Lenze ESVZAR0 User Manual
SMVector ESVZAR0 RS-485 Modbus Communication Module
Communications Interface Reference Guide
About These Instructions
This documentation applies to the ESVZAR0 RS-485/Modbus communications option for the SMVector inverter models
up to 10HP. This documentation should be used in conjunction with the SMVector Operating Instructions (Document
SV01) that shipped with the drive. These documents should be read in their entirety as they contain important technical
data and describe the installation and operation of the drive and this option.
WARNING!
The information in this document is based on RS-485 Modbus Communication Module
software version 1.01. If a future revision of software contains differences in the register
numbering or register definitions, drive operation could be seriously affected. If drive
parameter P494 does not display 1.01, 1.10 or 1.30, then writing to any drive register
over the Modbus® network MUST NOT BE ATTEMPTED as it would have the potential
for unexpected consequences potentially resulting in damage to the equipment or
harm to personnel. Future releases of module software require that the appropriate
documentation be used for implementation.
© 2007 Lenze AC Tech Corporation
No part of this documentation may be copied or made available to third parties without the explicit written approval
of Lenze AC Tech Corporation.
All information given in this documentation has been carefully selected and tested for compliance with the hardware
and software described. Nevertheless, discrepancies cannot be ruled out. We do not accept any responsibility nor
liability for damages that may occur. Any necessary corrections will be implemented in subsequent editions.
Contents
1 Safety Information .............................................................................................................................................................3
2 Introduction .......................................................................................................................................................................5
2.1 Module Specifications ............................................................................................................................................5
2.2 Module Identification ..............................................................................................................................................6
3 Installation ........................................................................................................................................................................7
3.1 Mechanical Installation...........................................................................................................................................7
3.2 RS-485 Terminal Block ..........................................................................................................................................8
3.3 Electrical Installation ..............................................................................................................................................8
3.3.1 Cable Types ................................................................................................................................................8
3.3.2 Connections and Shielding ..........................................................................................................................8
3.3.3 Network Termination ..................................................................................................................................9
4 Extended Parameters for Modbus RTU.............................................................................................................................10
4.1 Parameter Menu ..................................................................................................................................................10
5 Modbus Protocol Details ..................................................................................................................................................12
5.1 Data Transmission ...............................................................................................................................................12
5.2 Register Numbering .............................................................................................................................................12
5.3 Supported Function Codes ...................................................................................................................................12
6 Modbus Message Details ................................................................................................................................................13
6.1 Register Reading ..................................................................................................................................................13
6.1.1 Message structure for reading one 16-bit register.....................................................................................13
6.1.2 Message structure for reading two 16-bit registers ...................................................................................13
6.1.3 Message structure for reading one 32-bit register.....................................................................................14
6.1.4 Message structure for reading one 4 word register ...................................................................................14
6.1.5 Message structure for reading six 16-bit registers ....................................................................................14
6.2 Register Writing ...................................................................................................................................................15
6.2.1 Message structure for reading one word ...................................................................................................15
6.3 No Response Conditions.......................................................................................................................................15
6.4 Exception Responses ...........................................................................................................................................15
6.4.1 Message structure for an exception response to a read request (03) .........................................................15
6.4.2 Message structure for an exception response to a write request (06) ........................................................15
6.4.3 Exception Codes (EC) ................................................................................................................................15
7 Commissioning ...............................................................................................................................................................16
7.1 Drive Monitoring ..................................................................................................................................................16
7.2 Drive Programming and Control ...........................................................................................................................16
7.3 Unlocking & Locking Drive Controls & Parameters ................................................................................................16
7.4 Network Watchdog Timer .....................................................................................................................................17
7.5 Watchdog Timer Controls .....................................................................................................................................17
7.5.1 Watchdog Time-out Period (P425) ............................................................................................................17
7.5.2 Watchdog Time-out Action (P426) .............................................................................................................17
8 Typical Network Applications ...........................................................................................................................................18
8.1 Controlling the Drive ............................................................................................................................................18
8.2 Changing Drive Parameters ..................................................................................................................................18
8.3 Controlling Frequency, PID & Torque Setpoints .....................................................................................................18
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Contents
9 Drive Registers ................................................................................................................................................................19
9.1 Data Internal vs. Display Representation ..............................................................................................................19
9.2 Drive Control Registers .........................................................................................................................................19
9.2.1 Drive Control - Register #1........................................................................................................................20
9.2.2 Drive Size - Register #21 ..........................................................................................................................21
9.2.3 Drive Status - Register #23 .......................................................................................................................22
9.2.4 Load - Register #26 ..................................................................................................................................22
9.2.5 Run Status - Register #26 .........................................................................................................................23
9.2.6 Actual Direction - Register #27 .................................................................................................................23
9.2.7 Control Mode - Register #27 .....................................................................................................................23
9.2.8 Speed Source - Register #28 ....................................................................................................................24
9.2.9 Auto/Manual Reference - Register #28 .....................................................................................................24
9.2.10 Present Fault - Register #29 .....................................................................................................................25
9.2.11 Commanded Direction - Register #29 .......................................................................................................25
9.2.12 PID Registers ............................................................................................................................................25
9.2.13 Parameter Version - Register #50 .............................................................................................................26
9.2.14 Network Controlled Digital Output - Register #70 ......................................................................................26
9.2.15 Network Controlled Analog Output - Register #71 .....................................................................................26
10 Programming Parameters ................................................................................................................................................27
10.1 Negative Number Transmission ............................................................................................................................27
10.2 Terminal and Protection Status (P530) .................................................................................................................27
10.3 Keypad Status (P531) ...........................................................................................................................................28
11 Troubleshooting and Fault Elimination .............................................................................................................................29
11.1 Faults...................................................................................................................................................................29
11.2 Troubleshooting ...................................................................................................................................................29
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1 Safety Information
General
Some parts of Lenze controllers (frequency inverters, servo inverters, DC controllers) can be live, moving and rotating.
