Modbus protocol
Contents
1. 0 0000 0000 52 0011 0100 104 0110 1000 156 1001 1100 208 1101 0000 1 0000 0001 53 0011 0101 105 0110 1001 157 1001 1101 209 1101 0001 2 0000 0010 54 0011 0110 106 0110 1010 158 1001 1110 210 1101 0010 3 0000 0011 55 0011 0111 107 0110 1011 159 1001 1111 211 1101 0011 4 0000 0100 56 0011 1000 108 0110 1100 160 1010 0000 212 1101 0100 5 0000 0101 57 0011 1001 109 0110 1101 161 1010 0001 213 1101 0101 6 0000 0110 58 0011 1010 110 0110 1110 162 1010 0010 214 1101 0110 7 0000 0111 59 0011 1011 111 0110 1111 163 1010 0011 215 1101 0111 8 0000 1000 60 0011 1100 112 0111 0000 164 1010 0100 216 1101 1000 9 0000 1001 61 0011 1101 113 0111 0001 165 1010 0101 217 1101 1001 10 0000 1010 62 0011 1110 114 0111 0010 166 1010 0110 218 1101 1010 11 0000 1011 63 0011 1111 115 0111 0011 167 1010 0111 219 1101 1011 12 0000 1100 64 0100 0000 116 0111 0100 168 1010 1000 220 1101 1100 13 0000 1101 65 0100 0001 117 0111 0101 169 1010 1001 221 1101 1101 14 0000 1110 66 0100 0010 118 0111 0110 170 1010 1010 222 1101 1110 15 0000 1111 67 0100 0011 119 0111 0111 171 1010 1011 223 1101 1111 16 0001 0000 68 0100 0100 120 0111 1000 172 1010 1100 224 1110 0000 17 0001 0001 69 0100 0101 121 0111 1001 173 1010 1101 225 1110 0001 18 0001 0010 70 0100 0110 122 0111 1010 174 1010 1110 226 1110 0010 19 0001 0011 71 0100 0111 123 0111 1011 175 1010 12. m Connection cables Cables for Modbus bus 1 1 RJ45 connector and VW3 A58 306 R10 1 male 9 way SUB D connector 3 1 RJ45 connector and VW3 A58 306 R30 1 male 9 way SUB D connector 3 1 RJ45 connector and 1 stripped end VW3 A8 306 D30 0 3 2 RJ45 connectors VW3 A8 306 R03 1 2 RJ45 connectors VW3 A8 306 R10 3 2 RJ45 connectors VW3 A8 306 R30 RS485 double shielded twisted 100 Supplied without connector TSX CSA 100 pair cables 200 Supplied without connector TSX CSA 200 500 Supplied without connector TSX CSA 500 1755875 11 2010 5 Connecting to the bus m Connection cables for the master Twido PLC Adaptor or mini DIN RS485 interface module 3 m cable equipped with a mini DIN connector and an RJ45 connector TWD XCA RJ030 Adaptor or screw terminal RS485 interface module 3 m cable equipped with an RJ45 connector and stripped at the other end VW3 A8 306 D30 TSX Micro PLC Mini DIN RS485 3 m cable equipped with a mini DIN connector and an RJ45 TWD XCA RJ030 connector port connector PCMCIA card Stripped cable TSX SCP CM 4030 TSX SCP114 TSX Premium PLC TSX SCY 11601 or Cable equipped with a 25 way SUB D connector and TSX SCY CM 6030 TSX SCY 21601 stripped at the other end for connection to the screw module terminals of the LU9GC3 splitter block 25 way SUB D socket PCMCIA card Stripped cable TSX SCP CM 4030 TSX SCP114 Ethernet bridge 174 CEV 300 20 Screw termina
3. 2 bytes Example Write value 16 000D to logic address word 9001 16 2329 on slave 2 ACC 13 s Request and response 02 06 2329 000D 9270 2 bytes 28 1755875 11 2010 8 Modbus protocol 8 6 Diagnostics 8 Request and response Slave no 08 Sub code Data Hi Lo Hi Lo Hi CRC16 Lo 1 byte 1 byte 2 bytes 2 bytes 2 bytes 00 Echo XX YY XX YY This function asks the slave to return the request sent by the master The size of the data is limited to 2 bytes 01 Reinitialize channel 16 00 00 16 00 00 This function is used to reinitialize slave communication and in particular to or or make it exit listen only mode LOM 16 FF 00 16 FF 00 03 Change ASCII delimiter XX 00 XX 00 In ASCII mode messages are delimited by the line feed character XX new delimiter LF H 0A This function is used to change this character 04 Change to LOM mode 00 00 00 00 This function is used to force a slave to listen only mode LOM In this mode the slave does not handle messages which are addressed to it nor does it send any responses except when the channel is reinitialized 0A Counter reset 00 00 00 00 This function resets all the counters responsible for monitoring slave exchanges 0B Read the number of correct messages on the line without checksum error 00 00 Value of counter 0C Read the
4. ATV58 ATV28 ATS48 etc marketed before the Modbus specifications were published on www modbus org Schematic diagram Master Maximum length of bus 1000 m at 19200 bps Maximum number of stations without 29 stations i e 28 slaves repeater Maximum length of tap links 20m 40 m divided by the number of tap links on a multiple junction box Bus polarization For the master and each slave One 4 7 kQ pull up resistor to the 5 V One 4 7 kQ pull down resistor to the 0 VL Line termination One 120 Q 0 25 W resistor in series with a 1 nF 10 V capacitor Common polarity Yes 0 VL and high impedance placed between 0 VL and the ground in each station 42 1755875 11 2010 9 Appendix 9 5 2 wire Jbus schematic Schematic diagram Master Slave 1 Slave n Maximum length of bus 1 300 m at 19200 bps Maximum number of stations without 32 stations i e 31 slaves repeater Maximum length of tap links 3m Bus polarization One 470 Q pull up resistor to the 5 V One 470 Q pull down resistor to the 0 V This polarization is often provided in the master Line termination One 150 resistor Common polarity No 1755875 11 2010 43 9 Appendix 9 6 Creating a Modbus bus using non standard equipment m Different scenarios installation is simple and no calculation is required see the section entitled Connecting
5. IN4 address TA 4 Not used Scan IN5 address n NA 5 Not used Scan IN6 address n N A 6 Not used Scan IN7 address n I A 7 Not used Scan IN8 address TA B Not used Example of configuration via the graphic display terminal RDY NET 0 00Hz 0A RDY NET 0 00Hz 0A COM SCANNER INPUT COM SCANNER OUTPUT Scan IN1 address Scan Outi address Scan IN2 address Scan Out2 address Scan IN3 address Scan Out3 address Scan IN4 address Scan Out4 address Scan IN5 address Scan Out5 address er a Bo coco o A Scan IN6 address i Scan Out6 address Scan IN7 address Scan Out7 address Scan IN8 address Scan Out8 address O O O o O O Note Any modification to parameters Scan Oute address n C Ae or Scan INe address n M Ae must be made with the motor stopped The master PLC program should be updated to take account of this modification 18 1755875 11 2010 6 Configuration 6 4 Communication faults A Modbus fault is triggered if the Modbus card does not receive any Modbus requests at its address within a predefined time period time out All Modbus request types are taken into account read write etc The time out is fixed at 10 s non modifiable The response of the drive in the event of a Modbus communication fault can be configured COM FAULT MANAGEMENT Network fault mgt Freewheel Configuration can be perf
6. 01 02 1 byte 1 byte 1 byte 1 byte 1 byte Number of additional frames Next object Id Number of objects The total response size given in this example equals 55 bytes 00 00 04 1 byte 1 byte 1 byte Id of object no 1 Length of object no 1 Value ofobjectno 1 00 0D 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 ATV71HU15M3 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 Id of object no 4 Length of object no 4 Value of object no 4 06 09 MACHINE 4 1 byte 1 byte 9 bytes CRC16 Lo Hi 1 byte 1 byte The response contains the following four objects e Object no 1 e Object no 2 e Object no 3 e Object no 4 Manufacturer name always Schneider Electric i e 18 bytes Device catalog number ASCII string for example ATV71HU15M3 i e 11 bytes The length of this object varies according to drive type Use the Length of object no 2 field to determine the length ASCII string for example 0201 for version 2 1 Device name ASCII string for example MACHINE 4 i e 9 bytes Device version in MMmm format where MM represents the determinant and mm the subdeterminant 4 byte The length of this obje
