
Letter 8.5 x 11inches (215.9 x 279.4 mm)

DYN5-MBTCP-SL425-10A PAGE 2 of 38
DMM TECHNOLOGY CORP.
DYN5 AC SERVO DRIVE
Modbus TCP/IP Specication
■ Safety Notice ■
The user or operator should read through this manual completely before installation, testing,
operation, or inspection of the equipment. The DYN5 series AC Servo Drive should be operated
under correct circumstances and conditions. Bodily harm or damage to equipment and system
may result if specications outlined in this document are not followed. Take extra precaution
when the above warning convention is used for certain critital specications.
■ Notations Used ■
Unless otherwise noted, all specication and units of measurement used in this manual are in
Metric standard units:
Mass: Kilogram [ kg ]
Length: Millimeter [ mm ]
Time: Seconds [ s ]
Temperature: Celsius [ °C ]
WARNING
!

DYN5-MBTCP-SL425-10A PAGE 3 of 38
DMM TECHNOLOGY CORP.
DYN5 AC SERVO DRIVE
Modbus TCP/IP Specication
Table of Contents
■ Safety Notice ■ 2
■ Notations Used ■ 2
Table of Contents 3
Section 1. Overview 4
Section 2. Network Connection 5
Section 3. Basic Setup Instructions 6
3.1 Servo Drive Setup 7
3.2 Ping (ICMP) Test 8
3.3 Modbus Poll Test 9
Section 4. Modbus Register Specifications 11
4.1 Modbus Register Overview 11
4.2 Modbus Register Outline 12
4.3 Modbus Register Details 13
Section 5. PLC Communication Example 22
5.1 Initial Communication - Read from register 0xFFFE Diagnostic Counter 23
5.2 Speed Command and Speed Feedback Example 25
5.3 Profile Relative Position Command Example 28
Section 6. Servo Drive Communication Response Time 31
Appendix A - DMMDRV5 Communication Setup 32
Appendix B - Profile Position Command Trajectory Calculator 33
Appendix C - DTPU Dynamic Target Position Update Specification 34
Warranty and Liability 36
Manual Disclaimer 37
Manual Revisions 37

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DMM TECHNOLOGY CORP.
DYN5 AC SERVO DRIVE
Modbus TCP/IP Specication
Section 1. Overview
The DYN5 servo drive optioned with Modbus TCP/IP communication allows the servo drive to
be fully operated on a Modbus TCP/IP network. The DYN5 servo drive acts as Server (Slave)
device and exchanges data with a Client (Master) device. Through this network, the Client has
full access and control of the servo drive including:
• Reading and Writing servo drive parameters
• Reading servo motor Position/Speed/Current/Torque
• Reading servo drive Status
• Sending Position/Speed/Torque command
♦ Compatible Model Numbers
The DYN5 servo drive with the below model numbers are optioned with Modbus TCP/IP com-
munication. Note that the servo drive optioned with Modbus TCP/IP still has base Pulse/Analog/
RS232 capability it the user wishes to use these control methods.
For additional infomration regarding Modbus TCP/IP network and protocol specication, please
refer to Modbus Organization at www.modbus.org.
♦ Basic Specication
Interface 10/100 Base-T Ethernet IEEE 802.3
Hardware Interface RJ45 Recommended CAT5 or higher cable with
braid shielding
Communication Speed 10/100 Mbps - Drive Auto Detect
IP Addressing Static – Set in DMMDRV5 program

