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1. nana 5 74 Communication Delay Timing Diagram 5 74 Communication Delay Summary 5 75 5 1b GS1 Series AC Drive User Manual 2nd Edition 07 06 2011 Chapter 5 GS1 Modbus Communications EET 2nd Edition 07 06 2011 GS1 Series AC Drive User Manual 5 1c Chapter 5 GS1 Modbus Communications ET Communication Parameters Summary A summary of the GS1 Communications Parameters is listed below For a complete listing of the GS1 Parameters refer to CHAPTER 4 GS1 Parameter Communications Parameter Summary Description Range P9 00 Communication Address 1 to 254 P9 01 Transmission Speed 4800 baud 9600 baud 19200 baud Communication Protocol MODBUS ASCII mode 7 data bits no parity 2 stop bits MODBUSASCII mode 7 data bits even parity 1 stop bit MODBUSASCII mode 7 data bits odd parity 1 stop bit MODBUSRTU mode 8 data bits no parity 2 stop bits MODBUSRTU mode 8 data bits even parity 1 stop bit MODBUSRTU mode 8 data bits odd parity 1 stop bit P9 03 Transmission Fault Treatment Display fault and continue operating Display fault and RAMP to stop Display fault and COAST to stop No fault displayed and continue operating P9 04 Time Out Detection Disable Enable P9 05 Time O ut Duration 0 1 to 60 0 seconds P9 07 Parameter Lock 0 All parame
2. LD Drive 1 Ext Fault New V3003 OUT Drive 1 Ext Fault Retain V3013 LD Drive 1 Fault Reset New V3004 OUT Drive 1 Fault Reset Retain V3014 Drive 1 Speed Ref Write Enable C10 RST Drive 1 Direction Fault Reset Write Enable C11 RST Drive 1 Speed Direction Fault Reset Writes Finished C13 RST Continued next page 2nd Edition 07 06 2011 GS1 Series AC Drive User Manual 5 41 Chapter 5 GS1 Modbus Communications ER DL MRX MWX Communication Program continued Rungs 14 amp 15 write to the Run Command word if it changes Drive 1 Drive 1 Drive 1 Drive 1 Drive 1 Run CMD Run CMD Speed Ref Run CMD Run CMD New Retain Write Enable Write Enable Write Enable V3001 V3011 C10 C12 C12 14 1 oh SET Drive 1 Run CMD Port Busy Write Enable MWX SP116 C12 CPU DCM Slot Port Number 15 Slave Address Function Code 06 Preset Single Register Start Slave Memory Address K42332 Start Master Memory Address V3001 Number of Elements n a Modbus Data type 584 984 Mode Exception Response Buffer V5014 Drive 1 Run CMD Writes Finished C14 SET This rung writes the new value for the Run Command word to its comparison location so the code can again start watching for changes Drive 1 Drive 1 Run CMD Run CMD Write Enable Write Finished C12 C14 LD Drive 1 Run CMD New V3001 16
3. Start Slave Memory Address K42332 Start Master Memory Address V3031 Number of Elements n a Modbus Data type 584 984 Mode Exception Response Buffer V5025 Drive 2 Run CMD Writes Finished C44 SET This rung writes the new value for the Run Command word to its comparison location so the code can again start watching for changes Drive 2 Drive 2 Run CMD Run CMD Write Enable Write Finished C42 C44 LD Drive 2 Run CMD New V3021 37 OUT Drive 2 Run CMD Retain V3031 Drive 2 Run CMD Write Enable C42 RST Drive 2 Run CMD Write Finished C44 RST Continued next page 5 48 GS1 Series AC Drive User Manual 2nd Edition 07 06 2011 Chapter 5 GS1 Modbus Communications DL MRX MWX Communication Program continued Rungs 38 amp 39 select either 30Hz or 60Hz based on X23 Drive 2 Speed Control bit 60 30Hz X23 38 OUT Drive 2 Speed Ref New V3020 Drive 2 Speed Control bit 60 30Hz X23 LD 39 K600 OUT Drive 2 Speed Ref New V3020 Rungs 40 amp 41 select Run or Stop based on X25 Drive 2 Run Stop X25 40 OUT Drive 2 Run CMD New V3021 Drive 2 Run Stop X25 LD 41 KO OUT Drive 2 Run CMD New V3021 Continued next page 2nd Edition 07 06 2011 GS1 Series AC Drive User Manual 5 49 Chapter 5 GS1 Modbus Communications DL MRX MWX Communication Program continued Rungs 42 amp 43 select Direction based o
4. 25 OUT Drive 1 Ext Fault Reset New Drive 1 Ext Fault Reset oe X10 LD 26 KO OUT Drive 1 Ext Fault Reset New V3004 Continued next page 5 44 GS1 Series AC Drive User Manual 2nd Edition 07 06 2011 Chapter 5 GS1 Modbus Communications DL MRX MWX Communication Program continued The following 21 rungs 27 47 are for slave 2 communications control This rung turns on C31 if there is a fault in drive 2 Drive 2 Fault K1 C31 27 This rung allows a switch on input X21 to reset the C bit used to indicate drive 2 fault Drive 2 Fault Indication Reset Drive 2 Fault 28 This rung turns on C32 if drive 2 has an overload fault Drive 2 OL V2020 K4 C32 A i SET This rung allows a switch on input X22 to reset the overload fault bit C32 29 Drive 2 Overload Indication Reset Drive 2 OL X22 C32 J st This rung checks to see if the drive Speed Direction External Fault or Fault Reset conditions have been changed in the local program and need to be written to drive 2 30 Drive 2 Drive 2 Drive 2 Speed Ref Speed Ref New Speed Ref Retain Write Enable V3030 C40 V3020 31 Drive 2 Drive 2 Direction New Direction Retain V3022 3032 al Drive 2 Drive 2 Drive 2 Drive 2 Run CMD Speed Ref External Fault New External Fault Retain Write Enable Write Enable C40 SET V3023 3033 C42 Drive
5. Analog Input Reverse M otion Enable P4 05 Loss of ACI Signal 4 20 mA Parameter can be set during RUN Mode Presets Parameters P5 00 Jog P5 01 Multi Speed 1 P5 02 Multi Speed 2 P5 03 Multi Speed 3 Parameter can be set during RUN Mode For Modbus Decimal addresses used with CLICK PLCs insert another zero as the next to most significant digit e g 402333 instead of 42333 2nd Edition 07 06 2011 GS1 Series AC Drive User Manual 5 5 Chapter 5 GS1 Modbus Communications ET Parameter Memory Addresses continued Modbus Parameter Description Hexadecimal Decimal Protection Parameters P6 00 Electronic Thermal O verload Relay 0600 41537 P6 01 Auto Restart after Fault 0601 41538 P6 02 Momentary Power Loss 0602 41539 P6 03 _ Reverse O peration Inhibit 0603 41540 P6 04 Auto Voltage Regulation 0604 41541 P6 05 Over Voltage Trip Protection 0605 41542 P6 06 Auto Adjustable Accel D ecel 0606 41543 P6 07 Over Torque Detection Mode 0607 41544 P6 08 Over Torque Detection Level 0608 41545 P6 09 Over Torque Detection Time 0609 41546 P6 10 Over Current Stall Prevention during Acceleration 060A 41547 P6 11 Over Current Stall Prevention during Operation 060B 41548 P6 12 Maximum Allowable Power Loss Time 060C 41549 P6 13 Base Block Time for Speed Search 060D 41550 P6 14 Maximum Speed Search Current Level 060E 41551 P6 15
6. GS1 Series AC Drive User Manual 2nd Edition 07 06 2011 Chapter 5 GS1 Modbus Communications Communication Delay Summary N ow that you know how to calculate the time required for one message to one GS drive you would simply multiply this value per message to each GS drive on the network since only one message can be sent at a time As you can deduce from the statement above the more messages being sent to GS drives the longer it takes to communicate to an individual drive as each message has to take its turn So how do you optimize your communications to get messages faster to your GS drives There is no way to make a message go faster than what is specified above but what you can affect is the amount of messages being sent to any given GS drive in two ways 1 Group together messages into Block requests whenever possible For example if you wanted to read Status Monitor 1 and the Output Frequency status register from the drive read the two together as a block Status Monitor 1 Status Monitor 2 Frequency Command and Output Frequency and ignore the other two status registers that you don t need instead of sending two separate read commands If you do the calculations above you will see that is much faster to take the additional hit from four extra bytes in the reply message than it would be to send a separate message NOTE that you cannot read across non contiguous Modbus addresses so this typically only works when readin
7. e Modbus control is easier to accomplish from a DirectLO GIC PLC with an RS 485 port and M RX M W X or from a CLICK PLC using Send Receive instructions Choose Your CPU CLICK Analog CPU with Send Receive instructions amp RS 485 comm port D2 260 or DLO6 with MRX MWX instructions amp RS 485 comm port CLICK Basic CPU with Send Receive instructions amp RS 232 comm port DLO5 D2 250 1 or D4 450 with RX WX instructions amp RS 232 comm port Primary Choices Secondary Choices Step 2 Make the Connections GS1 RS 485 Serial Comm Port GS1 Serial Comm Port 1 17V RS 485 Interface Sa RJ12 6P4C 5 i SA KUOKA Sa 6 reserved The GS1 Comm Port requires an RS 485 input RS 232 signals can be converted to RS 485 by using a separate converter PLC Connections for RS 485 Modbus RTU Control of GS1 Drive PLC PLC Port Communication Direct Cable Length CLICK 3 RS 485 ZL RJ12 CBL 2P 2m 6 6 ft DLOS 2 RS 232 RS 485 N A DLO6 DO DCM 2 RS 485 GS 485HD15 CBL 2 2m 6 6 ft D2 DCM D2 250 1 D2 260 2 RS 485 GS 485HD15 CBL 2 2m 6 6 ft D4 450 3 RS 232 RS 485 N A If a PLC type or port is not listed in this chart it cannot function asa Modbus RTU master Requires RS 232 RS 485 converter amp generic cabling options described later in this chapter Termination resistors not required due to short cable length 20 RS 232 RS 48
8. 2 Drive 2 Fault Reset New Fault Reset Retain V3024 V3034 Continued next page 2nd Edition 07 06 2011 GS1 Series AC Drive User Manual 5 45 Chapter 5 GS1 Modbus Communications ET DL MRX MWX Communication Program continued This rung writes the new Speed Reference if it changes Drive 2 Drive 2 Speed Ref Direction Fault Reset Port Busy Write Enable Write Enable MWX SP116 C40 C41 CPU DCM Slot CPU Port Number K2 Slave Address K2 Function Code 06 Preset Single Register Start Slave Memory Address K42331 Start Master Memory Address V3030 Number of Elements n a Modbus Data type 584 984 Mode Exception Response Buffer V5017 Drive 2 Direction Fault Reset Write Enabled C41 SET This rung writes the Direction Ext Fault and Fault Reset words if any of them changes Drive 2 Drive 2 Speed Ref Direction Fault Reset Port Busy Write Enable Write Enable MWX SP116 C40 C41 CPU DCM Slot CPU Port Number K2 Slave Address K2 Function Code 16 Preset Multiple Registers Start Slave Memory Address Start Master Memory Address Number of Elements Modbus Data type 584 984 Mode Exception Response Buffer V5022 Drive 2 Speed Direction Fault Reset Writes Finished C43 SET Continued next page 5 46 GS1 Series AC Drive User Manual 2nd Edition 07 06 2011 Chapter 5 GS1 Modbus Communications DL MRX MWX Communication Program continued This rung writes the