7. 61 words max 23 16 17 Read Write Multiple Registers Read write N words NO 20 20 words max 43 16 2B Read Device Identification Identification NO 8 4 Read Holding Input Registers 3 4 Functions 3 and 4 access all the drive registers that make no distinction between the Holding or Input types Request Slave no 03 04 No of first word Number of words CRC16 Hi Lo Hi Lo Lo Hi 1 byte 1 byte 2 bytes 2 bytes 2 bytes Response Slave no 03 04 Number of First word value Last word value CRC16 bytes read Hi Lo Hi Lo Lo Hi 1 byte 1 byte 1 byte 2 bytes 2 bytes 2 bytes Example Use function 3 to read 4 logic address words 3102 to 3105 16 0C1E to 16 0C21 on slave 2 where e SFr Switching frequency 4 kHz logic address 3102 16 0028 e tFr Maximum output frequency 60 Hz logic address 3103 16 0258 e HSP High speed 50 Hz logic address 3104 16 01F4 e LSP Low speed 0 Hz logic address 3105 16 0000 Request 02 03 0C1E 0004 276C Response 02 03 08 0028 0258 01F4 0000 52B0 Value of 3102 3103 3104 3105 Parameter code SFr tFr HSP LSP 1755875 11 2010 27 8 Modbus protocol 8 5 Write Single Register 6 Request and response Slave no 06 Hi Word number Lo Value of word Hi Lo Lo CRC16 Hi 1 byte 1 byte 2 bytes
8. Modbus protocol The link between the drive parameters and the communication scanner variables can be made Via the display terminal see section 6 Configuration 6 2 Communication scanner Via Modbus Before starting the application the PLC must first write the address tables described below Scan Out1 address nC A I 12 721 16 31B1 8501 16 2135 Scan Out2 address n CA2Z 12 722 16 31B2 8602 16 219A Scan Out3 address n A 3 12 723 16 31B3 Scan Out4 address n AY 12 724 16 31B4 12 725 16 31B5 Scan Out6 address n CAG 12 726 16 31B6 Scan Out7 address n C A 7 12 727 16 31B7 Scan Out5 address n AS Scan Out8 address n CAG 12 728 16 31B8 oO Oo O GO oO Scan IN1 address IA I 12 701 16 319D 3201 16 0C8B Scan IN2 address n N A 2 12 702 16 319E 8604 16 219C Scan IN3 address n NA 3 12 703 16 319F 12 704 16 31A0 12 705 16 31A1 Scan IN6 address n N AG 12 706 16 31A2 Scan IN7 address n IA 7 12 707 16 31A3 Scan IN4 address n IA 4 Scan IN5 address n NA 5 Scan IN8 address n N A B 12 708 16 31A4 olol ol ol o Example Use of the Read Write Multiple Registers function request code 23 16 17 Transmissi
9. Registers 23 16 17 31 8 10 Read Device Identification 43 16 2B 32 8 11 Communication scanner 34 8 12 Exception responses 37 8 13 Read non existent or protected parameters 38 9 Appendix 39 9 1 RS485 standard 39 9 2 Modbus 2 wire standard schematic 40 9 3 Modbus 4 wire standard schematic 41 9 4 Uni Telway schematic 42 9 5 2 wire Jbus schematic 43 9 6 Creating a Modbus bus using non standard equipment 44 9 7 RS485 schematic for the card 46 9 8 Card connector pinout 46 While every precaution has been taken in the preparation of this document Schneider Electric SA assumes no liability for any omissions or errors it may contain nor for any damages resulting from the application or use of the information herein The products and options described in this document may be changed or modified at any time either from a technical point of view or in the way they are operated Their description can in no way be considered contractual 1755875 11 2010 1 Before you begin Read and understand these instructions before performing any procedure with this drive A DANGER HAZARDOUS VOLTAGE e Read and understand the Installation Manual before installing or operating the Altivar 71 drive Installation adjustment repair and maintenance must be performed by qualified personnel e The user is responsible for compliance with all international and national electrical standards in force concerning protective g
10. code No of bytes read Value 8400 Value 8401 Value 8402 CRC16 Hi Lo Hi Lo Hi Lo Lo Hi oC 03 06 80 00 00 03 00 02 17 E4 Scenario no 2 Parameter CHCF 8401 protected and COP 8402 not protected Successful reading of COP and value equal to 16 8000 for the non existent parameter located at address 8400 and for parameter CHCF Slave no Response code No of bytes read Value 8400 Value 8401 Value 8402 CRC16 Hi Lo Hi Lo Hi Lo Lo Hi oC 03 06 80 00 80 00 00 02 CE 24 Scenario no 3 Parameters CHCF 8401 and COP 8402 protected Exception response response code 16 80 request code as all the parameters read are either non existent or protected error code equal to 2 the word addresses indicated in the request do not exist in the slave Slave no Response code Error code CRC16 Lo Hi 0c 80 03 83 02 51 32 38 1755875 11 2010 9 Appendix 9 1 RS485 standard The RS485 standard ANSI TIA EIA 485 A 1998 allows variants of certain characteristics Polarization e Line termination Distribution of a reference potential Number of slaves e Length of bus It does not specify the connector type or pinout The Modbus specification published on www modbus org in 2002 contains precise details of all these characteristics They are also summarized in the next sections Modbus 2 wire and 4 wire standard schematics The latest generation
11. following parameters Profile Separate Drivecom profile The run commands follow the Drivecom profile and the command and reference can come from different channels Reference 1 configuration Network card Reference 1 comes from Modbus Reference 1B configuration Analog input 1 on the terminals Reference 1B comes from input Al1 on the terminals Reference switching Input LI5 Input LI5 switches the reference 1 lt gt 1B Command 1 configuration Network card Command 1 comes from Modbus Command switching Channel 1 Channel 1 is the command channel Note Reference 1B is directly connected to the drive reference limit If switching is performed the functions that affect the reference summing PID etc are inhibited Configuration via the graphic display terminal or the integrated display terminal 1 6 COMMAND L E L Profile C HE F Separate 5 E P Ref 1 channel F r 1 Com card nE E Cmd channel 1 Ed I Com card nE E Cmd switching E 5 ch1 active d 1 REFERENCE SWITCH 1 7 APPLICATION FUNCT F Un Ref 1B channel Fr Ib Ref AI A 1 Ref 1B switching r C b LI5 L 15 1755875 11 2010 6 Configuration 6 3 Communication scanner The communication scanner enables all the application relevant parameters to be grouped in 2 consecutive word t
12. to 3 5 characters The format used for the frames in the rest of this document is RTU mode m ASCII mode The structure of the Modbus ASCII frame is as follows Header Slave Function Data LRC End nm address code ment Hi Lo CR LF Header By default 16 3A Two other characters are possible CR 16 0D and LF 16 0A LRC The 2 s complement of the modulo 256 sum in hexadecimal format of the frame excluding the header and end characters before ASCII coding Example Write a value of 10 to logic address word 9001 16 2329 on slave 2 Identical request and response In hexadecimal format 3A 30 32 30 36 32 33 32 39 30 30 30 41 41 32 oD 0A In ASCII format 0 2 0 6 2 3 2 9 0 0 0 A A 2 CR LF 26 1755875 11 2010 8 Modbus protocol 8 3 Modbus functions available The following table indicates which Modbus functions are managed by the Altivar 71 and specifies their limits The read and write functions are defined from the point of view of the master 3 16 03 Read Holding Registers Read N output words NO 63 words max 4 16 04 Read Input Registers Read N input words NO 63 words max 6 16 06 Write Single Register Write one output word YES 8 16 08 Diagnostics Diagnostics NO 11 16 0B Get Comm Event Counter Read counter NO 16 16 10 Write Multiple Registers Write N output words YES
