MicroBridge+Modbus+TCP+to+G120+App+Note.pdf

ICP PANEL-TEC
MICROBRIDGE
INSTALLATION
AND
OPERATION
GUIDE
MODBUS/TCP TO
SIEMENS
G110/G120/MM440
APPLICATION

Modbus/TCP To Siemens G110/G120/MM440 Application Installation and Operation Guide
ICP Panel-Tec – MicroBridge 2
Revision History
Revision Date Author Comments
000 02 June 2009 David Walker Initial release.
001 25 January 2010 David Walker • Added drawing of unit and dimensions to Hardware section
002 4 March 2010 David Walker • Corrected configuration cable
• Changed configuration port from 'Local' to 'Network'

TABLE OF CONTENTS
INTRODUCTION.................................................................................................................................................................. 4
SERIAL PORT OVERVIEW....................................................................................................................................................... 4
ETHERNET PORT OVERVIEW ................................................................................................................................................. 4
ORDERING INFORMATION ..................................................................................................................................................... 4
HARDWARE.......................................................................................................................................................................... 5
DIMENSIONS.......................................................................................................................................................................... 5
POWER SUPPLY ..................................................................................................................................................................... 5
SERIAL PORT PINOUTS .......................................................................................................................................................... 6
ETHERNET PORT PINOUT....................................................................................................................................................... 6
SIEMENS DRIVE CABLE (G110 / G120 WITH CU240E / MM440)......................................................................................... 6
SIEMENS DRIVE CABLE (G120 WITH CU240S)..................................................................................................................... 7
CONFIGURATION CABLE ....................................................................................................................................................... 7
LED INDICATORS.................................................................................................................................................................. 8
MICROBRIDGE CONFIGURATION ................................................................................................................................ 9
DEFAULT CONFIGURATION ................................................................................................................................................... 9
CHANGING THE CONFIGURATION........................................................................................................................................ 10
XPORT CONFIGURATION .............................................................................................................................................. 11
OBTAINING THE IP ADDRESS .............................................................................................................................................. 11
ENTERING CONFIGURATION MODE ..................................................................................................................................... 11
CHANGING THE CONFIGURATION........................................................................................................................................ 12
SIEMENS DRIVE SETUP .................................................................................................................................................. 13
SIEMENS DRIVE PARAMETER CONFIGURATION................................................................................................................... 13
USS WATCHDOG TIMER SETUP .......................................................................................................................................... 13
VERIFYING THE INSTALLATION........................................................................................................................................... 13
MODBUS REGISTERS....................................................................................................................................................... 14
REGISTERS MAPPED TO UNSUPPORTED PARAMETERS ........................................................................................................ 14
MODBUS WATCHDOG TIMER SETUP ................................................................................................................................... 14