9. 402333 instead of 42333 2nd Edition 07 06 2011 GS1 Series AC Drive User Manual Chapter 5 GS1 Modbus Communications eee GS1 Status Addresses The GS1 Series AC drive has status memory addresses that are used to monitor the AC drive The status addresses and value definitions are listed below Status Addresses Read Only GS1 Status Addresses Description Hexadecimal Modbus Decimal Status Monitor 1 2100 48449 Status Monitor 2 2101 48450 Frequency Command F 2102 48451 Output Frequency H 2103 48452 Output Current A 2104 48453 DC Bus Voltage d 2105 48454 Output Voltage U 2106 48455 Motor RPM 2107 48456 Scale Frequency Low Word 2108 48457 Scale Frequency High Word 2109 48458 Load 210B 48460 Firmware Version 2110 48465 Status Monitor 1 h2100 Error Codes 00 No fault occurred 10 CPU Failure 3 cF3 01 Overcurrent oc 11 Hardware Protection Failure H PF 02 O ver voltage ov 12 Overcurrent during accel ocA 03 Overheat oH 13 Overcurrent during decel ocd 04 Overload oL 14 Overcurrent during steady state ocn 05 Overload 1 oL1 16 Low Voltage Lv 06 Overload 2 oL2 18 External Base Block bb 07 External Fault EF 19 Auto Adjust accel decel Failure cFA 08 CPU Failure 1 cF1 20 Software Protection Code codE 09 CPU Failure 2 cF2 Some error codes will not display under status address if only a warning message The drive
10. This rung determines if the Speed Direction Ext Fault or Fault Reset words have changed and need to be written Drive 1 Speed Drive 1 Speed Ref Retain Drive 1 Speed Ref Write Enable 11 DS310 C10 Ref New O DS300 11 Drive 1 Drive 1 Direction New Direction Retain O DS302 m DS312 a Drive 1 Ext Drive 1 Ext Fault New Fault Retain O DS303 m DS313 Drive 1 Run CMD Drive 1 Speed Write Enable Ref Write Enable C12 C10 SET Zz Drive 1 Fault Reset Retain m DS314 Drive 1 Fault Reset New O DS304 Continued next page 2nd Edition 07 06 2011 GS1 Series AC Drive User Manual 5 23 Chapter 5 GS1 Modbus Communications ET CLICK Communication Program continued This rung writes the new Speed Reference if it changes _Port_3_Ready_Flag Drive 1 Speed Ref Write Enable SC102 C10 Drive 1 Direction Send Port3 Fault Reset Siyo ID Write Enabl TB CH e Modbus Function Code C206 Slave Addr Drive 1 Speed Ref New Master 11 DS300 Drive 1 Direction Fault Reset Write Enable C11 SET This rung writes the Direction Ext Fault and Fault Reset words if any of them changes _Port_3_Ready_Flag Drive 1 Speed Ref Write Enable C102 Drive 1 Direction Fault Reset Modbus Function Code C209 Write Enable Slave Addr C11 NO of Master Addresses Word Swap Drive 1 Direction New Master m DS302 Drive 1 Speed Direction Fault Reset writ
11. 2 Run CMD Write Finished C44 RST Continued next page 2nd Edition 07 06 2011 GS1 Series AC Drive User Manual 5 61 Chapter 5 GS1 Modbus Communications DL RX WX Communication Program continued Rungs 38 amp 39 select either 30Hz or 60Hz based on X23 Drive 2 Speed Control bit 60 30Hz X23 OUT Drive 2 Speed Ref New V3020 Drive 2 Speed Control bit 60 30Hz X23 OUT Drive 2 Speed Ref New V3020 Rungs 40 amp 41 select Run or Stop based on X25 Drive 2 Run Stop X25 OUT Drive 2 Run CMD New V3021 Drive 2 Run Stop X25 OUT Drive 2 Run CMD New V3021 Continued next page 5 62 GS1 Series AC Drive User Manual 2nd Edition 07 06 2011 Chapter 5 GS1 Modbus Communications DL RX WX Communication Program continued Rungs 42 amp 43 select Direction based on X26 Drive 2 Forward Reverse X26 42 OUT Drive 2 Direction New V3022 Drive 2 Forward Reverse X26 LD 43 KO OUT Drive 2 Direction New V3002 Rungs 44 amp 45 select Ext Fault or no fault based on X27 Drive 2 Ext Fault X27 44 OUT Drive 2 Ext Fault New V3023 Drive 2 Ext Fault X27 LD 45 KO OUT Drive 2 Ext Fault New V3023 Rungs 46 amp 47 select Fault Reset or no reset based on X30 Drive 2 Ext Fault Reset X30 46 OUT Drive 2 Ext Fault Reset New V3024 Drive 2 Ext Fault Reset X30 LD 47 KO OUT Drive 2 Ext Fault Reset New
12. 500 ms Ee Non Sequence 3 Characters Remote 1 0 Time out Base Timeout x 1 RTS on delay time Oms gt RTS offdelaytime Oms gt Station Number 4 Baud rate 9600 x Stop bish Pariyfoda gt Echo Suppression C RS 422 485 4 wire RS 232C 2 wire RS 485 2 wire Port 2 15 Pin 5 18 GS1 Series AC Drive User Manual 2nd Edition 07 06 2011 Chapter 5 GS1 Modbus Communications ee Step 4 Configure the DirectLO GIC CPUs continued DirectLO GIC MO DBUS Port Configuration for D L05 D2 250 1 or D4 450 The following configuration example is specific to the D2 250 1 and DLO5 Refer to the appropriate CPU User Manual for the specifics on your DirectLogic CPU e In DirectSO FT choose the PLC menu then Setup then Secondary Comm Port e From the Port list box choose Port 2 e For the Protocol select ONLY MODBUS Do not select multiple protocols e In the Timeout list box select 800 ms e Response Delay Time should be Oms e The Station Number should be set to 1 to make the D2 250 1 or DLO5 CPU a MODBUS Master e The Baud Rate should be set at 9600 or higher if using an FA ISOCON network adapter module e In the Stop Bits list box choose 1 e In the Parity list box choose Odd I The DL250 network instructions used in Master mode will access only slaves 1 to 90 Each slave must have a unique number Setup Communica
13. Data bit s 7 3 pin Removable Terminal ock Advanced Configuration Time out Setting 500 ms Character Time out 2 1000ms 2 RTS ON Delay 0 5000ms fe 4 ATS OFF Delay 0 5000ms LI Response Delay Time 0 5000ms 0 23 I The communication port settings are saved in the project file The project must be transferred to the CLICK PLC in order for any port setting changes to take effect 2nd Edition 07 06 2011 GS1 Series AC Drive User Manual 5 17 Chapter 5 GS1 Modbus Communications eee Configure the DirecttLOGIC CPUs DirectLO GIC MO DBUS Port Configuration for D2 260 and D L06 The following configuration example is specific to the D2 260 and DLO6 Refer to the appropriate CPU User Manual for the specifics on your DirectLO GIC CPU e In DirectSO FT choose the PLC menu then Setup then Secondary Comm Port e From the Port number list box at the top choose Port 2 e For the Protocol select ONLY MODBUS Do not select multiple protocols e Response Delay Time should be Oms Both RTS on and off delay times must be set to Oms e The Station Number should be set to 1 to make the D2 260 or DLO6 CPU a MODBUS master e The Baud Rate should be set at 9600 e In the Stop Bits list box Choose 1 e In the Parity list box choose Odd Pott Port 2 v Close Protocol Base Timeout T Th K Sequence 800ms T DirectNET 800 ms Help MV MODBUS
14. Drive 2 Drive 2 Drive 2 Run CMD Speed Ref External Fault New External Fault Retain Write Enable Write Enable C40 SET V3023 3033 C42 Drive 2 Drive 2 Fault Reset New Fault Reset Retain V3024 V3034 Continued next page 5 58 GS1 Series AC Drive User Manual 2nd Edition 07 06 2011 Chapter 5 GS1 Modbus Communications DL RX WX Communication Program continued This rung writes the new Speed Reference if it changes Drive 2 Drive 2 Speed Ref Direction Fault Reset Port Busy Write Enable Write Enable SP116 C40 C41 Drive 2 Direction Fault Reset Write Enabled C41 SET This rung writes the Direction Ext Fault and Fault Reset words if any of them changes Drive 2 Drive 2 Speed Ref Direction Fault Reset Port Busy Write Enable Write Enable SP116 C40 C41 Drive 2 Speed Direction Fault Reset Writes Finished C43 SET Continued next page 2nd Edition 07 06 2011 GS1 Series AC Drive User Manual 5 59 Chapter 5 GS1 Modbus Communications DL RX WX Communication Program continued This rung writes the new values for Speed Ref Direction Ext Fault and Fault Reset words to their comparison locations so the code can again start watching for changes Drive 2 Drive 2 Drive 2 Speed Speed Ref Direction Fault Reset Direction Fault Reset Write Enable Write Enable Writes Finished C40 C41 C43 m LD Drive 2 Speed Ref New V
15. FA ISOCON RS 232 to RS 485 converter with ANTE Connect shield to signal ground at one end only Node 1 GS1 4 SG Comm Port Connect shield to signal ground atone end only Node 2 120Q Termination Resistor at both ends of network A cable ZL RJ12 CBL 2 is available that will connect the DLO5 to the FA ISOCON A cable can also be constructed using the FA 15HD adapter and RJ12 6P6C cable from the FA CABKIT DO DCM DL250 1 RS 232C to RS 485 Connection Wiring DO DCM DL250 PORT 2 1200 Termination Resistor at both ends of network G V a COMA 24VDC i 3 RXD A D z cst eo ors Comm Port B Node 1 GS1 Connect shield Comm Port to signal ground at one end only Connect shield to signal ground at one end only Node 2 T FA ISOCON RS 232 to RS 485 converter with ANTE 1200 Termination Resistor at both ends of network A cable that will connect the DO DCM or DL250 to the FA ISOCON can be constructed using the FA 15HD adapter and the DO CBL cable A cable can also be constructed using the FA 15HD adapter and RJ12 6P6C cable from the FA CABKIT 5 14 GS1 Series AC Drive User Manual 2nd Edition 07 06 2011 Chapter 5 GS1 Modbus Communications RS 232C
16. Jog P9 39 Firmware Version HAE Ht 1 GS1 2 GS2 3 GS3 4 GS4 GS1 10P2 120V 1ph 0 25hp GS1 10P5 120V 1ph 0 5hp GS1 20P2 230V 1ph 3ph 0 25hp GS1 20P5 230V 1ph 3ph 0 5hp GS1 21P0 230V 1ph 3ph 1hp GS1 22P0 230V 3ph 2hp P9 41 GS Series N umber Manufacturer Model Information Parameter can be set during RUN Mode 2nd Edition 07 06 2011 GS1 Series AC Drive User Manual 5 3 Chapter 5 GS1 Modbus Communications GS1 Parameter Memory Addresses and DLOS5 Parameter Memory Addresses GS1 Parameter Description Hexadecimal Motor Parameters P0 00 Motor Nameplate Voltage 0000 P0 01 Motor Nameplate Amps 0001 P0 02 Motor Base Frequency 0002 P0 03 Motor Base RPM 0003 P0 04 Motor Maximum RPM 0004 Ramp Paramete P1 00 Stop Methods P1 01 Acceleration Time 1 P1 02 Deceleration Time 1 P1 03 Accel S curve P1 04 Decel S curve P1 05 Acceleration Time 2 P1 06 Deceleration Time 2 P1 07 Select method to use 2nd Accel Decel P1 08 Accel 1 to Accel 2 frequency transition P1 09 Decel 2 to Decel 1 frequency transition P1 10 Skip Frequency 1 P1 11 Skip Frequency 2 P1 12 Skip Frequency 3 P1 17 Skip Frequency Band P1 19 DC Injection Voltage Level P1 20 DC Injection during Start up P1 21 DC Injection during Stopping P1 22 Start point for DC Injection Parameter can be set during
17. Run Command to the drive along with the Speed Reference Direction External Fault and Fault Reset Commands we can keep the parameter addresses in sequence and we can update all five of the commands with one write instruction This method is valid only if we disable the drive s keypad STOP button P3 00 04 Typically the keypad STOP button will be enabled P3 00 03 and we need to prevent a change in one of the other commands from overriding a keypad Stop Command by causing a previous Run Command to be rewritten to the drive By using a separate Run Command write instruction only a deliberate Run Command change by the program will run the drive again after a stop Block Transfer Parameters for Modbus Programs For writing to any of the parameters from P0 00 to P8 01 a group of 10 block transfer parameters P9 11 to P9 20 is available in the GS1 AC drive This sequential block of parameters can be used to group various miscellaneous non sequential parameters so that you can update the parameters in one programming write block instead of having to use multiple write commands For example it would typically take three different write commands to change the three non sequential parameters Accel Time 1 P1 01 Accel S curve P1 03 and M ulti speed 1 P5 01 However you could make the same three changes using one write command by setting P9 11 to P1 01 P9 12 to P1 03 and P9 13 to P5 01 so that the parameters become sequenti
