BONFIGLIOLI Active cube, Vectron Agile CM-Modbus/TCP, Vectron Agile CM-Modbus/TCP-2P Operation Manual

ACTIVE CUBE

Modbus/TCP

Communication module CM-Modbus/TCP
Frequency inverter 230 V / 400 V

CONTENTS

1 GENERAL INFORMATION ABOUT THE DOCUMENTATION 5

1.1 This document 5

1.2 Warranty and liability 6

1.3 Obligation 6

1.4 Copyright 6

1.5 Storage 6

2 GENERAL SAFETY INSTRUCTIONS AND INFORMATION ON USE 7

2.1 Terminology 7

2.2 Designated use 8

2.3 Misuse 8

2.3.1 Explosion protection 8

2.4 Residual risks 9

2.5 Safety and warning signs on the frequency inverter 9

2.6 Warning information and symbols used in the user manual 10

2.6.1 Hazard classes 10

2.6.2 Hazard symbols 10

2.6.3 Prohibition signs 10

2.6.4 Personal safety equipment 10

2.6.5 Recycling 11

2.6.6 Grounding symbol 11

2.6.7 ESD symbol 11

2.6.8 Information signs 11

2.6.9 Font style in documentation 11

2.7 Directives and guidelines to be adhered to by the operator 11

2.8 Operator's general plant documentation 11

2.9 Operator's/operating staff's responsibilities 12

2.9.1 Selection and qualification of staff 12

2.9.2 General work safety 12

2.10 Organizational measures 12

2.10.1 General 12

2.10.2 Use in combination with third-party product s 12

2.10.3 Transport and Storage 13

2.10.4 Handling and installation 13

2.10.5 Electrical connections 13

2.10.6 Safe operation 13

2.10.7 Maintenance and service/tr oubleshooting 14

2.10.8 Final decommissioning 14

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3 INTRODUCTION 15

3.1 Supported configurations 17

3.2 Initialization time 18

4 FIRST COMMISSIONING 18

5 ASSEMBLY/DISASSEMBLY OF COMMUNICATION MODULE 19

5.1 Assembly 19

5.2 Disassembly 20

6 MODBUS/TCP INTERFACE 21

6.1 Communication modules 22

6.1.1 Installation instructions 23

6.2 Setup 23

6.2.1 TCP/IP configuration 23

6.2.2 TCP/IP address & Subnet settings 24

6.2.3 Modbus/TCP Timeout settings 24

6.3 Operating behavior in the case of a communication error 25

7 PROTOCOL 26

7.1 Telegram structure 26

7.2 Supported f unction codes 27

7.2.1 Function code 3, reading 16-bit or 32-bit parameters 28

7.2.2 Function code 6, write 16-bit parameter 29

7.2.3 Function code 16, write 16-bit parameter 31

7.2.4 Function code 16, write 32-bit parameter 32

7.2.5 Function code 100 (=0x64), read 32-bit parameter 33

7.2.6 Function code 101 (=0x65), write 32-bit parameter 34

7.2.7 Function code 8, diagnosis 36

7.2.8 Exception condition responses 38

7.2.9 Exception condition codes 39

7.2.10 Modbus/TCP mode of transmission 40

7.3 Resetting errors 40

8 PARAMETER ACCESS 41

8.1 Handling of datasets / cyclic writing of parameters 41

8.2 Handling of index parameters / cyclic writing 42

8.2.1 Example: Writing of index parameters 43

8.2.2 Example: Reading of index parameters 43

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9 EXAMPLE MESSA GES MODBUS/TCP 44

9.1 16-bit access 44

9.1.1 Function code 3, read 16-bit parameter 44

9.1.2 Function code 6, write 16-bit parameter 45

9.1.3 Function code 16, write 16-bit parameter 46

9.2 32-bit access 47

9.2.1 Function code 3, read 32-bit parameter 47

9.2.2 Function code 16, write 32-bit parameter 48

9.2.3 Function code 100 (=0x64), read 32-bit parameter 49

9.2.4 Function code 101 (=0x65), write 32-bit parameter 50

9.2.5 Function code 8, diagnosis 51

10 MOTION CONTROL INTERFACE (MCI) / MOTION CONTROL OVERRIDE
(MCO) 52

10.1 Motion Control Override 53

10.2 Functions of Motion Control Interface (MCI) 58

10.2.1 Reference system 58

10.2.2 Modes of operation 58

10.2.3 Current position and conto uring errors 59

10.2.4 Target window 59

10.2.5 Position Controller 60

10.2.6 Homing 61

10.2.7 Move away from Hardware limit switches 62

11 CONTROL OF FREQUENCY INVERTER 63

11.1 Control via contacts/remote contacts 64

11.1.1 Device state machine 66

11.2 Control via state machine 67

11.2.1 Statemachine diagram 69

11.3 Configurations without Motion Control 72

11.3.1 Behavior in the case of a quick stop 72

11.3.2 Behavior in the case of transition 5 (disable operation) 73

11.3.3 Reference value/actual value 74

11.3.4 Example sequence 75

11.4 Motion control configurations 76

11.4.1 Velocity mode [rpm] 77

11.4.2 Profile Velocity mode [u/s] (pv) 82

11.4.3 Profile position mode 86

11.4.4 Homing mode 94

11.4.5 Table travel record 97

11.4.6 Move away from limit switch mode 105

11.4.7 Electronic gear: Slave 109

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12 ACTUAL VALUES 120

12.1 Actual values Motio n Control Interface / Motion Control Overri de 120

13 PARAMETER LIST 121

13.1 Actual values (Menu “Actual ”) 121

13.2 Parameters (Menu “Para”) 122

14 APPENDIX 124

14.1 List of control words 124

14.2 Overview of status words 125

14.3 Warning messages 126

14.4 Application warning messages 127

14.5 Error messages 128

14.6 Conversions 129

14.6.1 Speed [1/min] into frequency [Hz] 129

14.6.2 Frequency [Hz] into speed [1/min] 129

14.6.3 Speed in user units per second [u/s] into frequency[Hz] 129

14.6.4 Frequency [Hz] into speed in user units per second [u/s] 129

14.6.5 Speed in user units per second [u/s] into speed [1/min] 129

14.6.6 Speed [1/min] into speed in user units per second [u/s] 129

INDEX 130

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WARNING

Compliance with the documentation is required to ensure safe operation of the frequen­cy inverter. BONFIGLIOLI VECTRON GmbH shall not be held liable for any damage

In case any problems occur which are not covered by the documentation sufficiently,
please contact the manufacturer.

1 General Information about the Documentation

For bet ter clarit y, the doc umentati on of the fre quency inve rter is st ructured a ccording to t he custom­er-specific requirements.

The present manual was created in the German language. The German manual is the original version.
Other language versions are trans lations.

Quick Start Guide

The “Quick Start Guide” describes the basic steps required for me chanical and electrical insta llation of
the frequency i nverte r. The guide d comm issi oning s up ports yo u in t he s electi on o f nece ssary para me­ters and the configuration of the software of the frequency inverter.

User manual

The user manual documents the complete functionality of the frequency inverter. The parameters
required for special purposes, for adj ustment to the application and the numerous a dditional functio ns
are described in detail.

Separate user manuals are supplied for optional components for the frequency inverter. These manu­als complement the operating instructions and the “Quick Start Guide” for the frequency inverter.

Application manual

The application manual complements the documentation to ensure goal-directed installation and
commissioning of the frequency inverter. Information on various t opics in connection with the use of
the frequency inverter is described in context with the specific application.

Installation instructions

The installation manual describes t he installation and use of devices, com plementing the “Quick Start
Guide” and the use r manual.

1.1 This document

This document descr ibes the com munication via the Modbus/ TCP protocol w ith frequenc y invert ers of

ACTIVE

the
quency inverters can be customized to meet to customer's specific requirements, including applica­tions requiring high functionality and dynamism.

Cube series of devices. Thanks to the modular hardware and software structure, the fre-

caused by any non-compliance wit h the documentation.

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1.2 Warranty and liability

BONFIGLIOLI VECTRON GmbH would like to point out that the contents of this user manua l do not
form part of any previous or existing agreement, assurance or legal relationship. Neither are they
intended to supplement or replace such agreements, a ssurances or le gal re lations hips. Any obligat ions
of the manufact ure r shall solely be based on the relevant purchase agreement which also includes the
complete and solely valid warranty stipulations. These contractual warranty provisions are neither
extended nor limited by the specifications contained in this documentation.

The manufacturer reserves the right to correct or am end the specificat ions, product informa tion and
omissions in these operating instructions w ithout notice. The manufacturer s hall not be liable for any
damage, injuries or costs which may be caused for the aforementioned reasons.

Furthermore, BONFIGLIOLI VECTRON GmbH excludes any warranty/liability claims for any personal
and/or material damage if such damage is due to one or more of the following causes:

• inappropriate use of the frequency inverter,

• non-compliance with the instructions, warnings and prohibitions contained in the documentation,

• unauthorized modifications of the frequency inverter,

• insufficient monitoring of parts of the machine/plant which are subject to wear,

• repair work at the machine/plant not carried out properly or in time,

• catastrophes by external impact and force majeure.

1.3 Obligation

This user manual must be read before commissioning and complied with. Anybody entrusted with
tasks in connection with the

• transport,

• assembly,

• installation of the frequency inverter and

• operation of the frequency inverter

must have read a nd unde rstood the user man ual and, i n parti cular, the safet y instr uctions i n order to
prevent personal and material losses.

1.4 Copyright

In accordance with applicable law a gainst unfair competition, this user manual is a certificate. Any
copyrights relating to it shall remain with

BONFIGLIOLI VECTRON GmbH
Europark Fichtenhain B6
47807 Krefeld
Germany

This user manual is intended for the operator of the frequency inverter. Any disclosure or copying of
this document, exploitation and communication of its contents (as hardcopy or electronically) shall be
forbidden, unless permitted expressly.

Any non-compliance will constitute an offense against the copyright law dated 09 September 1965,
the law against unfair compe tition and the Civil Code and may result in claims for damages. All ri ghts
relating to patent, utility model or design registration reserved.

1.5 Storage

The documentati on form an integral part of the frequency inverter. It must be stored such that it is
accessible to operating staff at all times. If the frequency inverter is sold o n to other users, then this
user manual must also be handed over.

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2 General safety instructions and information on use

The chapter "Ge neral safet y instructions and informat ion on use" co ntains gener al safety inst ructions
for the Operator and the Operating Staff. At the beginning of certain main chapters, some safety in­structions are incl uded which apply to all work described in the re levant chapte r. Specia l work-specific
safety instructions are provided before each safety-relevant work ste p.

2.1 Terminology

According to the documentation, different activities must be performed by certain persons with certain
qualifications.

The groups of persons with the required qualification are defined as follows:

Operator

This is the entre preneur/company w ho/which operate s the frequency inve rter and uses it a s per the
specifications or has it operated by qualified and instructed staff.

Operating staff

The term Operating Staff covers persons instructed by the Operator of the frequency inverter and
assigned the task of operating the frequency inverter.

Skilled Personnel

The term Skilled Personnel cove rs staff that are assigned special ta sks by the Operator of the fre­quency inverter, e .g. install ation, maint enance and s ervice/re pair and tro ubleshoo ting. Based o n their
qualification and/or know-how, Skilled Personnel must be capable of identifying defects and as­sessing functions.

Qualified electrician

The term Qualified Electrician covers qualified and tra ined staff that have special technical know-how
and experience with electrical installations . In addition , Qualified Electri cians must be familiar with the
applicable standards and regulations, they must be able to assess the assigned tasks properly and
identify and eliminate potential hazards.

Instructed person

The term Instru cted Person covers sta ff that are instructed and trained about/in the assi gned tasks
and the potential haz ards that might result from inappropriate behavior. In addition, instructed per­sons must have been instructed in the required protection provisions, protective m easures, the appli­cable directives, accident prevention regulations as well as the operating conditions and have their
qualification verified.

Expert

The term Expert covers qualified and trained staff that have special te chnical know-how and experi­ence relating to the frequency inverter. Experts must be familiar with the applicable government work
safety directives, accident prevention regulations, gui delines and genera lly accepted rules of tech nolo­gy in order to assess the operationally safe condition of the frequency inverter.

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2.2 Designated use

The frequency inverter is designed according to the state of the art and recognized safety regulations.
The frequency inverters are electrical drive comp onents intended for installa tion 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/EC and DIN EN 60204-1.

The frequency inverters meet the requirements of the low voltage directive 2006/95/EEC and DIN
EN 61800-5-1. CE-labeling is based on these standards. Responsibility for comp liance with the EMC
Directive 2004/108/EC lies with the operator. Frequency inverters are only available at specialized
dealers and are exclusively intended for commercial use as per EN 61000-3-2.

No capacitive loads may be connected to the frequency inverter.
The technical dat a, connection sp ecifications a nd informati on on ambient co nditions are ind icated on

the rating plate and in the documentation and must be complied with at all times.

2.3 Misuse

Any use other than t hat described in "Designated use" shall not be permissible and shall be consid­ered as misuse.

For, example, the machine/plant must not be operated

• by uninstructe d staff,

• while it is not in perfect condition,

• without protection enclosure (e.g. covers),

• without safety equipment or with safety equipment deactivated.

The manufacturer shall not be he ld liab le for any d am age r esulting fr om suc h misuse . The p lant ope r­ator shall bear the sole risk.

2.3.1 Explosion protection

The frequency inverte r is an IP 20 pro tection class device. For this reaso n, use of the device in explo­sive atmospheres is not permitted.

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2.4 Residual risks

Residual risks are special hazards involved in handli ng of the freque ncy in verter w hich can not be elim­inated despite the safety-compliant design of the device. Rem aining hazar ds are not obvious and can
be a source of possible injury or health damage.

Typical residual hazards include:
Electrical hazard
Danger of contact with energized components due to a defect, opened covers or enclosures or im-

proper working on electrical equipment.
Danger of contact wi th energized components in fre quency inverter if no external d isconnection de-

vice was installed by the operator.

Electrostatic charging

Touching electronic components bears the risk of electrostatic discharges.

Thermal hazards

Risk of accidents by hot machine/plant surfaces, e.g. heat sink, transformer, fuse or sine filter.

Charged capacitors in DC link

The DC link may have dangerous voltage levels even up to three minutes after shutdown.

Danger of equipment falling down/over, e.g. during transport

Center of gravity is not the middle of the electric cabinet modules.

2.5 Safety and warning signs on the frequency inverter

 Comply with all safety instructions and danger information provided on the frequency inverter.

• Safety information and warnings on the frequency inverter must not be removed.

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2.6 Warning information and symbols used in the user manual

risk of death or serious injury if not

risk of death or serious in jury if

risk of minor or moderate physical

Symbol

Meaning

Symbol

Meaning

Symbol

Meaning

Symbol

Meaning

2.6.1 Hazard classes

The following hazard identifications and symbols are used to mark particularly important information:

DANGER

Identification of immediate threat holding a high
avoided.

WARNING

Identification of immediate threat holding a medium
not avoided.

CAUTION

Identification of immediate threat holding a low
injury if not avoided.

NOTE

Identification of a threat holding a risk of material damage if not avoided.

2.6.2 Hazard symbols

General hazard

Electrical voltage

2.6.3 Prohibition signs

No switching; it is forbidden to switch the ma­chine/plant, assembly on

Suspended load

Hot surfaces

2.6.4 Personal safety equipment

Wear body protection

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Symbol

Meaning

to avoid waste, collect all materia ls for

Symbol

Meaning

Symbol

Meaning

Symbol

Meaning

Example

Font style

Use

1234

bold

Representation of parameter numbers

Parameter

italic, Font
Times New Roman

Representation of parameter names

P.1234

bold

Representation of parameter numbers without name, e.g. in
formulas

Q.1234

bold

Representation of source numbers

2.6.5 Recycling

Recycling,
reuse

2.6.6 Grounding symbol

Ground connection

2.6.7 ESD symbol

ESD: Electrostatic Discharge (can damage com­ponents and assemblies)

2.6.8 Information signs

Tips and informat ion making using the frequency
inverter easier.

2.6.9 Font style in documentation

2.7 Directives and guidelines to be adhered to by the operator

The operator must follow the following directives and regulations:
 Ensure that the applicable workplace-related accident prevention regulations as well as other ap-

plicable national regulation are accessible to the st aff.

 An authorized person must ensure, before using the frequency inver ter, that the device is used in

compliance with its designated use and that all safety requirements are met.

 Additionally, comply with the applicable laws, regulations and directives of the country in w hich

the frequency inverter is used.

Any additional guidelines and directives that ma y be required additionally shall be de fined by the op­erator of the machine/plant considering the operating environment.

2.8 Operator's general plant documentation

• In addition to the user manual, the operator should issue separate internal operating instructions
for the frequency inverter. The user manual of the frequency inverter must be included in the user
manual of the whole plant.

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2.9 Operator's/operating staff's responsibilities

2.9.1 Selection and qualification of staff

 Any work on the frequency inverter may only be carri ed out by qualified technical staff. The staff

must not be under the influence of any drugs. Note the minimum age required by law. Define the
staff's responsibility in connection with all work on the frequency inverter clearly.

 Work on the electrical components may only be performed by a qualified electrician according to

the applicable rules of electrical engineering.

• The operating staff must be trained for the relevant work to be performed.

2.9.2 General work safety

 In addition to the user manual of the machine/plant, any applicable legal or other regulations

relating to accident prevention and environmental protection must be complied with. The staff
must be instructed accordingly.
Such regulations and/or requirements may include, for example, handl ing of hazardous media and
materials or provision/use of personal protective e quipment.

 In addition to this user manual, issue any additional directives that may be required to meet spe-

cific operating requirements, including supervision and reporting requirements, e.g . dir ectives re­lating to work organization, workflow and employed sta ff.

 Unless approved of expressly by the manufacturer, do not modify the frequency inverter in any

way, including addition of attachments or retrofits.

 Only use the frequency inverter if the rated connection and setup values specified by the manu-

facturer are met.

• Provide appropriate tools as may be required for performing all work on the frequency inverter
properly.

2.10 Organizational measures

2.10.1 General

 Train your staff in the handling and use of the frequency inverter and the machine/plant as well

as the risks involved.

 Use of any individ ual parts or components of the freq uency inverter in other parts of the opera-

tor's machine/plant is prohibited.

