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Altivar 21 Modbus manual

1. Bit Specifications 0 1 Remarks 0 Preset speed operation 1 000 preset speed operation disabled 1 Preset speed operation 2 ARE a i 2 Preset speed operation 3 011 BA ad 3 100 preset speed 4 101 preset speed 5 110 preset speed 6 111 preset speed 7 Reserved Do not setto 1 4 Motor selection 1 or 2 Motor 1 Motor 2 THR1 PT set value vL vb tHr THR 2 selection THR 1 THR2 THR2 PT 0 F170 F172 F173 5 PI control Normal operation PI OFF 6 Acceleration deceleration Acceleration deceleration Acceleration deceleration AD1 ACC DEC pattern selection 1 or 2 pattern 1 AD1 pattern 2 AD2 AD2 F500 F501 AD2 selection 7 DC braking No braking Forced DC braking 8 z z 9 Forward reverse run Forward selection Reverse selection selection 10 Run stop Stop Run 11 Coast stop command No stop Coast stop 12 Emergency stop No stop Emergency stop E trip 13 Fault reset No reset Reset 14 Setpoint priority selection Disabled Enabled Enabled regardless of the setting of FMOD 15 Command priority Disabled Enabled Enabled regardless of the setting of CMOD selection Commands and setpoint can be enabled through communication irrespective of settings of the command mode NO d and setpoint mode F NDO d If 48 Forced change from communication to local 52 Forced operation or 53 Fire speed is set by input terminal function selection FIIDtoF I 13 F Il 18 a change to commands or setpoint
2. Operation panel 15 6 Configuration m Command by the Modbus network setpoint by the Modbus network or the terminals switched to by a logic input The commands always come from the Modbus network The setpoint comes from the Modbus network if logic input R is OFF The setpoint comes from the terminals if logic input R is ON The function FCHG is assigned to the logic input R The LOC REM key is always valid List of parameters that must be configured Parameter title Function number Function description cnoo 2 Serial communication Fnog 4 Serial communication FEMI 1 VIA Pike 38 Logic input R configured to Frequency command forced switching FCHG Bit 15 of command word FA00 Serial com command Commands CMOD priority bit Modbus _ A commands REM o gt Commands o m LOC Operation panel commands Bit 14 of command word FA00 Serial com setpoint Sepoint FMOD priority bit Modbus _4 Logic input R setpoint configured to FCHG F112 38 Modbus Switch to F207 setpoint setpoint OFF REM ON Setpoint Setpoint F207 LOC Operation panel 16 6 Configuration m Complete control diagram Bit 15 of command word FA00 Serial com command priority bit Logic input F Ror RES Modbus 1 configured to SC LC commands F111 F113 48 Switch to local OFF Commands CMOD GB Terminals Operation C
3. These parameters can also be used as an A D converter independent of inverter control Frequency setting mode selection FMOD not assigned to VIA nor VIB 38 8 Parameter list m Digital outputs command F A 50 The digital outputs relays of the inverter can be controlled directly by communication Before controlling them select Function Number 38 or 39 in Output terminal function selection F130 F132 F137 Bit Output Terminal Function 0 1 0 Relay RY F130 and F137 OFF ON 1 to 15 Reserved Example Controlling only relay RY by communication Set 38 specified data output 1 positive logic in Output terminal selection 1 F130 in advance Set 0001H in FA50 to turn relay RY on m Analog outputs command F 7S I The analog output FM on the inverter can be controlled directly by communication Select 18 Communication analog output in Analog terminal connection selection parameters example FM terminal connection meter selection FMSL before controlling them The data adjustment range is 0 to 1023 10bit resolution Refer to Meter Setting and adjustment in the ATV 21 user manual for complete information 39 8 Parameter list 8 9 Identification m Inverter model code F HD 5 Model Voltage Power Rating C
4. 8 Parameter list m Command mode status F E 75 This parameter monitors the source of the commands Data Function 0 Terminal board 1 Operation panel 2 Serial communication m Setpoint mode status F E 45 This parameter monitors the source of the setpoint Data Function VIA VIB Serial communications TB up down frequency 0 1 2 3 Operation panel 4 5 6 255 Preset speed operation 8 Parameter list 8 7 Faults and alarms m Alarm code FC 9 I Bit Specifications 0 1 Remarks Code operation paneled on the panel 0 Overcurrent alarm Normal Alarming C flickering 1 Inverter overload alarm Normal Alarming L flickering 2 Motor overload alarm Normal Alarming L flickering 3 Overheat alarm Normal Alarming H flickering 4 Overvoltage alarm Normal Alarming P flickering 5 Main circuit undervoltage alarm Normal Alarming 6 Reserved 7 Undercurrent alarm Normal Alarming 8 Over torque alarm Normal Alarming 9 Reserved 10 Cumulative operation hours alarm Normal Alarming 11 Reserved 12 Reserved 13 Main circuit undervoltage alarm same as MS relay status Normal Alarming MOFF flickering 14 At the time of the instant blackout Forced deceleration stop Decelerating stopping Related F256 settin
5. DANGER indicates an imminently hazardous situation which if not avoided will result in death serious injury or equipment damage A WARNING Warning indicates a potentially hazardous situation which if not avoided can result in death serious injury or equipment damage A CAUTION CAUTION indicates a potentially hazardous situation which if not avoided can result in injury or equipment damage PLEASE NOTE Electrical equipment should be serviced only by qualified personnel No responsibility is assumed by Schneider Electric for any consequences arising out of the use of this material This document is not intended as an instruction manual for untrained persons 2006 Schneider Electric All Rights Reserved 2 Before you begin Read and understand these instructions before performing any procedure with this inverter in order to completely and correctly utilize excellent performance of this unit Besides this user manual you will find in the chapter Documentation structure which manuals we advice you to read to develop software communicating with Altivar 21 If you need support please contact our sales offices After reading this instruction manual please keep it handy for future reference A DANGER HAZARDOUS VOLTAGE e Read and understand the Installation Manual before installing or operating the Altivar 21 inverter Installation adjustment repair and maintenance must be perfo
6. Response 01 10 FA 01 00 01 60 D1 23 7 Modbus services 7 8 Write indirect block 16 Function 16 16410 quantity 2 The Write indirect block function permits to write 2 parameters These parameters can be chosen by parameters F870 and F871 refer to Configuration of the indirect blocks page 18 Title Communication Function Adjustment range Unit Default Valid Number setting FH TD 0870 Block write data 1 0 No selection 0 After reset 1 C d word 1 FA00 Fa71 0871 Block write data 2 gt Gommand word 2 gt 0 3 Frequency Setpoint FA01 4 Digital output command FA50 5 Analog output command FA51 6 Speed Setpoint FA13 Request Slave no Function code Starting address Quantity of register Byte count First register value CRC16 10 18 fixed 70 fixed 00 fixed 02 fixed 04 fixed 1 byte 1 byte 2 bytes 2 bytes 1 byte 2 bytes 2 bytes Response Slave no Function code Starting address Quantity of register CRC16 10 18 fixed 70 fixed 00 fixed 02 fixed 1 byte 1 byte 2 bytes 2 bytes 2 bytes Error response Functi RC1 Slave no at codo Exception code ene 1 byte 1 byte 1 byte 2 bytes Refer to Error response page 26 Example Write value 60Hz in the parameter Frequency Setpoint FA01 and run forward command in inverter slave
