GE MM200 User Manual

Title page

ISO9001:2000

GE Consumer & Industrial

Multilin

MM200

Motor Management System

COMMUNICATIONS GUIDE

MM200 revision: 1.0x

Manual P/N: 1601-9033-A1

GE publication code: GEK-113402

Copyright © 2007 GE Multilin

GE Multilin

215 Anderson Avenue, Markham, Ontario

Canada L6E 1B3

Tel: [phone] Fax: [phone]

Internet: http://www.GEmultilin.com

*1601-9033-A1*

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GE Multilin's Quality

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registered to ISO9001:2000

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© 2007 GE Multilin Incorporated. All rights reserved.

GE Multilin MM200 Motor Management System Communications Guide for revision 1.0x.

MM200 Motor Management System, EnerVista, EnerVista Launchpad, EnerVista MM200
Setup, and FlexLogic are registered trademarks of GE Multilin Inc.

The contents of this manual are the property of GE Multilin Inc. This documentation is
furnished on license and may not be reproduced in whole or in part without the permission
of GE Multilin. The content of this manual is for informational use only and is subject to
change without notice.

Part number: 1601-9033-A1 (December 2007)

Table of Contents

Communications interfaces ........................................................................................1

RS485 interface (Modbus RTU) ....................................................................................2

Modbus Protocol ..............................................................................................................................................2

Electrical Interface .........................................................................................................................................2

Data Frame Format and Data Rate ....................................................................................................... 2

Data Packet Format ......................................................................................................................................2

Error Checking .................................................................................................................................................. 3

CRC-16 Algorithm ........................................................................................................................................... 3

Timing ...................................................................................................................................................................4

MM200 supported functions ..................................................................................................................... 4

Modbus Functions ..........................................................................................................................................4

Function Code 03H ........................................................................................................................................4

Function Code 04H ........................................................................................................................................5

Function Code 05H ........................................................................................................................................6

Function Code 06H ........................................................................................................................................7

Function Code 07H ........................................................................................................................................7

Function Code 08H ........................................................................................................................................8

Function Code 10H ........................................................................................................................................9

Performing Commands Using Function Code 10H .......................................................................10

Using the User Definable Memory Map .............................................................................................10

Error Responses ............................................................................................................................................11

Modbus memory map ............................................................................................................................... 11

Format codes ................................................................................................................................................. 20

Fieldbus interface 28

Profibus protocol (DP V0) .......................................................................................................................... 28

Profibus Output Data .................................................................................................................................... 8

Profibus DP-Diagnostics ............................................................................................................................28

Profibus Input Data ......................................................................................................................................29

DeviceNet protocol ...................................................................................................................................... 32

DeviceNet Communications ....................................................................................................................32

Identity Object (Class Code 01H) ...........................................................................................................33

Message Router (Class Code 02H) ........................................................................................................33

DeviceNet Object (Class Code 03H) ......................................................................................................33

DeviceNet Connection Object (Class Code 05H) ............................................................................34

I/O Data Polled Object (Class Code 64H) ............................................................................................35

DeviceNet Motor Data - Poll, Explicit Object (Class Code A0H) ...............................................36

DeviceNet - Explicit Motor Analog Data Object, Class Code B0H, Services ......................37

DeviceNet - Explicit Motor Object, Class Code B1H ......................................................................39

MM200 MOTOR MANAGEMENT SYSTEM – COMMUNICATIONS GUIDE i

ii MM200 MOTOR MANAGEMENT SYSTEM – COMMUNICATIONS GUIDE

GE Consumer & Industrial

NOT

NOT

Multilin

MM200 Motor Management System

Communications Guide

Communications Guide

Communications interfaces

The MM200 has two communications interfaces:

• RS485

•Fieldbus

NOTE:

NOTE:

Setpoint changes related to RS485, DeviceNet, and Profibus, require a power cycle to be
activated.

E

External power must be present on the Fieldbus port at power-up, in order to correctly
initialize.

E

MM200 MOTOR MANAGEMENT SYSTEM – COMMUNICATIONS GUIDE 1

RS485 INTERFACE (MODBUS RTU) COMMUNICATIONS GUIDE

NOT

RS485 interface (Modbus RTU)

The RS485 interface is a serial two-wire port intended for use as a Modbus RTU slave. The
RS485 port has the following characteristics.

