Schneider ATV12H037M2, ATV12H055M2, ATV12HU22M2, ATV12H075M2, ATV12H018M2 User Manual

2354235 11/2008

Altivar 12

Variable speed drives
for asynchronous motors

Modbus Communication Manual

06/2012

BBV28590

www.schneider-electric.com

Contents

Important Information __________________________________________________________________________________________ 4
Before you begin______________________________________________________________________________________________ 5
Documentation structure________________________________________________________________________________________ 6
Presentation _________________________________________________________________________________________________ 7
Connection to RS485 bus_______________________________________________________________________________________ 8
Configuration of the Modbus serial port ____________________________________________________________________________ 9
IO Scanner configuration parameters_____________________________________________________________________________ 10
Modbus Functions ___________________________________________________________________________________________ 12
ATV12 state machine _________________________________________________________________________________________ 17
Application example __________________________________________________________________________________________ 21
Connection to RS485 bus______________________________________________________________________________________ 24

BBV28590 06/2012 3

Important Information

The addition of this symbol to a Danger or Warning safety label indicates that an electrical hazard exists, which will result in

personal injury if the instructions are not followed.

This is the safety alert symbol. It is used to alert you to potential personal injury hazards. Obey all safety messages that follow

this symbol to avoid possible injury or death.

NOTICE

Read these instructions carefully, and look at the equipment to become familiar with the device before trying to install, operate, or maintain
it. The following special messages may appear throughout this documentation or on the equipment to warn of potential hazards or to call
attention to information that clarifies or simplifies a procedure.

DANGER

DANGER indicates an imminently hazardous situation, which, if not avoided, will result in death or serious injury.

WARNING

WARNING indicates a potentially hazardous situation, which, if not avoided, can result in death or serious injury.

CAUTION

CAUTION indicates a potentially hazardous situation, which, if not avoided, can result in minor or moderate injury.

CAUTION

CAUTION, used without the safety alert symbol, indicates a potentially hazardous situation which, if not avoided, can
result in property damage.

PLEASE NOTE
The word "drive" as used in this manual refers to the controller portion of the adjustable speed drive as defined by NEC.

Electrical equipment should be installed, operated, serviced, and maintained only by qualified personnel. No responsibility is assumed by
Schneider Electric for any consequences arising out of the use of this material.

© 2012 Schneider Electric. All Rights Reserved

4 BBV28590 06/2012

Before you begin

Read and understand these instructions before performing any procedure with this drive.

DANGER

HAZARD OF ELECTRIC SHOCK, EXPLOSION, OR ARC FLASH

• Read and understand this manual before installing or operating the Altivar 12 drive. Installation, adjustment, repair, and maintenance
must be performed by qualified personnel.

• The user is responsible for compliance with all international and national electrical code requirements with respect to grounding of all
equipment.

• Many parts of this drive, including the printed circuit boards, operate at the line voltage. DO NOT TOUCH. Use only electrically
insulated tools.

• DO NOT touch unshielded components or terminal strip screw connections with voltage present.

• DO NOT short across terminals PA/+ and PC/– or across the DC bus capacitors.

• Before servicing the drive:

- Disconnect all power, including external control power that may be present.

- Place a “DO NOT TURN ON” label on all power disconnects.

- Lock all power disconnects in the open position.

- WAIT 15 MINUTES to allow the DC bus capacitors to discharge. Then follow the “Bus Voltage Measurement Procedure” (see
User manual) to verify that the DC voltage is less than 42 V. The drive LEDs are not indicators of the absence of DC bus
voltage.

• Install and close all covers before applying power or starting and stopping the drive.

Failure to follow these instructions will result in death or serious injury.

DANGER

UNINTENDED EQUIPMENT OPERATION

• Read and understand this manual before installing or operating the Altivar 12 drive.

• Any changes made to the parameter settings must be performed by qualified personnel.

Failure to follow these instructions will result in death or serious injury.

WARNING

DAMAGED DRIVE EQUIPMENT

Do not operate or install any drive or drive accessory that appears damaged.

