Agile. Modbus Communication manual Frequency inverter 230V / 400V

Transcription

1 Agile Modbus Communication manual Frequency inverter 230V / 400V

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3 1 GENERAL INFORMATION ON THE DOCUMENTATION Instruction Manuals Used Pictograms and Signal Words GENERAL SAFETY INSTRUCTIONS AND INFORMATION ON USE General Information Purpose of the Frequency Inverters Transport and Storage Handling and Installation Electrical Installation Information on Use Using external products Maintenance and Service Disposal COMMUNICATION OPTIONS INSTALLATION OF AN OPTIONAL COMMUNICATION MODULE Assembly Disassembly RS485 AND RS232 INTERFACES X21-Connection Communication Modules Installation Notes Pin Assignment RS485 Bus Termination Commissioning via the Operator Panel Menu for setting up the Communication Select the Protocol Set the Communication Parameters Set the Protocol for the X21-Connection and Communication Module MODBUS PROTOCOL /2011 Modbus Agile 3

4 General Information on the Documentation 7.1 Address Representation Message Structure Supported Function Codes Function Code 3, Read 16-Bit or 32-Bit-Parameter Function Code 6, Write 16-Bit-Parameter Function Code 16, Write 16-Bit-Parameter Function Code 16, Write 32-Bit-Parameter Function Code 100, Read 32-Bit-Parameter Function Code 101, Write 32-Bit-Parameter Function Code 8, Diagnostics Exception Responses Exception Codes Modbus Transmission Modes Time Monitoring Function HANDLING OF DATA SETS / CYCLIC WRITING MODBUS MESSAGE EXAMPLES Modbus RTU-Message Examples Bit Parameter access Bit Zugriff Function Code 8, Diagnostics Modbus ASCII-Message Examples Bit access Bit access Function Code 8, Diagnostics ASCII-Table (0x00 0x7F) CONTROL / REFERENCE VALUE Control via Contacts / Remote-Contacts Device statemachine Control via Statemachine Statemachine diagram Behavior in Quick Stop Behavior in State-Transition ACTUAL VALUES PARAMETER LIST Actual Values ("Actual" Menu) Parameters ("Para" Menu) ANNEX Warning Messages Modbus Agile 02/2011

5 13.2 Warning Messages Application Error Messages INDEX /2011 Modbus Agile 5

6 General Information on the Documentation 1 General Information on the Documentation This documentation describes the communication with Agile device series frequency inverters using the Modbus protocol. The modular hardware and software structure allows the user-friendly customization of the frequency inverters. Applications, which demand high functionality and dynamics can be comfortably implemented. 1.1 Instruction Manuals For better clarity, the user documentation is structured according to the customer-specific demands made on the frequency inverter. Quick Start Guide The "Quick Start Guide" brief instructions manual describes the basic steps for the mechanical and electrical installation of the frequency inverter. The guided commissioning supports you with the selection of the necessary parameters and the software configuration. Operating Instructions The Operating Instructions documents the complete functionality of the frequency inverter. The parameters necessary for specific applications for adaptation to the application and the extensive additional functions are described in detail. Application Manual The application manual supplements the documentation for purposeful installation and commissioning of the frequency inverter. Information on various subjects connected with the use of the frequency inverter is described specific to the application. The documentation and further information can be requested from the local BONFIGLIOLI representative. The following instruction manuals are available for the Agile device series: Agile Operating Instructions Frequency inverter functionality. Agile Quick Start Guide Installation und commissioning. Supplied with the device. Communication Communication via the RS485 Interface on the X21-Connection (RJ45): Application Manuals Instructions for Modbus and VABus. PLC Application Manual Service Instructions Communication via the X12.5 and X12.6 Control Terminals: Instructions for Systembus and CANopen 1. Communication via the Communication Modules: CM-232/CM-485: Instructions for Modbus and VABus. CM-CAN: Instructions for Systembus and CANopen. CM-PDPV1: Instructions for Profibus-DP-V1 Logical interconnections of digital signals. Functions for analog signals such as comparisons and mathematical functions. Graphical support for the programming of functional components. For service personnel. Service work, monitoring of service intervals and replacement of ventilators. This documentation has been produced with the greatest of care and extensively and repeatedly checked. For reasons of clarity not all the detailed information on all types of the product and also not every imaginable case of installation, operation or maintenance has been taken into account. If you require further information or if specific problems which are not dealt with extensively enough in the documentation exist, you can request the necessary information from the local BONFIGLIOLI representative. 1 The CANopen -Communication products fulfill the specifications of the CiA (CAN in Automation) user organization. 6 Modbus Agile 02/2011

7 We would also point out that the contents of this documentation are not part of a previous or existing agreement, assurance or legal relationship and are not intended to amend the same. All obligations of the manufacturer result from the underlying purchase contract, which also contains the complete and solely valid warranty regulation. These contractual warranty provisions are neither extended nor limited by the production of this documentation. The manufacturer reserves the right to correct or amend the contents and the product information as well as omissions without prior notification and assumes no kind of liability for damage, injuries or expenditure to be put down to the aforementioned reasons. 1.2 Used Pictograms and Signal Words The following pictograms and signal words are used in the documentation: Danger! Danger refers to an immediate threat. Non-compliance with the precaution described will result in death, serious injury or material damage. Warning! Warning refers to a possible threat. Non-compliance with the warning may result in death, serious injury or material damage. Caution! Caution refers to an immediate hazard. Non-compliance may result in personal or material damage. Attention! Attention and the related text refer to a possible behavior or an undesired condition which can occur during operation. Note Marks information that facilitates handling for you, and supplements the corresponding part of the documentation. 02/2011 Modbus Agile 7