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DMM TECHNOLOGY CORP.
DYN5 AC SERVO DRIVE
Modbus TCP/IP Specication
Section 2. Network Connection
For general DYN5 servo drive operation and wiring instructions, refer to DYN5 servo drive in-
struction manual Manual# DYN5MS-ZM1.
Connector JP5A and JP5B are used for the Modbus TCP/IP interface. Both connectors are stan-
dard RJ45.
The DYN5 servo drive supports daisy-chain topology, JP5A is used for input, JP5B is used for
output. The last servo drive on the chain should have JP5B terminated with the JP5 Terminator
(Part# CN5-JP5-TMD1). If only 1 servo drive is on the network, the terminator still needs to be
connected to JP5B, with JP5A connected to the Client (Master).
♦ Part# CN5-JP5-TMD1 - DYN5 JP5 Ethernet Network End Terminator
♦ Single Servo Drive Network Connection
♦ Multiple Servo Drive Network Connection
Modbus TCP Client
PLC, PC etc.
Ethernet Cable
Connect Ethernet Network
End Terminator to JP5B
Connect controller to JP5A
Modbus TCP Client
PLC, PC etc.
Connect controller to rst
servo drive JP5A
Connect Ethernet Network End Terminator to last
servo drive JP5B
Connect rst servo drive
JP5B to second servo drive
JP5A
Connect additional servo
drive from JP5B to JP5A

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DMM TECHNOLOGY CORP.
DYN5 AC SERVO DRIVE
Modbus TCP/IP Specication
Section 3. Basic Setup Instructions
Follow below instructions to setup a Modbus TCP/IP communication between the DYN5 servo
drive and a PC Modbus TCP/IP Client. These instructions are the same for all DYN5 servo drive
models with Modbus TCP/IP option.
For general DYN5 servo drive operation and wiring instructions, refer to DYN5 servo drive in-
struction manual Manual# DYN5MS-ZM1.
(A) Wiring and Connections
Follow below diagram for basic minimum wiring for Modbus TCP/IP communication testing. Note
the below diagram does not include any reference for EMI, grounding or safety. Refer to DYN5
servo drive instruction manual for these considerations.
JP5A Modbus TCP/IP Client PC
(Modbus Poll software)
Connect Ethernet Network
End Terminator to JP5B
T2 Connect to servo motor
power via motor power
cable
D2
D1
Short D1/D2
L2
L1
R
T
S
JP2 Connect to PC DMMDRV5
software via USB Cable
(DMM Part# CA-DYN5USB-FR3)
T3 Power logic L1/L2
and control R/S/T with
110~220VAC
JP3 Connect to servo motor
encoder feedback cable
(B) Parts Needed
• DYN5 AC Servo Drive with Modbus TCP/IP option
• DXT/DST/DHT AC Servo Motor
• Encoder Feedback Cable to connect servo motor to servo drive
• Motor Power Cable to connect servo motor to servo drive
• Mini-USB to USB-A cable to connect servo drive to PC DMMDRV5 software
(DMM Part# CA-DYN5USB-FR3)
• Ethernet cable to connect servo drive JP5A to PC for Modbus TCP/IP communication
• Part# CN5-JP5-TMD1 - DYN5 JP5 Ethernet Network End Terminator
• PC computer with DMMMDRV5 software
• PC computer with Modbus Poll software (www.modbustools.com)
* Note all ethernet cables used should be Straight Through type and not Crossover type cables

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DMM TECHNOLOGY CORP.
DYN5 AC SERVO DRIVE
Modbus TCP/IP Specication
(1) Download and install DMMDRV5 software.
(2) Download and install Modbus Poll software (www.modbustools.com). Modbus Poll is a Mod-
bus TCP/IP master (Client) simulator software for PC computer.
(3) Check PC ethernet port TCP/IPv4 settings. This is needed to set and match with the servo
drive IP address. For this example, the PC IP address is set to 192.168.0.10 and subnet mask
255.255.255.0
(4) Connect all components to servo drive as above diagram (A) Wiring and Connections. Apply
power to servo drive.
(5) Establish connection between DMMDRV5 program and DYN5 servo drive. See Appendix A
for connection setup instructions.
(6) Open the Servo Setting module. Select Position Servo Mode 1 . Select Ethernet Com-
mand Input Mode (Modbus TCP/IP) 2 . Note no matter the operation command from Modbus
TCP/IP, the servo drive should be set into Position Sero Mode here. The servo drive will internal-
ly switch between Position/Speed/Torque servo modes according to the command received from
Modbus TCP/IP. Set the servo drive IP address within the network of the PC IP address 3 . In
this example, the servo drive IP address is set to 192.168.0.20. Set GEAR_NUM to 16384 4 .
(7) Click Save All to save new settings into servo drive 5 . Power cycle servo drive - remove
power from both L1/L2 and R/S/T. Wait 30 seconds, then apply power again.
The DYN5 servo drive is now correctly setup for Modbus TCP/IP.
1
2
3
5
3.1 Servo Drive Setup
4