INTRODUCTION
The Modbus/TCP to G110/G120/MM440 version of the MicroBridge connects one G110, G120, or MM440 drive to a
Modbus/TCP Network via Ethernet. A pre-defined set of Modbus registers are provided to allow access to the most
common drive parameters, monitor values, setpoint values, and control points for the drive.
The MicroBridge device is a light-weight DIN Rail Mountable unit with 2 serial ports, an Ethernet port, and 6 LED
indicators. It is powered with a DC supply providing any voltage between 7 and 28 volts.
The MicroBridge has a built-in configuration utility. The configuration screens are accessed through any terminal
communication program such as HyperTerminal.
Serial Port Overview
The MicroBridge has two DB9 serial ports. Both ports can be used in either RS232 mode or 2-Wire RS485 mode. The
RS485 signals are located on the same pins on both ports. They are placed on pins that are not generally used for RS232
communications so off-the-shelf RS232 cables can be used when operating in RS232 mode. Both ports will operate at any
standard baud rate from 1200 to 115,200 baud. Most character framing combinations of data bits, parity, and stop bits are
supported.
One DB9 port is a female port referred to as the Local port (LCL) and is used to connect the MicroBridge to the Siemens
drive. The RS232 signals on the Local port use a DCE configuration. An LED indicator is used to reflect transmit/receive
activity on this port.
The other DB9 port is a male port referred to as the Network port (NET) and is used to configure the MicroBridge using the
built-in configuration utility. The RS232 signals on the Network port use a DTE configuration, requiring a null-modem
cable to be used during configuration mode. An LED indicator is used to reflect transmit/receive activity on this port.
Ethernet Port Overview
The MicroBridge also has a single Ethernet port, implemented using an 
XPort module (information on the XPort can be
found at www.gridconnect.com/gc-xport-mbtcp.html). The Ethernet port supports both 10 and 100 Mbit/sec
communications, and is used to connect the MicroBridge to a Modbus/TCP network. An LED indicator is used to reflect
transmit/receive activity of Modbus messages on this port.
Ordering Information
The MicroBridge product is sold with several different software applications. To ensure that the correct version of the
MicroBridge is procured, please include the correct part number when ordering. Part numbers for the MicroBridge, power
supply and cables for the Modbus to G110/G120/MM440 application are as follows:
Table 1 - Part Numbers
Part Number Description
5010-404-102 MicroBridge with Modbus/TCP-G110/G120/MM440 Application
4000-0205 MicroBridge Power Supply
6000-0003 MicroBridge Local Port Drive Cable (RS485 cable with stripped wires for connection to terminal block)
6000-0007 MicroBridge Local Port G120 Drive Cable (RS485 cable for connection to DB9 on CU240S)
6000-0010 MicroBridge Configuration Cable (Null Modem)

HARDWARE
Dimensions
The MicroBridge is packaged in a 10cm x 7.5cm x 11cm plastic box, with a din-rail mounting on the bottom. The serial
and Ethernet ports, leds, and power connector are on the top of the unit.
N
E
T
L
C
L
L
C
L
N
E
T
A
P
P
PWR
FRM + –
ETHERNET
Module
Status
Network
Status
Ethernet
Enabled
Ethernet Port
(Modbus/TCP)
Power
(7-27V DC)
Network Port
(Configuration)
Local Port
(Siemens G110/
G120/MM440)
(Unused Remote Port
and USB Port may
not be present)
Local Port
Activity
Network Port
Activity
Application
Status
Power Supply
The MicroBridge requires a power supply of 7-24V DC at 500 mA. A 3-position pluggable terminal block is used to
connect the power supply. The following diagram shows the wiring of the power supply.

Serial Port Pinouts
The pin configuration for the two DB9 serial ports are shown in the table below.
Table 2 - Serial Port Pinouts
Local: DB9-Female Network: DB9-Male
Pin Label Description Pin Label Description
1 485+ RS485 D+ 1 485+ RS485 D+
2 TXD RS232 TxD 2 RXD RS232 RxD
3 RXD RS232 RxD 3 TXD RS232 TxD
4 DTR RS232 DTR 4 - No Connect
5 GND Reference Ground 5 GND Reference Ground
6 485- RS485 D- 6 485- RS485 D-
7 RTS RS232 RTS 7 CTS RS232 CTS
8 CTS RS232 CTS 8 RTS RS232 RTS
9 VCC +5VDC Input 9 - No Connect
Ethernet Port Pinout
The pin configuration of the Ethernet port is shown in the table below.
1 2 3 4 5 6 7 8
Table 3 - Ethernet Port Pinout
Ethernet: RJ45 Socket
Pin Label Description
1 TD+ Transmit Data+
2 TD- Transmit Data-
3 RD+ Receive Data+
4 - no connection
5 - no connection
6 RD- Receive Data-
7 - no connection
8 - no connection
Siemens Drive Cable (G110 / G120 with CU240E / MM440)
One end of the RS485 Siemens Drive cable (Part # 6000-0003) connects to the DB9 Female Local port on the MicroBridge.
The other end of the cable has stripped wires for connection to the corresponding terminals on the drive.
485+ 1
485- 6
GND 5
MicroBridge Local Port
DB9-Male
485+
485-
G110 / G120 / MM440 Drive
Stripped Wires
485+ (Black)
485- (White)
GND (Green)
Figure 1 - G110 / G120 / MM440 Drive Cable

