Danfoss vacon 100 industrial, vacon 100 flow, vacon 100 hvac, vacon 100 x User guide

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vacon 100 industrial

vacon 100 flow

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vacon 100 x

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modbus tcp/udp and modbus rtu

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vacon • 1

Table of Contents

Document: DPD00156D

Version release date: 30.11.16

1. Safety................................................................................................................3

1.1 Danger.................................................................................................................................3

1.2 Warnings .............................................................................................................................4

1.3 Earthing and earth fault protection ....................................................................................5

2. Modbus - general info.......................................................................................6

3. Modbus technical data ......................................................................................8

3.1 Modbus RTU protocol .........................................................................................................8

3.2 Modbus TCP protocol..........................................................................................................8

3.3 Modbus UDP vs TCP............................................................................................................8

3.4 Connections and wiring ....................................................................................................11

3.5 ACD (Address Conflict Detection) in Ethernet network ...................................................11

4. Installation......................................................................................................12

4.1 Installation in VACON® 100 family AC drives ..................................................................12

4.1.1 Prepare for use through ethernet ....................................................................................13

4.1.2 Prepare for use through RS485........................................................................................15

4.2 Installation in VACON® 100 X...........................................................................................19

4.2.1 Prepare for use through Ethernet....................................................................................19

4.2.2 Prepare for use through RS485........................................................................................20

5. Fiedlbus parametrization ...............................................................................22

5.1 Fieldbus control and basic reference selection...............................................................22

5.1.1 Torque control parametrization .......................................................................................22

5.1.2 Enabling Modbus protocol ................................................................................................23

5.2 Modbus RTU parameters and monitoring values (M5.8.3) ..............................................23

5.2.1 Slave address ....................................................................................................................24

5.2.2 Baud rate...........................................................................................................................24

5.2.3 Parity type .........................................................................................................................24

5.2.4 Stop bits.............................................................................................................................24

5.2.5 Communication timeout ...................................................................................................24

5.2.6 Operate mode....................................................................................................................24

5.2.7 IDMap IDs ..........................................................................................................................25

5.2.8 Fieldbus protocol status ...................................................................................................25

5.2.9 Communication status......................................................................................................25

5.2.10Illegal functions ................................................................................................................26

5.2.11Illegal data addresses ......................................................................................................26

5.2.12Illegal data values.............................................................................................................26

5.2.13Slave device busy ..............................................................................................................26

5.2.14Memory parity error .........................................................................................................26

5.2.15Slave device failure...........................................................................................................26

5.2.16Last fault response...........................................................................................................26

5.2.17Control word .....................................................................................................................26

5.2.18Status word .......................................................................................................................26

5.3 Modbus TCP/UDP parameters and monitoring values ....................................................27

5.3.1 Ethernet common settings (M5.9.1) .................................................................................27

5.3.2 IP Address mode ...............................................................................................................27

5.3.3 Fixed IP address................................................................................................................27

5.3.4 Fixed Subnet Mask............................................................................................................28

5.3.5 Fixed default gateway .......................................................................................................28

5.3.6 Active IP address, subnet mask and default gateway......................................................28

5.3.7 MAC Address.....................................................................................................................28

5.3.8 Modbus TCP/UDP settings (M5.9.2)..................................................................................28

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5.3.9 Connection limit ................................................................................................................29

5.3.10Unit Identifier number ......................................................................................................29

5.3.11Communication timeout ...................................................................................................29

5.3.12IDMap IDs..........................................................................................................................29

6. Communications .............................................................................................30

6.1 Data addresses in Modbus messages ..............................................................................30

6.2 Supported Modbus Functions...........................................................................................30

6.3 Modbus data mapping.......................................................................................................31

6.3.1 Coils registers...................................................................................................................31

6.3.2 Clearing resettable counters............................................................................................31

6.3.3 Discrete inputs ..................................................................................................................31

6.3.4 Holding registers and input registers ..............................................................................32

6.3.5 Vacon Application IDs........................................................................................................33

6.3.6 FB Process data IN ...........................................................................................................33

6.3.7 FB Process data OUT ........................................................................................................34

6.3.8 ID map ...............................................................................................................................35

6.3.9 Operation day counter.......................................................................................................36

6.3.10Resettable operation day counter ....................................................................................37

6.3.11Energy counter..................................................................................................................38

6.3.12Resettable energy counter ...............................................................................................39

6.3.13Fault history ......................................................................................................................40

6.3.14Fault history with 16-bit error codes................................................................................40

6.4 Modbus TCP/UDP communication and connection timeout............................................41

6.5 Example messages ...........................................................................................................42

6.5.1 Example 1 - Write Process Data.......................................................................................42

6.5.2 Example 2 - Read process data ........................................................................................43

6.5.3 Example 3 - Exception response ......................................................................................44

7. Fault tracing ...................................................................................................45

7.1 Typical fault conditions .....................................................................................................45

7.2 RS-485 bus biasing ...........................................................................................................45

7.3 Other fault conditions .......................................................................................................46

8. Quick setup .....................................................................................................48

9. APPENDIX 1 - PROCESS DATA ........................................................................49

10. APPENDIX 2 - CONTROL AND STATUS WORD ................................................. 50

10.1 Control Word bit description ......................................................................................50

10.2 Status Word Descriptions ...........................................................................................52

11. APPENDIX 6 - LWIP LICENCE..........................................................................53

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Safety vacon • 3

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1. SAFETY

This manual contains clearly marked cautions and warnings which are intended for your personal safety and to avoid any unintentional damage to the product or connected appliances.

Please read the information included in cautions and warnings carefully.

The cautions and warnings are marked as follows:

Table 1. Warning signs

= DANGER! Dangerous voltage

= WARNING or CAUTION

= Caution! Hot surface

1.1 Danger

The components of the power unit are live when the drive is connected to mains potential. Coming into contact with this voltage is extremely dangerous and may cause death or severe injury.

The motor terminals U, V, W and the brake resistor terminals are live when the AC drive is connected to mains, even if the motor is not running.

After disconnecting the AC drive from the mains, wait until the indicators on the keypad go out (if no keypad is attached see the indicators on the cover). Wait 5 more minutes before doing any work on the connections of the drive. Do not open the cover before this time has expired. After expiration of this time, use a measuring equipment to absolutely ensure that no

absence of voltage before starting any electrical work!

The control I/O-terminals are isolated from the mains potential. However, the relay outputs and other I/O-terminals may have a dangerous control voltage present even when the AC drive is disconnected from mains.

voltage is present.

Always ensure

Before connecting the AC drive to mains make sure that the front and cable covers of the drive are closed.

During a ramp stop (see the Application Manual), the motor is still generating voltage to the drive. Therefore, do not touch the components of the AC drive before the motor has completely stopped. Wait until the indicators on the keypad go out (if no keypad is attached see the indicators on the cover). Wait additional 5 minutes before starting any work on the drive.

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vacon • 4 Safety

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1.2 Warnings

The AC drive is meant for fixed installations only.

Do not perform any measurements when the AC drive is connected to the mains.

The earth leakage current of the AC drives exceeds 3.5mA AC. According to stan- dard EN61800-5-1, a reinforced protective ground connection must be ensured. See chapter 1.3.

If the AC drive is used as a part of a machine, the machine manufacturer is responsible for providing the machine with a supply disconnecting device (EN 60204-1).

Only spare parts delivered by VACON

can be used.

At power-up, power break or fault reset the motor will start immediately if the start signal is active, unless the pulse control for

Start/Stop logic has been selected Futhermore, the I/O functionalities (including start inputs) may change if parameters, applications or software are changed. Disconnect, therefore, the motor if an unexpected start can cause danger.

The motor starts automatically after automatic fault reset if the auto restart function is activated. See the Application Manual for more detailed information.

Prior to measurements on the motor or the motor cable, disconnect the motor cable from the AC drive.

Do not touch the components on the circuit boards. Static voltage discharge may damage the components.

Check that the EMC level of the AC drive corresponds to the requirements of your supply network.

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1.3 Earthing and earth fault protection

CAUTION!

The AC drive must always be earthed with an earthing conductor connected to the earthing terminal marked with .

The earth leakage current of the drive exceeds 3.5mA AC. According to EN61800-5-1, one or more of the following conditions for the associated protective circuit shall be satisfied:

b) The protective conductor shall have a cross-sectional area of at least 10 mm2 Cu or 16

mm2 Al, through its total run.

c) Where the protective conductor has a cross-sectional area of less than 10 mm2 Cu or 16

mm2 Al, a second protective conductor of at least the same cross-sectional area shall be provided up to a point where the protective conductor has a cross-sectional area not less than 10 mm2 Cu or 16 mm2 Al.

d) Automatic disconnection of the supply in case of loss of continuity of the protective conduc-

tor.

The cross-sectional area of every protective earthing conductor which does not form part of the supply cable or cable enclosure shall, in any case, be not less than:

-2.5mm

-4mm

if mechanical protection is provided or

if mechanical protection is not provided. The earth fault protection inside the AC drive protects only the drive itself against earth faults in the motor or the motor cable. It is not intended for personal safety.

Due to the high capacitive currents present in the AC drive, fault current protective switches may not function properly.

Do not perform any voltage withstand tests on any part of the AC drive. There is a certain procedure according to which the tests shall be performed. Ignoring this procedure may result in damaged product.

NOTE! You can download the English and French product manuals with applicable safety, warning and caution information from

http://drives.danfoss.com/knowledge-center/technical-documentation/.