• Optional components for the frequency inverter must be used in accordance with their designated
use and in compliance with the rele vant documentation.

2.10.2 Use in combination with third-party products

• Please note that BONFIGLIOLI VECTRON GmbH will not accept any resp onsibility for compa tibility
with third-party products (e.g. motors, cables or filters).

• In order to enable optimum system compatibility, BONFIGLIOLI VECTRON GmbH offers compo­nents facilitating commissioning and providing optimum synchronization of the machine/plant
parts in operation.

• If you use the frequency inverter in combination with third-party product s, you do this at your
own risk.

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2.10.3 Transport and S torage

• The frequency i nverters m ust be transp orted and stor ed in an app ropriate w ay. During tr ansport
and storage the devices must remain in their original packaging.

• The units may o nly b e st or e d in d r y rooms which are p rot ect ed ag ains t d ust and moisture and a re
exposed to small temperature deviations only. The requirements of DIN EN 60721-3-1 for storage,
DIN EN 60721-3-2 for transport and labeling on the packaging must be met.

• The duration of storage without connection to the permissible nominal voltage may not exceed
one year.

2.10.4 Handling and installation

 Do not commission any damaged or destroyed components.
 Prevent any mechanical overloading of the frequency inverter. Do not bend any components and

never change the isolation distances.

 Do not touch any e lectronic construction elements a nd contacts. The frequency inverter is

equipped with components which are sensitive to electrostatic energy and can be damaged if
handled improperly. Any use of damaged or destroyed components will endanger the ma­chine/plant safety and shall be considered as a non-compliance with the applicable standards.

 Only install the frequency inverter in a suitable operating environment. The frequency inverter is

exclusively designed for installat ion in industrial environments.

• If seals are removed from the case, this can result in the warranty becoming null and void.

2.10.5 Electrical connections

 The five safety rules must be complied with.
 Never touch live terminals. The DC link may have dangerous voltage levels even up to three

minutes after shutdown.

 When performing any work on/with the frequency inverter, always comply with the a pplicable

national and international regulations/laws on work on electrical equipment/plants of the country
in which the frequency inverter is used.

 The cables connected to the frequency inverters may not be subjected to high-voltage insulation

tests unless appropriate circuitry measures are taken before.

• Only connect the frequency inverter to suitable supply mains.

2.10.5.1 The five safety rules

When working on/in electrical plants, alwa ys follow the five safety rules:

1. Isolate

2. Take appropriate measures to prevent re-connection

3. Check isolation

4. Earth and short-circuit

5. Cover or shield neighboring live parts.

2.10.6 Safe operation

 During operation of the frequency inverter, alwa ys comply with the applicable national and inter-

national regulations/laws on work on electrical equipment/plants.

 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 the applicable na­tional and international safety directives.

 During operation, never open the machine/plant
 Do not connect/disconnect any components/equipment during operation.
 The machine/plant holds high voltage levels during operation, is equipped with rotating parts

(fan) and has hot surfaces. Any unauthorized removal of covers, improper use, wrong installation
or operation may result in serious injuries or material damage.

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Modbus/TCP 13

 Some components, e.g. the heat sink or brake resistor, may be hot even some time after the ma-

mentally compatible disposal of the frequency inverter. For more details, contact the

chine/plant was shut down. Don't touch any surfaces directly after shutdown. Wear safety gloves
where necessary.

 The frequency inverter may hold dangerous voltage levels until the capacitor in the DC link is dis-

charged. Wait for at least 3 minutes after shutdown before starting electric al or mechanical work
on the frequency inverter. Even after this waiting time, make sure that the equipment is deener­gized in accordance with the safety rules before starting the work.

 In order to avoid accidents or damage , only q ualified staff and electricians may carry out the work

such as installation, commissioning or setup.

 In the case of a defect of terminals and/or cables, immediately disconnect the frequency inverter

from mains supply.

 Persons not familiar with the operation of frequency inverters must not have access to the fre-

quency inverter. Do not bypass nor decommission any protective facilities.

 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 are 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 602 04 and ap­plicable safety directives (e.g. Working Machines Act or Accident Prevention Directives).

2.10.7 Maintenance and service/troubleshooting

 Visually inspect the frequency inverter when carrying out the required maintenance work and

inspections at the machine/plant.

 Perform the maint enance work and inspections prescribed for the machine carefully, i ncluding the

specifications on parts/equipment replacement.

 Work on the electrical components may only be performed by a qualified electrician according to

the applicable rules of electrical engineering. Only use original spare parts.

 Unauthorized opening and improper interventions in the machine/plant can lead to per sonal injury

or material damage. Repairs on the frequency inverters may only be carried out by the manufac­turer or persons authorized by the manufacturer. Check protective equipment regularly.

• Before performing any maintenance work, the machine/plant must be disconnected from mains
supply and secured against restarting. The five safety rules must be complied with.

2.10.8 Final decommissioning

Unless separate return or disposal agreements were made, recycle the disassembled frequency in­verter components:

• Scrap metal materials

• Recycle plastic elements

• Sort and dispose of other component materials

Electric scrap, electronic components, lubricants and other utility materials must be
treated as special waste and may only be disposed of by specialized companies.

Always comply with any applicable national disp osal regulations as regards environ­competent local authorities.

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Modbus/TCP 10/13

This manual only describes the CM-Modbus/TCP and CM-Modbus/TCP-2P communica-

structions provided by this document.

In some chapters of these instructions, set ting and display options via the PC softw are

for communication with the frequency inverter.

The module enables using Modbus/TCP and VPlus via the VABus/TCP protocol at the

parameters of

3 Introduction

The present document describes the Modbus/TCP protocol for the CM-Modbus/TCP and CM­Modbus/TCP-2P (switch function integrated) communication modules. After connecting Modbus/TCP
to the PLC, you can u se an additional logic conne ction from CM-Modbus/TCP to the VPlus software
running on a termi nal connected via an Ethernet network.

For Modbus/TCP connection, the frequency inve rter must be equipped with the CM-Modbus/TCP or
CM-Modbus/TCP-2P communication module.

The CM-Modus/TC P and CM-Modbus/TCP-2P communication modules are separate components and
must be attached to the frequency inverter. This is described in chapter 5.1 “Assembly”.

Modbus/TCP communication (as described in this manual) requires software version 5.3. 0 or higher.

tion modules. This manual is not to be understood as providing general/basic infor­mation on Ethernet interfaces or frequency inverters.
General/basic knowledge of the m ethods and function of Modbus/TCP i nterfaces and
Modbus/TCP protocol are a prerequisite for understanding and implementing the in-

VPlus are described as an alternative to the control unit. In this case, VPlus can use

− CM-Modbus/TCP or CM-Modbus/TCP-2P module or

− the serial interface

same time.

WARNING

With CM-Modbus/TCP or CM-Modbus/TCP-2P, control lers can access all
the frequency inverter.

Changing parame ters the function of whic h is unkn own can re sult in ma lfuncti on of th e
frequency inverter and dangerous situations in the plant.

Module variants:

There are two Modbus/TCP variants.
CM-Modbus/TCP provides a physical interface for communication via Modbus/TCP. A star-type net-

work topology can be used. An external swit ch is the star point.
CM-Modbus/TCP-2P provides t wo physical interfaces for comm unication via Modbus/TCP. The follow-

ing network topologies are possible:

• Star-type (like in CM-Modbus/TCP)

• Line

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[1] PLC
[2] PC for commissioning or diagnosis (connecte d temporarily or permanently)
[3] ACU with CM-Modbus/TCP or CM-Modbus/TCP-2P (2nd port not connected)
[4] ACU with CM-Modbus/TCP-2P

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In Modbus/TCP communication, MCI is n ot available. You ca n use Motion Contro l Over-

3.1 Supported configurations

ACTIVE Cube frequency inverters support various types of control and reference po int input

• Standard (without positioning functions)

• Positioning via contacts (or remote contacts)

• Positioning via Motion Control Interface (MCI) via Field Bus

A configuration with position control is selected when pa rameter
set. In order to use the full functionality of the Motion Control Interfaces, parameter

cal/Remote

The operating beha vior of the frequency inve rter varies i n the configura tion groups, considering

trol word/status word

Standard:

Required settings:

412 = “1-Control via statemachine” must be set additionally.

and

modes of operation

.

Configuration 30 ≠ x40
Local/Remote 412 = (remote) contacts

 Control (start, stop, frequency changeover, etc.) is typically performed through

o Digital contacts.
o Remote contacts via field bus.

 Reference values depend on the selected configuration. Typical:

o Reference speed/reference frequency:

 Analog input.
 Fixed values from parameters.

Override Target Velocity vl [rpm] 1459 (target speed).



o Reference percentage for technology controller or torque control

 Analog input.

See Chapter 11.3 “Configurations without Motion Control” for control without positioning functions.

 Fixed values from parameters.

Configuration

30 = x4 0 (e.g. 2 40) is

Lo-

con-

Positioning via contacts (or remote contacts)

Required settings:

Configuration 30 = x40
Local/Remote 412 = (remote) contacts

 Control (start, stop, target position changeover, etc.) is typically performed through

o Digital contacts.
o Remote contacts via field bus.

 Reference values depend on the selected configuration. Typical:

o Reference speed/ reference frequency.

Also refer to application manual “Positioning”.

MCI (Motion Control Interface – Positioning via Field Bus):

Required settings:

o Reference target position.

ride (MCO) instead.

Configuration 30 = x40
Local/Remote 412 = 1 – Statemachine

 Control (start, stop, change of mode, etc.) is performed via
 Reference values result from the selected

Typical:

o Speed reference via
o Target position via

For information on how to use the Motion Co ntrol Interface , refer to Chapte rs 10 “Mot ion Control In­terface (MCI) / Motion Control Override (MCO)” and 11.4 “Motion control configurations”.

Override Target Velocity vl [rpm] 1459 (target speed).

Override Target Position

Override Modes Of Operation

Control word 410.

1455.

1454.

10/13

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Modbus/TCP 17

3.2 Initialization time

Wait until the initialization phase is complete before s tarting the communication (RUN

For first commissioning, you should be familiar with the followings steps and the de­scribed functions:

• Installation of module

Chapter

5.1

• Selection of device control Local/Remote 412

Chapter

11

• Commissioning of device functions via PLC

o Motion Control Override

Chapter

10.1

o Fault Reaction

Chapter

6.3

Fault reset

Chapter

7.3 • Setting reference values:

o Reference speed in speed-controlled con-

figuration x10, x11, x15, x1 6, x30, x60

Chapter

11.3
o Reference in position configuration x40

Chapter

10 and 11.4

 Velocity Mode

Chapter

11.4.1

 Profile Velocity Mode

Chapter

11.4.2

 Profile Position Mode

Chapter

11.4.3

 Homing Mode

Chapter

11.4.4

 Table Travel record Mode

Chapter

11.4.5

 Mode change

Chapter

10

• Diagnosis:

Chapter

14 and 13.1

When the frequency inve rter is turned on, the com m u nica tio n mod ul e m ust be ini t ia lize d in a dd iti on to
the frequency inverter. The initialization can take up to 20 seconds.

LED).

4 First commissioning



18

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Modbus/TCP 10/13

The CM-Modbus/TCP and CM-Modbus/TCP-2P communication modules are pre­assembled in a case and are ready for installation. In a ddition, a PE-spring is supplied for
PE

Danger of destruction of frequency inverter and/or communication module

be disconnected from power supply. Installation is not permissible while the

may be damaged.

Work steps:

1

2

3

Ste ck pla tz B

Ste ck pla tz A

5

6

(M4)

5 Assembly/disassembly of communication module

5.1 Assembly

-connection (shield).

CAUTION

• Before insta llation of the communica tion module, the frequenc y inverter must
unit is energized.

• Do not touch the PCB visible on the back of the module, otherwise components

• Disconnect the frequency inverter from mains voltage and protect it against being

energized unintentionally.

• Remove covers (1) and (2) of the frequency inverter. Slot B (4) for the communi-
cation module is now accessible.

• Mount the supplied PE spring (5) using the M4 screw (6) in the unit. The spring
must be aligned centrally.

• Insert the communication module in slot B (4) until it engages audibly.

• Fix the communication module and PE spring (5) using the M2-screw provided at

the module.

• In the upper cover (1), break out the pre-punched cutout (3) for the plug X310
(8).

• Mount the two covers (1) and (2).

10/13

Modbus/TCP 19

ACU

5.2 Disassembly

on the right and left side of the module from the case of the frequency

To do this, insert the screwdriver in the gap between the case of the module



. As soon as the right side is unlocked, pull



ternately.

• Disconnect the frequency inverter from power supply and protect it against being
energized unintentionally.

• Remove covers (1) and (2) of the frequency inverter, see Chapter 5.1
“Assembly”.

• Loosen the M2 screw at the communication module.

• Unplug the communication module from Slot B (4) by unlocking the locking

hooks (9)
inverter using a small screwdriver.

• The locking hooks (9) are located at the place where the locking hooks (10) for
the upper cover (1) project from the case of the frequency inverter.

•

and the frequen cy inverter carefully and push t he locking hook inwards in
the direction of the ar row (

)

out the module a bit on the right side and hold it.

• Hold the module on the ri ght side while unlocking the l ocking hook on the
left side in the same way (

).

• Pull the module out o f the sl ot by gent ly pull ing o n th e right a nd left s ide al-

• Disassemble the PE spring (5), see Chapter 5.1 “Assembly”.

• Mount the two covers (1) and (2), see Chapter 5.1 “Assembly”.

20

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Modbus/TCP 10/13

This document does not provide basic information about Ethernet interfaces. Basic

of the

CAUTION

made in the EEPROM, as this only allows a limited number of write cycles (approx. 1

ill

6 Modbus/TCP interface

The frequency inverter can be controlled by a PLC or another master device via an Ethernet interfaces
using the Modbus/TCP protocol.

When a Modbus/TCP or Modbus/TCP-2P comm unicati on module i s used, you can a lso acces s the fre­quency inverter using the V Plus software via Ethernet. VP lus can be used in parallel with a P LC with
Modbus/TCP communication.

knowledge of the Modbus/TCP protocol and Ethernet interfaces is required.
In some sections, setting and display options via the PC software VPlus are described as

an alternative to the control unit. In this case, VPlus communicate s with the frequency
inverter via a serial interface or a direct Ethernet connection.

WARNING

With Modbus/TCP communication, controllers can access all parameters of the fre­quency inverter.

Changing parame ters the function of whic h is unk nown can result in malfu nction
frequency inverter and dangerous situations in the plant.

When values are to be wri tten cyclically at a high repetition rate, no entries sh all be
million cycles). If the number of permissible write cy cles is exceeded, the EEPROM w

be damaged. See chapter 8.1 “Handling of datasets / cyclic writing of parameters”.

10/13

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Modbus/TCP 21

6.1 Communication module s

CM-Modbus/TCP

The CM-Modbus/TCP communication module features an active RJ45 port.

CM-Modbus/TCP-2P

The CM-Modbus/TCP-2P communication module features two active RJ45 ports with integrated
switching function. This enables easy linking (daisy chain) of frequenc y inverters which are connected
to a PLC.

22

ACU

Modbus/TCP 10/13

Parameters

Settings

6.1.1 Installation instructions

The Modbus/TCP module is connected to the PLC or other devices using standard CAT cables and
RJ45 connectors:

Ethernet standard: IEEE 802.3, 100Base-TX (fast Ethernet)
Cable type: S/FTP (cable with braided shield, (ISO/IEC 11801 or EN 50173, Straight

Through or Cross Over)

6.2 Setup

By default, the parameters of the CM-Modbus/TCP and CM-Modbus/TCP-2P communication modules
are set up as follows:

No. Description Factory setting

388 Bus Error Behaviour 1
1432 IP-Address 172.22.1.25
1433 Netmask 255.255.255.0
1434 Gateway 0.0.0.0
1435 DNS Server 0.0.0.0
1436 DHCP Option 0
1437 IP Command ­1440 Email Function 0
1441 Email Text (Body) ­1439 Modbus/TCP Timeout 0

The parameter settings must be adapted to the actual application.

6.2.1 TCP/IP configuration

For the configuration of the IP addr ess, Netmask, etc., refer to the CM-VABus/TC P user manual. For
details refer to the CM-VABus/TCP user manual, Chapter “TCP/IP configuration”.

10/13

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Modbus/TCP 23

6.2.2 TCP/IP address & Subnet settings

Parameters

Settings

No.

Description

Min.

Max.

Factory setting

1432

IP Address

0.0.0.0

255.255.255.255

172.22.1.25

1433

Netmask

0.0.0.0

255.255.255.255

255.255.255.0

DHCP Option 1436

Function

Module must be configured manually, no DHCP server is used.
(Factory setting).

1 -

Enabled

The settings are made by a DHCP server.

Parameters

Settings

No.

Description

Min.

Max.

Factory setting

1439

Modbus/TCP Timeout

0 ms

60000 ms

0 ms

For proper identification, each frequency inverter is assigned a TCP/IP address which must be unique
in the system.

6.2.2.1 Network without DHCP server:

The address is set via parameter IP-Address 1432. In addition, the subnet mask-Netmask 1433 must
be entered properly for the local network.

6.2.2.2 Network with DHCP server:

When a DHCP server i s used, ma nual networ k configur ation is not r equired. Se t DHCP Opti on 1436
to “1-Enabled” if you wish to use the DHCP function.

0 - Disabled

6.2.3 Modbus/TCP Timeout settings

The communicat ion can be monitore d: If communica tion fails, no da ta or faulty d ata w ill be tra nsmit­ted. The Modbus/TCP Timeout feature will identify this state.

The timeout feature monitors communication for the time defined by parameter

Timeout

take place.
If no data is transferred corre ctly within this time, the frequenc y inverter will signal the fault F2735

Modbus/TCP Timeout.

When the parameter is set to 0 (factory setting), the monitoring function is off.

1439. The set value represents the time in milliseconds where correct data transfer must

Modbus/TCP

24

ACU

Modbus/TCP 10/13

Bus Error Behaviour 388

Function

1 -

Error

“Fault” status will be activated immediately. Factory setting.

Control command “Disable voltage” and switch to “switch on disa­bled” status.

Control command “Quick stop” and switch to “switch on disabled”
status.

Control command “Disable operation” and switch to “Error” status
once the drive has been shut down.

Control command “Quick stop” and switch to “Error” status once
the drive has been shut down.