Failure to follow these instructions can result in death, serious injury, or equipment damage.

WARNING

LOSS OF CONTROL

• The designer of any control scheme must consider the potential failure modes of control paths and, for certain critical control functions,
provide a means to achieve a safe state during and after a path failure.
Examples of critical control functions are emergency stop and overtravel stop.

• Separate or redundant control paths must be provided for critical control functions.

• System control paths may include communication links. Consideration must be given to the implications of unanticipated transmission
delays or failures of the link.

a

Failure to follow these instructions can result in death, serious injury, or equipment damage.

a. For additional information, refer to NEMA ICS 1.1 (latest edition), “Safety Guidelines for the Application, Installation, and Maintenance
of Solid State Control” and to NEMA ICS 7.1 (latest edition), “Safety Standards for Construction and Guide for Selection, Installation and
Operation of Adjustable-Speed Drive Systems.”

BBV28590 06/2012 5

Documentation structure

The following Altivar 12 technical documents are available on the Schneider Electric website (www.schneider-electric.com) as well as on
DVD-ROM (reference VW3A8200).

ATV12 Quick Start Guide (S1A56146)

The Quick Start describes how to wire and configure the drive to start motor quickly and simply for simple applications.
This document is delivered with the drive with an Annex (S1A58684) for Short Circuit Current Ratings (SCCR) and branch circuit protection.

ATV12 User manual (BBV28581)

This manual describes how to install, program and operate the drive.

ATV12 Modbus Communication manual (BBV28590)

This manual describes the assembly, connection to the bus or network, signaling, diagnostics, and configuration of the communication­specific parameters via the 7 segment LED display.
It also describes the communication services of the Modbus protocol.
This manual includes all Modbus addresses. It explains the operating mode specific to communication (state chart).

ATV12P Installation manual (BBV28587)

This manual describes how to install the drive ATV12 baseplate following the conditions of acceptability.

ATV12 Parameters description file

All the parameters are grouped together in an Excel file available on the Schneider Electric website (www.schneider-electric.com), with the
following data:

• Code

•Name

• Modbus Addresses

• Category

• Read/write access

• Type: signed numerical, unsigned numerical, etc.

•Unit

• Factory setting

• Minimum value

• Maximum value

• Display on the 7-segment integrated display terminal

• Relevant menu
This file offers the option of sorting and arranging the data according to any criterion chosen by the user.

DANGER

UNINTENDED EQUIPMENT OPERATION

• Read and understand this manual before installing or operating the Altivar 12 drive.

• Any changes made to the parameter settings must be performed by qualified personnel.

• The excel file does not describe the behaviour of the parameters. Before any modification, refer to the ATV12 User Manual.

Failure to follow these instructions will result in death or serious injury.

6 BBV28590 06/2012

Presentation

The Modbus socket on the Altivar 12 can be used for the following functions:

• Configuration

• Settings

• Control

• Monitoring

The ATV12 drive supports:

• The 2-wire RS485 physical layer

• The RTU transmission mode

BBV28590 06/2012 7

Connection to RS485 bus

8........................1

Connection to ATV12

Connection accessories should be ordered separately (please consult our catalogues).

Connect the RJ45 cable connector to the ATV12 connector.

Pin out of the ATV12 RJ45 Connector

View from underneath

Pin Signal

1-

2-

3-

4D1 (1)

5D0 (1)

6-

7VP (2)

8 Common (1)

(1)Modbus signals
(2) Supply for RS232 / RS485 converter or a remote terminal

Protection against interference

• Use the Schneider Electric cable with 2 pairs of shielded twisted conductors (reference: TSXCSA100, TSXCSA200, TSXCSA500).

• Keep the Modbus cable separated from the power cables (30 cm (11.8 in.) minimum).

• Make any crossovers of the Modbus cable and the power cables at right-angles, if necessary.

For more information, please refer to the TSX DG KBL E manual: "Electromagnetic compatibility of industrial networks and fieldbuses".