• Address: 1 to 254

• Baud rate: 9600 to 115200 bps

• Supported Modbus function codes: 3, 4, 5, 6, 7, 8, 16

Modbus Protocol

The MM200 implements a subset of the Modicon Modbus RTU serial communication
standard. The Modbus protocol is hardware-independent. That is, the physical layer can be
any of a variety of standard hardware configurations. This includes RS232, RS422, RS485,
fibre optics, etc. Modbus is a single master / multiple slave type of protocol suitable for a
multi-drop configuration as provided by RS485 hardware. The MM200 Modbus
implementation employs two-wire RS485 hardware. Using RS485, up to 32 MM200s can be
daisy-chained together on a single communication channel.

The MM200 is always a Modbus slave. It can not be programmed as a Modbus master.
Computers or PLCs are commonly programmed as masters.

Both monitoring and control are possible using read and write register commands. Other
commands are supported to provide additional functions.

Electrical Interface The hardware or electrical interface in the MM200 is two-wire RS485. In a two-wire link,

data is transmitted and received over the same two wires. Although RS485 two wire
communication is bi-directional, the data is never transmitted and received at the same
time. This means that the data flow is half duplex.

RS485 lines should be connected in a daisy chain configuration with terminating networks
installed at each end of the link (i.e. at the master end and at the slave farthest from the
master). The terminating network should consist of a 120 W resistor in series with a 1 nF
ceramic capacitor when used with Belden 9841 RS485 wire. Shielded wire should always
be used to minimize noise. The shield should be connected to all of the MM200s as well as
the master, then grounded at one location only. This keeps the ground potential at the
same level for all of the devices on the serial link.

NOTE:

Data Frame Format

and Data Rate

Polarity is important in RS485 communications. The '+' (positive) terminals of every device
must be connected together.

E

One data frame of an asynchronous transmission to or from a MM200 typically consists of
1 start bit, 8 data bits, and 1 stop bit. This produces a 10 bit data frame. This is important
for transmission through modems at high bit rates (11 bit data frames are not supported
by Hayes modems at bit rates of greater than 300 bps).

Modbus protocol can be implemented at any standard communication speed. The MM200
supports operation at 9600, 19200, 38400, 57600, and 115200 baud.

Data Packet Format A complete request/response sequence consists of the following bytes (transmitted as

separate data frames):

Master Request Transmission:

SLAVE ADDRESS: 1 byte
FUNCTION CODE: 1 byte
DATA: variable number of bytes depending on FUNCTION CODE

2 MM200 MOTOR MANAGEMENT SYSTEM – COMMUNICATIONS GUIDE

COMMUNICATIONS GUIDE RS485 INTERFACE (MODBUS RTU)

CRC: 2 bytes

Slave Response Transmission:

SLAVE ADDRESS: 1 byte
FUNCTION CODE: 1 byte
DATA: variable number of bytes depending on FUNCTION CODE
CRC: 2 bytes

SLAVE ADDRESS: This is the first byte of every transmission. This byte represents the user­assigned address of the slave device that is to receive the message sent by the master.
Each slave device must be assigned a unique address and only the addressed slave will
respond to a transmission that starts with its address. In a master request transmission the
SLAVE ADDRESS represents the address of the slave to which the request is being sent. In a
slave response transmission the SLAVE ADDRESS represents the address of the slave that
is sending the response.

FUNCTION CODE: This is the second byte of every transmission. Modbus defines function
codes of 1 to 127.

DATA: This will be a variable number of bytes depending on the FUNCTION CODE. This may
be Actual Values, Setpoints, or addresses sent by the master to the slave or by the slave to
the master.

CRC: This is a two byte error checking code.

Error Checking The RTU version of Modbus includes a two byte CRC-16 (16 bit cyclic redundancy check)

with every transmission. The CRC-16 algorithm essentially treats the entire data stream
(data bits only; start, stop and parity ignored) as one continuous binary number. This
number is first shifted left 16 bits and then divided by a characteristic polynomial
(11000000000000101B). The 16 bit remainder of the division is appended to the end of the
transmission, MSByte first. The resulting message including CRC, when divided by the
same polynomial at the receiver will give a zero remainder if no transmission errors have
occurred.