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DMM TECHNOLOGY CORP.
DYN5 AC SERVO DRIVE
Modbus TCP/IP Specication
Check servo drive ethernet connectivity using Ping test on PC.
(1) Open the PC Command Prompt.
(2) Type “ping AAA.AAA.AAA.AAA” where AAA.AAA.AAA.AAA is the servo drive IP address set
in Section 3.1 Step. 6.
(3) Check that a reply is received back from the servo drive. This conrms the servo drive is in
Ethernet mode and IP address is set correctly.
(4) If reply is not received from servo drive, check all connections and settings in Section 3.1.
3.2 Ping (ICMP) Test

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DMM TECHNOLOGY CORP.
DYN5 AC SERVO DRIVE
Modbus TCP/IP Specication
Check Modbus TCP/IP connectivity using Modbus Poll software. Modbus Poll software turns the
PC into Modbus Client (master) used to test servo drive communication.
(1) Open the Modbus Poll software.
(2) Click Connection->Connect. Select Modbus TCP/IP connection. Input servo drive IP ad-
dress. Make sure server port is set to 502 for standard Modbus TCP port. Make sure IP protocol
is set to IPV4. Click OK. Check that connection is established and registers are read from servo
drive.
3.3 Modbus Poll Test
192.168.0.20
(4) See Section 4. for servo drive Modbus Register specication. The default Modbus Poll pro-
gram reads 10 registers from address 0x00 to 0x09. The registers are read once a second and
the “Tx” counter on top increments each time a read is successful.

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DYN5 AC SERVO DRIVE
Modbus TCP/IP Specication
(6) Select both 0x1D and 0x1E register displays and right click, select Format->32-bit signed-
>big endian. This will automatically combine the two 16-bit Modbus registers into one 32-bit
signed data showing full motor position on 0x1D display location. The position displayed should
be 0 or close to 0 as the motor position drifts slightly at steady state 1 . If the servo drive is set
to Absolute mode, the readout position will be single-turn or multi-turn absolute position.
(7) Recall in Section 3.1, Step 6, GEAR_NUM parameter was set to to 16384. This sets the
position command ratio so that a prole position command of 65536 will move the motor 1 revo-
lution (for motors equipped with 16-bit resolution encoders). See Appendix B for Prole Position
Command trajectory details.
(8) Send a command to move the motor 1 revolution. Select Functions->16 Write Registers.
Relative Prole position command is register 0x17 and 0x18.
(9) Set to settings as below and Click Send to send a position command of 65536 and check that
the motor moves exactly 1 revolution Clockwise. The position readout from 0x0D (Step 6) should
now read 65536 to indicate the motor has rotated exactly 1 revolution.
(5) (Relative Prole Position command example) Set Modbus Poll so it reads from register
containing servo motor position. Click Setup->Read/Write Denition. 32-bit servo motor position
is contained in registers 0x1D and 0x1E. Set to below setting and click OK. Note Slave ID
number does not matter.
Step 5
Step 6
1