Siemens Drive Cable (G120 with CU240S)
One end of the RS485 Siemens Drive cable (Part # 6000-0007) connects to the DB9 Female Local port on the MicroBridge.
The other end of the cable connects to the DB9 Female connector on the CU240S module.
485+ 1
485- 6
GND 5
MicroBridge Local Port
DB9-Male
485+
485-
G120 Drive with CU240S
DB9-Male
3 485+
8 485-
5 GND
Figure 3 - G120 with CU240S Cable
Configuration Cable
One end of the MicroBridge Configuration cable (Part # 6000-0010) connects to the DB9 Male Network port on the
MicroBridge during configuration mode. The other end connects to a serial port on a PC. A standard off-the-shelf null-
modem DB9-F to DB9-F cable (pins 2 and 3 crossed) can be used as well.
TXD 3
RXD 2
GND 5
MicroBridge Network Port
DB9-Female
2 RXD
3 TXD
5 GND
PC Serial Port
DB9-Female
Figure 4 - Configuration Cable (null-modem)

LED Indicators
There are a total of 6 Bi-color LED indicators on the MicroBridge. The LCL, NET, and STAT LEDs are located next to
the Local Port on the MicroBridge. The LCL LED displays communications activity on the Local (Siemens drive) port.
The NET LED displays communications activity on the Network (Configuration) port during configuration mode, or on the
Ethernet port during run mode. The STATUS LED displays the overall status of the MicroBridge. During normal
operations, the LCL and NET LEDs will quickly alternate red and green flashes, making them look almost amber. This is
normal.
The other three LEDs are located next to the Ethernet port on the MicroBridge. The NS LED (closest to the Ethernet Port)
displays the network status of the MicroBridge. The MS LED (the middle of the three) displays the module status of the
MicroBridge. The ETH LED (farthest from the Ethernet port) indicates whether the Ethernet port is enabled on the
MicroBridge.
Table 3 – MicroBridge General Status LED (STATUS)
For this state: LED is: To indicate:
No Power Off There is no power applied to the device.
Run Mode Flashing Green
(250ms On, 250ms Off)
The MicroBridge is operating normally in RUN Mode.
Configuration Mode Flashing Green
(1.5 sec On, 1.5 sec Off)
The MicroBridge is in Configuration Mode.
Fatal Error Flashing Yellow
(250ms On, 250ms Off)
The MicroBridge has experienced a fatal error, and has
halted communications.
Table 4 - Network Port Communications Activity LED (NET)
Receive Data Red The MicroBridge is receiving data from the Modbus/TCP network.
Transmit Data Green The MicroBridge is transmitting data to the Modbus/TCP network.
Table 5 - Local Port Communications Activity LED (LCL)
Receive Data Red The MicroBridge is receiving data from the Siemens Drive.
Transmit Data Green The MicroBridge is transmitting data to the Siemens Drive.
Table 4 - Network Status LED (NS)
Inactive Off The MicroBridge is not connected to a Modbus/TCP host.
Transmit Data Green The MicroBridge is connected to a Modbus/TCP host.
Table 5 - Module Status LED (MS)
No Power Off There is no power applied to the device.
Run Mode Green The MicroBridge is operating normally in RUN Mode.
Table 6 - Ethernet Enabled LED (ETH)
Disabled Red The Ethernet Port is not enabled on the MicroBridge.
Enabled Green The Ethernet Port is enabled on the MicroBridge.

