Altivar 12
Contents
1. Request Slave 03 No of first word Number of words CRC16 no Hi Lo Hi Lo Lo Hi 1 byte 1 byte 2 bytes 2 bytes 2 bytes Response Slave 03 Number of First word value Last word value CRC16 ne byt s read Hi Lo Hi Lo Lo Hi 1 byte 1 byte 1 byte 2 bytes 2 bytes 2 bytes Example read 4 words W3102 to W3105 16 0C1E to 16 0C21 in slave 2 using function 3 where SFr Switching frequency 4 kHz W3102 16 0028 tFr Maximum output frequency 60 Hz W3103 16 0258 HSP High speed 50 Hz W3104 16 01F4 LSP Low speed 0 Hz W3105 16 0000 Request 02 03 OC1E 0004 276C Response 02 03 08 0028 0258 01F4 0000 52B0 Value of W3102 W3103 W3104 W3105 Parameters SFr tFr HSP LSP BBV28590 04 2009 13 Modbus Functions Write one output word Request Function code 1 Byte 0x06 Register Address 2 Bytes 0x0000 to OxFFFF Register value 2 Bytes 0x0000 to OxFFFF Response Function code 1 Byte 0x06 Register Address 2 Bytes 0x0000 to OxFFFF Register value 2 Bytes 0x0000 to OxFFFF Error Error code 1 Byte 0x86 Exception code 1 Byte 01 or 02 or 03 or 04 see details on page 16 Example Request and response the frame format is identical Slave 06 Word number Value of word CRC16 no Hi Lo Hi Lo Lo Hi 1 byte 1 byte 2 bytes 2 bytes 2 bytes Example write value2. if not avoided can result in death or serious injury 4 CAUTION CAUTION indicates a potentially hazardous situation which if not avoided can result in minor or moderate injury CAUTION CAUTION used without the safety alert symbol indicates a potentially hazardous situation which if not avoided can result in property damage PLEASE NOTE The word drive as used in this manual refers to the controller portion of the adjustable speed drive as defined by NEC Electrical equipment should be installed operated serviced and maintained only by qualified personnel No responsibility is assumed by Schneider Electric for any consequences arising out of the use of this material 2009 Schneider Electric All Rights Reserved 4 BBV28590 04 2009 Before you begin Read and understand these instructions before performing any procedure with this drive A A DANGER HAZARD OF ELECTRIC SHOCK EXPLOSION OR ARC FLASH Read and understand this manual before installing or operating the Altivar 12 drive Installation adjustment repair and maintenance must be performed by qualified personnel The user is responsible for compliance with all international and national electrical code requirements with respect to grounding of all equipment Many parts of this drive including the printed circuit boards operate at the line voltage DO NOT TOUCH Use only electrically insulated tools DO NOT touc
3. 16 000D in word W9001 16 2329 in slave 2 ACC 13 s Request and response 02 06 2329 000D 9270 Read write Multiple registers Description Length in byte Value Comment Function code 1 16 17 16 XXXX Always Modbus address Read starting address Quantity to read 2 2 16 03 Contain number of holding registers to be read Write starting address 2 16 XXXX Always Modbus address 2 Quantity to write 16 03 Contain number of holding registers to be written Write Byte count 1 16 06 The byte count specifies the number of bytes to follow in the field Write Register Value Write Registers Value Nx2 Bytes 16 XX Value to be written respectively in NCA1 to NCA3 so the N quantity to XXXX configured example write XXXX CMD LFRD CMI XX Example Slave n Function Read starting Read starting Qty Write starting Write starting Qty Code Address HI Address LOW Address HI Address LOW 1 byte 1 byte 1 byte 1 byte 2 byte 1 byte 1 byte 2 byte MET uring Value 1 Lo Value HI 2 9 value crete 1 byte 1 byte Toye 1 byte 1 byte 2 byte 14 BBV28590 04 2009 Modbus Functions Read Device Identification ID Name Description Type 0x00 VendorName ASCII String 0x01 ProductCode ASCII String 0x02 MajorMinorRevision ASCII String Example Default value