13. to the bus Modbus standard several checks are required see Recommendations below switches to the lower position to activate the card s 4 7 kQ polarization Polarization switches i 5 4 7 ka RS485 line polarization at drive level m Recommendations 1 Identify the polarities DO and D1 They are labeled in different ways depending on the standard 1 If the Modbus bus is created using the latest generation Schneider Electric devices and Schneider Electric Modbus wiring accessories 1 If a new Modbus bus has to be created using devices of different brands or older generation devices which do not comply with the J If on an existing Modbus bus a device with 4 7 kQ polarization is to be replaced by a new generation device set the 2 polarization Standard Modbus EIA TIA 485 Uni Telway Jbus RS 485 DO A A D A RD TD or L Signals D1 B B D B RD TD or L Common C C OVL Generator B G Receiver R R However certain RS485 electronic components are labeled in the opposite way to the EIA TIA 485 standard It may be necessary to perform a test by connecting a master to a slave then reversing the connection in the event of failure 2 Check polarizations Check the documentation supplied with the devices to determine their polarization If there is a polarization check that the equivalent polarization value is correct see Calculating the polarization It is not alw
14. 111 227 1110 0011 20 0001 0100 72 0100 1000 124 0111 1100 176 1011 0000 228 1110 0100 21 0001 0101 73 0100 1001 125 0111 1101 177 1011 0001 229 1110 0101 22 0001 0110 74 0100 1010 126 0111 1110 178 1011 0010 230 1110 0110 23 0001 0111 75 0100 1011 127 0111 1111 179 1011 0011 231 1110 0111 24 0001 1000 76 0100 1100 128 1000 0000 180 1011 0100 232 1110 1000 25 0001 1001 77 0100 1101 129 1000 0001 181 1011 0101 233 1110 1001 26 0001 1010 78 0100 1110 130 1000 0010 182 1011 0110 234 1110 1010 27 0001 1011 79 0100 1111 131 1000 0011 183 1011 0111 235 1110 1011 28 0001 1100 80 0101 0000 132 1000 0100 184 1011 1000 236 1110 1100 29 0001 1101 81 0101 0001 133 1000 0101 185 1011 1001 237 1110 1101 30 0001 1110 82 0101 0010 134 1000 0110 186 1011 1010 238 1110 1110 31 0001 1111 83 0101 0011 135 1000 0111 187 1011 1011 239 1110 1111 32 0010 0000 84 0101 0100 136 1000 1000 188 1011 1100 240 1111 0000 33 0010 0001 85 0101 0101 137 1000 1001 189 1011 1101 241 1111 0001 34 0010 0010 86 0101 0110 138 1000 1010 190 1011 1110 242 1111 0010 35 0010 0011 87 0101 0111 139 1000 1011 191 1011 1111 243 1111 0011 36 0010 0100 88 0101 1000 140 1000 1100 192 1100 0000 244 1111 0100 37 0010 0101 89 0101 1001 141 1000 1101 193 1100 0001 245 1111 0101 38 0010 0110 90 0101 1010 142 1000 1110 194 1100 0010 246 11110110 39 0010 0111 91 0101 1011 143 1000 1111 195 1100 0011 1111 0111 40 0010 1000 92 0101 1100 144 1001 0000 196 1100 0100 1111 1000 41 0010 1001 93 0101 1101 145 1001 0001 1
15. 1755875 Altivar 71 Modbus Uni Telway card Modbus protocol User s manual VW3 A3 303 11 2010 a by o oo www schneider electric com Schneider Contents 1 Before you begin 3 2 Documentation structure 4 3 Introduction 5 3 1 Presentation 5 3 2 Notation 5 4 Hardware setup 6 4 1 Receipt 6 4 2 Hardware description 6 4 3 Installing the card in the drive 6 4 4 Switch coding 7 5 Connecting to the bus 9 5 1 Wiring recommendations 9 5 2 Modbus RS485 standard 9 5 3 Connection via RJ45 wiring system 10 5 4 Connection via junction boxes 12 6 Configuration 14 6 1 Communication parameters 14 6 2 Control Command 15 6 3 Communication scanner 18 6 4 Communication faults 19 6 5 Monitored parameters 20 7 Diagnostics 2i 7 1 Checking the address 21 7 2 LEDs 2i 7 3 Control Command 22 7 4 Communication scanner 23 7 5 Communication fault 24 7 6 Card fault 24 8 Modbus protocol 25 8 1 Principle 25 8 2 Modes 26 8 3 Modbus functions available 27 8 4 Read Holding Input Registers 3 4 27 8 5 Write Single Register 6 28 8 6 Diagnostics 8 29 8 7 Get Comm Event Counter 11 16 0B 30 8 8 Write Multiple Registers 16 16 10 30 8 9 Read Write Multiple
16. 2 765 16 31DD Not used Com Scan Out6 val n E 6 12 766 16 31DE Not used Com Scan Out7 val n E 7 12 767 16 31DF Not used Com Scan Out8 val n E B 12 768 16 31E0 Not used Com Scan In1 val a 7 1 12 741 16 31C5 Status word EtA Com Scan In2 val a N 2 12 742 16 31C6 Output speed rFrd Com Scan In3 val a N 3 12 743 16 31C7 Not used Com Scan In4 val a 74 12 744 16 31C8 Not used Com Scan In5 val a N 5 12 745 16 31C9 Not used Com Scan In6 val n 716 12 746 16 31CA Not used Com Scan In7 val a N 7 12 747 16 31CB Not used Com Scan In8 val n N B 12 748 16 31CC Not used The values of these communication scanner variables can be displayed on the graphic display terminal using the 1 2 MONITORING menu COMMUNICATION MAP A N submenu see section 7 Diagnostics 7 4 Communication scanner These parameters can be accessed via all the read and write requests supported by the drive There is a marked improvement in performance for the following functions 3 16 03 Read Holding Registers 4 16 04 Read Input Registers 16 16 10 Write Multiple Registers 23 16 17 Read Write Multiple Registers 43 16 2B Read Device Identification Read N output words Read N input words Write N output words Read write N words Identification 63 words max 63 words max 61 words max 20 20 words max 34 1755875 11 2010 8
17. 2 bytes 2 bytes Response Slave no 10 No of first word Number of words CRC16 Hi Lo Hi Lo Lo Hi 1 byte 1 byte 2 bytes 2 bytes 2 bytes Example Write values 20 and 30 to logic address words 9001 and 9002 on slave 2 acceleration time 20 s and deceleration time 30 s Request Slave no Request No of first word Number of Number of Value of first word Value of second CRC16 code words bytes word Hi Lo Hi Lo Hi Lo Hi Lo Lo Hi 02 10 23 29 00 02 04 00 14 00 1E 73 A4 Response Slave no Response code No of first word Number of words CRC16 Hi Lo Hi Lo Lo Hi 02 10 23 29 00 02 9B B7 30 1755875 11 2010 8 Modbus protocol 8 9 Read Write Multiple Registers 23 16 17 Request Slave no 17 No of 15t word to be Number of words to be No of 1 word to be Number of words to be read read written written Hi Lo Hi Lo Lo Hi Lo 1 byte 1 byte 2 bytes 2 bytes 2 bytes 2 bytes Number of bytes to be Value of 15t word to be Value of last word to be written CRC16 written written Hi Lo een Hi Lo Lo Hi 1 byte 2 bytes 2 bytes 2 bytes Response Slave no 17 Number of bytes Value of 1 word read Value of last word read CRC16 read Hi LO ame Hi Lo Lo Hi 1 byte 1 byte 1 byte 2 bytes 2 bytes 2 bytes Example This example combines the two examples fo
18. 34359 16 8637 gt Drivecom Operation enabled state reverse operation speed reached Com Scan In2 val 600 Output speed 600 gt 600 rpm Com Scan Out1 val 15 Control word 15 16 000F gt Enable operation Run command Com Scan Out2 val 598 Speed reference 600 gt 598 rpm 1755875 11 2010 23 7 Diagnostics 7 5 Communication fault Modbus communication faults are indicated by the red ERR LED on the Modbus card In the factory configuration a communication fault will trigger a resettable Com network n F drive fault and initiate a freewheel stop It is possible to change the response of the drive in the event of a Modbus communication fault see the Configuration section Com network C n F drive fault freewheel stop stop on ramp fast stop or DC injection braking stop No drive fault stop maintain fallback The Parameters Manual contains a detailed description of how to manage communication faults see the Communication monitoring section Following initialization power up the drive checks that at least one command or reference parameter has been written for the first time by Modbus Then if a communication fault occurs on Modbus the drive will react according to the configuration fault maintain fallback etc 7 6 Card fault The internal com link L F fault appears when the following serious problems occur Hardware fault on the Modbus card