8 General Safety Instructions and Information on Use 2 General Safety Instructions and Information on Use Warning! The specifications and instructions contained in the documentation must be complied with strictly during installation and commissioning. Before starting the relevant activity, read the documentation carefully and comply with the safety instructions. The term "Qualified Staff" refers to anybody who is familiar with the installation, assembly, commissioning and operation of the frequency inverter and has the proper qualification for the job. 2.1 General Information Warning! The DC-link circuit of the frequency inverter is charged during operation, i.e. there is always the risk of contact with high voltage. Frequency inverters are used for driving moving parts and they may become hot at the surface during operation. Any unauthorized removal of the necessary covers, improper use, wrong installation or operation may result in serious injuries or material damage. In order to avoid such injuries or damage, only qualified technical staff may carry out the transport, installation, commissioning, setup or maintenance work required. The standards EN 50178, IEC (Cenelec HD 384 or DIN VDE 0100), IEC (Cenelec HD 625 or VDE ) as well as the applicable national regulations must be complied with. The term Qualified Staff refers to anybody who is familiar with the installation, assembly, commissioning and operation of the frequency inverter as well as the possible hazards and has the proper qualification for the job. Persons who are not familiar with the operation of the frequency inverter and children must not have access to the device. 2.2 Purpose of the Frequency Inverters Warning! The frequency inverters are electrical drive components intended for installation in industrial plants or machines. Commissioning and start of operation is not allowed until it has been verified that the machine meets the requirements of the EC Machinery Directive 2006/42/EEC and EN In accordance with the CE marking requirements, the frequency inverters comply with the Low Voltage Directive 2006/95/EC as well as EN The user shall be responsible for making sure that the requirements of the EMC Directive 2004/108/EEC are met. Frequency inverters are only available at specialized dealers and are exclusively intended for professional use as per EN Purposes other than intended may result in the exclusion of warranty. The frequency inverters are also marked with the UL label according to UL508c, which proves that they also meet the requirements of the CSA Standard C22.2-No The technical data, connection specifications and information on ambient conditions are indicated on the name plate and in the documentation and must be complied with in any case. Anyone involved in any kind of work at the device must have read the instructions carefully and understood them before starting the work. 2.3 Transport and Storage The frequency inverters must be transported and stored in an appropriate way. During transport and storage the devices must remain in their original packaging. The units may only be stored in dry rooms which are protected against dust and moisture. The units may be exposed to little temperature deviations only. Observe the conditions according to EN for storage, EN for transport and the marking on the packaging. The duration of storage without connection to the permissible nominal voltage may not exceed one year. 8 Modbus Agile 02/2011

9 2.4 Handling and Installation Warning! Damaged or destroyed components must not be put into operation because they may be a health hazard. The frequency inverters are to be used in accordance with the documentation as well as the applicable directives and standards. They must be handled carefully and protected against mechanical stress. Do not bend any components or change the isolating distances. Do not touch electronic components or contacts. The devices are equipped with components which are sensitive to electrostatic energy and can be damaged if handled improperly. Any use of damaged or destroyed components shall be considered as a non-compliance with the applicable standards. Removal of seal marks may cause restrictions on warranty. Do not remove any warning signs from the device. 2.5 Electrical Installation Warning! Before any assembly or connection work, discharge the frequency inverter. Verify that the frequency inverter is discharged. Do not touch the terminals because the capacitors may still be charged. Comply with the information given in the operating instructions and on the frequency inverter label. Comply with the rules for working on electrical installations. Rules for working on electrical installation: Separate completely (isolate the installation from all possible sources of electrical power. Fix (protect against reconnection). Reconnection must be carried out by suitably qualified persons. Verify there is no electrical power. Verify that there is no voltage against earth on the plant component by measuring with measurement device or voltage tester. Ground and connect in a short circuit. Connect earth conductors. Protect against nearby power sources and delimit the working zone. 1) In plants with a nominal power up to 1 kv deviation from description may be possible. When working at the frequency inverters, comply with the relevant accident prevention regulations, the applicable standards, standards governing work on systems with dangerous voltages (e.g. EN 50178), directives for electrical and mechanical equipment erection and other national directives. Comply with the electrical installation instructions given in the documentation as well as the relevant directives. Responsibility for compliance with and examination of the limit values of the EMC product norm EN for variable-speed electrical drive mechanisms is with the manu-facturer of the industrial plant or machine. The documentation contains information on EMC-conforming installation. The cables connected to the frequency inverters may not be subjected to high-voltage insulation tests unless appropriate circuitry measures are taken before. Do not connect any capacitive loads. 02/2011 Modbus Agile 9

10 General Safety Instructions and Information on Use 2.6 Information on Use Warning! The frequency inverter may be connected to power supply every 60 s. This must be considered when operating a mains contactor in jog operation mode. For commissioning or after an emergency stop, a non-recurrent, direct restart is permissible. After a failure and restoration of the power supply, the motor may start unexpectedly if the auto start function is activated. If staff is endangered, a restart of the motor must be prevented by means of external circuitry. Before commissioning and the start of the operation, make sure to fix all covers and check the terminals. Check the additional monitoring and protective devices according to EN and applicable the safety directives (e.g. Working Machines Act, Accident Prevention Directives etc.). No connection work may be performed, while the system is in operation Using external products Please note, that Bonfiglioli Vectron does not take any responsibility for the compatibility of external products (e.g. motors, cables, filters, etc.). To ensure the best system compatibility, Bonfiglioli Vectron offers components which simplify commissioning and provide the best tuning with each other during operation. Using the device in combination with external products is carried out at your own risk. 2.7 Maintenance and Service Warning! Unauthorized opening and improper interventions can lead to personal injury or material damage. Repairs on the frequency inverters may only be carried out by the manu-facturer or persons authorized by the manufacturer. Check protective equipment regularly. Any repair work must be carried out by qualified electricians. 2.8 Disposal The dispose of frequency inverter components must be carried out in accordance with the local and country-specific regulations and standards. 10 Modbus Agile 02/2011