7. 0 01 8000 16 1F40 Request 01 06 FA 01 1F 40 B5 A6 Response 01 06 FA 01 1F 40 B5 A6 m Speed setpoint FA 3 Speed setpoint from Modbus Unit min rpm Range 0 24000 min With this setpoint it is possible to control the inverter with rom instead of Hz This reference is converted into Frequency Setpoint using Number of motor poles F B 56 33 8 Parameter list 8 6 Status m Status word FEO I FdO I Status immediately before the occurrence of a trip Communication Number FE01 Current status Communication Number FDO1 Bit Specifications 0 1 Remarks 0 Failure FL No output Output in progress 1 Failure Not tripped Tripped Trip statuses include rtry and trip retention status 2 Alarm No alarm Alarm issued 3 MOFF Normal MOFF Main circuit undervoltage alarm 4 Motor section 1 or 2 THR 2 selection Motor 1 THR 1 Motor 2 THR 2 THR1 PT set value vL vb Thr THR2 PT 0 F170 F172 F173 5 PI control OFF PI control permitted PI control prohibited 6 Acceleration deceleration pattern selection 1 or 2 pattern 1 AD 1 Acceleration deceleration Acceleration deceleration pattern 2 AD 2 AD1 ACC DEC AD2 F500 F501 7 DC braking OFF Forced DC braking 8 Reserved 9 Forward reverse run Forward run Reverse run 10 Run stop Stop Run 11 Coast stop ST OFF ST ON ST OFF
8. LU9GC3 splitter block TSX SCY CM 6030 PCMCIA card TSX SCP114 Stripped cable TSX SCP CM 4030 Ethernet bridge TSX ETG 100 Screw terminal RS485 3 mcable fitted with an RJ45 connector and stripped at the other end VW3 A8 306 D30 Profibus DP gateway RJ45 RS485 1 m cable fitted with 2 RJ45 connectors VW3 P07 306 R10 LA9P307 Fipio LUFP1 or RJ45 RS485 0 3 m cable fitted with 2 RJ45 connectors or VW3 A8 306 R03 or Profibus DP LUFP7 or DeviceNet LUFP9 gateway 1 m cable fitted with 2 RJ45 connectors or 3 m cable fitted with 2 RJ45 connectors VW3 A8 306 R10 or VW3 A8 306 R30 Serial port PC Male SUB D 9 RS232 serial port PC RS232 RS485 converter and 3 mcable fitted 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 5 Connection to the network 5 3 Connection via junction boxes 1 Master PLC PC or communication module m Connection accessories 2 Modbus cable depending on the type of master 3 Modbus cable TSX CSAe00 4 Junction box TSX SCA 50 5 Subscriber sockets TSX SCA 62 6 Modbus drop cables VW3 A8 306 7 Modbus drop cable VW3 A8 306 D30 Description Reference Junction box TSX SCA 50 3 screw terminals and an RC line terminator to be connected using cable VW3 A8 306 D30 Subscriber socket TSX SCA 62 2 fem
9. VL and high impedance placed between 0 VL and the ground in each station 44 9 Appendix 9 4 2 wire Jbus schematic Schematic diagram Master Slave 1 Slave n Type of trunk cable Cable with 1 shielded twisted pair 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 Q resistor Common polarity No 45 9 Appendix 9 5 Creating a Modbus bus using non standard equipment m Different scenarios 1 If the Modbus bus is created using the latest generation Telemecanique devices and Telemecanique Modbus wiring accessories installation is simple and no calculation is required see the section entitled Connecting to the bus 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 Modbus standard several checks are required see Recommendations below M 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 switches to the lower position to activate the card s 4 7 kQ polarization Polarization switches i i 4 7 ka RS485 line
10. number of stations without repeater 32 stations i e 31 slaves Maximum length of tap links 20 m for one tap link 40 m divided by the number of tap links on a multiple junction box Bus polarization One 450 to 650 Q pull up resistor to the 5 V 650 Q or thereabouts recommended One 450 to 650 pull down resistor to the Common 650 Q or thereabouts recommended This polarization is recommended for the master Line termination One 120 Q 0 25 W resistor in series with a 1nF 10 V capacitor Common polarity Yes Common 43 9 Appendix 9 3 Uni Telway schematic The Uni Telway bus schematic was used by Telemecanique for older generation inverters and soft starters ATV58 ATV28 ATS48 etc marketed before the Modbus specifications were published on www modbus org Schematic diagram Master Type of trunk cable Cable with 2 twisted pairs shielded in pairs Maximum length of bus 1000 m at 19200 bps Maximum number of stations without repeater 29 stations i e 28 slaves 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
11. polarization at inverter level m Recommendations 1 Identify the polarities DO and D1 They are labeled in different ways depending on the standard Standard Modbus EIA TIA 485 Uni Telway Jbus RS 485 DO A A D A RD TD orL 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 always 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 46 9 Appendix 9 6 RS485 schematic for the modbus port The RS485 interface on the Modbus card is electrically isolated from the inverter Schematic diagram The polarization switches are used to connect or disconnect the pull up and
12. pull down resistors which implement either Modbus no slave polarization or Uni Telway 4 7 kQ polarization for each station type polarization 9 7 Connector pinout Pin Signal Reserved Common common of the signal and power supply Reserved D1 Modbus name or B EIA TIA485 name DO Modbus name or A EIA TIA485 name Reserved 24 V supply for RS232 RS485 converter or remote terminal oo NI OD oO A WwW Pp Common common of the signal and power supply 47 atv21 modbus_en_v1 2006 07
13. termination e Distribution of a reference potential e 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 Telemecanique devices Altivar 31 Altivar 71 Altivar 21 Altivar 61 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 44 2 wire Jbus schematic page 45 Requirements enabling different types of protocol to coexist are given in the following section in this appendix Creating a Modbus bus using non standard equipment page 46 42 9 Appendix 9 2 Modbus 2 wire standard schematic The standard schematic corresponds to the Modbus specification published in 2002 on www modbus org Modbus_over_serial_line_V1 pdf Nov 2002 and in particular to the 2 wire multipoint serial bus schematic The Modbus card VW3 A3 303 conforms to this specification Schematic diagram Slave 1 Slave n Type of trunk cable Shielded cable with 1 twisted pair and at least a 3 d conductor Maximum length of bus 1000 m at 19200 bps with the Telemecanique TSX CSAe00 cable Maximum