19. 97 1100 0101 1111 1001 42 0010 1010 94 0101 1110 146 1001 0010 198 1100 0110 1111 1010 43 0010 1011 95 0101 1111 147 1001 0011 199 1100 0111 247 1111 1011 44 0010 1100 96 0110 0000 148 1001 0100 200 1100 1000 1111 1100 45 0010 1101 97 0110 0001 149 1001 0101 201 1100 1001 1111 1101 46 0010 1110 98 0110 0010 150 1001 0110 202 1100 1010 1111 1110 47 0010 1111 99 0110 0011 151 1001 0111 203 1100 1011 1111 1111 48 0011 0000 100 0110 0100 152 1001 1000 204 1100 1100 49 0011 0001 101 0110 0101 153 1001 1001 205 1100 1101 50 0011 0010 102 0110 0110 154 1001 1010 206 1100 1110 51 0011 0011 103 0110 0111 155 1001 1011 207 1100 1111 Note Address 0 is not valid 8 1755875 11 2010 5 Connecting to the bus 5 1 Wiring recommendations e Use Schneider Electric approved cables and wiring accessories to ensure good transmission quality matched impedance immunity shielding connection etc Keep the Modbus cable away from the power cables 30 cm minimum e Be sure to cross the Modbus cable and the power cables at right angles e Whenever possible connect the bus cable shielding to the protective ground e g to the ground of each device if this ground is connected to the protective ground Install a line terminator at both ends of the line Ensure the correct line polarization Connect the common polarity Common signal to the protective ground at one or more points on the bus For
20. Dialog fault between the Modbus card and the drive The response of the drive in the event of an internal com link L F fault cannot be configured and the drive trips with a freewheel stop This fault cannot be reset Two diagnostic parameters can be used to obtain more detailed information about the origin of the internal com link IL F fault Internal link fault 1 IL F 1 if the fault has occurred on option card no 1 installed directly on the drive Internal link fault 2 IL F 2 if the fault has occurred on option card no 2 installed on option card no 1 The Modbus card can be in position 1 or 2 The Internal link fault 1 IL F I and Internal link fault 2 IL F 2 parameters can only be accessed on the graphic display terminal in the 1 10 DIAGNOSTICS O GE menu MORE FAULT INFO AF I submenu 0 No fault 1 Loss of internal communication with the drive 2 Hardware fault detected 3 Error in the EEPROM checksum 4 Faulty EEPROM 5 Faulty Flash memory 6 Faulty RAM memory 7 Faulty NVRAM memory 8 Faulty analog input 9 Faulty analog output 10 Faulty logic input 11 Faulty logic output 101 Unknown card 102 Exchange problem on the drive internal bus 103 Time out on the drive internal bus 500 ms 24 1755875 11 2010 8 Modbus protocol 8 1 Principle The Modbus protocol is a master slave protocol Only one device can transmit on the line at
21. Schneider Electric devices Altivar 31 Altivar 71 etc conform to this specification Older devices comply with earlier specifications The two most widespread are described in the following sections Uni Telway schematic page 42 e Jbus schematic page 43 Requirements enabling different types of protocol to coexist are given in the following section in this appendix e Creating a Modbus bus using non standard equipment on page 45 1755875 11 2010 39 9 Appendix 9 2 Modbus 2 wire standard schematic The standard schematic corresponds Modbus_over_serial_line_V1 pdf Nov 2002 and in particular to the 2 wire multipoint serial bus schematic to the Modbus The Modbus card VW3 A3 303 conforms to this specification Schematic diagram specification published in 2002 on Slave 1 Type of trunk cable Maximum length of bus Maximum number of stations without repeater Maximum length of tap links Bus polarization Line termination Common polarity Slave n www modbus org 40 1755875 11 2010 9 Appendix 9 3 Modbus 4 wire standard schematic TXD1 TXDO RXD1 Slave pair Master pair RXDO Common 1755875 11 2010 41 9 Appendix 9 4 Uni Telway schematic The Uni Telway bus schematic was used by Schneider Electric for older generation drives and soft starters
22. ables so that single read and write operations may be performed It is even possible to perform a single transaction using the Read Write Multiple Registers 23 16 17 function The 8 output variables are assigned using the 8 Scan Oute address n C Ae parameters They are configured using the graphic display terminal via the 1 9 COMMUNICATION O N menu COM SCANNER OUTPUT OC 5 submenu The 8 input variables are assigned using the 8 Scan INe address n N Ae parameters They are configured using the graphic display terminal via the 1 9 COMMUNICATION O N menu COM SCANNER INPUT IC 5 submenu Enter the logic address of the parameter see the Parameters Manual If a Scan Oute address n C Ae or Scan INe address n N He parameter equals zero the corresponding variable is not used by the drive These 16 assignment parameters are described in the tables below Scan Outi address nC A 1 Control word CMd Scan Out2 address n CA 2 Speed reference LFrd Scan Out3 address n A 3 Not used Scan Out4 address n L AY Not used Scan Out5 address n L AS Not used Scan Out6 address n AG Not used Scan Out7 address n A 7 Not used Scan Out8 address n AB Not used Scan IN1 address n NA 1 Status word EtA Scan IN2 address n NA 2 Output speed rFrd Scan IN3 address n NA 3 Not used Scan
23. any one time The master manages the exchanges and only it can take the initiative It interrogates each of the slaves in succession Master No slave can send a message unless it is invited to do so mae In the event of an error during data exchange the master repeats the question and declares the interrogated slave absent if no response is received within a given time period Fr Te ee un 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 Direct slave to slave communications are not possible For slave to slave communication the master s application software must therefore be designed to interrogate one slave and send back data received to the other slave Two types of dialog are possible between master and slaves The master sends a request to a slave and waits for it to respond The master sends a request to all slaves without waiting for them to respond broadcasting principle Note The Modbus server on the Controller Inside card cannot be accessed via the Modbus card 1755875 11 2010 25 8 Modbus protocol 8 2 Modes m RTU mode The Modbus RTU frame contains no message header byte nor end of message bytes It is defined as follows The data is transmitted in binary code CRC16 Cyclic redundancy check parameter The end of the frame is detected on a silence greater than or equal
24. are setup 4 1 Receipt Check that the card catalog number marked on the label is the same as that on the delivery note corresponding to the purchase order Remove the option card from its packaging and check that it has not been damaged in transit 4 2 Hardware description LEDs Female 9 way SUB D connector Polarization switches Address switches 4 3 Installing the card in the drive See the Installation Manual 6 1755875 11 2010 4 Hardware setup 4 4 Switch coding m Choosing polarization Normal setting for a Modbus bus i l No polarization at drive level Special setting see Creating a Modbus bus using non standard equipment on page 44 i i 4 7 kQ RS485 line polarization at drive level m Coding the address The address switches are used to encode the address 1 to 247 of the drive on the bus The switch settings can only be changed when the drive is turned off The correspondence between the value and the position of the switch is as follows e 0 OFF Switch in upper position e 1 ON Switch in lower position The address is binary coded Examples soon m E E E Pewee Address 11 2 0000 1011 ON os oon m T T Address 34 2 0010 0010 T23 456 8 ON 1755875 11 2010 4 Hardware setup The table below indicates the positions of the 8 switches for all configurable addresses