11 3 Communication Options Interface See CM-232 Instructions for VABus or Modbus. CM-485 Instructions for VABus or Modbus. CM-PDPV1 Instructions for Profibus DP-V1. CM-CAN Instructions for Systembus or CANopen. Control terminals for CAN-Connection Instructions for Systembus or CANopen 1. X21 Communication Interface 2 Instructions for VABus or Modbus. 1 The CANopen -Communication products fulfill the specifications of the CiA (CAN in Automation) user organization. 2 Install an interface adapter for connection to a PC. This enables parameterization und monitoring via the VPlus PC-Software. 02/2011 Modbus Agile 11

12 Installation of an optional Communication Module 4 Installation of an optional Communication Module 4.1 Assembly The communication module is pre-assembled in a casing. Additionally, a PE spring is enclosed for PE connection (shield). Caution! The frequency inverter must be disconnected from the power supply before installation of the communication module. Installation under voltage is not permitted and will destroy the frequency inverter and/or the communication module. Do not touch the PCB visible on the back of the module, otherwise components may be damaged. Remove the cover of the module slot. 1 Attach the PE spring (1) using the screw provided on the frequency inverter. 2 3 Insert the communication module (2). Screw the communication module (2) onto the frequency inverter with the screw provided (3). Break off the pre-punched cut-out from the cover. Replace the cover. 4.2 Disassembly Remove the cover of the module slot. 2 Loosen the screw (1) on the communication module. Using a small screwdriver, firstly unlock the right and then the left snap-in hook (2). Remove the communication module from the slot. Unscrew the PE spring. Replace the cover onto the frequency inverter Modbus Agile 02/2011

13 5 RS485 and RS232 Interfaces The frequency inverter can be controlled from a PLC or another master device via a serial interface using the Modbus or VABus protocol. The VABus protocol is required for the parameterization with the VPlus PC-Software. The connection can be established via the RJ45-Connector of the X21-Connection or via an optional Communication Module. The following protocols can be selected: Modbus RTU Modbus ASCII VABus X21-Connection - Modbus (RTU/ASCII) - VABus RJ45 Communication Module - Modbus (RTU/ASCII) - VABus CM-232 (DB9) CM-485 (DB9) CM-485T The communication with the Modbus-Protocol can be established via: the RJ45-Connector of the X21-Connection the CM-232 Communication Module with RS232-connection using a 9-pin D-Sub connector the CM-485 Communication Module with RS485-connection using a 9-pin D-Sub connector the CM-485T Communication Module with RS485-connection using a 7-pin terminal socket The Modbus communication is possible either via the RJ45-Connector of the X21-Connection or via an optional Communication Module. Simultaneous Modbus communication via the X21-Connection and an optional Communication Module is not possible. Simultaneous VABus communication is possible via the X21-Connection and an optional Communication Module. Possible Combinations of VABus with Modbus: Communication Module X21 (RJ45) Modbus (RTU or ASCII) and VABus VABus and Modbus (RTU or ASCII) VABus and VABus Combination Options with the Scope Function: Communication Module X21 (RJ45) VABus and Scope Function (VABus) Scope Function (VABus) and VABus Scope Function (VABus) and Modbus (RTU or ASCII) Modbus (RTU or ASCII) and Scope Function (VABus) The Scope Function is started via the VPlus PC-Software. The Scope Function cannot be started via VPlus and an optional Communication Module at the same time. The baud rates for the X21-Connection and the Communication Module can be set separately. Note: This document is not basic information for the RS232 or RS485 serial interface. Fundamental knowledge of the Modbus protocol and the RS232 and RS485 serial interfaces is a prerequisite. 02/2011 Modbus Agile 13

14 RS485 and RS232 Interfaces In some sections as an alternative to control via the operator panel settings and display possibilities are described with the help of the VPlus PC-Software. Here, VPlus communicates with the frequency inverter via the X21-Connection or via an optional CM-232 or CM-485 Communication Module. If the serial interface of an optional CM-232 or CM-485 Communication Module is connected to a PLC, then simultaneous access to the frequency inverter from the VPlus PC-Software is no longer possible. In this case the connection to the PC can be made via USB with the help of an optional interface adapter on the X21-Connection. Warning! Via the Modbus-Communication, a control unit can access all of the frequency inverter parameters. The changing of parameters, whose meaning is not known to the user, can lead to the malfunctioning of the frequency inverter and to dangerous situations in the plant. Caution! If values are to be written regularly with a high repetition rate, then no entry may be made to the EEPROM, as it only has a limited number of admissible write cycles (approx. 1 million cycles). If the number of allowed write cycles is exceeded then the EEPROM will be damaged. See Chapter 8 "Handling of Data Sets / Cyclic Writing". RS485-Connection Frequency inverters can be connected to a bus system using CM-485 Communication Modules. The bus structure is linear and implemented as a 2-wire line. Up to 247 frequency inverters can be addressed and polled from a bus master via Modbus. The frequency inverters can be parameterized and controlled via the bus system. During operation data can be requested and set from a PC or PLC. RS232-Connection The RS232-Connection allows a point to point connection between the participants. 5.1 X21-Connection The X21-Connection with the RJ45-Connector enables the connection to the RS485 interface of a PLC. X21 (RJ45) RJ45 PLC With an optional USB-Adapter the USB-Interface of a PC can be connected to the X21 Interface. This enables parameterization and monitoring using the VPlus PC-Software. X21 (RJ45) RJ45 USB VPlus Adapter 14 Modbus Agile 02/2011