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DYN5 AC SERVO DRIVE
Modbus TCP/IP Specication
Section 4. Modbus Register Specifications
All DYN5 modbus registers are standard 16 bits wide Modbus Holding Registers.
♦ The DYN5 servo drive supports the following Modbus Function codes
Function Code Function Name
03 Read Holding Registers (Single + Multiple)
06 Write Single Holding Register
16 Write Multiple Holding Registers
♦ The DYN5 servo drive supports the following Modbus Exception codes
Exception Code Exception Name Exception Code Cause
01 Illegal Function Sending Function code not 03, 06 or 16
02 Illegal Data Address Attempt to access register that does not exist
03 Illegal Data Value Write data into a register outside allowed range
♦ General Notes regarding DYN5 servo drive Modbus Register behaviour
• Reading from Write-Only or non-existent registers will return 0d12345
• Writing to Read-Only registers or non-existent registers will have no e󰀨ect, but will not
throw exception reply
• Reading from register number 0x27 or larger, or not 0xFFFE will throw 02 exception
• Writing to register number 0x27 or larger, or not 0xFFFE will throw 02 exception
• If command 03 Read Multiple Register exceeds last register 0x27, it will be accepted
but data will return 0d12345 for non-existent registers higher than 0x27
• If command 16 write multiple register exceeds last register 0x27, it will be accepted but
write data will have no e󰀨ect on non-existent registers higher than 0x27
• Command 16 Max write length = 40 registers at once. If write more than 40, drive
throws 02 exception
• Command 03 Max Read length = 40 registers at once. If read more than 40, drive
throws 02 exception
• Prole position command value, should be within [ -134,217,728 : 134,217,727 ], else
will not run command but will not throw exception
4.1 Modbus Register Overview

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DYN5 AC SERVO DRIVE
Modbus TCP/IP Specication
Register#
Register Map Access Data
Type
Data
Range Description
Modbus
Decimal Hex
40001 0 NA (Memory Test
Register) RW Int16 0~63 Whatever value written into this register can be read back. No function related to servo drive. Default = 0.
40003 2 Drive Status R Int16 0~127 8-bit Servo Drive Status Byte
40004 3 Set ABS Origin W Int16 0xFFFF
Set Absolute Origin Zero Command (multi-turn system). Setting
Register to 0xFFFF sets current position to multi-turn absolute
zero.
40005 4 Main Gain RW Int16 1~127 Main Gain parameter. [ Pr. 00 ]
40006 5 Speed Gain RW Int16 1~127 Speed Gain parameter. [ Pr. 01 ]
40007 6 Integration Gain RW Int16 1~127 Integration Gain parameter. [ Pr. 02 ]
40008 7 Torque Constant RW Int16 1~127 Torque Filter Constant parameter. [ Pr. 03 ]
40009 8 High Speed RW Int16 1~127 High Speed parameter. [ Pr. 07 ]
40010 9 High Accel RW Int16 1~127 High Acceleration parameter. [ Pr. 11 ]
40011 a On Position Range RW Int16 1~127 On Position Range parameter. [ Pr. 15 ]
40012 b GEAR_NUM RW Int16 1~16384 Gear Number parameter. Electronic Gear Ratio. Changes take
e󰀨ect after power cycle or Reset. [ Pr. 19 ]
40013 c LINE_NUM RW Int16 1~4095 Line Number parameter. Encoder Output Gear Ratio. Changes
take e󰀨ect after power cycle or Reset. [ Pr. 20 ]
40014 d Drive SW Enable/
Disable RW Int16 0xAAAA | 0xDEDE
Servo Drive Software Enable/Disable command. Setting regis-
ter to 0xAAAA is software Enable command. Setting register to
0xDEDE is software Disable command.
40015 e Turn_ConstSpeed W Int16 -2^14~
2^14
Turn Constant Speed command [ rpm ]. Acceleration/deceleration
when changing speed is controlled by Max Acceleration parameter.
40016 f Square_Wave Mo-
tion Amplitude W Int16 0~4096 Square wave amplitude command. 4096=180degrees. First send SS_Frequency, then Square_Wave Motion Amplitude.
40018 11 Sin_Wave Motion
Amplitude W Int16 0~4096 Sine wave amplitude command. 4096=180degrees. First send SS_Frequency, then Sin_Wave Motion Amplitude.
40020 13 SS_Frequency W Int16 0~60 Square / Sine wave frequency
40021 14 Motor Speed R Int16 Motor Speed [ rpm ] output
40022 15 Go_Absolute_Pos_
Prole Command W Int32 -2^27 ~ 2^27
Go absolute prole position – High 16 Bytes
40023 16 Go absolute prole position – Low 16 Bytes (Start Move Trigger)
40024 17 Go_Relative_Pos_
Prole Command W Int32 -2^27 ~ 2^27
Go relative prole position – High 16 Bytes
40025 18 Go relative prole position – Low 16 Bytes (Start Move Trigger)
40030 1d Motor Absolute
Position R Int32 -2^27 ~ 2^27
Motor Absolute Position output – High 16 Bytes
40031 1e Motor Absolute Position output – Low 16 Bytes
40032 1f Motor Torque R Int16 -981~981 Motor Torque readout. 981 corresponds to max servo drive current
output.
40033 20 Torque Limit RW Int16 0~127 Global Current/Torque Limit. 127 corresponds to 100% current
allowed. 64=current limited to 50%. [ Pr. 04 ]
40034 21 Drive Reset W Int16 0xABCD Servo Drive Reset Command. Setting register to 0xABCD sends
Reset command to servo drive to clear faults.
0xFFFE Diagnostic Counter R Int16 0~255 Diagnostic Counter, returns +1 each read.
4.2 Modbus Register Outline