25. ays possible to implement correct polarization for example if the 5 V is not available on the master In this case it may be necessary to limit the number of slaves 3 Choose a line terminator If there is a polarization select an RC line terminator R 120 Q C 1 nF If it is not possible to install a polarization select an R line terminator R 150 Q 44 1755875 11 2010 9 Appendix m Calculating the polarization 11 Principle You must ensure that the equivalent bus resistance is between 162 9 and 650 Q The equivalent bus resistance Re depends on the polarization resistance of the slaves Rs and the master Rm A III ERRANG ER LINE Re Rm Rs Rs If Re is too low reduce the number of slaves If Re is too high adapt the master s polarization if possible or add polarization resistors Rp 1 1 1 1 1 Re Ap Rm As As Master Common Slave 1 Slave n Example 1 If the master has 470 polarization and all the slaves have 4 7 kQ polarization a maximum of 18 slaves can be connected Rm 4700 Rs 4 7 KQ A Re 1 470 18 x 1 4700 i e Re 168 Q Example 2 If the aa polarization Rp is 470 Q installed in the master and 2 slaves have 4 7 Q polarization the equivalent polarization is 1 Re 1 470 1 4700 1 4700 i e Re 1 1 470 1 4700 1 4700 and therefore Re 390 Q 390 Q is between 162 Q and 650 9 and the schematic is corr
26. cation parameters Configure the following parameters in the 1 9 COMMUNICATION ON menu Uni Telway Modbus U EL submenu Protocol Pr O Bit rate b dr and Format F Or These parameters can only be modified when the motor is stopped Modifications can only be taken into account by the drive following a power break Protocol Uni Telway Unitelway U E E Unitelway U E E Pr D Modbus RTU Modbus RTU r EU Modbus ASCIl Modbus ASCII A S Address O to 247 0 2 to 247 2 4 7 Value taken from the address switches Adr Bit rate 4800 bps 4800 Bd 4 B 19 2 Kbps 19 2 Bdr 9600 bps 9600 Bd 9 6 19 200 bps 19200 Bd 19 2 Format In RTU mode only 8 O 1 Bo N FOr 8 data bits odd parity 1 stop bit 8 O 1 Bo I 8 data bits even parity 1 stop bit 8 E 1 BE 1 8 data bits no parity 1 stop bit 8 N 1 Bn 1 8 data bits no parity 2 stop bits 8 N 2 En 2 In RTU and ASCII modes 7 data bits odd parity 1 stop bit 7 0 1 To N 7 data bits even parity 1 stop bit 7 E 1 7E N 7 data bits odd parity 2 stop bits 7 0 2 Ta 2 7 data bits even parity 2 stop bits 7 E 2 7E 2 1755875 11 2010 6 Configuration 6 2 Control Command Numerous configurations are possible For more information refer to the Programming Manual and the Parameters Manual The following configurations are just some of the possibi
27. control the drive hexadecimal format Active reference channel 50 00Hz 80A COMMUNICATION MAP Command Channel Com card Value of frequency reference unit 0 1 Hz used to control the drive Value of status word Cmd value 000F Hex hexadecimal format Active ref channel Com card Frequency ref a 500 042 Values of the four monitored words selected by the user The address and display format of these parameters Status word 8627 Hex can be configured in the 6 MONITORING CONFIG menu 6 3 COM MAP CONFIG submenu see Configuration section on page 20 The value of a monitored word is equal to if Monitoring is not activated address equal to 0 The parameter is protected The parameter is not known e g 3200 E COM SCANNER INPUT MAP COM SCAN OUTPUT MAP CMD WORD IMAGE FREQ REF WORD MAP Value of output variables m MODBUS NETWORK DIAG ee Value of input variables Communication scanner MODBUS HMI DIAG CANopen MAP PROG CARD SCANNER Control word from Modbus COM card cmd A d 3 Frequency reference from Modbus Com card ref L F r 3 22 1755875 11 2010 7 Diagnostics 7 4 Communication scanner On the graphic display terminal in the 1 2 MONITORING 5 U P menu COMMUNICATION MAP A N submenu The COM SCANNER INPUT MAP 15 A submenu is used to display the value of the 8 communication scanner input var
28. ct varies according to the device name assigned to the drive the latter being configured by the user 7 DISPLAY CONFIG menu 7 1 USER PARAMETERS submenu DEVICE NAME parameter This menu can only be accessed in Expert mode Maximum size 16 bytes 32 1755875 11 2010 8 Modbus protocol Negative response specifically related to the identification function Slave no 2B 80 Type of MEI Error code CRC16 AB 0E 00 to 02 Lo Hi 1 byte 1 byte 1 byte 1 byte 1 byte 1 byte Error code 16 00 No error 16 01 The Request code 16 2B the Type of MEI 16 0E or the ReadDeviceld 16 01 contained in the request is incorrect 16 02 The Object Id 16 00 contained in the request is incorrect Example of positive response Address 2 e Manufacturer name Schneider Electric e Device name ATV71HU15M3 e Device version 0201 e Device name MACHINE 4 Request CRC CRC Slave no Request code Type of MEI ReadDeviceld Object Id Lo Hi 02 2B OE 01 00 34 77 Response Slave no Response Type of 3 Degree of No of additional Next object Id ee ee code MEI ReadDeviceld conformity frames Objectno __ 02 2B OE 01 02 00 00 04 Id of Length of Value
29. d LSP Scan Out5 address n L A 5 9001 Acceleration ACC Scan Out6 address n A 6 9002 Deceleration dEC Scan Out7 address n C A 1 0 Not used Scan Out8 address n C A B 0 Not used Input monitoring Scan IN1 address a NA 1 3201 Status word EtA Scan IN2 address n NA 2 8604 Output speed rFrd Scan IN3 address n NA 3 3204 Motor current LCr Scan IN4 address n TA 4 3205 Output torque Otr Scan IN5 address n NA 5 3207 Power section AC supply voltage ULn Scan IN6 address n TA 6 3209 Drive thermal state tHd Scan IN7 address a NA 7 9630 Motor thermal state tHr Scan IN8 address n TA B 7121 Altivar fault code LFt Request Slave no Request code No of 18 word No of words to No of 18 word to No of words to be No of bytes to be to be read be read be written written written Hi Lo Hi Lo Hi Lo Hi Lo 14 17 31 C5 00 08 31 D9 00 06 0c Value of 15 Value of 2 9 Value of 3 Value of at Value of 5 Value of 6 word to be word to be word to be word to be word to be word to be CRC CRC written written written written written written Hi Lo Hi Lo Hi Lo Hi Lo Hi Lo Hi Lo Lo Hi 00 OF 13 88 1F 40 01 F4 04 BO 02 58 56 3D Response Slave no Response code No of bytes Value of 1Stword Value of 2nd word Value of 3 word Value of 4 word read read read read read Hi Lo Hi Lo Hi Lo Hi Lo 14 17 10 00 07 13 88 00 64 00 45 Valu
30. e of 5 word read Value of 6 word read Value of 7 word read Value of 8 word read CRC CRC Hi Lo Hi Lo Hi Lo Hi Lo Lo Hi 00 FO 00 65 00 32 00 00 E4 90 1755875 11 2010 8 Modbus protocol 8 12 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 Lo Hi 1 byte 1 byte 1 byte 2 bytes Response request code H 80 code Error code 1 The function requested is not recognized by the slave 2 The addresses indicated in the request do not exist in the slave 3 The values indicated in the request are not permitted on the slave 4 The slave has started to execute the request but cannot continue to process it completely 6 The requested write operation has been refused because the drive is in Forced local mode 7 The requested write operation has been refused because the motor is running configuration parameters Example Writing the value 1 to the status word EtA logic address 3201 which cannot be written because in read only mode slave 4 on Request Slave no Request No of 1 word No of words No of Value of 15 word CRC CRC code Hi Lo Hi Lo bytes Hi Lo Lo Hi 4 10 oC 81 00 01 02 00 01 8A D1 Response Slave no Response Er
31. ect For an ideal equivalent polarization 650 Q the master s polarization can be adapted so that 1 650 1 Rm 1 4700 1 4700 i e Rm 1 1 650 1 4700 1 4700 and therefore Rm 587 Q 1755875 11 2010 45 9 Appendix 9 7 RS485 schematic for the card The RS485 interface on the Modbus card is electrically isolated from the drive Schematic diagram 5V 4 7 KQ Polarization switch Female 9 way Pull up polarization resistor SUB D D1 B B D B DO A A D A Enable 4 7kQ Polarization switch Pull down polarization resistor 100 kQ 05 RXD1 RD B i 1 2 RXDO RD A i ii mo g 100 kQ ov The polarization switches are used to connect or disconnect the pull up and pull down resistors which implement either Modbus no slave polarization or Uni Telway 4 7 KQ polarization for each station type polarization 9 8 Card connector pinout Reserved RXDO RD A DO AVA D A Common C C OVL RxD1 RD B RxD1 RD B Di B B DB Not connected o CO N oO 1 A V N Not connected 46 1755875 11 2010 ATV71_modbus_jbus_EN_1755875_03 1755875 11 2010