15 5.2 Communication Modules Direct connection of the CM-232 to a PC or PLC The CM-232 Communication Module enables a direct connection between a 9-pin D-Sub connector (X310) of the CM-232 and the serial interface of a PC or PLC. The configuration of the installed communication module is carried out using the VPlus PC-Software or using the Operator Panel. With CM-232 the connection to the PC or PLC is made via a RS232-Connection Line (1:1 occupancy). Direct connection of the CM-485 to a PC or PLC For the direct connection between the 9-pin D-Sub Interface (X310) of the CM-485 and the serial RS232-Interface of a PC or PLC, install an RS485/RS232 interface adapter on the signal line. The configuration of the installed communication module is carried out using the VPlus PC-Software or using the Operator Panel. Attention! The transmitter and receiver must be set to the same transfer rate (baud rate). The set baud rate applies to the CM-232 and CM-485 communication modules. Work Steps: Mount the CM-232 / CM-485 Communication Module onto the frequency inverter. For the CM-232 Communication Module: Connect the CM-232 and PC with an RS232-Cable. For the CM-485 Communication Module: Connect the CM-485 with a RS485-Cable to the RS485/RS232 Interface Adapter. Connect the RS232-Connection of the Interface Adapter with the PC/PLC. Setting the type of Protocol The factory setting of the CM-232/CM-485 Communication Modules is the BONFIGLIOLI VECTRON standard protocol (VABus). Communication with the VPlus PC-Software is only possible using this protocol. The Modbus protocol enables the operation of a straight Master/Slave-System. The Bus-Master can be a PC, a PLC or any arbitrary computer system Installation Notes For the RS485 bus cable use a twisted, shielded cable. Implement the shield as a braided shield (not a foil shield). Connect the cable shield surfaces at both ends to PE. The connector pin assignments of an RS485-Cable and an RS232-Cable are different. No data transfer is possible if the wrong cable is used. 02/2011 Modbus Agile 15

16 RS485 and RS232 Interfaces Pin Assignment RS232 Communication Module CM-232 DB9 The RS232-Interface is connected to a PC or a controller via the 9-pin D-Sub socket X310. X310 The assignment complies with the standard, so that only an RS232 connection cable (1:1) is required. Bus Connector X310 CM-232 (9-pin D-Sub) Pin Name Function Housing Shield connected with PE 1 n. c. 2 RxD receive data (input) 3 TxD transmit data (output) 4 n. c. 5 0 V Ground 6 n. c. 7 n. c. 8 n. c. 9 n. c. n.c: not connected RS485 Communication Module CM-485 DB9 The RS232-Interface is connected to a PC or a controller via the 9-pin D-Sub socket X310. S1 ON X310 For details on the pin assignment, refer to the following table. Bus Connector X310 CM-485 (9-pin D-Sub) Pin Name Function Housing Shield connected with PE 1 Data Line B short-circuit proof and functionally insulated; max. current 60 ma 2 Data Line B same as pin 1 for cable network 3 0 V GND/earth 4 n. c V Interface converter supply voltage +5 V 6 n. c. 7 Data Line A short-circuit proof and functionally insulated; max. current 60 ma 8 Data Line A same as pin 7 for cable network 9 n. c. n.c: not connected 16 Modbus Agile 02/2011

17 RS485 Communication Module CM-485T The RS485-Interface is connected via the 7-pin terminal socket X310. For details on the pin assignment, refer to the following table. Bus Connector X310 CM-485 T (7-pin terminal socket) Terminal Name Function 1 Data Line A short-circuit proof and functionally insulated; max. current 60 ma 2 Data Line A same as pin 1 for cable network 3 Data Line B short-circuit proof and functionally insulated; max. current 60 ma 4 Date Line B same as pin 3 for cable network 5 +5 V Interface converter supply voltage +5 V 6 0 V GND/earth 7 PE Shield RS485 Bus Termination Attention! The passive bus termination (connection of a termination resistor), is required at the physically first and last client. It can be activated by the CM-485 and CM-485T DIP Switch S1. By default, the bus termination is set to OFF. It is important to implement a correct termination. Otherwise, no communication is possible via the RS485-Interface. As an alternative, the active bus termination is possible via a corresponding circuit: Pin 5 +5 V Data line A Data line B Pin 7 Pin 8 Pin 1 Pin Ω 22.1 Ω 330 Ω 150 Ω 330 Ω Pin 3 0 V GND The active termination is only allowed once on each branch. The bus termination via an external circuit and via DIP switch at the same time is not allowed. Pay attention to the ground wiring. This will protect the communication bus against high noise level. For easy wiring the signal terminals A and B have parallel contacts. 02/2011 Modbus Agile 17

18 RS485 and RS232 Interfaces Example of wiring with different CM-485 modules: M Master (i.e. PC) Termination ON 1 Inverter 1 CM-485 DB9 9-pin D-Sub Termination OFF 2 Inverter 2 CM-485T 7-pin terminal socket Termination ON 18 Modbus Agile 02/2011

19 5.3 Commissioning via the Operator Panel A communication interface can be set up in the "Setup" menu of the Operator Panel. Further communication parameters can be set in the "Para" menu Menu for setting up the Communication The communication interface can be set up quickly and simple via the Operator Panel. 02/2011 Modbus Agile 19

20 RS485 and RS232 Interfaces Select the Protocol Select Modbus. Select the "Setup" menu using the arrow keys. Using the arrow keys select: Display ENT Setting up a Communication Interface (Bus Configuration) Select a protocol using the arrow keys: ENT CANopen Profibus 1 Systembus Modbus VABus ENT Set the Communication Parameters Parameter Display 1376 Modbus Address (Node-ID) 1504 Modbus Baud Rate 1503 Modbus Mode (RTU or ASCII) 1375 Modbus Parity 395 Interface Setting Protocol (CM / X21). Select Modbus for the X21 Service-Interface. Or: Set an optional Communication Module (CM-232 or CM-485) for Modbus. 1 The selection is only possible if an optional CM-PDPV1 Communication Module is installed. 20 Modbus Agile 02/2011