4. L parameter this parameter can be found in the menu F L E see User Manual A WARNING LOSS OF CONTROL If Modbus fault management SLL fault ignore n0 communication control will be inhibited For safety reasons inhibition of communication fault should only be used for adjustment or special applications purpose Failure to follow these instructions can result in death serious injury or equipment damage BBV28590 04 2009 IO Scanner configuration parameters Integrated communication scanner The communication scanner is useful when used in combination by the Modbus client device with the function Read Write Multiple registers 23 0x17 which provides in a single telegram a read multiple registers and a write multiple registers The detail of the function 23 is described in the supported Modbus functions Local configuration of the communication scanner The communication scanner is accessible via the following menus C ON and IL 5 OC 5 submenus The 4 output variables and the 4 input variables are assigned by means of parameters nC A Ito nL AY and n TH Ito n 1H H An n EL RH or a IA parameter with a value of zero indicates that the parameter is not active These 8 parameters are described in the table NCA or NMA defines the addresses All these parameters are Modbus eligible addresses Destination drive address of the 1st output word 16422135 Submenu On the local H
5. active 7 10 2 Switch on disabled Fault reset 15 2 Switch on 001 x x x 16 0080 disabled x Value is of no significance for this command 0 o 1 Command on rising edge BBV28590 04 2009 19 ATV12 state machine Status word description ETA 3201 bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 Reserved Switch on Quick stop Powerstage is Malfunction Operation Switched on Ready to always 0 disabled bit active at 0 supplied fault present enabled switch on bit always on bit 15 bit 14 bit 13 bit 12 bit 11 bit 10 bit 9 bit 8 0 Motor Stop via STOP Reserved 2 0 Reserved 20 Reference Reference Local mode Reserved 20 rotation in key exceeded reached bit active at 0 forward lt LSPor gt steady state direction or HSP stopped Status bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 ETA z F F masked by Switched Quick stop Voltage Fault Operation Switched Ready to 16 006F 1 on enabled enabled on switch on disabled 1 Not ready to 0 x x 0 0 0 0 switch on 2 Switch on 1 x x 0 0 0 0 1640040 disabled 3 Ready to 0 1 x 0 0 0 1 16 0021 switch on 4 Switched on 0 1 1 0 0 1 1 16 0023 5 Operation 1 1 1 1 1 1630027 enabled 6 Quick stop 0 0 1 0 1 1 1 164220007 active 7 Fault reaction 0 x x 1 1 1 1 active 8 Fault 0 x x 1 0 0 0 16 0008 2 or 16 002
6. and for certain critical control functions provide a means to achieve a safe state during and after a path failure Examples of critical control functions are emergency stop and overtravel stop Separate or redundant control paths must be provided for critical control functions System control paths may include communication links Consideration must be given to the implications of unanticipated transmission delays or failures of the link Failure to follow these instructions can result in death serious injury or equipment damage a For additional information refer to NEMA ICS 1 1 latest edition Safety Guidelines for the Application Installation and Maintenance of Solid State Control and to NEMA ICS 7 1 latest edition Safety Standards for Construction and Guide for Selection Installation and Operation of Adjustable Speed Drive Systems BBV28590 04 2009 5 Documentation structure The following Altivar 312 technical documents are available on the Schneider Electric website www schneider electric com as well as on DVD ROM reference VW3A8200 User manual This manual describes how to install commission operate and program the drive Simplified manual This manual is a simplified version of the User manual This manual is delivered with the drive Quick Start sheet The Quick Start describes how to wire and configure the drive to start motor quickly and simply for simple applications
7. sent by the master is reserved for broadcasting ATV12 drives take account of the request but do not respond to it Supported Modbus functions The Altivar 12 supports the following Modbus functions Function name Code Description Remarks Read holding registers 03 Read N output words Max PDU length 63 words 165203 Write one output word 06 Write one output word 16 06 Write multiple registers 16 Write N output word Max PDU length 61 words 16 10 Read write Multiple registers 23 Read write multiple registers Max PDU length 4 words W 4 words R 16 17 Sub function 43 14 Encapsulated interface transport Read device Identification 16 2B Read device identification 16 0E 12 BBV28590 04 2009 Modbus Functions The following paragraphs describes each supported function Read Holding registers Request Function code 1 Byte 0x03 Starting Address 2 Bytes 0x0000 to OxFFFF Quantity of Registers 2 Bytes 1 to 63 Ox 3F Response Function code 1 Byte 0x03 Byte count 1 Byte 2x N Register value N x 2 Bytes N Quantity of Registers Error Error code 1 Byte 0x83 Exception code 1 Byte 01 or 02 or 03 or 04 see details on page 16 Example Note Hi high order byte Lo low order byte This function can be used to read all ATV12 words both input words and output words