MICROBRIDGE CONFIGURATION
Default Configuration
Modbus/TCP communications is implemented using an XPort module, which converts Modbus/TCP requests to internal
Modbus/RTU requests for processing. The internal Modbus communications settings are fixed on the MicroBridge, and
must be matched by the XPort. The settings are as follows:
Table 7 - Required Modbus Settings for XPort
Parameter Setting
Protocol Modbus/RTU
Port Mode Slave
Port Type RS232
Modbus ID 2
Baud Rate 115200 bps
Data Bits 8
Parity Even
Stop Bits 1
The Local Port on the MicroBridge is configured for communications with a Siemens drive using the Siemens USS
protocol. The configuration parameters that may be changed are shown in the following table:
Table 8 – G120 / MM440 Port Configuration Options
Parameter Options Default
Port Type
2-wire RS485
RS232
2-wire RS485
USS Baud
Rate
2400 bps
4800 bps
9600 bps
19200 bps
38400 bps
57600 bps
76800 bps
93750 bps
115200 bps
38400 bps

Changing the Configuration
The configuration stored in the MicroBridge may be changed from the default configuration by entering Configuration
Mode. The following steps are required to enter Configuration Mode.
1. Attach a configuration cable between the Network port on the MicroBridge and a serial port on a PC.
2. Start a terminal program, such as HyperTerminal, on the PC, and connect using the following settings:
o Baud = 9600 bps
o Data bits = 8
o Parity = None
o Stop Bits = 1
o Flow Control = None
3. Apply power to the MicroBridge, and send a carriage return (press the Enter key) within 5 seconds of startup.
Once the MicroBridge is in Configuration Mode, it will send its current configuration information to the terminal program.
Use the up and down arrows on your keyboard to navigate to the field you want to change, then use the left and right
arrows to change the value in that field. When you are finished, navigate to “Save Configuration” and press the Enter key
to save the configuration information to the MicroBridge.
Once the configuration has been saved, remove power from the MicroBridge and remove the configuration cable.

XPORT CONFIGURATION
The XPort module may be configured via Ethernet using Telnet (any terminal program which supports the Telnet protocol
(such as HyperTerminal) may be used to configure the XPort. The XPort must be configured with a valid (and unique) IP
address and SubNet mask for the local network before using it on that network.
Obtaining the IP Address
If the IP Address for the XPort is not known, it may be discovered using the Lantronix DeviceInstaller software (available
at www.lantronix.com). Simply run DeviceInstaller, and click on Search. When the XPort appears in the list, use either the
Assign IP button or Telnet button to assign an IP address to the XPort.
Entering Configuration Mode
To configure the XPort, connect the MicroBridge via Ethernet to the Telnet client (if you are using HyperTerminal on a PC,
the PC is the client). The IP Address should be the current IP Address of the XPort, and the Port Number should be 9999.
When the Telnet client is connected to the XPort, the following screen is displayed:

Changing the Configuration
When the Enter key is pressed, the Device Server Plus+! screen is displayed.
Type "1" to modify the Network/IP Settings (parameter set 1). Parameter sets 2, 3, and 4 should not be changed, as those
settings are necessary to ensure proper communications between the XPort and the MicroBridge.
Once the Network/IP Settings have been modified, press "S" to save the new settings. The XPort will automatically restart
with the new settings.
Warning! Do not press "D" (Default Settings). The default XPort settings are not compatible with the MicroBridge.
If "D" is pressed, press "Q" to quit without saving, then reconnect and try again.
If the settings are changed to the default settings, or if options 2, 3, or 4 are modified, it will be necessary to changed them
back to the required settings for MicroBridge operation. Consult the following screen for the correct settings.