21 5.4 Set the Protocol for the X21-Connection and Communication Module 395 Protocol (CM / X21) With Parameter Protocol (CM / X21) 395, the communication protocol can be selected for an optional Communication Module (CM) and the X21-Connection. Protocol (CM/X21) 395 (CM / X21) 0 - CM: VABus / X21: VABus 1 - CM: VABus / X21: Modbus 2 - CM: Modbus / X21: VABus Function The slot for an optional Communication Module and the X21- Connection (RJ45) are set to the VABus communication protocol. Factory setting. The slot for an optional Communication Module is set to the VABus communication protocol. The X21-Connection (RJ45) is set to the Modbus communication protocol. The slot for an optional Communication Module is set to the Modbus communication protocol. The X21-Connection (RJ45) is set to the VABus communication protocol. 02/2011 Modbus Agile 21

22 Modbus 6 Modbus 1503 Modbus Mode (RTU/ASCII) With Parameter Modbus Mode 1503 the Modbus Communication Mode can be selected. The setting applies to the slot of an optional communication module or to the X21-Connection (depending on the setting of Parameter Protocol (CM/X21) 395). Modbus Mode 1503 Function 0- RTU Modbus via serial connection with RTU transfer mode. 1- ASCII Modbus via serial connection with ASCII transfer mode. Attention! Changes are effective immediately and without a restart of the frequency inverter. The Modbus messages are described in Chapter "Modbus Transmission Modes" Modbus Baud Rate With Parameter Modbus Baud Rate 1504 the transfer rate of the Modbus communication can be set. The setting applies to the slot of an optional communication module or to the X21-Connection (depending on the setting of Parameter Protocol (CM/X21) 395). Modbus Baud rate 1504 Function max. Line Length Baud Transfer rate 2400 Baud 30 m Baud Transfer rate 4800 Baud 30 m Baud Transfer rate 9600 Baud 30 m Baud Transfer rate Baud 30 m Baud Transfer rate Baud 10 m Baud Transfer rate Baud 10 m Baud Transfer rate Baud 10 m Caution! Changes are effective immediately and without a restart of the frequency inverter. All bus participants must be set to the same baud rate Modbus Parity With Parameter Modbus Parity 1375 the parity of the Modbus communication can be set. The setting applies to the slot for an optional Communication Module or to the X21-Connection (depending on the setting of Parameter Protocol (CM/X21) 395). Modbus Parity 1375 Function 0 Even Even parity is used in the data transfer. 1 Odd Odd parity is used in the data transfer. 2 None No parity is used in the data transfer. Attention! Changes are effective immediately and without a restart of the frequency inverter. 1 The listed line lengths are recommended maximum values, which amongst other things, are dependent on the properties of the cable. 22 Modbus Agile 02/2011

23 The node address can be set with Parameter Modbus Address Up to 247 frequency inverters can be operated with Modbus. These are allocated a unique address in the range 1 to 247. The setting applies to the slot of an optional Communication Module or to the X21-Connection (depending on the setting of parameter Protocol (CM/X21) 395). Parameter Setting Nr. Description Min. Max. Factory Setting 1376 Modbus Address In most cases a change of the factory setting is not necessary (address 1). Attention! Changes are effective immediately and without a restart of the frequency inverter. An address must be allocated for each participant. Double assignments are not permitted when allocating bus addresses. For details on addressing, see Chapter 7.1 "Address Representation" Modbus Watchdog Timer The communication can be monitored. If the communication fails, then no data or incorrect data will be transferred. This state will be detected by the Communication Watchdog. The Watchdog-Function monitors the time, within which no correct communication occurs. This time can be set with Parameter Modbus Watchdog Timer The set value is the time in seconds within which at least one correct data exchange must occur. If the set monitoring time is reached the frequency inverter generates an error. The setting applies to the slot of an optional Communication Module or to the X21-Connection (depending on the setting of Parameter Protocol (CM/X21) 395). Parameter Setting Nr. Description Min. Max. Factory Setting 1505 Modbus Watchdog Timer 0 s s 0 s If the parameter is set to zero (factory setting), then monitoring is switched off. 02/2011 Modbus Agile 23

24 Protocol 7 Protocol The MODBUS serial communication protocol is a Master/Slave-Protocol. With the bus only one master is connected (at a time). One or several (max. 247) slave-nodes are connected with each other on the same bus. A MODBUS communication is always initiated by the master. The slave nodes do not communicate with each other. The master only initiates one MODBUS communication at a time. The master sends a MODBUS request to the slave-nodes in two different operation modes:: In the Unicast operation mode the master addresses a single slave-node. After reception and processing of the request, the slave-node sends a message (reply) to the master. In this operation mode a MODBUS transfer consists of two messages: a request from the master and a reply from the slave-node. Each slave-node must have a unique address (from 1 to 247), so that the slavenodes can receive requests independent of each other. In the Broadcast operation mode the master can send a request to all slave-nodes. The slavenodes do not send a reply to the request.. The request consists of write commands. All slaves must accept the write commands. Address 0 is reserved for the recognition of a broadcast request. 7.1 Address Representation Up to 247 frequency inverters can be operated on MODBUS. These are assigned addresses in the range With address 0, all clients connected to the bus can be addressed simultaneously. Address 0 is also referred to as the Broadcast-Address. 7.2 Message Structure A MODBUS message is made up of the following fields: Address Function Code Data CRC (or LRC) The Address field contains the slave-address in the Modbus message. Valid slave node addresses are in the range of (decimal). The individual slave devices are assigned addresses in the range of A master addresses a slave by placing the slave address in the address field of the message. When the slave returns its response, it places its own address in the response address field to let the master know which slave is responding. The Function Code indicates to the inverter what kind of action to perform. The function code can be followed by a Data field that contains request parameters (or, in the case of the inverter's response, the response parameters). If no error occurs related to a correctly received Modbus request then the data field contains the data requested. If an error occurs then the field contains an Exception Code to indicate to the master that the request was unsuccessful. Exception Responses and Codes are described in detail in chapter "Exception Codes". If a request is not received correctly (communication error, checksum error) then no response is sent. The inverter waits for the next request. The Error Checking Field is the result of a "Redundancy Checking" calculation that is performed on the message contents. Two kinds of calculation methods are used depending on the transmission mode that is being used (RTU or ASCII). See Chapter "Modbus Transmission Modes". 24 Modbus Agile 02/2011