8. word 12741 16 31C5 NM2 n fl 2 NM2 address Source drive value of the 2nd input word RERO velie 12742 16 31C6 NM3 n II 3 0 NMS address Source drive value of the 3rd input word 12743 16 31C7 NM4 N 4 0 NM4 address Source drive value of the 4th input word 12744 16 31C8 OSA NC1 nL I CMD value NC1 address Destination drive value of the 1st input word 12761 16 31D9 NC2 n E 2 LFRD value NC2 address Destination drive value of the 2nd input word 12762 16 31DA NC3 a E 3 0 NC3 address Destination drive value of the 3rd input word 12763 16 31DB NC4 n E 4 0 NC4 address Destination drive value of the 4th input word 12764 16 31DC 10 BBV28590 04 2009 IO Scanner configuration parameters Configuration example In this example the communication scanner is configured as follow nC A I nEA2 nTIA I nIA 2 are used with their default values nC A 3 is configured with the address of C N Modbus 8504 16 2138 n NA 3 is is configured with the address of E E Modbus 3206 16 0C86 How to read the diagram below Example for n H 3 nLH3 contain the logical address 2 3B of CN I 2 Communication scanner menu EN submenu EBT BES The required telegram to perform the exchange is the Modbus function 23 Obviously a sequence of requests based on Modbus functions 03 and 16 is also possible See also the chapters Modbus Functions and Altivar 12 and M340 BBV28590 04 2009 11 Modbus Functions Modbus Pr
9. 8 x In this state the value of the bit can be 0 or 1 1 This mask can be used by the PLC program to test the chart state 2 Fault following state 6 Quick stop active 20 BBV28590 04 2009 Application example Connecting an ATV12 to aM340 PLC Here is an example of an application that shows how to control an ATV12 from a M340 PLC equipped with a Modbus master serial port The program provides a control of the drive from an operator screen designed under Unity The example illustrates also the previous chapter Configuration of the Modbus Master The default settings of the serial port used as a Modbus master are compliant with the default settings of the ATV12 amp Project 4 Configuration Mg 0 PLCbus Wm o swxxee 0800 P P BMX CPS 2000 0 BMXP34 2010 CANopen SerialPort I Configuration Transmission speed Master satus Delay between frames M jaster 7 Defak ER s Number of reties 3 Data Stop Answer delay FI xl0ms C ASCI bits tbe I i C 2b Stave RTU S bits 2 bits E Ves V Even C Odd C None RTSICTS delag Physical line Signals C RS232 e RS495 rej C BBV28590 04 2009 21 Application example Initialization The communication is based on the READ VAR WRITE VAR functions During the first execution of the MAST task you can initialize the data structures used by these two functions Devicepath describes the path to the device including its slave ad
10. BBV28590 Altivar 12 Variable speed drives for asynchronous motors Modbus Communication Manual 04 2009 Schneider www schneider electric com ES Electric Contents Important Information Before you begin Documentation structure Presentation Connection to RS485 bus Configuration of the Modbus serial port IO Scanner configuration parameters Modbus Functions ATV12 state machine Application example Connection to RS485 bus BBV28590 04 2009 Important Information NOTICE Read these instructions carefully and look at the equipment to become familiar with the device before trying to install operate or maintain it The following special messages may appear throughout this documentation or on the equipment to warn of potential hazards or to call attention to information that clarifies or simplifies a procedure The addition of this symbol to a Danger or Warning safety label indicates that an electrical hazard exists which will result in personal injury if the instructions are not followed This is the safety alert symbol It is used to alert you to potential personal injury hazards Obey all safety messages that follow this symbol to avoid possible injury or death 4 DANGER DANGER indicates an imminently hazardous situation which if not avoided will result in death or serious injury 4 WARNING WARNING indicates a potentially hazardous situation which
