Chapter 6 - AutomationDirect
Contents
1. Non Sequence 3 Characters Remote 1 0 Time out Base Timeout x 1 Select the appropriate RTS on delay time O ms v aaa based i th RTS off delay time 0 ms ae comm Station Number Baud rate Echo Suppression C RS 422 485 4 wire Stop bits RS 232C 2 wire Feim ce R5 485 2 wire Port 2 15 Pin 2nd Ed RevB 08 2011 SureServo AC Servo Systems User Manual 6 11 Chapter 6 Modbus Communications ET DirectLO GIC Modbus RTU Master Port Configuration for DL05 D L250 1 The following configuration example is specific to the D L05 or DL250 1 CPU Refer to the appropriate CPU User M anual for the specifics on your DirectLO GIC CPU e In DirectSO FT select the PLC menu then Setup then Secondary Comm Port e From the Port list box select Port 2 e For the Protocol select Modbus In the Timeout list box select 800 ms e Response Delay Time should be O ms e The Station Number should be set to 1 to allow the CPU to function as network master e The Baud Rate should be set at 19200 In the Stop Bits list box select 1 e In the Parity list box select Odd The DLO5 DL250 1 network instructions used in Master mode will access only slaves 1 to 90 Each slave must have a unique number Setup Communication Ports Port Port 2 v Protocol Base Timeout K Sequence 800 ms DirectNET 800 ms V MODBUS 500 ms Non Sequence Remote 12. P1 36 1000 gt 1 to allow the accel and decel to operate Read transfer block from drive P0 04 1 assigns motor feedback rotation to Status Monitor 1 P0 05 0 sets the motor feedback pulse to Status Monitor 2 P0 06 6 assigns motor rpm to Status Monitor 3 P0 07 11 assigns current load to Status Monitor 4 P0 08 12 assigns peak load to Status Monitor 5 PQ 09 409 assigns the digital output word to Block Transfer 1 PQ 10 407 assigns the digital input word to Block Transfer 2 Write transfer block to drive PQ 11 21E assigns Aux Function EEPROM write control to Block Transfer 3 PQ 12 10F assigns the 1st position command revolution word to Block Trans 4 PQ 13 110 assigns the 1st position command pulse word to Block Transfer 5 PQ 14 224 assigns the 1st position velocity reference to Block Transfer 6 P2 10 101 assigns digital input 1 to Servo On bit P2 11 108 assigns digital input 2 to Command Trigger bit P2 12 104 assigns digital input 3 Pulse Clear P2 13 111 assigns digital input 4 Position Zero P2 14 102 assigns digital input 5 to Reset bit P2 15 22 assigns digital input 6 to CWL limit NC P2 16 23 assigns digital input 7 to CCWL limit NC P2 17 21 assigns digital input 8 to External Fault N C P2 18 101 assigns digital output 1 to Servo Ready P2 19 103 assigns digital output 2 to Low Speed P2 20 109 assigns digital output 3 to Home Search P2 21 105 assigns dig
3. 0209 Digital Input Terminal 1 DI1 020A Digital Input Terminal 2 D12 020B Digital Input Terminal 3 D13 020C Digital Input Terminal 4 D14 020D Digital Input Terminal 5 D15 020E Digital Input Terminal 6 DI6 020F Digital Input Terminal 7 D17 0210 Digital Input Terminal 8 DI8 0211 Digital O utput Terminal 1 DO1 0212 Digital O utput Terminal 2 D02 0213 Digital O utput Terminal 3 D03 0214 Digital O utput Terminal 4 DO 4 0215 Digital O utput Terminal 5 DO 5 0216 Notch Filter resonance suppression 0217 Notch Filter Attenuation resonance suppress 0218 Low pass Filter resonance suppression 0219 External Anti Interference Gain 021A Gain Boost Control 021B Gain Boost Switching Time 021C 0203 2nd Ed RevB 08 2011 SureServo AC Servo Systems User Manual 6 5 Chapter 6 Modbus Communications ET Parameter Memory Addresses continued Modbus Parameter Description Hexadecimal Decimal Group 2 Extended Parameters continued Gain Boost Switching Condition 021D 40542 Auxiliary Function 021E 40543 Auto and Easy M ode Response Level 021F 40544 Tuning Mode 0220 40545 O verspeed Fault Threshold 0222 40547 Position Deviation Fault Window 0223 40548 Position 1 Velocity 0224 40549 Position 2 Velocity 0225 40550 Position 3 Velocity 0226 40551 Position 4 Velocity 0227 40552 Position 5 Ve
4. Command 3 Speed Limit 3 Torque Command 1 Torque Limit 1 Torque Command 2 Torque Limit 2 Torque Command 3 Torque Limit 3 010A 010B 010C 010D 010E 2nd Ed RevB 08 2011 SureServo AC Servo Systems User Manual l 6 3 Chapter 6 Modbus Communications ET Parameter Memory Addresses continued Modbus Parameter Description Hexadecimal Decimal Group 1 Basic Parameters continued Position Command 1 Revolutions 010F 40272 Position Command 1 Pulse 0110 40273 Position Command 2 Revolutions 0111 40274 Position Command 2 Pulse 0112 40275 Position Command 3 Revolutions 0113 40276 Position Command 3 Pulse 0114 40277 Position Command 4 Revolutions 0115 40278 Position Command 4 Pulse 0116 40279 Position Command 5 Revolutions 0117 40280 Position Command 5 Pulse 0118 40281 Position Command 6 Revolutions 0119 40282 Position Command 6 Pulse 011A 40283 Position Command 7 Revolutions 011B 40284 Position Command 7 Pulse 011C 40285 Position Command 8 Revolutions 011D 40286 Position Command 8 Pulse 011E 40287 M otor Code 011F 40288 Motor Stop Code 0120 40289 Position Control Mode 0121 40290 Acceleration Time 0122 40291 Deceleration Time 0123 40292 Acceleration D eceleration S curve 0124 40293 Inertia Mismatch Ratio 0125 40294 Zero Speed O utput Threshold 0126 40295 Target Speed O utput Threshold 0127 40296 Analog Full Scale Velocity Comma
