AN00198-002 - ABB Motion Control
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1. every time the drive responds to a Modbus frame an additional null character is received internally This is then interpreted as a dropped frame invalid length and the diagnostic information will reflect this It is therefore recommended to only use the debug parameter for RS232 and Ethernet connections Contact us For more information please contact your Copyright 2012 ABB All rights reserved local ABB representative or one of the following Specifications subject to change without notice www abbmotion com www abb com drives www abb com drivespartners www abb com PLC ABB Motion control products 5 Power and productivity ah OD OR www abbmotion com for a better world PA ID Ip2. Modbus RTU slave connected to third party Modbus client using little endian word order and Netaata BUSNODE _busSERIAL1 4 Mint controller is node 4 on RTU network SERIALBAUD _Term1 38400 Running at 38 4kbaud ModbusParameter _busSERIAL1 _mpBYTE_ORDER 0 Use big endian byte order ModbusParameter _busSERIAL1 _mpWORD_ORDER 1 Use little endian word order ModbusParameter _busSERIAL1 _mpREGISTER_MAPPING _rmNET_DATA ModbusParameter _busSERIAL1 _mpENABLE 1 For controllers drives supporting both Ethernet and serial channels e g NextMove e100 MicroFlex e100 it is possible to configure enable Modbus TCP operation on Ethernet and at the same time configure enable Modbus RTU operation on the serial port Mint Events Mint events operate differently depending on the controller being used NextMove ESB 2 Comms events will be raised whenever the Modbus client writes to Comms locations 1 to 5 i e data does not necessarily have to change for an event to be raised e100 products Comms events will be raised whenever the Modbus client writes modified data to Comms locations 1 to 10 i e data must change for an event to be raised Netdata events operate in the same manner and will only be raised whenever the Modbus client writes modified data to Netinteger Netfloat locations O to 31 Physical Connection The table below shows the physical connection possibilities for Mint products supporting integrated Modbus prot
3. packet The Mint Netdata array only supported on e100 products provides 1000 elements 0 999 If the client attempts to access Netdata elements greater than 999 the Mint controller will return the Invalid Data Address Modbus exception packet Example Mint Code The following code snippets show typical Mint code that may be included in a controller drive Startup block Example Mint code Mint Modbus RTU slave connected to AC500 or CP600 using Comms array BUSNODE _busSERIAL1 2 Mint controller is node 2 on RTU network SERIALBAUD _Term1 57600 Running at 57 6kbaud ModbusParameter _busSERIAL1 _mpBYTE_ORDER 0 Use big endian byte order ModbusParameter _busSERIAL1 _mpWORD_ORDER 0 Use big endian word order ModbusParameter _busSERIAL1 _mpREGISTER_MAPPING _rmCOMMS_ARRAY ModbusParameter _busSERIAL1 _mpENABLE 1 Example Mint code Mint Modbus TCP slave connected to AC500 or CP600 using Netdata array IP address is set by rotary switches 192 168 100 x ModbusParameter _busETHERNET _mpBYTE_ORDER 0 Use big endian byte order ModbusParameter _busETHERNET _mpWORD_ORDER 0 Use big endian word order ModbusParameter _busETHERNET _mpREGISTER_MAPPING _rmNET_DATA ModbusParameter _busETHERNET _mpENABLE 1 ABB Motion control products 3 Power and productivity www abbmotion com for a better world PA ID Ip Application note Integrated Modbus support ANO01 98 002 Example Mint code Mint
4. 1 Little Endian default _mpDROPPED_FRAMES_ 6 Read only counter of number of invalid packets received _mpDEBUG 7 Parameter used to display Modbus diagnostics Mint pre defined constant values for _mpREGISTER_MAPPING are _tmNET_DATA 0 To access netinteger netfloat data _rmCOMMS_ARRAY 1 To access commsinteger comms data NextMove ESB 2 is only provided with Comms array data so attempting to configure a Netdata register mapping on this controller will result in a Data Out of Range error The default byte and word orders are configured to match the majority of Modbus devices on the market today However ABB PLCs and CP600 HMls use Big Endian word order so when connecting Mint controllers to ABB Modbus clients it is necessary to include ModbusParameter bus _mpWORD_ORDER 0 in the Mint startup block code Modbus RTU is a serial based protocol and operation is supported using 8 data bits 1 stop bit and no parity The following baud rates are supported on all controllers 19200 38400 57600 115200 Note that due to timing constraints 9600 baud is not supported The baudrate to be used is set using the Mint SERIALBAUD _Term1 keyword in the Mint program or via the Mint Workbench Connectivity page As Modbus RTU packets include a node address it is also important to set the correct value for BUSNODE _busSERIAL1 in the Mint program or via the Mint Workbench Connectivity page Support is included for broadcas
