WEG CFW100 Drives Modbus RTU User`s Manual
Contents
1. J J U J J 9 P0225 JOG SELECTION LOCAL SITUATION J sas asas ausa ca m saa aa naa ana 9 P0226 FORWARD REVERSE SELECTION REMOTE SITUATION 9 P0227 RUN STOP SELECTION REMOTE SITUATION J J T J 9 P0228 JOG SELECTION REMOTE SITUATION J J u J J J 9 P0308 SERIAL ADDRESS bsvsieiiscctecisesssssuiveudscnsssaussvvasescdduncaudsvuecucdisiaseuveuussuaciasasuudvusncsadddieusedeudasund dvseacevancd 9 P0310 SERIAL BAUD RATE n Roa nai nO aU CE RR on ni RES ERE 9 P0311 SERIAL INTERFACE BYTE CONFIGURATION J 10 P0313 COMMUNICATION ERROR ACTIONN J J J J J Q J J 10 P0314 SERIAL WATCHDOG J na J J J J aga OI UID assa assa a IDs u u 11 P0316 SERIAL INTERFACE STATUS J REN SN REOR J 11 P02. Introduction to Serial Communication 1 INTRODUCTION TO SERIAL COMMUNICATION In a serial interface the data bits are sent sequentially through a communication channel or bus Several technologies use the serial communication for data transfer including the RS232 and RS485 interfaces The directions that specify the 5232 and RS485 standards however do neither specify the character format nor its sequence for the data transmission and reception Therefore besides the interface it is also necessary to identify the protocol used for the communication Among the several existent protocols one used a lot in the industry is the Modbus RTU protocol In the sequence the characteristics of the RS485 and USB serial interfaces available for the product will be presented as well as the Modbus RTU protocol for the use of this interface Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net meg Interface Description 2 INTERFACE DESCRIPTION The interfaces for serial communication RS485 or USB available for the CFW100 frequency inverter depend on the selected communication module for the product Following are presented information about the connection and installation of the equipment using different communication modules 2 1 5485 COMMUNICATION MODULE CFW100 CRS485 Figure 2 1 Module with RS485 interface This plug in module for the CFW100 frequency inverter ha
3. NETWORK SLAVE 17 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net Contents 5 1 AVAILABLE FUNCTIONS AND RESPONSE TIMES 17 5 2 MEMORY a 17 6 DETAILED DESCRIPTION OF THE FUNCTIONS 19 6 1 FUNCTION 03 READ HOLDING REGISTER 19 6 2 FUNCTION 06 WRITE SINGLE REGISTER 19 6 3 FUNCTION 16 WRITE MULTIPLE REGISTERS 20 6 4 FUNCTION 43 READ DEVICE IDENTIFICATION 21 6 5 COMMUNICATION ERRORS 21 7 FAULTS AND ALARMS RELATED TO THE MODBUS COMMUNICATION 23 A128 F228 TIMEOUT FOR SERIAL COMMUNICATIOLNN 23 APPENDISES u uu 24 AP NDICE A ASCIITABLE 24 AP NDICE CRC CALCULATION USING TABLE
4. J J J nana U J aa 7 241 3 Terminating resistor UU IILI u a assssssasasasssasaswsawawasssssuasasa 8 2 1 4 WAI GATIONS oie ceca au seytvesscduwansedveuueacsadusuvedunnqucdcdauseduaveveunsubauvaviseuusuicsuiduvaitavant 8 2 1 5 Connection with RS485 Netwolk J J U J Q J J 8 22 USB COMMUNICATION MODULE CFW100 CUSB 8 2 2 1 INCI CATIONS OCA RD EO ERR TR EC RR REUS 8 3 PROGRAMMING 9 3 1 SYMBOLS FOR THE PROPERTIES DESCRIPTIONN J T 9 P0105 157 27 RAMP SELECTION 9 P0220 LOCAL REMOTE SELECTION SOURGCGE J J a sm saa J J J 9 P0221 SPEED REFERENCE SELECTION LOCAL SITUATION 9 P0222 SPEED REFERENCE SELECTION REMOTE SITUATION 9 P0223 FORWARD REVERSE SELECTION LOCAL SITUATIONN 9 P0224 RUN STOP SELECTION LOCAL SITUATIOLN
5. Communication rates and the time periods involved in the telegram transmission Baud rate 1200 bits s 2400 bits s 4 583 ms 16 042 ms 4800 bits s 9600 bits s 19200 bits s 38400 bits s 573 us 2 005 ms 57600 bits s 573 2 005 ms Thi bits Time for transmitting one byte of the telegram bytes lime between bytes Tax Minimum interval to indicated beginning and end of a telegram 3 5 x T1 1bits Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net Operation the Modbus RTU Network Slave Mode 5 OPERATION IN THE MODBUS RTU NETWORK SLAVE MODE The CFW100 frequency inverter has the following characteristics when operated in Modbus RTU network Network connection via RS485 serial interface Address communication rate and byte format defined by means of parameters tallows the device programming and control via the access to parameters 5 1 AVAILABLE FUNCTIONS AND RESPONSE TIMES In the Modbus RTU specification are defined the functions used to access different types of data In the CFW100 the parameters have been defined as being holding type registers In order to access those data the following services or functions have been made available Read Holding Registers Description reading of register blocks of the holding register type Function code 03 P Read Input Registers Indicador n o definido Description
6. OxCl 0x81 0 40 0x00 OxC1 0x81 0x40 0x01 0 0 0x80 0x41 0x01 0 0 0x80 0x41 0x00 OxCl 0x81 0x40 0x01 0 0 0x80 0x41 0x00 OxC1 0x81 0x40 0x00 OxCl 0x81 0x40 0x01 O0xCO 0x80 0 41 0x00 OxC1 0x81 0x40 0x01 0 0 0x80 0x41 0x01 0 0 0x80 0x41 0x00 OxCl 0x81 0x40 0x01 0xCO 0x80 0x41 0x00 OxCl 0x81 0x40 0x00 OxCl 0x81 0x40 0x01 O0xCO 0x80 0x41 0x01 0xCO 0x80 0x41 0x00 OxCl 0x81 0x40 0x00 OxCl 0x81 0x40 0x01 O0xCO 0x80 0x41 0x00 OxCl 0x81 0x40 0x01 OxCO 0x80 0x41 0x01 0 0 0x80 0x41 0x00 OxC1 0x81 0x40 Table of CRC values for low order byte static char auchCRCLo 0x00 0xCO OxC1 0x01 OxC3 0x03 0x02 0xC2 OxC6 0x06 0x07 OxC7 0x05 OxC5 OxC4 0x04 OxCC Ox0C OxOD OxCD OxOF OxCF OxCE 0 0 OxCA OxCB O0x0B OxC9 0x09 0x08 OxC8 OxD8 0x18 0x19 OxD9 0 OxDB OxDA 0 1 0 1 OxDF OxlF OxDD 0 1 1 OxDC 0x14 OxD4 OxD5 0 15 OxD7 0 17 0 16 OxD6 OxD2 0x12 0x13 OxD3 0 11 OxD1 0 00 0 10 OxF0 0x30 0x31 OxF1 0x33 OxF3 OxF2 0x32 0x36 0 6 OxF7 0x37 OxF5 0x35 0x34 OxF4 OxFC OxFD Ox3D OxFF Ox3F OxFE OxFA 0 3 OxFB 0x39 OxF9 OxF8 0x38 0x28 OxE8 OxE9 0x29 OxEB 0 2 0 2 OxEA 0 Ox2E Ox2F OxEF Ox2D OxED OxEC Ox2C OxE4 0x24 0x25 OxE5 0 27 0 7 OxE6 0x26 0x22 OxE2 OxE3 0