REMARQUE Vous pouvez télécharger les versions anglaise et française des manuels produit contenant l’ensemble des informations de sécurité, avertissements et mises en garde applicables sur le site http://drives.danfoss.com/knowledge-center/technical-documentation/ .

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vacon • 6 Modbus - general info

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Master´s

message

Slave

response

Start

Address

Function

Data

CRC

End

Start

Address

Function

Data

CRC

End

2. MODBUS - GENERAL INFO

Modbus is a communication protocol developed by Modicon systems. In simple terms, it is a way of sending information between electronic devices. The device requesting the information is called the Modbus Master (or the Client in Modbus TCP/UDP) and the devices supplying information are Modbus Slaves (in Modbus TCP/UDP servers). The Master can also write information to the Slaves. Modbus is typically used to transmit signals from instrumentation and control devices back to a main controller or data gathering system.

Standard Modbus network contains one Master device and up to 247 Slave devices. In ModbusRTU and ModbusUDP networks it is mandatory to define a unique Slave Address (or Unit identifier number) for the every Slave Device. Slave Address is a number between 1 and 247. In ModbusTCP networks, it is not mandatory to define a unique Slave Address, because the IP address identifies the device.

The Modbus communication interface is built around messages. The format of these Modbus messages is independent of the type of physical interface used. The same protocol can be used regardless of the connection type. Because of this, Modbus gives the possibility to easily upgrade the hardware structure of an industrial network, without the need for large changes in the software. A device can also communicate with several Modbus nodes at once, even if they are connected with different interface types, without the need to use a different protocol for every connection.

Figure 1.Basic structure of Modbus frame

On simple interfaces like RS485, the Modbus messages are sent in plain form over the network. In this case the network is dedicated to Modbus. When using more versatile network systems like TCP/IP over Ethernet, the Modbus messages are embedded in packets with the format necessary for the physical interface. In that case Modbus and other types of connections can co-exist at the same physical interface at the same time. Although the main Modbus message structure is peerto-peer, Modbus is able to function on both point-to-point and multidrop networks.

Each Modbus message has the same structure. Four basic elements are present in each message. The sequence of these elements is the same for all messages, to make it easy to parse the content of the Modbus message. A conversation is always started by a master in the Modbus network. A Modbus master sends a message and—depending of the contents of the message—a slave takes action and responds to it. There can be more masters in a Modbus network. Addressing in the message header is used to define which device should respond to a message. All other nodes on the Modbus network ignore the message if the address field does not match their own address.

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Modbus - general info vacon • 7

Your VACON® 100 family AC drive is equipped with Modbus support as standard. If you need to con-

tact VACON with the Drive Info File taken with VACON

service in problems related to Modbus, send a description of the problem together

Live to customer support. If possible, also send a "Wire-

shark" log from the situation if applicable.

Ethernet

Modbus TCP

Switch

Modbus RTU master

Modbus RTU

Figure 2.Principal example diagram of Modbus

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vacon • 8 Modbus technical data

3. MODBUS TECHNICAL DATA

3.1 Modbus RTU protocol

Table 2.

Interface RS-485 Data transfer method RS-485 MS/TP, half-duplex

STP (Shielded Twisted Pair), type Belden 9841 or similar

2.5 mm

As described in “Modicon Modbus Protocol Reference Guide” 300, 600, 1200, 2400, 4800, 9600, 19200, 38400, 57600, 76800, 115200 and 230400 bits/s

Connections and communications

Transfer cable

Connector Electrical isolation Functional

Modbus RTU

Bitrate

Addresses 1 to 247

3.2 Modbus TCP protocol

Table 3.

Interface 100BaseTX, IEEE 802.3 compatible Data transfer method Ethernet half/full -duplex Data transfer speed 10/100 MBit/s, autosensing

Connections and communications

Protocol Modbus TCP Connector Shielded RJ45 connector Cable type CAT5e STP

Modbus TCP

Default IP Selectable: Fixed or DHCP (AutoIP)

As described in Modbus Messaging Implementation Guide

3.3 Modbus UDP vs TCP

In addition to TCP, the VACON® 100 family AC drive supports also UDP starting from following firmware versions:

•VACON

It is recommended that UDP is used when reading and writing rapidly and repetitively (cyclically) the same data as in case of process data. TCP must be used for single operations, like service data (e.g. reading or writing parameter values).

100 INDUSTRIAL and VACON® 100 X: FW0072V025

100 FLOW: FW0159V016

100 HVAC: FW0065V035

The key difference between UDP and TCP is that when using TCP, each and every Modbus frame needs to be acknowledged by the receiver (see the figure below). This adds extra traffic to the network and more load to the system (PLC and drives) because software needs to keep track of sent frames to make sure that they have reached their destination.

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Modbus technical data vacon • 9

Modbus TCP Communication

PLC

TCP, SYN

TCP, SYN, ACK

Open

Connection

Modbus Response, TCP, ACK

Communicate

Connection

TCP, ACK

Modbus Query

TCP, ACK

Modbus Query

TCP, ACK TCP, ACK

TCP, FIN, ACK

TCP, ACK

Drive

Modbus UDP Communication

PLC Drive

Modbus Query

Modbus Response

Modbus Query

Communicate

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Figure 3. Modbus TCP and UDP communication comparison

Another difference between TCP and UDP is that UDP is connectionless. TCP connections are always opened with TCP SYN messages and closed with TCP FIN or TCP RST. With UDP, the first packet is already a Modbus query. IP address and port combination is treated as a connection. If port number changes, it is considered as a new connection or as a second connection if both stay active.

When using UDP, it is not guaranteed that the sent frame reaches its destination. The PLC must keep track of the Modbus requests by using the Modbus transaction id-field. It actually must do this also when using TCP. If the PLC does not receive response in time from the AC drive in UDP connection, it needs to send the query again. When using TCP, the TCP/IP stack will keep resending the request until it has been acknowledged by the receiver (see Figure 4). If the PLC sends new queries during this time, some of those may not be sent to the network (by TCP/IP stack) until previous sent package(s) has been acknowledged. This can cause small packet storms when the connection is resumed between the PLC and the AC drive (See Figure 5).

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vacon • 10 Modbus technical data

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Modbus TCP Communication

PLC Drive

Modbus Query (1)

Modbus Query (2)

Modbus Response (1), TCP, ACK

Modbus Response (2), TCP, ACK

TCP, ACK

TCP retransmission, Modbus Query (2)

Normal communication continues

Packet lost, no response

Modbus Query (1)

Modbus Response (1)

Modbus Response (4)

Modbus Query (2)

Modbus Query (3)

Modbus Query (4)

Packet lost, no response

Normal communication continues

Modbus UDP Communication

PLC Drive

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Modbus TCP Communication

PLC Drive

Modbus Modbus

TCP

stack

TCP

stack

Modbus Query (1)

Modbus Query (2)

Modbus Query (3)

Modbus Query (4)

Modbus Query

(1,2,3)

Modbus Query (4)

Modbus Response

(1,2,3)

Modbus Response

(4)

TCP Modbus Query

TCP, ACK

TCP, Modbus Response (1,2,3)

TCP, Modbus Response (4)

TCP, Modbus Query (4)

Retransmission

Modbus Query (1,2,3)

Retransmission Modbus Query (1,2,3)

Retransmission

Modbus Query (1,2)

Retransmission

Modbus Query (1)

Modbus

Response (1,2,3)

Modbus

Response (4)

Normal communication continues

Packet lost

Figure 4. Modbus TCP and UDP communication errors comparison

Figure 5. Modbus TCP retransmissions

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Modbus technical data vacon • 11

Losing one packet is not a big issue because the same request can be sent again after timeout. In TCP, the packages always reach their destination but if network congestion causes retransmissions, the resent packages will most likely contain old data or instructions when they reach their destination.

3.4 Connections and wiring

The VACON® 100 family AC drive supports 10/100Mb speeds in both Full- and Half-duplex modes. However, real-time process control requires the Full-duplex mode and the 100-megabit speed. Drives must be connected to the Ethernet network with a Shielded Twisted Pair (STP) CAT-5e cable (or better). Use only industrial standard components in the network and avoid complex structures to minimize the length of response time and the amount of incorrect dispatches.

The maximum length of an RS-485 cable depends on the bitrate used, the cable (gauge, capacitance or characteristic impedance) and the number of devices in the bus. The Modbus RTU specification states that for a maximum 9600 bits/second bitrate and AWG26 or wider gauge, the maximum length is 1000 meters. The actual cable length used in an installation can be lower than this number depending on the aforementioned parameters.

3.5 ACD (Address Conflict Detection) in Ethernet network

The VACON® 100 family AC drive implements the ACD algorithm (IETF RFC 5227).

The ACD algorithm tries to actively detect if the IP address configured to this device is used by another device in the same network. To accomplish this, the ACD sends four ARP request packets when the device's Ethernet interface goes up or when its IP address changes. The ACD prevents the use of the Ethernet interface until the ARP probing finishes. This delays the startup of fieldbus protocols about one second. During the delay or after it, the ACD passively checks incoming ARP messages for use of the device's IP address. If another device with the same IP address is detected, the ACD will try to defend its IP address with a single ARP message. If the other device with the same IP address also supports ACD, it should stop using the address. If not, the ACD will close the Ethernet connection and indicate the situation with an Alarm. This is done according the "DefendWithPolicyB". Acknowledging of the Alarm is not possible if the problem is active. The ACD opens an Ethernet connection if the other device with the same IP address disappears from the network. The alarm can be acknowledged after this. Other policies are not supported. If the fieldbus protocol has been active, a fieldbus fault may be activated (depends on the fieldbus and drive application configuration).