5. pulse and revolutions registers are set to zero and the motor velocity reference is set to 3000rpm First Scan SPO iL K5 disables write parameters to drive EEPROM Drive EEPROM write control Position command revolution word Position command pulse word Motor velocity reference rpm example program cont on next page 2nd Ed RevB 08 2011 SureServo AC Servo Systems User Manual 6 15 Chapter 6 Modbus Communications ET DirectLO GIC Ladder Programming Example continued In many drive applications electromagnetic interference can at times cause frequent short duration communication errors Unless the application environment is perfect an occasional communication error will occur In order to distinguish between these non fatal transients and a genuine communication failure you may want to use the instructions as shown in Rungs 2 and 3 Rung 2 monitors the number of times that the PLC attempts to communicate with the drive When the PLC s communication attempts are successful SP116 port busy will count up and SP117 comm error will not count Once the count reaches 9999 the counter will reset and resume counting Port Busy SP116 2 CNT Comm transaction count CTO CTO K9999 Rung 3 monitors the number of times the PLC fails in communicating with the drive Port Comm Error SP117 CNT Comm error count CTO CT1 K9999 Alternative resets control bits can be used in yo
6. 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 f LSB b0 1 reg_crc reg_crc gt gt 1 OxA001 Jelsef reg crczreg crc 551 return reg_crc Modbus RTU mode is preferred Limited support is available to Modbus ASCII users 2nd Ed RevB 08 2011 SureServo AC Servo Systems User Manual l 6 31 Chapter 6 Modbus Communications eee 6 32 SureServo AC Servo Systems User Manual 2nd Ed RevB 08 2011
7. with the drive default 0 This parameter setting is not retained when power is disconnected from the drive sath SureServo drives have a provision for shutting down control power to the output of the JE drive in the event of a communications timeout This is set up using drive parameters P3 03 and P3 04 along with a digital output configured for servo fault alarm Common Modbus RTU Masters e KEPDirect for PLCs serial communications only e Think amp Do Live 5 6 Studio 7 2 1 serial communications only e MODSCAN from www wintech com For additional technical assistance go to our Technical support home page at http support automationdirect com technotes html 6 24 l SureServo AC Servo Systems User Manual 2nd Ed RevB 08 2011 Chapter 6 Modbus Communications ee Modbus Protocol Modes This section explains the specifics of the Modbus protocols It is not necessary to use this information if your drive control is capable of serving as a Modbus master controller ASCII Mode Each 8 bit data is the combination of two ASCII characters For example a 1 byte data 64 Hex shown as 64 in ASCII consists of 6 36H ex and 4 34H ex The following table shows the available hexadecimal characters and their corresponding ASCII codes Character ASCII Code Character ASCII Code RTU Mode Each 8 bit data is the combination of two 4 bit hexadecimal characters For example a 1
8. 0 Time out Base Timeout x 1 RTS on delay time 10 ms w RTS off delay time 10 ms v Station Number 1 4 Baud rate 19200 nd Stop bits 1 bd Parity None v Port 2 15 Pin 6 12 SureServo AC Servo Systems User Manual 2nd Ed RevB 08 2011 Chapter 6 Modbus Communications SureServo DiredLOGIC PLC Control Example SureServo Block Transfer Function A group of Status M onitor Registers P0 04 to P0 08 and a group of Block Data Registers P0 09 to P0 16 are available in the SureServo drive These continuous blocks of registers can be used to group miscellaneous drive parameters together allowing you to read write the desired parameters in one block instead of having to use a Read W rite command for each parameter SureServo Drive Parameter Settings Example Position Mode The parameters listed below must be entered through the drive keypad or SureServo Pro software in order for the provided ladder logic example to function properly Parameters marked with must be entered from the drive keypad only Prior to configuring a new SureServo drive or re configuring an existing drive for a new application it is recommended to set P2 08 10 then cycle drive power This will reset drive parameters to factory defaults P1 01 101 sets drive to position mode with internal control P1 33 1 sets drive to incremental mode P1 34 500 sets the accel time to 500ms P1 35 500 sets the decel time to 500ms