SIEMENS DRIVE SETUP
Siemens Drive Parameter Configuration
The Siemens drive must be configured before the MicroBridge will communicate properly with the drive. The
MicroBridge communicates with the drive through the USS interface. The baud-rate for the USS network is configurable
but defaults to 38.4K baud.
To setup the drive for communications with a MicroBridge, the drive parameters in the following table must be configured
with the values shown via the drive keypad or Starter software.
Table 9 - Siemens Drive Parameter Configuration
G120
Parameter
Function Set Value
P0003 User Access Level 3 (Expert Setting)
P0700[0] Command Source
5 if Starting/Stopping Drive from Modbus
Otherwise: Do Not Change
P1000[0] Frequency Setpoint Source
5 if Setting the Frequency from Modbus
Otherwise: Do Not Change
P2009[0] USS Normalization 0 (Disabled) Only for MM440
P2010[0] USS Baud Rate 8 (38.4K baud)
P2011[0] USS Address 0
P2012[0] USS PZD Length 2
P2013[0] USS PKW Length 127 (Variable)
P2014[0] USS telegram off time
0 to Disable the USS “watchdog” timer, or
> 0 to enable the USS “watchdog” timer
(NOTE: values less than 100ms are not recommended)
P2041[0] Protocol Selection for RS485 port 0 (USS Protocol) Only for MM440
USS Watchdog Timer Setup
The drive has a timeout function for the USS port, which is controlled by Parameter 2014, “USS telegram off time”. Once
the MicroBridge has established communications with a drive with the watchdog function enabled, the watchdog timer is
activated. If communications are subsequently lost for the specified length of time, the drive will automatically generate a
F0072 fault. Setting Parameter 2014 to a value of 0 disables the watchdog timer function. Setting Parameter 2014 to a
non-zero value enables the watchdog timer function with the specified time. Avoid setting this value too low, as that could
result in false fault indications.
Verifying the Installation
After all necessary connections have been made, power up the drive and the MicroBridge, and wait approximately 5
seconds. If the MicroBridge has been installed correctly, the STAT led will be flashing green, and the LCL led will be
alternating so fast between red and green that it will appear to be glowing amber.
To verify that the MicroBridge and drive are set up correctly, set P0700[0] to a value of 5 and P1000[0] to a value of 5 so
that the drive can be controlled from the Modbus/TCP network. From the Modbus/TCP host, issue a Modbus write with a
value of 1 to the Control from PLC register (40013) to enable drive remote control. Then, write a value of 5000 (50% of
the maximum frequency) to the Main Setpoint register (40019), followed by a value of 1 to the appropriate Enable
register(s). Write a value of 1 to the ON/OFF1 register (40003), and the drive should start running. Write a value of 0 to
the ON/OFF1 register to stop the drive. The drive frequency can be changed at any time during this process by writing to
the Main Setpoint register (40019).