RS485 bus schematic

The RS485 standard allows variants of different characteristics:

• polarisation

• line terminator

• distribution of a reference potential

• number of slaves

• length of bus

The new Modbus specification published on the Modbus.org site in 2002 contains precise details of all these characteristics. They are also
summarised in Standard schematic section. The new Schneider Electric devices conform to this specification.

8 BBV28590 06/2012

Configuration of the Modbus serial port

Communication Menu Structure

The communication parameters are part of the COM- submenu.
This menu is accessible as follows:

Communication configuration - Parameters decription

Parameter description Range or listed values default Possible Value Modbus address

MODBUS address of the drive

Add

MODBUS baud rate

tbr

MODBUS format

tFD

MODBUS Time out

ttO

ICS-

DCS-

ISA-

DSA-

The behaviour of the ATV12 when a time-out occurs is defined by the SLL parameter, this parameter can be found in the menu FLt-
(see User Manual).

1 to 247
0 : OFF (broadcast only)

4,8 kbps
9,6 kbps
19,2 kbps

38.4 kbps

8O1: 8 bits, odd parity, 1 stop bit.
8E1: 8 bits, even parity, 1 stop bit.
8N1, 8 bits, no parity, 1 stop bit
8N2: 8 bits, no parity, 2 stop bits.

Adjustable from 0.1 to 30s 10,0 s 0.1....30 16#1775 = 06005

Communication scanner submenus :Detailed in the next chapter

OFF

19,2 kbps

8E1

OFF
1 ... 247

4.8

9.6

19.2

38.4

8o1
8E1
8n1
8n2

16#1771 = 06001

16#1773 = 06003

16#1774 = 06004

WARNING

LOSS OF CONTROL

If Modbus fault management (SLL) = fault ignore (n0), communication control will be inhibited. For safety reasons, inhibition of
communication fault should only be used for adjustment or special applications purpose.

Failure to follow these instructions can result in death, serious injury, or equipment damage.

BBV28590 06/2012 9

IO Scanner configuration parameters

Integrated communication scanner

The communication scanner is useful when used in combination by the Modbus client device with the function "Read/Write Multiple
registers" : 23 (0x17), which provides in a single telegram a read multiple registers and a write multiple registers. The detail of the function
23 is described in the supported Modbus functions

Local configuration of the communication scanner

The communication scanner is accessible via the following menus : COM- and ICS- OCS- submenus.
The 4 output variables and the 4 input variables are assigned by means of parameters nCA1 to nCA4 and nMA1 to nMA4. An

nCA or nMA parameter with a value of zero indicates that the parameter is not active. These 8 parameters are described in the table.

NCA or NMA defines the addresses. All these parameters are Modbus eligible addresses.

Submenu On the local HMI, it is parameter description Factory setting parameter Modbus address

ICS- NMA1 (nNA1)

Source drive address of the 1st input word

NMA2 (nNA2)
Source drive address of the 2nd input word

NMA3 (nNA3)
Source drive address of the 3rd input word

NMA4 (nNA4)
Source drive address of the 4th input word

OCS- NCA1 (nCA1)

Destination drive address of the 1st output word

NCA2 (nCA2)
Destination drive address of the 2nd output word

NCA3 (nCA3)
Destination drive address of the 3rd output word

NCA4 (nCA4)
Destination drive address of the 4th output word

Address of ETA=3201
16#0C81

Address of RFRD=8604
16#219C

0

0

Address of CMD=8501
16#2135

Address of LFRD=8602
16#219A

0

0

NMA1 address
16#319D = 12701

NMA2 address
16#319E = 12702

NMA3 address
16#319F = 12703

NMA4 address
16#31A0 = 12704

NCA1 address
16#31B1 = 12721

NCA2 address
16#31B2 = 12722

NCA3 address
16#31B3 = 12723

NCA3 address
16#31B4 = 12724

Monitoring the communication scanner

It is also possible to monitor the parameters value that have been configured in the communication scanner. This monitored values are
accessible via the following menus : COM- andISA- DSA- submenu.