9. 1H Modbus ASCII mode Command Message Response Message STX j STX ADR1 ADR1 ADRO ADR 0 CMD 1 CMD 1 CMD 0 CMD 0 Data Address Data Address Data Content LRC CHK 1 LRC CHK 0 LRC CHK 1 LRC CHK 0 END 1 END 1 END 0 END 0 Modbus RTU mode This is an example of using function code 16 for writing to multiple registers Command Message ADR 01H CMD 10H Starting data 02H address Response Message Number of data ADR 01H Count by byte CMD 10H Content of data Starting data 02H address 0200H address Content of data address 0201H CRC CHK Low CRC CHK High 08 2011 Number of data Count by word CRC CHK Low CRC CHK High SureServo AC Servo Systems User Manual l 6 29 Chapter 6 Modbus Communications eee CHK check sum Modbus ASCII Mode LRC Longitudinal Redundancy Check is calculated by summing up module 256 the values of the bytes from ADR1 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 0201H of the drive with address 01H Command Message STX ta ADR1 ADRO CMD 1 CMD 0 Starting data address 01H 03H 02H 01H 00H 01H 08H the 2 s complement negation of 08H is F8H Number of data Count by word LRC CHK 1 LRC CHK 0 END 1 END 0 Modbus RTU Mod
10. 260 port 2 DLO6 DL250 1 DL260 port 2 DLO6 DL250 1 DL260 RS 232 Connection Wiring SureServo Comm Port CN3 DL06 DL250 1 DL260 CPU Port 2 DLO5 RS 232 Connection Wirin DL05 CPU Port 2 SureServo Comm Port CN3 6 8 l SureServo AC Servo Systems User Manual 2nd Ed RevB 08 2011 Chapter 6 Modbus Communications DLOG DL260 RS 485 Connection Wiring 1200 Termination Resistor at both ends of network V TXD RXD eo TXD RXD Signal GND Connect shield to signal ground Cable Use SVC MDCOM CBL SureServo or Belden 9841 or DLO6 DL260 Comm Port equivalent CPU Port 2 CN3 DLO6 DL250 1 DL260 RS 422 Connection Wiring RX 1200 Termination Resistor at both ends of network RX PD TX TX Signal GND Cable Use SVC MDCOM CBL or Belden 9729 or SureServo DL06 DL250 1 DL260 equivalent Comm Port CPU Port 2 CN3 Termination Resistors are required at both ends of RS 422 485 networks It is necessary to select resistors that match the impedance rating of the cable between 100 and 500 Ohms the event of a communications timeout This is set up using drive parameters P3 03 and P3 04 along with a digital output configured for servo fault alarm SureServo drives have a provision for shutting down control or power to the drive in 2nd Ed RevB 08 2011 SureServo AC Servo Systems User Manual 6 9 Chapter 6 Modbus Communications Step 3 Confi
11. M ODBUS COMMUNICATIONS In This Chapter SureServo Communication Parameters 6 2 SureServo Parameter Memory Addresses 6 3 Connecting to DirectLogic PLCs 6 8 Step 1 Modbus RTU Master PLCS 0c cece eee eee 6 8 Step 2 Make the Connections sssaaa 62220 o0 te eee res 6 8 Step 3 Confirm Set Servo Communication Parameters 6 10 Step 4 Configure the DirectLOGIC CPU Port 2 6 10 SureServo DirectLOGIC PLC Control Example 6 13 DirectLOGIC Ladder Programming Example Multiple Drives 6 22 Communicating with Third party Devices 6 24 Common Modbus RTU Masters 000 aaa 6 24 Modbus Protocol Modes 0 000 c cece eee ees 6 25 Modbus ASCII and RTU Data Format 6 25 Communication Protocol a 6 27 Chapter 6 Modbus Communications ET SureServo Communication Parameters The SureServo drives support the Modbus RTU ASCII communications protocols as a slave device only Drive serial port CN3 can be connected to a Modbus master using RS 232 RS 422 or RS 485 communications port pin outs and wiring diagrams are shown later in this chapter This chapter lists all of the drive s parameters along with the corresponding M odbus addresses N etwork masters such as DirectLogic PLCs can be used to read write drive s parameters The SureServo drive Communications Parameters listed below must be set using the Su
12. Modbus Parameter Description Hexadecimal Decimal Group 0 Monitor Parameters P0 00 Software Version 0000 40001 PO 01 Drive Fault Code 0001 40002 P0 02 Drive Status Front Panel Display 0002 40003 P0 03 Analog Monitor O utputs 0003 40004 P0 04 Status Monitor 1 0004 40005 P0 05 Status Monitor 2 0005 40006 P0 06 Status Monitor 3 0006 40007 P0 07 Status M onitor 4 0007 40008 P0 08 Status Monitor 5 0008 40009 P0 09 Block Transfer Parameter 1 0009 40010 PO 10 Block Transfer Parameter 2 000A 40011 PO 11 Block Transfer Parameter 3 000B 40012 P0 12 Block Transfer Parameter 4 000C 40013 P0 13 Block Transfer Parameter 5 000D 40014 P0 14 Block Transfer Parameter 6 000E 40015 PO 15 Block Transfer Parameter 7 000F 40016 PO 16 Block Transfer Parameter 8 0010 40017 P0 17 Output Functions Status 0011 40018 Servo On Time Record 0012 40019 m m pl ol N OA ul eA w Ni el o m N m Ww bh amp m UI m m m N N o N a N N Group 1 Basic Parameters External Pulse Type Input 0100 Control M ode and O utput Direction 0101 Speed and Torque Limit 0102 O utput Polarity Setting 0103 Analog Monitor O utput Scaling 1 ch 1 0104 Analog Monitor O utput Scaling 2 ch 2 0105 Analog Speed Command Low pass Filter 0106 Analog Torque Command Low pass Filter 0107 Position Command Low pass Filter 0108 Velocity Command 1 Speed Limit 1 oe Velocity Command 2 Speed Limit 2 Velocity