18. Slave Address Function Code 06 Preset Single Register Start Slave Memory Address K42331 Start Master Memory Address V3000 Number of Elements Modbus Data type Exception Response Buffer Drive 1 Direction Fault Reset Write Enabled C11 SET This rung writes the Direction Ext Fault and Fault Reset words if any of them changes Drive 1 Drive 1 Speed Ref Direction Fault Reset Port Busy Write Enable Write Enable MWX SP116 C10 Cit CPU DCM Slot Port Number Slave Address Function Code 16 Preset Multiple Registers Start Slave Memory Address Start Master Memory Address Number of Elements Modbus Data type Exception Response Buffer Drive 1 Speed Direction Fault Reset Writes Finished C13 SET Continued next page 5 40 GS1 Series AC Drive User Manual 2nd Edition 07 06 2011 Chapter 5 GS1 Modbus Communications DL MRX MWX Communication Program continued This rung writes the new values for Speed Ref Direction Ext Fault and Fault Reset words to their comparison locations so the code can again start watching for changes Drive 1 Drive 1 Drive 1 Speed Speed Ref Direction Fault Reset Direction Fault Reset Write Enable Write Enable Writes Finished C10 C11 C13 Drive 1 Speed Ref New V3000 o _ OUT Drive 1 Speed Ref Retain V3010 LD Drive 1 Direction New V3002 OUT Drive 1 Direction Retain V3012
19. Upper Bound of O utput Frequency 060F 41552 P6 16 Lower Bound of Output Frequency 0610 41553 P6 17 Over Voltage Stall Prevention Level 0611 41554 P6 18 Braking Voltage Level 0612 41555 P6 30 Line Start Lockout 061E 41567 P6 31 Present Fault Record 061F 41568 P6 32 Second Most Recent Fault Record 0620 41569 P6 33 Third Most Recent Fault Record 0621 41570 P6 34 Fourth Most Recent Fault Record 0622 41571 P6 35 _ Fifth Most Recent Fault Record 0623 41572 P6 36 Sixth Most Recent Fault Record 0624 41573 t This parameter available only with firmware v1 07 or higher refer to P9 39 Display Parameters P8 00 User Defined Display Function P8 01 Frequency Scale Factor Parameter can be set during RUN Mode For Modbus Decimal addresses used with CLICK PLCs insert another zero as the next to most significant digit e g 402333 instead of 42333 5 6 GS1 Series AC Drive User Manual 2nd Edition 07 06 2011 Parameter Chapter 5 GS1 Modbus Communications es Parameter Memory Addresses continued Description Modbus Hexadecimal Decimal Communications Parameters P9 00 Communication Address 0900 42305 P9 01 Transmission Speed 0901 42306 P9 02 Communication Protocol 0902 42307 P9 03 Transmission Fault Treatment 0903 42308 P9 04 Time O ut D etect
20. Write Instruction 5 35 Block Transfer Parameters for Modbus Programs 5 35 DirectLOGIC Basic Communication Program start with this code 5 36 Programming Differences for DirecttLOGIC PLCS 5 37 RX WX Instructions for DLO5 D2 250 1 D4 450 5 37 MRX MWX Instructions for DLO6 D2 260 5 37 DL MRX MWX Communication Program for DLO6 amp D2 260 PLCs 5 38 DL RX WX Communication Program for DLO5 D2 250 1 D4 450 5 51 Communicating with Third Party Devices 5 64 Common Third Party MODBUS RTU Masters 5 64 Using Modbus ASCII wi UWA 5 65 Data Fona ia IA E AA AA AA EE O 5 65 Communication Protocol 5 66 Comm Delay Optimizing Communications 5 71 Optimizing Communications to GSDrives 5 71 Types of MessagesSenttoGSDrives 5 72 Format of Read Registers Messages 5 72 Format of Write Multiple Registers Messages 5 72 Format of Write Single Register Messages 5 72 Example Message nnanann 5 72 Additional Message Delay Times 5 73 Modbus specified Delays Between Messages 5 73 OtherDelayS
21. addresses in sequence and we can update all five of the commands with one write instruction This method is valid only if we disable the drive s keypad STOP button P3 00 04 Typically the keypad STOP button will be enabled P3 00 03 and we need to prevent a change in one of the other commands from overriding a keypad Stop Command by causing a previous Run Command to be rewritten to the drive By using a separate Run Command write instruction only a deliberate Run Command change by the program will run the drive again after a stop Block Transfer Parameters for Modbus Programs 2nd Edition For writing to any of the parameters from P0 00 to P8 01 a group of 10 block transfer parameters P9 11 to P9 20 is available in the GS1 AC drive This sequential block of parameters can be used to group various miscellaneous non sequential parameters so that you can update the parameters in one programming write block instead of having to use multiple write commands For example it would typically take three different write commands to change the three non sequential parameters Accel Time 1 P1 01 Accel S curve P1 03 and M ulti speed 1 P5 01 However you could make the same three changes using one write command by setting P9 11 to P1 01 P9 12 to P1 03 and P9 13 to P5 01 so that the parameters become sequential 07 06 2011 GS1 Series AC Drive User Manual 5 35 Chapter 5 GS1 Modbus Communications DiretLOGIC Basic
22. b0 1 reg_crc reg_crc gt gt 1 0xA001 Jelse reg_crc reg_crc gt gt return reg_crc RTU mode is preferred Limited support is available to ASCII users 5 70 GS1 Series AC Drive User Manual 2nd Edition 07 06 2011 Chapter 5 GS1 Modbus Communications Comm Delay Optimizing Communications Optimizing Communications to GS Drives j In most cases optimizing communications to GS Drives MAY NOT BE NECESSARY If you are only communicating to one or two drives and reading or writing only a few parameters the communication speed will most likely be sufficient for your application However in the case that the communication speed reaction time from reading or writing an event to a given drive is too slow you may need to take a more detailed look at how your code is designed to communicate to the GS Drives in your application To properly design the system it is necessary to understand all of the propagation delays that are incurred when triggering the event to send a Modbus message to the point of receiving the data or status of the reply into the PLC or Modbus master To determine the time necessary to transmit a message from the Master to the Slave and vice versa we must first determine the Bit Time and the Character Time This is calculated by using the following formulas e Bit Time The value one divided by the baud rate A baud rate of 19 200 equals a bit rate of 0 0000528 1 1
23. the system Port Busy SP116 CNT CT2 K2 CT2 This rung checks to see if it is time to communicate to slave 1 and also if there are no current write requests to that drive If not it reads data from slave 1 Drive 1 Speed Ref Write Enable C10 Port Busy SP116 CTA2 KO MRX CPU DCM Slot Drive 1 Drive 1 Port Number Slave Address Direction Fault Reset Run CMD Function Code 03 Read Holding Registers Write Enable Write Enable Start Slave Memory Address K48449 C11 C12 Start Master Memory Address V2000 Number of Elements K12 Modbus Data type 584 984 Mode Exception Response Buffer V5000 Continued next page 5 38 GS1 Series AC Drive User Manual 2nd Edition 07 06 2011 Chapter 5 GS1 Modbus Communications DL MRX MWX Communication Program continued This rung checks to see if it is time to communicate to slave 2 and also if there are no current write requests to that drive If not it reads data from slave 2 Drive 2 Speed Ref Write Enable C40 Port Busy SP116 CTA2 MRX CPU DCM Slot Drive 2 Drive 2 Port Number Slave Address Direction Fault Reset Run CMD Function Code 03 Read Holding Registers Write Enable Write Enable Start Slave Memory Address C42 Start Master Memory Address Number of Elements Modbus Data type Exception Response Buffer The following 21 rungs 6 26 are for slave 1 communications control
24. to RS 485 Conversion continued DL350 DL450 RS 232C to RS 485 Connection Wiring 1200 Termination Resistor DL350 PORT 2 at both ends of network DL450 PORT 1 c ion V 24VDC e FA COMA 24VDC I 2MD 3 RXD A ji ce 3 RXD 4 TxD D ee 5 CIs ti e 4 RTS 2 TS 2 7 enD 6 cnp CU 2o YA 5 Y NEP FSS T FA ISOCON RS 232 to RS 485 converter with ANTE Connect shield to signal ground atone end only r Node 2 1200 Termination Resistor at both ends of network A cable that will connect the D L450 to the FA ISO CON can be constructed using the DB25 pin male to RJ12 adapter and the RJ12 6P6C cable from the FA CABKIT Ethernet Connection using GS EDRV The GS EDRV provides an Ethernet link between a control system and a GS1 AC drive It mounts on DIN rail and connects a drive to an Ethernet hub switch or PC The GS EDRV processes signals to and from the drive It formats the signals to conform with the Ethernet standard to the H2 ERM or H4 ERM KEPdirect EBC I O server or independent controller with aMODBUSTCP IP driver This Ethernet interface allows for great connectivity to many control system architectures An additional feature is the built in web browser which allows users to configure and control the drive from any web browser via the IP address of the GS EDRV card 2nd Edi
25. 3020 OUT Drive 2 Speed Ref Retain V3030 LD Drive 2 Direction New V3022 OUT Drive 2 Direction Retain V3032 LD Drive 2 Ext Fault New V3023 OUT Drive 2 Ext Fault Retain V3033 LD Drive 2 Fault Reset New V3024 OUT Drive 2 Fault Reset Retain V3034 Drive 2 Speed Ref Write Enable C40 RST Drive 2 Direction Fault Reset Write Enable C41 RST Drive 2 Speed Direction Fault Reset Writes Finished C43 RST Continued next page 5 60 GS1 Series AC Drive User Manual 2nd Edition 07 06 2011 Chapter 5 GS1 Modbus Communications DL RX WX Communication Program continued Rungs 35 amp 36 write to the Run Command word if it changes Drive 2 Drive 2 Drive 2 Drive 2 Drive 2 Run CMD Run CMD Speed Ref Run CMD Run CMD New Retain Write Enable Write Enable Write Enable V3021 V3031 C40 C42 C42 36 p py E Drive 2 Run CMD Port Busy Write Enable SP116 C42 36 Drive 2 Run CMD Writes Finished C44 SET This rung writes the new value for the Run Command word to its comparison location so the code can again start watching for changes Drive 2 Drive 2 Run CMD Run CMD Write Enable Write Finished C42 C44 LD Drive 2 Run CMD New V3021 37 OUT Drive 2 Run CMD Retain V3031 Drive 2 Run CMD Write Enable C42 RST Drive
