Lenze smd Series Drives User Manual

smd
Modbus Communications Reference Guide
Series Drives
About These Instructions
This documentation applies to the use of an should be used in conjunction 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.
Modbus® and Modicon® are registered trademarks of Schneider Electric; http://www.schneider-electric.com.
For more information about the Modbus Protocol please refer to the Modicon Modbus Protocol Reference Guide; http://www.Modbus.org
smd
smd
Series Variable Frequency Drive in a Modbus Network and
Series Operating Instructions (Document SL03) that shipped with the
© 2003 AC Technology Corporation
No part of this documentation may be copied or made available to third parties without the explicit written approval of AC Technology 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. AC Tech does not accept any responsibility nor liability for damages that may occur. Any necessary corrections will be implemented in subsequent editions.
Contents
1 Safety Information .............................................................................................................1
1.1 Warnings, Cautions and Notes ..............................................................................1
1.1.1 General ....................................................................................................1
1.1.2 Application ...............................................................................................1
1.1.3 Installation ...............................................................................................1
1.1.4 Electrical Connection ................................................................................2
1.1.5 Operation .................................................................................................2
1.2 Reference and Links .............................................................................................2
2 Introduction .......................................................................................................................3
2.1 RS485 Details .......................................................................................................3
2.2 Electrical Installation .............................................................................................3
2.2.1 Cable Type ...............................................................................................3
2.2.2 Connections and Shielding .......................................................................3
2.2.3 Network Termination ................................................................................4
2.3 Modbus Details .....................................................................................................4
2.4 Universal Registers ...............................................................................................6
3 Data Representation - Internal and External .......................................................................7
3.1 Register Format ....................................................................................................7
3.2 Data Types ...........................................................................................................7
3.3
4
smd
4.1 Control Parameter .................................................................................................8
4.2 Serial Address ......................................................................................................8
4.3 Serial Communications Parameter ........................................................................8
4.4 Watchdog Timer ...................................................................................................9
4.5 Unlocking & Locking Controls ...............................................................................10
4.6 Unlocking & Locking Programming Parameters only .............................................10
4.7 Monitoring Only Operation ....................................................................................10
4.8 Normal Control Operation Sequence .....................................................................11
4.9 Start/Stop, Speed Control and Parameter Change Operation .................................11
smd
Drive Registers ..............................................................................................7
Drive Setup & Operation ............................................................................................8
i RG-SDMOD
Contents
5
smd
Drive Control Registers ..............................................................................................12
5.1 Abbreviations ........................................................................................................13
5.2 Drive Control - Register #1....................................................................................13
5.3 Drive Hardware Configuration - Register #22 ........................................................14
5.4 Drive Status - Registers #24-29 ............................................................................15
5.4.1 Reading Register #24 ...............................................................................15
5.4.2 Operational Status - Register #26 .............................................................16
5.4.3 Actual Rotational Direction - Registers #24 & 27 ......................................16
5.4.4 Control Mode - Registers #24 & 27 ..........................................................16
5.4.5 Speed Command Source - Registers #24 & 28 .........................................17
5.4.6 Speed Reference Status - Registers #24 & 28 ..........................................17
5.4.7 Present Fault - Registers #24 & 29 ...........................................................17
5.4.8 Commanded Rotational Direction - Registers #24 & 29 ............................18
5.5 Motor Volts - Register #30 ....................................................................................18
5.6 Serial Speed - Register #40 ..................................................................................18
5.7 Unlock Commands - Register #48 .........................................................................18
5.8 Unlock Parameters - Register #49 ........................................................................18
5.9 Register Version ....................................................................................................18
6
smd
Programming Parameters ..........................................................................................19
6.1 Format ..................................................................................................................19
6.2 Parameter List ......................................................................................................20
7 Quick Start Instructions .....................................................................................................25
7.1 Initial Settings .......................................................................................................25
7.2 Drive Control .........................................................................................................26
7.3 Basic Drive Commands .........................................................................................26
7.4 Basic Drive Status .................................................................................................27
RG-SDMOD ii
1 Safety Information
1.1 Warnings, Cautions and Notes
1.1.1 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.