13. TU mode ADR 10H 2nd Ed RevB 08 2011 SureServo AC Servo Systems User Manual 6 27 Chapter 6 Modbus Communications ET CMD Command 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 10 For example reading continuous 2 words from starting address 0200H of drive with address 01H Modbus ASCII mode Command Message Response Message STX as STX ari ADR1 ADRO ADR 1 ADR 0 CMD 1 CMD 0 CMD 1 CMD 0 Number of data Count by byte Starting data address Content of starting data address 0200H Number of data Count by word Content data address 0201H LRC CHK 1 LRC CHK 0 LRC CHK1 LRC CHK 0 END 1 END 0 Modbus RTU mode Command Message END 1 END 0 Response Message ADR 01H CMD 03H ADR 01H CMD 03H Number of data Count by byte Starting data 02H address Content of data address 0200H Number of data Count by word Content of data address 0201H CRC CHK Low CRC CHK High CRC CHK Low CRC CHK High 6 28 l SureServo AC Servo Systems User Manual 2nd Ed RevB 08 2011 Chapter 6 Modbus Communications Te Command code 06H write 1 word For example writing 100 0064H to address 0200H of drive with address 0
14. al MRX M W X rungs would be accomplished simply by increasing the K4 value to the new total number of M RX and MW X instructions needed SP116 is used to increment the counter so that each time an MRX or MWX is executed the counter then enables the next M RX or MW X once the current M RX or MWX is complete Port Busy SP116 CTA2 KO MRX _ Port Number 4 Slave Address Function Code 03 Read Holding Registers Start Slave Memory Address 40001 Start Master Memory Address V3000 Number of Elements 12 Modbus Data type 584 984 Mode Exception Response Buffer V405 Port Busy MWX SP116 CTA2 K1 Port Number Slave Address Function Code 16 Preset Multiple Registers Start Slave Memory Address 40012 Start Master Memory Address V2000 Number of Elements 4 Modbus Data type 584 984 Mode Exception Response Buffer V400 Port Busy MRX SP116 CTA2 K2 Port Number Slave Address Function Code 03 Read Holding Registers Start Slave Memory Address 40001 Start Master Memory Address Number of Elements Modbus Data type 584 984 Mode Exception Response Buffer V415 Port Busy SP116 CTA2 K3 ae _ Port Number 7 E Slave Address Function Code 16 Preset Multiple Registers Start Slave Memory Address 40012 Start Master Memory Address V2020 Number of Elements 4 Modbus Data type 584 984 Mode Exception Response Buffer V410 2nd Ed RevB 08 2011 SureServo AC Servo Systems User Manual l 6 23 Chapter 6 Mo
15. be configured asa Modbus RTU master PLC to communicate with the SureServo drives This includes setting up the PLC communication port parameters and creating ladder logic programming code that uses read write instructions to communicate with the drive s The set up for all of the DirectLO GIC CPUs is very similar Refer to the appropriate CPU User Manual for the specifics on your DirectLO GIC CPU 6 10 l SureServo AC Servo Systems User Manual 2nd Ed RevB 08 2011 Chapter 6 Modbus Communications DirectLO GIC Modbus RTU Master Port Configuration for D L06 D L260 The following configuration example is specific to the DL06 DL260 CPU Refer to the appropriate CPU User Manual for the specifics on your DirectLO GIC CPU e In DirectSO FT select the PLC menu then Setup then Secondary Comm Port e From the Port list box select Port 2 e For the Protocol select Modbus e In the Timeout list box select 800 ms e Response Delay Time should be O ms e The Station Number should be set to 1 to allow the CPU to function as network master e The Baud Rate should be set at 19200 e In the Stop Bits list box select 1 In the Parity list box select O dd e In the Echo Suppression box select the wiring method used in the application Setup Communication Ports Port Port 2 v Close Protocol Base Timeout K Sequence 800 ms sam Yam DirectNET 800 ms Help v MODBUS 500 ms pea
16. byte data 64 Hex Modbus ASCII and RTU Data Format 10 bit character frame For 7 bit character P3 02 00 ASCII mode 7 data bits no parity 2 stop bits Start 0 1 2 3 4 5 6 Stop Stop bit bit bit 7 bit character Za 10 bit character frame P3 02 01 ASCII mode 7 data bits even parity 1 stop bit Start 0 1 2 3 4 5 6 Even Stop bit parity bit 7 bit character Oo 10 bit character frame P3 02 02 ASCII mode 7 data bits odd parity 1 stop bit Start 0 1 2 3 4 5 6 Odd Stop bit parity bit 7 bit character 10 bit character frame 2nd Ed RevB 08 2011 SureServo AC Servo Systems User Manual 6 25 Chapter 6 Modbus Communications Data Formats Cont 11 bit character frame For 8 bit character P3 02 03 ASCII mode 8 data bits no parity 2 stop bits P3 02 06 RTU mode 8 data bits no parity 2 stop bits Start 0 1 2 3 4 5 6 7 Stop Stop bit bit bit 8 bit character 11 bit character frame P3 02 04 ASCII mode 8 data bits even parity 1 stop bit P3 02 07 RTU mode 8 data bits even parity 1 stop bit Start 0 1 2 3 4 5 6 7 Even Stop bit parity bit 8 bit character 11 bit character frame P3 02 05 ASCII mode 8 data bits odd parity 1 stop bit P3 02 08 RTU mode 8 data bits odd pa