The ACD functionality can be enabled and disabled with Duplicate IP Detection panel parameter (see Chapter 5.3.1 Ethernet common settings (M5.9.1)).

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vacon • 12 Installation

M4x55

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4. INSTALLATION

4.1 Installation in VACON® 100 family AC drives

Open the cover of the AC drive.

The relay outputs and other I/O-terminals may have a dangerous control voltage present even when the AC drive is disconnected from mains.

Open the inner cover of the drive.

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Installation vacon • 13

Ethernet cable

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4.1.1 Prepare for use through ethernet

Connect the Ethernet cable (see specification in Chapter 3.2) to its terminal as shown in figure below.

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vacon • 14 Installation

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IP54

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IP21

Ethernet cable

Protection class IP21: Cut free the opening on the AC drive cover for the Ethernet cable. Protection class IP54: Cut the rubber grommets open to slide the cables through. Should the grommets fold in while inserting the cable, just draw the cable back a bit to straighten the grommets up. Do not cut the grommet openings wider than what is necessary for the cables you are using. NOTE! To meet the requirements of the enclosure class IP54, the connection between the grommet and the cable must be tight. Therefore, lead the first bit of the cable out of the grommet straight before letting it bend. If this is not possible, the tightness of the connection must be ensured with insulation tape or a cable tie.

Remount the AC drive cover. NOTE! When planning the cable runs, remember to keep the distance between the Ethernet cable and the motor cable at a minimum of 30 cm. See figure below.

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Installation vacon • 15

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4.1.2 Prepare for use through RS485

Strip about 15 mm of the RS485 cable (see specification in Chapter 3.1) and cut off the grey cable shield. Remember to do this for both bus cables (except for the last device). Leave no more than 10 mm of the cable outside the terminal block and strip the cables at about 5 mm to fit in the terminals. See picture below.

Also strip the cable now at such a distance from the terminal that you can fix it to

the frame with the grounding clamp. Strip the cable at a maximum length of 15 mm. Do not strip the aluminum cable shield!

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vacon • 16 Installation

Cable clamp

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Then connect the cable to its appropriate terminals on VACON® 100 family AC drive standard terminal block, terminals A and B (A = negative, B = positive). See figure below.

Using the cable clamp included in the delivery of the drive, ground the shield of the RS485 cable to the frame of the AC drive. NOTE! This can be done in all drives if there is no difference in PE potentialbetween the drives. However, if there is PE potential difference then the shieldshould be connected to PE only at one point in the system. The shields of thecables shall be joint but not connected to several PE points with different poten-tial. NOTE! This is only a principle drawing and the actual drive may look different.

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Installation vacon • 17

RS-485 bus termination

OFF ON

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Fieldbus cables

If VACON® 100 family AC drive is the last device on the bus, the bus termination must be set. Locate the DIP switches to the right of the control keypad of the drive and turn the switch for the RS485 bus termination resistor to position ON. Biasing is built in the termination resistor. See also step 6 on page 18.

Unless already done for the other control cables, cut free the opening on the AC drive cover for the RS485 cable (protection class IP21).

NOTE! This is only a principle drawing and the actual drive may look different.

Remount the AC drive cover and run the RS485 cables as shown in picture. NOTE! When planning the cable runs, remember to keep the distance between the fieldbus cable and the motor cable at a minimum of 30 cm.

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vacon • 18 Installation

Fieldbus cable

= Bus termination

Termination

activated

Termination

activated with

jumper

Ter min ati on

deactivated

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The bus termination must be set for the first and the last device of the fieldbus line. See picture below. See also step 3 on page 17. We recommend that the first device on the bus and, thus, terminated was the Master device.

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Installation vacon • 19

Ethernet connection

1234567891011

12 13 14 15 16 17 18 19 30

RS485

terminals

4.2 Installation in VACON® 100 X

The AC drive can be connected to fieldbus either through RS485 or Ethernet. The connection for RS485 is on the standard I/O terminals (A and B) and the connection for Ethernet is left to the control terminals.

Figure 6.

4.2.1 Prepare for use through Ethernet

For more detailed information, see the user’s manual of the fieldbus you are using.

Connect the Ethernet cable (see specification in Chapter 3.2) to its terminal and run the cable through the conduit plate.

Remount the powerhead.

NOTE: When planning the cable runs, remember to keep the distance between the Ethernet cable and the motor cable at a minimum of 30 cm.

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vacon • 20 Installation

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4.2.2 Prepare for use through RS485

Also strip the cable now at such a distance from the terminal that you can fix it to the frame with the grounding clamp. Strip the cable at a maximum length of 15

mm. Do not strip the aluminum cable shield!

Then connect the cable to its appropriate terminals on VACON® 100 X AC drive standard terminal block, terminals A and B (A = negative, B = positive). See Figure 6.

Using the cable clamp included in the delivery of the drive, ground the shield of the RS485 cable to the frame of the AC drive.

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Installation vacon • 21

Modbus RTU

= Bus termination

Term inat ion

activated

Termin atio n

activated

with

DIP switch

Term inat ion

deactivated

Vacon 100 Vacon 100 Vacon 100 Vacon 100 Vacon 100

If VACON® 100 X AC drive is the last device on the bus, the bus termination must be set. Locate the DIP switches to the top of the control unit (see figure below).

Turn the right most switch to position “1”. Biasing is built in the termination resistor. See also step 6.

NOTE: When planning the cable runs, remember to keep the distance between the fieldbus cable and the motor cable at a minimum of 30 cm.

The bus termination must be set for the first and the last device of the fieldbus line. See picture below and step 4. We recommend that the first device on the bus and, thus, terminated, was the Master device.

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vacon • 22 Fiedlbus parametrization

5. FIEDLBUS PARAMETRIZATION

The following chapter describes briefly how to parametrise the AC drive in order for the motor to be controllable via fieldbus. These instructions are written for basic applications. For more information, consult the application-specific manual.

In order for the AC drive to accept commands from the fieldbus network, the control place of the AC drive has to be set to fieldbus. The default value of the parameter "Control Place" is usually I/O. Note that if the control unit firmware is updated, the default settings are restored. In addition, some applications may have the remote speed reference selection set by default to other than fieldbus. In these cases, the speed reference selection must be set to fieldbus, in order for the speed reference to be controlled via fieldbus.

NOTE! The motor control mode should be selected to support the used process and profile.

The navigation path to the fieldbus parameters may differ from application to application. The exemplary paths below apply to the VACON

100 family AC drive.

5.1 Fieldbus control and basic reference selection

The following tables list some of the parameters related to fieldbus control in case of VACON® applications for the VACON detailed information.

Parameters can be read and written by using the drive panel, PC Tool or fieldbus protocol. See Chapter 6.3.5 for reading and writing application parameters over Modbus. Notice that some of connection parameters for fieldbus may need to be set (depending on your configuration) via panel or PC tool, before you can connect over fieldbus and write application parameters.

Table 4. Parametrization for VACON

Parameter name ID Value Default Panel Tree

Control mode 600

Remote control place 172 1 = Fieldbus CTRL 0 P 3.2.1 Local / remote 211 0 = Remote 0 P 3.2.2 Fieldbus ref. sel. 122 3 = Fieldbus 3 P 3.3.1.10

100 family AC drive. See the application specific manuals for more

100 family AC drive (Standard application)

0 = Frequency 1 = Speed 2 = Torque

0 P 3.1.2.1

5.1.1 Torque control parametrization

Some extra parametrisation has to be made in order to control the frequency control with torque control. The following instructions are for the VACON specific manual for more detailed information.

• Motor control mode (ID 600) must be configured to "Torque control" (2).

To configure the drive to use correct torque reference, select the parameter "Torque Reference Selection" to ProcessDataIn1 (9). This can be done with: PC-tool or panel in panel tree: P 3.3.2.1, ID 64

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100 family AC drives, see the application

Fiedlbus parametrization vacon • 23

5.1.2 Enabling Modbus protocol

Modbus TCP/UDP is always enabled in VACON network settings (IP address etc) before using it. See Chapter 5.3.1.

When using Modbus RTU, you need to enable the protocol. After enabling it, protocol settings will appear under panel tree P5.8.3.

Table 5. Enabling Modbus RTU protocol

Parameter name ID Value Default Panel Tree

0 = No Protocol

RS-485 protocol 2208

1 = Modbus RTU 2 = BACnet MSTP 3 = N2

100 family devices. You need to parametrize the

No protocol P 5.8.1.1

5.2 Modbus RTU parameters and monitoring values (M5.8.3)

Table 6. Parameters related with Modbus used through RTU

Panel Tree Parameter Range Default ID Description

P5.8.3.1.1 Slave address 1…247 1 2320

P5.8.3.1.2 Baud rate 300…230400 6 2378

Unique slave device address.

Communication speed 300 600 1200 2400 4800 9600 19200 38400 57600 76800 115200 230400

1 = 1 stop bit

P5.8.3.1.4 Stopbits 1…3 3 2380

P5.8.3.1.3 Parity type 0…2 0 2379

P5.8.3.1.5

P5.8.3.1.6 * Operate Mode 0…1 0 2374

P5.8.3.1.7.130

* This feature is not supported in VACON® 100 HVAC. The default application in the VACON® 100 family AC drives supports only Slave mode. A special application is required for Master functionality.