26. 5 N A 2nd Edition 07 06 2011 GS1 Series AC Drive User Manual 5 11 Chapter 5 GS1 Modbus Communications RS 485 Connections For Multiple Drives ZIPLink RS 485 communication boards ZL CDM RJ12X4 or ZL CDM RJ12X10 provide an easy means to break out the RS 485 signal to several drives at one location which creates a star configuration However the transmission errors are negligible so this configuration is acceptable for proper operation of the VFDs RS 485 Direct Connections Termination Resistors are required on both ends of RS 485 networks especially on long runs Select resistors that match the impedance rating of the cable between 100 and 5000 Recommended RS 485 cable Belden 9842 or equivalent CLICK C0 02 RS 485 Connection Wiring 1200 Termination Resistor GS1 at both ends of network Comm Port 2 TXD RXD 4 4 SG CLICK C0 02 CPU Port 3 Connect shield to signal ground at one end only DO DCM DLO6 DL260 RS 485 Connection Wiring 1200 Termination Resistor GS1 at both ends of network Comm Port f TXD RXD KA 4 SG CTL m RXD 3 SG H ee No Signal GND Comm Port 4 SG Connect shield to signal ground at one end only D0 DCM DL06 DL260 Port 2 5 12 GS1 Series AC Drive User Manual 2nd Edition 07 06 2011 Chapter 5 GS1 Modbus Communications RS 232C to RS 485 Conversion An RS 485 network ca
27. 9200 or 52 us microseconds e Character Time Bit Time multiplied by the number of bits With Modbus this is typically 10 12 bits per character 1 start bit fixed 1 or 2 stop bits usually configurable 0 or 1 parity bit Odd amp Even 1 bit None 0 amp 8 data bits For a setting of Odd parity and 1 Stop bit this would be 11 bits So at 19200 Odd parity and 1 stop bit a character time would be 0 000573 or 573 us 0 0000528 11 N ow that we know the byte time we can multiply that time by the number of characters in each message 2nd Edition 07 06 2011 GS1 Series AC Drive User Manual 5 71 Chapter 5 GS1 Modbus Communications ET Types of Messages Sent to GS Drives There are three different types of messages typically be sent to GS Drives 1 Read Registers Function Code 3 2 Write Multiple Registers Function Code 16 3 Write Single Register Function Code 6 Format of Read Registers Messages Request Reply XX Node Address 1 Char XX Node Address 1 Char 03 Function Code 1 Char 03 Function Code 1 Char XXXX Starting Address to read 2 Chars XX Byte count of data being sent from Slave XXXX Number of Registers to read 2 Chars 1 Char XXXX 16 Bit CRC 2 Chars XXXX Depends upon Request 2 Chars per Register requested XXXX 16 Bit CRC 2 Chars Format of Write Multiple Registers Messages Request Reply XX Node Address 1 Char XX Node Address 1 Cha
28. AC Drive User Manual 2nd Edition 07 06 2011 Chapter 5 GS1 Modbus Communications eee DL RX WX Communication Program continued This rung checks to see if the drive Speed Direction External Fault or Fault Reset conditions have been changed in the local program and need to be written to drive 1 Drive 1 Drive 1 Drive 1 Speed Ref Speed Ref New Speed Ref Retain Write Enable V3000 3010 C10 a Drive 1 Drive 1 Direction New Direction Retain V3002 3012 Drive 1 Drive 1 Drive 1 Drive 1 Run CMD Speed Ref External Fault New Ext Fault Retain Write Enable Write Enable V3003 3013 C12 C10 SET Drive 1 Drive 1 Fault Reset New Fault Reset Retain V3004 V3014 lt This rung writes the new Speed Reference if it changes Drive 1 Drive 1 Speed Ref Direction Fault Reset Port Busy Write Enable Write Enable SP116 C10 C11 Drive 1 Direction Fault Reset Write Enabled C11 SET This rung writes the Direction Ext Fault and Fault Reset words if any of them changes Drive 1 Drive 1 Speed Ref Direction Fault Reset Port Busy Write Enable Write Enable SP116 C10 C11 Drive 1 Speed Direction Fault Reset Writes Finished C13 SET Continued next page 2nd Edition 07 06 2011 GS1 Series AC Drive User Manual 5 53 Chapter 5 GS1 Modbus Communications DL RX WX Communication Program continued This rung writes the new values for Speed Ref Direction Ex
29. C Drive User Manual 2nd Edition 07 06 2011 Chapter 5 GS1 Modbus Communications Using Modbus ASCII Data Format ASCII Mode 10 bit character frame For 7 bit character P9 02 00 7 data bits no parity 2 stop bits Start 0 2 3 4 5 6 Stop Stop bit i i 7 bit character 10 bit character frame P9 02 01 7 data bits even parity 1 stop bit Start 2 3 4 5 6 Even Stop bit parity bit 7 bit character 10 bit character frame P9 02 02 7 data bits odd parity 1 stop bit Start 2 3 4 5 6 Odd Stop bit parity bit 7 bit character 10 bit character frame RTU Mode 11 bit character frame For 8 bit character P9 02 03 8 data bits no parity 2 stop bits Start 0 2 3 4 5 6 7 Stop Stop bit bit bit 8 bit character 11 bit character frame P9 02 04 8 data bits even parity 1 stop bit Start 0 2 3 4 5 6 7 Even Stop bit parity bit 8 bit character 11 bit character frame P9 02 05 8 data bits odd parity 1 stop bit Start 0 1 2 3 4 5 6 7 Odd Stop bit 8 bit character 4 11 bit character frame 2nd Edition 07 06 2011 GS1 Series AC Drive User Manual 5 65 Chapter 5 GS1 Modbus Communications eee Communication Protocol ASCII Mode STX Start Character 3A
30. Communication Program start with this code We recommend starting with the following program code and using it to test communication to each of your drives before adding more advanced code for your application To target different drives change the value Kf201 to Kf202 for slave 2 Kf203 for slave 3 etc This rung counts the number of times the PLC attempts to communicate to the drive This rung counts the number of times an attempted communication to the drive fails This rung reads the Status Addresses information from the drive Use this code to test communication to each of your drives before writing more advanced code that polls multiple drives To target different drives change the value Kf201 to Kf202 for slave 2 Kf203 for slave 3 etc SP116 LD 3 Kf201 LD K24 LDA 02000 RX V20400 4 END SP116 is a special relay in the DirectLO GIC CPUs that monitors the PLC s communications SP116 is on when Port 2 is communicating with another device SP117 is a special relay in the DirectLO GIC CPUs that monitors the PLC s communications SP117 is on when Port 2 has encountered a communication error 5 36 GS1 Series AC Drive User Manual 2nd Edition 07 06 2011 Chapter 5 GS1 Modbus Communications ET Programming Differences for DiretLOGIC PLCs Different types of DirectLO GIC PLCs can be programmed differently depending upon the types of network read and write instructions they c
31. GS1 Mopsus COMMUNICATIONS Contents of this Chapter Communication Parameters Summary 5 2 GS1 Parameter Memory Addresses 5 4 GS1 Status Addresses 5 8 Communicating with AutomationDirect PLCS 5 11 Step 1 Choose the Appropriate CPU 5 11 Step 2 Make the Connections 5 11 GSI RS 485 Serial COMM Port 5 11 RS 485 Connections For Multiple Drives 5 12 RS 232C to RS 485 Conversion 5 13 Ethernet Connection using GS EDRV 5 15 Step 3 Set AC DriveParameters 5 16 Step 4 Configure the PLC CPU 5 16 Configure the CHUCK PLEC 24 ce eine WA III IIIA 5 16 Configure the DirectLOGIC CPUS 5 18 CLICK Modbus Ladder Programming 5 20 Separate Run Command Write Instruction 5 20 Block Transfer Parameters for Modbus Programs 5 20 CLICK Communication Program for CLICK PLCS 5 21 Table of Contents continued next page 5 la Chapter 5 GS1 Modbus Communications ET Contents of this Chapter continued from previous page DirectLOGIC Modbus Ladder Programming 5 35 Separate Run Command
32. H ADR1 ADRO CMD 1 CMD 0 DATA n 1 Communication Address 8 bit address consists of 2 ASCII codes Contents of data n x 8 bit data consists of 2n ASCII codes n lt 25 maximum of 50 ASCII codes LRC CHK 1 LRC CHK 0 END 1 END 0 LRC check sum 8 bit check sum consists of 2 ASCII codes END characters END 1 CR ODH END 0 LF OAH RTU Mode START A silent interval of more than 10 ms ADR Communication Address 8 bit address CMD Command Code 8 bit command DATA n 1 Contents of data n x 8 bit data n lt 25 CRC CHK Low CRC CHK High CRC check sum 16 bit check sum consists of 2 8 bit characters END A silent interval of more than 10 ms ADR Communication Address Valid communication addresses are in the range of 0 to 254 A communication address equal to 0 means broadcast to all AC drives in which case the drives will not reply any message to the master device For example communication to AC drive with address 16 decimal ASCII mode ADR 1 ADR 0 1 0 gt 1 31H 0 30H RTU mode ADR 10H 5 66 GS1 Series AC Drive User Manual 2nd Edition 07 06 2011 Chapter 5 GS1 Modbus Communications ee CMD Command code and DATA data characters The format of data characters depends on the command code The available command codes are described as follows Command code 03H read N words The maximum value of N is 12 For example r
33. In the DirectLogic PLC the serial communications are serviced in the housekeeping portion of the PLC scan So if the communications instruction is in rung 1 of a ladder program the serial communications message does not get sent until the end of the total PLC scan Likewise if the reply message was received into the serial port at the beginning of the PLC scan it would not be serviced until the end of the PLC scan So you would need to add an additional possible two PLC scan times to the number above to truly calculate the time necessary to read or write an event to the GS drive These delays are shown in the following Communication Delay Timing Diagram Communication Delay Timing Diagram Modbus Master GS AC typically PLC Drive Communications Instruction Enabled t4 Scan delay from the point of turning on a communications instruction to when it actually goes out of the serial port to Transmission time to send Message request read or write tg Response delay from GS drive to receive the reply ts and formulate the response t4 Transmission time to send Reply message ts Scan delay from the point of receiving reply processing it and placing in PLC memory for Logic usage tg Wait time required by Modbus spec 3 5 byte times This may or may not be present depending upon the Scan delay but safer to factor in t4 Total Delay for Reading Writing an Event Data Processed and Available to Logic 5 74
34. OUT Drive 1 Run CMD Retain V3011 Drive 1 Run CMD Write Enable C12 RST Drive 1 Run CMD Write Finished C14 RST Continued next page 5 42 GS1 Series AC Drive User Manual 2nd Edition 07 06 2011 Chapter 5 GS1 Modbus Communications DL MRX MWX Communication Program continued Rungs 17 amp 18 select either 30Hz or 60Hz based on X3 Drive 1 Speed Control bit 60 30Hz X3 17 OUT Drive 1 Drive 1 Speed Control Speed Ref New bit 60 30Hz V3000 X3 LD 18 K600 OUT Drive 1 Speed Ref New V3000 Rungs 19 amp 20 select Run or Stop based on X5 Drive 1 Run Stop X5 19 OUT Drive 1 Run CMD New Drive 1 Run Stop V3001 X5 LD 20 yn OUT Drive 1 Run CMD New V3001 Continued next page 2nd Edition 07 06 2011 GS1 Series AC Drive User Manual 5 43 Chapter 5 GS1 Modbus Communications DL MRX MWX Communication Program continued Rungs 21 amp 22 select Direction based on X6 Drive 1 Forward Reverse X6 21 OUT Drive 1 Direction New Drive 1 Forward Reverse N3007 X6 LD 22 KO OUT Drive 1 Direction New V3002 Rungs 23 amp 24 select Ext Fault or no fault based on X7 Drive 1 Ext Fault X7 23 OUT Drive 1 Ext Fault New V3003 Drive 1 Ext Fault X7 LD 24 KO OUT Drive 1 Ext Fault New V3003 Rungs 25 amp 26 select Fault Reset or no reset based on X10 Drive 1 Ext Fault Reset X10