17. d RevB 08 2011 SureServo AC Servo Systems User Manual l 6 21 Chapter 6 Modbus Communications DirectLOGIC Ladder Programming Example Multiple Drives The set up for all of the DirectLO GIC CPUs is very similar Refer to the appropriate CPU User Manual for the specifics on your DirectLO GIC CPU The following ladder program shows an example of a DL06 or DL260 CPU port2 controlling two SureServo drives using MRX MW X instructions The drive must be set up and tested for communications before it is connected to a load See the previous ladder example for rung instruction explanations WARNING A drive should never be connected to a load until any applicable communication programs have been proven Port Busy SP116 1 CNT Comm transaction count CTO CTO K9999 Port Comm Error SP117 CNT 2 po Comm error count CTO on K9999 Rung 3 contains a counter which is used to determine which MRX or MWX instruction to execute Its purpose is to prevent multiple MRX MW X rungs being active at the same time Since the counter may only have one value at any particular time only a single rung may be executed Port Busy SP116 3 CNT Comm transaction count CT2 Ole ma o K4 example program cont on next page 6 22 SureServo AC Servo Systems User Manual 2nd Ed RevB 08 2011 Chapter 6 Modbus Communications ee DirectLO GIC Modbus Ladder Programming Multiple Drives cont Please also note that adding addition
18. dbus Communications Communicating with Third party Devices The SureServo Serial Comm Port supports RS 232 422 485 communications The drive can be set up to communicate on standard Modbus networks using ASCII or RTU transmission modes Using the drive s Communication Protocol parameters you can select the desired mode data bits parity and stop bits The communication parameters must be the same for all devices on a Modbus network were Most drive parameters can be written to or updated from a master controller using Modbus communications However the drive s operational run commands i e Servo On Command Trigger RESET etc can only be executed by controlling the drive s physical digital inputs IEEE 1394 Plug Connector Serial Comm Port RS 232 422 485 Interface i 1 GND 0V 6 5 2 RS 232 TX 3 RS 422 RX 4 3 4 RS 232 RX RS 422 RX 5 RS 422 TX 2 1 6 RS 422 TX SureServo Block Transfer Function A group of Status M onitor Registers P0 04 to P0 08 and a group of Block Data Registers P0 09 to P0 16 are available in the SureServo drive These continuous block of registers can be used to group miscellaneous drive parameters together allowing you to read write the desired parameters in one block instead of having to use a Read W rite command for each parameter peneet P2 30 setting this parameter to 5 will disable parameter write to EEPROM each JE time communications is attempted
19. drive digital input 1 C1 YO 7 ae SET Servo enable control Rungs 8 loads the position revolutions and pulse counts to the drive when C2 is turned on The registers are written by the WX or MWX instruction C2 Note Constants are used in this example program User V memory locations can be used to store settings drive requires binary format Position command revolutions word Position command pulse word Interlocks example program cont on next page 2nd Ed RevB 08 2011 SureServo AC Servo Systems User Manual l 6 19 Chapter 6 Modbus Communications DirectLO GIC Ladder Programming Example continued Rung 9 C12 is triggered once the Position is loaded into the drive Comm Interlock C11 C10 C11 9 koh RST C12 PD Positions loaded Rung 10 sets the drive s Command Trigger input to begin the motor position la sabak and sets C13 the drive triggered bit Y1 is connected to drive digital input vee ae ay CMD Trigger PEE C13 SET Drive triggered Rung 11 If the drive has been triggered and is not in position motor is moving the drive input CMD trigger and drive triggered flag are reset Drive aaa In Position C123 nat CMD Trigger cig RST Drive triggered Rung 12 If C4 is turned on drive faults and the ladder logic is reset Y2 is connected to drive input 3 Y4 is connected to drive input 5 Y2 J5 OUT Clear Pulse C10 C13 RST Control Bits YO Y4 PLC outputs RST connec