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Communication time-out

IDMap IDs 0…65535 0

0…65535 10 2321

3130-

3159

2 = 1.5 stop bits 3 = 2 stop bits

0 = Even 1 = Odd 2 = None

Unit is seconds 0 = Not used

0 = Slave 1 = Master

IDMap IDs

vacon • 24 Fiedlbus parametrization

5.2.1 Slave address

Each slave must have a unique address (from 1 to 247) so that it can be addressed independently from other nodes.

5.2.2 Baud rate

Select the communication speed for the network. The default value is 9600 baud.

5.2.3 Parity type

You can select the parity type for the network. Modbus RTU specifies the stop bit configuration shown in table below. You can modify this stop bit configuration manually using parameter P5.X.3.1.4.

Table 7. Parity type and stop bits

Parity Stopbits

Even 1

Odd 1

None 2

5.2.4 Stop bits

You can select the stop bit amount for the Modbus RTU network.

5.2.5 Communication timeout

Modbus initiates a communication error for a time defined with this parameter. '0' means that no fault is generated.

5.2.6 Operate mode

Used to select the operate mode of the Modbus RTU protocol (slave / master). This feature is not supported in VACON supports only Slave mode. A special application is required for Master functionality.

100 HVAC. The default application in the VACON® 100 family AC drives

Table 8. Operate mode values

Value Description

0Slave 1Master

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Fiedlbus parametrization vacon • 25

5.2.7 IDMap IDs

See Chapter 6.3.8.

Table 9. Monitoring values related with Modbus used through RTU

Panel Tree Parameter Range ID Description

0 = Init

P5.8.3.2.1 Fieldbus protocol status 1…3 2381

P5.8.3.2.2 Communication status 0.0…99.999 2382

P5.8.3.2.3 Illegal functions 0…65535 2383 P5.8.3.2.4 Illegal data addresses 0…65535 2384 P5.8.3.2.5 Illegal data values 0…65535 2385

1 = Stopped 2 = Operational 3 = Faulted

0-99 Number of messages with errors 0-999 Number of messages without communication errors Reset on drive restart

P5.8.3.2.6 Slave device busy 0…65535 2386 P5.8.3.2.7 Memory parity error 0…65535 2387 P5.8.3.2.8 Slave device failure 0…65535 2388 P5.8.3.2.9 Last fault response 0…65535 2389 P5.8.3.2.10 Control word - 2390 Shown as hex value P5.8.3.2.11 Status word - 2391 Shown as hex value

5.2.8 Fieldbus protocol status

Fieldbus Protocol Status tells the status of the protocol.

Table 10. Fieldbus protocol status descriptions

Status Description

INITIALIZING Protocol is starting up STOPPED No connections active via fieldbus

OPERATIONAL

FAULTED Fieldbus connection has timedout.

Protocol is running. At least one active connection

5.2.9 Communication status

The Communication status shows how many good and bad messages the drive has received. The Communication status includes a common error counter that counts CRC and parity errors and a counter for good messages.

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vacon • 26 Fiedlbus parametrization

Only messages to the current slave in use are counted in the good messages.

Table 11. Communication status description

Good messages

0…999 Number of messages received without errors

Bad messages

0…99 Number of messages received with errors

5.2.10 Illegal functions

This value counts error situations. The function code received in the query refers to a not allowed action for the server (or slave). This corresponds to Modbus fault code 01h.

5.2.11 Illegal data addresses

This value counts error situations. The data address received in the query refers to not allowed address for the server (or slave). This corresponds to Modbus fault code 02h.

5.2.12 Illegal data values

This value counts error situations. A value contained in the query data field refers to a not allowed value for server (or slave). This corresponds to Modbus fault code 03h.

5.2.13 Slave device busy

This value counts error situations. The server (or slave) is engaged in processing a long-duration program command. The client (or master) should retransmit the message later when the server (or slave) is free. This corresponds to Modbus fault code 06h.

5.2.14 Memory parity error

This value counts error situations. The server (or slave) attempted to read record file but detected a parity error in the memory. This corresponds to Modbus fault code 08h.

5.2.15 Slave device failure

This value counts error situations. An unrecoverable error occurred while the server (or slave) was attempting to perform the requested action. This corresponds to Modbus fault code 04h.

5.2.16 Last fault response

Shows the last fault response as Fault code.

5.2.17 Control word

Shows the Control Word received from the bus.

5.2.18 Status word

Shows the current Status Word that is sent to the bus.

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Fiedlbus parametrization vacon • 27

5.3 Modbus TCP/UDP parameters and monitoring values

5.3.1 Ethernet common settings (M5.9.1)

Table 12. Ethernet common settings (M5.9.1)

Panel

Tree

P5.9.1.1 IP address mode

P5.9.1.2

P5.9.1.3.1 IP address

P5.9.1.3.2 Subnet mask

P5.9.1.3.3 Default gateway

P5.9.1.4 Active IP address - - 2483

P5.9.1.5

P5.9.1.6

P5.9.1.7 MAC address - - 2486 Drive MAC address

Parameter Range Default ID Description

Duplicate IP Detection

Active subnet mask

Active default gateway

Fixed (1),

DHCP(2)

Disabled (0),

Enabled (1)

1.0.0.0 -

223.255.255.255

0.0.0.0-

255.255.255.255

0.0.0.0-

255.255.255.255

- - 2484

- - 2485

DHCP (2) 2482 IP Mode

This is setting for enabling ACD (See Chapter 3.4).

enabled 2569

192.168.0.10 2529 Fixed IP address

255.255.0.0 2530 Fixed Subnet mask

192.168.0.1 2531 Fixed default gateway

When disabled drive does not check for or react to address conflict situation.

Shows current active IP address. It is same as fixed value if IP mode is "Fixed".

Shows current active subnet mask. It is same as fixed value if IP mode is "Fixed".

Shows current active default gateway. It is same as fixed value if IP mode is "Fixed".

5.3.2 IP Address mode

Selectable alternatives are DHCP (Dynamic Host Configuration Protocol) and Fixed. The DHCP protocol gives IP addresses to new devices connecting to local network. This address is valid for a certain period of time. If no DHCP server is found, an automatic random IP is given. A fixed IP address is specified manually and it does not change. When the mode is changed from DHCP to Fixed the addresses will read:

IP: 192.168.0.10

Subnet mask: 255.255.0.0

Default gateway: 192.168.0.1

5.3.3 Fixed IP address

An IP address is a series of numbers (like above) specific to the device connected to the Internet.

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vacon • 28 Fiedlbus parametrization

5.3.4 Fixed Subnet Mask

The network mask marks all the bits of an IP address for the identification of the network and the subnetwork.

5.3.5 Fixed default gateway

Gateway address is the IP address of a network point that acts as an entrance to another network.

5.3.6 Active IP address, subnet mask and default gateway

This value cannot be changed. If the IP mode is "fixed", it will display the same value as in Fixed IP address (5.3.3). If the mode is "DHCP", the value is 0.0.0.0 when the DHCP is retrieving IP settings or 169.x.x.x if it could not retrieve an address. Otherwise it shows the currently active IP address.

5.3.7 MAC Address

The MAC address of the control board. The MAC address (Media Access Control) is a unique address given to each network host. It is not editable.

5.3.8 Modbus TCP/UDP settings (M5.9.2)

Table 13. Modbus TCP/UDP parameters

Panel Tree Parameter Range Default ID Description

P5.9.2.1.1 Connection limit 0…3 3 2446 Number of allowed connections

P5.9.2.1.2

P5.9.2.1.3

P5.9.2.1.4.1-30 IDMap IDs 0…65535 0

The monitoring values menu structure is duplicated to all connections. Maximum number of connections is three (3). Monitoring menus are visible even though connection has not been opened.

Panel Tree Parameter Range Unit Default ID Description

P5.9.2.2.1.1

P5.9.2.2.1.2

Unit identifier number

Communication time-out

Table 14. Modbus TCP/UDP Monitoring values

Fieldbus protocol status

Communication status

0…255 255 2447 See Chapter 5.2.10

0…65535 10 2448

3100-

3129

1…3 - - 2449

0.0…99.9999 - 0.0 2450

Unit is seconds 0 = Not used

IDMap IDs

1 = Stopped 2 = Operational 3 = Faulted See 5.2.8

0-99 Number of messages with errors 0-999 Number of messages without communication errors See 5.2.9

P5.9.2.2.1.3 Illegal functions 0…65535 - - 2451 See 5.2.10

P5.9.2.2.1.4

Illegal data addresses

0…65535 - - 2452 See 5.2.11

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Fiedlbus parametrization vacon • 29

Table 14. Modbus TCP/UDP Monitoring values

Panel Tree Parameter Range Unit Default ID Description

P5.9.2.2.1.5 Illegal data values 0…65535 - - 2453 See 5.2.12 P5.9.2.2.1.6 Slave device busy 0…65535 - - 2454 See 5.2.13

P5.9.2.2.1.7

P5.9.2.2.1.8

P5.9.2.2.1.9

P5.9.2.2.1.10 Control word - hex - 2458 See 5.2.17 P5.9.2.2.1.11 Status word - hex - 2459 See 5.2.18

5.3.9 Connection limit

Defines how many clients can access the server simultaneously.

Memory parity error

Slave device failure

Last fault response

0…65535 - - 2455 See 5.2.14

0…65535 - - 2456 See 5.2.15

0 - - 2457 See 5.2.16

5.3.10 Unit Identifier number

The Modbus 'slave address' field usually used on Modbus Serial Line is replaced by a single byte 'Unit Identifier'.

When the TCP is used as the communications protocol, the AC drive is addressed by its IP address and broadcast messages are not possible. In this case, the unit identifier is useless. In the UDP, it is possible to send broadcast messages and therefore the unit identifier becomes important.