7. achieved by means of parameters 105 and P0220 to P0228 Each bit of this word represents a command that can be executed Function o D o 9 2 a m ac Second ramp LOC REM gt General enable Run Stop JOG Speed direction Table 3 4 P0682 parameter bit functions Bit O 0 It stops the motor with deceleration ramp Run Stop 1 The motor runs according to the acceleration ramp until reaching the speed reference value Bit 1 0 It disables the drive interrupting the supply for the motor General enable 1 It enables the drive allowing the motor operation Bit 2 0 To run the motor in a direction opposed to the speed reference Values Speed direction To run the motor in the direction indicated by the speed reference Bit 3 0 It disables the JOG function JOG 1 It enables the JOG function Bit 4 0 drive goes to the Local mode LOC REM The drive goes to the Remote mode 0 The drive uses the first ramp values programmed in P0100 and P0101 as the motor acceleration and Bit5 deceleration ramp times Second ramp 1 The drive is configured to use the second ramp values programmed in P0102 and P0103 as the motor acceleration and deceleration ramp times 60 Reserved Bit 7 0 No function Fault reset 1 If in a fault condition then it executes the reset Bits 8 to 15 Reserved P0683 SERIAL SPEED REFERENCE Range 32768 to 32
8. connection The cable Shield must also be grounded Enable the termination resistors only at two points at the extremes of the main bus even if there are derivations from the bus 2 2 USB COMMUNICATION MODULE CFW100 CUSB Figure 2 2 Module with USB connection For this module a USB interface with mini USB conector is available When connecting the USB interface it will be recognized as a USB to serial converter and a virtual COM port will be created Thus communication is made with the drive via this COM port The USB accessory also provides the connection to the remote keypad via standard RS485 interface 2 2 1 Indications Details on the alarms communications failures and communication states are made through the keypad HMI and product parameters 3 is necessary to install the USB driver on the CD ROM supplied with the product The COM port number created depends on the availability in the operating system and once connected consult the hardware resources of the system to identify this port Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net Programming 3 PROGRAMMING Next the CFW100 frequency inverter parameters related to the Modbus RTU communication will be presented 3 1 SYMBOLS FOR THE PROPERTIES DESCRIPTION RO Reading only parameter CFG Parameter that can be changed only with a stopped motor P0105 151 2 RAMP S
9. reading of register blocks of the input register type Function code 04 Write Single Register Description writing in a single register of the holding type Function code 06 Write Multiple Registers Description writing in register blocks of the holding register type Function code 16 Read Device Identification Description identification of the device model Function code 43 The response time from the end of transmission of the master until the response of the slave ranges from 2 to 10 ms for any of the functions above 5 2 MEMORY The CFW100 Modbus communication is based on the reading writing of the equipment parameters All the drive parameters list is made available as holding type 16 bit registers The data addressing is done with the offset equal to zero which means that the parameter number corresponds to the register number The following table illustrates the parameters addressing which can be accessed as holding type register Table 5 1 Modbus RTU Memory Map Modbus data address Oo 0000h 0001h 0064h It is necessary to know the inverter list of parameters to be able to operate the equipment Thus it is possible to identify what data are needed for the status monitoring and the control of the functions The main parameters are Monitoring reading Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net Weq O
10. represented in 16 bits Therefore it is necessary to transmit those fields using two bytes superior high and inferior low The telegrams for request as well as for response cannot exceed 64 bytes transmitted values are always integer regardless of having a representation with decimal point Thus the value 9 5 would be transmitted via serial as being 95 5Fh Refer to the CFW100 parameter list to obtain the resolution used for each parameter 6 1 FUNCTION 03 READ HOLDING REGISTER It reads the content of a group of registers that must be necessarily in a numerical sequence This function has the following structure for the request and response telegrams each field represents a byte Address of the initial register low byte Datum 1 high Number of registers high byte Datum 1 low Number of registers low byte Datum 2 high Datum 2 Example reading of the motor speed P0002 and the motor current P0003 of slave at address 1 assuming that 002 30 Hz and 1 5 Address 1 01h 1 byte register address 2 0002h 2 bytes Value of the fist parameter 30 001 2 bytes Value of the second parameter 15 OOOFh 2 bytes Response Slave Field Slave Address Function Byte count P0002 high P0002 low P0008 high P0008 low CRC 1 6 2 FUNCTION 06 WRITE SINGLE REGISTER This function is used to write a value for a si