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DYN5 AC SERVO DRIVE
Modbus TCP/IP Specication
4.3 Modbus Register Details
Register#
(Modbus Decimal)
Modbus Address#
[hex] Register Map Access Data Type Data Range
40001 0 NA (Memory Test
Register) RW Int16 0~63
Details
This register serves as a memory test for the controller. Whatever value written into this register can be read
back. Data is volatile and will be lost after power cycle or Reset. Default value after power up is 0. This
data serves no function for the servo drive otherwise.
Register#
(Modbus Decimal)
Modbus Address#
[hex] Register Map Access Data Type Data Range
40003 2 Drive Status R Int16 0~127
Details
This register contains 8-bit Servo Drive_Status Byte. Can be read to monitor servo drive operation status
and motion status.
Drive_Status byte = b7 b6 b5 b4 b3 b2 b1 b0
Bit Value Description
b0
0Motor On Position. |Pset - Pmotor| < = OnpositionRange Parameter Pr.15
Corresponds to ON/LOW state at JP4.Pin14/15 ONPOS output.
1Motor O󰀨 Position. |Pset - Pmotor| > OnPositionRange Parameter Pr.15
Corresponds to OFF/HIGH state at JP4.Pin14/15 ONPOS output.
b1 0Servo Enabled. Both Hardware and Software Enable are Enabled.
1Servo Disabled / Motor Free
b4 b3 b2
0No Alarm
1 Motor Lost Phase alarm, |Pset - Pmotor|>8192(steps), 180(deg)
2Over Current Alarm
3Overheat Alarm / Overpower Alarm
4 Error for CRC code check, refuse to accept current command
5Over Voltage Alarm
6Encoder Error Alarm / Encoder Battery Error Alarm
b5 0
Prole Position S-curve motion command completed. Note this only means the
motion command is completed, does not mean motor is In-Position. See Appen-
dix B for details.
1Prole Position S-curve motion command running. See Appendix B for details.
b6 0 Reserved - Do not use
b7 0 Reserved - Do not use

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DYN5 AC SERVO DRIVE
Modbus TCP/IP Specication
Register#
(Modbus Decimal)
Modbus Address#
[hex] Register Map Access Data Type Data Range
40004 3 Set ABS Origin W Int16 0xFFFF
Details
When using multi-turn system, setting this register to 0xFFFF will set current servo motor position to Absolute
Zero, then also performs a Reset command to reset servo control at current position.
Register has no functinality when using single-turn system. Setting register to any other value than 0xFFFF
will return 03 exception response.
Register#
(Modbus Decimal)
Modbus Address#
[hex] Register Map Access Data Type Data Range
40005 4 Main Gain
RW Int16 1~127
40006 5 Speed Gain
40007 6 Integration Gain
40008 7 Torque Constant
40009 8 High Speed
40010 9 High Accel
40011 a On Position Range
Details
These registers correspond to standard DYN5 servo drive parameters that can be read/set from Modbus
TCP/IP. All parameters have normal DYN5 servo drive functionality.
These below parameters are saved into servo drive main EEPROM so have a 1 million time read/write lifecy-
cle:
[ Pr.00 ] = Main Gain Parameter
[ Pr.01 ] = Speed Gain Parameter
[ Pr.02 ] = Integration Gain Parameter
[ Pr.03 ] = Torque Constant Parameter
[ Pr.15 ] = On Position Range Parameter
These below parameters below are saved into non-volatile EEPROM rst 6 times after servo drive power up.
After 6 times, any additional parameter saves are saved into volatile RAM. This is to accommodate Prole
Position commands that constantly need to change Speed and Acceleration for each motion:
[ Pr.07 ] = High Speed Parameter
[ Pr.11 ] = High Accel Parameter
All the above parameters can be changed on-the-y during operation and becomes e󰀨ective as soon as
new setting is saved into servo drive. Allow ≥300us after sending parameter for new setting to become e󰀨ec-
tive.