11. MI it is parameter description Factory setting parameter Modbus address if oe NMA1 a TR I Address of ETA 3201 NMA1 address Source drive address of the 1st input word 16 0C81 12701 16 319D NMA2 n NA 2 Address of RFRD 8604 NMA2 address Source drive address of the 2nd input word 16 219C 12702 16 319E NMA3 n NA 3 0 NMA3 address Source drive address of the 3rd input word 12703 16 319F NMA4 n NA 4 0 NMA4 address Source drive address of the 4th input word 12704 16 31A0 BES NCA1 n E H I Address of CMD 8501 NCA1 address 12721 16 31B1 NCA2 aC Rig Destination drive address of the 2nd output word Address of LFRD 8602 16 219A NCA2 address 12722 16 31B2 NCA3 n E H 3 0 NCA3 address Destination drive address of the 3rd output word 12723 16 31B3 NCA4 n E R H 0 NCAS3 address Destination drive address of the 4th output word 12724 16 31B4 Monitoring the communication scanner It is also possible to monitor the parameters value that have been configured in the communication scanner accessible via the following menus C ON and 15 H OSA submenu This monitored values are The 4 output variable values and the 4 input variable values are located into parameters n C to nC 4 and amp T1 tonly Submenu On the local HMI it is parameter description Factory setting parameter Modbus address EB NM1 an I ETA value NM1 address Source drive value of the 1st input
12. This document is delivered with the drive Modbus Communication manual This manual describes the assembly connection to the bus or network signaling diagnostics and configuration of the communication specific parameters via the 7 segment LED display It also describes the communication services of the Modbus protocol This manual includes the main Modbus addresses It explains the operating mode specific to communication state chart ATV12P manual This manual describes the features related to products mounted on baseplate ATV12 Parameters description file All the parameters are grouped together in an Excel file available on the Schneider Electric website www schneider electric com with the following data Code Name Modbus Addresses Category Read write access Type signed numerical unsigned numerical etc Unit Factory setting Minimum value Maximum value Display on the 7 segment integrated display terminal Relevant menu This file offers the option of sorting and arranging the data according to any criterion chosen by the user A DANGER UNINTENDED EQUIPMENT OPERATION Read and understand this manual before installing or operating the Altivar 12 drive Any changes made to the parameter settings must be performed by qualified personnel The excel file does not describe the behaviour of the parameters Before any modification refer to the ATV12 User Manual Failure to fo
13. dress ReadVarMgt and WriteVarMgt are arrays used respectively by READ VAR and WRITE VAR Only the 3rd element of these arrays is modifiable by the user To define the time out duration of the requests data an t al zacr on Communication path to Modbus slave device at 3 The device path can be modified later by the app MSB of DevicePath 3 contains the device address DevicePath ADDM 0 0 0 3 Time out duration ReadVarMGT 2 50 WriteVarMGT 2 50 Data structure declaration g DevicePath ADDM TYPE ZMWw5D DevicePath 0 INT ZMWw5D DevicePath 1 INT ZMWwh51 DevicePath 2 INT MW52 DevicePath 3 INT MW53 DevicePath 4 INT zMWw5b54 DevicePath 5 INT MW55 DevicePath 6 INT MW 56 DevicePath 7 INT MW 5 ReadyarMGT MBMatT able Mw40 ReadvarMGT 0 INT zMW40 ReadvarMGT 1 INT zMWw41 ReadvarMGT 2 INT zMWw42 ReadvarMGT 3 INT zMW43 i A 22 BBV28590 04 2009 Application example Cyclical exchanges In the example below the application manages 2 requests A read request of 4 words starting at Modbus address 12741 NMA1 Modbus function 3 A write request of 4 words starting at Modbus address 12761 NCA1 Modbus function 16 Requests are executed only each N x FAST task to avoid too much activity on the serial line The device can be modified polling several devices by writing in DevicePath 3 Cyclical communicat
14. ed on No Yes return to 2 Switch on disabled state 5 Operation enabled Yes except at zero reference or halt No 6 Quick stop active Yes during fast stop No 7 Fault reaction active Depends on fault managment configuration 8 Fault No Yes BBV28590 04 2009 ATV12 state machine Command word description CMD 8501 bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 Oto 1 Reserved 20 Reserved 20 0 Free wheel Enable Quick stop Switch on Switch on transition staying in operation Drivecom disabled Fault reset Operation Drivecom state Drivecom state Enabled state activation activation activation bit active at 0 bit active at 0 bit 15 bit 14 bit 13 bit 12 bit 11 bit 10 bit 9 bit 8 Reserved Not assignable Reserved Reserved Direction of Reserved 0 Reserved 0 RUN asked rotation asked 0 Forward i STOR asked 1 Reverse Command Transition Final state bit 7 bit 3 bit 2 bit 1 bit 0 Example address Fault Enable Quick Switchon Switchon value reset operation stop disabled Shutdown 2 6 8 3 Reagy to x x 1 0 16 0006 switch on Switch on 4 Switched on x x 1 1 16 0007 Enable 5 Operation x 1 1 1 16 000F operation enabled Disable 5 4 Switched on x 0 1 1 16 0007 operation Disable 7 9 10 12 2 Switch on x x 0 x 16 0000 voltage disabled Quick stop 11 6 Quick stop x x 1 x 16 0002