14. 1 Configuration F870 Block write data 1 1 Command word 1 FA00 F871 Block write data 2 3 Frequency Setpoint FA01 e The inverter accepts the request Request 01 Response 01 The inverter rejects Request 01 Response 01 The inverter rejects Request 01 Response 01 The inverter rejects Request 01 Response 01 Request 01 10 18 70 00 02 04 C4 00 17 70 6D AF 10 18 70 00 02 43 B3 the request because it is busy or F870 is 0 10 18 70 00 02 04 C4 00 17 70 6D AF 90 04 4D C3 the request because of an invalid starting address 10 18 71 00 02 04 C4 00 17 70 AC 63 90 03 OC 01 the request because of an invalid quantity of registers 10 18 70 00 03 04 C4 00 17 70 6C 7E 90 03 OC 01 e The inverter rejects the request because of an invalid byte count 10 18 70 00 02 03 C4 00 17 70 D8 6F 90 03 OC 01 Response 01 24 7 Modbus services 7 9 Read Device Identification 43 14 Function 43 14 16 2B 0E Request Function code MEI type Read Device Id code Object Id CRC16 Slave no 2B OE 01 03 00 Lo Hi 1 byte 1 byte 1 byte 1 byte 1 byte 2 bytes Response Function code MEI type Read Device Id code Conformity level Slave no 2B 0E 01 03 01 1 byte 1 byte 1 by
15. 1 Modbus name or B EIA TIA485 name 5 DO Modbus name or A EIA TIA485 name 6 Reserved re S E A 1 7 24 V supply for RS232 RS485 converter or remote terminal 8 Common common of the signal and power supply A WARNING DAMAGED EQUIPMENT Use wiring cables or taps that connect only signals DO D1 and common Refer to Telemecanique catalogue or to 5 2 Connection via RJ45 wiring system Failure to follow this instruction can result in injury or equipment damage A WARNING DAMAGED DEVICE If a converter or a terminal is connected to the RJ45 connector using the power supply on pin 7 and 8 check that the voltage 24V of this power supply is compatible with the converter or the terminal Failure to follow this instruction can result in injury or device damage 5 Connection to the network 5 2 Connection via RJ45 wiring system 1 Master PLC PC or gateway L ATV 31 m Connection accessories 2 Modbus cable depending on the type of master see table 3 Modbus splitter block LU9 GC3 4 Modbus drop cables VW3 A8 306 Ree 5 Line terminators VW3 A8 306 RC 6 Modbus T junction boxes VW3 A8 306 TFee with cable 7 Modbus cable to another splitter block TSX CSAe00 Description Reference Modbus splitter block 10 RJ45 connectors and 1 screw terminal LU9 GC3 Modbus T junction boxes With integrated cable 0 3 m VW3 A8 306 TF03 W
16. 12 Emergency stop Not emergency stop status Emergency stop status 13 Standby ST ON Start up process Standby Standby Initialization completed not failure stop status not alarm stop status MOFF LL forced stop or forced stop due to a momentary power failure ST ON and RUN ON 14 Standby Start up process Standby Standby Initialization completed not failure stop status and not alarm stop status MOFF LL forced stop or forced stop due to a momentary power failure 15 Local Remote status Remote Local Command is FA08 m Status word2 FEY2 Fd e Status 2 immediately before the occurrence of a trip Communication Number FE42 Current status 2 Communication Number FD42 Bit Function 0 1 Remarks 0 Reserved 1 Electric Power Counting FE76 FE77 status Counting Resetting 2to7 Reserved E gt 8 Acceleration deceleration pattern selection1 Acc Dec 1 Acc Dec 2 9 to 11 Reserved 12 Over current stall level change OC stall 1 OC stall 2 OC1 F601 OC2 F185 13 to 15 Reserved m Status word 3 FE49 Fd4 9Q Status 3 immediately before the occurrence of a trip Communication Number FE49 Current status 3 Communication Number FD49 Bit Function 0 1 Remarks 0 RY terminal output hold OFF Holding 1to11 Reserved 12 RCH OFF ON F102 13 RCHF OFF ON F101 F102 14 and 15 Reserved 7 34
17. 2 bytes Response Slave no Function code Byte count First register value Last register value CRC16 03 Hi Lo Hi Lo Lo Hi 1 byte 1 byte 1 byte 2 bytes 2 bytes 2 bytes Error response Slave no Function code Exception code CRC16 83 Lo Hi 1 byte 1 byte 1 byte 1 byte 1 byte Example Read indirect block in an inverter with slave address 1 Configuration parameters F875 Block read data 1 1 Status FD01 F876 Block read data 2 2 Output frequency FD00 F877 Block read data 3 3 Output current FE03 F878 Block read data 4 4 Output voltage FE05 F879 Block read data 5 5 Alarm code FC91 e Read indirect block of 5 parameters Request 01 03 18 75 00 05 92 B3 Response 01 03 0A 64 04 17 70 00 00 26 FB 00 80 1E 29 e Read indirect block of 2 parameters Request 01 03 18 75 00 02 D3 71 Response 01 03 04 64 04 17 70 AA D6 e Error response on invalid starting address Request 01 03 18 76 00 02 23 71 Response 01 83 03 01 31 e Error response on invalid quantity of registers Request 01 03 18 75 00 06 D2 B2 Response 01 83 03 01 31 22 7 Modbus services 7 6 Write Single Register 6 The Write Single Register function permits to write value of one parameter Not all inverter parameters can be written Request and response Slave no
18. 91 0 F879 0879 Block read data 5 es PID feedback value FE22 0 8 9 18 6 Configuration 6 4 Configuration of the communication fault m Configure the Modbus time out A Modbus fault error 5 is triggered if the inverter does not receive any valid Modbus requests at its address within a predefined time period time out The timer starts when the communication has been established for the first time valid frame inverter address matches All Modbus request functions are taken into account to reactivated the timer read write and identification Title Communication Function Adjustment range Unit Default setting Valid Number FHD3 0803 Modbus time out 0 disabled 3 After setting 1 100 enabled value of time out 1s A WARNING If this function is not properly set up it may cause an accident If you configure the parameter 0829 to the value 0 the inverter will not trip in case of loss of communication m Configure the inverter behaviour The response of the inverter in the event of a Modbus communication fault can be configured Title Communication Function Adjustment range Unit Default setting Valid Number FED3 0603 Behaviour on 0 Coast stop error 5 4 Modbus fault 1 Deceleration stop error 5 2 DC injection stop error 5 19 7 Modbus services 7 1 Principle of the Modbus protocol The Modbus protocol i
19. Altivar 21 Modbus User s manual a brand of Schneider e Y Telemecanique Contents 1 Important Information Before you begin Introduction Documentation structure a R w NY Connection to the network 5 1 Connection to the inverter 5 2 Connection via RJ45 wiring system 5 3 Connection via junction boxes 5 4 Wiring recommendations 5 5 RS485 wiring diagrams 6 Configuration 6 1 Configuration of the communication parameters 6 2 Configuration of the control source 6 3 Configuration of the indirect blocks 6 4 Configuration of the communication fault 7 Modbus services 7 1 Principle of the Modbus protocol RTU mode Modbus functions available Read one word 3 Read indirect block 3 Write Single Register 6 Write one word 16 Write indirect block 16 OOAONDAaAARWND Read Device Identification 43 14 aS ee ee 10 Error response 8 Parameter list w 1 Referring to the Altivar 21 user manual List of control parameters List of monitoring parameters Commands Setpoints Status Faults and alarms Monitoring and control of I O from communication w o w go o w go OOANDOOaA AW PD Identification 9 Appendix ko RS485 standard Mo