32. iables Com Scan Ine val NMe The COM SCAN OUTPUT MAP 2 5A submenu is used to display the value of the 8 communication scanner output variables Com Scan Oute val NCe No 1 Com Scan In1 val NM1 No 1 Com Scan Out1 val NC1 No 2 Com Scan In2 val NM2 No 2 Com Scan Out2 val NC2 No 3 Com Scan In3 val NM3 No 3 Com Scan Out3 val NC3 No 4 Com Scan In4 val NM4 No 4 Com Scan Out4 val NC4 No 5 Com Scan In5 val NM5 No 5 Com Scan Out5 val NC5 No 6 Com Scan In6 val NM6 No 6 Com Scan Out6 val NC6 No 7 Com Scan In7 val NM7 No 7 Com Scan Out7 val NC7 No 8 Com Scan In8 val NM8 No 8 Com Scan Out val NC8 Configuration of these variables is described in the Configuration section Example of communication scanner display on the graphic display terminal 50 00Hz COM SCANNER INPUT MAP COM SCAN OUTPUT MAP Com Scan In1 val 34359 Com Scan Out1 val Com Scan In2 val 600 Com Scan Out2 val Com Scan In3 val Com Scan Out3 val Com Scan In4 val Com Scan Out4 val Com Scan In5 val Com Scan Out5 val 0 0 0 Com Scan In6 val 0 Com Scan Out6 val 0 Com Scan In7 val 0 Com Scan Out7 val 0 Com Scan In8 val 0 Com Scan Out8 val 0 In this example only the first two variables have been configured default assignment Com Scan In1 val 34343 Status word
33. isible through the drive cover RUN green ERR red Green RUN Red ERR Meaning Corrective action LED LED Drive not operating Check the power supply on pr or turned off On On Drive starting On Off Normal operation e Check the environment electromagnetic compatibility Off On Communication fault e Check the wiring on the bus e Check that the master is communicating within the time out period 10 e Check the environment electromagnetic compatibility e Check the communication parameter configuration protocol speed format a Flashing Eor ON PNAraActErTEceIvEd Do not forget that the communication parameter configuration is only taken into account by the drive following a power break e Check that the slave address is unique e Check the environment electromagnetic compatibility e Check the card drive connection Flashin off Card fault e Check that only one communication card has been installed 9 internal com link ILF e Check that no more than two option cards have been installed e Replace the communication card e Inspect or repair the drive 1755875 11 2010 21 7 Diagnostics 7 3 Control Command On the graphic display terminal only the 1 2 MONITORING menu COMMUNICATION MAP submenu can be used to display control signal diagnostic information between the drive and the master Active command channel Value of control word used to
34. l RS485 3 m cable equipped with an RJ45 connector and stripped at the other end VW3 A8 306 D30 Profibus DP gateway RJ45 RS485 1 m cable equipped with 2 RJ45 connectors VW3 P07 306 R10 LA9P307 Fipio LUFP1 or RJ45 RS485 0 3 m cable equipped with 2 RJ45 connectors or VW3 A8 306 RO3 or Profibus DP LUFP7 or DeviceNet LUFP9 gateway 1 m cable equipped with 2 RJ45 connectors or 3 m cable equipped with 2 RJ45 connectors VW3 A8 306 R10 or VW3 A8 306 R30 Serial port PC Male 9 way SUB D RS232 serial port PC RS232 RS485 converter and 3 m cable equipped with an RJ45 connector and stripped at the other end for connection to the screw terminals of the LU9GC3 splitter block TSX SCA 72 and VW3 A8 306 D30 1755875 11 2010 11 5 Connecting to the bus 5 4 Connection via junction boxes 1 Master PLC PC or communication module m Connection accessories 2 Modbus cable depending on the type of master see table 3 Modbus cable TSX CSAe00 4 Subscriber sockets TSX SCA 62 5 Modbus drop cable VW3 A8 306 2 Subscriber socket 4 TSX SCA 62 2 female 15 way SUB D connectors 2 screw terminals and an RC line terminator to be connected using cable VW3 A8 306 or VW3 A8 306 D30 m Connection cables Cables for Modbus bus 3 1 9 way SUB D connector and 6 VW3 A8 306 2 1 male 15 way SUB D connector for TSX SCA 62 RS485 double shielded t
35. lities available m Control via Modbus in I O profile The command and reference come from Modbus The command is in I O profile Configure the following parameters Profile VO profile The run command is simply obtained by bit 0 of the control word Reference 1 configuration Network card The reference comes from Modbus Command 1 configuration Network card The command comes from Modbus Configuration via the graphic display terminal or the integrated display terminal 1 6 COMMAND C EL Profile C HL F VO profile 10 Ref 1 channel Fr 1 Com card n E E Cmd channel 1 d I Com card nE E m Control via Modbus or the terminals in I O profile Both the command and reference come from Modbus or the terminals Input LI5 at the terminals is used to switch between Modbus and the terminals The command is in I O profile Configure the following parameters Profile VO profile The run command is simply obtained by bit 0 of the control word Reference 1 configuration Network card Reference 1 comes from Modbus Reference 1B configuration Analog input 1 on the terminals Reference 1B comes from input Ali on the terminals Reference switching Input LI5 Input LI5 switches the reference 1 lt 1B Command 1 configuration Network card Command 1 comes from Modbus Command 2 configuration Terminals Command 2 comes from the terminals Command switching In
36. lway protocol manual The data exchanges permit access to all Altivar 71 functions Configuration Adjustment e Control and command e Monitoring e Diagnostics The card has a female 9 way SUB D connector for connection to the Modbus bus The connection cables and accessories should be ordered separately The drive address should be configured using the switches on the card The graphic display terminal or the integrated display terminal offer numerous functions for communication diagnostics Note The Modbus card supports the following services in addition to those provided by the drive s integrated ports 2 wire and 4 wire RS485 Choice of line polarization RTU and ASCII modes More diagnostic subcodes More Modbus functions 04 Read Input Registers and 11 Get Comm Event Counter 3 2 Notation Drive terminal displays The graphic display terminal menus are shown in square brackets Example 1 9 COMMUNICATION The integrated 7 segment display terminal menus are shown in round brackets Example C ON Parameter names displayed on the graphic display terminal are shown in square brackets Example Fallback speed Parameter codes displayed on the integrated 7 segment display terminal are shown in round brackets Example L F F Formats Hexadecimal values are written as follows 16 Binary values are written as follows 2 Abbreviations Hi High order Lo Low order 1755875 11 2010 4 Hardw
37. manual describes e How to assemble the drive How to connect the drive m Programming Manual This manual describes e The functions The parameters e How to use the drive display terminal integrated display terminal and graphic display terminal m Communication Parameters Manual This manual describes e The drive parameters with specific information addresses formats etc for use via a bus or communication network The operating modes specific to communication state chart e The interaction between communication and local control m Modbus CANopen Ethernet Profibus INTERBUS Uni Telway DeviceNet Modbus Plus and FIPIO manuals These manuals describe e Connection to the bus or network Configuration of the communication specific parameters via the integrated display terminal or the graphic display terminal Diagnostics Software setup The communication services specific to the protocol m Altivar 58 58F Migration Manual This manual describes the differences between the Altivar 71 and the Altivar 58 58F It explains how to replace an Altivar 58 or 58F including how to replace drives communicating on a bus or network 4 1755875 11 2010 3 Introduction 3 1 Presentation The communication card catalog number VW3 A8 303 is used to connect an Altivar 71 drive to a Uni Telway or Modbus bus This manual only describes how to use the Modbus protocol For Uni Telway please refer to the Uni Te