If a MM200 Modbus slave device receives a transmission in which an error is indicated by
the CRC-16 calculation, the slave device will not respond to the transmission. A CRC-16
error indicates than one or more bytes of the transmission were received incorrectly and
thus the entire transmission should be ignored in order to avoid the MM200 performing
any incorrect operation.

The CRC-16 calculation is an industry standard method used for error detection. An
algorithm is included here to assist programmers in situations where no standard CRC-16
calculation routines are available.

CRC-16 Algorithm Once the following algorithm is complete, the working register “A” will contain the CRC

value to be transmitted. Note that this algorithm requires the characteristic polynomial to
be reverse bit ordered. The MSBit of the characteristic polynomial is dropped since it does
not affect the value of the remainder. The following symbols are used in the algorithm:

—>: data transfer

A: 16 bit working register

AL: low order byte of A

AH: high order byte of A

CRC: 16 bit CRC-16 value

i, j: loop counters

(+): logical exclusive or operator

Di: i-th data byte (i = 0 to N-1)

MM200 MOTOR MANAGEMENT SYSTEM – COMMUNICATIONS GUIDE 3

RS485 INTERFACE (MODBUS RTU) COMMUNICATIONS GUIDE

G: 16 bit characteristic polynomial = 1010000000000001 with MSbit dropped and bit order
reversed

shr(x): shift right (the LSbit of the low order byte of x shifts into a carry flag, a '0' is shifted
into the MSbit of the high order byte of x, all other bits shift right one location

The algorithm is:

1. FFFF hex —> A

2. 0 —> i

3. 0 —> j

4. Di (+) AL —> AL

5. j+1 —> j

6. shr(A)

7. is there a carry? No: go to 8. Yes: G (+) A —> A

8. is j = 8? No: go to 5. Yes: go to 9.

9. i+1 —> i

10. is i = N? No: go to 3. Yes: go to 11.

11. A —> CRC

Timing Data packet synchronization is maintained by timing constraints. The receiving device

must measure the time between the reception of characters. If 3.5 character times elapse
without a new character or completion of the packet, then the communication link must
be reset (i.e. all slaves start listening for a new transmission from the master). Thus at 9600
baud a delay of greater than 3.5 x 1 / 9600 x 10 x = x 3.65 x ms will cause the
communication link to be reset.

MM200 supported

functions

The following functions are supported by the MM200:

• FUNCTION CODE 03 - Read Setpoints and Actual Values

• FUNCTION CODE 04 - Read Setpoints and Actual Values

• FUNCTION CODE 05 - Execute Operation

• FUNCTION CODE 06 - Store Single Setpoint

• FUNCTION CODE 07 - Read Device Status

• FUNCTION CODE 08 - Loopback Test

• FUNCTION CODE 10 - Store Multiple Setpoints

Modbus Functions

Function Code 03H Modbus implementation: Read Holding Registers

MM200 implementation: Read Setpoints

For the MM200 implementation of Modbus, this function code can be used to read any
setpoints (“holding registers”). Holding registers are 16 bit (two byte) values transmitted
high order byte first . Thus all MM200 Setpoints are sent as two bytes. The maximum
number of registers that can be read in one transmission is 125.

The slave response to this function code is the slave address, function code, a count of the
number of data bytes to follow, the data itself and the CRC. Each data item is sent as a two
byte number with the high order byte sent first.

For example, consider a request for slave 17 to respond with 3 registers starting at address
006B. For this example the register data in these addresses is as follows:

4 MM200 MOTOR MANAGEMENT SYSTEM – COMMUNICATIONS GUIDE

COMMUNICATIONS GUIDE RS485 INTERFACE (MODBUS RTU)

Address Data

006B 022B

006C 0000

006D 0064

The master/slave packets have the following format:

Table 1: MASTER/SLAVE PACKET FORMAT FOR FUNCTION CODE 03H

MASTER TRANSMISSION BYTES EXAMPLE DESCRIPTION

SLAVE ADDRESS 1 11 message for slave

FUNCTION CODE 1 03 read registers

DATA STARTING ADDRESS 2 00 6B data starting at

NUMBER OF SETPOINTS 2 00 03 3 registers = 6

CRC 2 76 87 CRC error code

SLAVE RESPONSE BYTES EXAMPLE DESCRIPTION

SLAVE ADDRESS 1 11 message from

FUNCTION CODE 1 03 read registers

BYTE COUNT 1 06 3 registers = 6

DATA 1 (see definition above) 2 02 2B value in address

DATA 2 (see definition above) 2 00 00 value in address

DATA 3 (see definition above) 2 00 64 value in address

CRC 2 54 83 CRC error code

17

006B

bytes total

slave 17

bytes

006B

006C

006D

Function Code 04H Modbus Implementation: Read Input Registers

MM200 implementation: Read Actual Values

For the MM200 implementation of Modbus, this function code can be used to read any
actual values (“input registers”). Input registers are 16 bit (two byte) values transmitted high
order byte first . Thus all MM200 Actual Values are sent as two bytes. The maximum
number of registers that can be read in one transmission is 125.

The slave response to this function code is the slave address, function code, a count of the
data bytes to follow, the data itself and the CRC. Each data item is sent as a two byte
number with the high order byte sent first .

For example, request slave 17 to respond with 1 register starting at address 0008. For this
example the value in this register (0008) is 0000.

MM200 MOTOR MANAGEMENT SYSTEM – COMMUNICATIONS GUIDE 5

RS485 INTERFACE (MODBUS RTU) COMMUNICATIONS GUIDE

Table 2: MASTER/SLAVE PACKET FORMAT FOR FUNCTION CODE 04H

MASTER TRANSMISSION BYTES EXAMPLE DESCRIPTION

SLAVE ADDRESS 1 11 message for slave

FUNCTION CODE 1 04 read registers

DATA STARTING ADDRESS 2 00 08 data starting at

NUMBER OF ACTUAL VALUES 2 00 01 1 register = 2 bytes

CRC 2 B2 98 CRC error code

SLAVE RESPONSE BYTES EXAMPLE DESCRIPTION

SLAVE ADDRESS 1 11 message from

FUNCTION CODE 1 04 read registers

BYTE COUNT 1 02 1 register = 2 bytes

DATA (see definition above) 2 00 00 value in address

CRC 2 78 F3 CRC error code

17

0008

slave 17

0008

Function Code 05H Modbus Implementation: Force Single Coil

MM200 Implementation: Execute Operation

This function code allows the master to request a MM200 to perform specific command
operations.

For example, to request slave 17 to execute operation code 1 (reset), we have the following
master/slave packet format:

Table 3: MASTER/SLAVE PACKET FORMAT FOR FUNCTION CODE 05H

MASTER TRANSMISSION BYTES EXAMPLE DESCRIPTION

SLAVE ADDRESS 1 11 message for slave

FUNCTION CODE 1 05 execute operation

OPERATION CODE 2 00 01 operation code 1

CODE VALUE 2 FF 00 perform function

CRC 2 DF 6A CRC error code

SLAVE RESPONSE BYTES EXAMPLE DESCRIPTION

SLAVE ADDRESS 1 11 message from

FUNCTION CODE 1 05 execute operation

OPERATION CODE 2 00 01 operation code 1

CODE VALUE 2 FF 00 perform function

CRC 2 DF 6A CRC error code

17

slave 17

The commands that can be performed by the MM200 using function code 05 can also be
initiated by using function code 16.

6 MM200 MOTOR MANAGEMENT SYSTEM – COMMUNICATIONS GUIDE

COMMUNICATIONS GUIDE RS485 INTERFACE (MODBUS RTU)

Operation Code Description

1Reset

2Lockout Reset

3Stop

4Start A

5Start B

96 Clear Last Trip Data Prompt

99 Clear Counters

113 Reset Motor Information

114 Auto Mode

115 Manual Mode

116 Manual Inhibit

117 Manual Restore

Function Code 06H Modbus Implementation: Preset Single Register

MM200 Implementation: Store Single Setpoint

This command allows the master to store a single setpoint into the memory of a MM200
The slave response to this function code is to echo the entire master transmission.