The 4 output variable values and the 4 input variable values are located into parameters nC1 to nC4 and nM1 to nM4.

Submenu On the local HMI, it is parameter description Factory setting parameter Modbus address

ISA- NM1 (nM1)

Source drive value of the 1st input word

NM2 (nM2)
Source drive value of the 2nd input word

NM3 (nM3)
Source drive value of the 3rd input word

NM4 (nM4)
Source drive value of the 4th input word

OSA- NC1 (nC1)

Destination drive value of the 1st input word

NC2 (nC2)
Destination drive value of the 2nd input word

NC3 (nC3)
Destination drive value of the 3rd input word

NC4 (nC4)
Destination drive value of the 4th input word

ETA value

RFRD value

0

0

CMD value

LFRD value

0

0

NM1 address
16#31C5 = 12741

NM2 address
16#31C6 = 12742

NM3 address
16#31C7 = 12743

NM4 address
16#31C8 = 12744

NC1 address
16#31D9 = 12761

NC2 address
16#31DA = 12762

NC3 address
16#31DB = 12763

NC4 address
16#31DC = 12764

10 BBV28590 06/2012

IO Scanner configuration parameters

1

2

1

2

Configuration example

In this example the communication scanner is configured as follow, nCA1, nCA2, nMA1, nMA2 are used with their default values.

nCA3 is configured with the address of CMI (Modbus 8504 16#2138). nMA3 is is configured with the address of EtI (Modbus 3206

16#0C86).

How to read the diagram below

Example for nCA3:

nCA3 contain the logical address (2138) of CMI

Communication scanner

• menu COM-

• submenu COM-, OCS-

The required telegram to perform the exchange is the Modbus function 23, Obviously a sequence of requests based on Modbus functions
03 and 16 is also possible.
(See also the chapters Modbus Functions and Altivar 12 and M340).

BBV28590 06/2012 11

Modbus Functions

Modbus Protocol

The transmission mode used is RTU mode. The frame contains no message header byte, nor end of message bytes.
It is defined as follows:

Slave

address

The data is transmitted in binary code.
CRC16: cyclical redundancy check.
The end of the frame is detected on a silence greater than or equal to 3 characters.

Request code Data CRC16

Principle

The Modbus protocol is a master-slave protocol.
Master Only one device can transmit on the line at any time.

The master manages the exchanges and only it can take
the initiative.
It interrogates each of the slaves in succession.
No slave can send a message unless it is invited to do so.
The master repeats the question when there is an incorrect
exchange, and declares the interrogated slave absent if no
response is received within a given time period.
If a slave does not understand a message, it sends an
exception response to the master. The master may or may
not repeat the request.

Direct slave-to-slave communications are not possible.

For slave-to-slave communication, the application software must therefore be designed to interrogate a slave and send back data received
to the other slave.

Slave i Slave j Slave k

Two types of dialogue are possible between master and slaves:

• the master sends a request to a slave and waits for its response

• the master sends a request to all slaves without waiting for a response (broadcasting principle)

Addresses

• The drive Modbus address can be configured from 1 to 247.

• Address 0 coded in a request sent by the master is reserved for broadcasting. ATV12 drives take account of the request, but do not
respond to it.

Supported Modbus functions

The Altivar 12 supports the following Modbus functions.

Function name Code Description Remarks

Read holding registers 03

16#03

Write one output word 06

16#06

Write multiple registers 16

16#10

Read/write Multiple registers 23

16#17

(Sub-function)
Read device Identification

43/14
16#2B
16#OE

Read N output words Max PDU length : 63 words

Write one output word

Write N output word Max PDU length : 61 words

Read/write multiple registers Max PDU length : 4 words (W), 4 words (R)

Encapsulated interface transport
/ Read device identification

12 BBV28590 06/2012

Modbus Functions

The following paragraphs describes each supported function.