20. D30 LA9P307 stripped at the other end Fipio LUFP1 or RJ45 RS485 3 m cable fitted with an RJ45 connector and VW3 A8 306 D30 Profibus DP LUFP7 or DeviceNet LUFP9 gateway 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 5 Connection to the network 5 4 Wiring recommendations e Use Telemecanique 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 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 e Install a line terminator at both ends of the line e Ensure the correct line polarization For more information please refer to the technical publication Electromagnetic compatibility EMC Practical installation guidelines deg999gb pdf You can download this manual from Telemecanique web site www telemecanique com 5 5 RS485 wiring diagrams The characteristics and accessories mentioned in this section comply with the Modbus standard Modbus over serial line Specification and implementation guide Other non Modbus standard RS485 wirin
21. DOO on inverter at slave address 1 Request 01 03 FD 00 00 01 B5 A6 Response 01 03 02 17 70 B6 50 Example Invalid read of 2 words Request 01 03 FD 00 00 02 F5 A7 Error response 01 83 03 01 31 21 7 Modbus services 7 5 Read indirect block 3 Function 3 quantity 2 5 The Read indirect block function permits to read 2 to 5 parameters These parameters can be chosen by parameters F875 F879 refer to Configuration of the indirect blocks page 18 Title Communication Function Adjustment range Unit Default Valid Number setting FH 15 0875 Block read data 1 0 No selection 0 After reset 1 Status FDO01 FH TE 0876 Block read data 2 2 Output frequency FD00 0 F877 0877 Block read data 3 3 Output current FE03 0 4 Output voltage FE05 FH TBH 0878 Block read data 4 5 Alarm code FC91 0 6 PID feedback value FE22 ma wa 0873 Block read data 5 7 Digital inputs status FD06 z 8 Digital outputs status FD07 9 Analog input VIA value FE35 10 Analog input VIB value FE36 11 Output speed FE90 Request Slave no Function code Starting address Quantity of registers CRC16 03 Hi Lo Hi Lo Lo Hi 18 fixed 75 fixed 00 02 to 05 1 byte 1 byte 2 bytes 2 bytes
22. Function code Register address Register value CRC16 06 Hi Lo Hi Lo Lo Hi 1 byte 1 byte 2 bytes 2 bytes 2 bytes Error response CRC16 Lo Hi 1 byte 1 byte 1 byte 1 byte 1 byte Slave no 86 Exception code Example Write value 60 Hz to the parameter Frequency Setpoint FA01 in inverter slave 1 Request and response 01 06 FA01 1770 E6C6 Example Error response due to invalid register address Request 01 06 FFFF 0000 89EE Error response 01 86 02 C3A1 7 7 Write one word 16 Function 16 16 10 quantity 1 The Write Single Register function permits to write value of one parameter Not all inverter parameters can be written Request Slave no Function code Starting address Quantity of register Byte count First register value CRC16 10 00 fixed 01 fixed 02 fixed 1 byte 1 byte 2 bytes 2 bytes 1 byte 2 bytes 2 bytes Response Slave no Function code Starting address Quantity of register CRC16 10 00 fixed 01 fixed 1 byte 1 byte 2 bytes 2 bytes 2 bytes Error response Slave no Function Exception code CRC16 code 90 1 byte 1 byte 1 byte 2 bytes Refer to Error response page 26 Example Write value 60Hz in the parameter Frequency Setpoint FA01 in inverter slave 1 Request 01 10 FA 01 00 01 02 17 70 F3 9A
23. ale 15 way SUB D connectors 2 screw terminals and RC line terminator to be connected using cable VW3 A8 306 or VW3 A8 306 D30 m Connecting cables Description Length Connectors Reference m Cables for Modbus bus 3 1 RJ45 connector and one stripped end VW3 A8 306 D30 5 1 RJ45 connector and 1 male 15 way SUB D connector for TSX SCA VW3 A8 306 62 RS 485 double shielded 100 Supplied without connector TSX CSA 100 twisted pair cables 200 Supplied without connector TSX CSA 200 500 Supplied without connector TSX CSA 500 Type of master Master interface Modbus connection accessories for junction boxes using screw terminals Description Reference 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 connector port Junction box TSX P ACC 01 PCMCIA card TSX SCP114 Cable fitted with a special connector and stripped at the other end TSX SCP CU 4030 TSX Premium PLC TSX SCY 11601 or TSX SCY 21601 module SUB D 25 socket Cable fitted with a SUB D 25 connector and stripped at the other end TSX SCY CM 6030 PCMCIA card TSX SCP114 Cable fitted with a special connector and stripped at the other end TSX SCP CU 4030 Ethernet bridge Screw terminal RS485 Modbus cable TSX CSA100 or TSX ETG 100 TSX CSA200 or TSX CSA500 Profibus DP gateway RJ45 RS485 3 m cable fitted with an RJ45 connector and VW3 A8 306
24. characters The master must not introduce a space of more than 3 5 characters in a frame otherwise the inverter may recognize it as a start of new frame 20 7 Modbus services 7 3 Modbus functions available The following table indicates which Modbus functions are managed by the Altivar 21 and specifies their limits The read and write functions are defined from the point of view of the master Code Function name Size of data Altivar 21 function name Broadcast 3 16403 Read Holding Registers 1 object Read one word No 2 5 objects Read indirect block No 6 16406 Write Single Register 1 objects Yes 16 16410 Write Multiple Registers 1 object Write one word Yes 2 objects Write indirect block Yes 43 14 1642B 0E Read Device Identification 3 objects No 7 4 Read one word 3 Function 3 quantity 1 The Read one word function permits to read one parameter value All parameter of the inverter can be read Request Slave no Function code Starting address Quantity of registers CRC16 fixed 03 Hi Lo 00 01 Lo Hi 1 byte 1 byte 2 bytes 2 bytes 2 bytes Response Slave no Function code Byte count Register value CRC16 03 Hi Lo Lo Hi 1 byte 1 byte 1 byte 2 bytes 2 bytes Error response Slave no Function code Exception code CRC16 83 Lo Hi 1 byte 1 byte 1 byte 1 byte 1 byte Example Read output frequency F
25. dbus 2 wire standard schematic Uni Telway schematic Creating a Modbus bus using non standard equipment RS485 schematic for the modbus port OOOOCWC R 2 SA 4 2 wire Jbus schematic aa 6 ra Connector pinout 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 1 Important Information NOTICE Read these instructions carefully and look at the equipment to become familiar with the device before trying to install operate or maintain it The following special messages may appear throughout this documentation or on the equipment to warn of potential hazards or to call attention to information that clarifies or simplifies a procedure The addition of this symbol to a Danger or Warning safety label indicates that an electrical hazard exists which will result in personnal if the instruction are not followed A This is the safety alert symbol It is used to alert you to potential personal injury hazards Obey all safety messages that follow this symbol to avoid possible injury or death A DANGER