11. use in Local mode the commands via HMI Instead of an alarm the communication error causes a drive fault 5 Causes a Fault so that a drive fault reset becomes necessary in order to restore normal operation The following events are considered communication errors Serial communication RS485 128 alarm F228 fault Serial communication timeout The actions described in this parameter are executed by means of the automatic writing of the selected actions in the respective bits of the interface control words Therefore in order that the commands written in this parameter be effective it is necessary that the device be programmed to be controlled via the used network interface with exception of option Causes a Fault which blocks the equipment even if it is not controlled by network This programming is achieved by means of parameters P0220 to P0228 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net Programming P0314 SERIAL WATCHDOG Range 0 0 to 999 0s Default 0 0 Properties CFG Description It allows programming a time limit for the detection of serial interface communication error If the frequency inverter remains without receiving valid telegrams longer than the time programmed in this parameter it will be considered that a communication error has occurred the alarm A128 will be showed on the HMI and the option programmed in 13 will be exe
12. 2 0 s of a slave at address 15 Address 15 OFh 1 byte Initial register address 100 0064h 2 bytes Value for the fist parameter 10 OOOAh 2 bytes Value for the second parameter 20 0014h 2 bytes Request Master Response Slave Field Field Slave Address Slave Address Function Function Initial register high Initial register high Initial register low Initial register low Number of registers high Number of registers high Number of registers low Number of registers low Byte count CRC P0100 high CRC P0100 low P0101 high P0101 low CRC Slave Address Slave Address Function Function 10 Initial register high register high Initial register ow register dow 64h Number of registers high Number of registers high Oh Number of registers ow O Number of registers low oh Byte count j Oh P0100 high CR 0 0 0 0 0 0 O 89h o S O CR p Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net Detailed Description of the Functions 6 4 FUNCTION 43 READ DEVICE IDENTIFICATION It is an auxiliary function that allows the reading of the product manufacturer model and firmware version It has the following structure Request Master Response Slave x of the firstobicct Size of the fir
13. 680 STATUS WORD isdsciisissedcciscccicnnscscscteccccstunaesscucsecuodnensncasecscustsntaisousudueeandsvandaccciusanusnedscescndsinung eatad 11 P0681 MOTOR SPEED IN 13 BITS rena narrari niin inii c e ccc 12 P0682 SERIAL CONTROL WORD enc Grac o a 13 P0683 SERIAL SPEED REFERENGCGE 1111 a J J J J Q J J 13 4 MODBUS RTU 15 41 TRANSMISSION MODES J J i T Q T J 15 4 2 MESSAGE STRUCTURE FOR RTU MOBE J J J aaa sa J 15 4 2 1 AL OSS itisiiievsscsisncsstsdisnsteassecnsassisoudsiuacsundedivsicvivisnaedeviasudseuansassesusuucdsuinedsdecdscaseaissntstviusdusedisuaueeie 15 4 2 2 FUNGCHUON TT voudaaandasecteiaseascauadsaaianeuae 15 4 2 3 Data Field iisvcscisisnnvesvascvacisdnensisaveuncciudssusdsvusceuciddnarv vuducusied seursveudanuaisainauudewdsdudastacusdsuiucsateuienedeewan 15 4 2 4 ille 15 4 2 5 Time Between Messages 15 5 OPERATION IN THE MODBUS
14. 767 Default 0 Properties Description It allows programming the motor speed reference via the Modbus RTU interface This parameter can only be changed via serial interface For the other sources HMI etc it behaves like a read only parameter In order that the reference written in this parameter be used it is necessary that the drive be programmed to use the speed reference via serial This programming is achieved by means of parameters P0221 and P0222 This word uses a 13 bit resolution with signal to represent the motor rated frequency PO403 PO683 0000h 0 decimal gt speed reference 0 P0683 2000h 8192 decimal speed reference rated frequency 403 Intermediate or higher reference values can be programmed by using this scale E g 60Hz rated frequency to obtain a speed reference of 30 Hz one must calculate Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net Programming 60 Hz gt 8192 30 Hz gt 13 bit reference 13 bit reference 30 x 8192 60 13 bit reference 4096 gt Value corresponding to 30 Hz 13 bit scale This parameter also accepts negative values to revert the motor speed direction The reference speed direction however depends also on the control word P0682 bit 2 setting Bit 2 2 1 and P0683 O reference for forward direction Bit 2 2 1 and P0683 O reference for re
