Modbus User Manual
Contents
1. com 920 0072 Rev D 8 1 20142. fione AbsoutePosiionCommani f P Immediate Actual Velocity IVO Immediate Drive Temperature IT 4o Read SHORT Immediate Analog put vae iq a doors Reed SHORT QProgamiimeNumber f bo Immediate Current Command IC Relative Distance ID do 40022 28 Read tone SensorPositon g Point to Point Acceleration AC Point to Point Deceleration DE LB doost32 RW ton Poimtto PoimDisamos D D_ Change Distance DC Point to Point Move State E A gt gt Ho e for O pta KETI MCCAIN tons Frio EI doo owo SHORT Miscellaneous Flags F 0045 46 Om fions input Counter ood RW SHORT og Accel ode SHORT ogbe 0 sf Rw sHort AccelfbecelCument dos SHORT ece 5 920 0072 Rev D 8 1 2014 Modbus User Manual 40053 Rw stor stepsperfevotti R sosa Rw stor Pulse Counter Ss 40055 am stor Time Stamp i Analog Position Gain AP E SEI 4o57 Rw O SHORT f AnaogThreshoo a o Y 40058 Rw SHORT Analog Offset AV z 4059 60 Rw on Acumulaor o User Defined User Defined er Defin er Defin Defi Defin Defined Defined LO Defined Defi Defin Defined er Defined Ni lt x wm Z Z C CD a E D t DO CD a D Zila D a z i n D E md D D a E n D D a z z Fa PE EPA ERE EREEREER EREE PEETRE EREEREER EREEREER ERE EREEREER ETRE ETP 4
3. o o o Function 1 3 voPoa o o o Ll Analog Seating AS foor S Define Limits DL fog 13 o o o 0 SetOutpt SO ox8 voPon Condition o o 0 Wiaitforimpue w foo o o o o 0o Queue Load 8 Execute ax ogg 112 o o o 0 AAA Ine I I LL L_ poca st Joe 0 0 Stop Mori Kill Buffer SKD io Normal Decel Notes S o O o ndition S O o ndition S S S e 32 bit values may be either big endian or little endian Endianness is determined by Bit 6 of the PR command word Itis recommended that this setting be configured with the ST Configurator software e Consult the I O Encoding Table for details on parameter data for commands referencing I O 7 920 0072 Rev D 8 1 2014 Modbus User Manual IO Encoding Table Useful ASCII values for IO commands Character values shown are taken from standard SCL command nomenclature For example a Feed to Sensor command example may utilize the falling edge of input 1 and appear as FS1F To encode this command the user would select 0x31 for the character 1 and 0x46 for the character P input 1 or output 1 input 4 or output 4 high state open a oe isingedge 920 0072 Rev D 8 8 1 2014 Applied Motion Products Applied Motion Products 404 Westridge Drive Watsonville CA 95076 USA tel 831 761 6555 fax 831 761 6544 www applied motion
4. 0087 88 User Delined User Defin User Defin Defin Defin Defined Defined r Defined Defin Brake Release Delay Brake Engage Delay Idle Current Delay 40108 Rw stor Hyperbolic SmoothingGain amog RW SHORT Hyperbolic Smoothing Phase f domo pw SHORT AnlogfilerGam o 40111124 pp seed y ma Oo RW stor CommandOpeode R W Parameter 1 Parameter 2 MAA 4028 Rmw SHOT Parameters dor Rmw SHORT Paamee4 amo Rw short Parametes DE a E CD nin D D D a E CD a mn n N CD E D D a 920 0072 Rev D E 8 1 2014 Modbus User Manual Rimes cuen o gt tng o oss 0 sp aging s us Cond Cordon TI renot r os o Feed to Sensor with Mask FM Ox6A 1 0 Poin Distance Feed and Set Output 1 0 Poin Feed to Position FP_ oer o Feed to Sensor 1 0 Poin Conditi Feed to Sensor with Safety FY 0x6C 1 0 Poin Conditi Distance JogDisbe JD os 0 dogEnable ve oa o 0 MotorDisabe MD ose o o o Motor Enable ME oo o o o 0 0o SeekHom_ SH oe voPonm Condition o o 0 SetPostinm SP 05 Posto o o 0 filterimpue FI foco voPom FiterTime o o o 00 FiterSelectinpus FX ooo __ _ ___ StepFiterfeg SF oo fe o o o o AnalogDeadband AD oo oov o o o 0 Function 1 3 voPon
5. Modbus User Manual Covers the following Modbus RTU enabled drives ST5 Q RN STM17Q 3AN STM24QF 3AN ST5 Q RE STM170 3AE STM240F 3AE ST5 Q NN STM17Q 3RN STM240F SRN ST5 Q NE STM170 3RE STM240F 3RE ST10 Q RN SWM240F 3AN ST10 Q RE SIMESO 2AN SWM24QF 34E i STM230 2AE E STM230 2RN STM230 2RE STM230 3AN STM230 3AE STM230 3RN STM230 3RE Applied Motion Products APPLIED MOTION PRODUCTS INC Modbus is a registered trademark of Schneider Electric licensed to the Modbus Organization Inc 920 0072 Rev D 8 1 2014 Modbus User Manual What is Modbus RTU Modbus originally created by Modicon is a fieldbus that allows a master and one or more slave devices to share data These data are organized into 16 bit registers which can also be used to share information single bit I O points It is a popular protocol with PLC vendors due to its simplicity and the inherent ease of sending PLC register data often 16 bits in width over a fieldbus protocol optimized for 16 bit data The master may initiate read and write operations on single registers or blocks of registers While there is no rule to this effect it is common for the master to read and write on a periodic time base polling rather than sending and requesting data only when it is needed In this manner PLC register data is ensured to be valid and consistent as a representation of the slave devices status Wiring Modbus RTU uses the standard RS 232 or RS 485 p