The parameter settings Bus Error Behaviour 388 = 2…5 are evaluated depending on
parameter

For evaluation of settings 2…5, parameter

-

Control via statemachine”.

6.3 Operating behavior in the case of a communication error

The operating behavior in the case of errors in Modbus/TCP communication can be parameterized.
The required behavior can be set via parameter

0 - no response Operating point is maintained.

2 - Stop

3 - Quick stop

4 - Shutdown + Error

5 - Quick stop + Erro r

Local/Remote 412.

Bus Error Behaviour 388.

Local/Remote 412 must be set to value “ 1

10/13

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Modbus/TCP 25

7 Protocol

CM

•

•

MBAP

Function code

Data
(Modbus RTU data contents)

Field

Length

Description

Client

Server
(inverter)

Transaction ID

2 bytes

Identification of Mod­transaction

Initialized by

Written back by the
request received

Protocol ID

2 bytes

0 = Modbus protocol

Initialized by

Written back by the
request received

Length

2 bytes

Number of subse-

Initialized by

Initialized by server

ID of data unit

1 byte

Identification of seri­mote Slave

Initialized by

Initialized by server

•

•

•

The Modbus/TCP communi cation protocol is a Cl ient/Server based protocol. Modb us/TCP communica­tion will always be initialized by the client (e.g. PLC). The server nodes (frequency inverters) do not
communicate with one another.

Modbus/TCP communication will be established by the client via the TCP/IP-Port #502 on the side o f
the Modbus/TCP server.

-Modbus/TCP and CM-Modbus/TCP-2P only support

Port #502 for establishing Modbus/TCP connection
one request per transaction only ( NumberMaxOfServerTransaction = 1)

7.1 Telegram structure

A Modbus/TCP telegram comprises the following fields:

MBAP Modbus Application Header

(transaction identifier)

(protocol identifier)

bus request/response

quent bytes (includ-

client

client

client (request)

server from the

server from the

(response)

ing ID of data unit)

(unit identifier)

ally connected Re-

client (request)

(response)

The data unit identifier will not be processed by the server.
The function code and data field structure are the same in Modbus/TCP and Modbus-

RTU.

Modbus/TCP uses byte sequence Big-Endia n (Motorola format).

The function cod e tells the server/frequency inverter which action is to be performed. The function
code is followed by a data field containing the parameters of the request (or the response parameters
in the case of the response by the frequency inverter).

If there are no errors w hile a request is received via Modbus/ TCP, the data field will contain the re­quired data. If an error occurs, the field contains an exception condition code t o tell the master that
the request was not processed successfully. For information on how to handle exception conditions
and the exception condition codes, refer to Chapter 7.2.9 “Exception condition codes”.

26

ACU

Modbus/TCP 10/13

The Modbus specification does not des cribe handling of 32-bit values. The implemented
handlings and function codes are quite common and frequently used. These functions
enable data access to 32

In all data fields containing more than one byte, the highest

s-

ferred firs (Big

7.2 Supported function codes

The Modbus definitions for writing and reading of data are not directly compatible with parameter
access by a frequency inverter (irrespective of the manufacturer of the frequency inverter). Modbus is
designed for reading bits and captures data in a different way. Data access is limited to a bit width of

16.
In order to meet the requirements of Modbus, data access is defined in the frequency inverters by the

following function codes.

16-bit values:

• Function code 3, read ONE data width of 16 bits (reading of hold register)

• Function code 6, write ONE data width of 16 bits (writing of single register)

• Function code 16, read ONE data width of 16 bits (writing of multiple registers)

32-bit values:

For access to 32-bit data, frequency inverters use the following adapted function codes:

• Function code 3, read TWO data widt hs of 16 bits (=32 bits) (reading of hold register)

• Function code 16, write TWO data widths of 16 bits (=32 bits) (writing of multiple registers)

• Function code 100, read ONE bit width 32

• Function code 101, write ONE bit width 32

-bit “Long” va riables in the frequency inverter.

-value byte will be tran

-Endian, Motorola Format).

10/13

ACU

Modbus/TCP 27

7.2.1 Function code 3, reading 16-bit or 32-bit parameters

Function code

1 byte

0x03

Start address (dataset / para. no.)

2 bytes

0x0000 – 0x963F

Number of registers

2 bytes

0x0001

Function code

1 byte

0x03

Number of bytes

1 byte

0x02

Register value (parameter value)

2 bytes

0 – 0xFFFF

Function code

1 byte

0x03

Start address (dataset / para. no.)

2 bytes

0x0000 – 0x963F

Number of registers

2 bytes

0x0002

Function code

1 byte

0x03

Number of bytes

1 byte

0x04

Register value (parameter value)

4 bytes

0 – 0xFFFFFFFF

Error code

1 byte

0x83

Exception condition code

1 byte

2, 3 or 4

Start address

Data set

Parameter number

Bits

15

14

13

12

11

10 9 8 7 6 5 4 3 2 1 0 For the above example:

Hex. 0 0 1 0 0 0 0 1 0 1 1 1 0 1 0 0

Bin. 2 1 7 4

Parameter values with decimal places are transferred without decimal point. Depending
on the number of decimal places, the values are multiplied by 10, 100 or 1000.

This function code is used for reading 16-bit or 32-bit values from the frequency inverter.

Request Read 16-bit parameter:

Response Read 16-bit parameter:

Request Read 32-bit parameter:

Response Read 32-bit parameter:

Exception condition response:

Start address

This field is used for saving the parameter number and dataset number. The parameter number is in
the range between 0 and 1599 and is saved in the 12 least significant bits. The dataset number is in
the range betwe en 0 and 9 and is saved in the 4 most significant bits.

Example:
Parameter 372 (hex. 0x174), dataset 2 (hex. 0x2) is saved as hex. 0x2174.

Number of registers

This field is used for saving the number of parameters to be written. The value must always be 1,
since only one parameter can be written at a time.

Number of bytes

This field is set to

• 2 for 16-bit parameters

• 4 for 32-bit parameters

Register value

This field contains the 16-bit or 32-bit parameter value.

28

ACU

Modbus/TCP 10/13

16 Bit

32 Bit

Modbus RTU

see chapter 9.1.1

see chapter 9.2.1

MBAP header

7 bytes

Address

1 byte

1 – 0xF7 (=247)

Function code

1 byte

0x06

Start address (dataset / para. no.)

2 bytes

0x0000 – 0x963F

Register value (parameter value)

2 bytes

0 – 0xFFFF

MBAP header

Address

1 byte

1 – 0xF7 (=247)

Function code

1 byte

0x06

Start address (dataset / para. no.)

2 bytes

0x0000 – 0x963F

Register value (parameter value)

2 bytes

0 – 0xFFFF

MBAP header

Address

1 byte

1 – 0xF7 (=247)

Error code

1 byte

0x86

Exception condition code

1 byte

2, 3 or 4

Example:

A current val ue of 10.3 A i s transferred. The actually transferred numerical value is 103, i.e. 0x67 in
the hexadecimal system.

Exception condition code

The following exception condition codes are possible:
2 INVALID DATA ADDRESS • Value of register number field is not 1

• Parameter unknown
3 INVALID DATA VALUE • Number of bytes in data field too small or too high
4 SLAVE DEVICE ERROR • Error when reading parameters

For a description of the excepti on condition codes, refer to Chapter 7.2.9 “Exception condition codes”.

Example Telegrams:

7.2.2 Function code 6, write 16-bit parameter

This function code is used for writing integer or unsigned integer value s into the frequency inverter.

Request Write 16-bit parameter:

Response:

Exception condition response:

10/13

ACU

Modbus/TCP 29

Start address

Data set

Parameter number

Bits

15

14

13

12

11

10 9 8 7 6 5 4 3 2 1 0 For the above example:

Hex. 0 0 1 0 0 0 0 1 0 1 1 1 0 1 0 0

Bin. 2 1 7 4

Parameter values with decimal places are transferred without decimal point. Depending
on the number of decimal places, the values are multiplied by 10, 100 or

Start address

This field is used for saving the parameter number and dataset number. The parameter number is in
the range between 0 and 1599 and is saved in the 12 least significant bits. The dataset number is in
the range betwe en 0 and 9 and is saved in the 4 most significant bits.

Example:
Parameter 372 (hex. 0x174), dataset 2 (hex. 0x2) is saved as hex. 0x2174.

Register value

This field is used for saving the 16-bit parameter value.

1000.

Example:

A current value of 10.3 A is to be transferre d. The actually transferred numerical value is 103, i.e.
0x67 in the hexadecimal system.

Exception condition code

The following exception condition codes are possible:
2 INVALID DATA ADDRESS
3 INVALID DATA VALUE
4 SLAVE DEVICE ERROR

• Parameter unknown

• Number of bytes in data field too small or too high

• Error when writing parameters

For a description of the excepti on condition codes, refer to Chapter 7.2.9 “Exception condition codes”.
For an example of a Modbus RTU telegram, refer to Chapter 9.1.2.

30

ACU

Modbus/TCP 10/13

MBAP header

7 bytes

Address

1 byte

1 – 0xF7 (=247)

Function code

1 byte

0x10

Start address (dataset / para. no.)

2 bytes

0x0000 – 0x963F

Number of registers

2 bytes

0x0001

Number of bytes

1 byte

0x02

Register value (parameter value)

2 bytes

0 – 0xFFFF

MBAP header

Address

1 byte

1 – 0xF7 (=247)

Function code

1 byte

0x10

Start address (dataset / para. no.)

2 bytes

0x0000 – 0x963F

Number of registers

2 bytes

0x0001

MBAP header

Address

1 byte

1 – 0xF7 (=247)

Error code

1 byte

0x90

Exception condition code

1 byte

2, 3 or 4

Start address

Data set

Parameter number

Bits

15

14

13

12

11

10 9 8 7 6 5 4 3 2 1 0 For the above example:

Hex. 0 0 1 0 0 0 0 1 0 1 1 1 0 1 0 0

Bin. 2 1 7 4

Parameter values with decimal places are transfe rred without decimal point. De pending
on the number of decimal places, the values are multiplied by 10, 100 or 1000.

7.2.3 Function code 16, write 16-bit parameter

Function code 16 can be used for writing 16 -bit values into the frequency inverter.

Request Write 16-bit parameter:

Response:

Exception condition response:

Start address

This field is used for saving the parameter number and dataset number. The parameter number is in
the range betw een 0 and 1599 and is saved in the 12 le ast significant bits. The dataset number is in
the range betwe en 0 and 9 and is saved in the 4 most significant bits.

Example:
Parameter 372 (hex. 0x174), dataset 2 (hex. 0x2) is saved as hex. 0x2174.

Register value

This field is used for saving the 16-bit parameter value.

Example:

A current value of 10.3 A is to be transferre d. The actually transferred numerical value is 103, i.e.
0x67 in the hexadecimal system.

10/13

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Modbus/TCP 31

MBAP header

Address

1 byte

1 – 0xF7 (=247)

Function code

1 byte

0x10

Start address (dataset / para. no.)

2 bytes

0x0000 – 0x963F

Number of registers

2 bytes

0x0002

Number of bytes

1 byte

0x04

Register value (parameter value)

2 bytes

0 – 0xFFFF FFFF

MBAP header

Address

1 byte

1 – 0xF7 (=247)

Function code

1 byte

0x10

Start address (dataset / para. no.)

2 bytes

0x0000 – 0x963F

Number of registers

2 bytes

0x0002

MBAP header

Address

1 byte

1 – 0xF7 (=247)

Error code

1 byte

0x90

Exception condition code

1 byte

2, 3 or 4

Start address

Data set

Parameter number

Bits

15

14

13

12

11

10 9 8 7 6 5 4 3 2 1 0 For the above example:

Hex. 0 0 1 0 0 0 0 1 0 1 1 1 0 1 0 0

Bin. 2 1 7 4

Exception condition code

The following exception condition codes are possible:

2 INVALID DATA ADDRESS
3 INVALID DATA VALUE
4 SLAVE DEVICE ERROR

• Parameter unknown

• Number of bytes in data field too small or too high

• Error when writing parameters

For a description of the excepti on condition codes, refer to Chapter 7.2.9 “Exception condition codes”.
For an example of a Modbus RTU telegram, refer to Chapter 9.1.3.

7.2.4 Function code 16, write 32-bit parameter

Function code 16 can be used for writing 32 -bit values into the frequency inverter.

Request Write 32-bit parameter:

Response:

Exception condition response:

Start address

This field is used for saving the parameter number and dataset number. The parameter number is in
the range between 0 and 1599 and is saved in the 12 least significant bits. The dataset number is in
the range betwe en 0 and 9 and is saved in the 4 most significant bits.

Example:
Parameter 372 (hex. 0x174), dataset 2 (hex. 0x2) is saved as hex. 0x2174.

32

ACU

Modbus/TCP 10/13

Parameter values with decimal places are transferred without decimal point. Depending
on the number of decimal places, the values are multiplied by 10, 100 or 1000.

MBAP header

Address

1 byte

1 – 0xF7 (=247)

Function code

1 byte

0x64

Start address (dataset / para. no.)

2 bytes

0x0000 – 0x963F

MBAP header

Address

1 byte

1 – 0xF7 (=247)

Function code

1 byte

0x64

Register value (parameter value)

4 bytes

0 – 0x FFFF FFFF

MBAP header

Address

1 byte

1 – 0xF7 (=247)

Error code

1 byte

0xE4

Exception condition code

1 byte

2, 3 or 4

Start address

Data set

Parameter number

Bits

15

14

13

12

11

10 9 8 7 6 5 4 3 2 1 0 For the above example:

Hex. 0 0 1 0 0 0 0 1 0 1 1 1 0 1 0 0

Bin. 2 1 7 4

Register value

This field is used for saving the 32-bit parameter value.

Example:

A frequency value of 123.45 Hz is to be transferred. The a c tually transferred numerical value is 12345,
i.e. 0x3039 in the hexadecimal system.

Exception condition code

The following exception condition codes are possible:
2 INVALID DATA ADDRESS • Parameter unknown
3 INVALID DATA VALUE • Number of bytes in data field too small or too high
4 SLAVE DEVICE ERROR • Error when writing parameters

For a description of the excepti on condition codes, refer to Chapter 7.2.9 “Exception condition codes”.
For an example of a Modbus RTU telegram, refer to Chapter 9.2.2.

7.2.5 Function code 100 (=0x64), read 32-bit parameter

Request:

Response:

Exception condition response:

Start address

This field is used for saving the parameter number and dataset number. The parameter number is in
the range betw een 0 and 1599 and is sa ved in the 12 least significant bits. The dataset number is in
the range betwe en 0 and 9 and is saved in the 4 most significant bits.

Example:

Parameter 372 (hex. 0x174), dataset 2 (hex . 0x2) is saved as hex. 0x2174.

10/13

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Modbus/TCP 33

Number of registers

Parameter values with decimal places are transferred without de cimal point. Depending
on the number of decimal places, the values are multiplied by 10, 100 or 1000.

MBAP header

Address

1 byte

1 – 0xF7 (=247)

Function code

1 byte

0x65

Start address (dataset / para. no.)

2 bytes

0x0000 – 0x963F

Register value (parameter value)

4 bytes

0 – 0xFFFF FFFF

MBAP header

Address

1 byte

1 – 0xF7 (=247)

Function code

1 byte

0x65

Start address (dataset / para. no.)

2 bytes

0x0000 – 0x963F

Register value (parameter value)

4 bytes

0 – 0xFFFF FFFF

MBAP header

Address

1 byte

1 – 0xF7 (=247)

Error code

1 byte

0xE5

Exception condition code

1 byte

2, 3 or 4

This field is used for saving the 32-bit parameter values.

Example:

A frequency value of 100.25 Hz is to be transferred. The actually transferred numerical value is 10025,
i.e. 0x2729in the hexadecimal system.

Exception condition code

The following exception condition codes are possible:
2 INVALID DATA ADDRESS • Parameter unknown

3 INVALID DATA VALUE • Number of bytes in data field too small or too high
4 SLAVE DEVICE ERROR • Error when reading parameters

For a description of the excepti on condition codes, refer to Chapter 7.2.9 “Exception condition codes”.
For an example of a Modbus RTU telegram, refer to Chapter 9.2.3.

7.2.6 Function code 101 (=0x65), write 32-bit parameter

Request:

Response:

Exception condition response:

Start address

This field is used for saving the parameter number and dataset number. The parameter number is in
the range between 0 and 1599 and is saved in the 12 least significant bits. The dataset number is in
the range betwe en 0 and 9 and is saved in the 4 most significant bits.

34

ACU

Modbus/TCP 10/13

Start address

Data set

Parameter number

Bits

15

14

13

12

11

10 9 8 7 6 5 4 3 2 1 0 For the above example:

Hex. 0 0 1 0 0 0 0 1 0 1 1 1 0 1 0 0

Bin. 2 1 7 4

Parameter values with decimal places are transferred without decimal point. Dependi ng
on the number of decimal places, the values are multiplied by 10, 100 or 1000.

Example:
Parameter 372 (hex. 0x174), dataset 2 (hex. 0x2) is saved as hex. 0x2174.

Register value

This field is used for saving the 32-bit parameter value.

Example: Frequency value

A frequency value of 100.25 Hz is to be transferred. The actually transferred numerical value is 10025,
i.e. 0x2729in the hexadecimal system.

Exception condition code

The following exception condition codes are possible:

2 INVALID DATA ADDRESS

• Parameter unknown
3 INVALID DATA VALUE
4 SLAVE DEVICE ERROR

• Number of bytes in data field too small or too high

• Error when reading parameters

For a description of the excepti on condition codes, refer to Chapter 7.2.9 “Exception condition codes”.
For an example of a Modbus RTU telegram, refer to Chapter 9.2.4.