25 7.3 Supported Function Codes Modbus definitions for reading/writing data in a device do not fit directly to parameter access of inverters (independent of inverter manufacturer). Modbus is defined for reading/writing bits and registers in a different way. Furthermore, data access is limited to 16 bit wide data. To fulfill the Modbus requirements the data access to parameters in the devices (inverters) will use the following defined function codes: 16 bits values: Function Code 3, Read ONE 16 bit wide data (Read Holding Register) Function Code 6, Write ONE 16 bit wide data (Preset Single Register) Function Code 16, Write ONE 16 bit wide data (Preset Multiple Register) 32 bits values: For data access to 32 bit wide data two new inverter specific function codes are defined: Function Code 3, Read two 16 bit (=32 Bit) wide data (Read Holding Register) Function Code 16, Write two 16 bit (=32 Bit) wide data (Preset Multiple Register) Function Code 100, Read ONE 32 bit wide data Function Code 101, Read ONE 32 bit wide data Note: The Modbus specification doesn t specify the handling of 32 bit values. The implemented handlings and function codes to access 32 Bit values are however widely spread and commonly used. These functions allow data access to 32-bit "long" variables/parameters in the inverter. For diagnostic purposes the Modbus function code "8" (Diagnostics) is also supported. These function codes and their corresponding data fields are described in detail in the following chapters. Note: In all data fields with more than one byte, the highest order byte is transmitted first. Message examples for all supported function codes in both RTU and ASCII transmission modes can be found in Chapter 9 "Modbus Message Examples". 02/2011 Modbus Agile 25

26 Protocol Function Code 3, Read 16-Bit or 32-Bit-Parameter This function code is used to read the value of 16 Bit or 32 Bit parameters in the inverter. Request 16 Bit parameter read: Start Frame (RTU oder ASCII mode) Address 1 Byte 1 0xF7 (=247) Function Code 1 Byte 0x03 Start Address (Data Set / Para-No.) 2 Bytes 0x0000 0x963F No. of Registers 2 Bytes 0x0001 CRC or LRC & Endframe Response 16 Bit parameter read: Start Frame (RTU oder ASCII mode) Address 1 Byte 1 0xF7 (=247) Function Code 1 Byte 0x03 No. of Bytes 1 Byte 0x02 Register Value (Parameter Value) 2 Bytes 0 0xFFFF CRC or LRC & Endframe Request 32 Bit parameter read: Start Frame (RTU oder ASCII mode) Address 1 Byte 1 0xF7 (=247) Function Code 1 Byte 0x03 Start Address (Data Set / Para-No.) 2 Bytes 0x0000 0x963F No. of Registers 2 Bytes 0x0002 CRC or LRC & Endframe Response 32 Bit parameter read: Start Frame (RTU oder ASCII mode) Address 1 Byte 1 0xF7 (=247) Function Code 1 Byte 0x03 No. of Bytes 1 Byte 0x04 Register Value (Parameter Value) 4 Bytes 0 0xFFFFFFFF CRC or LRC & Endframe Exception Response: Start Frame (RTU oder ASCII mode) Address 1 Byte 1 0xF7 (=247) Error Code 1 Byte 0x83 Exception Code 1 Byte 2, 3 or 4 CRC or LRC & Endframe Start Address This field is used to store the parameter number and data set number. The parameter number ranges from and is stored in the lower 12bits; the data set number ranges from 0 9 and is stored in the upper 4 bits. Example: Parameter 372 (hex. 0x174), data set 2 (hex. 0x2) is stored as hex. 0x2174. Start Address Data Set Parameter number Bits For the above example: Hex Bin Modbus Agile 02/2011

27 No. of Registers This field is used to store the no. of parameters to be written. The value must always be 1 as it is only possible to write one parameter at a time. Byte Count This field is set to 2 for 16 Bit parameters. 4 for 32 Bit parameters. Register Value This field is contains the 16-bit or 32-bit parameter value. Note: Parameter values with decimal places are transferred without the decimal point. Depending on the number of decimal places, the values are multiplied by 10, 100 or Example: A current value of 10.3A is transmitted. The numerical value actually transmitted is 103, which corresponds to 0x67 in HEX format. Exception Code The following exception codes can occur: 2 ILLEGAL DATA ADDRESS No. of Registers field not equal to 1. Parameter unknown 3 ILLEGAL DATA VALUE No. of bytes in the data field too small or too large 4 SLAVE DEVICE FAILURE Error on reading the parameter Exception Codes are described in detail in Chapter "Exception Codes". Examples: 16 Bit 32 Bit Modbus RTU Modbus ASCII /2011 Modbus Agile 27