15. h unshielded components or terminal strip screw connections with voltage present DO NOT short across terminals PA and PC or across the DC bus capacitors Before servicing the drive Disconnect all power including external control power that may be present Place a DO NOT TURN ON label on all power disconnects Lock all power disconnects in the open position WAIT 15 MINUTES to allow the DC bus capacitors to discharge Then follow the Bus Voltage Measurement Procedure see User manual to verify that the DC voltage is less than 42 V The drive LEDs are not indicators of the absence of DC bus voltage Install and close all covers before applying power or starting and stopping the drive Failure to follow these instructions will result in death or serious injury A DANGER UNINTENDED EQUIPMENT OPERATION Read and understand this manual before installing or operating the Altivar 12 drive Any changes made to the parameter settings must be performed by qualified personnel Failure to follow these instructions will result in death or serious injury A WARNING DAMAGED DRIVE EQUIPMENT Do not operate or install any drive or drive accessory that appears damaged Failure to follow these instructions can result in death serious injury or equipment damage A WARNING LOSS OF CONTROL The designer of any control scheme must consider the potential failure modes of control paths
16. he drive is complete The configuration and adjustment parameters can be modified The drive is locked Ready to switch on and Switched on Drive initialized The drive is locked The power stage of the drive is ready to operate but voltage has not yet been applied to the output The configuration and adjustment parameters can be modified but modifying a configuration parameter returns the drive to the Switch on disabled state Operation enabled Operational The drive is unlocked and voltage can be applied to the motor terminals Auto tuning tUn requires an injection of current The drive must therefore be in this state to perform this command The adjustment parameters can be modified even if a run command or a DC injection current is present However a configuration parameter can only be modified if the motor is stopped and this returns the drive to the Switch on disabled state Quick stop active Emergency stop active Fast stop Restarting is only possible after the drive has changed to the Switch on disabled state Malfunction reaction active Reaction on fault Transient state during which the drive performs an action appropriate to the type of fault detection Malfunction Fault The drive is locked Summary State Power supplied to motor Modification of configuration parameters 1 Not ready to switch on No Yes 2 Switch on disabled No Yes 3 Ready to switch on No Yes 4 Switch
17. ibution of a reference potential number of slaves length of bus The new Modbus specification published on the Modbus org site in 2002 contains precise details of all these characteristics They are also summarised in Standard schematic section The new Schneider Electric devices conform to this specification 8 BBV28590 04 2009 Configuration of the Modbus serial port Communication Menu Structure The communication parameters are part ofthe COM submenu This menu is accessible as follows COnF FES gt FULL Fon Add PE FLE Ebr ron EF FEED cs 378 7 888 7 Communication configuration Parameters decription Parameter description Range or listed values default Possible Value Modbus address MODBUS address of the drive 1 to 247 GFF Add 0 OFF broadcast only ORF l 247 TO es 0800 4 8 kbps 4 8 MODBUS baud rate 9 6 kbps 9 6 _ kbr 19 2 kbps 19 2 kbps 19 2 16 1773 06003 38 4 kbps SB 4 MODBUS format Be 8 bits odd parity 1 stop bit Ba LEQ 8E1 8 bits even parity 1 stop bit 8E1 BE I 1644774 06004 8N1 8 bits no parity 1 stop bit Bn I E 8N2 8 bits no parity 2 stop bits Bre Hea Timeout Adjustable from 0 1 to 30s 10 08 LED 164775 06005 ES Lue a n Communication scanner submenus Detailed in the next chapter IS H H5H The behaviour of the ATV12 when a time out occurs is defined by the 5 L