5. Motion Control Products ANOO1 98 002 Ready to use PLC function blocks combine with pre written Mint application for simple control of e100 drives via Modbus Introduction Integrated Modbus support has been introduced on the following ABB motion control products NextMove ES ESB 2 Modbus RTU firmware version 5424 onwards NextMove e100 Modbus RTU Modbus TCP firmware version 5633 onwards MicroFlex e100 Modbus RTU Modbus TCP firmware version 5633 onwards MotiFlex e100 Modbus RTU Modbus TCP firmware version 5633 onwards New Mint keywords to enable and configure Modbus server operation have been added Download firmware from www abbmotion com or contact motionsupport ukK abb com to obtain the relevant Mint System File msx to update a drive motion controller Note that Modbus support is only offered on Revision B e100 products e g MFE230A003B MicroFlex e150 drives support Modbus RTU and TCP as standard with fixed mappings to Netdata please refer to the MicroFlex e150 user manual LTO291A01 for further details Support is provided for the following Modbus functions 03 Read holding registers 04 Read input registers 06 Preset single register 16 Preset multiple registers 23 Read write 4x registers A new Mint keyword ModbusParameter allows configuration of Modbus enable Register mapping Byte order Word order Diagnostics The inclusion of integrated Modbus protocol
6. lent AC500 addresses are also shown for reference Server Modbus AC500 address Mint Comms array Mint Netdata array register Comms Real Commsinteger DWord Netfloat Real Netinteger DWord 0 MWO O Invalid Element 0 LSW MDO O Invalid Element O 1 MWO 1 Invalid Element 0 MSW 2 MWO 2 Element 1 LSW Element 1 LSW MDO 1 Element 1 Element 1 3 MWO 3 Element 1 MSW Element 1 MSW 4 MWO 4 Element 2 LSW Element 2 LSW MDO 2 Element 2 Element 2 5 MWO 5 Element 2 MSW Element 2 MSW 198 MWO 198 Element 99 LSW Element 99 LSW MDO 99 Element 99 Element 99 199 MWO 199 Element 99 MSW Element 99 MSW 200 MWO 200 Invalid Element 100 LSW MDO 100 a Invalid Element 100 201 MWO 201 Invalid Element 100 MSW 202 MWO 202 Invalid Element 101 LSW MDO 104 Invalid Element 101 203 MWO 203 Invalid Element 101 MSW 1996 MWO 1996 Invalid Element 998 LSW MDO 998 Invalid Element 998 1997 MWO 1997 Invalid Element 998 MSW 1998 MWO 1998 Invalid Element 999 LSW 1999 MWO 1999 MDO 999 Invalid Invalid Element 999 MSW Element 999 LSW Least Significant Word MSW Most Significant Word The Mint Comms array provides 99 elements 1 99 If the client attempts to access Comms element O or Comms elements greater than 99 the Mint controller will return the Invalid Data Address Modbus exception
7. ocols AC500 and CP600 products are included for reference Connection Type NextMove e100 NextMove ESB 2 MicroFlex MotiFlex e100 AC500 AC500 Eco CP600 e100 RS232 Yes Yes by variant No No Yes No Yes 2 wire RS485 No No Yes Yes Yes Yes Yes 4 wire RS422 Yes Yes by variant No No No No Yes Ethernet Yes No Yes Yes Yes Yes by variant Yes When using 2 wire RS485 be sure to include 120 ohm terminating resistors between data lines A and B at each end of the network to avoid data corruption When using 4 wire RS422 be sure to include 120 ohm terminating resistors between RX and RX at each end of the network to avoid data corruption When using Modbus TCP Ethernet wire the network in a star type configuration using an Ethernet switch between the client and the connected server s Straight through or crossover cables may be used between the e100 device and the switch If the e100 product is part of an Ethernet Powerlink EPL network then it is also necessary to include an EPL Router Catalog No OPTO36 501 between the switch and the e100 device mportant AC500 and CP600 products use a non standard RS232 pinout so be sure to check the relevant product manual before connecting other serial devices to these products Failure to observe the correct pinout may result in damage to the connected device ABB Motion control products 4 Power and productivity A DR IR www abbmotion com for a bet