MODBUS REGISTERS
The following table contains the list of all Modbus holding registers available on the MicroGate. The Modbus/TCP host
may write to Registers 40001 through 40039. All other registers are read-only.
There is a scaling factor included for some of the registers. Because Modbus does not represent floating point numbers, all
floating point values in the drive are converted to integer register values by applying a scaling (multiplication) factor. The
scaling factors are in the range of 10 to 1000. For example: “Ramp Up Time” has a scaling factor of 100. If the drive
contains a value of 20.50, then the “Ramp Up Time” register will contain a value of 2050.
STW and HSW refer to the 1st
and 2nd
words, respectively, of PZD data included in every poll sent from the MicroBridge to
the drive via the USS protocol. ZSW and HIW refer to the 1st
and 2nd
words, respectively, of PZD data included in every
poll response sent from the drive to the MicroBridge via the USS protocol. Registers mapped to PZD data are updated
frequently.
All other parameters (except “Watchdog Action” and “Watchdog Time”, which are handled internally in the MicroBridge)
are mapped to parameters in the drive, and are updated cyclically. Registers mapped to monitor parameters – parameters
such as “Actual Current”, or “Output Power”, whose values change automatically during normal operation of the drive,
without the intervention of an operator – are updated at a rate of approximately once per second. Registers mapped to setup
parameters – parameters such as “Ramp Up Time” or “Frequency MAX Limit”, whose values typically change only via
intervention by an operator – are updated at a rate of approximately once every 5 seconds.
Registers Mapped to Unsupported Parameters
If a particular parameter is not supported in the drive, then the corresponding Modbus register from the register map will
not be supported unless it is noted as reserved. Attempts to read or write that register will result in an exception response.
Attempts to read or write a block of register including one or more unsupported registers (not reserved registers which are
ok) will result in an exception response. For example, if PID functionality is disabled in the drive, such that parameter
r2260 is not supported, then attempts to read Modbus register 40090 will result in a Modbus exception response.
Modbus Watchdog Timer Setup
The MicroBridge includes a watchdog timer function for Modbus/TCP communications. When this function is enabled, the
MicroBridge will stop the drive if it is running under Modbus/TCP control and Modbus/TCP communications are lost for
the specified period of time. This Modbus/TCP host controls the watchdog timer function via Modbus holding registers
40001 (Watchdog Time) and 40002 (Watchdog Action) on the MicroBridge. To activate the Modbus watchdog timeout
function, the Modbus/TCP host should set the “Watchdog Time” register to the desired timeout period (in milliseconds),
then set the “Watchdog Action” register to a value of 1. To disable the Modbus watchdog timeout function, the
Modbus/TCP host should set the “Watchdog Action” register to a value of 0.

Table 10 - Modbus Registers
1 0
Register Description Units Scaling Factor
Range
Parameter
Reference
40001 Watchdog Time ms 1 0…65535 --
40002 Watchdog Action -- -- Stop Drive No Action --
40003 ON/OFF1 -- -- ON OFF1 STW1:0
40004 No OFF2 -- -- No OFF2 OFF2 STW1:1
40005 No OFF3 -- -- No OFF3 OFF3 STW1:2
40006 Pulse Enable -- -- Enable Off STW1:3
40007 RFG Enable -- -- Enable Off STW1:4
40008 RFG Start -- -- Start Off STW1:5
40009 Setpoint Enable -- -- Enable Off STW1:6
40010 Fault Acknowledge -- -- Ack On Off STW1:7
40011 Jog Right -- -- Yes No STW1:8
40012 Jog Left -- -- Yes No STW1:9
40013 Control From PLC -- -- Yes No STW1:10
40014 Reverse Command -- -- Reverse Forward STW1:11
40015 Reserved -- -- -- -- STW1:12
40016 MOP Up -- -- Yes No STW1:13
40017 MOP Down -- -- Yes No STW1:14
40018 CDS Bit 0,Local/Remote -- -- Local Remote STW1:15
40019 Main Setpoint % 100 -200.00…200.00 HSW
40020 Ramp Up Time sec 100 0.00…650.00 P1120[0]
40021 Ramp Down Time sec 100 0.00…650.00 P1121[0]
40022 Current Limit % 10 10.0…400.0 P0640[0]
40023 Frequency MAX Limit Hz 100 1.00…649.99 P1082[0]
40024 Frequency MIN Limit Hz 100 0.00…649.99 P1080[0]
40025 OFF3 Ramp Down Time sec 100 0.00…650.00 P1135[0]
40026 PID Enable -- -- Enable No P2200[0]
40027 PID Filter Time Constant sec 100 0.00…60.00 P2265
40028 PID D Gain sec 1000 0.000…60.000 P2274
40029 PID P Gain -- 1000 0.000…65.000 P2280
40030 PID I Gain sec 1000 0.000…60.000 P2285
40031 PID Up Limit % 100 -200.00…200.00 P2291
40032 PID Down Limit % 100 -200.00…200.00 P2292