15. ELECTION P0220 LOCAL REMOTE SELECTION SOURCE P0221 SPEED REFERENCE SELECTION LOCAL SITUATION P0222 SPEED REFERENCE SELECTION REMOTE SITUATION P0223 FORWARD REVERSE SELECTION LOCAL SITUATION P0224 RUN STOP SELECTION LOCAL SITUATION P0225 JOG SELECTION LOCAL SITUATION P0226 FORWARD REVERSE SELECTION REMOTE SITUATION P0227 RUN STOP SELECTION REMOTE SITUATION P0228 JOG SELECTION REMOTE SITUATION These parameters are used in the configuration of the command source for the CFW100 frequency inverter local and remote situations In order that the device be controlled through the Modbus RTU interface the options serial available in these parameters must be selected The detailed description of these parameters is found in the CFW100 programming manual P0308 SERIAL ADDRESS Range 1 to 247 Default 1 Properties CFG Description It allows programming the address used for the inverter serial communication It is necessary that each device in the network has an address different from all the others P0310 SERIAL BAUD RATE Range 0 9600 bits s Default 0 1 19200 bits s 2 38400 bits s Properties CFG Description It allows programming the baud rate for the serial communication interface in bits per second This baud rate must be the same for all the devices connected to the network Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautoma
16. Motors Automation Energy Transmission amp Distribution Coatings Modbus RTU CFW100 User s Manual BEEN Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net Modbus RTU User s Manual Series CFW100 Language English Document Number 10002909455 00 Publication Date 06 2014 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net Contents CONTENTS CONTENTS u u uu MM MD n 3 ABOUT THIS MANUAL L U U UDIU nA UD AUI EU DUM A EDU US 5 ABBREVIATIONS AND DEFINITIONS J J J U J J a J J J 5 NUMERICAL REPRESENTATION J J J J J J a Issa assa sa sa J Q J J 5 5 1 INTRODUCTION SERIAL 6 2 INTERFACE DESCRIPTION U 7 2 1 RS485 COMMUNICATION MODULE 100 5485 1 7 2 1 1 RS485 module s connector riri tuta esconde d i a d CR Kd 7 2 1 2 RS485 Interface Characteristics
17. S 25 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net About this Manual ABOUT THIS MANUAL This manual supplies the necessary information for the operation of the CFW100 frequency inverter using the Modbus RTU protocol This manual must be used together with the CFW100 user manual ABBREVIATIONS AND DEFINITIONS ASCII American Standard Code for Information Interchange CRC Cycling Redundancy Check EIA Electronic Industries Alliance TIA Telecommunications Industry Association RTU Remote Terminal Unit NUMERICAL REPRESENTATION Decimal numbers are represented by means of digits without suffix Hexadecimal numbers are represented with the letter h after the number Binary numbers are represented with the letter b after the number DOCUMENTS The Modbus RTU protocol was developed based on the following specifications and documents Document Version Source MODBUS Application Protocol Specification December V1 1b MODBUS ORG 28th 2006 MODBUS Protocol Reference Guide June 1996 MODICON MODBUS over Serial Line December 20th 2006 V1 02 MODBUS ORG In order to obtain this documentation consult MODBUS ORG which is nowadays the organization that keeps publishes and updates the information related to the Modbus protocol Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net
18. as being five ASCII characters which in hexadecimal have the values 56h V 31h 1 2Eh 30h 07 and 30h 0 65 COMMUNICATION ERRORS Communication errors may occur in the transmission of telegrams as well as in the contents of the transmitted telegrams Depending on the type of error the slave may or not send a response to the master Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net Detailed Description of the Functions When the master sends a message for an inverter configured in a specific network address the product will not respond to the master if the following occurs Parity bit error CRC error Timeout between the transmitted bytes 3 5 times the transmission time of a byte In those cases the master must detect the occurrence of the error by means of the timeout while waiting for the slave response In the event of a successful reception during the treatment of the telegram the slave may detect problems and send an error message indicating the kind of problem found Invalid function Error code 1 The requested function has not been implemented for the equipment Invalid datum address Error code 2 the datum address does not exist Invalid datum value Error code 3 It occurs in the following situations The value is out of the permitted range An attempt to write a datum that cannot be changed reading only registe
19. byte n bytes 2 bytes Slave response telegram Address Function Response Data CRC 1 byte 1 byte n bytes 2 bytes 4 2 1 Address The master initiates the communication sending a byte with the address of the slave to which the message is destined When sending the answer the slave also initiates the telegram with its own address The master can also send a message to the address 0 zero which means that the message is destined to all the slaves in the network broadcast In that case no slave will answer to the master 4 2 2 Function Code This field also contains a single byte where the master specifies the kind of service or function requested to the slave reading writing etc According to the protocol each function is used to access a specific type of data For the available list of supported functions refer to item 5 4 23 Data Field It is a variable size field The format and contents of this field depend on the used function and the transmitted value This field is described together with the function description refer to item 5 4 2 4 CRC The last part of the telegram is the field for checking the transmission errors The used method is the CRC 16 Cycling Redundancy Check This field is formed by two bytes where first the least significant byte is transmitted CRC and then the most significant CRC The CRC calculation form is described in the protocol specification however informati