18. ion Modbus Requests are sent only each ModbusRequestPeriod X FAST period X n if ModbusRequestPeriod gt 25 then Read request to ATV12 Modbus function 3 IF not ReadVarBusy then READ VAR DevicePath MW 12741 4 ReadVarMGT MW124 4 Devicepath is initialized during Init Sequence END IF Write request to ATV12 Modbus function 16 IF not WriteVarBusy then WRITE VAR DevicePath MW 12761 4 MW120 4 WriteVarMGT END IF ModbusRequestPeriod 0 END_IF The key data are highlighted address and lengh in the device source and destination of the data in the PLC The time out can be managed by the application in a separate way by testing the activity ofthe 2 bits ReadVarBusy and WriteVarBusy Overview of the communication tables Name Value Comment E M ATVI2_NC ATVI2IOSCAN ZMWw120 ATV12 com scanner IN PLC gt ATV ATVI12_NCIO INT amp Mw120 default ATY 12 CMD Control Word oV Tv12 NC INT EMW121 default ATV12 LFRD Frequency reference Li ATv12 NC 2 INT XMw122 ATVv12 NC 3 INT XMw123 B m ATV12 NM ATVI2IDSCAN ZMW124 ATV12 COM scanner OUT ATY gt PLC 4 ATY12_NMI O INT ZMWw124 default ATY 12 ETA status word ATV12_NM 1 INT ZMWw125 default ATY 12 RFRD Output speed ATVI2_NMI2 INT amp MWw126 amp Tv12 NM 3 INT AXMW27 BBV28590 04 2009 23 Connection to RS485 bus Standard schematic The
19. llow these instructions will result in death or serious injury 6 BBV28590 04 2009 Presentation The Modbus socket on the Altivar 12 can be used for the following functions Configuration Settings Control Monitoring The ATV12 drive supports The 2 wire RS485 physical layer The RTU transmission mode BBV28590 04 2009 Connection to RS485 bus Connection to ATV12 Connection accessories should be ordered separately please consult our catalogues Connect the RJ45 cable connector to the ATV12 connector Pin out ofthe ATV12 RJ45 Connector View from underneath Pin Signal 1 2 2 3 4 D1 1 5 DO 1 6 7 VP 2 8 Common 1 1 Modbus signals 2 Supply for RS232 RS485 converter or a remote terminal Protection against interference Use the Schneider Electric cable with 2 pairs of shielded twisted conductors reference TSXCSA100 TSXCSA200 TSXCSA500 Keep the Modbus cable separated from the power cables 30 cm 11 8 in minimum Make any crossovers of the Modbus cable and the power cables at right angles if necessary For more information please refer to the TSX DG KBL E manual Electromagnetic compatibility of industrial networks and fieldbuses RS485 bus schematic The RS485 standard allows variants of different characteristics polarisation line terminator distr
20. onitored by the status word ETA parameter and the Command Word CMD Since 2007 CiA402 profile is part of the IEC standard 61800 7 Therefore DriveCom or CiA402 terminology is no more used ntry into state chart From all states Not ready to switch on Fault reaction active Switch on disabled Feu ETA 16 xx50 NST ETA 16 xxx8 Ready to switch on ETA 16 xx31 RDY Switched on ETA 16 xx33 RDY FST l Operation enabled Quick stop active 16 xx37 ETA 16 xx17 RUN ACC FST DCB Key State Switched on ETA 16 xx33 RDY FST Transition condition Enable F Status display on with example of command operation dab CMD 16 xxxF 1 graphic display terminal Value of status word BBV28590 04 2009 17 ATV12 state machine State machine description The Altivar control process using the communication bus follows IEC 61800 7 profile status chart compatible with the DRIVECOM standard Each state represents an aspect of the internal behaviour of the drive This chart evolves according to whether the control word is sent CMD W8501 or an event occurs example lock following malfunction The drive status can be identified by the value of the status word ETA W3201 Not ready to switch on Initialization Communication is being initialized Transient state invisible to the communication bus Switch on disabled Configuration Initialization of t