Read Holding registers

Request

Function code 1 Byte 0x03

Starting Address 2 Bytes 0x0000 to 0xFFFF

Quantity of Registers 2 Bytes 1 to 63 (0x 3F)

Response

Function code 1 Byte 0x03

Byte count 1 Byte 2 x N*

Register value N* x 2 Bytes

*N: Quantity of Registers

Error

Error code 1 Byte 0x83

Exception code 1 Byte 01 or 02 or 03 or 04 (see details on

page 16

)

Example

Note:

Hi = high order byte, Lo = low order byte.

This function can be used to read all ATV12 words, both input words and output words.

Request

Slave

no.

1 byte 1 byte 2 bytes 2 bytes 2 bytes

Response

Slave

no.

1 byte 1 byte 1 byte 2 bytes 2 bytes 2 bytes

Example: read 4 words W3102 to W3105 (16#0C1E to 16#0C21) in slave 2, using function 3, where:

• SFr = Switching frequency = 4 kHz (W3102 = 16#0028)

• tFr = Maximum output frequency = 60 Hz (W3103 = 16#0258)

• HSP = High speed = 50 Hz (W3104 = 16#01F4)

• LSP = Low speed = 0 Hz (W3105 = 16#0000)

Request 02 03 0C1E 0004 276C

03 No. of first word Number of words CRC16

Hi Lo Hi Lo Lo Hi

03 Number of

bytes read

First word value ------- Last word value CRC16

Hi Lo Hi Lo Lo Hi

Response 02 03 08 0028 0258 01F4 0000 52B0

Value of: W3102 W3103 W3104 W3105

Parameters: SFr tFr HSP LSP

BBV28590 06/2012 13

Modbus Functions

Slave n° Function

Code

Read starting

Address HI

Read starting

Address LOW

Qty Write starting

Address HI

Write starting

Address LOW

Qty

2 byte 1 byte 1 byte 2 byte1 byte1 byte1 byte1 byte

1 byte 1 byte1 byte1 byte1 byte

Write byte

count

Writing

Value 1 HI

Value 1 Lo Value 1 HI

Writing Value

1.. 2... 3...n ...

CRC16

2 byte

Write one output word

Request

Function code 1 Byte 0x06

Register Address 2 Bytes 0x0000 to 0xFFFF

Register value 2 Bytes 0x0000 to 0xFFFF

Response

Function code 1 Byte 0x06

Register Address 2 Bytes 0x0000 to 0xFFFF

Register value 2 Bytes 0x0000 to 0xFFFF

Error

Error code 1 Byte 0x86

Exception code 1 Byte 01 or 02 or 03 or 04 (see details on

page 16

)

Example

Request and response (the frame format is identical)

Slave

no.

06 Word number Value of word CRC16

Hi Lo Hi Lo Lo Hi

1 byte 1 byte 2 bytes 2 bytes 2 bytes

Example: write value 16#000D in word W9001 (16#2329) in slave 2 (ACC = 13 s).

Request and response 02 06 2329 000D 9270

Read/write Multiple registers

Description Length in byte Value Comment

Function code 1 16#17

Read starting address 2 16#XXXX Always Modbus address

Quantity to read 2 16#03 Contain number of holding registers to be read.

Write starting address 2 16#XXXX Always Modbus address

Quantity to write 2 16#03 Contain number of holding registers to be written.

Write Byte count 1 16#06 The byte count specifies the number of bytes to follow in the field

Write Register Value.

Write Registers Value Nx2 Bytes

(N: quantity to
write)

16#XX
XXXX
XXXX
XX

Value to be written respectively in NCA1 to NCA3, so the
configured example:
CMD, LFRD, CMI.

Example

14 BBV28590 06/2012

Modbus Functions

Read Device Identification

ID Name / Description Type

0x00 VendorName ASCII String

0x01 ProductCode ASCII String

0x02 MajorMinorRevision ASCII String

Example

Default values to be detailed

Request

Slave

no.

1 byte 1 byte 1 byte 1 byte 1 byte 2 bytes

Response

Slave

no.