20. chCRCHi lt lt 8 uchCRCLo Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net
21. cuted After being powered up the frequency inverter starts counting this time from the first received valid telegram The value 0 0 disables this function P0316 SERIAL INTERFACE STATUS Range 0 Inactive Default 1 Active 2 Watchdog error Properties RO Description It allows identifying whether the RS232 or RS485 serial interface board is properly installed and whether the serial communication presents errors Table 3 2 P0316 options Inactive serial interface It occurs when the device does not have the RS232 or RS485 board installed Installed and acknowledged RS232 or RS485 interface board Sar The serial interface is active but serial communication error has been 9 detected A128 alarm F228 fault P0680 STATUS WORD Inactive Range 0000h to FFFFh Default Properties RO Description It allows the device status monitoring Each bit represents a specific status Function Reserved Fault condition Undervoltage LOC REM Speed direction Active General Motor Running Alarm condition In configuration Second ramp Reserved Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net Programming Bits Bits 0 to 4 Bit5 Second ramp Bit 6 In configuration mode Bit 7 Alarm condition Bit 8 Motor Running Bit 9 Active General Enable Bit 10 Speed direction Bit 11 JOG Bit 12 LOC REM Bit 13 Und
22. ent More devices can be connected by using repeaters A maximum bus length of 1000 meters 1 For connections that require distances greater than 3 meters use remote keypad connection via control terminal 2 The limit of devices that can be connected on the network depends on the protocol used Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net eq Interface Description 2 1 8 Terminating resistor It is necessary to enable a terminating resistor at both ends of the main bus for each segment of the RS485 network If the equipment located at both ends of the bus does not have termination resistors use active terminating to enable these resistors 2 1 4 Indications Details on the alarms communications failures and communication states are made through the keypad HMI and product parameters 2 1 5 Connection with the RS485 Network The following points must be observed for the connection of the device using the RS485 interface tis recommended the use of a shielded cable with a twisted pair of wires tis also recommended that the cable has one more wire for the connection of the reference signal GND In case the cable does not have the additional wire then the GND signal must be left disconnected The cable must be laid separately and far away if possible from the power cables All the network devices must be properly grounded preferably at the same ground
23. ervoltage Bit 14 Bit 15 Fault condition Table 3 3 PO680 parameter bit functions Reserved 0 The drive is configured to use the first ramp values programmed in P0100 and P0101 as the motor acceleration and deceleration ramp times 1 The drive is configured to use the second ramp values programmed in P0102 and P0103 as the motor acceleration and deceleration ramp times 0 The drive is operating normally 1 The drive is in the configuration mode It indicates a special condition during which the drive cannot be enabled Executing the self tuning routine Executing the oriented start up routine Executing the HMI copy function Executing the flash memory card self guided routine There is a parameter setting incompatibility There is no power at the drive power section 0 The drive is not in alarm condition 1 The drive is in alarm condition Note The alarm number can be read by means of the parameter P0048 Present Alarm 0 The motor is stopped 1 The drive is running the motor at the set point speed or executing either the acceleration or the deceleration ramp 0 General Enable is not active 1 General Enable is active and the drive is ready to run the motor 0 The motor is running in the reverse direction 1 The motor is running in the forward direction 0 Inactive JOG function 1 Active JOG function 1 Drive in Remote mode 1 With Undervoltage 0 The drive is not in a fault c