For example, request slave 17 to store the value 2 in setpoint address 04 5C. After the
transmission in this example is complete, setpoints address 04 5C will contain the value
01F4. The master/slave packet format is shown below:

Table 4: MASTER/SLAVE PACKET FORMAT FOR FUNCTION CODE 06H

MASTER TRANSMISSION BYTES EXAMPLE DESCRIPTION

SLAVE ADDRESS 1 11 message for slave

FUNCTION CODE 1 06 store single

DATA STARTING ADDRESS 2 04 5C setpoint address

DATA 2 00 02 data for setpoint

CRC 2 CB B9 CRC error code

SLAVE RESPONSE BYTES EXAMPLE DESCRIPTION

SLAVE ADDRESS 1 11 message from

FUNCTION CODE 1 06 store single

DATA STARTING ADDRESS 2 04 5C setpoint address

DATA 2 00 02 data stored in

CRC 2 CB B9 CRC error code

Function Code 07H Modbus Implementation: Read Exception Status

MM200 Implementation: Read Device Status

17

setpoint

04 5C

address 04 5C

slave 17

setpoint

04 5C

setpoint address
04 5C

MM200 MOTOR MANAGEMENT SYSTEM – COMMUNICATIONS GUIDE 7

RS485 INTERFACE (MODBUS RTU) COMMUNICATIONS GUIDE

This is a function used to quickly read the status of a selected device. A short message
length allows for rapid reading of status. The status byte returned will have individual bits
set to 1 or 0 depending on the status of the slave device. For this example, consider the
following MM200 general status byte:

The master/slave packets have the following format:

Table 5: Function code 7 bitmask

Bit Function

0Alarm

1Trip

2 Internal fault

3Auto

4 Contactor A

5 Contactor B

6 Contact output 3

7 Drive available (communications control)

Table 6: MASTER/SLAVE PACKET FORMAT FOR FUNCTION CODE 07H

MASTER TRANSMISSION BYTES EXAMPLE DESCRIPTION

SLAVE ADDRESS 1 11 message for slave

FUNCTION CODE 1 07 read device status

CRC 2 4C 22 CRC error code

17

SLAVE RESPONSE BYTES EXAMPLE DESCRIPTION

SLAVE ADDRESS 1 11 message from

FUNCTION CODE 1 07 read device status

DEVICE STATUS (see
definition above)

CRC 2 22 28 CRC error code

1 2C status = 00101100

Function Code 08H Modbus Implementation: Loopback

Test MM200 Implementation: Loopback Test

This function is used to test the integrity of the communication link. The MM200 will echo
the request.

For example, consider a loopback test from slave 17:

Table 7: MASTER/SLAVE PACKET FORMAT FOR FUNCTION CODE 08H

MASTER TRANSMISSION BYTES EXAMPLE DESCRIPTION

SLAVE ADDRESS 1 11 message for slave

FUNCTION CODE 1 08 loopback test

DIAG CODE 2 00 00 must be 00 00

DATA 2 00 00 must be 00 00

CRC 2 E0 0B CRC error code

slave 17

(in binary)

17

8 MM200 MOTOR MANAGEMENT SYSTEM – COMMUNICATIONS GUIDE

COMMUNICATIONS GUIDE RS485 INTERFACE (MODBUS RTU)

SLAVE RESPONSE BYTES EXAMPLE DESCRIPTION

SLAVE ADDRESS 1 11 message from

FUNCTION CODE 1 08 loopback test

DIAG CODE 2 00 00 must be 00 00

DATA 2 00 00 must be 00 00

CRC 2 E0 0B CRC error code

slave 17

Function Code 10H Modbus Implementation: Preset Multiple Registers

MM200 Implementation: Store Multiple Setpoints

This function code allows multiple Setpoints to be stored into the MM200 memory. Modbus
“registers” are 16-bit (two byte) values transmitted high order byte first. Thus all MM200
setpoints are sent as two bytes. The maximum number of Setpoints that can be stored in
one transmission is dependent on the slave device. Modbus allows up to a maximum of 60
holding registers to be stored. The MM200 response to this function code is to echo the
slave address, function code, starting address, the number of Setpoints stored, and the
CRC.