6. er data from the above registers It is immediately ready to accept another command Note it is not necessary to send parameter data FL Command 40125 0x66 Hexadecimal is equal to 102 with each command unless this data changes between moves For example to repeat a move simply send the command again leaving the relevant paramter data unchanged Launch a G Program It is possible to execute a stored A program over Modbus using the QX command opcode 0x78 This command reguires a value to be written to Parameter 1 the first of 5 registers set aside for command dependant parameter data To launch the program at segment 1 we would use the SCL command QX1 Over Modbus the following procedure applies First configure the parameter data only Parameter 1 is used by this command 40126 Q segment to execute Integer 1 12 Now we can send the AX command itself QX Command 40125 120 0x78 Hexadecimal is equal to 102 Note to stop a command or interrupt a Q program either the SK or SKD commands may be used SK Command 40125 OxE1 Hexadecimal is equal to 225 SKD Command 40125 225 0xE2 Hexadecimal is equal to 226 920 0072 Rev D 8 1 2014 A Modbus User Manual Register Access DataType SCL Register Description domos Read SHORT gt OrverBoadimpus i 04000566 Red tone Encoder Position E EP e 400078 feel LONG Immediate Absolute Position 1 40009 10 write
7. hysical layer RS 232 is a point to point communications scheme and as such the largest possible network would consist of a single slave drive Please note that even though it will be the only device on the network it will still require an address This address may be an integer value from 1 32 and is set through the ST Configurator software during initial configuration For drives with RS 485 communications there are a few things to consider It is possible to use 2 wire RS 485 for operational communication over Modbus however 4 wire RS 485 is required for use with all Applied Motion configuration and programming software i e ST Configurator and Q Programmer As such we recommend that all RS 485 networks be constructed using the 4 wire method Be sure to consult your drive s hardware manual for specific wiring details Drive configuration First download and install the most recent version of the ST Configurator software from the Applied MOtion Products website www applied motion com For RS 485 drives you will also need a USB to RS 485 converter such as the USB COMi M module available from AMP Consult your drive s manual for wiring and general communication instructions 1 Launch ST Configurator software and select the appropriate COM port 2 Apply power to the drive Note perform this step with only a single drive on the network Each drive must be configured individually before it may be used on a network 3 ST C
8. o the following Modbus function codes 3 Read Holding Registers 4 Read Input Registers 6 Write Single Register 16 Write Multiple Registers Monitoring See the Register Map table for details on specific data that can be monitored and written in this manner Sending Commands The Command Opcode register 40125 is designated to receive encoded SCL commands via Modbus Many SCL commands have been made available in this manner and will allow the user full control over the motion capabilities of the drive SCL command encoding details can be found in the Modbus Register Table Please refer to the Host Command Reference for details of the functionality of these registers and commands 3 920 0072 Rev D 8 1 2014 Modbus User Manual Examples Point to Point Moves Four pieces of data are required to fully define a point to point move Acceleration Deceleration Distance and Velocity Followed of course by the move command itself To command such a move over Modbus we must first write to the aforementioned control registers then send the command Now it s time for the command itself The most common point to point move is the Feed to Length which 40028 100 Units 10RPW sec 40029 10 Units 10 RPM sec Velocity 40030 Units 0 25 RPM 40031 32 This register is affected by Endianness setting uses the SCL command FL In Modbus we do the following The drive will execute the move command immediately pulling the relevant paramet
9. onfigurator will automatically identify the drive but will not upload all parameters Click Upload from Drive This will ensure that the software accurately reflects the current state of the drive s configuration parameters 4 Click Motion amp 1 0 5 Specify the drive s node address and baud rate 6 For drives with Flex IO confirm the desired I O settings Click OK to return to the main screen 7 Set any desired motor and encoder configurations your application may require 920 0072 Rev D 2 8 1 2014 Modbus User Manual 8 Click Download to Drive to save the settings 9 Optionally launch Q Programmer to write and download a program for this axis The drive may be configured to launch the program automatically upon powerup or to wait for the QX command to be sent from the Modbus master 10 Remove power from the drive and install into the main machine network 11 Repeat for all other slave nodes taking care to ensure each has a unique node address Note the drive must be rebooted to switch between Modbus and configuration modes Drive Behavior An extensive list of registers has been made available allowing the user to monitor or change every detail of the drive s status It is also possible to send commands to a specific register mimicking the behavior of our proprietary SCL command set The capability allows a PLC to have unparalleled control over the drive s behavior at runtime The drive will respond t
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