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DMM TECHNOLOGY CORP.
DYN5 AC SERVO DRIVE
Modbus TCP/IP Specication
Register#
(Modbus Decimal)
Modbus Address#
[hex] Register Map Access Data Type Data Range
40012 b GEAR_NUM
Parameter RW Int16 1~16384
40013 c LINE_NUM
Parameter RW Int16 1~4095
Details
These registers correspond to standard DYN5 servo drive parameters that can be read/set from Modbus
TCP/IP. All parameters have normal DYN5 servo drive functionality.
GEAR_NUM parameter [ Pr.19 ] is used for electronic scaling when sending Position command to servo
drive. See Appendix B for usage details.
LINE_NUM parameter [ Pr.20 ] controls the emulated incremental encoder output resolution from
JP4.Pin44/45/46/47/48/49.
LINE_NUM parameter
setting Output Pulse Resolution Calculation
1~2048
Output Pulse = LINE_NUM x 4
Ex. If LINE_NUM is set to 500, servo drive outputs 2,000
pulse per motor revolution.
2048~4095
Output Pulse = ( LINE_NUM - 2047 ) x 4
Ex. If LINE_NUM is set to 4095 (maximum), servo drive
outputs 8,192 pulse per motor revolution.
These parameters are saved into servo drive EEPROM so have a 1 million time read/write lifecycle.
Change into these parameters are e󰀨ective after power cycle or Rest command.
Register#
(Modbus Decimal)
Modbus Address#
[hex] Register Map Access Data Type Data Range
40014 d Drive SW
Enable/Disable RW Int16 0xAAAA | 0xDEDE
Details
This register is used to send servo drive Software Enable/Disable command. Setting register to 0xAAAA is
software Enable command. Setting register to 0xDEDE is software Disable command.
After powered up or Reset command, Software Enable is automatically Enabled.
Setting register to any other value than 0xAAAA or 0xDEDE will return 03 exception response.

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DYN5 AC SERVO DRIVE
Modbus TCP/IP Specication
Register#
(Modbus Decimal)
Modbus Address#
[hex] Register Map Access Data Type Data Range
40015 e Turn_Const-
Speed W Int16 2^14~ 2^14
Details
This register is used to send servo drive speed command. When data is sent to this register, servo drive
internally switches into Speed Servo Mode to run speed command. Register data is rpm units. Ex. Setting
register to 500 runs motor at 500rpm in positive direction.
Setting register to 0 stops motor movement.
Acceleration/Deceleration when changing speed is controlled by Max_Accel parameter [ Pr.11 ] and GEAR_
NUM parameter [ Pr.19 ]:
Motor Acceleration/Deceleration [ rpm/s ] = Max_Accel x 635.78 x ( 4096 ÷ GEAR_NUM )
Positive Command = CW Negative Command = CCW
Register#
(Modbus Decimal)
Modbus Address#
[hex] Register Map Access Data Type Data Range
40021 14 Motor Speed R Int16
Details
This register contains servo motor speed in [ rpm ] units. Read this register to obtain current servo motor
speed. Register data update rate is 300us.
The servo motor speed can be read whenever the encoder is correctly conneced to the servo drive. Even
when the servo drive is Disabled or Faulted/Alarmed and motor is free/coasting, the motor speed can be
read.