To keep things simple, the unit identifier is checked when using both TCP and UDP. In TCP you can use value 255 (non-significant) as a unit identifier and send the messages to all slaves with that value.

5.3.11 Communication timeout

For Modbus, this value defines the time in which a message must be received (from Client in Modbus TCP/UDP) before a fieldbus fault is generated. If timeout is set to zero, no fault is created.

5.3.12 IDMap IDs

See Chapter 6.3.8.

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vacon • 30 Communications

6. COMMUNICATIONS

Features of the Modbus-Vacon interface:

• Direct control of VACON® drive (e.g. Run, Stop, Direction, Speed reference, Fault reset)

• Full access to all VACON

• Monitor VACON

status (e.g. Output frequency, Output current, Fault code)

6.1 Data addresses in Modbus messages

All data addresses in Modbus messages are referenced to zero. The first occurrence of a data item is addressed as item number zero. For example:

• The coil known as ‘Coil 1’ in a programmable controller is addressed as ‘Coil 0000’ in the data address field of a Modbus message.

• Coil 127 decimal is addressed as ‘Coil 007E hex’ (126 decimal).

• Holding register 40001 is addressed as register 0000 in the data address field of the message. The function code field already specifies a ‘holding register’ operation. Therefore the ‘4XXXX’ reference is implicit.

• Holding register 40108 is addressed as register 006B hex (107 decimal).

parameters

6.2 Supported Modbus Functions

The VACON® variables and fault codes as well as the parameters can be read and written from Modbus. The parameter addresses are determined in the application. Every parameter and actual value have been given an ID number in the application. The ID numbering of the parameter as well as the parameter ranges and steps can be found in the application manual in question. The parameter value must be given without decimals. If several parameters/actual values are read with one message, the addresses of the parameters/actual values must be consecutive.

Table 15. Supported functions

Func t i o n

(dec)

1 1 Read coils x Discrete (1-bit) 00000-0FFFF 2 2 Read Discrete Inputs x Discrete (1-bit) 10000-1FFFF 3 3 Read Holding Registers x x Register (16bit) 40000-4FFFF 4 4 Read Input Registers x x Register (16bit) 30000-3FFFF 5 5 Write Single Coils x Discrete (1-bit) 00000-0FFFF

6 6 Write Single Register x x Register (16bit) 40000-4FFFF 15 F Write Multiple Coils x Discrete (1-bit) 00000-0FFFF 16 10 Write Multiple Registers x x Register (16bit) 40000-4FFFF

Function

(hex)

Modbus Function Name

TCP/

UDP

RTU Access type

Address

range (hex)

23 17 Read/Write Multiple Registers x x Register (16bit) 40000-4FFFF

NOTE! Broadcasting not supported in TCP. Broadcast supported with function code 06 and 16 in RTU and in UDP.

The address ranges of the different function codes are in many cases not relevant to the user and can be ignored. The targeted information type (coil, register etc.) can be selected separate from the address.

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Communications vacon • 31

6.3 Modbus data mapping

6.3.1 Coils registers

A "coil" in Modbus is a single-bit binary data item which can be both read and written. In VACON 100 family AC drives, the coils refer to some bits in the fieldbus control word." See page 34.

Table 16. Defined coil registers

Address Function Purpose

0001 RUN/STOP Control Word, bit 0 0002 Direction Control Word, bit 1 0003 Fault reset Control Word, bit 2 0017 Reset Clears operation days trip counter 0018 Reset Clears energy trip counter

6.3.2 Clearing resettable counters

The VACON reset to zero by writing value '1' to addresses defined in table below. You can also use coils defined in chapter 6.3.1.

AC drives have trip counters for operation days and energy. These counters can be

Table 17. Clearing trip counters

Address Function Purpose

40101 Reset Clears operation days trip counter 40301 Reset Clears energy trip counter

6.3.3 Discrete inputs

A "discrete input" in Modbus is a single-bit binary data item which is read-only. In VACON family AC drives, the discrete inputs refer to the fieldbus status word bits. See Chapter 10.

Table 18. Defined Input Discrete

Address Function Purpose

10001 Ready Status Word, bit 0 10002 Run Status Word, bit 1 10003 Direction Status Word, bit 2 10004 Fault Status Word, bit 3 10005 Alarm Status Word, bit 4 10006 At reference Status Word, bit 5 10007 Zero speed Status Word, bit 6 10008 Flux ready Status Word, bit 7

100

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vacon • 32 Communications

6.3.4 Holding registers and input registers

An "input register" in Modbus is a 16-bit value which is read-only. A "holding register" in Modbus is a 16-bit value which can be both read and written. Holding and input registers are accessed using different function codes, and the address ranges are different. In VACON same information can be accessed as input registers and holding registers, i.e. input register X refers to the same 16-bit value as the holding register X.

The Modbus registers are mapped to the VACON

Table 19. Defined holding registers

100 family AC drive as follows:

100 family AC drives, the

Address range Purpose

0001 - 2000 Vacon Application IDs 16bit Table 20 RW 30/30 2001 - 2019 FBProcessDataIN 16bit Table 21 RW 19/19 2051 - 2086 FBProcessDataIN 32bit Table 21 RW 36/36 2101 - 2119 FBProcessDataOUT 16bit Table 22 RO 19/0 2151 - 2186 FBProcessDataOUT 32bit Table 22 RO 36/0 2200 - 10000 Vacon Application IDs 16bit Table 20 RW 30/30 10501 - 10530 IDMap 16bit Figure 7. RW 30/30 10601 - 10630 IDMap Read/Write 16bit Table 23 RW 30/30 10701 - 10760 IDMap Read/Write 32bit Table 24 RW 30/30 20001 - 40000 Vacon Application IDs 32bit Table 20 RW 30/30 40001 - 40005 Operation day counter 16bit Table 26 RO 5/0 40011 - 40012 Operation day counter 32bit Table 25 RO 2/0

40101 - 40105

40111 - 40112

40201 - 40203 Energy counter 16bit Table 30 RO 3/0 40211 - 40212 Energy counter 32bit Table 29 RO 2/0

Resettable operation day counter

Access

type

16bit Table 28

32bit Table 27 RO 2/0

See R/W

R, Write 1 to

first index

to reset

Max R/W

size

5/0

40301 - 40303

40311 - 40312

40401 - 40430 Fault history 16bit Table 33 RO 30/0

40501

40511-40568

Accessing unsupported values returns the error code "Illegal Data Address".

Resettable energy counter

Communication time out

Fault history with 16 bit fault codes

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16bit Table 32

32bit Table 31 RO 2/0

16bit Table 35 RW 1/1

16bit Table 34 RO 30/0

R, Write 1 to

first index

to reset

3/0

Communications vacon • 33

6.3.5 Vacon Application IDs

Application IDs are parameters that depend on the drive's application. These parameters can be read and written by pointing the corresponding memory range directly or by using the so-called ID map (more information below). The easiest way to read a single parameter value or parameters with consecutive ID numbers is to use a straight address. It is possible to read 30 consecutive ID addresses. Notice that the operation will fail if even one of the consecutive IDs do not exist for such case see Chapter 6.3.8 ID map.

Parameters which have 32 bit value can be read from their own range. For example, if you want to read the value for ID 864 (FB Status Word), the address must be set to 21726. This address value comes from values: 20000 + ((ID -1) * 2). The ID value is reduced with one because of zero-based addressing and the result is multiplied with 2 because one 32 bit value will take two (16 bit) addresses.

Table 20. Application IDs

Address range Purpose Application ID

0001-2000 16 bit application parameters 1-2000 2200-10000 16 bit application parameters 2200-10000 20001-40000 32 bit application parameters 1-10000

6.3.6 FB Process data IN

The process data fields are used to control the drive (e.g. Run, Stop , Reference, Fault Reset) and to quickly read actual values (e.g. Output frequency, Output current, Fault code). The fields are structured as follows:

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vacon • 34 Communications

Process Data Master -> Slave (max 22 bytes)

Table 21. Fieldbus Process Data IN

Address

Name Range/Type

16-bit

32-bit

2001

2002 - FB General Control Word Binary coded

2003

2004

2005

2006

2007

2008

2009

2010

2011

2051 = High data 2052 = Low data

2053 = High data 2054 = Low data

2055 = High data 2056 = Low data

2057 = High data 2058 = Low data

2059 = High data 2060 = Low data

2061 = High data 2062 = Low data

2063 = High data 2064 = Low data

2065 = High data 2066 = Low data

2067 = High data 2068 = Low data

2069 = High data 2070 = Low data

FB Control Word Binary coded

FB Speed Reference 0…10000 (100%)

FB Process Data In 1

FB Process Data In 2

FB Process Data In 3

FB Process Data In 4

FB Process Data In 5

FB Process Data In 6

FB Process Data In 7

FB Process Data In 8

See Chapter 9. APPENDIX 1 PROCESS DATA

*. In VACON® 100 family AC drives, the Control Word and the Status Word are formed of 32 bits. Only the initial 16 bits can be read in the 16-bit area.

Control word bits

For control word bit descriptions, see Chapter 10. APPENDIX 2 - CONTROL AND STATUS WORD.