20. e Response Message ADR 01H CMD 03H Starting data 02H address Number of data Count by word CRC CHK Low CRC CHK High 6 30 l SureServo AC Servo Systems User Manual 2nd Ed RevB 08 2011 Chapter 6 Modbus Communications CRC Cyclical Redundancy Check is calculated 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 MSB 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 A001H 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 equal 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
21. ication Protocol 0302 40771 P3 03 Communication Fault Action 0303 40772 P3 04 Communication Watchdog Time O ut 0304 40773 P3 05 Communication Selection 0305 40774 P3 07 Communication Response Delay Time 0307 40776 P3 08 Digital Input Software Control Mask 0308 40777 Group 4 Diagnostic Parameters Fault Record N most recent 0400 Fault Record N 1 0401 Fault Record N 2 0402 Fault Record N 3 0403 Fault Record N 4 0404 Jog Function 0405 Force O utputs Command 0406 Input Status 0407 O utput Status 0409 Analog Monitor 1 O ffset ch 1 0414 Analog Monitor 2 Offset ch 2 0415 Analog Velocity Input O ffset 0416 Analog Torque Input O ffset 0417 2nd Ed RevB 08 2011 SureServo AC Servo Systems User Manual 6 7 Chapter 6 Modbus Communications ET Connecting to DirecttLOGIC PLCs The following steps explain how to connect and communicate with the SureServo drives using DirectLO GIC PLCs Step 1 Modbus RTU Master PLCs The SureServo servo drives will communicate with the following DirectLO GIC CPUs using the Modbus RTU protocol Modbus RTU Master Support MRX MWYX Instructions DL06 or DL 260 CPU port 2 RX WX Instructions DLO5 DLO6 DL250 1 or DL260 CPU port 2 Step 2 Make the Connections There are several means of communicating serially from a Directlogic PLC CPU Connections DL05 DL06 DL250 1 DL260 port 2 DLO6 DL
22. ital output 4 to In Position P2 22 7 assigns digital output 5 to Servo Fault NC These parameters must be entered using the drive keypad 2nd Ed RevB 08 2011 SureServo AC Servo Systems User Manual l 6 13 Chapter 6 Modbus Communications ET The following list provides the DirectLO GIC PLC V memory locations and control bits along with the associated SureServo parameters used in the following ladder logic drive control example Parameters Read from drive RX and Placed in PLC V memory V3000 P0 00 V3001 P0 01 V 3002 P0 02 V3003 P0 03 V 3004 P0 04 V3005 P0 05 V3006 P0 06 V3007 P0 07 93010 PO 08 V3011 P0 09 V3012 PO 10 V3013 P0 11 Firmware Version Drive fault Drive Status Analog M onitor O utput M otor Feedback Rotation M otor Feedback Pulse M otor RPM Current Load of rated torque Peak Load of rated torque since powerup Digital O utput W ord Digital Input Word Read drive EEPROM control value Parameters Values W ritten to drive WX from PLC V memory V2000 PO 11 V2001 P0 12 V2002 P0 13 Drive write to EEPROM control Position Command Revolutions Position Command pulse V2003 P0 14 Velocity Reference rpm V2013 User memory location to compare velocity reference and update D rive s digital outputs mapped from V3011 to VC120 C120 P2 18 Digital output 1 Servo Ready C121 P2 19 Digital output 2 Low Speed C122 P2 20 Digital outpu
23. locity 0228 40553 Position 6 Velocity 0229 40554 Position 7 Velocity 022A 40555 Position 8 Velocity 022B 40556 Digital O utput Mode 022C 40557 Index Mode Output Signal Delay Time 022D 40558 Index Mode Stations 022E 40559 Position Deviation Clear Delay Time 022F 40560 Backlash Compensation index mode 0230 40561 Jitter Suppression 0231 40562 Clear Position Mode 0232 40563 Servo On Command 0233 40564 Dwell Time 1 auto index mode 0234 40565 Dwell Time 2 auto index mode 0235 40566 Dwell Time 3 auto index mode 0236 40567 Dwell Time 4 auto index mode 0237 40568 Dwell Time 5 auto index mode 0238 40569 Dwell Time 6 auto index mode 0239 40570 Dwell Time 7 auto index mode 023A 40571 Dwell Time 8 auto index mode 023B 40572 Electronic Gear Numerator 2 023C 40573 Electronic Gear Numerator 3 023D 40574 Electronic Gear Numerator 4 023E 40575 Velocity and Position Deviation Scaling Factor 023F 40576 Advanced Torque Limit M ode 0240 40577 Special Input Functions 0241 40578 6 6 SureServo AC Servo Systems User Manual 2nd Ed RevB 08 2011 Chapter 6 Modbus Communications Parameter Memory Addresses continued Modbus Parameter Description Hexadecimal Decimal Group 3 Communication Parameters P3 00 Communication Address 0300 40769 P3 01 Transmission Speed 0301 40770 P3 02 Commun