1 byte 1 byte 1 byte 1 byte 1 byte

------- Number of additional frames

------- Id of object no. 1

------- Id of object no. 2

2B Type of MEI

0E

2B Type of MEI

0E

00

1byte 1byte 1byte

Length of object no. 1

00

1 byte 1 byte 18 bytes

Length of object no. 2

01

1 byte 1 byte 11 bytes

ReadDeviceId

ReadDeviceId

12

0B

01

01

Object Id

00

Degree of conformity

Next object Id

00

Value of object no. 1

“Schneider Electric”

Value of object no. 2

“ATV12HU75M3”

Lo Hi

02

Number of objects03-------

CRC16

-------

-------

-------

------- Id of object no. 3
02

1byte 1byte 04bytes

------- CRC16

Lo Hi

1byte 1byte

The total response size equals 49 bytes

The three objects contained in the response correspond to the following objects:

• Object no. 1: Manufacturer name (always “Schneider Electric”, ie. 18 bytes).

• Object no. 2: Device reference (ASCII string; for example: “ATV12HU75M3”, ie. 11 bytes).

• Object no. 3: Device version, in “MMmm” format where “MM” represents the determinant and “mm” the subdeterminant (4-bytes
ASCII string; for example: “0201” for version 2.1).

Note: The response to function 43 may be negative; in this case, the response located at the top of the next page is sent by the Altivar 12
rather than the response described above.

BBV28590 06/2012 15

Length of object no. 3

04

Value of object no. 3

“0201”

-------

Modbus Functions

Error management

Exception responses

An exception response is returned by a slave when it is unable to perform the request which is addressed to it.

Format of an exception response:

Slave

no.

1 byte 1 byte 1 byte 2 bytes

Response code: request function code + 16#80.

Error code:

1 = The function requested is not recognized by the slave
2 = The bit or word addresses indicated in the request do not exist in the slave
3 = The bit or word values indicated in the request are not permissible in the slave
4 = The slave has started to execute the request but cannot continue to process it completely

Response

code

Error
code

CRC16

Lo Hi

CRC16 calculation

The CRC16 is calculated on all the message bytes by applying the following method:

Initialize the CRC (16-bit register) to 16#FFFF.

Enter the first to the last byte of the message:

CRC XOR <byte> —> CRC

Enter 8 times

Move the CRC one bit to the right

If the output bit = 1, enter CRC XOR 16#A001—> CRC

End enter

End enter

The CRC obtained will be transmitted with the low order bytes sent first, followed by the high order ones (unlike the other data contained in
Modbus frames).

XOR = exclusive OR.

16 BBV28590 06/2012

ATV12 state machine

Fault

Power section line supply present or absent

Power section line supply present

Transition condition

with example of command

Value of
status word

Status display on
graphic display terminal

State

Key:

Examples:

ETA=16#0637: Stop or forward, speed reached
ETA=16#8637: Stop or reverse, speed reached
ETA=16#0237: Forward, accelerating or decelerating
ETA=16#8237: Reverse, accelerating or decelerating

Enable

operation

CMD=16#xxxF

Switched on

Ready to switch on

Switched on

Operation enabled

Enable

operation

CMD=16#xxxF

Disable
operation
CMD=16#0007
or
fast stop

Quick stop

CMD=16#0002

Quick stop active

Switch on

CMD=16#xxxF

Shutdown
CMD=16#0006

Switch on

CMD=16#0007

Shutdown
CMD=16#0006

Disable
voltage
CMD=16#0000
or
Quick stop
CMD=16#0002
or
STOP key
or
freewheel stop
at the terminals
or
modification
of a configuration
parameter

Disable
voltage
CMD=16#0000
or
Quick stop
CMD=16#0002
or
STOP key

Shutdown

CMD=16#0006

Disable voltage
CMD=16#0000
or
STOP key
or
freewheel stop at
the terminals

Switch on disabled

Fault disappeared

and faults reset
CMD=16#0080

Not ready to switch on

Entry into

state chart

Fault reaction active

From all states

Fault

Fault

After quick stop order,
the drive stops
according to the fast
stop ramp and then
changes to state "2 ­Switch on disabled".