6.3.7 FB Process data OUT

Process Data Slave -> Master (max 22 bytes)

Table 22. Fieldbus Process Data Out

Address

Name Range/Type

16-bit 32-bit

2101

2102 -

2103

2151 = High data 2152 = Low data

2153 = High data 2154 = Low data

FB Status Word Binary coded

In case of 16-bit, FB General Status Word (High data)

FB Actual Speed

Binary coded

0…10000 (100.00%)

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Communications vacon • 35

Table 22. Fieldbus Process Data Out

Address

Name Range/Type

16-bit 32-bit

2104

2105

2106

2107

2108

2109

2110

2111

Status Word bits

For status word bit descriptions, see Chapter 10. APPENDIX 2 - CONTROL AND STATUS WORD.

2155 = High data 2156 = Low data

2157 = High data 2158 = Low data

2159 = High data 2160 = Low data

2161 = High data 2162 = Low data

2163 = High data 2164 = Low data

2165 = High data 2166 = Low data

2167 = High data 2168 = Low data

2169 = High data 2170 = Low data

FB Process Data Out 1

FB Process Data Out 2

FB Process Data Out 3

FB Process Data Out 4

FB Process Data Out 5

FB Process Data Out 6

FB Process Data Out 7

FB Process Data Out 8

See Chapter 9. APPENDIX 1 PROCESS DATA

6.3.8 ID map

Using the ID map, you can read consecutive memory blocks that contain parameters whose ID's are not in a consecutive order. The address range 10501 - 10530 is called 'IDMap', and it includes an address map in which you can write your parameter ID's in any order. The address range 10601 to 10630 is called 'IDMap Read/Write,' and it includes values for parameters written in the IDMap. As soon as one ID number has been written in the map cell 10501, the corresponding parameter value can be read and written in the address 10601, and so on. The address range 10701 - 10760 contains the ID Map read/write for 32bit values. Maximum of 30 IDs and ID values can be written and read with single request.

IDMap IDs can be also configured from the panel or VACON under Modbus TCP and Modbus RTU settings. See details in chapters 5.1 and 5.2.2.

Live PC tool. IDmap menu is located

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vacon • 36 Communications

ID Value

699 123

700 321

701 456

702 654

703 1789

704 987

705 2741

706 1147

707 258

708 3852

Parameters

Address Data: ID

10501 700

10502 702

10503 707

10504 704

Address Data: ID

10601 321

10602 654

10603 258

10604 987

ID Map

11609_uk

Figure 7. IDMap initialization

Once the IDMap address range has been initialized with any parameter ID number, the parameter value can be read and written in the IDMap Read/Write address range address IDMap address + 100.

If the IDMap table has not been initialized, all data fields are showing the value '0'. Once the IDMap table has been initialized, the parameter ID's are stored in the VACON memory.

Example of 32Bit IDMap

Table 24. Example of parameter values in 32-bit IDMap Read/Write registers

6.3.9 Operation day counter

Control unit operating time counter (total value). This counter cannot be reset. The values are read only.

Table 23. Parameter Values in 16-bit IDMap Read/Write registers

Address Data

10601 Data included in parameter ID700 10602 Data included in parameter ID702 10603 Data included in parameter ID707 10604 Data included in parameter ID704

100 family AC drive’s flash

Address Data

10701 Data High, parameter ID700 10702 Data Low, parameter ID700 10703 Data High, parameter ID702 10704 Data Low, parameter ID702

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Operation day counter as seconds

This counter in registers 40011d to 40012d holds the value of operation days as seconds in a 32-bit unsigned integer.

Table 25. Operation days counter as seconds

Address Description

40011 High data

40012 Low data

Operation day counter

This counter in registers 40001d to 40005d holds the value of operation days counter. The values are read only.

Table 26. Operation day counter

Holding register address Input register address Purpose

40001 1 Years 40002 2 Days 40003 3 Hours 40004 4 Minutes 40005 5 Seconds

6.3.10 Resettable operation day counter

This register holds the value for resettable control unit operating time counter (trip value). The values are read only.

For resetting this counter see Chapter 6.3.2.

Holds the counter value as seconds.

Resettable operation day counter as seconds

This counter in registers 40111d to 40112d holds the value of resettable operation days as seconds in a 32-bit unsigned integer.

Table 27. Resettable operation days counter as seconds

Address Description

40111 High data

40112 Low data

Resettable operation day counter

This counter in registers 40101d to 40105d holds the value of operation days counter.

Table 28. Resettable operation day counter

Holding register

address

40101 101 Years 40102 102 Days 40103 103 Hours 40104 104 Minutes

Input register

Holds the counter value as seconds.

address

Purpose

40105 105 Seconds

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vacon • 38 Communications

6.3.11 Energy counter

This counter holds the value of total amount of energy taken from a supply network. This counter cannot be reset. The values are read only.

Energy counter as kWh

This counter is in registers 40211d to 40212d and is a 32-bit floating point (IEEE 754) value containing the number of kilowatt-hours (kWh) that is in the drive's energy counter. This value is read-only.

Table 29. Energy counter as kWh

Address Description

40211 High data

40212 Low data

Energy counter

These registers hold three values for the energy counter, amount of energy used, format of the energy value and unit of the energy value.

Example: If energy = 1200, format = 52, unit = 1, then actual energy is 12.00 kWh.

Table 30. Energy count e r

Holding register

address

40201 201 Energy

40202 202 Format

40203 203

Input register

address

Holds the value of energy counter in

kWh. Datatype is 32 bit float IEEE 754

Purpose Description

Amount of energy taken from a supply network.

The last number of the Format field indicates the decimal point place in the Energy field.

Example:

40 = 4 number of digits, 0 fractional digits 41 = 4 number of digits, 1 fractional digit 42 = 4 number of digits, 2 fractional digits

Unit

1 = kWh 2 = MWh 3 = GWh

4 = TWh

Unit of the value.

Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/

Communications vacon • 39

6.3.12 Resettable energy counter

This counter holds the value of total amount of energy taken from a supply network since the counter was last reset. For resetting this counter see Chapter 6.3.2". The values are read only.

Resettable energy counter as kWh

This counter is in registers 40311d to 40312d and is a 32-bit floating point (IEEE 754) value containing the number of kilowatt-hours (kWh) that is in the drive's resettable energy counter.

Table 31. Resettable energy counter as kWh

Address Description

40311 High data

40312 Low data

Resettable energy counter

These registers hold three values for the energy counter, amount of energy used, format of the energy value and unit of the energy value.

Example: If energy = 1200, format = 52, unit = 1, then actual energy is 12.00 kWh

Table 32. Resettable energy counter

Holding register address

40301 301 Energy

40302 302 Format

Input register address

Purpose Description

Holds the value of energy counter in

kWh since last counter reset.

Datatype is 32 bit float IEEE 754

Amount of energy taken from a supply network.

The last number of the Format field indicates the decimal point place in the Energy field.

Example:

40 = 4 number of digits, 0 fractional digits 41 = 4 number of digits, 1 fractional digit 42 = 4 number of digits, 2 fractional digits

Unit

1 = kWh

40303 303

Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/

2 = MWh

3 = GWh 4 = TWh

Unit of the value.

vacon • 40 Communications

6.3.13 Fault history

The fault history can be viewed by reading from address 40401 onward. The faults are listed in chronological order so that the latest fault is mentioned first and the oldest last. The fault history can contain 29 faults at the same time. The fault history contents are represented as follows.

NOTE! Reading the fault history items is slow. Reading all 30 items at once might take up to 600 milliseconds.

Table 33. Fault history

Holding register

address

40401 401

40402 402 40403 403

... ...

40429 429

6.3.14 Fault history with 16-bit error codes

The fault history can be viewed by reading from address 40511 onward. The faults are listed in a chronological order so that the latest fault is mentioned first and the oldest last. These addresses contain the fault code and the subcode for the fault. Reading can be started from any address.

Table 34. Fault history with 16-bit error codes

Holding register

address

40511 Fault code 1 16-bit fault code in index 1.

Input register

address

Upper byte is a fault code, lower byte

Purpose Description

Purpose

is a sub code

40512 Sub code 1 16-bit sub code for the fault in index 1. 40513 Fault code 2 16-bit fault code in index 2. 40514 Sub code 2 16-bit sub code for the fault in index 2.

... ...

40567 Fault code 29 40568 Sub code 29

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Communications vacon • 41

6.4 Modbus TCP/UDP communication and connection timeout

It is possible to open up to three Modbus TCP/UDP connections to the VACON® 100 family AC drive. One of the connections could be used for process data and other just for reading monitoring data. In most cases it is desirable that if "monitor" connection gets disconnected, no fault is generated but when the connection is handling the process data, a fault should be generated in the time specified.

This register address enables the user to give custom communication timeout for each connection. If a custom timeout value is used, it must be given every time a connection is opened. Timeout can be set only to the connection which is been used to access this register. By default the connection uses the communication timeout value given via panel parameters.

If the cable is disconnected, a fieldbus fault is activated after the timeout period. When communication timeout is zero, no fault is activated.

In Modbus RTU you can only have one connection, so there is no need to use this value.

Table 35. Communication timeout register

Holding

Purpose Description

40501

Communication timeout zero?

Connection closed or broken?

Broken

Has second connection with

communication timeout

other than zero?

Communication

timeout

Timeout

Connection timeout value for this

connection in seconds.

Communicating

Received packet during

communication

timout time?

Yes

Closed

Yes

CheckYes

FAULT! No fault

Figure 8. The Modbus TCP/UDP function in case of timeout

Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/

7092_uk

vacon • 42 Communications

6.5 Example messages

6.5.1 Example 1 - Write Process Data

Write the process data 42001…42003 with command 16 (Preset Multiple Registers).

Command Master - Slave:

Table 36.