10/13

ACU

Modbus/TCP 35

7.2.7 Function code 8, diagnosis

Sub-function

Name

Description

0x0A

Delete all counters

Resets all counters to 0

0x0B

Return number of bus messages

Number of valid messages received
(including all addresses)

0x0C

Return number of bus transfer errors

Number of messages with CRC or pari­ty/block check/data loss errors

0x0D

Return number of bus exceptions

Number of exception responses sent

0x0E

Return number of slave messages

Number of messages received (including
slave address)

0x0F

Return number of “Slave – no response”
messages

0x10

Return number of slave NAK (negative
receipt acknowledgment)

0x11

Return number of “Slave busy” messa g­es

0x12

Return number of bus character d ata
loss error

Number of messages with data loss
errors

MBAP Header

Address

1 byte

1 – 0xF7 (=247)

Function code

1 byte

0x08

Sub-function

2 bytes

0x000A

Data

2 bytes

0x0000

MBAP Header

Address

1 byte

1 – 0xF7 (=247)

Function code

1 byte

0x08

Sub-function

2 bytes

0x000A

Data

2 bytes

0x0000

MBAP Header

Address

1 byte

1 – 0xF7 (=247)

Error code

1 byte

0x88

Exception condition code

1 byte

1, 3 or 4

This function code is used f or acce ssing the Modb us di agnosi s counte r of t he freq uenc y inver ter. E ach
counter can be a ccesse d via a sub-fun ction code and a counter number. E ach co unter can be delet ed
by entering the hexadecimal sub-fun ct ion cod e 0x0A.

The following sub -function codes are supported.

Number of broadcast messages received

Not used, return value will always be 0

Request (sub-function 0x0A, Delete all counters):

Response:

Exception condition response:

Not used, return value will always be 0

Data

This field will always be 0x0000.

36

ACU

Modbus/TCP 10/13

Address

1 byte

1 – 0xF7 (=247)

Function code

1 byte

0x08

Sub-function

2 bytes

0x000B – 0x0012

Data

2 bytes

0x0000

Address

1 byte

1 – 0xF7 (=247)

Function code

1 byte

0x08

Sub-function

2 bytes

0x000B – 0x0012

Data (counter val ue)

2 bytes

0 – 0xFFFF

Address

1 byte

1 – 0xF7 (=247)

Error code

1 byte

0x88

Exception condition code

1 byte

1, 3 or 4

Exception condition code

1 INVALID FUNCTION CODE • Sub-function is not supported
3 INVALID DATA VALUE • Number of bytes in data field too small or too high

• “Data field” not 0x000 0

4 SLAVE DEVICE ERROR • Error while executing the functio n.

For a description of the excepti on condition codes, refer to Chapter 7.2.9 “Exception condition codes”.

Request (sub-function 0x0B – 0x12, return counter value):

Response:

Exception condition response:

Data

In the request, this field will always be set to 0x0000, in the response , it w ill show t he current cou nter
value.

Exception condition code

The following exception condition codes are possible:

1 INVALID FUNCTION CODE • Sub-fu nction is not support ed

3 INVALID DATA VALUE

• Number of bytes in data field too small or too high

• “Data field” not 0x000 0

4 SLAVE DEVICE ERROR • Error when reading diagnosis counter

For a description of the excepti on condition codes, refer to Chapter 7.2.9 “Exception condition codes”.

10/13

ACU

Modbus/TCP 37

7.2.8 Exception condition responses

The master device expects a normal response when it sends a request to the frequency inverter. A
request by the master can result in one of four reactions:

• If the frequency inverter receives the request without any transmission errors, it can process it and
send a normal response.

• If the frequency inverter does not receive the request due to a transmission error, it will not send a
response. The master will check the co nditions for time monitoring of the request.

• If the frequency inverter receives the request and identifies a transmission error (parity, LCR, CRC,
…), it will not send a response. The master w ill check the conditions for time monitoring of the re­quest.

• If the frequency inverter receives the request without any transmission error, but cannot process
it, e.g. because an unknown parameter is to the read, it will send an exception response containing
information about the type of error.

The exception condition response contains two fields which are different from normal responses:

Function code field:

In a normal response, the frequency inverter will return the function code of the original re quest. All
function codes have 0 as the most sig nificant bit (MSB); their values are less than the hexade cimal
value of 0x80. In an excep tion condition resp onse, the freque ncy inverter will se t the most signi ficant
bit of the function code to 1. This will increase the hexadecimal value of the fun ction code in an ex­ception condition response by 0x80 compared to the value of a normal response. With the most signif­icant bit in the function cod e se t t o the new val ue, t he mast er can id ent ify the exc e pt ion re spo nse a nd
analyze the except ion condition code in the data field.

Data field:

In a normal response, the frequency inverter will send data or statistical values in the data field (re­quested information) . In an exception condition response, the frequency inverter will send an excep­tion condition code in the data field. This code indicates the cause of the exception condition.

The exception condition codes generated by the frequency inverter are listed in Chapter 7.2.9
“Exception condition codes”.

38

ACU

Modbus/TCP 10/13

Code

Modbus name

Reason of generation by frequency inverter

1

INVALID FUNCTION

2

INVALID DATA AD-

3

INVALID DATA VALUE

4

SLAVE DEVICE ERROR

VABusSST Error Register 11.

VABusSST Error Register 11

Error number

Meaning

0

No error

1

Non-permissible parameter value.

2

Non-permissible dataset

3

Parameter not readable (write-only)

4

Parameter not writable (read-only)

5

EEPROM read error

6

EEPROM write error

7

EEPROM checksum error

8

Parameter cannot be written while the drive is running

9

Values of data sets are different

10

Wrong parameter type

11

Unknown parameter

12

Checksum error in received telegram

13

Syntax error in received telegram

14

Data type of parameter does not match the number of bytes in the telegram

15

Unknown error

7.2.9 Exception condition codes

The frequency inverter generates the following exception condition codes:

• Function code un kno wn

• Sub-function code unknown (diagnosis function)

DRESS

• Unknown parameter or data type of parameter unknown

• Block check error

• Number of bytes in too small or too high

• Certain fields not set to typical values

• Wrong number of registers (must always be 0x01)

• Unsuccessful reading or writing of p arameters

The cause of the error can be analyzed by reading parameter

When parameter

VABusSST Error Register 11 is read, it is deleted automatically at the same time.

10/13

ACU

Modbus/TCP 39

7.2.10 Modbus/TCP mode of transmission

Address

Function

Data

8 bits

8 bits

N x 8 bits

Some errors will occur again after an error reset. In such cases, it may be neces­direction).

The usable contents of Modbus/TCP is basically structured like Modbus RTU.

7.2.10.1 Modbus RTU message telegram

Modbus messages are added by a sending device into a telegram which has a defined start and end
point. The TCP/IP frame enables receiving devices to identify the beginning and e nd of the mes sage.
Incomplete messages must be detected and result in an error.

Modbus RTU messages

The whole message telegram must be transmitted as a coherent flow of characters.

7.3 Resetting errors

Depending on the settings and operating state of the device, errors can be reset in various ways:

• When using contro l via parameter

Set bit 7 of control word

• By pressing the stop button of the control panel.

Resetting by pressing the STOP button is only possible if Parameter
control via the control panel.

• Via parameter
A reset via a digital signal can only be carried o ut when parameter

or when an input with the addition (hardware) is selected in the case of physical inputs.

Error acknowledgment 103 which is assigned a logic signal or a digital input.

Control word 410= 0x8000.

Local/Remote 412 = Statemachine:

Local/Remote 412 permits

Local/Remote 412 permits this

sary to take certain measures (e.g. mo ving from a limit switch in the non-disabled

40

ACU

Modbus/TCP 10/13

NOTE

The values are entered automatically in the EEPROM of the controller. When values

(approx. 1 million cycles). When the number of

In order to avoid this, data which is written cyclically can be ente red in the RAM ex-

Such data will be lost in the case of

ing the dataset.

Writing on virtual dataset in RAM

Parameters

EEPROM

RAM

Dataset 0

0

5

Dataset 1

1

6

Dataset 2

2

7

Dataset 3

3

8

Dataset 4

4

9

8 Parameter access

8.1 Handling of datasets / cyclic writing of parameters

The parameter values are accessed based on the parameter number and the required dataset. There
are parameters the values of which are present once (dataset 0) as well as parameters the values of
which are present four times (dataset 1...4). These are used for dataset switching.

If parameters which are present four times in the datasets are set to Dataset = 0, the four datasets
are set to the same transmitted value. A read access with data set = 0 to such parameters is only
successful if all four data se ts are set to the same value. I f this is not the case, an error will be sig­naled.

are to be written cyclically, no entries shall be made in the EEPROM, as this only al­lows a limited number of write cycles
permissible write cycles is exceeded, the EEPROM will be destroyed.

clusively without a writing cycle on the EEPROM.
a power failure and have to be written again after Power off/on.

This mechanism is started when the target dataset is increased by five when specify-

10/13

ACU

Modbus/TCP 41

8.2 Handling of index parameters / cyclic writing

Function

Parameters

Index range

Indexing
parameter

Write

and read

Write

Positioning

1202 Target position / distance

1265 Int. event 2: Next motion block

PLC function

1343 FT-Instruction

FT-Commentary

Multiplexer

1252 Mux Input

01);
1…16

171);
18…33

1250 Write
1251 Read

CANopen

®

multiplexer

1422 CANopen Mux Input

01);
1…16

171);
18…33

1420 Write
1421 Read

1) When the indexing parameter = 0, all indexes will be written upon parameter
RAM.

Index parameters are used for various ACU functions. Here, 16 or 32 indexes are used instead of the
4 data sets. For each function, the individual indexes are addressed separately via an index access
parameter. Via the indexing parameter, you can select if the data is to be written to EEPROM or RAM.

1203 Speed
1204

Acceleration

1205

Ramp Rise time

1206

Deceleration

1207

Ramp Fall time

1208

Motion mode

1209

Touch-Probe Window

1210 Touch-Probe-Error: Next Mo-

tion Block

1211

No. of Repetitions

1212 Delay
1213

Delay: Next Motion Block

1214 Event 1
1215 Event 1: Next Motion Block
1216 Event 2
1217 Event 2: Next motion block
1218 Digital signal 1
1219 Digital signal 2

1247 Digital signal 3
1248 Digital signal 4

1260 Interrupt-Event 1
1261 Int.-Event 1: Eval.-Mode
1262 Int. event 1: Next motion block
1263 Interrupt-Event 2
1264 Int.-Event 2: Eval.-Mode

EEPROM

01);
1…32

RAM

331);
34…65

1200 Write
1201 Read

(Function
Table)

1344 FT-Input 1
1345 FT-Input 2
1346 FT-Input 3
1347 FT-Input 4
1348 FT-Parameter 1

01);
1…32

1349 FT-Parameter 2
1350 FT-Target Output 1
1351 FT-Target Output 2
1352

access in EEPR OM. 17 ( for 16 indexes) or 33 (for 32 i ndexes) will writ e all index es in

42

ACU

Modbus/TCP 10/13

331);
34…65

1341 Write
1342 Read

The values are entered automatically in the EEPROM of the controller. However, only

the RAM and not the EEPROM.

In the RAM, the data is not protected against loss of power. Once power supply is
disrupted, the data must be written again.

NOTE

Typically, index parameters are writte n regularly during commissioning or in simple
positioning applications.

Writing of Parameter Target position/distance 1202 (Type double word), in Index 1
in RAM ( Index 34 for write access) with parameter value 30000.

Index = 1200 + 0x2 00 0 = 0x2 4B0, Wert (int) = 34 = 0x0022

Index = 1202 + 0x2000 = 0x24B2 , Wer t (long ) = 300 00 = 0x00 00 75 30

In order to read an index parameter, you will have to set the indexing parameter to
the relevant index first, then you can read the parameter.

Reading of Parameter Target position/distance 1202 (type long), in Index 1 with
parameter value 123000.

Index = 1201 + 0x2 00 0 = 0x2 4B1, Wert (int) = 1 = 0x0001

Index = 1202 + 0x2000 = 0x24B2 , Wer t (long ) = 123000 = 0x0001 E078

If various parameters of an index are to be read, it will be sufficient to set index

a limited number of write cycles is permissible for the EEPROM (approx. 1 million
cycles). When this number is exceeded, the EEPROM will be destroyed.

 Values which are written cyclically at a high repetition rate should be written to

8.2.1 Example: Writing of index parameters

If various parameters of an index are to be edited, it will b e sufficient to set index
access via parameter 1200 once at the beginning.

8.2.2 Example: Reading of index parameters

access via 1201 once at the beginning.

10/13

ACU

Modbus/TCP 43

9 Example messages Modbus/TCP

MBAP

Unit

Func.

DSet/ParNo.

Number of

Transaction ID

Protocol ID

Length

Hex

nn

nn

nn

nn

00

06

01

03

21

74

00

01

MBAP

Unit

ID

Func.

No.

Bytes

Par.value

Transaction ID

Protocol ID

Length

Hex

nn

nn

nn

nn

nn

nn

01

03

02

05

6E

MBAP

Unit

ID

Func.

DSet/ParNo.

Number of

registers

Transaction ID

Protocol ID

Length

Hex

nn

nn

nn

nn

00

06

01

03

01

74

00

02

MBAP

Unit

ID

Func.

Excep.
Transaction ID

Protocol ID

Length

Hex

nn

nn

nn

nn

00

03

01

83

04

This chapter describes some examples of telegrams for Modbus/TCP.

9.1 16-bit access

9.1.1 Function code 3, read 16-bit parameter

Example 1:

Reading of parameter
dress 1.

Request: Master  frequency inverter

Rated speed 372 (0x0174) in da ta set 2 from the fre quency inverte r with ad-

Field:

Response: Frequency inverter  Master
Field:

The sent hexadecimal value is 0x056E = Decimal 1390. Parameter
places. Thus, the rated speed is 1390 min

Example 2:

Reading of parameters
to 1 and number of registers set to 2 (non-permissible value).

Request: Master  frequency inverter
Field:

Error response: Frequency inverter  Master
Field:

Rated speed 372 (0x0174) in da taset 0 of frequency in verter with addr ess set

-1

.

ID

registers

Rated speed 372 has no decimal

The sent exception condition code is the hexadecimal value 0x04 = ERROR SLAVE DEVICE.

44

ACU

Modbus/TCP 10/13

MBAP

Unit

ID

Func.

DSet/ParNo.

Par.value

Transaction ID

Protocol ID

Length

Hex

nn

nn

nn

nn

00

06

01

06

41

78

00

0F

MBAP

Unit

Func.

DSet/ParNo.

Par.value

Transaction ID

Protocol ID

Length

Hex

nn

nn

nn

nn

00

06

01

06

41

78

00

0F

MBAP

Unit

ID

Func.

DSet/ParNo.

Par.value

Transaction ID

Protocol ID

Length

Hex

nn

nn

nn

nn

00

06

03

06

21

78

00

00

MBAP

Unit

Func.

Excep.
Transaction ID

Protocol ID

Length

Hex

nn

nn

nn

nn

00

03

03

86

04

9.1.2 Function code 6, write 16-bit parameter

Example 1:

Writing of parameter
dress 3.

The rated mechanical power is to be set to 1.5 kW. Parameter
imal place. Thus the value to be sent is 15 = 0x000F.

Request: Master  frequency inverter
Field:

Response: Frequency inverter  Master

Rated Mech. Power 376 (0x 0178) in dataset 4 of frequency inverter w ith ad-

Rated Mech. Power 376 has o ne dec-

Field:

The response is the reflected signal of the request message.

Example 2:

Writing of non-permissible value 0 in parameter
frequency inverter with address 3.

Request: Master  frequency inverter
Field:

Error response: Frequency inverter  Master
Field:

The sent exception condition code is the hexadecimal value 0x04 = Error SLAVE device.

Rated Mech. Power 376 (0x0178) in dataset 2 of

ID

ID

10/13

ACU

Modbus/TCP 45

9.1.3 Function code 16, write 16-bit parameter

Field
:

MBAP

Unit
ID

Func.

DSet/
ParNo.

No. reg­isters

No.
Byte

Par.
value

Transaction ID

Protocol ID

Length

nn

nn

nn

nn

00

09

01

10

41

78

00

01

02

00

0F

Field
:

MBAP

Unit

Func.

DSet/

No. reg­Transaction ID

Protocol ID

Length

nn

nn

nn

nn

00

09

01

10

41

78

00

01

Field
:

MBAP

Unit
ID

Func.

DSet/
ParNo.

No. reg­isters

No.
Byte

Par.
value

Transaction ID

Protocol ID

Length

nn

nn

nn

nn

00

09

03

10

41

78

00

01

02

00

00

MBAP

Unit

Func.

Excep.
Transaction ID

Protocol ID

Length

Hex

nn

nn

nn

nn

00

03

03

90

04

Example 1:

Writing of parameter
dress 1.

The rated mechanical power is to be set to 1.5 kW. Parameter
imal place. Thus the value to be sent is 15 = 0x000F.

Request: Master  frequency inverter

Response: Frequency inverter  Master

Rated Mech. Power 376 (0x01 78) in dataset 4 of fre quency inverter wit h ad-

Rated Mech. Power 376 has o ne dec-

ID

The response contains the number of written registers

Example 2:

Writing of non-permissible value 0 in parameter
quency inverter with address 3.

Request: Master  frequency inverter

Error response: Frequency inverter  Master
Field:

The sent exception condition code is the hexadecimal value 0x04 = ERROR SLAVE DEVICE.

Rated Mech. Power 376 0x0178) in da taset 2 of fre-

ID

Par.No.

isters

46

ACU

Modbus/TCP 10/13

MBAP

Unit
ID

Func.

DSet/
ParNo.

No. regis­ters

Transaction ID

Protocol ID

Length

nn

nn

nn

nn

00

06

01

03

11

E1

00

02

MBAP

Addi.

Func.

No.

Par.value
Transaction ID

Protocol ID

Length

Hex

nn

nn

nn

nn

00

07

01

03

04

00

00

03

E8

MBAP

Unit

Func.

DSet/

No. regis­Transaction ID

Protocol ID

Length

nn

nn

nn

nn

00

06

01

03

01

E0

00

01

MBAP

Unit

ID

Func.

Excep.

Transaction ID

Protocol ID

Length

Hex

nn

nn

nn

nn

00

03

01

83

04

9.2 32-bit access

9.2.1 Function code 3, read 32-bit parameter

Example 1:

Reading of parameter
dress 1.

Request: Master  frequency inverter
Field:

Response: Frequency inverter  Master

Fixed Frequency 2 481 (0x01E1) in dataset 1 o f frequency inverte r with ad-

Field:

The sent hexadecimal value is 0x03E8 = Decimal 1000. Parameter
decimal places. Th us, the frequency is 10.00 Hz.

Example 2:

Reading of parameters
dress set to 1 and number of registers set to 1 (non-permissible value).