For example, consider a request for slave 17 to store the value 00 02 to setpoint address
04 5C and the value 01 F4 to setpoint address 04 5D. After the transmission in this example
is complete, MM200 slave 17 will have the following setpoints information stored:

Address Data

04 5C 00 02

04 5D 01 F4

The master/slave packets have the following format:

Table 8: MASTER/SLAVE PACKET FORMAT FOR FUNCTION CODE 10H

MASTER TRANSMISSION BYTES EXAMPLE DESCRIPTION

SLAVE ADDRESS 1 11 message for slave

FUNCTION CODE 1 10 store setpoints

DATA STARTING ADDRESS 2 04 5C setpoint address

NUMBER OF SETPOINTS 2 00 02 2 setpoints = 4

BYTE COUNT 1 04 4 bytes of data

DATA 1 2 00 02 data for setpoint

DATA 2 2 01 F4 data for setpoint

CRC 2 31 11 CRC error code

SLAVE RESPONSE BYTES EXAMPLE DESCRIPTION

SLAVE ADDRESS 1 11 message from

FUNCTION CODE 1 10 store setpoints

DATA STARTING ADDRESS 2 04 5C setpoint address

NUMBER OF SETPOINTS 2 00 02 2 setpoints

CRC 2 82 7A CRC error code

17

04 5C

bytes total

address 04 5C

address 04 5D

slave 17

04 5C

MM200 MOTOR MANAGEMENT SYSTEM – COMMUNICATIONS GUIDE 9

RS485 INTERFACE (MODBUS RTU) COMMUNICATIONS GUIDE

Performing

Commands Using

Function Code 10H

Commands can be performed using function code 16 as well as function code 5. When
using FUNCTION CODE 16, the Command Function register must be written with a value of

5. The Command Operation register must be written with a valid command operation
number. The Command Data registers must be written with valid data; this is dependent
upon the command operation.

For example, consider a request for slave 17 to perform command operation 1 (RESET): The
master/slave packets have the following format:

Table 9: MASTER/SLAVE PACKET FORMAT FOR PERFORMING COMMANDS

MASTER TRANSMISSION BYTES EXAMPLE DESCRIPTION

SLAVE ADDRESS 1 11 message for slave

17

FUNCTION CODE 1 10 store multiple

setpoints

DATA STARTING ADDRESS 2 00 80 setpoint address

00 80

NUMBER OF SETPOINTS 2 00 02 2 setpoints = 4

bytes total

BYTE COUNT 1 04 4 bytes of data

DATA 1 2 00 05 data for address

00 80

DATA 2 2 00 01 data for address

00 81

CRC 2 7E CE CRC error code

Using the User

Definable Memory

Map

SLAVE RESPONSE BYTES EXAMPLE DESCRIPTION

SLAVE ADDRESS 1 11 message from

slave 17

FUNCTION CODE 1 10 store multiple

setpoints

DATA STARTING ADDRESS 2 00 80 setpoint address

00 80

NUMBER OF SETPOINTS 2 00 02 2 setpoints

CRC 2 42 B0 CRC error code

The MM200 contains a User Definable area in the memory map. This area allows re­mapping of the addresses of any Actual Values or Setpoints registers. The User Definable
area has two sections:

1. A Register Index area (memory map addresses 020BH-0287H) that contains 125
Actual Values or Setpoints register addresses.

2. A Register area (memory map addresses 020BH-0287H) that contains the data at the
addresses in the Register Index.

Register data that is separated in the rest of the memory map may be re-mapped to
adjacent register addresses in the User Definable Registers area. This is accomplished by
writing to register addresses in the User Definable Register Index area. This allows for
improved throughput of data and can eliminate the need for multiple read command
sequences. The User Definable Register Index is stored as a setpoint and therefore it is
“remembered” even when the power is removed.

For example, if the values of MOTOR LOAD (register address 014FH; modbus address

30336) and DRIVE STATUS (register address 0135H; modbus address 30310) are required to

be read from a MM200, their addresses may be re-mapped as follows:

1. Write 30336 to address 020BH (40524) (User Definable Register Index 0000) using
function code 06 or 16.

10 MM200 MOTOR MANAGEMENT SYSTEM – COMMUNICATIONS GUIDE