Some surfaces can be hot.
Non-authorized removal of the required cover, inappropriate use, and incorrect installation or operation creates the
risk of severe injury to personnel or damage to equipment.
All operations concerning transport, installation, and commissioning as well as maintenance must be carried out
by qualified, skilled personnel (IEC 364 and CENELEC HD 384 or DIN VDE 0100 and IEC report 664 or DIN VDE0110
and national regulations for the prevention of accidents must be observed).
According to this basic safety information, qualified skilled personnel are persons who are familiar with the installation,
assembly, commissioning, and operation of the product and who have the qualifications necessary for their occupation.
Application as directed
Drive controllers are components which are designed for installation in electrical systems or machinery. They are
not to be used as appliances. They are intended exclusively for professional and commercial purposes according to
EN 61000-3-2. The documentation includes information on compliance with the EN 61000-3-2.
When installing the drive controllers in machines, commissioning (i.e. the starting of operation as directed) is
prohibited until it is proven that the machine complies with the regulations of the EC Directive 2006/42/EC (Machinery
Directive); EN 60204 must be observed.
Safety Information
Commissioning (i.e. starting of operation as directed) is only allowed when there is compliance with the EMC
Directive (2004/108/EEC). The drive controllers meet the requirements of the Low Voltage Directive 2006/95/EC.
The harmonised standards of the series EN 50178/DIN VDE 0160 apply to the controllers.
The availability of controllers is restricted according to EN 61800-3. These products can cause radio
interference in residential areas. In this case, special measures can be necessary.
Installation
Ensure proper handling and avoid excessive mechanical stress. Do not bend any components and do not change
any insulation distances during transport or handling. Do not touch any electronic components and contacts.
Controllers contain electrostatically sensitive components, which can easily be damaged by inappropriate handling.
Do not damage or destroy any electrical components since this might endanger your health!
Electrical connection
When working on live drive controllers, applicable national regulations for the prevention of accidents (e.g. VBG 4)
must be observed.
The electrical installation must be carried out according to the appropriate regulations (e.g. cable cross-sections,
fuses, PE connection). Additional information can be obtained from the documentation.
The documentation contains information about installation in compliance with EMC (shielding, grounding, filters and
cables). These notes must also be observed for CE-marked controllers.
The manufacturer of the system or machine is responsible for compliance with the required limit values demanded
by EMC legislation.
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Safety Information
Operation
Systems including controllers must be equipped with additional monitoring and protection devices according to the
corresponding standards (e.g. technical equipment, regulations for prevention of accidents, etc.). You are allowed
to adapt the controller to your application as described in the documentation.
DANGER!
• After the controller has been disconnected from the supply voltage, live components and power
connection must not be touched immediately, since capacitors could be charged. Please observe the
corresponding notes on the controller.
• Do not continuously cycle input power to the controller more than once every three minutes.
• Please close all protective covers and doors during operation.
WARNING!
Network control permits automatic operation of the inverter drive. The system design must incorporate
adequate protection to prevent personnel from accessing moving equipment while power is applied to the
drive system.
Table 1: Pictographs used in these instructions
Pictograph Signal word Meaning Consequences if ignored
DANGER! Warning of Hazardous Electrical
Voltage.
WARNING! Impending or possible danger for
persons
STOP! Possible damage to equipment Damage to drive system or its surroundings
NOTE Useful tip: If observed, it will make
using the drive easier
Reference to an imminent danger that may
result in death or serious personal injury if the
corresponding measures are not taken.
Death or injury
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2 Introduction
This reference guide assumes that the reader has a working knowledge of the Modbus RTU Protocol and familiarity
with the programming and operation of motion control equipment. This guide is intended as a reference only.