Request: Master  frequency inverter
Field:

Error response: Frequency inverter  Master
Field:

The sent exception condition code is the hexadecimal value 0x04 = ER ROR SLAVE DEVICE.

Fixed Frequency 2 481 (0x01E1) i n dataset 0 of frequency i nverter with ad-

ID

Bytes

Fixed Frequency 2 481 has two

Par.No.

ters

10/13

ACU

Modbus/TCP 47

9.2.2 Function code 16, write 32-bit parameter

MBAP

Unit

Func.

DSet/

No.
ters

No.

Par. value
Transaction ID

Protocol ID

Length
Hex

nn

nn

nn

nn

00

0B

01

10

91

E2

00

02

04

00

00

11

62

MBAP

Unit

Func.

DSet/

No.
ters

Transaction ID

Protocol ID

Length
Hex

nn

nn

nn

nn

00

0B

01

10

91

E2

00

02

MBAP

Unit

Func.

DSet/

No.

ters

No.

Par. value

Transaction ID

Protocol ID

Length

Hex

nn

nn

nn

nn

00

0B

01

10

91

E2

00

02

04

00

03

0D

40

MBAP

Unit

Func.

Ex-

Transaction ID

Protocol ID

Length

Hex

nn

nn

nn

nn

00

03

01

90

04

Example 1:

Writing of parameter
cy inverter with address 1.

The fixed frequency is to be set to 44.50 Hz. Parameter
places. Thus the value to be sent is 4450 = 0x00001162.

Request: Master  frequency inverter

Fixed Frequency 3 482 (0x01E2) in dataset 9 (= RAM for dataset 4) of frequen-

Fixed Frequency 3 482 has two decimal

Field:

Response: Frequency inverter  Master

Field:

The response contains the number of written registers

Example 2:

Writing of parameter
cy inverter with address 1.

The frequency is t o be set to 2000.00 Hz (non-permissible value). Parameter
has two decimal places. Thus the value to be sent is 20000 = 0x00030D40.

Request: Master  frequency inverter

Field:

Fixed Frequency 3 482 (0x01E2) in dataset 9 (= RAM for dataset 4) of frequen-

ID

ID

ID

Par.No.

Par.No.

Par.No.

regis-

regis-

regis-

Byte

Fixed Frequency 3 482

Byte

Error response: Frequency inverter  Master
Field:

The sent exception condition code is the hexadecimal value 0x04 = ERROR SLAVE DEVICE.

ID

cep.

48

ACU

Modbus/TCP 10/13

Field

MBAP

Unit ID

Func.

DSet/
Transaction ID

Protocol ID

Length

Hex

nn

nn

nn

nn

00

04

01

64

01

E1

MBAP

Unit ID

Func.

Par. value
Transaction ID

Protocol ID

Length

Hex

nn

nn

nn

nn

00

06

01

64

00

00

03

E8

MBAP

Unit ID

Func.

DSet/
Par.No.

Transaction ID

Protocol ID

Length

Hex

nn

nn

nn

nn

00

04

01

64

26

40

MBAP

Unit ID

Func.

Excep.

Transaction ID

Protocol ID

Length

Hex

nn

nn

nn

nn

00

03

01

E4

04

9.2.3 Function code 100 (=0x64), read 32-bit parameter

Example 1:

Reading of parameter
Request: Master  frequency inverter

Fixed Frequency 2 481 in dataset 0 of frequency inverter with address 1.

:

Response: Frequency inverter  Master
Field:

The sent hexade cimal val ue is 0x00 0003E8 = 1000. Parameter
mal places. Thus, Fixed Frequency 2 = 10.00 Hz.

Example 2:

Reading of unknown parameter 1600 (0x0640) in dataset 2 of frequency inverter with address 1.
Request: Master  frequency inverter

Field:

Error response: Frequency inverter  Master

Field:

Par.No.

Fixed Frequency 2 481 has two deci-

The exception condition code is the hexadecimal value 0x04 = ERROR SLAVE DEVICE.

10/13

ACU

Modbus/TCP 49

9.2.4 Function code 101 (=0x65), write 32-bit parameter

MBAP

Unit

Func.

DSet/

Par. value
Protocol
ID

Hex

nn

nn

nn

nn

00

08

01

65

21

77

00

00

03

E8

MBAP

Unit

Func.

DSet/

Par. value
Protocol
ID

Hex

nn

nn

nn

nn

00

08

01

65

21

77

00

00

03

E8

MBAP

Unit

Func.

DSet/

Par. value
Protocol
ID

Hex

nn

nn

nn

nn

00

08

01

65

21

77

00

00

03

84

MBAP

Unit ID

Func.

Excep.
Transaction ID

Protocol ID

Length

Hex

nn

nn

nn

nn

00

03

01

E5

04

Example 1:

Writing of parameter

1.

The Rated Fre q uenc y is to be set to 10.0 0 Hz. Parameter
es. Thus the value to be sent is 1000 = 0x03E8.

Request: Master  frequency inverter

Rated Frequency 375 (0x0177) in dat aset 2 of freq uency inver ter with add ress

Rated Frequency 375 has two decimal plac-

Field:

Response: Frequency inverter  Master

Field:

The response is the reflected signal of the request message.

Example 2:

Writing of non-permissible value 9.00 Hz in parameter
inverter with address 1.

Parameter
Request: Master  frequency inverter

Field:

Transaction ID

Transaction ID

Length

Length

Rated Frequency 375 has 2 decimal places. Th us the value to be sent is 900 = 0x0384.

Transaction ID

Length

ID

ID

Rated Frequency 375 in dataset 2 of frequency

ID

Par.No.

Par.No.

Par.No.

Error response: Frequency inverter  Master

Field:

The sent exception condition code is the hexadecimal value 0x04 = ERROR SLAVE DEVICE.

50

ACU

Modbus/TCP 10/13

MBAP

Transaction ID

Protocol ID

Length

Hex

nn

nn

nn

nn

00

06

01

08

00

0A

00

00

MBAP

Transaction ID

Protocol ID

Length

Hex

nn

nn

nn

nn

00

06

01

08

00

0A

00

00

MBAP

Transaction ID

Protocol ID

Length

Hex

nn

nn

nn

nn

00

06

01

08

00

0E

00

00

MBAP

Transaction ID

Protocol ID

Length

Hex

nn

nn

nn

nn

00

06

01

08

00

0E

00

01

MBAP

Transaction ID

Protocol ID

Length

Hex

nn

nn

nn

nn

00

06

01

08

00

13

00

00

MBAP

Transaction ID

Protocol ID

Length

Hex

nn

nn

nn

nn

00

03

01

88

01

9.2.5 Function code 8, diagnosis

Example 1a:

Deleting of all diagnosis counters (sub-function 0x0A) in frequency inverter with a ddress 1.

Request: Master  frequency inverter
Field:

Response: Frequency inverter  Master
Field:

The response is the reflected signal of the request message. All counters are set to zero.

Example 1b:

With all counters set to zero, reading of diagnosis counte r 4 “Slave Messages Counter” (sub-function
0x0E) of frequency inverter with address 1.

Request: Master  frequency inverter
Field:

Response: Frequency inverter  Master

Field:

Unit ID Func. Sub-function Data

Unit ID Func. Sub-function Data

Unit ID Func. Sub-function Data

Unit ID Func. Sub-function Data

Counter value is 1 because this is the first message received after resetting of all counters to zero.

Example 2:

Reading of unknown diagnosis counter 8 (sub-function 0x13) of frequency inverter with address 1.
Request: Master  frequency inverter

Field:

Error response: Frequency inverter  Master

Field:

The sent exception condition code is the hexadecimal value 0x01 = INVALID FUNCTION CODE.

Unit ID Func. Sub-function Data

Unit ID Func. Excep.

10/13

ACU

Modbus/TCP 51

10 M otion Control Interface (M CI) / Motion Control Overri de (MCO )

The Motion Control Interface (MCI) is a defined interface of the ACU device for position­ing control via Field Bus. Typically, t his interface is used by field bus systems su ch as
CANopen

p­eration via a field bus using a posit ioning profile typically including t he target position,
speed, acceleration, deceleration, quick stop and mode-specific information.

In the case of Modbus/TCP communicatio n, MCI cannot be used directl y. Instead, posi­ti

n-

trol Override”.

The Motion Control Interface uses parameter Override Modes Of Operation 1454 for
switching between the different modes.

The supported modes as per CANopen

Bonfiglioli Vectron specific mode

The mode of operation can be switched in any operatin

It is recommended that running movements be stopped by the PLC first, then, switch
the mode of operation using

and restart in the

new mode.

In order to use the Motion Control Interface, Local/Remote 412 = “1 - Control via
statemachine” must be set. In configurations without positioning control (Configuration

30

For a description of the positioning parameters, please refer to the “Applicat ion manual

-

®

. With the Motion Contr ol Interface, the us er can carry out a posit ioning o

oning is performed via MCO (Motion Control O verride), se e Chapter 10.1 “Motion Co

®

Standard DS402 are:

• 1 – Profile Position mode

• 2 – Velocity mode [rpm]

• 3 – Profile Velocity mode [u/s]

• 6 – Homing

• 7 – Interpolated mode (not ava ilable when MCO is used)

• 8 – Cyclic sync position mode (not available when MCO is used)

• 9 – Cyclic sync velocity mo de (not available when MCO is used)

• -1 (or 0xFF) – Table Travel record mode

• -2 (or 0xFE) – Move Away from Limit Switch

• -3 (or 0xFD) – Electronic Gear: Slave (electronic gear as slave)

g state.

Override Modes Of Operation 1454

≠ x40), only velocity mode is available.

Positioning”.

52

ACU

Modbus/TCP 10/13

The Motion Control Override feature can be used for specifying a travel profile via serial
communication (V ABus or Modbus

). This enables
testing a travel profile in the VPlus user software for Windows when the controller has
not been programmed completely yet. This function can also be used as a simulation
mode.

The Function Motion Control Override does not support the following modes:

• Cyclic Synchronous Velocity Mode

Parameters

Settings

No.

Description

Min.

Max.

Factory setting

1454

Override Modes Of Operation

Selection

0 1455

Override Target Position

-231-1…231-1 u

-1 u

1456

Override Profile Velocity

-1…231-1 u/s

-1 u/s

1457

Override Acceleration

-1…231-1 u/s²

-1 u/s²

1458

Override Deceleration

-1…231-1 u/s²

-1 u/s²

1459

Override Target Velocity vl [rpm]

-32768…32767 rpm

-1 rpm

1460

Override Target Velocity pv [u/s]

-231-1…231-1 u/s

-1 u/s

Based on the default settings of the Motion Control Interface (parameters P.1292…

P.

1454 Override Modes Of Operation

or

0x6060 Modes of Operation

1455 Override Target Position

or

0x607A Target Position

1456 Override Profile Velocity

or

0x6081 Profile Velocity

1457 Override Acceleration

or

0x6083 Profile Acceleration

1458 Override Deceleration

or

0x6084 Profile Deceleration

1459 Override Target Velocity vl [rpm]

or

0x6042 Target Velocity

1460 Override Target Velocity pv [u/s]

or

0x60FF Target Velocity

With the default settings “-1” in parameters P.1455… P.1460 and “0” in parameter

Override Modes Of Operation

the values of the Motion Co ntrol from the links of

parameters

used. If the parameter settings deviate from the
factory settings, the value of the relevant pa rameter will be used. It is possible to de­fine certain ranges of t he trajectory via the overri de function and other value s via the
Motion Control Interface.

Target position “-1 u” cannot be approached because Override Target Position 1455 =

-

10.1 Motion Control Overri d e

• Interpolated Mode.

• Cyclic Synchronous Position Mode

as well as V ABus/TCP or Modbus/TCP

1297), the override parameters and CANopen® objects are used as follows:

P.1292… P.1297 are

1 deactivates the override feature.

1454

10/13

ACU

Modbus/TCP 53

Depending on the selected mode of operation, various objects and parameters are
used. The various objects and parameters must be set specifically for the different
modes of operation.
Use of “Deceleration” and “Quick Stop” depends on the modes of operation, control
commands and behavior in the case of communication errors (see

v-

iour

The following tables provide an overview of the different objects and parameters. The
object / parameter mentioned first i n a cell will t ypically be used. If a n object is r elated
to a parameter, the parameter will be specified.
The following tables show the available modes of Oper ation using the Motion Control
Override.

Mode

Homing

Velocity Mode

Profile Velocity Mode

1454 Over-

Of Operation

6 2 3

Target posi­tion

Speed

1132 & 1133

Fast speed

Creep speed

1459 Override Target

Velocity vl [rpm]

1460 Override Target Ve-

locity pv [u/s ]

Limitation3)

418 Minimum frequency

cy

418 Minimum frequency

cy

418 Minimum frequency
419

Acceleration

1134 Acceleration

420 Acceleration

clockwise

1457 Override Accelera-

tion

Deceleration

1134 Acceleration

421 Deceleration

clockwise

1458 Override Decelera-

tion

Emergency

1179 Emergency stop

424 Emergency stop

anticlockwise

1179 Emergency stop ramp

Homing
Method

1130 Homing type

Bus Error Beha

388).

ride Modes

stop 2)

Quick Stop

/

419 Maximum Frequen-

ramp

419 Maximum Frequen-

(clockwise)

422 Acceleration anti-

(clockwise)

423 Deceleration anti-

clockwise

425 Emergency stop

Maximum Frequency

1) The limitation results from Minimum frequency 418 and Maximum Frequency 419. Through Limi-

tation

1118 of the position controller in Configuration x40, an increase above the M aximum Fre­quency can occur, because the output of the position controller is added to the Maximum Frequen­cy.

2) Emergency stop or Deceleration is used depending on the stopping behavior Mode of opera-
630 or the behavior in the case of communi cation errors Bus Error Behaviour 388.

tion

54

ACU

Modbus/TCP 10/13

Mode

Profile Positioning mode

1454 Override Modes

Of Operation

1

Target position

1455 Override Target Position

Speed

1456 Override Profile Velocity

Limitation3)

418 Minimum frequency
419 Maximum Frequency

Acceleration

1456 Override Acceleration

Deceleration

1458 Override Deceleration

Emergency stop 4)

Quick Stop

1179 Emergency stop ramp

1) The limitation results from

tation

1118 of the position controller in Configuration x40, an increase above the M aximum Fre-

Minimum frequency 418 and Maximum Frequency 419. Through Limi-

quency can occur, because the output of the position controller is added to the Maximum Frequen­cy.

2) Emergency stop or Deceleration is used depending on the stopping behavior Mode of opera-
630 or the behavior in the case of communi cation errors Bus Error Behaviour 388.

tion

10/13

ACU

Modbus/TCP 55

Mode

Table travel record

mode

Move away from limit

switch

Electronic gear - Slave

1454 Over-

Of Operation

255

254

253

Target posi-

1202 Target position

Speed

1203 Speed

1132 Fast speed
1133 Creep speed

1460 Override Target Ve-

locity pv [u/s ]

Limitation3)

418 Minimum frequency

cy

418 Minimum frequency

cy

418 Minimum frequency
419

Acceleration

1204 Acceleration

1134 Acceleration

1457 Override Accelera-

tion

Deceleration

1205 Deceleration

1134 Acceleration

1458 Override Decelera-

tion

Emergency

Quick Stop

1179 Emergency stop

1179 Emergency stop

1179 Emergency stop ramp

Motion block

Selected via control word

Gear factor

1123 Gear factor Numera-

tor

1124

nator

Phasing 5)

1125 Phasing: Offset

1126
1127

tion

ride Modes

tion

stop 4)

419 Maximum Frequen-

ramp

419 Maximum Frequen-

ramp

Maximum Frequency

Gear factor denomi-

Phasing: Speed
Phasing: Accelera-

1) The limitation results from Minimum frequency 418 and Maximum Frequency 419. Through Limi-

tation

1118 of the position controller in Configuration x40, an increase above the M aximum Fre­quency can occur, because the output of the position controller is added to the Maximum Frequen­cy.

2) Emergency stop or Deceleration is used depending on the stopping behavior Mode of opera-

tion

630 or the behavior in the case of communi cation errors Bus Error Behaviour 388.

56

ACU

Modbus/TCP 10/13

Relationships between objects, parameters and conversions

Velocity [vl]  Velocity mode [rpm]
Velocity [pv]  Profile Velocity mode [u/s]

The graphical overview shows the most important objects which are used. Other ob­jects are available in the different modes; for additional

e-

scriptions of the objects and modes.

10/13

ACU

Modbus/TCP 57

information, refer to th e d

10.2 Functions of Motion Control Interface (MCI)

Via the Motion Control Interface, numerous positio ning functions ca n be address ed by
a PLC directly.

In many modes, t he Motion Co ntrol Interface uses user units [u]. The se user uni ts [u]
result from the conversion of the gear factor parameters and the

Conversion between “user units” [u] and frequencies [Hz]

[ ]

[ ]

11171115

1116373

U

u

.

Hz

s

u

v f

srevolution shaft Motor:Box earConstant Feed

srevolution shaftDriving :Box Gear

G

pairspoleofNo

⋅

⋅

⋅












=

[ ]

[

]

⋅

⋅

⋅

⋅












=

1116373

11171115

.

U

u

Hz

f

s

u

v

srevolution shaftDriving :Box Gear

s

revolution

shaft

Motor:

Box

ear

Constant Feed

pairs

pole

ofNo

G

Feed Constant 1115
Gear
Gear Box: Motor revolutions 1117

The same formulas can be used for converting acceleration values from a[Hz/s] to
a[u/s²] and vice versa. In the formulas, replace speeds f[Hz] and f[u/s] by acceler
tions a[Hz/s] and a[u/s²].

For more details about the reference system, refer to the “Positioning” application man­ual.

In Override Modes Of Operation 1454, you can define the operation mode of the fre-

The available options depend on the set frequency inverter configuration.

Available values for Override Modes Of Operation 1454 in con figurations of the fre­quency inverter with position control (Parameter Configuration 30 = x40):

Modes of operation

1 –

Profile position mode

2

–

Velocity mode [rpm](factory setting)

3

–

Profile velocity mode [u/s]

6

–

Homing mode

255
(-1)

Table travel record mode

254
(-2)

Move away from limit switch (manufacturer

253
(-3)

Electronic Gear: Sl ave (ma n ufacturer

Usable values for

Modes of operation

in fre quency i nverter con figurations without p osi-

tioning control (Parameter Configuration

Modes of operation

2

–

Velocity mode [rpm]

10.2.1 Reference system

No. of pole pairs 373.