24. iautomation net eg Appendices APENDICE B CRC CALCULATION USING TABLES Next a function using programming language C is presented which implements the CRC calculation for the Modbus RTU protocol The calculation uses two tables to supply pre calculated values of the necessary displacement for the calculation Table of CRC values for high order byte static unsigned char auchCRCHi 0x00 OxC1 0x81 0x40 0 01 0 0 0x80 0x41 0x01 0 0 0x80 Ox41 0x00 OxCl 0x81 0x40 0x01 0 0 0x80 0x41 0x00 OxC1 0x81 0x40 0x00 OxCl 0x81 0x40 0x01 O0xCO 0x80 0 41 0x01 0 0 0x80 0 41 0x00 OxC1 0x81 0x40 0x00 OxCl 0x81 0x40 0x01 0 0 0x80 0x41 0x00 OxC1 0x81 0x40 0x01 0 0 0x80 0x41 0x01 0 0 0x80 0x41 0x00 OxCl 0x81 0x40 0x01 0xCO 0x80 0x41 0x00 OxCl 0x81 0x40 0x00 OxCl 0x81 0x40 0x01 O0xCO 0x80 0x41 0x00 OxC1 0x81 0x40 0x01 0 0 0x80 0x41 0x01 0xCO 0x80 0x41 0x00 OxCl 0x81 0x40 0x00 OxC1 0x81 0x40 0x01 0 0 0x80 0x41 0x01 0 0 0x80 0x41 0x00 OxCl 0x81 0x40 0x01 0xCO 0x80 0x41 0x00 OxCl 0x81 0x40 0x00 OxCl 0x81 0x40 0x01 0 0 0x80 0x41 0x01 0 0 0x80 0x41 0x00 OxC1 0x81 0x40 0x00 0 1 0x81 0x40 0x01 O0xCO 0x80 0x41 0x00 OxC1 0x81 0x40 0x01 0 0 0x80 0x41 0 01 0 0 0x80 0 41 0x00
25. ngle register It has the following structure each field represents a byte Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net Detailed Description of the Functions Example writing of 30 Hz as the speed reference P0683 assuming a motor frequency of 60 Hz for the slave at address 3 Address 3 O3h 1 byte nitial register address 683 O2ABh 2 bytes Value for parameter 1000h 2 bytes Response Slave Field Field Slave Address Function Register high Register low Value high Value low CRC CRC gt ml o p S S l 5 51515 5 5 5 Note that for this function the slave response is an identical of the request made by the master 6 3 FUNCTION 16 WRITE MULTIPLE REGISTERS This function allows writing values for a group of registers which must be in a numerical sequence It can also be used to write in a single register each field represents a byte Request Master Response Slave Slave Address Slave Address Function Function Initial register address high byte Initial register address high byte Initial register address low byte Initial register address low byte CR o CRC Datum 1 ow Datum 2 Datum 2 low etc CRO L CRC 17 Example writing of the acceleration time P0100 equal to 1 0 s and the deceleration time P0101 equal to
26. nquiry 37 25 69 45 E 101 65 e 6 06 Acknowledgment 38 26 amp 70 46 102 66 7 07 BEL Bell 39 27 71 47 G 103 67 g 8 08 BS Backspace 40 28 72 48 H 104 68 h 9 09 Horizontal Tab 41 29 13 49 J 105 69 0 LF Line Feed 42 2A bl 74 4A Ji 106 6A 3 1 OB VT Vertical Tab 43 2B 75 4B K 107 6B k 2 Form Feed 44 2G 76 4 108 6C 1 3 0 CR Carriage Return 45 2D 77 4 109 6D m 4 OE 50 Shift Out 46 2E 78 4 110 6E n 5 OF Sd Shift In 47 2 19 4 Q 111 6F 6 0 DLE Data Link Escape 48 30 0 80 50 112 70 7 1 DEL Device Control 1 49 31 1 81 51 Q 113 q 8 2 DC2 Device Control 2 50 32 2 82 52 R 114 72 9 3 DC3 Device Control 3 51 33 3 83 53 S 115 73 8 20 4 4 Device Control 4 52 34 4 84 54 T 116 74 21 5 NAK Negative Acknowledgement 53 35 5 85 55 U L17 75 u 22 6 SYN Synchronous Idle 54 36 6 86 56 V 118 76 23 7 End of Trans Block 55 37 7 87 87 W 119 77 24 8 1 56 38 8 88 58 X 120 78 x 25 9 EM End of Medium 57 39 2 89 59 X 121 79 y 26 A SUB Substitute 58 3A H 90 5A Z 122 7A z 27 B ESC Escape 59 3B 91 5B 123 7B 28 C FS File Separator 60 3C 92 56 b 124 7 29 D GS Group Separator 61 3D 93 5D 1 125 7D 30 E RS Record Separator 62 3E gt 94 5E 126 7E 31 05 Unit Separator 63 3F 95 5F 127 DEL Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ct
27. on for its implementation is also supplied in the Ap ndice B 4 2 5 Time Between Messages In the RTU mode there is no specific character that indicates the beginning or the end of a telegram The indication of when a new message begins or when it ends is done by the absence of data transmission in the network for a minimum period of 3 5 times the transmission time of a data byte 11 bits Thus in case a telegram has initiated after the elapsing of this minimum time the network elements will assume that the first Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net Modbus Protocol received character represents the beginning of a new telegram And in the same manner the network elements will assume that the telegram has reached its end when after receiving the telegram elements this time has elapsed again If during the transmission of a telegram the time between the bytes is longer than this minimum time the telegram will be considered invalid because the frequency inverter will discard the bytes already received and will mount a new telegram with the bytes that were being transmitted For communication rates higher than 19200 bits s the used times are the same as for that rate The next table shows us the times for different communication transmission rates Tax Tpetweenbytes 35 Transmission Signal Time kd bits a r Telegram Table 4 1
28. ondition 1 The drive has detected a fault Note The fault number can be read by means of the parameter 049 Present Fault P0681 MOTOR SPEED 13 BITS Range Properties RO Description 32768 to 32767 Default It allows monitoring the motor speed This word uses 13 bit resolution with signal to represent the motor rated frequency P0403 P0681 0000h 0 decimal P0681 2000h 8192 decimal motor speed 0 motor speed rated frequency Intermediate or higher speed values in rpm can be obtained by using this scale E g 6QHz rated frequency if the value read is 2048 0800h then to obtain the speed in Hz one must calculate 8192 gt 60 Hz 2048 gt Frequency in Hz Frequency in Hz 60 x 2048 8192 Frequency in Hz 15 Hz Negative values in this parameter indicate that the motor is running in the reverse direction Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net Programming P0682 SERIAL CONTROL WORD Range 0000h to FFFFh Default 0000h Properties Description It is the device Modbus interface control word This parameter can only be changed via serial interface For the other sources HMI etc it behaves like a read only parameter In order to have those commands executed it is necessary to program the equipment to be controlled via serial This programming is