Modbus is an internationally accepted asynchronous serial protocol designed for commercial and industrial automation
applications. The Modbus RTU architecture is based upon a PLC to device communication structure and, as such
is Master-Slave in orientation. The SMV drive, in this case, always acts as the slave in this network, responding to
commands and requests from the Master.
While the Modbus RTU protocol does not specify the physical layer, the ESVZAR0 module uses the RS-485 physical
interface which is quite common and well suited for the industrial environment. The ESVZAR0 module provides both
galvanic and optical isolation of this physical interface.
2.1 Module Specifications
Table 2 identifies the Modbus serial communication specifications. If the specification is fixed (non-adjustable)
the value is shown under “Range”, if the specification is selectable, Table 2 identifies the Parameter and available
range of selections.
Introduction
Table 2: Modbus Specifications
Description Type Range
Baud Rate Selectable P411 (2400, 4800, 9600, 19200, 38400, 57600, or 115200 bps)
Data Bits Fixed 8
Parity / Stop Bits Selectable P412 (None/1, None/2, Even/1, Odd/1)
Network Address Selectable P410 (1 - 247)
Typical communications between master and slave would be:
• Write commands from Master
• Run command
• Frequency Reference
• Modification of Drive operating parameters
• Requests from Master
• Reporting of drive status
• Fault status (and fault history)
The SMVector drive most nearly conforms to the Modicon® Micro 84 in capabilities. This may be of importance
when configuring networks for DDE Servers.
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2.2 Module Identification
Right-hand Label:
Figure 1 illustrates the labels on the SMV RS-485 communications module. The SMVector RS-485 module is
identifiable by:
• Two labels affixed to either side of the module.
• The color coded identifier label in the center of the module.
Introduction
Ratings & Certifications
COMM I/O ONLY
S/N: 123456789
LISTED
Fieldbus Identifier:
R = RS-485 (Modbus RTU/LECOM)
R0
Left-hand Label:
Module Data
TYPE: ESVZAR0
ID-NO: 12345678
ESVZAR0-000XX1A10
SMV RS-485
A
B
C
D
E
Figure 1: RS-485 Module Labels
A: Fieldbus Protocol
B: Model Number
C: Lenze Order Number
D: Firmware Revision
E: Hardware Revision
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3 Installation
3.1 Mechanical Installation
1. Ensure that for safety reasons the AC supply has been disconnected before opening the terminal cover.
2. Insert the RS-485 option module in the terminal cover and securely “click” into position as illustrated in Figure 2.
3. Wire the network cables to the connector provided, as detailed in paragraphs 3.2 (RS-485 Terminal Block) and
3.3 (Electrical Installation), and plug the connector into the option module.
4. Align terminal cover for re-fitting, connect the module umbilical cord to the drive then close the cover and
secure, as shown in Figure 3.
Installation
1 2 3 4 5
0.5 Nm/ 4.5 lb-in
<_ 2.8 mm
(12-22 AWG)
7mm
NEMA 1 (IP31) Models NEMA 4X (IP65) Models
Figure 2: Installing the RS-485 Communications Module
NEMA 1 (IP31) Models NEMA 4X (IP65) Models
Figure 3: Re-installing the Terminal Cover
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3.2 RS-485 Terminal Block
Table 3 describes the RS-485 terminal block. The 5 pole connector provides 2-wire connection to the network.
Terminal Description Important Connector
1 Earth ground /
2 TXA If controller is located at either end of the network,
3 No connection
4 TXB
5 No connection
Protection against contact
• All terminals have basic isolation (single insulating distance)
• Protection against contact can only be ensured by additional measures (i.e. double insulation)
3.3 Electrical Installation
3.3.1 Cable Types
Installation
shield
Table 3: RS-485 Terminal Block
For reliable communication make sure terminal is
connected to the Modbus network GND/common.
If only two wires are used (TXA and TXB) in the
network, connect Terminal 1 to chassis/earth GND.
a terminating resistor (120ohm typical) should be
connected across TXA and TXB
5
4
3
2
1
For RS-485 Modbus networks, use a quality shielded twisted pair cable. The use of low quality cable will result in
excess signal attenuation and data loss.
3.3.2 Connections and Shielding
To ensure good system noise immunity all networks cables should be correctly grounded:
• Minimum grounding recommendation: ground the network cable once in every cubical.
• Ideal grounding recommendation: ground the network cable on or as near to each drive as possible.
• For wiring of cable to the connector plug the unscreened cable cores should be kept as short as possible;
recommended maximum of 20mm. The shield connection of terminal 1 should also be wired to earth (PE).
Connect to
drive earth
(PE)
2
1
3 4
5
20mm
max
Figure 4: Connector Wiring Diagram
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