Box: Shaft revolutions 1116

10.2.2 Modes of operation

quency inverter.

a-

–

–

–

58

ACU

(manufacturer-specific mode of operation)

-specific mode of operation)

-specific mode of operation)

30 ≠ x40):

Modbus/TCP 10/13

Parameter Act. Position 1108 returns the actual position in user units.

Parameter Act. Contouring Error 1109 returns the actual contouring error.

The contouring error can be monitored internally in order to trigger a device error once
a threshold is reached. For details on parameters

Threshold

application manual “Positioning”.

The target window monitors the current position after completion of a positioning
operation. A positioning operation is complete as soon as the current position i s in

, you can define as from

If the parameter value is set to 0, the operation will be complete as soon as the

For the Position reference value

be in the target window before "Target Reached" is signaled.

Parameter

Setting

No.

Description

Min.

Max.

Fact. sett.

1165

Target Window

0 u

220 u

182 u

1166

Target Window Time

1 ms

65 535 ms

1 ms

The size of the target window affects the automatic sequence of motion blocks be­cause the positioning operation requires a higher precision in the case of a small
target window (small tolerance). The following motion block is started when the
target window is reached.

10.2.3 Current position and contouring errors

Fault Reaction 1120, Warning

1105, Error Threshold 1106 and Contouring Error Time 1119, refer to

10.2.4 Target window

the target window. Via parameter Target Window 1165
which distance from the target position the signal "Target Reached" is set. This set­ting is valid both for the positive and negative dire ction.

Position reference value reaches the target position.
an internal value i s used, that is ca lculated anew dep ending on the pro file data for
each internal cycle step.
Via parameter Target Window Time 1166, you can define how lo ng the axis must

10/13

ACU

Modbus/TCP 59

10.2.5 Position Con troller

The position controller evaluates the positioning operation (target/actual position)

lated for compensation of
ter, this frequency ca n be

limited. The parameter settings of the position contr oller determine how quick and

Parameters

Settings

No.

Description

Min.

Max.

Factory setting

10.00 ms 1)

100.00 ms 2)

1118

Limitation

0 u/s

231-1 u/s

327 680 u/s

1)

Factory parameter setting Configuration 30 = 240 or 540

2)

Factory parameter setting Configuration 30 = 440

Example:

Position deviates by 1 motor shaft revolution, time constant is set to 1 ms. The pos
tion controller will increase the motor frequency by 1000 Hz in order to compensate
the position deviation. Parameter Limitation 1118 must be set acco rdingly.

Controller block diagram

In order to avoid oscillations of the drive w hile it is at standstill, amplification is re-

Amplification [%]

Control deviation
of position [°]

0.25-0.25 0.00

50

100

0.50

-0.50

and tries to control the drive such that it comes as close as possible to the specifica­tions. For this purpose, an additional frequency is calcu
position deviations. By setting the corresponding parame

to what extent position deviations are to be compensated.
Via Ti me Constant 1104, you can define the maxim um time in which the position
deviation is to be compensated.
Via parameter
for compensation of the position deviation.

1104 Time Constant 0.00 ms 300.00 ms

Limitation 1118, you can define to which value the speed is limited

i-

duced to 50 % of the parameterized value for small position deviations.

60

ACU

Modbus/TCP 10/13

The following behavior may indicate that the controller parameters are not config-

 inexact control

For the setting options o f other control paramet ers, e.g. speed controller and acce l­eration pilot cont rol, refer to the operating instructions of the freq uency inverter.

Optimize the settings in actual operating condition s, as control param eters for spe ed
ent load types to obtain a good control behavior in all situations.

When the drive is started, a defined starting position must be identified for absolute-

g. In a homing operation, the point of reference of the positioning
operation is determined. All positioning da ta relates to this point of reference. Once
the homing operation is started, the drive moves until it reaches a home switch or

movement (search direction) at the start of the homing operation is defined by the
homing mode. Once the limit switches are reached, the direction of rotation of the

sed, depending on the selected homing mode. The Limit switches

Relative positioning and moving in velocity mode is possible without homing.

Homing can be started:

• automatically before the start of a motion block positioning operation

1)

Extension module with system bus or field bus interface required

If an absolute value encoder with an absolute value encoder module (e.g. EM-ABS-01)
is used, homing is not required when power supply is turned on. This is define d by

Operation Mode

For more details about the homing function, refer to the “Positioning” application

After homing:

Initial Position

Flying homing can be used in order to updat e the home positi on during positioning
tioning”.

ured properly:

 drive is very loud
 drive vibrates
 frequent contouring errors

controller and acceleration pilot control depend on actual load. Op timize with differ-

10.2.6 Homing

value positionin

limit switch and stops there. The limit switches limit t he motion path. The d irection of

drive will be rever
can also be used as a reference for homing. For a list of homing modes, refer to chap­ter "List of Homing Modes".

• via a digital input

• by a control word via system bus or field b us

parameter

1220.

manual.

10.2.6.1 Start position after homing

Initial Position 1185 = -1  Drive stops at “stopped” position.

1185 ≠ -1  Drive will be moved actively to the set position.

1)

10.2.6.2 Flying homing

operations. For a description of this funct ion, refer to the application manua l “Posi-

10/13

ACU

Modbus/TCP 61

10.2.7 Move away from Hardware limit switches

When a hardware limit switch is triggered, an error message will be triggered depend­ing on the settings of parameter

and the relevant direction of

rotation will be disabled.
After an error reset, it is possible to move in t he direction that is still enabled.

l­ly, any mode of operation can be used for clearing, as long as the travel command has
the enabled direction.
As long as the limit switch is triggered, t he limit switch warning in t he status word and
actual value parameters

Controller

status

will remain. Once the limit switch is cleared, the wa rning will be deleted in

the status word and actual value parameters.

For simple clearing of the limit switches, you can use mode “-2 Clear limit switch” (see
Chapter

Fault reaction 1143

Warnings 269, Warnings Application 273 and

275

11.4.6 “Move away from limit switch mode”).

Genera

62

ACU

Modbus/TCP 10/13

The frequency inverter can generally be controlled via three operation modes. The
operation modes can be selected via the data set switchable parameter Local/Remote

412.

Parameters

Settings

No.

Description

Min.

Max.

Factory set-

ting

412

Local/Remote

0

44

44

For operation with CANope n®, only operation modes 0, 1 and 2 are relevant. The other
settings refer to the control option via the control unit.

Operation mode

Function

-

Control via
contacts
(Chapter 11.1)

The Start and Stop commands as well as the direction of
rotation are controlled via digital signals.

-

Control via
state machine
(Chapters

11.4)

The frequency inverter is controlled via the control word.

Only this setup supports positioning functions via
the

-

Control via
remote contacts
(Chapter 11.1)

The Start and Stop commands as well as the direction of
rotation are controlled via virtual digital sign
control word.

Parameter Local/Remote 412 is dataset switchable, i .e. you can switch between the
different operation modes by selecting another data set. For example, a frequency
inverter can be controlled via the bus, and emergency mode can be activated locally
when the bus master fails. This sw

e-

mote bit).

Data set switching can be effected locally via control contacts at the digital inputs of
the frequency inverter or via the bus. For data set switching via the bus, parameter

Data set selection 414 is used.

Parameters

Settings

No.

Description

Min.

Max.

Factory set-

ting

414

Data set selection

0 4 0

With Data set selection 414 = 0, data set switc hing via contact inputs will be active. If

Data set selection

is set to 1, 2, 3 or 4, the selected da ta set is activate d and dat a
set switching via the contact inputs is deactivated.
If

is set to 5, data set switching via conta ct inputs w ill be active

if the frequency inverter is not enabled.

Via parameter Active Data Set 249, the currently selected data set can be read. Ac-

tion 414

11 Control of frequency inverter

0

1

2

11.1.1,11.3,

control word and modes of operation.

als of the

itch-over is also identified by the status wor d (r

414

Data set selection 414

tive Data Set 249, indicates the Active Data Set (valu e 1, 2, 3 or 4) . Thi s is independ-

ent of whether the da ta set switching was done via contact inputs or

.

10/13

ACU

Modbus/TCP 63

Data set selec-

11.1 Control via contacts/remote contacts

In operation mode “Control via contacts" or “Control via remote contacts” (Parameter

Local/Remote

= 0 or 2), the frequency inverter is controlled directly via digital
inputs S1IND (STOA a nd S TOB), S 2IND t hroug h EM-S3IND or via the individual bits of
the virtual digital signals in the control word. The funct ion of these inputs is describe d
in the frequ

Control word (

Local/Remote

412 = 2)

15

14

13

12

11

10 9 8 7 6 5 4 3 2 1 0

Bit

S1IND (=STOA and STOB)

1

S2IND

2

S3IND

3

S4IND

4

S5IND

5

S6IND

6

MFI1D

7

EM

8

EM

9

EM

10

-

11

-

12

-

13

-

14

-

15

-

The digital inputs set via the control word can be monitored using parameter Digital

I

on at STOA and STOB
function is used, please ensure that Parameter
trol via remote contacts” is set in all data sets used.

412

ency inverter user manual.

0

-S1IND

-S2IND

-S3IND

nputs 250. Digital input S1IND will only be displayed if controller release is switched

and the control word (Bit 0) was set. If the data set switching

Local/Remote 412 is set to “2 – Con-

64

ACU

Modbus/TCP 10/13

Status word

15

14

13

12

11

10 9 8 7 6 5 4 3 2 1 0

Bit

0

Ready to switch on

1

Switched on

2

Operation enabled

3

Fault

4

Voltage enabled

5

Quick stop (Low active)

6

Switch on disabled

7

Warning

8

-

9

Remote

10

Target reached

11

Internal limit active

12

-

13

-

14

-

15

Warning 2

If operation mode “Control via remote contacts” is used, controller release must be

Bit 0 of the

p-

port

modes of operation

= “velocity mode”.

ACTIVE CUBE frequency inverters support an external 24 V power supply for the fre-

m-

enabled” of the status word shows the current mains power

signals “No mains voltage”, starting of drive not

t-

ing.

turned on at STOA (Terminal X210A.3) and STOB (Terminal X210B.2) and
control word must be set in order to be able to start the drive.
Operation mode s “Control via contra cts” and “Control via remote contac ts” only su

quency inverter control electronics. Even when mains voltage is disconnected, co
munication between the controller (PLC) and the frequency inverter is still possible.

Bit 4 “Power supply –
supply status:

Bit 4 “Power suppl y – ena bled” = 0
possible.

Bit 4 “Power suppl y – enabled” = 1 signals “Mains voltage on”, drive ready for star

10/13

ACU

Modbus/TCP 65

11.1.1 Device state machine

State machine:

4

switched on

0x23

5

operation

enabled

0x37

1

not ready to

switch on

0x00

8

fault

0x08

quitt fault

start drive

stop drive

Status word

Bit 5

Bit 4

Bit 3

Bit 2

Bit 1

Bit 0

Switched on

1 0 0 0 1

1

Operation enabled

1 1 0 1 1

1

Fault x x 1 x x x

“x” means any value.

Bit 7 “Warning” can displa y a de vice -internal warning message at any time. The cur-

n-

ings 270.

Bit 10 “Target reached” is set when the specified reference value is reached. In the

g-

For "Target reached“, there is a hysteresis (tolerance range) which can be set via the

Max. control deviation

Bit 11 “Internal limit value active” indicates t hat an internal limit is active. This
may be the current limit, the torque limit or the over voltage control. All function s will
result in the reference value being left or not reached.

Bit 15 “Warning 2” signals a critical operating state which will result in a fault switch­off of the frequency inverter within a short time. This bit is set if there is a delayed

r-

ing or mains phase failure.

rent warning is evaluated by reading the warning status with parameter War

special case of power failure regulation, t he bit is a ls o se t when the p owe r failure re
ulation reaches the frequency 0 Hz (see frequency inverter Operating Instructions).

parameter

549 see frequency inverter operating instructions).

warning relating to the motor temperature, heat sink/inside temperature, Ixt monito

66

ACU

Modbus/TCP 10/13

In the operation m ode “Control via state machine (Local/Remote 412 = 1), the fre-
quency inverter is addressed via the control word of the state machine.

Transition 4 to status “Operation enabled” is only possible:

−

= x40),

−

x40) the controller

release is set via STOA and STOB and if o ne of the digi tal inputs S2IN D or S3IND

Parameter Control word 410 is applicable to the frequency inverter if parameter Lo-

cal/Remote

Control word

15

14

13

12

11

10 9 8 7 6 5 4 3 2 1 0

Bit

0

Switch on

1

Enable voltage

2

Quick stop (Low active)

3

Enable operation

4

Operation mode specific

5

Operation mode specific

6

Operation mode specific

7

Fault reset

8

Halt

9

Operation mode specific

10

-

11

Manufacturer specific

12

Manufacturer specific

13

Manufacturer specific

14

Manufacturer specific

Manufacturer specific
Bits 9 … 15 are used depending on the configuration and on

Mode of Operation.

Control word

bits 4, 5, 6

operation mode specific

and bit 8

halt

are used in motion

control configurations (Parameter Configuration 30 = x40) only.

The actual value parameter Status word 411 shows the current operating status.

11.2 Control via state machine

If, in a configuration for positioning control (pa rameter Configuration 30

the controller release is set via STOA and STOB,

If, in other configurations (parameter Configuration 30 ≠

is set. (Typically: S2IND = Start clockwise/S3IND = Start anticlockwise)

412 is set to “1 – Control via st atemachine”.

10/13

ACU

Modbus/TCP 67

15

Status word

15

14

13

12

11

10 9 8 7 6 5 4 3 2 1 0

Bit

0

Ready to switch on

1

Switched on

2

Operation enabled

3

Fault

4

Voltage enabled

5

Quick stop (Low active)

6

Switch on disabled

7

Warning

8

Manufacturer specific

9

Remote

10

Target reached

11

Internal limit active

12

Operation mode specific

13

Operation mode specific

14

Manufacturer specific

15

Manufacturer specific
Warning 2

Bit 14 is not used.

Status word bits 12 and 13 “Operation mode specific” are only used in positioning con-

Configuration

ACTIVE CUBE frequency inverters support an external 24 V power supply for the in-

disconnected, communication

a-

Bit 4 “Voltage enabled” = 1 signals “Mains voltage on”, drive ready for start.

trol configurations (Parameter

30 = x40).

verter control electronics. Even when mains voltage is
between the controller (PLC) and the frequency inverter is still possible.

Bit 4 “Voltage enabled” of the status word shows the current mains power supp ly st
tus:

Bit 4 Voltage enabled” = 0 signals “No mains voltage”, starting of drive not possible.

68

ACU

Modbus/TCP 10/13

State machine:

11.2.1 Statemachine diagram

10/13

ACU

Modbus/TCP 69

Control word:

The device control commands are triggered by the following bit patterns in the status
word.

Control word

Command

Bit 7

Bit 3

Bit 2

Bit 1

Bit 0

Fault reset

Enable

operation

Quick

Enable

Switch

Shutdown

X X 1 1 0

2, 6, 8

Switch on

X 0 1 1 1

3

Enable operation

X 1 1 1 1

4

Disable voltage

X X X 0 X

7, 9, 10, 12

Quick stop
(Low active)

X X 0 1 X

7, 10, 11

Disable operation

X 0 1 1 1

5

Fault reset

0  1

x x x x 15

“X” means any value.

Transition 3 (comma nd “Switch On” [0x07]) will only be processed if Bit 4 “Vol tage

Transition 4 (Command “Enable operation” [0xF]) will only be processed if the relea se

release via STO is not set, the freque ncy inverte r will re main in s t atus

In status “Operation enabled” [0x37], the device will switch to status “Switched On”
[0x33] internally once the hardware release via STO is reset.

In configurations with Motion Control (parameter Configuration 30 = x40) , the fol-

•

•

•

In configurations without Motion Control (paramet er Configuration 30 ≠ x40), the
following must be noted:

Release: (= STOA and STOB) AND (Start clockwise OR Start Anticlockwise)

stop
(Low
active

voltage

on

Transitions

enabled” of the Status word is set.

is set via the hardware contacts STO.
If the hardware
“Switched On” [0x33] until the hardware release via STO is present.

lowing must be noted:

Transition 4’ is not available.
In status “5-Operation enabled [0x37]” an additional start signal must be provided

via bits from the “High Byte” of the control word in order to st art a movement of
the motor. For a description of the start signal for this “Motion Control Interface”
(MCI), refer to Chapter

11.4. Parameter Override Modes Of Operation 1454 is

available for switching to other MCI modes.

Digital inputs (STOA and STOB) must be set. Start clockwise and Start anticlock-

wise have no function in these confi gurations.

• Transition 4’ will only be processed if Bit 4 “Voltage enabled” of the status
word is set. This feature is downward-compatible with older software ver­sions.

• The frequency inverter can only be controlled if the logic operation is true.
The logic inputs for Start Clockwise and Start anticlockwise can be connected
directly with “On” or “Off” (parameter

clockwise

69).

Start Clockwise 68 and Start Anti-

Digital inputs (STOA and STOB) must be set.
This results in:

70

ACU

Modbus/TCP 10/13

Status word:

The status word indicates the current operating state.

Status word

Bit 6

Bit 5

Bit 3

Bit 2

Bit 1

Bit 0

Switch on

Quick

(Low

Fault

Operation

Switched

Ready to

Switch on disabled

1 X 0 0 0

0

Ready to switch on

0 1 0 0 0

1

Switched on

0 1 0 0 1

1

Operation enabled

0 1 0 1 1

1

Quick stop active

0 0 0 1 1

1

Fault reaction active

0 X 1 1 1

1

Fault 0 X 1 0 0 0

“X” means any value.

Bit 7 “Warning” can be set at any time. It reports a device-internal warning. The
cause of the warning is evaluated by reading the warning status with parameter

Warnings 270.

Bit 9 “Remote” is set if the operation mode is set to “Control via state machine” (Lo-

cal/Remote 412 = 1) and controller release is turned on.

Bit 10 “Target reached” is set when the specified reference value is reached.

≠ x40) “Target

. In the special case of power

failure regulation, the bit is also set w hen the power failure regulation reaches the

"Target reached“, there is a hysteresis (tolerance range) which can be set via the

parameter Max. control deviation 549 see frequency inverter Operating Instructions).