28 Protocol Function Code 6, Write 16-Bit-Parameter This function code is used to write the value of an integer or unsigned integer parameter in the inverter. Request 16 Bit parameter write: Start Frame (RTU oder ASCII mode) Address 1 Byte 1 0xF7 (=247) Function Code 1 Byte 0x06 Start Address (Data Set / Para-No.) 2 Bytes 0x0000 0x963F Register Value (Parameter Value) 2 Bytes 0 0xFFFF CRC or LRC & Endframe Response: Start Frame (RTU oder ASCII mode) Address 1 Byte 1 0xF7 (=247) Function Code 1 Byte 0x06 Start Address (Data Set / Para-No.) 2 Bytes 0x0000 0x963F Register Value (Parameter Value) 2 Bytes 0 0xFFFF CRC or LRC & Endframe Exception Response: Start Frame (RTU oder ASCII mode) Address 1 Byte 1 0xF7 (=247) Error Code 1 Byte 0x86 Exception Code 1 Byte 2, 3 or 4 CRC or LRC & Endframe Start Address This field is used to store the parameter number and data set number. The parameter number ranges from and is stored in the lower 12 bits; the data set number ranges from 0 9 and is stored in the upper 4 bits. e.g.: Parameter 372 (hex. 0x174), data set 2 (hex. 0x2) is stored as hex. 0x2174. Start Address Data Set Parameter number Bits For the above example: Hex Bin Register Value This field is used to store the 16-bit parameter value. Note: Parameter values with decimal places are transferred without the decimal point. Depending on the number of decimal places, the values are multiplied by 10, 100 or Example: A current value of 10.3A is to be transmitted. The numerical value actually transmitted is 103, which corresponds to 0x67 in HEX format. 28 Modbus Agile 02/2011

29 Exception Code The following exception codes can occur: 2 ILLEGAL DATA ADDRESS Parameter unknown 3 ILLEGAL DATA VALUE No. of bytes in the data field too small or too large 4 SLAVE DEVICE FAILURE Error on writing the parameter Exception Codes are described in detail in Chapter "Exception Codes". Example of a Modbus ASCII telegram: see chapter Example of a Modbus RTU telegram: see chapter Function Code 16, Write 16-Bit-Parameter Function code 16 can be used to to write the value of 16 Bit parameter in the inverter. Request 16 Bit parameter write: Start Frame (RTU oder ASCII mode) Address 1 Byte 1 0xF7 (=247) Function Code 1 Byte 0x10 Start Address (Data Set / Para-No.) 2 Bytes 0x0000 0x963F No. of Registers 2 Bytes 0x0001 No. of Bytes 1 Byte 0x02 Register Value (Parameter Value) 2 Bytes 0 0xFFFF CRC or LRC & Endframe Response: Start Frame (RTU oder ASCII mode) Address 1 Byte 1 0xF7 (=247) Function Code 1 Byte 0x10 Start Address (Data Set / Para-No.) 2 Bytes 0x0000 0x963F No. of Registers 2 Bytes 0x0001 CRC or LRC & Endframe Exception Response: Start Frame (RTU oder ASCII mode) Address 1 Byte 1 0xF7 (=247) Error Code 1 Byte 0x90 Exception Code 1 Byte 2, 3 or 4 CRC or LRC & Endframe Start Address This field is used to store the parameter number and data set number. The parameter number ranges from and is stored in the lower 12 bits; the data set number ranges from 0 9 and is stored in the upper 4 bits. e.g.: Parameter 372 (hex. 0x174), data set 2 (hex. 0x2) is stored as hex. 0x2174. Start Address Data Set Parameter number Bits For the above example: Hex Bin /2011 Modbus Agile 29

30 Protocol Register Value This field is used to store the 16-bit parameter value. Note: Parameter values with decimal places are transferred without the decimal point. Depending on the number of decimal places, the values are multiplied by 10, 100 or Example: A current value of 10.3A is to be transmitted. The numerical value actually transmitted is 103, which corresponds to 0x67 in HEX format. Exception Code The following exception codes can occur: 2 ILLEGAL DATA ADDRESS Parameter unknown 3 ILLEGAL DATA VALUE No. of bytes in the data field too small or too large 4 SLAVE DEVICE FAILURE Error on writing the parameter Exception Codes are described in detail in Chapter "Exception Codes". Example of a Modbus ASCII telegram: see chapter Example of a Modbus RTU telegram: see chapter Function Code 16, Write 32-Bit-Parameter Function code 16 can be used to to write the value of 16 Bit parameter in the inverter. Request 32 Bit parameter write: Start Frame (RTU oder ASCII mode) Address 1 Byte 1 0xF7 (=247) Function Code 1 Byte 0x10 Start Address (Data Set / Para-No.) 2 Bytes 0x0000 0x963F No. of Registers 2 Bytes 0x0002 No. of Bytes 1 Byte 0x04 Register Value (Parameter Value) 2 Bytes 0 0xFFFF FFFF CRC or LRC & Endframe Response: Start Frame (RTU oder ASCII mode) Address 1 Byte 1 0xF7 (=247) Function Code 1 Byte 0x10 Start Address (Data Set / Para-No.) 2 Bytes 0x0000 0x963F No. of Registers 2 Bytes 0x0002 CRC or LRC & Endframe Exception Response: Start Frame (RTU oder ASCII mode) Address 1 Byte 1 0xF7 (=247) Error Code 1 Byte 0x90 Exception Code 1 Byte 2, 3 or 4 CRC or LRC & Endframe 30 Modbus Agile 02/2011