26. ed Do not set to 1 Energy reset bit 1 This command is enabled regardless of the command priority selection bit 15 of common word F A O D It is necessary to reset it after the command is performed Over current stall level change bit 12 This command word is enabled only when the communication command is enabled Set Bit 15 of the Command word F A D 0 to 1 enabled This command word will be disabled is set value 0 power is turned off or is reset or standard shipment setting tYP is selected 32 8 Parameter list 8 5 Setpoints m Frequency setpoint FAD I Frequency setpoint from Modbus Unit 0 01 Hz Range 0 to Maximum frequency FH This setpoint is enabled by setting 4 serial communication to the setpoint selection parameter F M O d or setting to 1 enabled setpoint priority selection Bit 14 of Command word F A O 0 If 48 Forced change from communication to local 52 Forced operation or 53 Fire speed is set by input terminal function selection FIIDtoF I13 F I 18 a change to a command or setpoint is feasible through the terminals Refer to Configuration of the control source page 12 Once enabled this setpoint selection is enabled till disabled 0 is set in the setpoint priority selection bit 14 of the command word F HO QD power is turned off or is reset or standard shipment setting E JP is selected Example Frequency setpoint 80Hz 80Hz 80
27. g 15 An automatic stop during the lower limit frequency continuance Decelerating stopping Related F302 setting m Alarm of run time FE 19 Bit Specifications 0 1 Remarks 0 Fan life alarm Normal Alarm issued 5 1 Circuit board life alarm Normal Alarm issued 2 Main circuit capacitor life alarm Normal Alarm issued 3 User set alarm Normal Alarm issued 4 15 Reserved 36 8 Parameter list m Trip code current status F C 9 O historic records FE IDO to FE 13 Code Value Value Description hexadecimal number decimal number NErr 0 0 No error OC1 1 1 Over current during acceleration Oc2 2 2 Over current during deceleration OC3 3 3 Over current during constant speed operation OCL 4 4 Over current in load at startup OCA 5 5 Short circuit in arm EPHI 8 8 Input phase failure EPHO 9 9 Output phase failure OP1 A 10 Overvoltage during acceleration OP2 B 11 Overvoltage during deceleration OP3 C 12 Overvoltage during constant speed operation OLI D 13 Over LOAD in inverter OL2 E 14 Over LOAD in motor OH 10 16 Overheat trip E 11 17 Emergency stop EEP1 12 18 EEPROM fault 1 writing error EEP2 13 19 EEPROM fault 2 reading error EEP3 14 20 EEPROM fault 3 internal fault Err2 15 21 RAM fault Err3 16 22 ROM fault Err4 17 23 CPU fault Err5 18 24 Communication error tri
28. g diagrams are possible Please see the Appendix for further information The latest generation of Telemecanique devices conform to Modbus 2 wire RS485 Main characteristics Maximum length of bus 1000 m at 19 200 bit s Maximum number of stations 32 stations i e 31 slaves without repeater 10 6 Configuration The settings of communication related parameters can be changed from the operation panel or from Modbus PLC computer or controller Note that there are two types of parameters parameters whose settings take effect immediately after the setting and parameters whose settings do not take effect until the inverter is turned back on or reset In the table below these 2 types are mentioned in the column valid by After setting and After reset 6 1 Configuration of the communication parameters Title Communication Function Adjustment range Unit Default setting Valid Number Fe 0829 Selection of communication 0 4 1 After reset protocol 1 Modbus RTU protocol Fono 0800 Baud rate 0 9600 bps 1 After reset 1 19200 bps FAD I 0801 Parity 0 NON No parity 1 After reset 1 EVEN Even parity 2 ODD Odd parity Fade 0802 Modbus address 0 247 1 After setting Notes e Baud rate and parity bit should be uniform inside the same network e Modbus address should not be duplicate inside the same network 11 6 Configurat
29. h 400 460V 15kW IP54 0145 0 ATV21WD18N4 3ph 400 460V 18 5kW IP54 0146 0 ATV21WD22N4 3ph 400 460V 22kW IP54 0147 0 ATV21WD30N4 3ph 400 460V 30kW IP54 0148 0 ATV21WD37N4 3ph 400 460V 37kW IP54 0149 0 ATV21WD45N4 3ph 400 460V 45kW IP54 0150 0 ATV21WD55N4 3ph 400 460V 55kW IP54 0151 0 ATV21WD75N4 3ph 400 460V 75kW IP54 0152 0 40 8 Parameter list Model Voltage Power Rating Code FB05 Class FB72 bit7 3ph 400 460V 0 4kW IP54 ClassB 134 1 ATV21W075N4C 3ph 400 460V 0 75kW IP54 ClassB 136 1 ATV21WU15N4C 3ph 400 460V 1 5kW IP54 ClassB 138 1 ATV21WU22N4C 3ph 400 460V 2 2kW IP54 ClassB 139 1 ATV21WU30N4C 3ph 400 460V 3 0kW IP54 ClassB 140 1 ATV21WU40N4C 3ph 400 460V 3 7 4 kW IP54 ClassB 141 1 ATV21WU55N4C 3ph 400 460V 5 5kW IP54 ClassB 142 1 ATV21WU75N4C 3ph 400 460V 7 5kW IP54 ClassB 143 1 ATV21WD11N4C 3ph 400 460V 11kW IP54 ClassB 144 1 ATV21WD15N4C 3ph 400 460V 15kW IP54 ClassB 145 1 ATV21WD18N4C 3ph 400 460V 18 5kW IP54 ClassB 146 1 ATV21WD22N4C 3ph 400 460V 22kW IP54 ClassB 147 1 ATV21WD30N4C 3ph 400 460V 30kW IP54 ClassB 148 1 ATV21WD37N4C 3ph 400 460V 37kW IP54 149 1 ATV21WD45N4C 3ph 400 460V 45kW IP54 150 1 ATV21WD55N4C 3ph 400 460V 55kW IP54 151 1 ATV21WD75N4C 3ph 400 460V 75kW IP54 152 1 41 9 Appendix 9 1 RS485 standard The RS485 standard ANSI TIA EIA 485 A 1998 allows variants of certain characteristics Polarization e Line
30. ion 6 2 Configuration of the control source The inverter can receive commands and setpoint from the Modbus network or from the terminals F R RES VIA VIB In the default configuration both commands and setpoint come from the terminals The LOC REM key of the operation panel is always available to switch the control to the operation panel The inputs F R or RES can be configured to switch the control from the Modbus network to the terminals Different usual possibilities are described in the chapters below Control from the Modbus network e Control from the terminals monitoring from the Modbus network e Control from the Modbus network or the terminals switched via Modbus Command from the Modbus network setpoint from the Modbus network or the terminals switched to by a logic input Refer to these examples m Control by the Modbus network The commands and the setpoint come from the Modbus network The signals wired on the terminals are ignored The LOC REM key is always valid List of parameters that must be configured Parameter title Function number Function description Cnog 2 Serial communication Fnog 4 Serial communication Bit 15 of command word FA00 Commands Serial com command CMOD priority bit Modbus 1 commands REM B a Commands LOC commands Operation panel Bit 14 of Setpoint FMOD command word FA00 Serial com setpoint priority b
31. ion Unit Remark FEDS FE05 Output voltage 0 01 Value before trip FELD 4 FE04 Voltage at DC bus 0 01 m Power and energy Title Com No Function Unit Remark FE29 FE29 Input power 0 01KW Value before trip FE JO FE30 Output power 0 01KW Value before trip FE 716 FE76 Input energy FE11 FE77 Output energy m Maintenance Title Com No Function Unit Remark FEE FE26 Motor load 1 Value before trip FE21 FE27 Inverter load 1 Value before trip FE I4 FE14 Cumulative run time 1h FEHU FE80 Cumulative power on time th 29 8 Parameter list m I O values Title Com No Function Unit Remark F OOE FD06 Digital inputs status Current value FOO 7 FDO7 Digital outputs status Current value FEOS FE06 Digital inputs status at last trip Value before trip FELD 7 FE07 Digital outputs status at last trip Value before trip FEAS FE35 Analog input VIA value FE JE FE36 Analog input VIB value m Faults and alarms Title Com No Function Unit Remark FC 9g FC90 Trip code FLI3I I FC91 Alarm code FE 19 FE79 Alarm of run time FE ID FE10 Latest trip code FE II FE11 2nd previous trip code FE Ig FE12 3rd previous trip code FE 13 FE13 4th previous trip code 30 8 Parameter list 8 4 Commands m Command word F A010