Bit 11 “Internal limit value active” indicates t hat an internal limit is active. This
may be the current limit, the torque limit or the over voltage control. All functio ns will
result in the reference value being left or not reached.

Bit 15 “Warning 2” signals a critical operating state which will result in a fault switch­off of the frequency inverter within a short time. This bit is set if there is a delayed

r-

ing or mains phase failure.

State

disabled

stop
active)

enabled

on

In configurations without Motion Control (parameter Configuration 30
reached” refers to the reference speed from OUT-PZD2

frequency 0 Hz (see frequency inverter operating instructions).
For

switch on

warning relating to the motor temperature, heat sink/inside temperature, Ixt monito

10/13

ACU

Modbus/TCP 71

11.3 Configurations without Motion Control

In configurations without positioning control (Configuration 30 ≠ x40) Override

This setting

cannot be changed.

Relevant paramet ers :

410

Control word

411

Status word

1459

Override Target velocity vl [rpm]

240

Actual speed

418

Minimum Frequency

419

Maximum Frequency

420

Acceleration (Clockwise)

422

Acceleration Anticlockwise

421

Deceleration (Clockwise)

423

Deceleration Anticlockwise

424

Emergency Stop Clockwise

425

Emergency Stop Anticlockwise

The ramp times are specified via parameters 430…433.

In quick stop, the parameters Switch-Off Threshold 637 (percent of parameter Max-

(holding time after falling short of t he

. In the case of a qui ck s top,

The emergency stop ramps are set via parameters
and Emergency Stop Anticlockwise

f

s

Start Quick Stop

OFF

change of state

t

Switch-off Threshold Stop Fct.

637

Emergency Stop Clockwise

424

425

Emergency S top Anticlockwise

Holdig Time Stop Function

638

If frequency/spee d reaches the value zero during the switch-off time, the drive con-

off time has elapsed. This ensures

that the drive is at a standstill when the state changes.

The quick stop behavior is only relevant for configurations without Motion Control

Modes Of Operation 1454 is set permanently to “2 -

11.3.1 Behavior in the case of a quick stop

imum Frequency 419) and Holding time 638

Switch-Off Threshold) are relevant. Maximum Frequency
the drive is stopped via emergency stop ramps.

425 .

velocity mode

”.

Emergency Stop Clockwise 424

tinues to be supplied w ith current until the switch-

(parameter Configuration 30 ≠ x40).

72

ACU

Modbus/TCP 10/13

The behavior in tr ansition 5 from “Ope ration enabled” t o “Switched On” can be con­figured via parameter State transition 5 392.

Parameters

Settings

No.

Description

Min.

Max.

Factory set-

ting

392

State transition 5

0 2 2

Operation mode

Function

-

Coast to stop

Immediate transition from “Operation enabled” to
“Switched On”, drive coasts to a standstill

-

DC brake

Activation of DC br ake, at the end of DC deceleration,
“Switched On”

-

Ramp

Transition with normal ramp, when the drive has come to
to "Switched On"

Setting 1 “Direct curre nt brake” is only possible wit h applications with U/f character is­tic control (e.g. configurati on 110). Other configuratio ns do not support this oper ati on

If the frequency inver ter is opera ted with a configurat ion which does not supp ort the

oriented control),

In this case, the operation mode is not offered in the selection menus of the control
unit KP500 and the control software VPlus.

By default, State-transition 5 392 is set to operation mode “2 - Ramp” For configur a-

is also

changed, if necessary.

The behavior in transition 5 is onl y relevant for configurations wit hout Motion Control

If State-transition 5 392 was triggered with “1 - DC brake”, a new control word will
only be accepted after completion of the transition process. The change of state from

parameterized

for the DC brake has elapsed.

If parameter State-trans ition 5 392 = “2 - Ramp” is set, the control word can be set
to “Operation enabled” again, while t he drive is decelerating. In this way, the drive

a-

bled”.

The change of state fro m “Oper ation enab led” to “Swi tched On” is d one after t he val-

and the set holding time has

a-

i-

ing of threshold)

are relevant.

11.3.2 Behavior in the case of transition 5 (disable operation)

0

1

2

mode.

there is the change from “Operation enabled” to

a standstill, there is the change from “Operation enabled”

operation mode Direct Cur rent Brake (e.g. configuration 21 0, field­value "1" cann ot be used.

tions with torque control, the default value is “0 – coast to stop”.
If the configuration is changed, the value set for State-transition 5 392

(parameter Configuration 30 ≠ x40).

“Operation enabled” to “Started” is done after the Braking time 632

accelerates to its set reference value again and remains in the state “operation en

ue has dropped below the set Switch-Off Threshold
elapsed (equivalent to the behavior in the case o f a quick stop). In this context, p
rameters Switch-Off Threshold stop function 637 (percentage of parameter Max

mum Frequency 419) and Holding time 638 (Holding time after pass

10/13

ACU

Modbus/TCP 73

11.3.3 Refere nce value /actual value

Depending on the settings of Local/Remote as well as Modes of Operations, the con-

m-

1459

Actual speed

The use of the reference/actual value channel depends on the set configuration (con­trol method). The actual value is generated according to the control method use.

The reference value in parameter Override Target Velocity vl [rpm] 1459 and the

-

c-

Reference frequency RAM [Hz]

The reference value for the frequency inverter from parameter Reference frequency

RAM [Hz]

r­ence line value. This reference value will be combined with the internal reference val­ue from the reference frequency channel and directed to the ramp. For information on
the reference frequency channel, refer to the operating instructions of the frequency
inverter.

internal
set point

refer to note

frequency
ramp

fmax

fmin

0

1

+

line
set point

operation mode 434

ramp set point

Reference percentage 524 can be used for regular changing of reference percent-

ages, e.g. as a reference value for technology controllers or as a reference torque.

Parameters

Settings

No.

Description

Min.

Max.

Factory set-

ting

434

Ramp Setpoint

1 3 3

484

Reference frequency RAM [Hz]

-999.99

999.99

0.00

524

Reference percentage RAM [%]

-300.00

300.00

0.00

Operation mode 434

Function

-

Internal reference fre­quency

The internal reference frequency is determined from
the reference frequency channel.

2 -

Reference line value

The reference value is supplied externally via the bus

3 -

Internal reference fre­quency + reference line
value

This function is only relevant in the case of configurations witho ut positioning control

troller (PLC) can define the reference frequency for the frequency inverter via para
eter Reference frequency RAM [ Hz] 484 or Override Target Velocity vl [rpm]
and receive the actual value via parameter

actual value in parameter Actual speed 240 are interpreted as values with unit [ min

1]

. Conversion into a freque ncy value (reference value) or from a frequency value (a
tual value) is performed in the frequency inverter.
The entry for parameter

484 or Override Target Velocity vl [rpm] 1459 is connected to the refe

240.

484 is done in [Hz] directly.

1

Addition (consider ing the sign) of internal reference
frequency and reference line value

74

(parameter Configuration 30 ≠ x40).

ACU

Modbus/TCP 10/13

If Ramp Setpoint 434 = 2 (reference line value only), this reference line value is lim-

with reference value = 0 is derived from the sign in front of

After Mains On, the reference line value is limit ed to +fmin.

For Ramp Setpoint 434 = 3, the sign of the total reference value results from the
total of internal reference frequency and reference line value.

The reference values can be controlled at the frequency inverter via the control unit or
the control software VPlus via the following parameters:

Actual values

Parameters

Contents

Format

Internal Reference Fre­quency

Internal reference value from the reference

xxx.xx Hz

Reference Bus Frequency

282

Reference line value from Field bus

xxx.xx Hz

Reference Ramp Frequen­cy

283

= sum of internal reference frequency +

xxx.xx Hz

In configuration s without Motion Control (Configuration 30 ≠ x40), the PLC must
send the correct sequence:

1

Control word =

0x0000

Disable voltage

2

Control word =

0x0006

Shut down

3

Control word =

0x0007

Switch On

4

Control word =

0x000F

Enable operation

OR

1

Control word =

0x0000

Disable voltage

2

Control word =

0x000F

Enable operation

In configurations without positioning control (Configuration 30 ≠ x40), the second
(shortened) sequence can be used, because transition

u-

rations.

ited to fmin.
The sign in front of fmin
the last reference line value which was not 0.

228

11.3.4 Example sequence

frequency channe l

reference line value

10/13

ACU

Modbus/TCP 75

4‘ is available in these config

11.4 Motion control configurations

WARNING

Definition Motion Control

For the full function of the Mot ion Control I nterfaces/ Motion Contro l Override , you will

Control via state machine”. In all other operat ion

, there are major restrictions. The descriptions

=

“1-Control via state machine”.

The usage of Positioning for setting Local/Remote 412 ≠ 1 is described in the “Posi-

The function of the state machine describes the basic operating behavior of the fre-

= x40). The

and

These bits and bit “Target reached” have different meanings in the different position

l-

lowing chapters describe the application of the operation mode specific bits in the

, depending on the different position cont rol operation

modes. Default value of Override Modes Of Operation 1454: “2 – velocity mode”.

Basic functions:

The state machine must be set to “operation enabled”, before the position command
can be issued via the operation mode specifi c bit s of the

control word

.

The bits in the

control word

and

status word

marked as operation mode specific are

only supported in configurations with position control (Configuration 30 = x40).

Dangerous state due to n ew mode!

If

Override Modes Of Operation 1454 is changed duri ng ope ra ti on ( cont rol w ord =

0xnnnF), a dangerous state may occur in the new mode.

• Be fore changing
(e.g. for status 0xnn33).

have to set Local/Remote 412 = “1­modes of parameter Local/Remote 412
in this chapter and of all objects used are based on the setting Local/Remote 412

tioning” application manual.

Override Modes Of Operation 1454

,

check the status wor d

quency inverter i n config uratio ns with pos ition cont rol (Configuration 30
parameters described in 11.2 “Control via s tate machine ”, i.e. Control word 410

Status word 411 support the bits marked as operation mode specific .

control operation modes – defined by Override Modes Of Operation 1454. The fo

control word

and

status word

76

ACU

Modbus/TCP 10/13

“Velocity mode” can be selected via parameter Override Modes Of Opera-

specific bits of the control word control the ramp ge ne rator

(RFG – Ramp Function Generator). The block diagram illustrates the function.

Relevant paramet ers :

410

Control word

411

Status word

1459

Override Target velocity vl [rpm]

240

Actual speed

418

Minimum Frequency

419

Maximum Frequency

420

Acceleration (Clockwise)

422

Acceleration Anticlockwise

421

Deceleration (Clockwise)

1454

Override Modes Of Operation

The ramp times are specified via parameters 430…433.

Control word

15

14

13

12

11

10 9 8 7 6 5 4 3 2 1 0

Bit

0

Switch on

1

Enable voltage

2

Quick stop (Low active)

3

Enable operation

4

Rfg enable

5

Rfg unlock

6

Rfg use ref

Fault

8

Halt

9

-

10

-

11

-

-

13

-

14

-

15

-

11.4.1 Velocity mode [rpm]

tion 1454 = 2.

In velocity mode, the mode-

7

reset

10/13

ACU

Modbus/TCP 77

12

Status word

15

14

13

12

11

10 9 8 7 6 5 4 3 2 1 0

Bit

0

Ready to switch on

1

Switched on

2

Operation enabled

3

Fault

4

Voltage enabled

5

Quick stop (low active)

6

Switch on disabled

7

Warning

8

-

9

Remote

10

Target reached (not used)

11

Internal limit value active

12

-

13

-

14

-

15

Warning2

Block diagram

RFG

Ramp Function Generator

Run_RFG

Lock_Output

Bit 5 / rfg unloc k

1

0

1

0

1

0

Bit 4 / rfg enable

Bit 6 / rfg use ref

Ramp_Reference

0

Special
Function
Generator

78

ACU

Modbus/TCP 10/13

Bit 4:rfg enable

Rfg enable = 0

The reference speed comes from a manufacturer-specific special
function.

Rfg enable = 1

The reference speed corresponds to the ramp output.

The special function will only be evaluat ed if 1299 S. Special Function Generator is

Zero”, the value of the ramp output will

Bit 5:rfg unlock

enabled” state.)

If 1299 S. Special Function Generator ≠ “9-Zero”, the reference value from the ramp

reference value from the source specified in 1299 S. Special Function Generator.

Reference value source

1299 S. Special Function Gen-

erator ≠ “9-Zero”

1299 S. Special Function

Generator = “9-Zero”

Bit 4 rfg enable = 0

Reference value from special
function

Bit 4 rfg enable = 1

Reference value from ramp
output

not “9-zero”.
If 1299 S. Special Function Generator = “9­always be used.

Rfg unlock = 0 The last speed will be maintained and used.
Rfg unlock = 1 The ramp function is active and changes according to the reference
value and the ramp.

Bit 6/rfg use ref

Rfg use ref = 0 Reference value “0” is used.
Rfg use ref = 1 The reference value from

Override Target Velocity vl [rpm] 1459 is

used.

Bit 8 HALT
HALT = 0  Execute positioning.
HALT = 1  Stop axis. (The frequency inverter remains enabled in “Operation

output will also be used if bit 4 “rfg enable” = 1, and if bit 4 “rfg enable” = 0, the

Reference value from ramp
output

10/13

ACU

Modbus/TCP 79

11.4.1.1 Example sequence

In order to start “velocity mode”, the correct sequence must be sent by the PLC.

1

Control word =

0x0000

Disable voltage

1

Status word =

0x0050

Switch On Disabled

2

Modes of operation =

2

(Velocity mode)

3

Control word =

0x0006

Shutdown

Status word =

0x0031

Ready to switch on

4

Control word =

0x0007

Switch On

Status word =

0x0033

Switched On

5

Control word =

0x000F

Enable operation, no chang e of previous status
if already enabled.

Status word =

0xnn37

Operation enabled

6a

Control word =

0x007F

Starts “Velocity mode” with reference value
from parameter

[rpm] 1459.

Status word =

0xnn37

Operation enabled

6b

Control word =

0x006F

1299 S. Special Function Generator:
= “9

1299

≠ “9

S. Special Function Generator

Status word =

0xnn37

Operation enabled

6c

Control word =

0x003F

Starts “Velocity mode” with reference value “0”

Status word =

0xnn37

Operation enabled

6d

Control word =

0x002F

1299 S. Special Function Generator:
= “9

1299

≠ “9

from 1299 S. Special Function Generator

Status word =

0xnn37

Operation enabled

6e

Control word =

0x005F

Starts “Velocity mode” at current speed – cur­rent ramps will be canceled.

Status word =

0xnn37

Disable voltage

6f

Control word =

0x004F

1299 S. Special Function Generator:
= “9

1299

≠ “9

from 1299 S. Special Function Generator

Status word =

0xnn37

Disable voltage

7

Control word =

0x01xx

HALT: The drive is decelerated at the ramp

Deceleration (Clockwise)
Anticlockwise

Status word =

0xnn37

Operation enabled

Override Target Veloci ty vl

-Zero”

 Starts “Velocity mode” with reference val-

ue from parameter

ity vl [rpm]

1459.

S. Special Function Generator:

-Zero”

 Starts with reference value with source

from 1299

Override Target Veloc-

-Zero”

 Starts “Velocity mode” with reference val-

ue “0”

S. Special Function Generator:

-Zero”

 Starts with reference value with source

-Zero”

 Starts “Velocity mode” at current speed –

current ramps will be canceled.

S. Special Function Generator:

-Zero”

 Starts with reference value from source

421 or Deceleration

423.

80

ACU

Modbus/TCP 10/13

WARNING

Once the sequence of the first four status words has been processed correctly, the ACU
is ready for operation (dark table area).
In state “operati on enabled” (0xnnnF), the state of the Motion Control can be changed
(white table area).
With control word transition from 0xnnF to 0x000F, “Velocity mode” will be stopped.
Then, the mode can be restarted via 0xnnF.
As long as 0x0007 is act ive , the “Mo de s of O pe ra ti on” ca n als o be cha nge d sa fe ly. Onc e

Override Modes Of Operation

set to another value, ope ration can be

started with a corresponding sequence.

Dangerous state due to n ew mode!

If

Override Modes Of Operation 1454 is changed during operation (control word =

0xnnnF), a dangerous state may occur in the new mode.

• Before changing
(e.g. for status 0xnn33).

Override Modes Of Operation 1454

1454 has be en

,

check the status word

10/13

ACU

Modbus/TCP 81

11.4.2 Profile Velocity mode [u/s] (pv)

“Profile velocity mode” (pv) can be selected via Override Modes Of Operation 1454

velocity mode” (pv), the frequency inverter receives a target speed in

user units per second [u/s].

Relevant paramet ers :

410

Control word

1279

Threshold Window Time

411

Status word

1457

Override Profile Acceleration

418

Minimum Frequency

1458

Override Profile Deceleration

419

Maximum Frequency

1179

Emergency ramp

1454

Override Modes Of Operation

1176

Ramp time Accel.

1107

Act. Speed

1178

Ramp time Decel.

1276

Velocity Window

1275

Max Slippage

1277

Velocity Window Time

1460

Override Target Velocity pv [u/s]

1278

Threshold Window

The ramp times are specified via parameters 1176…1178.

In “Profile velocity mode” (pv), the mode-specific bits of the control word and the

Control word

15

14

13

12

11

10 9 8 7 6 5 4 3 2 1 0

Bit

0

1

2

Quick stop (Low
active)

3

4

5

6

7

8

9

1
0

1
1

1
2

1
3

1
4

1
5

= 3. In “Profile

status word are used as follows:

Switch on
Enable voltage

Enable operation

-

-

-
Fault reset

Halt

-

82

ACU

Modbus/TCP 10/13

-

-

-

-

-

-

Status word

15

14

13

12

11

10 9 8 7 6 5 4 3 2 1 0

Bit

0

Ready to switch on

1

Switched on

2

Operation enabled

3

Fault

4

Voltage enabled

5

Quick stop (low active)

6

Switch on disabled

7

Warning

8

-

9

Remote

10

Target reached

11

Internal limit active

12

Velocity

13

Max Slippage

14

-

15

Warning 2

Profile velocity mode enables setting of a reference speed in units per second [u/s].
The reference speed

i­ately in status “Operation enabled” (0xnn37) . The acceleration and decelera tion ramps
are

e-

celeration 1458.