ADDRESS 01 hex Slave address 1 hex (= 1) FUNCTION 10 hex Function 10 hex (= 16)

Starting address HI 07 hex Starting address LO D0 hex No. of registers HI 00 hex No. of registers LO 03 hex Byte count 06 hex Byte count 06 hex (= 6)

DATA

ERROR CHECK

Message frame:

01 10 07 D0 00 03 06 00 01 00 00 13 88 C8 CB

Data HI 00 hex Data LO 01 hex Data HI 00 hex Data LO 00 hex Data HI 13 hex Data LO 88 hex CRC HI C8 hex CRC LO CB hex

Table 37.

Starting address 07D0 hex (= 2000)

Number of registers 0003 hex (= 3)

Data 1 = 0001 hex (= 1). Setting control word run bit to 1.

Data 2 = 0000 hex (= 0).

Data 3 = 1388 hex (= 5000), Speed Reference to 50.00%

CRC field C8CB hex (= 51403)

The reply to Preset Multiple Registers message is the echo of 6 first bytes.

Answer Slave - Master:

Table 38.

ADDRESS 01 hex Slave address 1 hex (= 1) FUNCTION 10 hex Function 10 hex (= 16)

DATA

ERROR CHECK

Starting address HI 07 hex Starting address LO D0 hex No. of registers HI 00 hex No. of registers LO 03 hex CRC HI 80 hex CRC LO 85 hex

Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/

Starting address 07D0 hex (= 2000)

Number of registers 0003 hex (= 3)

CRC 8085 hex (= 32901)

Communications vacon • 43

Reply frame:

Table 39.

01 10 07 D0 00 03 80 85

6.5.2 Example 2 - Read process data

Read the Process Data 42103…42104 with command 4 (Read Input Registers).

Command Master - Slave:

Table 40.

ADDRESS 01 hex Slave address 1 hex (= 1) FUNCTION 04 hex Function 4 hex (= 4)

DATA

ERROR CHECK

Starting address HI 08 hex Starting address LO 36 hex No. of registers HI 00 hex No. of registers LO 02 hex CRC HI 93 hex CRC LO A5 hex

Starting address 0836 hex (= 2102)

Number of registers 0002 hex (= 2)

CRC field 93A5 hex (= 37797)

Message frame:

Table 41.

01 04 08 36 00 02 93 A5

The reply to the Read Input Registers message contains the values of the read registers.

Answer Slave - Master:

Table 42.

ADDRESS 01 hex Slave address 1 hex (= 1) FUNCTION 04 hex Function 4 hex (= 4)

Byte count 04 hex Byte count 4 hex (= 4)

DATA

ERROR CHECK

Data HI 13 hex Data LO 88 hex Data HI 09 hex Data LO C4 hex CRC HI 78 hex CRC LO E9 hex

Speed reference = 1388 hex (=5000 => 50.00%)

Output Frequency = 09C4 hex (=2500 =>25.00Hz)

CRC field 78E9 hex (=30953)

Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/

vacon • 44 Communications

Reply frame:

Table 43.

01 04 04 13 88 09 C4 78 E9

6.5.3 Example 3 - Exception response

In an exception response, the Slave sets the The Slave returns an exception code in the data field.

Command Master - Slave:

ADDRESS 01 hex Slave address 1 hex (= 1) FUNCTION 04 hex Function 4 hex (= 4)

Starting address HI 17 hex

DATA

ERROR CHECK

Message frame:

01 04 17 70 00 05 34 66

Starting address LO 70 hex No. of registers HI 00 hex No. of registers LO 05 hex CRC HI 34 hex CRC LO 66 hex

Table 45.

most-significant bit (MSB) of the function code to 1.

Table 44.

Starting address 1770 hex (= 6000)

Invalid number of registers 0005 hex (= 5)

CRC field 3466 hex (=13414)

Exception response:

Answer Slave - Master:

ADDRESS 01 hex Slave address 1 hex (= 1) FUNCTION 84 hex Most significant bit set to 1

DATA

ERROR CHECK

Reply frame:

Table 47.

01 84 04 42 C3

Error code

CRC HI 42 hex CRC LO C3 hex

04 hex Error code 04 => Slave Device Failure

Table 46.

CRC field 42C3 hex (= 17091)

Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/

Fault tracing vacon • 45

7. FAULT TRACING

When an unusual operating condition is detected by the AC drive control diagnostics, the drive initiates a notification visible, for example, on the keypad. The keypad will show the ordinal number of the fault, the fault code and a short fault description.

The fault can be reset with the Reset button on the control keypad or via the I/O terminal. The faults are stored in the Fault history menu which can be browsed. The different fault codes you will find in the table below. This fault table presents only the faults related to the fieldbus in use.

NOTE! When contacting distributor or factory because of a fault condition, always write down all texts and codes on the keypad display and send a description of the problem together with the

Info File

to your local support.

7.1 Typical fault conditions

Table 48. Typical fault conditions

Fault condition Possible cause Remedy

Drive

Termination

resistor

Cabling

Grounding Inadequate grounding.

Connections

Parameter

Missing or excessive termination resistor.

• Supply or motor cables are located too close to the fieldbus cable

• Wrong type of fieldbus cable

• Too long cabling

Faulty connections.

• Excessive stripping of cables

• Conductors in wrong terminals

• Too loose connections of conductors

• Faulty address

• Overlapping slave addresses

• Wrong baud rate

• Wrong control place selected

Install termination resistors at both ends of the fieldbus line.

Ensure grounding in all points on the net

7.2 RS-485 bus biasing

When none of the devices on the RS-485 bus is sending data, all devices are in idle status. This being the case, the bus voltage is in indefinate state, usually near 0 V due to the termination resistors. This may cause problems in character reception because the single characters in serial communication begin with start bit referring to bus status '0' with voltage of less than -200mV whereas the bus status '1' corresponds to bus voltage of more than +200mV. The RS-485 standard considers the voltage interval -200mV...+200mV as undefined state. Bus biasing is therefore needed to maintain the voltage in status ‘1’ (above +200mV) also between the messages.

To bias the bus you will have to add a separate active termination resistor specifically designed for the RS-485 bus (e.g. Siemens active RS 485 terminating element (6ES7972-0DA00-0AA0)).

Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/

vacon • 46 Fault tracing

Check cabling

Check grounding

9330.emf

No communication

Counter OK

Poor

communication

Check communi-

cation status (par.

5.7.3.2.1/5.8.3.2.2)

Counter does not

run

Counter for bad

frames (see Table

3) increases

Check fieldbus

parameters

bus parameters in

Check other field-

Check selected

protocol

Check termination

resistors

Check that both

ends of the fieldbus

line hav termi-

nation resistors

(chapter 4.4)

Check parameters

Is the device in

READY state?

Check Master’s

parameters

Is fieldbus selected

as control place?

Does Master give

RUN command?

Check cabling

Check termination

resistors

Other bus devices

Check connections

Check the led on

keypad

Check external

interlockings (I/O)

Check configura-

tions (Sla e add-

ress, baudrate etc.)

Check distances

between cables,

see chapter 4.4.

Check cable types,

see chapter 3.

Check grounding,

see chapter 4. Re-

member to make

grounding for each

device!

Check terminalsfor

loose connections

Check stripping of

cables and

conductors, see

chapter 4.

Use keypad to

monitor variable

Check that both

ends of th fieldbus

line have t rmina-

tion resistors

(chapter 4.4)

Check cable for

cuts

Check correctplace-

ment of conductors

in terminals

Check other

necessary devices

(e.g. router)

Drive does not

start from the bus

Check parameter

M1.15 or M3.2.1

7.3 Other fault conditions

The following fault tracing diagram will help you to locate and fix some of the most usual problems. If the problem persists contact your local distributor.

Figure 9. Fault tracing diagram for Modbus RTU

Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/

Fault tracing vacon • 47

Check cabling

Check parameter

M1.15 OR P3.2.1

No communication

Counter OK

Poor

communication

Check communi-

cation status (par.

5.7.3.2.1/5.8.3.2.2)

Counter does not

run

Counter for bad

frames (see Table

3) increases

Check fieldbus

parameters

busparametersin

Check other field-

Check selected

protocol

Is the device in

READY state?

Check Master’s

parameters

Is fieldbus selected

as control place?

Does Master give

RUN command?

Check cabling

Other bus devices

Check connections

Check the led on

keypad

Check external

interlockings (I/O)

Check distances

between cables,

see chapter 4.4.

Check stripping of

cables and

conductors, see

chapter 4.

Use keypad to

monitor variable

Check cable for

cuts

Check correct place-

ment of conductors

in terminals

Check other

necessary devices

(e.g. router)

Drive does not

start from the bus

Check cable types

and lenghts, see

chapter 3.

Check e.g WLAN

or other routers

Check IP address,

gateway etc.

9329.emf

Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/

Figure 10. Fault tracing diagram for Modbus TCP

vacon • 48 Quick setup

8. QUICK SETUP

Following these instructions, you can easily and fast set up your Modbus for use:

Choose control place.

A. Press LOC/REM button on keypad to select

Select Fieldbus as remote control place: Main Menu > Quick Setup (M1) >

B. Rem. Ctrl. Place (P1.15) > FieldbusCTRL

Make these settings in the master software

A. Set Control Word to '0' by writing the data 0000h to the register 2001

B. Set Control Word to '1' by writing the data 0001h to the register 2001

C. AC drive status is RUN

D. Set Speed Reference value to '5000' (=50.00%) by writing the data 1388h to the register 2003

Actual speed is 5000 (25.00 Hz if MinFreq is 0.00 Hz and MaxFreq is 50.00 Hz)

F. Set Control Word to '0' by writing the data 0000h to the register 2001

G. AC drive status is STOP.

Remote Control Place

Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/

APPENDIX 1 - PROCESS DATA vacon • 49

9. APPENDIX 1 - PROCESS DATA

Process Data IN (Master to Slave)

Use of Process Data In variables depends on the used application. The configuration of the data is free.