35. RUN Mode For Modbus Decimal addresses used with CLICK PLCs insert another zero as the next to most significant digit e g 402333 instead of 42333 5 4 GS1 Series AC Drive User Manual 2nd Edition 07 06 2011 GS1 Parameter Chapter 5 GS1 Modbus Communications es Parameter Memory Addresses continued Description Hexadecimal Modbus Decimal Volts Hertz Parameters P2 00 Volts H ertz Settings 40513 P2 01 Slip Compensation 40514 9 P2 03 M anual Torque Boost 40516 P2 04 M id point Frequency 40517 P2 05 M id point Voltage 40518 P2 06 Minimum O utput Frequency 40519 P2 07 Minimum O utput Voltage 40520 P2 08 PWM Carrier Frequency 40521 Parameter can be set during RUN Mode Digital Parameters P3 00 Source of Operation Command P3 01 Multi function Input Terminals 1 amp 2 DI1 D12 P3 02 Multi function Input Terminal 3 D13 P3 03 Multi function Input Terminal 4 D14 P3 11 Multi Function O utput Terminal 1 Relay O utput P3 16 Desired Frequency P3 17 Desired Current Parameter can be set during RUN Mode Analog Parameters P4 00 Source of Frequency Command P4 01 Analog Input O ffset Polarity P4 02 Analog Input O ffset P4 03 Analog Input Gain P4 04
36. This rung turns on C1 if there is a fault in drive 1 Drive 1 Fault V2000 K1 C1 gt Wr _ SET This rung allows a switch on input X1 to reset the C bit used to indicate a drive 1 fault Drive 1 Fault Indication Reset Drive 1 Fault X1 C1 c RST This rung turns on C2 if drive 1 has an overload fault Drive 1 OL K4 C2 C41 3 2 SET This rung allows a switch on input X2 to reset the overload fault bit C2 Drive 1 Overload Indication Reset Drive 1 OL X2 C2 9 a GASA Continued next page 2nd Edition 07 06 2011 GS1 Series AC Drive User Manual 5 39 Chapter 5 GS1 Modbus Communications ET DL MRX MWX Communication Program continued This rung checks to see if the drive Speed Direction External Fault or Fault Reset conditions have been changed in the local program and need to be written to drive 1 Drive 1 Drive 1 Drive 1 Speed Ref Speed Ref New Speed Ref Retain Write Enable V3000 3010 C10 z Drive 1 Drive 1 Direction New Direction Retain V3002 3012 Drive 1 Drive 1 Drive 1 Drive 1 Run CMD Speed Ref External Fault New Ext Fault Retain Write Enable Write Enable V3003 V3013 C12 C10 SET Drive 1 Drive 1 Fault Reset New Fault Reset Retain V3004 3014 x This rung writes the new Speed Reference if it changes Drive 1 Drive 1 Speed Ref Direction Fault Reset Port Busy Write Enable Write Enable MWX SP116 C10 C11 CPU DCM Slot Port Number
37. V3024 48 END Continued next page 2nd Edition 07 06 2011 GS1 Series AC Drive User Manual 5 63 Chapter 5 GS1 Modbus Communications Communicating with Third Party Devices The GS1 Serial Comm Port will accommodate an RS 485 connection An RS 485 network cable can span up to 1000 meters 3280 feet The GS1 AC drive communication address is specified by P9 00 The third party device then controls each AC drive according to its communication address The GS1 series AC drive can be set up to communicate on standard MODBUS networks using the following transmission modes ASCII or RTU Using the Communication Protocol parameter P9 02 you can select the desired mode data bits parity and stop bits The mode and serial parameters must be the same for all devices on a MODBUS network GS1 RS 485 Serial Comm Port GS1 Serial Comm Port 1 17V RS 485 Interface 7 RJ12 6P4C i l i ACEL AA 6 reserved gt GS1 drives have a provision for shutting down control or power to the inverter in the j event of a communications time out This feature can be set up through parameters P9 03 P9 04 and P9 05 Common Third Party MODBUS RTU Masters e MODSCAN from www wintech com e KEPSERVER EX 4 0 from www kepware com e Entivity Studio 7 2 e Think amp Do Live 5 5 1 For additional technical assistance go to our Technical support home page at http support automationdirect com technotes html 5 64 GS1 Series A
38. al 5 20 GS1 Series AC Drive User Manual 2nd Edition 07 06 2011 Chapter 5 GS1 Modbus Communications CLICK Communication Program for CLICK PLCs This rung counts the number of times the PLC attempts to communicate with the drives _Port_3_Ready_Flag C102 CT1 BICT1 2 CTD1 _Port_3_Error_Flag C103 CT2 CT2 Read Drive 1 Error C202 Read Drive 2 Error C205 This rung acts as an alternator allowing the following logic to alternate between Drive 1 and Drive 2 If there were additional drives the Setpoint for the counter would simply be increased to match the number of drives _Port_3_Ready_Flag Coordinates the CT3 Receive boxes so they SC102 toggle back and forth 3 i m2 Comm Interlock Counter Coordinates the Receive boxes CT3 so they toggle back and forth Comm Interlock Counter CT3 CTD3 Complete Continued next page 2nd Edition 07 06 2011 GS1 Series AC Drive User Manual 5 21 Chapter 5 GS1 Modbus Communications ET CLICK Communication Program continued This rung checks to see if it is time to communicate to Drive 1 and also if there are no current Write requests to that drive If not it reads data from Drive 1 _Port_3_Ready_Flag Drive 1 Speed Ref Write Enable B SC102 1 CTD3 ulo B C10 Receive Port3 Drive 1 Direction Drive 1 CMD Slave ID Fault Reset Write Enable Modbus Function Code C200 Write Enable S
39. an perform There are two different types of these instructions and this User Manual shows programming examples of both types RX WX Instructions for DLO5 D2 250 1 D4 450 PLCs with DLO5 D2 250 D2 250 1 and D4 450 CPUs can read from and write to networks using RX Read from Network and WX Write to Network programming instructions MRX MWxX Instructions for DLO6 D2 260 In addition to the RX and WX instructions listed above PLCs with DLO6 and D2 260 CPUs can also read from and write to networks using MRX Modbus Read from Network and MW X Modbus Write to Network programming instructions The MRX and MW instructions are simpler and easier to use than are the RX and WX instructions Therefore we recommend that you use DL06 or D2 260 with MRX and MWX instructions if you have a choice 2nd Edition 07 06 2011 GS1 Series AC Drive User Manual 5 37 Chapter 5 GS1 Modbus Communications DL MRX MWX Communication Program for DLO6 amp D2 260 PLCs This rung counts the number of times the PLC attempts to communicate to the drive Port Busy SP116 CTO This rung counts the number of times an attempted communication to the drive fails Port Comm Fail SP117 CT1 This rung acts as an alternator allowing the following logic to alternate between communicating to slave 1 or slave 2 If there were additional slaves the K number for the counter would simply be increased to match the number of slaves in
40. ated by the following steps Step 1 Load a 16 bit register called CRC register with FFFFH Step 2 Exclusive OR the first 8 bit byte of the command message with the low order byte of the 16 bit CRC register putting the result in the CRC register Step 3 Shift the CRC register one bit to the right with M SB zero filling Extract and examine the LSB Step 4 If the LSB of CRC register is 0 repeat step 3 else Exclusive OR the CRC register with the polynomial value AOO1H Step 5 Repeat step 3 and 4 until eight shifts have been performed When this is done a complete 8 bit byte will have been processed Step 6 Repeat steps 2 to 5 for the next 8 bit byte of the command message Continue doing this until all bytes have been processed The final contents of the CRC register are the CRC value When transmitting the CRC value in the message the upper and lower bytes of the CRC value must be swapped i e the lower order byte will be transmitted first The following is an example of CRC generation using C language The function takes two arguments Unsigned char data lt a pointer to the message buffer Unsigned char length lt the quantity of bytes in the message buffer The function returns the CRC value as a type of unsigned integer Unsigned int crc_chk unsigned char data unsigned char length intj unsigned int reg_crc 0xFFFF while length reg_crc data for j 0 j lt 8 j if reg_crc amp 0x01 LSB
41. ault New V3003 Drive 1 Ext Fault X7 LD 24 KO OUT Drive 1 Ext Fault New V3003 Rungs 25 amp 26 select Fault Reset or no reset based on X10 Drive 1 Ext Fault Reset X10 25 OUT Drive 1 Ext Fault Reset New V3004 Drive 1 Ext Fault Reset X10 LD 26 KO OUT Drive 1 Ext Fault Reset New V3004 Continued next page 2nd Edition 07 06 2011 GS1 Series AC Drive User Manual 5 57 Chapter 5 GS1 Modbus Communications ET DL RX WX Communication Program continued The following 21 rungs 27 47 are for slave 2 communications control This rung turns on C31 if there is a fault in drive 2 Drive 2 Fault K1 C31 27 This rung allows a switch on input X21 to reset the C bit used to indicate drive 2 fault Drive 2 Fault Indication Reset Drive 2 Fault X21 C31 28 J or This rung turns on C32 if drive 2 has an overload fault Drive 2 OL K4 C32 29 This rung allows a switch on input X22 to reset the overload fault bit C32 Drive 2 Overload Indication Reset Drive 2 OL X22 C32 This rung checks to see if the drive Speed Direction External Fault or Fault Reset conditions have been changed in the local program and need to be written to drive 2 30 Drive 2 Drive 2 Drive 2 Speed Ref Speed Ref New Speed Ref Retain Write Enable V3020 3030 C40 31 Drive 2 Drive 2 Direction New Direction Retain V3022 V3032 a Drive 2
42. ble can span up to 1000 meters 4000 feet However most DirectLO GIC PLCs have only RS 232C communication ports and require an FA ISOCON RS 232C to RS 422 485 network adapter in order to make an RS 485 connection I If an FA ISOCON module is used set the module dipswitches as required Refer to the FA ISOCON manual for more detailed information FA ISOCON Switch Settings FA ISOCON RJ 12 Serial Comm Port A RS 232 Input Port 21 S23 OFF ON ON 19200 baud 4 Signal Ground 24 S27 O FF Automatic Network Transmit Enable 2 CTS input Terminate ON end of run term resistors p i ke ean outpu Bias 2 ON end of run bias resistors CCT 5 5VDC in 1 2 DPX 2 ON RS 485 TXD RXD jumpers 6 Signal Ground Use the following wiring diagrams to connect DirectLO GIC RS 232C PLCs to a GS1 Series AC drive with an FA ISOCON network adapter module j Recommended cable for RS 232 Belden 8102 or equivalent Recommended cable for RS 485 Belden 9842 or equivalent 2nd Edition 07 06 2011 GS1 Series AC Drive User Manual 5 13 Chapter 5 GS1 Modbus Communications RS 232C to RS 485 Conversion continued DLO5 RS 232C to RS 485 Connection Wiring DLO5 1200 Termination Resistor at both ends of network No connection for DLO5 10V_ 6 COMA 15 5VDC GS1 Comm Port 4 TXD 3 RXD 5 RTS 2 CTS 1 COMA T