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DYN5 AC SERVO DRIVE
Modbus TCP/IP Specication
Register#
(Modbus Decimal)
Modbus Address#
[hex] Register Map Access Data Type Data Range
40016 f Square_Wave
Motion Amplitude W Int16 0~4096
40018 11 Sin_Wave
Motion Amplitude W Int16 0~4096
40020 13 SS_Frequency W Int16 0~60
Details
These registers are used to generate and run internal Square Wave and Sine Wave motion commands.
First, send SS_Frequency command, then send Square_Wave or Sin_Wave amplitude command.
When Amplutide command is received by servo drive, servo drive internally switches to Square or Sine mo-
tion mode and runs motion immediately.
Square wave motion is a max acceleration/deceleration motion prole. Sine wave motion is a smooth, con-
stant acceleration/deceleration motion prole.
Amplitude 0~4096 range corresponds to 0~180degrees motor movement.
Frequency 0~60 range corresponds to 0~60Hz motor movement.
Example 1: Setting Register 0x13 to 5, then setting Register 0x0F to 2048 runs a 5Hz Square wave motion
at 90degree amplitude.
Example 2: Setting Register 0x13 to 2, then setting Register 0x11 to 1024 runs a 2Hz Sine wave motion at
45degree amplitude.
Starting Position
Motor Position
Time
1 Second
0.2s
Positive Direction CW
Negative Direction CCW
45°
90°
Starting Position
Motor Position
Time
1 Second
0.5s
Positive Direction CW
Negative Direction CCW
22.5°
45°
* See previous page for Register 40021 / 0x14 (Motor Speed) details.

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DYN5 AC SERVO DRIVE
Modbus TCP/IP Specication
Register#
(Modbus Decimal)
Modbus Address#
[hex] Register Map Access Data Type Data Range
40022 15 Go_Absolute_Pos_
Prole Command
WInt32 -2^27 ~ 2^27
40023 16 W
Details
These two registers are used to send Absolute Prole Position Command to servo drive. When command is
sent, servo drive internally switches to Position servo mode to run command immediately.
Position command is 32-bits size. Register 0x15 contains high 16-bits data. Register 0x16 contains low
16-bits data. When servo drive receives data into register 0x16, it will combine data with register 0x15 and
start running command. In order to maintain data consistency, always set both high register and low register
together. Do not set low register without setting high register.
Positive command turns motor in CW direction, negative command turns motor in CCW direction.
See Appendix B for motion prole calculation. Allowed position command range = ± 134,217,728.
Example:
- Move motor to 4,726,140 absolute position
- 4,726,140 = 0x00481D7C.
- Send 0x0048 to register address 0x15. Drive stores 0x0048 as Go Absolute Position high
bytes. Does not run command.
- Send 0x1D7C to register address 0x16. Drive stores 0x1D7C as Go Absolute Position low
bytes. Combines value with high bytes, checks to see if command is within allowed range and
runs command.
Register#
(Modbus Decimal)
Modbus Address#
[hex] Register Map Access Data Type Data Range
40024 17 Go_Relative_Pos_
Prole Command
WInt32 -2^27 ~ 2^27
40025 18 W
Details
These two registers are used to send Relative Prole Position Command to servo drive. When command is
sent, servo drive internally switches to Position servo mode to run command immediately.
Position command is 32-bits size. Register 0x17 contains high 16-bits data. Register 0x18 contains low
16-bits data. When servo drive receives data into register 0x18, it will combine data with register 0x17 and
start running command. In order to maintain data consistency, always set both high register and low register
together. Do not set low register without setting high register.
Positive command turns motor in CW direction, negative command turns motor in CCW direction.
See Appendix B for motion prole calculation. Allowed position command range = ± 134,217,728.
Example:
- Move motor -15,898 relative position
- -15,898 = 0xFFFFC1E6.
- Send 0xFFFF to register address 0x17. Drive stores 0xFFFF as Go Relative Position high
bytes. Does not run command.
- Send 0xC1E6 to register address 0x18. Drive stores 0xC1E6 as Go Relative Position low
bytes. Combines value with high bytes, checks to see if command is within allowed range and
runs command