29. peration in the Modbus RTU Network Slave Mode P0680 holding register 680 Status word P0681 holding register 681 Motor speed Command writing P0682 holding register 682 Command Word P0683 holding register 683 Speed Reference Refer to the Programming Manual for a complete parameter list of the equipment NOTE 7 All the parameters are treated as holding type registers Depending the master that is used those registers are referenced starting from the base address 40000 or 4x this case the address that must be programmed in the master for a parameter is the address showed in the table above added to the base address Refer to the master documentation to find out how to access holding type registers It should be noted that read only parameters can only be read from the equipment while other parameters can be read and written through the network Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net Detailed Description of the Functions 6 DETAILED DESCRIPTION OF THE FUNCTIONS A detailed description of the functions available in the CFW100 frequency inverter for the Modbus RTU is provided in this section In order to elaborate the telegrams it is important to observe the following The values are always transmitted in hexadecimal The address of a datum the number of data and the value of registers are always
30. r bit NOTE 7 It is important that it be possible to identify at the master what type of error occurred in order to be able to diagnose problems during the communication In the event of any of those errors the slave must send a message to the master indicating the type of error that occurred The error messages sent by the slave have the following structure Request Master Response Slave Slave Address Slave Address Function Function with the most significant bit in 1 Example the master requests to the slave at the address 1 the writing in the register 2900 nonexistent register Request Master Field Slave Address Function Register high Register low Value high Value low Emm S CRC CRC Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net Faults and Alarms Related to the Modbus RTU Communication 7 FAULTS AND ALARMS RELATED TO THE MODBUS RTU COMMUNICATION 128 228 TIMEOUT FOR SERIAL COMMUNICATION Description It is the only alarm fault related to the serial communication indicates that the equipment stopped receiving valid serial telegrams for a period longer than the one programmed in P0314 Operation The parameter P0314 allows programming a period of time during which the equipment must receive at least one valid telegram the RS485 serial interface with address and error checking field cor
31. rect otherwise it will be considered that there was any problem in the serial communication The time counting initiates after the reception of the first valid telegram This function can be used by any serial protocol supported by the equipment After the serial communication timeout has been identified the A128 alarm or F228 fault message will be showed the HMI depending on the P0313 programming For alarms if the communication is reestablished and new valid telegrams are received the alarm indication will be removed from the HMI Possible Causes Correction Verify factors that could cause failures the communication cables installation and grounding Make sure that the master sends telegrams to the equipment in intervals shorter than the programmed in P0314 Disable this function at P0314 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net UE Appendices I APPENDICES AP NDICE A ASCII TABLE Table 1 1 ASCII Characters Dec Hex Chr Dec Hex Chr Dec Hex Chr Dec Hex Chr 0 00 NUL Null char 20 Sp 64 40 96 60 1 01 SOH Start of Header 33 21 65 41 A 97 61 a 2 02 STX Start of Text 34 22 66 42 98 62 b 3 03 ETX End of Text 35 23 67 43 99 63 e 4 04 EOT End of Transmission 36 24 68 44 D 100 64 d 5 05 ENQ E
32. s one RS485 interface This standard RS485 interface has two functions IBEpint to Point Connection with remote keypad mini USB connector RS485 for network operation via terminals NOTE 7 Although RS485 communication signal available both connectors mini USB and control terminal these signals are the same internally For this reason it is not possible to use RS485 interface as command source or reference source and remote keypad at the same time 211 RS485 module s connector The RS485 interface connections are available via control terminal using the following pin assignment Table 2 1 RS485 connector pinout for the module CFW100 CRS485 RS485 Terminal B RS485 Terminal A Reference 0 Grounding connection Table 2 2 Configuration of the switches to configure the RS485 x Option 51 1 OFF e 51 2 OFF RS485 Termination off 51 1 ON e 81 2 ON RS485 Termination on 51 1 OFF 81 2 ON Thi binatlonisdot 81 1 ON e 812 OFF is combination is no allowed S1 1 ON e S1 2 OFF 2 1 2 5485 Interface Characteristics interface follows the EIA TIA 485 standard t allows communication baud rates from 9600 up to 38400 Kbit s The interface is electrically isolated and with differential signal which grants more robustness against electromagnetic interference t allows the connection of up to 32 devices to the same segm