38. me from Modbus or the terminals Input LI5 at the terminals is used to switch between Modbus and the terminals The command is in Drivecom profile Configure the following parameters Profile Drivecom profile not separate The run commands follow the Drivecom profile and the command and reference come from the same channel Reference 1 configuration Network card Reference 1 comes from Modbus Reference 2 configuration Analog input 1 on the terminals Reference 2 comes from input Al1 on the terminals Reference switching Input LI5 Input LI5 switches the reference 1 gt 2 and the command Caution Reference 2 is directly connected to the drive reference limit If switching is performed the functions that affect the reference summing PID etc are inhibited Configuration via the graphic display terminal or the integrated display terminal 1 6 COMMAND CEL Profile C HE F Not separ 5 IM Ref 1 channel Fr 1 Com card n E E Ref 2 channel F r 2 Ref Al1 A I 1 Ref 2 switching r F E LI5 L 15 16 1755875 11 2010 6 Configuration m Control in Drivecom profile via Modbus and reference switching at the terminals The command comes from Modbus The command comes either from Modbus or from the terminals Input LI5 at the terminals is used to switch the reference between Modbus and the terminals The command is in Drivecom profile Configure the
39. more information please refer to the TSX DG KBL E guide Electromagnetic compatibility of industrial networks and fieldbuses 5 2 Modbus RS485 standard The characteristics and accessories mentioned in this section 5 Connecting to the bus comply with the Modbus standard Other non Modbus standard RS485 wiring diagrams are possible Please see the Appendix for further information The latest generation of Schneider Electric equipment conforms to Modbus 2 wire RS485 Main characteristics Maximum length of bus 1000 m at 19 200 bps Maximum number of stations 32 stations i e 31 slaves without repeater 1755875 11 2010 9 5 Connecting to the bus 5 3 Connection via RJ45 wiring system 2 Let 1 m Connection accessories 1 2 3 4 5 6 Master PLC PC or communication module Cable depending on the type of master see table Splitter block LU9 GC3 Drop cable VW3 A58 306 Ree Line terminators VW3 A8 306 RC Modbus cable TSX CSA e00 Modbus splitter block 10 RJ45 connectors and 1 screw terminal block LU9 GC3 Modbus T junction boxes With integrated cable 0 3 m VW3 A8 306 TF03 With integrated cable 1 m VW3 A8 306 TF10 Line terminators For RJ45 connector R 1200 C 1 nF VW3 A8 306 RC R 150 Q specific to Jbus schematic page 43 VW3 A8 306 R
40. number of incorrect messages on the line with checksum error 00 00 Value of counter 0D Read the number of exception responses sent by the slave 00 00 Value of counter 0E Read the number of messages addressed to the slave excluding 00 00 Value of broadcast messages regardless of type counter OF Read the number of broadcast messages on the line regardless of type 00 00 Value of counter 10 Read the number of NAK exception responses 00 00 00 00 The value read is always 0 11 Read the number of slave not ready responses 00 00 00 00 The value read is always 0 12 Read the number of messages received with character overrun 00 00 Value of counter The counters are unsigned words Example Values 16 31 and 16 32 echoed by slave 4 Request and response Slave no Code Subcode Value of Value of CRC CRC Hi Lo 1 byte 2 byte Lo Hi 04 08 00 00 31 32 74 1B 1755875 11 2010 29 8 Modbus protocol 8 7 Get Comm Event Counter 11 16 0B Question Slave no 0B CRC16 1 byte 1 byte 2 bytes Response Slave no 0B 00 00 Value of counter CRC16 Hi Lo Lo 1 byte 1 byte 2 bytes 2 bytes 2 bytes 8 8 Write Multiple Registers 16 16 10 Request Slave no 10 No of first word Number of words Number of bytes Value of first word CRC16 Hi Lo Hi Lo Hi Lo Lo Hi 1 byte 1 byte 2 bytes 2 bytes 1 byte
41. of object no 1 ER object no object no 1 _ a a as fos ab ba ne Ae a os as ae 1 T e l e m e c a n i q u e Su 00 oD 54 65 6C 65 6D 65 63 61 6E 69 71 75 65 Id of Length of Value of object no 2 BIER en eS no object no 2 EITI hom hop dom jour lor p tome fog 01 0B 41 54 56 37 31 48 55 31 35 4D 33 Id of Length of Value of object no 3 object no object no 3 gt g 9 o 4 02 04 30 32 30 31 Id of Length of Value of object no 4 CRC CRC object no objectno 4 M vary C H p N E ns 4 Lo Hi 4 06 09 4D 41 43 48 49 4E 45 20 34 6F 50 1755875 11 2010 33 8 Modbus protocol 8 11 Communication scanner The communication scanner can be used to enhance application performance The drive automatically copies non contiguous parameters to an input table and an output table Thus the copy of several non contiguous parameters can be read or written in a single request an operation which would normally have required several Modbus requests The input table and the output table each contain 8 variables Com Scan Out val nC 1 12 761 16 31D9 Control word CMd Com Scan Out2 val n E 2 12 762 16 31DA Speed reference LFrd Com Scan Outs val n E 3 12 763 16 31DB Not used Com Scan Out4 val n CY 12 764 16 31DC Not used Com Scan Out5 val n E 5 1
42. on of the request to a drive located at address 20 16 14 e Reading all 8 scanner input variables e List of source parameters 1 Status word EtA 3201 16 0007 Power section AC supply voltage ULn 3207 16 00F0 2 Output speed rFrd 8604 16 1388 Drive thermal state tHd 3209 16 0065 Motor current LCr 3204 16 0064 Motor thermal state tHr 9630 16 0032 4 Output torque Otr 3205 16 0045 8 Altivar fault code LFt 7121 16 0000 e Writing the first 6 scanner output variables e List of target parameters 1 Control word CMd 8501 16 000F 5 Acceleration ACC 9001 16 04B0 gt Speed reference LFrd 8602 16 1388 6 Deceleration dEC 9002 16 0258 3 High speed HSP 3104 16 1F40 p 0 16 0000 4 Low speed LSP 3105 16 01F4 8 0 16 0000 1755875 11 2010 8 Modbus protocol The communication scanner is configured via the display terminal as follows Output control Scan Outi address nC A 1 8501 Control word CMd Scan Out2 address n L A 2 8602 Speed reference LFrd Scan Out3 address n A 3 3104 High speed HSP Scan Out4 address n AY 3105 Low spee
43. ormed using the graphic display terminal or integrated display terminal using the Network fault mgt C L L CANopen fault mgt Freewheel parameter in the 1 8 FAULT MANAGEMENT F L E menu COM FAULT MANAGEMENT C L L submenu Modbus fault mgt Freewheel The values of the Network fault mgt L L parameter which trigger a Com network n F drive fault are Value Meaning Freewheel YE 5 Freewheel stop factory setting Ramp stop r NP Stop on ramp Fast stop F 5E Fast stop DC injection dC 1 DC injection stop The values of the Network fault mgt C L L parameter which do not trigger a drive fault are Value Meaning Ignore n D Fault ignored Per STT SEE Stop according to configuration of Type of stop SEE fallback spd L FF Switch to fallback speed maintained as long as the fault is present and the run command is not disabled Spd maint r L 5 The drive maintains the speed at the time the fault occurred as long as the fault persists and the run command has not been removed The fallback speed can be configured via the Fallback speed L F F parameter in the 1 8 FAULT MANAGEMENT F L E menu 1755875 11 2010 19 6 Configuration 6 5 Monitored parameters It is possible to select up to 4 parameters to display their values in the 1 2 MONITORING menu COMMUNICATION MAP submenu on the graphic di