Process Data OUT (Slave to Master)

Use of Process Data Out variables depends on the used application.

The Fieldbus Master can read the AC drive’s actual values using process data variables. Control applications use process data as follows:

Table 49. Process Data OUT variables

Table 50.

2104 Process data OUT 1 2105 Process data OUT 2 2106 Process data OUT 3 2107 Process data OUT 4 2108 Process data OUT 5 2109 Process data OUT 6 2110 Process data OUT 7 2111 Process data OUT 8

NOTE 1! In VACON

VACON

100 HVAC the Motor Current scale is always 0.1 A.

NOTE 2! In VACON

100 family AC drives, the Motor Current scale depends on the drive size. In

100 HVAC, the default ID is 45 meaning "Motor Current 1 Decimal". In VACON®

3(45)

Output Frequency 0.01 Hz Motor Speed 1 rpm

Motor Current 0.1 A Motor Torque 0.1 % Motor Power 0.1 % Motor Voltage 0.1 V DC link voltage 1 V Active Fault Code -

100 family AC drives, the default ID is 3 for Motor Current. The ID 45 can be mapped by the user to

this variable also in VACON

100 family AC drives.

Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/

vacon • 50 APPENDIX 2 - CONTROL AND STATUS WORD

10. APPENDIX 2 - CONTROL AND STATUS WORD

10.1 Control Word bit description

The Control word is composed of 32 bits. FBFixedControlWord consist of the first 16 bits. FBGeneralControlWord consist of the remaining 16 bits. While the functionality of FBFixedControlWord is fixed in the VACON application specific and can vary even in the VACON

The meanings of FBFixedControlWord bits are described below. Unused bits have to be set to zero.

NOTE! This table is valid for VACON functions. See Table 52.

Bit Function Value Description

standard applications, the functionality of FBGeneralControlWord is totally

standard applications. VACON® 100 HVAC may not support all

Table 51. Control Word

standard applications.

0 Start/Stop

1 Direction

2Fault reset

3Stop mode 1

4Stop mode 2

5 Quick ramp time

6 Freeze Setpoint

7Setpoint to Zero

Request Fieldbus

Control

0 Stop request from fieldbus. 1 Run request from fieldbus. 0 Requested direction is "FORWARD". 1 Requested direction is "REVERSE". 0 No action.

0 Stop mode is unmodified. 1 Stop mode is overridden to "Coasting". 0 Stop mode is unmodified. 1 Stop mode is overridden to "Ramping". 0 Normal deceleration ramp time.

1 The setpoint value from fieldbus is changed to 0.

1 Control Place is overridden to Fieldbus Control.

Rising edge (0->1) = Active faults, alarms and infos are reset.

Deceleration ramp time is switched to shorter than normal.

Changes in the setpoint value from fieldbus (FB Speed Reference) are taken into use by the application.

Changes in the setpoint value from fieldbus (FB Speed Reference) are not taken into use by the application.

The setpoint value from fieldbus is taken from FB Speed Reference.

Control Place is as parameterized in the drive (unchanged).

10 Jogging 1

Request Fieldbus

Reference

Source of the setpoint value is as parameterized

in the drive (unchanged). Source of the setpoint value is overridden to

Fieldbus. 0 No action. 1 Jogging request with reference 1.

Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/

APPENDIX 2 - CONTROL AND STATUS WORD vacon • 51

Table 51. Control Word

Bit Function Value Description

11 Jogging 2

12 Quick stop

13 - 15 Reserved

Table 52. Control word bit support in VACON

Bit Function

0Start/Stop x x 1 Direction x x 2Fault reset x x 3 Stop mode 1 x x 4 Stop mode 2 x x 5 Quick ramp time x 6 Freeze setpoint x x 7Setpoint to Zero x 8 Request Fieldbus Control x x

0 No action. 1 Jogging request with reference 2. 0 No action 1 Drive executes quick stop / emergency stop.

100 family AC drives

VACON® 100

INDUSTRIAL / FLOW

VACON® 100 HVAC

9 Request Fieldbus Reference x x 10 Jogging 1 x 11 Jogging 2 x 12 Quick stop x

13-15 Reserved

Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/

vacon • 52 APPENDIX 2 - CONTROL AND STATUS WORD

10.2 Status Word Descriptions

The Status word is composed of 32 bits. FBFixedStatusWord consist of the first 16 bits. FBGeneralStatusWord consist of the remaining 16 bits. While the functionality of FBFixedStatusWord is fixed in the VACON application specific and can vary even in the VACON

The meanings of FBFixedStatusWord bits are described below. Unused bits have to be set to zero.

standard applications, the functionality of FBGeneralStatusWord is totally

Table 53. Status Word

Bit Function Description

standard applications.

B0 Ready

B1 Run

B2 Direction

B3 Fault

B4 Alarm

B5 At reference

B6 Zero speed

B7 Flux ready

B8-B12 Reserved

0Drive is not ready. 1 Drive is ready to run. 0 Motor is not running. 1 Motor is running. 0 Motor is running clockwise. 1 Motor is running counterclockwise. 0No fault active. 1 Drive has an active fault. 0 No alarm active. 1 Drive has active alarm. 0 Motor is not running at reference speed. 1 Motor is running at reference speed. 0 Motor is not at zero speed. 1 Motor is running at zero speed. 0 Motor is not magnetized. 1 Motor is magnetized.

The following table is valid for most of VACON 100 applications.

Table 54. Status Word bits B29-B31, descriptions of bit connections

B29

Control place

00 1 Fieldbus 01 0 Keypad 0 1 1 PC tool 10 0 I/O terminals

B30

Control place

Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/

B31

Control place

Description

APPENDIX 6 - LWIP LICENCE vacon • 53

11. APPENDIX 6 - LWIP LICENCE

License for LWIP

Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:

1.Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.

2.Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.

3.The name of the author may not be used to endorse or promote products derived from this software without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE AUTHOR “AS IS” AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/

www.danfoss.com

Vacon Ltd

Member of the Danfoss Group

Runsorintie 7 65380 Vaasa Finland

Document ID:

DPD00156D

Rev. D

Sales code: DOC-INSMODBUS+DLUK

Danfoss vacon 100 industrial, vacon 100 flow, vacon 100 hvac, vacon 100 x User guide

Specifications and Main Features

Frequently Asked Questions

User Manual

1. SAFETY

1.1 Danger

1.2 Warnings

1.3 Earthing and earth fault protection

2. MODBUS - GENERAL INFO

3. MODBUS TECHNICAL DATA

3.1 Modbus RTU protocol

3.2 Modbus TCP protocol

3.3 Modbus UDP vs TCP

3.4 Connections and wiring

3.5 ACD (Address Conflict Detection) in Ethernet network

4. INSTALLATION

4.1 Installation in VACON® 100 family AC drives

4.1.1 Prepare for use through ethernet

4.1.2 Prepare for use through RS485

4.2 Installation in VACON® 100 X

4.2.1 Prepare for use through Ethernet

4.2.2 Prepare for use through RS485

5. FIEDLBUS PARAMETRIZATION

5.1 Fieldbus control and basic reference selection

5.1.1 Torque control parametrization

5.1.2 Enabling Modbus protocol

5.2 Modbus RTU parameters and monitoring values (M5.8.3)

5.2.1 Slave address

5.2.2 Baud rate

5.2.3 Parity type

5.2.4 Stop bits

5.2.5 Communication timeout

5.2.6 Operate mode

5.2.7 IDMap IDs

5.2.8 Fieldbus protocol status

5.2.9 Communication status

5.2.10 Illegal functions

5.2.11 Illegal data addresses

5.2.12 Illegal data values

5.2.13 Slave device busy

5.2.14 Memory parity error

5.2.15 Slave device failure

5.2.16 Last fault response

5.2.17 Control word

5.2.18 Status word

5.3 Modbus TCP/UDP parameters and monitoring values

5.3.1 Ethernet common settings (M5.9.1)

5.3.2 IP Address mode

5.3.3 Fixed IP address

5.3.4 Fixed Subnet Mask

5.3.5 Fixed default gateway

5.3.6 Active IP address, subnet mask and default gateway

5.3.7 MAC Address

5.3.8 Modbus TCP/UDP settings (M5.9.2)

5.3.9 Connection limit

5.3.10 Unit Identifier number

5.3.11 Communication timeout

5.3.12 IDMap IDs

6. COMMUNICATIONS

6.1 Data addresses in Modbus messages

6.2 Supported Modbus Functions

6.3 Modbus data mapping

6.3.1 Coils registers

6.3.2 Clearing resettable counters

6.3.3 Discrete inputs

6.3.4 Holding registers and input registers

6.3.5 Vacon Application IDs

6.3.6 FB Process data IN

6.3.7 FB Process data OUT

6.3.8 ID map

6.3.9 Operation day counter

6.3.10 Resettable operation day counter

6.3.11 Energy counter

6.3.12 Resettable energy counter

6.3.13 Fault history

6.3.14 Fault history with 16-bit error codes

6.4 Modbus TCP/UDP communication and connection timeout

6.5 Example messages

6.5.1 Example 1 - Write Process Data

6.5.2 Example 2 - Read process data