DYN5-MBTCP-SL425-10A PAGE 19 of 38
DMM TECHNOLOGY CORP.
DYN5 AC SERVO DRIVE
Modbus TCP/IP Specication
Register#
(Modbus Decimal)
Modbus Address#
[hex] Register Map Access Data Type Data Range
40030 1d Motor Absolute
Position R Int32 -2^27 ~ 2^27
40031 1e
Details
These registers contain the absolute position of the motor. Full motor position is 32-bits long. Register 0x1d
contains higher 16-bits, register 0x1e contains lower 16-bits.
If using 16-bit encoder, one motor revolution will equal 65,536 absolute position. If using 20-bit encoder, one
motor revolution will equal 1,048,576 absolute position.
If servo drive is in Relative servo mode, the position after power up or Reset is zero.
If servo drive is in Absolute servo mode, the position after power up or Reset is single turn or multi-turn abso-
lute zero.
Positive position means motor is in CW direction relative to zero position.
Motor absolute position range is ± 134,217,728. If position exceeds this, position will roll back to 0.
The servo motor position can be read whenever the encoder is correctly conneced to the servo drive. Even
when the servo drive is Disabled or Faulted/Alarmed and motor is free/coasting, the motor position can be
read.
Always read the high bytes (0x1d) rst, then the low bytes (0x1e). Read low bytes after high bytes as soon
as possible to maintain best position reference. Position register update rate is 300us.
Timing / Position Synchronization Example using 16-bit encoder:
Time [ms] Motor Position [pts] Operation
0 69514
25 75201 0x1d register read command sent. Servo drive stores current posi-
tion 75201 = 0x000125C1 and returns high bytes 0x0001
50 85218 0x1e register read command sent.
Servo drive returns stored position low bytes 0x25C1
75 98521
…
125 129921 0x1d register read command sent. Servo drive stores current posi-
tion 129921 = 0x0001FB81 and returns high bytes 0x0001
150 148759 0x1e register read command sent.
Servo drive returns stored position low bytes 0xFB81
175 160258

DYN5-MBTCP-SL425-10A PAGE 20 of 38
DMM TECHNOLOGY CORP.
DYN5 AC SERVO DRIVE
Modbus TCP/IP Specication
Register#
(Modbus Decimal)
Modbus Address#
[hex] Register Map Access Data Type Data Range
40032 1f Motor Torque R Int16 ±981
Details
This register contains the reference value of instantaneous output current from servo drive to motor.
981=peak output current of servo drive. Value is positive when current/torque is applied in CCW direction.
Torque update rate is 300us.
Example:
- Servo drive used = DYN5-H01 Frame. Peak output current = 20A
- Servo motor used = 11A-DHT-A6HK1. Torque coe󰀩cient = 0.774Nm/A
- Motor Torque read value = 0xFF63 = -157
- 157 / 981 = 0.16 * 20A = 3.2A
- 3.2A * 0.774Nm/A = 2.48Nm applied in CW direction since reading is negative
Register#
(Modbus Decimal)
Modbus Address#
[hex] Register Map Access Data Type Data Range
40033 20 Torque Limit
Parameter RW Int16 1~127
Details
This register contains servo drive parameter Torque Limit [ Pr.04 ]. Controller can read and write this param-
eter as necessary.
This parameter is saved into servo drive EEPROM so has a 1 million time read/write lifecycle.
Change into this parameters is e󰀨ective after and power cycle or Rest command.
The TorqueLimit parameter is used to limit the current output from the servo drive, directly proportional to
the peak current output of the servo drive. A setting of 127 means the limit is turned o󰀨 and servo drive can
output peak current. A setting of 64 means the current output is limited to 50% peak current.
DYN5-H01 servo drive example:
Torque Limit Parameter Setting Peak Output Current
127 20A
64 10A
10 1.57A
The current sent to the motor can be converted to torque using the servo motor Torque Constant (Torque
Coe󰀩cient) specication. For example, the 880-DXT motor has a Torque Constant specication of 0.56Nm/A.
If the servo drive sends 10A to the motor, the motor outputs 5.6Nm torque at the shaft.