32. is feasible through the terminals Refer to Configuration of the control source page 12 Once the command word F A D d is set to enable communication command priority and frequency priority both priorities will be enabled unless OFF is set power is turned off or is reset or standard shipment setting tYP is selected Emergency stop RY terminal output hold and OUT terminal output hold are always enabled even though communication command priority is not set If the command word F A D D is enabled and the Preset speed operation is used bits 0 1 or 2 set to 1 the analog setpoint is disabled the velocity is controlled by preset speeds through the communication irrespective of the setpoint selection Examples Run forward N D d and F N O d configured to serial communication FA00 16 0400 Run reverse TU d and F NM O d configured to serial communication FA00 164 0600 Run forward commands and setpoint from Modbus irrespective of 70d and F NO d FA00 164 C400 Run reverse commands and setpoint from Modbus irrespective of N O d and F NO d FA00 164 C600 31 8 Parameter list m Command word 2 F A20 Bit Function 0 1 Remarks 0 Reserved 1 Energy reset No reset Reset Input energy FE76 Output energy FE77 2to 11 Reserved Do not set to 1 12 Over current stall level change OC stall 1 OC stall 2 OC1 F601 OC2 F185 13 to 15 Reserv
33. it K Modbus 4 setpoint REM Setpoint setpoint LOC Operation panel 12 6 Configuration m Control by the terminals monitoring by the Modbus network The commands and the setpoint come from the terminals The inverter is monitored via the Modbus network The LOC REM key is always valid List of parameters that must be configured Parameter title Function number Function description ENOO 0 default setting Terminal board PAGO 1 default setting VIA Bit 15 of command word FA00 Commands CMOD Serial com command j priority bit Terminals Modbus commands REM o gt Commands LOC Operation panel Setpoint FMOD Bit 14 of a command word FA00 Serial com setpoint Modbus 1 priority bit setpoint REM Setpoint LOC Operation panel 13 6 Configuration m Control by the Modbus network or the terminals switched via Modbus The commands come from the terminals if bit 15 of the command word FA00 is OFF value 0 The commands come from the Modbus network if bit 15 of the command word FA00 is enabled value 1 The setpoint comes from the terminals if bit 14 of the command word FA00 is OFF value 0 The setpoint comes from the Modbus network if bit 14 of the command word FA00 is enabled value 1 The LOC REM key is always valid List of parameters that must be configured Parameter title Function numbe
34. ith integrated cable 1 m VW3 A8 306 TF10 Line For RJ45 connector R 1200 C 1nF VW3 A8 306 RC terminators R 150 Q specific to 2 wire Jbus schematic page 45 VW3 A8 306 R m Connecting cables Description Length Connectors Reference m Cables for 3 1 RJ45 connector and 1 stripped end VW3 A8 306 D30 Modbus bus 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 RS 485 double 100 Supplied without connector TSX CSA 100 shielded twisted pair 200 Supplied without connector TSX CSA 200 cables 500 Supplied without connector TSX CSA 500 Type of master Master interface Modbus connection accessories for RJ45 wiring system Description Reference Twido PLC Adaptor or mini DIN RS485 interface module 3 m cable fitted with a mini DIN connector and an RJ45 connector TWD XCA RJ030 Adaptor or screw terminal RS485 interface module 3 m cable fitted with an RJ45 connector and stripped at the other end VW3 A8 306 D30 TSX Micro PLC Mini DIN RS485 connector port 3 m cable fitted with a mini DIN connector and an RJ45 connector TWD XCA RJ030 PCMCIA card TSX SCP 114 Stripped cable TSX SCP CM 4030 TSX Premium PLC TSX SCY 11601 or TSX SCY 21601 module SUB D 25 socket Cable fitted with a SUB D 25 connector and stripped at the other end for connection to the screw terminals of the
35. nd data references communication number unit range The table below is an abstract just for example Additionnal parameter not listed in the altivar 21 user manual are described in the present section time1 Title Communication Function unit Minimum setting Range Default User Reference No unit Panel setting setting Communication AUH i History operation panels parameters in gt 4 1 4 function groups of five in the reverse order to that in which their settings were changed Possible to edit AUF 7 Wizard gt 0 no wizard 1 Basic setting i 04 1 5 function wizard RU I 0000 Automatic E 0 Disabled manual 1 0 5 1 1 acceleration Automatic2 Automatic only at deceleration acceleration ACC 0009 Acceleration s 0 1 0 1 0 0 3200 10 0 5 1 2 Title means the operation panel on the inverter panel e Communication number identifies the parameter for communication In Modbus protocol it is also called register address or Parameter address e Adjusment range or Range means the data cannot be written outside the range The data is expressed in the decimal notation For writing the data through the communication function take the minimum setting unit into consideration and use hexadecimal notation e Minimum setting unit is the unit of a single data When the minimum unit is 1 is equal to 1 For example the Minimum setting unit of accelerati
36. ode FB05 Class FB72 bit7 3ph 200V 0 37 0 4kw 2 0 ATV21H075M3X 3ph 200V 0 75kW 4 0 ATV21HU15M3X 3ph 200V 1 5kW 6 0 ATV21HU22M3X 3ph 200V 2 2kW 7 0 ATV21HU30M3X 3ph 200V 3kW 8 0 ATV21HU40M3X 3ph 200V 3 7kW 4kW 9 0 ATV21HU55M3X 3ph 200V 5 5kW 10 0 ATV21HU75M3X 3ph 200V 7 5kW 11 0 ATV21HD11M3X 3ph 200V 11kW 108 0 ATV21HD15M3X 3ph 200V 15kW 109 0 ATV21HD18M3X 3ph 200V 18 5kW 110 0 ATV21HD22M3X 3ph 200V 22kW 111 0 ATV21HD30M3X 3ph 200V 30kW 112 0 3ph 400 460V 0 4kW 34 0 ATV21H075N4 3ph 400 460V 0 75kW 36 0 ATV21HU15N4 3ph 400 460V 1 5kW 38 0 ATV21HU22N4 3ph 400 460V 2 2kW 39 0 ATV21HU30N4 3ph 400 460V 3 0kW 40 0 ATV21HU40N4 3ph 400 460V 3 7 4 kW 41 0 ATV21HU55N4 3ph 400 460V 5 5kW 42 0 ATV21HU75N4 3ph 400 460V 7 5kW 43 0 ATV21HD11N4 3ph 400 460V 11kW 44 0 ATV21HD15N4 3ph 400 460V 15kW 45 0 ATV21HD18N4 3ph 400 460V 18 5kW 46 0 ATV21HD22N4 3ph 400 460V 22kW 47 0 ATV21HD30N4 3ph 400 460V 30kW 48 0 ATV21HD37N4 3ph 400 460V 37kW 49 0 ATV21HD45N4 3ph 400 460V 45kW 50 0 ATV21HD55N4 3ph 400 460V 55kW 51 0 ATV21HD75N4 3ph 400 460V 75kW 52 0 3ph 400 460V 0 4kw IP54 134 0 ATV21W075N4 3ph 400 460V 0 75kW IP54 0136 0 ATV21WU15N4 3ph 400 460V 1 5kW IP54 0138 0 ATV21WU22N4 3ph 400 460V 2 2kW IP54 0139 0 ATV21WU30N4 3ph 400 460V 3 0kW IP54 0140 0 ATV21WU40N4 3ph 400 460V 3 7 4 kW IP54 0141 0 ATV21WU55N4 3ph 400 460V 5 5kW IP54 0142 0 ATV21WU75N4 3ph 400 460V 7 5kW IP54 0143 0 ATV21WD11N4 3ph 400 460V 11kW IP54 0144 0 ATV21WD15N4 3p