1.1.2 Application
Safety Information
Drive controllers are components 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 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 98/37/EC (Machinery Directive); EN 60204 must be observed.
Commissioning (i.e. starting drive as directed) is only allowed when there is compliance to the EMC Directive (89/336/EEC).
The drive controllers meet the requirements of the Low Voltage Directive 73/23/EEC. 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 the case of radio interference, special measures may be necessary for drive controllers.
1.1.3 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! When installing the drive ensure optimal airflow by observing all clearance distances in the drive's user manual. Do not expose the drive to excessive: vibration, temperature, humidity, sunlight, dust, pollutants, corrosive chemicals or other hazardous environments.
1 RG-SDMOD
1.1.4 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 in accordance with the appropriate regulations (e.g. cable cross-sections, fuses, PE connection). Additional information can be obtained from the regulatory documentation.
The regulatory 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.
1.1.5 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.
Safety Information
DANGER!
• After the controller has been disconnected from the supply voltage, do not touch the live components and power
connection until the capacitors have discharged. Please observe the corresponding notes on the controller.
• Do not continuously cycle input power to the controller more than once every three minutes.
• Close all protective covers and doors during operation.
WARNING!
Network control permits automatic starting and stopping 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!
STOP!
NOTE
Warning of Hazardous Electrical
Voltage.
Impending or possible danger
for persons
Possible damage to equipment Damage to drive system or its surroundings
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
1.2 Reference and Links
smd
Series Variable Frequency Drives visit: http://www.lenze-actech.com
Modbus-IDA visit: http://www.modbus.org
RG-SDMOD 2
2 Introduction
20mm
This document defines the specifics required for Modbus serial communication with a Lenze-AC Tech standard with normal drive capabilities and operations is assumed. If this is not the case, refer to the Operating Instructions (SL03) for more information.
2.1 RS485 Details
smd
Series drive for control, status monitoring, and programming parameters. A familiarity
Introduction
smd
Series
Only standard
smd
models with an “L” as the eighth digit in the model number (ex. ESMD371L4TXA) are equipped with Modbus RS-485 capabilities. When using this feature the drive can communicate with a personal computer (PC), programmable logic controller (PLC), or other external device that utilizes Modbus RS-485 serial communication for control or monitoring. Refer to the connection details. Figure 1 illustrates the used for RS485 communication.
COM
TXA
TXB
771 72
2.2 Electrical Installation
2.2.1 Cable Type
For RS485 Modbus networks, use a quality shielded twisted pair cable. The use of low quality cable will result in excess signal attenuation and data loss.
2.2.2 Connections and Shielding
To ensure good system noise immunity all networks cables should be correctly grounded:
+10 V
+12 V
AIN
8920 28 E1
smd
control strip. Terminals 7 (COM), 71 (TXB) and 72 (TXA) are
E2
E3
Figure 1:
COM
20 A1
smd
K14
K12
62
Control Strip
smd
Operating Instructions (SL03) for
L1 L2
L3
U V W
Minimum grounding recommendation: ground the network cable shield 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
smd
control terminal, the unscreened cable cores should be kept as short as
possible; recommended maximum of 20mm. Ground the shield at the drive end only.
In addition, grounding terminal 7 on the
+10 V
COM
AIN
TXA
TXB
8920 28 E1
771 72
Connect to
max
drive earth
(PE)
smd
is recommended when using serial communications.
L1 L2
COM
+12 V
K14
E2
E3
20 A1
62
K12
L3
U V W
Figure 2: Connector Wiring Diagram
3 RG-SDMOD
Introduction
120
2.2.3 Network Termination
For an RS-485 network it is essential to install the specified termination resistors (120W), i.e. one at both ends of a network segment. Failure to do so will result in signals being reflected back along the cable which will cause data corruption. An external 120W 1/4W resistor can be connected as shown in Figure 3.