8. s on the listed controllers drives allows connectivity between a wide range of ABB products including AC500 PLCs and CP600 HMIs as well as third party Modbus client devices ABB Motion control products 1 Power and productivity N ab www abbmotion com for a better world FID ID Application note Integrated Modbus support ANO01 98 002 Configuration Modbus RTU and TCP operation on e100 products is included with firmware update 5633 or later Modbus RTU operation on NextMove ES ESB 2 requires firmware version 5424 or later or firmware version 5454 or later to be installed depending on whether the user wishes to use Mint compiler target format 13 or 14 respectively All Modbus parameters are configured via a new Mint keyword ModbusParameter Before enabling Modbus operation it is necessary to set the correct byte and word order to suit the connected Modbus client master and to configure how Modbus registers in the received data packets are mapped to internal data areas in the Mint controllers value ModbusParameter bus index ModbusParameter bus index value Mint pre defined constant values for bus are _busETHERNET 5 For Modbus TCP parameters _busSERIAL1 6 For Modbus RTU parameters Index Value _mpENABLE 0 O Disabled 1 Enabled _mpREGISTER_MAPPING 1 O NetData array e100 default 1 Comms array ESB 2 default _mpBYTE_ORDER 2 O Big Endian default 1 Little Endian _mpWORD_ORDER 3 O Big Endian
9. t write functions i e to Node address 0 so the user should avoid configuring a controller as Node O unless they intend to use broadcast functions When using Modbus TCP the controllers drives use the standard Modbus port 502 At present this port cannot be changed but provision to allow this port to be modified may be added in a future firmware release The IP address used by Modbus TCP is set by the rotary address switches on the front of the e100 product 192 168 100 x where x is the switch setting To enable Modbus server slave operation the Mint program should issue ModbusParameter bus _mMpENABLE 1 where bus _busETHERNET for Modbus TCP or _busSERIAL1 for Modbus RTU ABB Motion control products 2 Power and productivity AA ED ED www abbmotion com for a better world PADDED Application note Integrated Modbus support ANO01 98 002 Enabling Modbus RTU server operation automatically disables both Host Comms Protocol HCP1 2 and ABB Binary Protocol BBP functionality on the serial port Enabling Modbus RTU also prevents the controller from directing data from Mint PRINT statements to the serial port to avoid corruption of Modbus data packets Register Mappings All supported Modbus functions target a common data area in the Mint controller as set by the Mint keyword ModbusParameter _mpREGISTER_MAPPING These data areas have a fixed mapping with respect to the Modbus registers on the server as shown by the table below equiva
10. ter world APA BD ED Application note Integrated Modbus support ANO01 98 002 Diagnostics The ModbusParameter keyword provides two types of diagnostics A Reading ModbusParameter bus _mpDROPPED_FRAMES will return a counter indicating how many Modbus packets have been rejected e g invalid checksum incomplete message in summary any message for which neither a valid nor exception response has been generated B Writing a terminal channel value to ModbusParameter bus _mpDEBUG will reset diagnostic counters and setup which terminal channel is to be used to display diagnostic information Reading ModbusParameter bus _mpDEBUG will then return which terminal channel is being used for diagnostics and will display some summary information on the selected terminal channel e g last packet received last packet transmitted error counters etc Example ModbusParameter _busETHERNET _mpDEBUG _Term2 ModbusParameter _busETHERNET _mpDEBUG If these commands were entered on a NextMove e100 the controller would display diagnostic information about Modbus TCP on the USB terminal i e Workbench terminal window Example debug output Valid 2 Dropped 0 Exception NO_EXCEPTION Rx 8 bytes Node 2 Fn code hex 03 Data hex 00 02 00 01 CRC hex f9 25 Tx 7 bytes Node 2 Fn code hex 03 Data hex 02 00 00 CRC hex 44 fc Note Due to issues with the UART when using the 2 wire RS485 port on MicroFlex e100
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