21. otocol The transmission mode used is RTU mode The frame contains no message header byte nor end of message bytes It is defined as follows The data is transmitted in binary code CRC16 cyclical redundancy check The end of the frame is detected on a silence greater than or equal to 3 characters Principle The Modbus protocol is a master slave protocol Master Only one device can transmit on the line at any time The master manages the exchanges and only it can take the initiative It interrogates each of the slaves in succession No slave can send a message unless it is invited to do so The master repeats the question when there is an incorrect exchange and declares the interrogated slave absent if no response is received within a given time period If a slave does not understand a message it sends an exception response to the master The master may or may not repeat the request sh Direct slave to slave communications are not possible For slave to slave communication the application software must therefore be designed to interrogate a slave and send back data received to the other slave Two types of dialogue are possible between master and slaves the master sends a request to a slave and waits for its response the master sends a request to all slaves without waiting for a response broadcasting principle Addresses The drive Modbus address can be configured from 1 to 247 Address 0 coded in a request
22. s to be detailed Request Slave 2B Type of MEI ReadDeviceld Object Id CRC16 no OE 01 00 L Hi 1 byte 1 byte 1 byte 1 byte 1 byte 2 bytes Response Slave 2B Type of MEI ReadDeviceld Degree of conformity no 0E 01 02 1 byte 1 byte 1 byte 1 byte 1 byte Number of additional frames Next object Id Number of objects 00 00 03 1 byte 1 byte 1 byte Id of object no 1 Length of object no 1 Value ofobjectno 1 00 12 Schneider Electric 1 byte 1 byte 18 bytes Id of object no 2 Length of object no 2 Value of object no 2 01 0B ATV12HU75M3 1 byte 1 byte 11 bytes Id of object no 3 Length of object no 3 Value of objectno 3 02 04 0201 1 byte 1 byte 4 bytes CRC16 Lo Hi 1 byte 1 byte The total response size equals 49 bytes The three objects contained in the response correspond to the following objects Object no 1 Object no 2 Object no 3 Manufacturer name always Schneider Electric ie 18 bytes ASCII string for example 0201 for version 2 1 Device reference ASCII string for example ATV12HU75MS ie 11 bytes Device version in MMmm format where MM represents the determinant and mm the subdeterminant 4 bytes Note The response to function 43 may be negative in this case the response located at the top of the next page is sent by the Altivar 12 rather
23. standard schematic corresponds to the Modbus specification published on the Modbus org site in 2002 Modbus_over_serial_line_V1 pdf Nov 2002 and in particular to the schematic of the 2 wire multidrop serial bus The ATV12 drive follows this specification Schematic diagram Y ei Common A I i Slave 1 Slave n Type of trunk cable Shielded cable with 1 twisted pair and at least a 3 conductor Maximum length of bus 1000 m at 19200 bps with the Schneider Electric TSX CSAeee cable Maximum number of stations without 32 stations ie 31 slaves repeater Maximum length of tap links 20 m for one tap link 40 m divided by the number of tap links on a multiple junction box Bus polarisation One 450 to 650 pulldown resistor at 5 V 650 Q recommended One 450 to 650 pulldown resistor at the Common 650 Q recommended This polarisation is recommended for the master Line terminator One 120 Q 0 25 W resistor in series with a 1nF 10 V capacitor Common polarity Yes Common connected to the protective ground at one or more points on the bus 24 BBV28590 04 2009 BBV28590 ATV12 Modbus EN V1 04 2009
24. than the response described above BBV28590 04 2009 15 Modbus Functions Error management Exception responses An exception response is returned by a slave when it is unable to perform the request which is addressed to it Format of an exception response Slave Response Error CRC16 no code code 5 Hi 1 byte 1 byte 1 byte 2 bytes Response code request function code 167480 Error code 1 The function requested is not recognized by the slave 2 The bit or word addresses indicated in the request do not exist in the slave 3 The bit or word values indicated in the request are not permissible in the slave 4 The slave has started to execute the request but cannot continue to process it completely CRC16 calculation The CRC16 is calculated on all the message bytes by applying the following method Initialize the CRC 16 bit register to 16 FFFF Enter the first to the last byte of the message CRC XOR byte gt CRC Enter 8 times Move the CRC one bit to the right If the output bit 1 enter CRC XOR 16 A001 gt CRC End enter End enter The CRC obtained will be transmitted with the low order bytes sent first followed by the high order ones unlike the other data contained in Modbus frames XOR exclusive OR 16 BBV28590 04 2009 ATV12 state machine Status chart based on IEC 61800 7 The state machine below describes the interaction between the drive s state machine m
Download Pdf Manuals
Related Search