1 0
Range
Parameter
Reference
40033 Reserved -- Must be 0 --
40040 Drive Ready -- Drive ready No ZSW1:0
40041 Drive Ready to Run -- Ready to run No ZSW1:1
40042 Drive Running -- Running No ZSW1:2
40043 Drive Fault Active -- Fault Ok ZSW1:3
40044 No OFF2 Active -- No OFF2 OFF2 ZSW1:4
40045 No OFF3 Active -- No OFF3 OFF3 ZSW1:5
40046 On Inhibit Active -- Inhibited Ok ZSW1:6
40047 Drive Alarm Active -- Alarm Ok ZSW1:7
40048 Speed Setpoint Deviation -- No Yes ZSW1:8
40049 PZD Control -- Yes No ZSW1:9
40050 At Max Frequency -- At Max No ZSW1:10
40051 Motor Current Alarm -- No Alarm ZSW1:11
40052 Holding Brake Active -- Active No ZSW1:12
40053 Motor Overload -- No Overload ZSW1:13
40054 Motor Runs Forward -- Forward Reverse ZSW1:14
40055 Inverter Overload -- No Overload ZSW1:15
40056 Actual Frequency % 100 -200.00…200.00 HIW
40057 Speed Setpoint Hz 10 -3250.0…3250.0 r0020
40058 Output Frequency Hz 10 -3250.0…3250.0 r0024
40059 Output Voltage Vac 10 -3250.0…3250.0 r0025
40060 DC Link Voltage Vac 10 -3250.0…3250.0 r0026[0]
40061 Actual Current A 100 0.00…655.35 r0027
40062 Actual Torque Nm 10 -3250.0…3250.0 r0031
40063 Output Power kW/Hp 100 -325.00…325.00 r0032
40064 Motor Temperature °C 100 0.00…200.00 r0035[0]
40065 Power Unit Temperature °C 100 0.00…200.00 r0037[0]

1 0
Range
Parameter
Reference
40066 Energy kWh kWh 1 0…65535 r0039
40067 CDS Eff (Local Mode) -- 1 0…2 r0050
40068 Status Word 2 -- Bit Mask 0000-FFFF r0053
40069 Control Word 1 -- Bit Mask 0000-FFFF r0054
40070 Motor Speed (Encoder) Hz 10 -650.0…650.0 r0061
40071 Digital Inputs -- Bit Mask 0000-FFFF r0722
40072 Digital Outputs -- Bit Mask 0000-FFFF r0747
40073 Analog Input 1 V/ma 1000 -20.000…20.000 r0752[0]
40074 Analog Input 2 V/ma 1000 -20.000…20.000 r0752[1]
40075 Analog Output 1 V/ma 1000 -20.000…20.000 r0774[0]
40076 Analog Output 2 V/ma 1000 -20.000…20.000 r0774[1]
40077 Fault Code 1 -- 1 0…65535 r0947[0]
40078 Fault Code 2 -- 1 0…65535 r0947[1]
40079 Fault Code 3 -- 1 0…65535 r0947[2]
40080 Fault Code 4 -- 1 0…65535 r0947[3]
40081 Fault Code 5 -- 1 0…65535 r0947[4]
40082 Fault Code 6 -- 1 0…65535 r0947[5]
40083 Fault Code 7 -- 1 0…65535 r0947[6]
40084 Fault Code 8 -- 1 0…65535 r0947[7]
40085 Pulse Frequency kHz 100 0…16 r1801
40086 Alarm Code 1 -- 1 0…65535 r2110[0]
40087 Alarm Code 2 -- 1 0…65535 r2110[1]
40088 Alarm Code 3 -- 1 0…65535 r2110[2]
40089 Alarm Code 4 -- 1 0…65535 r2110[3]
40090 PID Setpoint Output % 100 -100.00…100.00 r2260
40091 PID Feedback % 100 -100.00…100.00 r2266
40092 PID Output % 100 -100.00…100.00 r2294
40093 Reserved -- Always 0 --
….. Reserved -- Always 0 --

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