43. cation so the code can again start watching for changes Drive 2 Run CMD Drive 2 Run CMD Single Write Enable Write finished C32 C34 Drive 2 Run CMD New T DS321 Drive 2 Run CMD Retain Des O DS331 Drive 2 Run CMD Write Enable C32 RST Drive 2 Run CMD write finished C34 RST Continued next page 5 32 GS1 Series AC Drive User Manual 2nd Edition 07 06 2011 Chapter 5 GS1 Modbus Communications eee CLICK Communication Program continued Rungs 39 amp 40 select either 30Hz or 60Hz based on C109 Drive 2 Speed Control 60 30 Hz C109 39 Drive 2 Speed Ref New O DS320 Drive 2 Speed Control 60 30 Hz C109 40 Drive 2 Speed Ref New Des Ol DS320 Rungs 41 amp 42 select Run or Stop based on C110 Drive 2 Run Stop C110 41 Drive 2 Run CMD New O DS321 Drive 2 Run Stop C110 42 Drive 2 Run CMD New O DS321 Rungs 43 amp 44 select Direction based on C111 Drive 2 Fwd Rev C111 43 Drive 2 Direction New O DS322 Drive 2 Fwd Rev C111 44 Drive 2 Direction New O DS322 Continued next page 2nd Edition 07 06 2011 GS1 Series AC Drive User Manual 5 33 Chapter 5 GS1 Modbus Communications ET CLICK Communication Program continued Rungs 45 amp 46 select Ext Fault or no fault based on C112 Drive 2 Fault C112 45 Drive 2 Ext Fault New O DS323 Drive 2 Fault C112 46 Drive 2 Ext Fault New O DS323 Rungs 47 am
44. ching for changes Drive 2 Speed Ref Write Enable Drive 2 Direction Fault Reset Write Enable C30 C31 Drive 2 Speed Direction Fault Reset writes finished y Single C33 Drive 2 Speed Ref New LI DS320 Drive 2 Speed Ref Retain LU DS330 Single Drive 2 Direction New LI DS322 Drive 2 Direction Retain LI DS332 Single Drive 2 Ext Fault New LI DS323 Drive 2 Ext Fault Retain LI DS333 Single Drive 2 Fault Reset New O DS324 Drive 2 Fault Reset Retain O DS334 Drive 2 Speed Ref Write Enable C30 RST Drive 2 Direction Fault Reset Write Enable C31 RST Drive 2 Speed Direction Fault Reset writes finished C33 RST Continued next page 2nd Edition 07 06 2011 GS1 Series AC Drive User Manual 5 31 Chapter 5 GS1 Modbus Communications ET CLICK Communication Program continued Rungs 36 amp 37 write to the Run Command word if it changes Drive 2 Run Drive 2 Run CMD New CMD Retain Drive 2 Speed Ref Write Enable O DS331 C30 O DS321 Drive 2 Run CMD Drive 2 Run CMD Write Enable Write Enable C32 C32 SET Port 3 Ready Flag C102 Drive 2 Run CMD Write Enable Modbus Function Code C221 C32 Slave Adder Drive 2 Run CMD New Master T DS321 PITA Drive 2 Run CMD Write finished C34 SET This rung writes the new value for the Run Command word to its comparison lo
45. eading continuous 2 words from starting address 2102H of the AC drive with address 01H ASCII mode Command Message Response Message STX ya STX Ji ADRI ADR1 ADR 0 ADRO CMD 1 CMD 1 CMD 0 CMD 0 Number of data Count by byte Starting data address Content of starting data address 2102H Number of data Count by word Content data LRC CHK 1 LRC CHK 0 address 2103H END 1 END 0 LRC CHK 1 LRC CHK 0 END 1 END 0 RTU mode Command Message Response Message ADR 01H ADR 01H CMD 03H CMD 03H Starting data 21H Number of data address 02H Count by byte Number of data 00H Count by word 02H Content of data address 2102H CRC CHK Low 6FH CRC CHK High F7H Content of data address 2103H CRC CHK Low CRC CHK High 2nd Edition 07 06 2011 GS1 Series AC Drive User Manual 5 67 Chapter 5 GS1 Modbus Communications eee Command code 06H write 1 word For example writing 6000 1770H to address 0100H of the AC drive with address 01H ASCII mode Command Message Response Message STX Wa STX ne ADR1 ADRI ADRO ADRO CMD 1 CMD 1 CMD 0 CMD 0 Data Address Data Address Data Content LRC CHK 1 LRC CHK 1 LRC CHK 0 LRC CHK 0 END 1 END 1 END 0 END 0 RTU mode This is an example of using function code 16 f
46. er Manual Configure the CLICK PLC Configure the CLICK CPU communication port before writing communication instructions into your logic program For more detailed instructions on Modbus Configuration for your CLICK refer to the CLICK PLC Hardware User Manual CO USER M or to the CLICK software help file 5 16 GS1 Series AC Drive User Manual 2nd Edition 07 06 2011 Chapter 5 GS1 Modbus Communications CLICK Port 3 MODBUS Configuration for RS 485 The following configuration example is specific for CLICK PLC CPUs e Configure the communication port before writing communication instructions into the logic program e In CLICK programming software open the Comm Port Details Setup dialog box by choosing the Setup menu then Comm Port Setup then Port 2 Setup e From the Port list box choose Port 3 e For the Protocol list box select Modbus e Set the Node Address to 1 to make the CLICK PLC a MODBUS master e Set the Baud Rate to 19200 e Set the Parity to Odd e Set the Stop Bit to 1 e Set the Time out Setting to 500ms e Set the Response Delay Time to Oms Com Port Setup Details x Port Ports Pe Port3 e x Protocol Modbus J Basic Configuration Wiring Details Node Address 1 247 1 Baud Rate bps 19200 Port3 RS 485 Non isolation Parity Odd Stop Bit fi Communication
47. es finished C13 SET Continued next page 5 24 GS1 Series AC Drive User Manual 2nd Edition 07 06 2011 Chapter 5 GS1 Modbus Communications EET CLICK Communication Program continued This rung writes the new values for Speed Ref Direction Ext Fault and Fault Reset words to their comparison locations so the code can again start watching for changes Drive 1 Speed Ref Write Enable Drive 1 Direction Fault Reset Write Enable C10 C11 Drive 1 Speed Direction Fault Copy Single Reset writes finished C13 Drive 1 Speed Ref New Src O DS300 Drive 1 Speed Ref Retain O DS310 Single Drive 1 Direction New DS302 Drive 1 Direction Retain m DS312 Single Drive 1 Ext Fault New 1 DS303 Drive 1 Ext Fault Retain m DS 313 Copy Single Drive 1 Fault Reset New Src DS304 Drive 1 Fault Reset Retain Des m DS314 Drive 1 Speed Ref Write Enable C10 RST Drive 1 Direction Fault Reset Write Enable C11 RST Drive 1 Speed Direction Fault Reset writes finished BIC13 RST Continued next page 2nd Edition 07 06 2011 GS1 Series AC Drive User Manual 5 25 Chapter 5 GS1 Modbus Communications ET CLICK Communication Program continued Rungs 15 amp 16 write to the Run Command word if it changes Drive 1 Run CMD New Drive 1 Run CMD Retain Drive 1 Speed Ref Write Enable m DS301 m DS311 B C10 15 Drive 1 Run CMD Write Enable Drive 1 S
48. g within the Status registers or in a Parameter category P9 xx P1 xx etc 2 Only send a write message when the value changes in the Master device Itis simpler to setup your communications instructions to read and write all the time but it wastes precious network time to write the same value to the GS drive over and over if that value is not changing Write some simple logic that only triggers a write command when the value to be sent has changed For more specific instructions on how to configure and or interlock in detail the individual communications instructions consult your PLC or Modbus M aster Device user manual If using DirectLogic PLCs as the Modbus Master consult the Dx USER M manuals for specifics on configuring the individual communications instructions and look at the Hx ECOM M manual for information on interlocking communications instructions 2nd Edition 07 06 2011 GS1 Series AC Drive User Manual 5 75 Chapter 5 GS1 Modbus Communications eee 5 76 GS1 Series AC Drive User Manual 2nd Edition 07 06 2011
49. ion 0904 42309 P9 05 Time O ut D uration 0905 42310 P9 07 Parameter Lock 0907 42312 P9 08 Restore to D efault 0908 42313 P9 11 Block Transfer Parameter 1 090B 42316 P9 12 Block Transfer Parameter 2 090C 42317 P9 13 Block Transfer Parameter 3 090D 42318 P9 14 Block Transfer Parameter 4 090E 42319 P9 15 Block Transfer Parameter 5 090F 42320 P9 16 Block Transfer Parameter 6 0910 42321 P9 17 Block Transfer Parameter 7 0911 42322 P9 18 Block Transfer Parameter 8 0912 42323 P9 19 Block Transfer Parameter 9 0913 42324 P9 20 Block Transfer Parameter 10 0914 42325 P9 26 Serial Comm Speed Reference 091A 42331 P9 27 Serial Comm RUN Command 091B 42332 P9 28 Serial Comm Direction Command 091C 42333 P9 29 Serial Comm External Fault 091D 42334 P9 30 Serial Comm Fault Reset 091E 42335 P9 31 Serial Comm JOG Command 091F 42336 P9 39 Firmware Version 0927 42344 P9 41 GS Series Number 0929 42346 P9 42 M anufacturer M odel Information 092A 42347 t This parameter is available only with firmware v1 07 or higher Parameter can be set during RUN Mode For Modbus Decimal addresses used with CLICK PLCs insert another zero as the next to most significant digit e g
50. is does not include all of the delays for a given message The receiving device must have time to process the receipt of a message and formulate a reply The amount of time that the receiving device needs will vary greatly depending upon the hardware platform and other processes that the device is running For the previous example message the GS Drive responds in 4ms when the drive is stopped and will respond in 5ms when the drive is running This may vary somewhat depending upon the specific parameter values and the size of the request Modbus specified Delays Between Messages There is one additional time delay required in the Modbus protocol The protocol specifies at least a 3 5 character delay between messages For the settings above a 3 5 character time in our example would be about 2ms So the total time required for the message sent above would be 7 4 ms 5 0 ms 4 6 ms 2 0 ms Transmission time for sending message response delay from GS Drive when drive running Transmission time for reply message Modbus message wait delay ono 19 0 ms approximately Remember from our description this is purely the time from when the message leaves the serial port to when the reply is received back in to the serial port 2nd Edition 07 06 2011 GS1 Series AC Drive User Manual 5 73 Chapter 5 GS1 Modbus Communications eee Other Delays Depending upon the master device there may be additional delays For example