If bit 8 “Halt” of the control word is set, the drive will be decelerated and kept at a
standstill at the ramp set in paramet er

. If bit 8 is
reset, the drive will be accelerated to the current reference speed at the ramp set in
parameter Override Profile Acceleration

Control word Bit 8: Halt
HALT = 0



HALT = 1



enabled”.)

The current spee d in user units per seco nd [u/s] can be displaye d in a controller via
parameter

Override Target Velocity pv [u/s] 1460 will be applied immed

set via parameters Override Profile Acceleration 1457 and Override Profile D

Override Profile Deceleration 1458

1457.

Execute Profile Velocity Mode.
Halt Axis. (The Frequency inverter remains in state “Operation

Velocity Window 1276.

10/13

ACU

Modbus/TCP 83

Via parameter

Velocity Window 1276 and Veloci ty Window Time 1277

Bit 10 “Target

reached” of the status word is set.

Via parameter Threshold Window 1278 and Threshold Window Time 1279 Bit 12 “Ve­locity” of the status word is set.

Via parameter Max Slippage 1275 a slip monit oring via Bit 13 “Max S lippage” of the
status word can be set up.

Status word bit 10: Target reached

Target reached =0

 The actual velocity doesn’t match the reference velocity.

Target reached =1

 The actual velocity matches the reference velocity.

The actual velocity differs at least from the defined time
in
in Velocity Window 1276

.

Status word Bit 12: Velocity

Velocity
= 0

 The Actual Velocity matches the comparison speed.

The Actual

Threshold

Window Time

onds [u/s] (Threshold Window 1278).

Velocity
= 1

 The Actual Velocity doesn’t mat ch the Comparison Velocity.

Status word Bit 13: Maximum Slippage

Maximum Slippage
= 0

 The actual Slippage speed is smaller than defined. The
comparison value of the slippage speed is defined Object

Slippage

Maximum Slippage
= 1

 The actual Slippage speed is bigger than defined. The
comparison value of the slippage speed is defined

page 1275.

Velocity Window Time 1277 up to the defined amount [us]

period

Velocity has exceeded for a defined time (

1279) a defined Velocity in user units per sec-

1275.

Max Slip-

Max

84

ACU

Modbus/TCP 10/13

In order to start “Profile velocity mode”, the correct sequence must be sent by the
PLC.

1

Control word =

0x0000

Disable voltage

1

Status word =

0x0050

Switch On Disabled

2

Modes of
Operation =

3

Profile Velocity mode

3

Control word =

0x0006

Shutdown

Status word =

0x0031

Ready to switch on

4

Control word =

0x0007

Switch On

Status word =

0x0033

Switched On

5

Control word =

0x0007
0x000F

Enable operation. Profile velocity mode is
started at the target speed

get Velocity pv [u/s]
Override Profile Acceleration
Override Profile Deceleration

Target speed and ramp values are applied
immediately.

Status word =

0xnn37

Operation enabled

1) A profile comprises the following entries. If a value is not changed, the old value
will remain active.

• 1456 Override Profile Velocity

• 1460 Override Target Velocity pv [u/v]

WARNING

Once the sequence of the first four status words has been processed correctly, the
ACU is ready for operation (dark table area).
In state “operati on enabled” (0xnnnF), the state of the Motion Control can be changed
(white table area).
As long as 0x0007 is active, the “Modes of Operation” can also be changed safely.
Once

has been set to anot her value, operation

can be started with a corresponding sequence.

11.4.2.1 Example sequence

• 1457 Override Profile Acceleration

• 1458

Override Profile Deceleration

Dangerous state due to new mode!

If

Override Modes Of Operation 1454 is changed duri ng ope ra ti on ( cont rol w ord =

0xnnnF), a dangerous state may occur in the new mode.

• Be fore changing

Override Modes Of Operation 1454

(e.g. for status 0xnn33).

Override Tar-

1460 and the ramps

1457 and

1458.

,

check the status wor d

Override Modes Of Operation 1454

10/13

ACU

Modbus/TCP 85

11.4.3 Profile position mode

“Profile position mode” can be selected via Override Modes Of Operation 1454 = 1.
In profile position mode, the frequency inverter receives a target position, followe d by
the command to travel to this target.

Relevant paramet ers :

410

Control word

1455

Override Target Position

411

Status word

1456

Override Profile Velocity

418

Minimum Frequency

1457

Override Profile Acceleration

419

Maximum Frequency

1458

Override Profile Deceleration

1454

Override Modes Of Operation

1179

Emergency ramp

The ramp times are specified via parameters 1176 and 1178.

In “Profile position mode”, the mode-specific bits of the control word and the status
word are used as follows:

Control word

15

14

13

12

11

10 9 8 7 6 5 4 3 2 1 0

Bit

0

Switch on

1

Enable voltage

2

Quick stop (Low active)

3

Enable operation

4

New set

5

Change set immediately

6

Abs/rel

7

Fault reset

8

Halt

9

Change on set

10

-

11

-

12

-

13

-

14

-

15

-

-point

-point

86

ACU

Modbus/TCP 10/13

Status word

15

14

13

12

11

10 9 8 7 6 5 4 3 2 1 0

Bit

0

Ready to switch on

1

Switched on

2

Operation enabled

3

Fault

4

Voltage enabled

5

Quick stop (Low active)

6

Switch on disabled

7

Warning

8

-

9

Remote

10

Target reached

11

Internal limit active

12

Set

13

Following error

14

-

15

Warning 2

-point acknowledge

10/13

ACU

Modbus/TCP 87

Control word

Change on

Change set-point

New set-

Bit 4

Description

0 0

0  1

Positioning operation to be com­the next one is started.

X 1

0  1

Next positioning operation to be
started immediately.

1 0

0  1

Positioning operation to be

be processed.

Identification

Value

Description

Abs/rel

0

Override Target Position 1455 is an absolute value.

1

Override Target Position 1455 is a relative value.

Halt

0

Execute positioning operation.

1 Stop axis with Override Profile Deceleration 1458 (if

“Operation enabled”.

Status word

Identification

Value

Description

Target reached

0

Halt (control bit 8) = 0:

Override Target Position

window”.

Halt (control bit 8) = 1:

Axis decelerated

1 Halt (control bit 8) = 0:

Override Target Position

dow”.

Halt (control bit 8) = 1:

Speed of axis is 0

Set-point

0

The travel profile calculation has not applied the posi­tion value (yet).

1 The travel profile calculation has applied the position

value.

Following error

0

No following error.

1 Following error.

set-point

Bit 9

Bit 6

Bit 8

immediately

Bit 5

not supported with Override Profile Acceleration

1457), the frequency inverter will remain in status

point

pleted (target reached) before

started with the current speed
profile until the current refer­ence value is reached, then, the
next positioning operation is to

Bit 10

acknowledge

Bit 12

Bit 13

1455 not reached (yet). See

also chapter 10.2.4 “

1455 reached. See also
chapter 10.2.4 “

Target

Target win-

88

ACU

Modbus/TCP 10/13

Example:

Individual reference value

Control bit “Switch at reference value” = 0

Control bit “Change reference value immediately” = 0

Once a reference value has been trans mitted t o the dr ive, the cont roller sig nals a per­missible value in the control work by a rising signal edge for the bit “New reference

confirmed” and starts

r-

ence value”, and the drive resets the bit “Reference value confirmed”. Once the bit

r-

get position.

t

t

t

t

t

t

actual
speed

new set p oint
(control bit 4)

target position
(set point)

current target
position
processed

set point
acknowledge
(status bit 12)

tar get reached
status bit 10

PLC

Drive

value” The drive responds by setting the bit “Reference value
moving to the new target position. After that, the controller resets the bit “New refe

“Reference value confirmed” has been reset, the drive is ready for receiving a new ta

10/13

ACU

Modbus/TCP 89

Example:

single set-point

control bit

change on set-point

= 0

control bit

change set immediately

= 1

A new reference value is confirmed by the control bit “New reference value” (rising

edge) while a reference value is being processed. The new reference value is pr

o-

cessed immediately.

t

t

t

t

t

t

actual
speed

new set point
(control bit 4)

target position
(set point)

current target
position
processed

set point
acknowledge
(status bit 12)

tar get reac hed
status bit 10

PLC

Drive

90

ACU

Modbus/TCP 10/13

Example: set of set-points

control bit

change on set-point

= 0/1

control bit

change set immediately

= 0

The travel profile is changed dur ing an active posi tioning operation.

Change on set point

= 0

The current target position is approa ched with a Stop. On ce
the position has been reached, the new reference value is
set.

Change on set point

= 1

The current target position is approached at the active
speed. Once the current target position has been reached,
the new reference value is applied without reducing the
speed to zero.

t

t

t

t

t

t

actual
speed

new set point
(control bit 4)

target position
(set point)

current target
position
processed

set point
acknowledge
(status bit 12)

tar get rea c hed
status bit 10

PLC

Drive

change on set point =

0

change on set point =

1

10/13

ACU

Modbus/TCP 91

11.4.3.1 Example sequence

In order to start “Profile position mode”, the correct sequence must be sent by the PLC.

1

Control word =

0x0000

Disable voltage

1

Status word =

0x0050

Switch On Disabled

2

Modes of
Operation =

1

(Profile Position mode)

3

Control word =

0x0006

Shutdown

Status word =

0x0031

Ready to switch on

4

Control word =

0x0007

Switch On

Status word =

0x0033

Switched On

5

Control word =

0x0007
0x000F

Enable operation. Positioning operation is
not started.

Status word =

0xnn37

Operation enabled

6a

Control word =

0x0007 or 0x000F

Operation enabled, start absolute posi­tioning with profile
If a positioning operation is already in pr
cess, this operation will be completed.
Then, the new profile will be used.

Status word =

0xnn37

Operation enabled

6b

Control word =

0x0007 or 0x000F

Operation enabled, start relative position­ing with profile
If a positioning operation is already in pr
cess, this operation will be completed.
Then, the new profile will be used.

Status word =

0xnn37

Operation enabled

6C

Control word =

0x0007 or 0x000F

Operation enabled, start absolute posi­tioning with profile
Running positioning operations will
changed and apply the new profile

Status word =

0xnn37

Operation enabled

6d

Control word =

0x0007 or 0x000F

Operation enabled, start relative position­ing with profile
Running positioning operations will
changed and apply the new profile

Status word =

0xnn37

Operation enabled

7

Control word =

0x01nF

HALT: The drive is decelerated at the ramp
set in

Deceleration anticlockwise 423.

Status word =

0xnn37

Operation enabled

1) A profile comprises the following entries. If a value is not changed, the old value will
remain active.

• 1455 Override Target Position

• 1458 Override Profile Deceleration

0x001F

1)

.

o-

0x005F

0x003F

0x007F

1)

.

1)

.

1)

.

Deceleration (clockwise) 421 or

o-

• 1456 Override Profile Velocity

• 1457

Override Profile Acceleration

92

ACU

Modbus/TCP 10/13

WARNING

Once the sequence of the first four status words has been processed correctly, the ACU
is ready for operation (dark table area).
In state “operati on enabled” (0xnnnF), the state of the Motion Control can be changed
(white table area).
With control word transition from 0xnnF to 0x000F, “Profi
stopped. Then, the mode can be restarted via 0xnnF.
As long as 0x0007 is act ive , the “Mo de s of O pe ra ti on” ca n als o be cha nge d sa fe ly. Onc e

Override Modes Of Operation

has been set to another value , operation can be

started with a corresponding sequence.

In order to start a profile, you don't have to set the control w ord to 0x0007 first.
Once a profile has been processed, a new profile can be started with the bit “New re
erence value” (bit 4) in control word 0xnnnF.
Whil
ing the bits “Change reference value immediately” (bit 5) and “New reference value”
(bit 4).

Dangerous state due to n ew mode!

If

Override Modes Of Operation 1454 is changed during operation (control word =

0xnnnF), a dangerous state may occur in the new mode.

• Before changing

Override Modes Of Operation 1454

,

check the status word

(e.g. for status 0xnn33).

le position mode” will be

1454

f-

e a profile is being processed, you can start a new profile without stopping by us-

10/13

ACU

Modbus/TCP 93

11.4.4 Homing mode

“Homing mode” can be selected via parameter Override Modes Of Operation 1454.
In homing mode, the frequency inverter moves the drive to a reference position. The

Homing mode

Relevant paramet ers :

410

Control word

1130

Homing mode

411

Status word

1132

Fast speed

418

Minimum Frequency

1133

Creep speed

419

Maximum Frequency

1134

Acceleration

1454

Override Modes Of Operation

The ramp times are specified via parameter 1135.

In homing mode, the mode-specific bits of the control word and the status word are
used as follows:

Control word

15

14

13

12

11

10 9 8 7 6 5 4 3 2 1 0

Bit

0

1

2

Quick stop (Low ac­tive)

3

4

Homing operation
start

5

6

7

8

9

1
0

1
1

1
2

1
3

1
4

1
5

method used for this movement is defined by parameter

1130.

Switch on
Enable voltage

Enable operation

-

-
Fault reset

Halt

-

-

-

-

-

-

-

94

ACU

Modbus/TCP 10/13

Status word

15

14

13

12

11

10 9 8 7 6 5 4 3 2 1 0

Bit

0

1

2

3

4

5

Quick stop (Low Ac­tive)

6

7

8

9

1
0

1
1

1
2

1
3

1
4

1
5

Control word

Identification

Value

Description

Homing operation

0

Homing not active.

0  1

Start homing with Acceleration 1134 and Fast Speed

Creep Speed

1

Homing active.

1  0

Stop homing.

Halt

0

Execute command from bit 4 “Start homing”.

1

Stop axis with acceleration value (as decelera tion) for
“Operation enabled” status.)

Ready to switch on
Switched on
Operation enabled
Fault

Voltage enabled

Switch on disabled
Warning

-
Remote
Target reached
Internal limit active

Homing attained
Homing error

-
Warning 2

start

Bit 4

1132 and

1133.

Bit 8

10/13

homing. (The frequency inverter remains enabled in

ACU

Modbus/TCP 95

Status word

Identification

Value

Description

Target reached

0

Halt = 0: Home position (still) not reached.

Halt = 1: Axis decelerated.

1

Halt = 0: Home position reached.

Halt = 1: Axis has speed 0.

Homing attained

0

Homing not completed yet.

1

Homing completed successfully.

Homing error

0

No homing error.

1

Homing error occurred,
homing not completed successfully.

For a description of homing operations, refer to the Application manual “Positioning”.

In order to start “homing mode”, the correct sequence must be sent by the PLC.

1

Control word =

0x0000

Disable voltage

1

Status word =

0x0050

Switch On Disabled

2

Modes of operation =

6

(Homing)

3

Control word =

0x0006

Shutdown

Status word =

0x0031

Ready to switch on

4

Control word =

0x0007

Switch On

Status word =

0x0033

Switched On

5

Control word =

0x000F

Enable operation.

Status word =

0xnn37

Operation enabled

6a

Control word =

0x001F

Enable operation and start homing.

Status word =

0x1n37

Operation enabled and homing attained .

WARNING

Once the sequence of the first four status words has been processed correctly, the ACU
is ready for operation (dark table area).
In state “operati on enabled” (0xnnnF), the state of the Motion Control can be changed
(white table area).
With control word transition from 0x0007 (or 0x000F) to 0x001F the homing opera
is started. “Home position set”
As long as 0x0007 is act ive , the “Mo de s of O pe ra ti on” can a ls o be cha nge d sa fe ly. Once

Override Modes Of Operation

has been set to another value , operation can be

started with a corresponding sequence.

Bit 10

Bit 12

Bit 13

11.4.4.1 Example sequence

Dangerous state due to n ew mode!

If

Override Modes Of Operation 1454 is changed du ring operation (control wor d =

0xnnnF), a dangerous state may occur in the new mode.

• Before changing

Override Modes Of Operation 1454

(e.g. for status 0xnn33).

- Bit 12 returns the status in the status word.

1454

96

ACU

Modbus/TCP 10/13

,

check the status word

tion

“Table travel record mode” can be selected via parameter Override Modes Of Opera-

Relevant paramet ers :

410

Control word

1108

Act. Position

411

Status word

1106

Error Threshold

418

Minimum Frequency

1119

Contouring Error Time

419

Maximum Frequency

1165

Target Window

1454

Override Modes Of Operation

1166

Target Window time

1246

Actual Motion Block

1179

Emergency ramp

1249

Motion Block to Resume

In “Table travel record mode” the mode-specific bits of the control word and the sta-

Control word

15

14

13

12

11

10 9 8 7 6 5 4 3 2 1 0

Bit

0

1

2

Quick stop (Low
active)

3

4

5

7

8

9

1
0

1
1

Motion block select
0

1
2

Motion block select
1

1
3

Motion block select
2

1
4

Motion block select
3

1
5

Motion block select
4

11.4.5 Table travel record

tion 1454. In “Table travel record mode”, the drive moves to successive positions

automatically. “Table travel record mode” uses pre-defined positions. Each target posi­tion is defined by a motion block. Several motion blocks can be defined.

For a description of motion blocks, refer to the Application manual “Positioning”.

tus word are used as follows:

Switch on
Enable voltage

Enable operation

Sequence mode

-

6

Resume
Fault reset

Halt
Start motion block

-

10/13

ACU

Modbus/TCP 97

Status word

15

14

13

12

11

10 9 8 7 6 5 4 3 2 1 0

Bit

0

Ready to switch on

1

Switched on

2

Operation enabled

3

Fault

4

Voltage enabled

5

Quick stop (Low Active)

6

Switch on disabled

7

Warning

8

Motion block in progress

9

Remote

10

Target reached

11

Internal limit active

12

In gear

13

Following error

14

-

15

Warning 2

Control word

Identification

Value

Description

Sequence mode

0

Single motion

1 Automatic sequence

Resume

0

Start motion block = motion block switching

1 Start motion block = last Actual Motion Block
ject 1249.

Halt

0

Execute command from bit 4 “Automatic sequence”

1 Stop axis at ramp of current motion block The frequency
inverter remains in “Operation – enabled” status.

Start motion

Bit 9

0

Stop axis at ramp of current motion block

0  1

Execute motion block(s)

Motion block se-

Bit 11…15

n

Start motion block = n + 1

Bit 4

Bit 6

The motion block which is resumed can be read via ob-

Bit 8

block

lect 0…4

98

ACU

Modbus/TCP 10/13