37. ommands Bit 14 of command word FA00 Serial com setpoint priority bit Setpoint FMOD Modbus 4 Logic input F R or RES setpoint configured to FCHG Operation panel F111 F113 38 Switch to F207 setpoint I OFF Operation pane Modbus setpoint UP DOWN OFF gt Setpoint ON Setpoint F207 LOC VI Operation panel Operation panel Modbus setpoint UP DOWN 6 Configuration 6 3 Configuration of the indirect blocks These parameters configure the Modbus functions Read indirect block 3 page 22 and Write indirect block 16 page 24 Digital inputs status FD06 Digital outputs status FDO7 Analog input VIA value FE35 10 Analog input VIB value FE36 11 Output speed FE90 Title Communication Function Adjustment range Unit Default Valid Number setting F810 0870 Block write data 1 0 No selection 0 After reset 1 Command word FA00 FAT 0871 Block write data 2 2 Command word 2 FA20 0 3 Frequency setpoint FA01 4 Digital outputs command FA50 5 Analog outputs command FA51 6 Speed setpoint FA13 FH 15 0875 Block read data 1 0 No selection 0 After reset 1 Status word FD01 F876 0876 Block read data 2 2 Output frequency FD00 0 F877 0877 Block read data 3 3 Output current FE03 0 4 Output voltage FE05 FH TBH 0878 Block read data 4 5 Alarm code FC
38. on time acc is 0 01 1 corresponds to 0 01s For setting the acceleration time acc to 10 seconds transmit 16 03E8 by communication 10 0 01 1000 16 03E8 27 8 Parameter list 8 2 List of control parameters These parameters are only in the RAM and not in the EEPROM they return to initial values when the power is turned off in failure resetting or when standard shipment settings are set m Commands from serial communication Title Communication Function Range Min lnitial Write EEPROM No setting value during unit operation FAOD FA00 Command word 0 to 65535 0 Yes None F Ae FA20 Command word 2 0 to 65535 0 Yes None m Setpoints from serial communication Title Communication Function Range Min Initial Write EEPROM No setting value during unit operation FAD I FA01 Frequency setpoint 0 to Max frequency FH 0 01 Hz 0 Yes None FA 13 FA13 Speed setpoint 0 to 24000 1min 0 Yes None 1 rpm m Outputs control from serial communication Title Communication Function Range Min lnitial Write EEPROM No setting value during unit operation FH5U FA50 Digital outputs command 0 to 255 1 0 Yes None FAS I FA51 Analog outputs command 0 to 1023 1 0 Yes None 10 bit resolution 28 8 Parameter list 8 3 List of monitoring parameters Monitoring parameters are read
39. only m Status Title Com No Function Unit Remark FOO I FDO1 Status word Current value FO4Ye FD42 Status word 2 Current value F049 FD49 Status word 3 Current value FEUD I FEO01 Status word at last trip Value before trip FE4Ye2 FE42 Status word 2 at last trip Value before trip FEY FE49 Status word 3 at last trip Value before trip FEYS FE45 Command mode status FEYE FE46 Setpoint mode status m Frequency and speed Title Com No Function Unit Remark Food FDOO Output frequency 0 01Hz Current value FEDD FEOO Output frequency at last trip 0 01Hz Value before trip FEJU FE90 Output speed 1min 1 calculated by FD00 and F856 min 1 Fx12 5xPole 1 rpm Polex10 FE IB FE16 Estimated speed 0 01Hz Value before trip FEQ 2 FE02 Frequency reference before ramp 0 01Hz Value before trip before PI and speed ramp FE I5 FE15 Frequency reference after ramp 0 01Hz Value before trip after PI and speed ramp FECSZO FE22 PID feedback value 0 01Hz Value before trip m Current and torque Title Com No Function Unit Remark F ED 4J FE03 Output current 0 01 FE IB FE18 Torque 0 01 FE2d FE20 Torque current 0 01 Value before trip FE2 I FE21 Exciting current 0 01 Value before trip m Voltage Title Com No Funct
40. p Err7 1A 26 Current detector fault Err8 1B 27 Optional circuit board type error UC 1D 29 Small current trip UP1 1E 30 Trip due to undervoltage in main circuit Ot 20 32 Over torque trip EF2 22 34 Ground fault trip hardware detection OC1P 25 37 Overcurrent flowing in element during acceleration OC2P 26 38 Overcurrent flowing in element during deceleration OC3P 27 39 Overcurrent flowing in element during operation EtYP 29 41 Inverter type error OH2 2E 46 External thermal input SOUt 2F 47 VIA cable break E 18 32 50 Break in an analog signal cable E 19 33 51 CPU fault E 20 34 52 Excess torque boost E 21 35 53 CPU fault Etn1 54 84 Auto tuning error 37 8 Parameter list 8 8 Monitoring and control of I O from communication The digital inputs digital outputs analog input and output signals of the inverters can be controlled by communication m Digital inputs status F J06 FEE Digital inputs status immediately before the occurrence of a trip Communication Number FE06 Current digital inputs status Communication Number FD06 In case 0 No assignment function is selected in function selection inverter operations will not be affected even when terminals are turned on and off Therefore the terminals can be used as input terminals for customer s own use The input terminal function selection parameter is used to select a function for each input terminal Bit Terminal name Func
41. perform the request Format of an error response Slave Function code Exception code CRC16 No Lo Hi 1 byte 1 byte 1 byte 2 bytes Function code request code H 80 Exception code Exception Code Description 01 Unknown function The function code received in the query is not an allowable action for the inverter The function is not supported by the inverter error Function code 43 but MEI Type not equal to 14 02 Illegal data address The data address received in the query is not an allowable address for the inverter Communication number is not supported Request to write a read only parameter 03 Illegal data value A value contained in the query data field is not an allowable value for the inverter Data range error Fixed data error Function code 43 and MEI Type 14 but invalid Read Device ID Code Read Dev ID code gt 3 04 Unable to execute The request commands an operation that the inverter is not able to execute due to another task or condition Request to write in a parameter that cannot be changed during running Request to write during executing tyP return to factory setting Error occurs during writing data The request infringes a safety rule 26 8 Parameter list 8 1 Referring to the Altivar 21 user manual Parameters are decribed in the Altivar 21 user manual For communication purposes the section Table of parameter a
42. r Function description Enon 0 default setting Terminal board ENDO 1 default setting VIA Bit 15 of command word FA00 Commands CMOD Serial com command f priority bit Terminals Modbus commands REM 9 Commands LOC Operation panel Setpoint FMOD Bit 14 of command word FA00 Serial com setpoint Modbus 1 priority bit setpoint 4 REM Setpoint LOC Operation panel 14 6 Configuration m Control by the Modbus network or the terminals switched to by a logic input The commands and the setpoint come from the Modbus network if logic input R is OFF Th commands and the setpoint come from the terminals if logic input R is ON The function SC LC or CPCA is assigned to the logic input R The LOC REM key is always valid List of parameters that must be configured Terminals Setpoint FMOD VIB Parameter title Function number Function description cnoo 0 default setting Terminal board FNOD 1 default setting VIA FDD 48 Logic input R configured to Forced switching from remote to local control SC LC or CPCA Bit 15 of command word FA00 Serial com command Logic input R Modbus 1 Priority bit configured to LC SC F112 48 Commands CMOD commands Switch to local Commands Operation panel Bit 14 of command word FA00 Serial com setpoint priority bit Modbus setpoint Setpoint