51. ite Enable Write Enable Drive 2 Ext Drive 2 Ext C32 C30 Fault Retain m DS333 Fault New O Ds323 SET Drive 2 Fault Reset Retain m DS334 Drive 2 Fault Reset New O DS324 ely Continued next page 2nd Edition 07 06 2011 GS1 Series AC Drive User Manual 5 29 Chapter 5 GS1 Modbus Communications ET CLICK Communication Program continued This rung writes the new Speed Reference if it changes _Port_3_Ready_Flag Drive 2 Speed Ref Write Enable C102 C30 Send Port3 Drive 2 Direction Slave ID Fault Reset Modbus Function Code C215 Write Enable Slave Addr C31 Drive 2 Speed Ref New Master O DS320 Drive 2 Direction Fault Reset Write Enable C31 SET This rung writes the Direction Ext Fault and Fault Reset words if any of them changes _Port_3_Ready_Flag Drive 2 Speed Ref Write Enable SC102 Drive 2 Direction Fault Reset Modbus Function Code C218 Write Enable Slave Addr C31 NO of Master Addresses Word Swap Drive 2 Direction New O DS322 Drive 2 Speed Direction Fault Reset writes finished C33 SET Continued next page 5 30 GS1 Series AC Drive User Manual 2nd Edition 07 06 2011 Chapter 5 GS1 Modbus Communications ee CLICK Communication Program continued This rung writes the new values for Speed Ref Direction Ext Fault and Fault Reset words to their comparison locations so the code can again start wat
52. lave Addr C11 C12 NO of Master Addresses Word Swap Read Drive 1 E Success Status ine 1 C201 Master Success Read Drive 1 Error B C202 This rung checks to see if it is time to communicate to Drive 2 and also if there are no current Write requests to that drive If not it reads data from Drive 2 _Port_3_Ready_Flag Drive 2 Speed Ref Write Enable SC102 I CTD3 1 Receive Port3 Drive 2 Direction Slave ID Fault Reset Drive 2 Run CMD Modbus Function Code C203 Write Enable Write Enable Slave Addr C31 C32 NO of Master Addresses Word Swap OFF Read Drive 2 Status from Drive 2 Success Master T DS20 C204 Success Read Drive 2 Error C205 Continued next page 5 22 GS1 Series AC Drive User Manual 2nd Edition 07 06 2011 Chapter 5 GS1 Modbus Communications CLICK Communication Program continued This rung resets all the Receive status coils if either comm event is successful Read Drive 1 Success C201 C200 C206 RST Read Drive 2 Success C204 The following rungs are used for Drive 1 communications through rung 27 Status from Drive 1 Drive 1 Fault m DS1 m1 C1 7 gt SET Drive 1 Fault Indication Drive 1 Fault C100 C1 8 rsTt Status from Drive 1 Drive 1 Overload m DS1 m4 C2 9 ser Drive 1 Overload Indicator Drive 1 Overload C101 C2 10 smmd
53. location so the code can again start watching for changes Drive 1 Drive 1 Run CMD Run CMD Write Enable Write Finished C12 C14 LD Drive 1 Run CMD New V3001 16 OUT Drive 1 Run CMD Retain V3011 Drive 1 Run CMD Write Enable C12 RST Drive 1 Run CMD Write Finished C14 RST Continued next page 2nd Edition 07 06 2011 GS1 Series AC Drive User Manual 5 55 Chapter 5 GS1 Modbus Communications DL RX WX Communication Program continued Rungs 17 amp 18 select either 30Hz or 60Hz based on X3 Drive 1 Speed Control bit 60 30Hz X3 17 OUT Drive 1 Speed Ref New V3000 Drive 1 Speed Control bit 60 30Hz X3 LD 18 K600 OUT Drive 1 Speed Ref New V3000 Rungs 19 amp 20 select Run or Stop based on X5 Drive 1 Run Stop X5 19 OUT Drive 1 Run CMD New V3001 Drive 1 Run Stop X5 LD 20 KO OUT Drive 1 Run CMD New V3001 Continued next page 5 56 GS1 Series AC Drive User Manual 2nd Edition 07 06 2011 Chapter 5 GS1 Modbus Communications DL RX WX Communication Program continued Rungs 21 amp 22 select Direction based on X6 Drive 1 Forward Reverse X6 21 OUT Drive 1 Direction New V3002 Drive 1 Forward Reverse X6 LD 22 KO OUT Drive 1 Direction New V3002 Rungs 23 amp 24 select Ext Fault or no fault based on X7 Drive 1 Ext Fault X7 23 OUT Drive 1 Ext F
54. must have a hard trip To manually check this set External Fault to Terminal Control and trip This will simulate the result of a hard trip 5 8 GS1 Series AC Drive User Manual 2nd Edition 07 06 2011 Chapter 5 GS1 Modbus Communications Status Monitor 2 h2101 GS1 Memory Address GS1 Memory Data Pinan hexadecimal 15 14 13 12 1 10 9 8 7 6 5 3 Bits 2101 PPEEPEEPEEE PEPE SY VS PK VS OPK V x V aw Bit Values yy decimal Status Monitor 2 Memory Address h2101 Bit s Value Binary Decimal AC Drive Status 00 0 Drive operation stopped STOP 01 1 Run to Stop transition 10 2 Standby 11 3 Drive operation running RUN 1 4 JOG active 00 0 Rotational direction forward FWD 01 8 REV to FWD transition 10 16 FWD to REV transition 11 24 Rotational direction reverse REV 1 32 Source of frequency determined by serial comm interface P4 00 5 1 64 Source of frequency determined by Al terminal P4 00 2 3 or 4 1 128 Source of operation determined by serial comm interface P3 00 3 or 4 1 256 Parameters have been locked P9 07 1 N A Reserved Frequency Command F xxx x h2102 Status location for the frequency setting of the AC drive Output Frequency H xxx x h2103 Status location for the actual operating frequency present at terminals T1 T2 and T3 Output Current A xxx x h2104 Status location for the output cu
55. n X26 Drive 2 Forward Reverse X26 42 OUT Drive 2 Direction New V3022 Drive 2 Forward Reverse X26 LD 43 KO OUT Drive 2 Direction New V3002 Rungs 44 amp 45 select Ext Fault or no fault based on X27 Drive 2 Ext Fault X27 44 OUT Drive 2 Ext Fault New V3023 Drive 2 Ext Fault X27 LD 45 KO OUT Drive 2 Ext Fault New V3023 Rungs 46 amp 47 select Fault Reset or no reset based on X30 Drive 2 Ext Fault Reset X30 46 OUT Drive 2 Ext Fault Reset New V3024 Drive 2 Ext Fault Reset X30 LD 47 KO OUT Drive 2 Ext Fault Reset New V3024 48 END 5 50 GS1 Series AC Drive User Manual 2nd Edition 07 06 2011 Chapter 5 GS1 Modbus Communications DL RX WX Communication Program for DLO5 D2 250 1 D4 450 j This program is for illustrational purposes only and is not intended for a true application This rung counts the number of times the PLC attempts to communicate to the drive Port Busy SP116 CTO This rung counts the number of times an attempted communication to the drive fails Port Comm Fail SP117 CT1 This rung acts as an alternator allowing the following logic to alternate between communicating to slave 1 or slave 2 If there were additional slaves the K number for the counter would simply be increased to match the number of slaves in the system Port Busy SP116 CNT CT2 K2 CT2 This rung check
56. new values for Speed Ref Direction Ext Fault and Fault Reset words to their comparison locations so the code can again start watching for changes Drive 2 Drive 2 Drive 2 Speed Speed Ref Direction Fault Reset Direction Fault Reset Write Enable Write Enable Writes Finished C40 C41 C43 LD Drive 2 c l Speed Ref New V3020 OUT Drive 2 Speed Ref Retain V3030 LD Drive 2 Direction New V3022 OUT Drive 2 Direction Retain V3032 LD Drive 2 Ext Fault New V3023 OUT Drive 2 Ext Fault Retain V3033 LD Drive 2 Fault Reset New V3024 OUT Drive 2 Fault Reset Retain V3034 Drive 2 Speed Ref Write Enable C40 RST Drive 2 Direction Fault Reset Write Enable C41 RST Drive 2 Speed Direction Fault Reset Writes Finished C43 RST Continued next page 2nd Edition 07 06 2011 GS1 Series AC Drive User Manual 5 47 Chapter 5 GS1 Modbus Communications ER DL MRX MWX Communication Program continued Rungs 35 amp 36 write to the Run Command word if it changes Drive 2 Drive 2 Drive 2 Drive 2 Drive 2 Run CMD Run CMD Speed Ref Run CMD Run CMD New Retain Write Enable Write Enable Write Enable V3021 V3031 C40 C42 C42 35 z p y 1 Drive 2 Run CMD Port Busy Write Enable MWX SP116 C42 CPU DCM Slot Port Number Slave Address Function Code 06 Preset Single Register 36
57. or writing to multiple registers Command Message Response Message ADR 01H ADR 01H CMD 10H CMD 10H Starting data 20H Starting data 20H address 00H address 00H Number of data 02H Count by word Bytecount 04H CRC CHK Low Content of data 00H CRC CHK High address 2000H 02H N umber of registers Content of data 02H address 2001H 58H CRC CHK Low CBH CRC CHK High 34H 5 68 GS1 Series AC Drive User Manual 2nd Edition 07 06 2011 Chapter 5 GS1 Modbus Communications ee CHK check sum ASCII Mode LRC Longitudinal Redundancy Check is calculated by summing up module 256 the values of the bytes from ADRI to last data character then calculating the hexadecimal representation of the 2 s complement negation of the sum For example reading 1 word from address 0401H of the AC drive with address 01H Command Message STX a ADR1 ADRO CMD 1 CMD 0 Starting data address 01H 03H 04H 01H 00H 01H 0AH Number of data the 2 s complement negation of OAH is F6H Count by word LRC CHK 1 LRC CHK 0 END 1 END 0 RTU Mode Response Message ADR 01H CMD 03H Starting data 21H address Number of data Count by word CRC CHK Low CRC CHK High 2nd Edition 07 06 2011 GS1 Series AC Drive User Manual 5 69 Chapter 5 GS1 Modbus Communications ET CRC Cyclical Redundancy Check is calcul
58. p 48 select Fault Reset or no reset based on C113 Drive 2 Ext Fault Reset C113 47 Drive 2 Fault Reset New O DS324 Drive 2 Ext Fault Reset C113 48 Drive 2 Fault Reset New O DS324 49 5 34 GS1 Series AC Drive User Manual 2nd Edition 07 06 2011 Chapter 5 GS1 Modbus Communications DirecttLOGIC Modbus Ladder Programming COOCOO The set up for all of the DirectLO GIC CPUs is very similar However there may be some subtle differences between CPUs Refer to the appropriate CPU U ser M anual for the specifics on your DirectLO GIC CPU The following ladder program shows some examples of how to control the GS1 AC drive through Modbus RTU The drive should be setup and tested for communications before it is connected to a load Warning A drive should never be connected to a load until any applicable communication programs have been proven Warning Write programs in such a way that the program does not erroneously overwrite a remote Stop command with a Run command such as when P3 00 is set to 03 This example program prevents such an accidental overwrite These programs are for illustrational purposes only and are not intended for a true application Separate Run Command Write Instruction Why do we write the Run Command with a separate write instruction If we write the Run Command to the drive along with the Speed Reference Direction External Fault and Fault Reset Commands we can keep the parameter
59. peed Ref Write Enable C12 C12 SET 16 _Port_3_Ready_Flag Drive 1 Run CMD Write Enable C102 C12 Send Port3 MODBUS Slave ID 1 Modbus Function Code 16 C212 Slave Adder 402332 Sending Drive 1 Run CMD New Master m DS301 B C213 Success IB C214 Error m DS112 ErrC Drive 1 Run CMD Write finished C14 SET Continued next page 5 26 GS1 Series AC Drive User Manual 2nd Edition 07 06 2011 Chapter 5 GS1 Modbus Communications eee CLICK Communication Program continued This rung writes the new value for the Run Command word to its comparison location so the code can again start watching for changes Drive 1 Run CMD Write Enable Drive 1 Run CMD Write finished C12 C14 17 Single Drive 1 Run CMD New m DS301 Drive 1 Run CMD Retain m DS311 Drive 1 Run CMD Write Enable C12 RST Drive 1 Run CMD Write finished C14 RST Rungs 18 amp 19 select either 30Hz or 60Hz based on C102 Drive 1 Speed Control 60 30 Hz C102 18 Drive 1 Speed Ref New 11 DS300 Drive 1 Speed Control 60 30 Hz C102 19 Rungs 20 amp 21 select Run or Stop based on C103 Drive 1 Run Stop C103 20 Drive 1 Run CMD New DS301 Drive 1 Run Stop C103 21 Drive 1 Run CMD New m DS301 Continued next page 2nd Edition 07 06 2011 GS1 Series AC Drive User Manual 5 27 Chapter 5 GS1 Modbus Communications ee CLICK Communication Program continued Rung