44. put LI5 Input LI5 switches the command Note Reference 1B is directly connected to the drive reference limit If switching is performed the functions that affect the reference summing PID etc are inhibited Configuration via the graphic display terminal or the integrated display terminal 1 6 COMMAND CEL Profile C HE F VO profile 2 Ref 1 channel Fr 1 Com card n E E Cmd channel 1 d 1 Com card nE E Cmd channel 2 d 2 Terminals E Er Cmd switching 5 LI5 L 15 1 7 APPLICATION FUNCT F Un Ref 1B channel Fr 1b Ref At A 1 1 REFERENCE SWITCH Ref 1B switching L b LS L 15 1755875 11 2010 15 6 Configuration m Control via Modbus in Drivecom profile The command and reference come from Modbus The command is in Drivecom profile Configure the following parameters Profile Drivecom profile not The run commands are in Drivecom profile the command and the reference separate come from the same channel Reference 1 configuration Network card The command comes from Modbus Configuration via the graphic display terminal or the integrated display terminal 1 6 COMMAND CEL Profile C HL F Not separ 5 1N factory setting Ref 1 Fr I Com card nE E m Control via Modbus or the terminals in Drivecom profile Both the command and reference co
45. r functions 3 and 16 With function 23 the line is less busy than with these two functions However the number of words that can be read and written is restricted e Write the values 20 16 14 and 30 16 1E respectively to the 2 logic address words 9001 and 9002 on slave 2 e Read the 4 logic address words 3102 to 3105 on the same slave values read 16 0028 16 0258 16 01F4 and 16 0000 Request Slave no Request code No of 15t word to be No of words to be No of 1 word to be No of words tobe read read written written Hi Lo Hi Lo Hi Lo Hi Lo 02 17 oC 1E 00 04 23 29 00 02 No of bytes to be written Value of 15t word to be written Value of 2 4 word to be written CRC CRC Hi Lo Hi Lo Lo Hi 04 00 14 00 1E D2 F5 Response Value of 1 Value of 2 Value of 3 Valueof4 CRC CRC Slave no Response code No of bytes word read word read word read word read Rad Hi Lo Hi Lo Hi Lo Hi Lo Lo Hi 02 17 08 00 28 02 58 01 F4 00 00 12 FO 1755875 11 2010 31 8 Modbus protocol 8 10 Read Device Identification 43 16 2B Request sj 5B Type of MEI ReadDeviceld Object Id CRC16 ave no 0E 01 00 o Hi 1 byte 1 byte 1 byte 1 byte 1 byte 2 bytes Response Type of MEI ReadDeviceld Degree of conformity Slave no 2B 0E
46. ror code CRC CRC code Lo Hi 4 90 00 5C 01 1755875 11 2010 37 8 Modbus protocol 8 13 Read non existent or protected parameters If a set of parameters is read using a Modbus function the value returned for non existent and protected parameters is equal to 16 8000 If the same Modbus function is used to read parameters all of which are non existent or protected the drive sends back an exception response with an error code equal to 2 Example of non existent or protected parameters being read In this example the same request to read a non existent parameter followed by 2 existing parameters is used several times in a row in order to demonstrate the effects of parameter protection The Read Holding Registers request 3 is addressed to a drive with a Modbus address of 12 16 0C The read operation is performed for 3 consecutive words starting with address 8400 8400 16 20FA Non existent 8401 16 20D1 Profile CHCF 8402 16 20D2 Copy channel 1 2 COP Request Slave no Request code No of 1st word No of words CRC16 Hi Lo Hi Lo Lo Hi 0c 03 20 DO 00 03 0E EF Response Scenario no 1 Parameters CHCF 8401 and COP 8402 not protected Successful reading of these two parameters and value equal to 16 8000 for the non existent parameter located at address 8400 Slave no Response
47. rounding of all equipment e Many parts of this variable speed drive including the printed circuit boards operate at the line voltage DO NOT TOUCH Use only electrically insulated tools DO NOT touch unshielded components or terminal strip screw connections with voltage present DO NOT short across terminals PA and PC or across the DC bus capacitors e Install and close all covers before applying power or starting and stopping the drive e Before servicing the variable speed drive Disconnect all power Place a DO NOT TURN ON label on the variable speed drive disconnect Lock the disconnect in the open position e Disconnect all power including external control power that may be present before servicing the drive WAIT 15 MINUTES to allow the DC bus capacitors to discharge Then follow the DC bus voltage measurement procedure given in the installation manual to verify that the DC voltage is less than 45 VDC The drive LEDs are not accurate indicators of the absence of DC bus voltage Electric shock will result in death or serious injury CAUTION EQUIPMENT DAMAGE Do not operate or install any drive that appears damaged Failure to follow these instructions can result in equipment damage 1755875 11 2010 2 Documentation structure The following Altivar 71 technical documents are available on the Schneider Electric website www schneider electric com m Installation Manual This
48. splay terminal The selection is made via the 6 MONITOR CONFIG menu 6 3 CONFIG COMM MAP submenu Each parameter Address 1 select Address 4 select can be used to 0 00Hz 0A choose the logic address of the parameter Select an address of zero 6 3 CONFIG COMM MAP to disable the function Address 1 select In the example given here the monitored words are FORMAT 1 Parameter 1 Motor current LCr logic address 3204 Address 2 select signed decimal format Parameter 2 Motor torque Otr logic address 3205 signed FORMAT 2 decimal format Address 3 select Parameter 3 Last fault occurred LFt logic address 7121 hexadecimal format a Code FP Quick Disabled parameter address 0 default format hexadecimal format FORMAT 3 Hex Address 4 select 0 FORMAT 4 Hex One of the three display formats below can be assigned to each monitored word Hexadecimal 0000 FFFF Hex Signed decimal 32 767 32 767 Signed Unsigned decimal 0 65 535 Unsigned 20 1755875 11 2010 7 Diagnostics 7 1 Checking the address On the graphic display terminal or integrated display terminal check the address that has been coded on the switches using the Address A dr C parameter in the 1 9 COMMUNICATION ON menu Uni Telway Modbus U E L submenu This parameter cannot be modified 7 2 LED S The Modbus card has 2 LEDs RUN and ERR which are v
49. wisted pair 100 Supplied without connector 3 TSX CSA 100 Fable 200 Supplied without connector 3 TSX CSA 200 500 Supplied without connector 3 TSX CSA 500 1755875 11 2010 5 Connecting to the bus m Connection cables for the master Twido PLC Adaptor or screw terminal Modbus cable TSX CSA100 or RS485 interface module TSX CSA200 or TSX CSA500 TSX Micro PLC Mini DIN RS485 Tap junction TSX PACC 01 connector port PCMCIA card TSX SCP114 Cable equipped with a special connector and TSX SCP CM 4030 stripped at the other end TSX Premium PLC TSX SCY 11601 or Cable equipped with a 25 way SUB D TSX SCY CM 6030 TSX SCY 21601 module connector and stripped at the other end 25 way SUB D socket PCMCIA card TSX SCP114 Cable equipped with a special connector and TSX SCP CM 4030 stripped at the other end Ethernet bridge Screw terminal RS485 Modbus cable TSX CSA100 or 174 CEV 300 10 TSX CSA200 or TSX CSA500 Profibus DP gateway RJ45 RS485 3 m cable equipped with an RJ45 connector VW3 A8 306 D30 LA9P307 and stripped at the other end Fipio LUFP1 or RJ45 RS485 3 m cable equipped with an RJ45 connector VW3 A8 306 D30 Profibus DP LUFP7 or DeviceNet LUFP9 gateway and stripped at the other end Serial port PC Male 9 way SUB D RS232 serial port PC RS232 RS485 converter and Modbus cable TSX SCA 72 and TSX CSA100 or TSX CSA200 or TSX CSA500 1755875 11 2010 13 6 Configuration 6 1 Communi
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