24. nd Limit 0128 40297 Analog Full Scale Torque Command Limit 0129 40298 On Delay Time of Electromagnetic Brake 012A 40299 O ff Delay Time of Electromagnetic Brake 012B 40300 Electronic Gear Numerator 1 012C 40301 Electronic Gear Denominator 012D 40302 Encoder O utput Scaling Factor 012E 40303 Homing Mode 012F 40304 Homing Speed 1 Fast Search Speed 0130 40305 Homing Speed 2 Creep Speed 0131 40306 Home Position O ffset revolutions 0132 40307 6 4 l SureServo AC Servo Systems User Manual 2nd Ed RevB 08 2011 Chapter 6 Modbus Communications ee Parameter Memory Addresses continued Modbus Parameter Description Hexadecimal Decimal Group 1 Basic Parameters continued Home Position O ffset counts 0133 40308 Regenerative Resistor Value 0134 40309 Regenerative Resistor Capacity 0135 40310 In Position Window 0136 40311 Maximum Speed Limit 0137 40312 Overload O utput Waring Threshold 0138 40313 Group 2 Extended Parameters Position Loop Proportional Gain KPP 0200 Position Loop Gain Boost 0201 Position Feed Forward Gain KFF 0202 Smooth Constant of Position Feed Forward Gain Velocity Loop Proportional Gain KVP 0204 Velocity Loop Gain Boost 0205 Velocity Loop Integral Compensation 0206 Velocity Feed Forward Gain 0207 Factory D efaults and Security 0208 Debounce Filter
25. ons These instructions allow you to enter Modbus Slave M emory Addresses no need to use octal addressing conversions to communicate with the drive Rung 4 reads the first 12 P0 00 to PO 11 Monitor Parameters from the drive and places the values in V3000 V3013 in the PLC Comm Port Busy Interlock SP116 C10 MRX Port Number Slave Address Function Code 03 Read Holding Registers Start Slave Memory Address 40001 Start Master Memory Address V3000 Number of Elements 12 Modbus Data type 584 984 Mode Exception Response Buffer V5005 Rung 5 writes 4 words V2000 V2003 from the PLC to drive Block Transfer Registers PO 11 PO 14 Modbus 40012 40015 Comm Port Busy Interlock SP116 C10 MWX Port Number K2 Slave Address K1 Function Code 16 Preset Multiple Registers Start Slave Memory Address Start Master Memory Address Number of Elements Modbus Data type Exception Response Buffer C10 RST Comm Interlock example program cont on next page 6 18 l SureServo AC Servo Systems User Manual 2nd Ed RevB 08 2011 Chapter 6 Modbus Communications DirectLO GIC Ladder Programming Example continued Rung 6 maps the drive s digital output word that was read using the RX or MRX instruction from V3011 to C120 C124 for bit level use Always on SP1 Drive digital output word Rung 7 enables the drive digital input 1 Servo Enable when C1 is turned on YO is connected to
26. reServo Pro software or the drive keypad unless the defaults are appropriate for your application For a detailed explanation of all SureServo Parameters refer to CHAPTER 4 Communications Parameters Parameter Description Range Default P3 00 Communication Address 01 to 254 01 4800 baud 9600 baud 19200 baud 38400 baud 57600 baud 115200 baud Modbus ASCII mode 7 data bits no parity 2 stop bits Modbus ASCII mode 7 data bits even parity 1 stop bit 02 Modbus ASCII mode 7 data bits odd parity 1 stop bit 03 Modbus ASCII mode 8 data bits no parity 2 stop bits 04 Modbus ASCII mode 8 data bits even parity 1 stop bit 05 Modbus ASCII mode 8 data bits odd parity 1 stop bit 06 Modbus RTU mode 8 data bits no parity 2 stop bits 07 Modbus RTU mode 8 data bits even parity 1 stop bit 08 Modbus RTU mode 8 data bits odd parity 1 stop bit 00 Display fault and continue operating 01 Display fault and RAMP to stop Transmission Speed Communication Protocol Transmission Fault Action Communication Watchdog Time Out 0 to 20 0 seconds 00 RS 232 Communication Selection 01 RS 422 02 RS 485 Reserved Communication Response Delay Time 00 to 255ms increments of 0 5 ms 6 2 l SureServo AC Servo Systems User Manual 2nd Ed RevB 08 2011 Chapter 6 Modbus Communications ee SureServo Parameter Memory Addresses Parameter Memory Addresses
27. rity 1 stop bit Start 0 1 2 3 4 5 6 7 Odd Stop bit parity bit 8 bit character 11 bit character frame 6 26 SureServo AC Servo Systems User Manual 2nd Ed RevB 08 2011 Chapter 6 Modbus Communications ee Communication Protocol Modbus ASCII Mode STX Start Character 3AH ADR1 ADR 0 CMD 1 CMD 0 Communication Address 8 bit address consists of 2 ASCII codes DATA n 1 Contents of data n x 8 bit data consists of 2n ASCII codes n 25 maximum of 50 ASCII codes LRC CHK 1 LRC CHK 0 LRC check sum 8 bit check sum consists of 2 ASCII codes END 1 EN D 0 Modbus RTU Mode START END characters END 1 CR ODH END 0 LF OAH A silent interval of more than 10 ms ADR CMD Communication Address 8 bit address 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 SureServo drives In this case the drive will not reply any message to the master device For example communication to drive with address 16 decimal Modbus ASCII mode ADR 1 ADR O 1 0 gt 1 31H 0 30H Modbus R