43. rmed by qualified personnel e The user is responsible for compliance with all international and national electrical standards in force concerning protective grounding of all equipment e Many parts of this variable speed drive including the printed circuit cards operate at the line voltage DO NOT TOUCH Use only electrically insulated tools e DO NOT touch unshielded components or terminal strip screw connections with voltage present e DO NOT short across terminals PA and PC or across the DC bus capacitors e Install and close all the covers before applying power or starting and stopping the inverter 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 inverter 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 inverter LEDs are not accurate indicators of the absence of DC bus voltage Electric shock will result in death or serious injury A CAUTION DAMAGED EQUIPMENT Do not install or operate any inverter that appears damaged Failure to follow this instruction can result in injury or equipment damage 3 Introduction Thank
44. s a master slave protocol Only one device can transmit on the line at 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 EQ 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 Sa o D If a slave does not understand a message it sends an error response to the master The master may or may not repeat the request 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 request contains the slave address 1 247 Broadcast the master sends a request to all slaves Slaves do not answer The value of the slave address is 0 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 7 2 RTU mode ATV21 supports 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 to 3
45. te 1 byte 1 byte More follows Next object Id Number of objects 00 03 1 byte 1 byte Id of object no 1 00 Length of object no 1 OD Value of object no 1 Telemecanique 1 byte 1 byte 13 bytes Id of object no 2 01 Length of object no 2 OC Value of object no 2 ATV21H075M8X 1 byte 1 byte 12 bytes Id of object no 3 Length of object no 3 Value of object no 3 02 04 0201 1 byte 1 byte 4 bytes CRC16 Lo Hi 1 byte 1 byte The total response size given in this example equals 45 bytes The response contains the following four objects Object no 1 e Object no 2 Manufacturer name always Telemecanique i e 13 bytes Device catalog number ASCII string for example ATV21H075M3x i e 11 bytes The length of this object varies according to inverter type Use the Length of object no 2 field to determine the length Object no 3 ASCII string for example 0201 for version 2 1 Error response Slave no Function code Exception code CRC16 AB Lo Hi 1 byte 1 byte 1 byte 1 byte 1 byte Refer to Error response page 26 Device version in MMmm format where MM represents the major revision and mm the minor revision 4 byte 25 7 Modbus services 7 10 Error response An error response is returned by the inverter when it is unable to
46. tion parameter title 0 1 0 F Input terminal selection 1 F 1 I 1 OFF ON 1 R Input terminal selection 2 F I Ig OFF ON 2 RES Input terminal selection 3 F I 13 OFF ON 3to6 Reserved 7 7 VIA 1 Input terminal selection 8 F I IB OFF ON 8to 15 Reserved 1 It is valid only when it is selected as contact input by F109 Example When both F and RES terminals are ON FE06 1640005 BIT 15 BIT 0 FEO6 O JOOJOO OJOO O 0 0J0 0 1 0 1 0 0 0 5 m Digital outputs status F dO 7 FED 7 Digital outputs status immediately before the occurrence of a trip Communication Number FE07 Current digital outputs status current status Communication Number FD07 The output terminal function selection parameter is used to select a function for each output terminal Bit Terminal name extended Function parameter title 0 1 0 RY Output terminal selection F 130 OFF ON 1 Reserved 2 FL Output terminal selection3 F 132 OFF ON 3to15 Reserved Example When both the RY and FL terminals are ON FE07 1640005 BIT 15 BIT 0 FEO7 O JOOJOO OJOO O 0 0 0 0 1 0 1 0 0 0 5 m Analog inputs values FE 35 FE 36 Analog input VIA value Communication Number FE35 Analog input VIB value Communication Number FE36 Data 10bit resolution Data range 0 to 1023
47. with length 2 Write indirect block it permits to write a particular block of 2 indirect parameters These 2 parameters can be configured through the operation panel to relevant control parameters 4 Documentation structure m Modbus ATV21 manual This manual describes e Connection to the network e Configuration of the communication related parameters e Modbus services supported e Parameter list additional to the ATV21 user manual You will also find important information in other Altivar 21 technical documents They are available on the Web site www telemecanique com and on the CDROM delivered with each inverter m ATV21 user manual This manual describes e How to assemble the inverter How to connect the inverter The functions and the parameters of the inverter e How to use the operation panel You will find in this manual the address and possible values of the parameters of the inverter Note In both manuals the address of the parameters is named Communication number and coded in hexadecimal 16 5 Connection to the network 5 1 Connection to the inverter Connection accessories should be ordered separately please consult our catalogues Connect the RJ45 cable connector to the Modbus connector Pin out of the Modbus connector View from underneath Pin Signal 1 Reserved 2 Common common of the signal and power supply 3 Reserved 4 D
48. you for purchasing the Altivar 21 inverter equipped with an embedded Modbus port The present guide contains information about the installation of the Altivar 21 inverter on a Modbus network and describes the Modbus services available By using the Modbus port of the Altivar 21 data communication can be made with a PLC a host computer or other devices via a Modbus network Data exchanges give access to all Altivar 21 functions Control start stop reset setpoint Monitoring status current voltage thermal state Diagnostics alarms Settings Configuration The communication port has an RJ45 connector for the conneciion to the network At the physical layer it supports 2 wire RS485 and transmission speed at 9600 or 19200 bps 4 Modbus functions are available e 3 16403 Read Holding Registers 6 16 06 Write Single Register e 16 16 10 Write Multiple Registers 43 14 16 2B 0E Read Device Identification Function 3 has a restricted implementation e with length 1 Read one word it permits to read any parameter of the inverter one by one e with lengths 2 to 5 Read indirect block it permits to read a particular block of 2 to 5 indirect parameters These 5 parameters can be configured through the operation panel to relevant monitoring parameters Function 16 has a restricted implementation e with length 1 Write one word it permits to write any writable parameter of the inverter one by one e

Altivar 21 Modbus manual

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