60. r 10 Function Code Hex format 1 Char 10 Function Code Hex format 1 Char XXXX Starting Address to write to 2 Chars XXXX Starting Address to write to 2 Chars XXXX Number of Registers to write to XXXX Number of Registers to write to 2 Chars 2 Chars XX Number of bytes of data to write XXXX 16 Bit CRC 2 Chars 1 Char XXXX Depends upon Request 2 Chars per Register requested XXXX 16 Bit CRC 2 Chars Format of Write Single Register Messages Request Reply XX Node Address 1 Char XX Node Address 1 Char 06 Function Code 1 Char 06 Function Code 1 Char XXXX Register to Write to 2 Chars XXXX Register to Write to 2 Chars XXXX Data to Write 2 Chars XXXX Data to Write 2 Chars XXXX 16 Bit CRC 2 Chars XXXX 16 Bit CRC 2 Chars Example Message Write a value of 60Hz to P9 26 and a value of 1 to P9 27 01 10 09 1b 00 02 04 02 58 00 01 5a 66 We receive a good reply 01 10 09 1b 00 02 a3 9f Sending message 13 characters from above 7 4 ms 0 00744796 Reply message 8 characters from above 4 6 ms 0 004583 For more specific information on how Modbus messages are formed refer to the Modbus specifications found at www modbus org 5 72 GS1 Series AC Drive User Manual 2nd Edition 07 06 2011 Chapter 5 GS1 Modbus Communications ET Additional Message Delay Times So we have the total transmission time for sending a message and receiving a reply but th
61. rrent present at terminals T1 T2 and T3 2nd Edition 07 06 2011 GS1 Series AC Drive User Manual 5 9 Chapter 5 GS1 Modbus Communications ee DC BUS Voltage d xxx x h2105 Status location for the DC Bus Voltage Output Voltage U xxx x h2106 Status location for the output voltage present at terminals T1 T2 and T3 This is the RMS voltage between phases Motor RPM h2107 Status location for the present estimated speed of the motor Scale Frequency Low word h2108 Status location for result of output frequency x P8 01 low word Scale Frequency High word h2109 Status location for result of output frequency x P8 01 high word Load h210B Status location for the amount of load on the AC drive Output Current Drive Rated Current x 100 Firmware Version h2110 Status location for firmware version of the AC drive 5 10 GS1 Series AC Drive User Manual 2nd Edition 07 06 2011 Chapter 5 GS1 Modbus Communications Communicating with AutomationDirect PLCs The following steps explain how to connect and communicate with GS1 AC drives using AutomationDirect PLCs 222 GSI drives have a provision for shutting down control or power to the inverter in the event of a communications time out This feature can be set up through parameters P9 03 P9 04 and P9 05 Step 1 Choose the Appropriate CPU The GS1 AC drives will communicate with the following AutomationDirect PLCs using Modbus communications
62. s 22 amp 23 select Direction based on C104 Drive 1 Fwd Rev C104 22 Drive 1 Direction New Ol DS302 Drive 1 Fwd Rev C104 23 Drive 1 Direction New O DS302 Rungs 24 amp 25 select Ext Fault or no fault based on C105 Drive 1 Fault C105 24 Drive 1 Ext Fault New m DS303 Drive 1 Fault C105 25 Drive 1 Ext Fault New m DS303 Rungs 26 amp 27 select Fault Reset or no reset based on C106 Drive 1 Ext Fault Reset C106 26 Drive 1 Fault Reset New O DS304 Drive 1 Ext Fault Reset C106 27 Drive 1 Fault Reset New Ol DS304 Continued next page 5 28 GS1 Series AC Drive User Manual 2nd Edition 07 06 2011 Chapter 5 GS1 Modbus Communications ee CLICK Communication Program continued The remaining rungs are for Drive 2 communications Status from Drive 2 Drive 2 Fault 1 DS20 m1 C20 28 gt SET Drive 2 Fault Indication Drive 2 Fault C107 C20 29 rsTt Status from Drive 2 Drive 2 Overload m DS20 m4 C21 30 SET Drive 2 Overload Indicator Drive 2 Overload C108 C21 31 moili This rung determines if the Speed Direction Ext Fault or Fault Reset words have changed and need to be written Drive 2 Speed Drive 2 Speed Drive 2 Speed Ref Ref Retain Write Enable O DS330 C30 Ref New O DS320 32 Drive 2 Drive 2 Direction New Direction Retain O DS322 O DS332 Drive 2 Run CMD Drive 2 Speed Ref Wr
63. s to see if it is time to communicate to slave 1 and also if there are no current write requests to that drive If not it reads data from slave 1 Drive 1 Speed Ref Slave 1 Port Busy Write Enable SP116 CTA2 KO C10 Drive 1 Drive 1 Direction Fault Reset Run CMD Write Enable Write Enable C11 C12 RX 20400 Continued next page 2nd Edition 07 06 2011 GS1 Series AC Drive User Manual 5 51 Chapter 5 GS1 Modbus Communications DL RX WX Communication Program continued This rung checks to see if it is time to communicate to slave 2 and also if there are no current write requests to that drive If not it reads data from slave 2 Drive 2 Speed Ref Slave 2 Port Busy Write Enable SP116 C40 Drive 2 Drive 2 Direction Fault Reset Run CMD Write Enable Write Enable C41 C42 The following 21 rungs 6 26 are for slave 1 communications control This rung turns on C1 if there is a fault in drive 1 Drive 1 Fault V2000 K1 C1 This rung allows a switch on input X1 to reset the C bit used to indicate a drive 1 fault Drive 1 Fault Indication Reset Drive 1 Fault X1 C1 This rung turns on C2 if drive 1 has an overload fault Drive 1 OL V2000 K4 C2 sH er This rung allows a switch on input X2 to reset the overload fault bit C2 Drive 1 Overload Indication Reset Drive 1 OL X2 C2 c RST Continued next page 5 52 GS1 Series
64. t Fault and Fault Reset words to their comparison locations so the code can again start watching for changes Drive 1 Drive 1 Drive 1 Speed Speed Ref Direction Fault Reset Direction Fault Reset Write Enable Write Enable Writes Finished C10 C11 C13 m LD Drive 1 Speed Ref New V3000 OUT Drive 1 Speed Ref Retain V3010 LD Drive 1 Direction New V3002 OUT Drive 1 Direction Retain V3012 LD Drive 1 Ext Fault New V3003 OUT Drive 1 Ext Fault Retain V3013 LD Drive 1 Fault Reset New V3004 OUT Drive 1 Fault Reset Retain V3014 Drive 1 Speed Ref Write Enable C10 RST Drive 1 Direction Fault Reset Write Enable C11 RST Drive 1 Speed Direction Fault Reset Writes Finished C13 RST Continued next page 5 54 GS1 Series AC Drive User Manual 2nd Edition 07 06 2011 Chapter 5 GS1 Modbus Communications eee DL RX WX Communication Program continued Rungs 14 amp 15 write to the Run Command word if it changes Drive 1 Drive 1 Drive 1 Drive 1 Drive 1 Run CMD Run CMD Speed Ref Run CMD Run CMD Retain Write Enable Write Enable Write Enable V3011 C10 C12 C12 14 bh 4 44 557 Drive 1 Run CMD Port Busy Write Enable SP116 C12 15 Drive 1 Run CMD Writes Finished C14 SET This rung writes the new value for the Run Command word to its comparison
65. ters can be set and read 1 All parameters are read only P9 08 Restore to Default 99 Restores all parameters to factory defaults P9 11 Block Transfer Parameter 1 P0 00 to P8 01 P9 99 P9 12 Block Transfer Parameter 2 P0 00 to P8 01 P9 99 P9 13 Block Transfer Parameter 3 P0 00 to P8 01 P9 99 P9 14 Block Transfer Parameter 4 P0 00 to P8 01 P9 99 P9 15 Block Transfer Parameter 5 P0 00 to P8 01 P9 99 P9 16 Block Transfer Parameter 6 P0 00 to P8 01 P9 99 P9 17 Block Transfer Parameter 7 P0 00 to P8 01 P9 99 P9 18 Block Transfer Parameter 8 P0 00 to P8 01 P9 99 P9 19 Block Transfer Parameter 9 P0 00 to P8 01 P9 99 P9 20 Block Transfer Parameter 10 P0 00 to P8 01 P9 99 Parameter can be set during RUN Mode 5 2 GS1 Series AC Drive User Manual 2nd Edition Chapter 5 GS1 Modbus Communications EET Communication Parameters Summary continued Communications Parameter Summary continued GS1 Parameter P9 26 Serial Comm Speed Reference 0 0 to 400 0 Hz 60 0 P9 27 Serial Comm RUN Command Stop 1 Run 0 P9 28 Serial Comm Direction Command 0 Forward 1 Reverse 0 P9 29 Serial Comm External Fault No fault 1 External fault 0 0 0 Description Range Default P9 30 Serial Comm Fault Reset No action 1 Fault Reset P9 31 Serial Comm JOG Command Stop 1
66. tion 07 06 2011 GS1 Series AC Drive User Manual 5 15 Chapter 5 GS1 Modbus Communications ET Step 3 Set AC Drive Parameters The following parameters need to be set as shown in order to communicate properly P3 00 03 or 04 Operation Determined by RS 485 interface Keypad STOP is enabled 03 or disabled 04 P4 00 05 Frequency determined by RS 485 communication interface P9 00 XX Communication address 1 254 unique for each device see P9 00 P9 01 01 9600 baud data transmission speed higher baud rate setting may be required with FA ISOCON network adapter set adapter DIP switches accordingly P9 02 05 MODBUS RTU mode lt 8 data bits odd parity 1 stop bit gt This list of parameter settings is the minimum required to communicate with a DirectLO GIC PLC There may be other parameters that need to be set to meet the needs of your particular application Step 4 Configure the PLC CPU The PLC CPUs must be configured to communicate with the GS1 AC drives This configuration includes setting up the communication port and adding instructions to your logic program The set up for all of the AutomationDirect PLC CPUs is very similar although there are some subtle differences between CPUs Refer to the appropriate CPU User Manual for the specifics on your specific PLC CPU if more details are needed For instructions on Modbus Configuration for your specific PLC CPU refer to the 1 1 appropriate PLC Us
67. tion Ports xX Patt Por 2 Close Protocol K Sequence Ti T DirectNET T Non Sequence E Remote 1 0 Time out 00 ms X Response delay time fo ms v Station Number f Baud rate 9600 ia Stop bits 1 Parity Odd Pon 2 15 Pin 2nd Edition 07 06 2011 GS1 Series AC Drive User Manual 5 19 Chapter 5 GS1 Modbus Communications CLICK Modbus Ladder Programming The set up for all of the CLICK CPUs is very similar However there may be some subtle differences between CPUs or for the requirements of your particular program Refer to the CLICK programming software internal help file for more information regarding CLICK programming The following ladder program shows some examples of how to control the GS1 AC drive through Modbus RTU The drive should be set up and tested for communications before it is connected to a load Warning A drive should never be connected to a load until any applicable communication programs have been proven overwrite a remote Stop command with a Run command such as when P3 00 is set f Warning Write programs in such a way that the program does not erroneously to 03 This example program prevents such an accidental overwrite These programs are for illustrational purposes only and are not intended for a true application Separate Run Command Write Instruction Why do we write the Run Command with a separate write instruction If we write the

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