28. rm Set Servo Communication Parameters ween Most drive parameters can be written to or updated from a master controller using j Modbus communications However the drive s operational run commands i e Servo On Command Trigger RESET etc can only be executed by controlling the drive s physical digital inputs The following SureServo communications parameters must match the DirectLO GIC CPU port settings in order to establish communications Refer to the servo Communication parameters P3 for available settings P3 00 Communication address default 1 PLC read write instructions use comm address to target a specific drive P3 01 Communication baud rate default 19200 bps P3 02 Communication protocol default Modbus RTU mode lt 8 data bits odd parity 1 stop bit gt P3 05 Communication Selection default RS 232 Other related Parameters to note P2 30 Aux Function setting this parameter to 5 will disable parameter write to EEPROM each time communications is attempted with the drive default 0 This parameter setting is not retained when power is disconnected from the drive communications with a DirectLO GIC PLC There are several other parameters that The previous list of parameter settings is the minimum required to establish must be set through the drive keypad to configure the drive up for your application Step 4 Configure the DiredLOGIC CPU Port 2 The DirectLO GIC CPUs must
29. t 3 Home Search C123 P2 21 Digital output 4 In position C124 P2 22 Digital output 5 Servo Fault normally closed D rive s digital input terminals connected to PLC discrete outputs Digital Input 1 SERVO ENABLE Digital Input 2 CMD TRIGGER Digital Input 3 Pulse Clear Digital Input 4 Position Zero Digital Input 5 RESET Digital Input 6 CWL Limit normally closed Digital Input 7 CCWL Limit normally closed Digital Input 8 External Fault normally closed 6 14 l SureServo AC Servo Systems User Manual 2nd Ed Rev B 08 2011 Chapter 6 Modbus Communications DirectLO GIC Ladder Logic Programming Example The setup for all of the DirectLO GIC CPUs is very similar Refer to the appropriate CPU User Manual for the specifics on your particular DirectLO GIC CPU model The following ladder program shows an example of how to control the SureServo drive configured for Position M ode using communications instructions via the Modbus RTU protocol 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 The drive parameters listed on the previous pages are required for the following example This program is for example purposes only and not intended for a specific application program to function properly Rung 1 initializes the drive on first scan The motor
30. ted to drive reset example program cont on next page 6 20 l SureServo AC Servo Systems User Manual 2nd Ed RevB 08 2011 Chapter 6 Modbus Communications DirectLO GIC Ladder Programming Example continued Rung 13 If the EEPROM write control register V2000 is not equal to the value read RX or MW X and stored in V3013 C10 will be set to enable the WX or MW X command rung 4 This will update the drive with the value in V2000 For example drive parameter P2 30 write to EEPROM control is not retentive during drive power cycle so the read value stored in V3013 will be 0 zero and the value inV2000 may be 5 This will enable the rung 13 and cause rung 4 to execute the write to drive transfer block EEPROM EEPROM write status read status Comm Interlock V2000 V3013 C10 z SET Rung 14 If the motor velocity reference register V2003 is not equal to the previous velocity value stored inV2013 user V memory location the W X command rung 4 will execute and write the new velocity reference to the drive and will map the current value V2003 to user V memory location V2013 Current Motor Velocity Desired Motor Velocity Reference write Reference value V2003 14 gt V2013 Motor Velocity Reference rpm User location to store current motor velocity reference rpm C10 SET Comm Interlock Rung 15 All ladder logic programs must be terminated with an END command 15 END 2nd E
31. ur application program example program cont on next page 6 16 l SureServo AC Servo Systems User Manual 2nd Ed RevB 08 2011 Chapter 6 Modbus Communications DirectLO GIC Ladder Programming Example continued The Read RX and W rite W X commands are supported in the DL05 06 250 1 260 DirectLO GIC CPUs These instructions use octal addressing only so the octal equivalent of the Parameter s Modbus addresses must be used Rung 4 reads the first 12 Monitor Parameters P0 00 to P0 11 in the drive and places the values in V3000 V3013 in the PLC Octal VO V13 equals Modbus 40001 40012 Comm Port Busy Interlock SP116 C10 f2 DLO5 06 port 2 f1 DL250 1 260 port 2 01 Slave Address of bytes to read Destination address in PLC Source memory address in drive Rung 5 writes 4 words V2000 V2003 from the PLC to drive Block Read W rite registers PO 11 to P0 14 Octal V13 V16 equals Modbus 40012 40015 Comm Port Busy Interlock SP116 C10 f2 DLO5 06 port 2 f1 DL250 1 260 port 2 01 Slave Address of bytes to write Source memory address in PLC Destination address in drive Comm Interlock example program cont on next page 2nd Ed RevB 08 2011 SureServo AC Servo Systems User Manual l 6 17 Chapter 6 Modbus Communications ET Alternate Rungs 4 and 5 for use with D L06 D L260 PLC The DL06 260 CPUs support the Modbus Read M RX and Modbus Write MW X instructi
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