33. stobject of the first object n bytes of the second object Size of the second object the second object n byte 0 04 This function allows the reading of three information categories Basic Regular and Extended and each category is formed by a group of objects Each object is formed by a sequence of ASCII characters For the CFW100 frequency inverter only basic information formed by three objects is available Objeto OOh VendorName represents the product manufacturer Objeto O1h ProductCode formed by the product code CFW100 a Objeto 02h MajorMinorRevision it indicates the product firmware version in the format VX XX The reading code indicates what information categories are read and if the objects are accessed in sequence or individually The CFW100 supports the codes 01 basic information in sequence and 04 individual access to the objects The other fields are specified by the protocol and for the CFW100 they have fixed values Example reading of basic information in sequence starting from the object 02h from a CFW100 at address 1 o e Numberofopets On 1 jects 1 Oh 1 CRC In this example the value of the objects was not represented in hexadecimal but using the corresponding ASCII characters instead E g for the object O2h the value V1 00 was transmitted
34. tion net Programming P0311 SERIAL INTERFACE BYTE CONFIGURATION Range O 8 data bits no parity 1 stop bit Default 1 1 data bits even parity 1 stop bit 2 8 data bits odd parity 1 stop bit 3 8 data bits no parity 2 stop bits 4 8 data bits even parity 2 stop bits 5 8 data bits odd parity 2 stop bits Properties CFG Description It allows programming the number of data bits parity and stop bits of the serial interface bytes This configuration must be identical for all the devices connected to the network P0313 COMMUNICATION ERROR ACTION Range 0 Inactive Default 1 1 Disable via Run Stop 2 Disable via General Enable Change to Local 4 Change to Local keeping commands and reference 5 Causes a Fault Properties CFG Description It allows the selection of the action to be executed by the device if it is controlled via network and a communication error is detected Table 3 1 P0313 options Options Description 0 Inactive motor stops according to the programmed deceleration ramp The drive is disabled by removing the General Enabling and the 2 Disable via General Enable motor coasts to stop 3 Change to Local The drive commands change to Local The drive commands change to Local but the status of the 4 Change to Local keeping enabling and speed reference commands received via network commands and reference are kept providing that the drive has been programmed to
35. verse direction Bit 2 0 and P0683 gt 0 reference for reverse direction Bit 2 0 and P0683 lt 0 reference for forward direction Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net Modbus Protocol 4 MODBUS RTU PROTOCOL The Modbus protocol was initially developed in 1979 Nowadays it is a widely spread open protocol used by several manufactures in many equipments 41 TRANSMISSION MODES Two transmission modes are defined in the protocol specification ASCII and The modes define the way the message bytes are transmitted It is not possible to use the two transmission modes in the same network CFW100 frequency inverter uses only the RTU mode for the telegram transmission The bytes are transmitted in hexadecimal format and its configuration depends on the programming done by means of P0311 4 2 MESSAGE STRUCTURE FOR RTU MODE The Modbus RTU structure uses a master slave system for message exchange It allows up to 247 slaves but only one master Every communication begins with the master making a request to a slave which answers to the master what has been asked In both telegrams request and answer the used structure is the same Adaress Function Code Data and CRC Only the data field can have a variable size depending on what is being requested Master request telegram Address Function Request Data CRC 1 byte 1
36. x23 OxE1 0x21 0x20 0 0 0x60 0x61 OxAl 0x63 OxA3 OxA2 0x62 0x66 OxA6 OxA7 0x67 OxA5 0x65 0x64 4 Ox6C OxAC Ox6D OxAF 0 6 Ox6E OxAE OxAA Ox6A 0 6 OxAB 0x69 0 9 OxA8 0x68 0x78 0 8 OxB9 0x79 OxBB 0 7 Ox7A OxBA OxBE Ox7E 0 7 OxBF Ox7D OxBD OxBC Ox7C 0 4 0 74 0x75 OxB5 0 77 0 7 OxB6 0x76 0x72 OxB2 OxB3 0x73 0 1 0x71 0x70 OxBO 0x50 0x90 0 91 Ox51 0x93 0x53 0x52 0x92 0 96 0x56 0x57 0x97 0x55 0x95 0 94 0 54 9 Ox5C Ox5D Ox9D 5 Ox9F Ox9E Ox5E Ox5A Ox9A Ox9B Ox5B 0x99 0x59 0x58 0x98 0x88 0x48 0x49 0x89 Ox4B 0 8 Ox8A Ox4A Ox4E Ox8E Ox8F Ox4F Ox8D Ox4D Ox4C Ox8C 0x44 0x84 0x85 0x45 0x87 0x47 0x46 0x86 0x82 0x42 0x43 0x83 0x41 0x81 0x80 0x40 Jj The function returns the CRC as a unsigned short type unsigned short CRC16 puchMsg usDataLen unsigned char puchMsg message to calculate CRC upon unsigned short usDataLen quantity of bytes in message unsigned char uchCRCHi high byte of CRC initialized unsigned char uchCRCLo OxFF low byte of CRC initialized unsigned uIndex will index into CRC lookup table while usDataLen pass through message buffer uIndex uchCRCLo puchMsgg calculate the CRC uchCRCLo uchCRCHi auchCRCHi uIndex uchCRCHi auchCRCLo uIndex return u
Download Pdf Manuals
Related Search