1/4W
2.3 Modbus Details
A.
smd
Drives running the Modbus communication protocol use the RTU (Remote Terminal Unit) transmission mode and are slaves only. Therefore, the device communicating with the drives must be a Modbus Master. The baud rate is 9600. The default setting is no parity (two stop bits). There are provisions for: No parity, 1 stop bit (PV507); Odd parity, 1 stop bit; and Even parity 1 stop bit as well. The bit sequence is:
TXB
COM
AIN
TXA
8920 28 E1
771 72
Connect to drive earth
COM
+10 V
+12 V
K14
62
K12
(PE)
E2
E3
20 A1
Figure 3: Network Termination Resistor
L1 L2
U V W
L3
DATA
Start bit 1 2 3 4 5 6 7 8 Stop bit Stop bit
B. At this time the
smd
drive does not support the broadcast function of the protocol.
C. IMPORTANT NOTE: Modbus 3X and 4X Registers are numbered starting at 1. However, when transmitted
to a slave over the serial link, the actual address transmitted is one less. This is because the addresses are numbered starting from 0. The
smd
register numbers always correspond exactly with the address transmitted. As a result, MODBUS REGISTER NUMBERS ARE ALWAYS ONE GREATER THAN WORDS “REGISTER #xx” APPEAR, IT SHOULD BE ASSUMED THAT THEY MEAN “
smd
register numbers are also numbered starting from 0. Therefore,
smd
REGISTER NUMBERS. WHENEVER THE
smd
REGISTER xx” and the Modbus Register number will be one larger. In some instances we may show both for clarity. For example: “Register #24 (Modbus Register #25) . . .”
RG-SDMOD 4
Introduction
D. The function codes supported by the
03 Read Holding Register (4X references). In general we can read only one register at a time. However,
there are a few limited exceptions.
Exception One: Register #24 (Modbus Register #25) Drive Status, can also be read as a group of 6 words.
Exception Two: Parameter C99 (Software Version) is a 4-word read.
04 Read Input Register (3X references). As with function 03, we read one register at a time except
where noted.
06 Preset Single Register (4X references). Write single register.
16 Preset Multiple Registers (4X references). Although the function is for multiple registers, we will
accept only a single register to be written.
Note: Since we do not differentiate between 4X and 3X references, function codes 03 and 04 are treated identically.
E. Exception codes:
01 - Command rejected, Illegal function 02 - No such register 03 - Data out of range 04 - Wrong data format 06 - Slave device busy
smd
drives are:
F. The
G. Modbus® and Modicon® are registered trademarks of Schneider Electric. For more information about
5 RG-SDMOD
smd
drive will most nearly conform to the Modicon® Micro 84 in capabilities. This may be of
importance when configuring networks for DDE Servers.
the Modbus Protocol please refer to the Modicon Modbus Protocol Reference Guide. Web resources: http://www.Modbus-IDA.org and http://www.schneider-electric.com.
Introduction
2.4 Universal Registers
Lenze-AC Tech manufactures several drive families. Currently the QC, MC, MCH, SC, TC,
smd, Tmd
and SMV Series drives support Modbus based communications. Since each drive family has different parameters and size ranges, the parameter (register) definitions are in many cases quite different. In order to facilitate communication in a network with a mix of drive types, certain Lenze-AC Tech Register locations have been made universal among Lenze-AC Tech drives. While their locations are consistent, their contents may vary as defined in Table 2.
Table 2: Contents of Universal Registers
smd
Reg # Function
1 Drive Control (WRITE ONLY). Not all drives will have all control functions but when the function is
available it will be at a defined bit location within Register #1. Drive Family and register Configuration Number dependent.
19 Drive Family (READ ONLY) This register is consistent among all Lenze-AC Tech drives:
- 64 -- QC family - 67 -- - 70 -- TC family
- 65 -- MC family - 68 -- MCH family - 71 --
- 66 -- SC family - 69 --
21 Drive Size (READ ONLY). Code to identify Power (HP/KW) and Line Voltage of the drive. Family
dependent. For the
24 Drive Status (READ ONLY). Various operational variables.
48 Unlock Control (WRITE ONLY).
49 Unlock Writing of registers (WRITE ONLY).
50 Parameter Configuration Number (READ ONLY).
smd
series it always reads zero.
smd
family - 72 -- SMV family
Tmd
family
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