31 Start Address This field is used to store the parameter number and data set number. The parameter number ranges from and is stored in the lower 12 bits; the data set number ranges from 0 9 and is stored in the upper 4 bits. e.g.: Parameter 372 (hex. 0x174), data set 2 (hex. 0x2) is stored as hex. 0x2174. Start Address Data Set Parameter number Bits For the above example: Hex Bin Register Value This field is used to store the 32-bit parameter value. Note: Parameter values with decimal places are transferred without the decimal point. Depending on the number of decimal places, the values are multiplied by 10, 100 or Example: A frequency value of Hz is to be transmitted. The numerical value actually transmitted is 12345, which corresponds to 0x3039 in HEX format. Exception Code The following exception codes can occur: 2 ILLEGAL DATA ADDRESS Parameter unknown 3 ILLEGAL DATA VALUE No. of bytes in the data field too small or too large 4 SLAVE DEVICE FAILURE Error on writing the parameter Exception Codes are described in detail in Chapter "Exception Codes". Example of a Modbus ASCII telegram: see chapter Example of a Modbus RTU telegram: see chapter Function Code 100, Read 32-Bit-Parameter Request: Start Frame (RTU oder ASCII mode) Address 1 Byte 1 0xF7 (=247) Function Code 1 Byte 0x64 Start Address (Data Set / Para-No.) 2 Bytes 0x0000 0x963F CRC or LRC & Endframe Response: Start Frame (RTU oder ASCII mode) Address 1 Byte 1 0xF7 (=247) Function Code 1 Byte 0x64 Register Value (Parameter Value) 4 Bytes 0 0xFFFF FFFF CRC or LRC & Endframe 02/2011 Modbus Agile 31

32 Protocol Exception Response: Start Frame (RTU oder ASCII mode) Address 1 Byte 1 0xF7 (=247) Error Code 1 Byte 0xE4 Exception Code 1 Byte 2, 3 or 4 CRC or LRC & Endframe Start Address This field is used to store the parameter number and data set number. The parameter number ranges from and is stored in the lower 12 bits; the data set number ranges from 0 9 and is stored in the upper 4 bits. e.g.: Parameter 372 (hex. 0x174), data set 2 (hex. 0x2) is stored as hex. 0x2174. Start Address Data Set Parameter number Bits For the above example: Hex Bin No. of Registers This field is used to store the 32-bit parameter value. Note: Parameter Values with decimal places are transferred without the decimal point. Depending on the number of decimal places, the values are multiplied by 10, 100 or Example: A frequency value of Hz is to be transmitted. The numerical value actually transmitted is 10025, which corresponds to 0x2729 in HEX format. Exception Code The following exception codes can occur: 2 ILLEGAL DATA ADDRESS Parameter unknown 3 ILLEGAL DATA VALUE No. of bytes in the data field too small or too large 4 SLAVE DEVICE FAILURE Error on reading the parameter Exception Codes are described in detail in Chapter "Exception Codes". Example of a Modbus ASCII telegram see chapter Example of a Modbus RTU telegram see chapter Modbus Agile 02/2011

33 7.3.6 Function Code 101, Write 32-Bit-Parameter Request: Start Frame (RTU oder ASCII mode) Address 1 Byte 1 0xF7 (=247) Function Code 1 Byte 0x65 Start Address (Data Set/Para-No.) 2 Bytes 0x0000 0x963F Register Value (Parameter Value) 4 Bytes 0 0xFFFF FFFF CRC or LRC & Endframe Response: Start Frame (RTU oder ASCII mode) Address 1 Byte 1 0xF7 (=247) Function Code 1 Byte 0x65 Start Address (Data Set/Para-No.) 2 Bytes 0x0000 0x963F Register Value (Parameter Value) 4 Bytes 0 0xFFFF FFFF CRC or LRC & Endframe Exception Response: Start Frame (RTU oder ASCII mode) Address 1 Byte 1 0xF7 (=247) Error Code 1 Byte 0xE5 Exception Response 1 Byte 2, 3 or 4 CRC or LRC & Endframe Start Address This field is used to store the parameter number and data set number. The parameter number ranges from and is stored in the lower 12 bits; the data set number ranges from 0 9 and is stored in the upper 4 bits. e.g.: Parameter 372 (hex. 0x174), data set 2 (hex. 0x2) is stored as hex. 0x2174. Start Address Data Set Parameter number Bits For the above example: Hex Bin Register Value This field is used to store the 32-bit parameter value. Note: Parameter values with decimal places are transferred without the decimal point. Depending on the number of decimal places, the values are multiplied by 10, 100 or Example: Frequency Value A frequency value of Hz is to be transmitted. The numerical value actually transmitted is 10025, which corresponds to 0x2729 in HEX format. 02/2011 Modbus Agile 33

34 Protocol Exception Code The following exception codes can occur: 2 ILLEGAL DATA ADDRESS Parameter unknown 3 ILLEGAL DATA VALUE No. of bytes in the data field too small or too large 4 SLAVE DEVICE FAILURE Error on writing the parameter Exception Codes are described in detail in Chapter "Exception Codes". Example of a Modbus ASCII telegram: see chapter Example of a Modbus RTU telegram: see chapter Function Code 8, Diagnostics This function code is used to access the Modbus diagnostic counters that are supported by the inverter. Each counter can be obtained by a sub-function code bound to the counter number. All of the counters can be cleared using the hexadecimal sub-function code 0x0A. The following sub-function codes are supported: Sub Function Name Description 0x0A Clear all counters Sets all counters to zero 0x0B Return Bus Message Count No. of valid messages received (with all addresses) 0x0C Return Bus Communication Error Count No. of messages with CRC or Parity/Framing/Overrun error 0x0D Return Bus Exception Error Count No. of Exception Responses sent 0x0E Return Slave Message Count No. of messages received (with slave address) 0x0F Return Slave No Response Count No. of Broadcast messages received 0x10 Return Slave NAK Count not used, return value is always 0 0x11 Return Slave Busy Count not used, return value is always 0 0x12 Return Bus Character Overrun Count No. of messages with Overrun error Request (Sub-function 0x0A, Clear all Counters): Start Frame (RTU oder ASCII mode) Address Function Code 1 Byte 0x08 Sub-function 2 Bytes 0x000A Data 2 Bytes 0x0000 CRC or LRC & Endframe Response: Start Frame (RTU oder ASCII mode) Address Function Code 1 Byte 0x08 Sub-function 2 Bytes 0x000A Data 2 Bytes 0x0000 CRC or LRC & Endframe 34 Modbus Agile 02/2011