Status chart based on IEC 61800-7*

The state machine below describes the interaction between the drive's state machine, monitored by the status word (ETA) parameter, and
the Command Word (CMD). CiA® and CANopen® are registered Community Trademarks of CAN in Automation e.V.
*:Since 2007, CiA402 profile is part of the IEC standard 61800-7. Therefore DriveCom or CiA402 terminology is no more used.

BBV28590 06/2012 17

ATV12 state machine

State machine description

The Altivar control process using the communication bus follows IEC 61800-7 profile status chart compatible with the DRIVECOM standard.
Each state represents an aspect of the internal behaviour of the drive.

This chart evolves according to whether the control word is sent (CMD W8501) or an event occurs (example: lock following malfunction).
The drive status can be identified by the value of the status word (ETA W3201).

Not ready to switch on (Initialization):

Communication is being initialized.
Transient state invisible to the communication bus.

Switch on disabled (Configuration):

Initialization of the drive is complete.
The configuration and adjustment parameters can be modified. The drive is locked.

Ready to switch on and Switched on (Drive initialized):

The drive is locked.
The power stage of the drive is ready to operate, but voltage has not yet been applied to the output.
The configuration and adjustment parameters can be modified, but modifying a configuration parameter returns the drive to the "Switch on
disabled" state.

Operation enabled (Operational):

The drive is unlocked and voltage can be applied to the motor terminals.
Auto-tuning (tUn) requires an injection of current. The drive must therefore be in this state to perform this command.
The adjustment parameters can be modified even if a run command or a DC injection current is present. However, a configuration parameter
can only be modified if the motor is stopped, and this returns the drive to the "Switch on disabled" state.

Quick stop active (Emergency stop active):

Fast stop
Restarting is only possible after the drive has changed to the "Switch on disabled" state.

Malfunction reaction active (Reaction on fault):

Transient state during which the drive performs an action appropriate to the type of fault detection.

Malfunction (Fault):

The drive is locked.

Summary

State Power supplied to motor Modification of configuration parameters

1 - Not ready to switch on No Yes

2 - Switch on disabled No Yes

3 - Ready to switch on No Yes

4 - Switched on No Yes, return to "2 - Switch on disabled" state

5 - Operation enabled Yes, except at zero reference or "halt" No

6 - Quick stop active Yes, during fast stop No

7 - Fault reaction active Depends on fault managment configuration -

8 - Fault No Yes

18 BBV28590 06/2012

ATV12 state machine

Command word description CMD - 8501

bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0

0 to 1
transition :
Fault reset

bit 15 bit 14 bit 13 bit 12 bit 11 bit 10 bit 9 bit 8

Reserved Not assignable Reserved Reserved Direction of

Reserved (=0) Reserved (=0) 0:Free wheel

staying in

"Operation

Enabled"

Enable
operation
Drivecom

state

activation

rotation asked

0: Forward
1: Reverse

Quick stop

Drivecom

state

activation

(bit active at 0)

Reserved (=0) Reserved (=0) 0: RUN asked

Switch on

disabled.

Drivecom state

activation

(bit active at 0)

Switch on

1: STOP

asked

Command Transition

address

Shutdown 2, 6, 8 3 - Ready to

Switch on 3 4 - Switched on x x 1 1 1 16#0007

Enable

operation

Disable

operation

Disable

voltage

Quick stop 11 6 - Quick stop

Fault reset 15 2 - Switch on

x: Value is of no significance for this command.
0 ○ 1: Command on rising edge.

4 5 - Operation

54 - Switched onx011116#0007

7, 9, 10, 12 2 - Switch on

7, 10 2 - Switch on

Final state bit 7 bit 3 bit 2 bit 1 bit 0 Example

Fault
reset

x x 1 1 0 16#0006

switch on

x111116#000F

enabled

x x x 0 x 16#0000

disabled

x x 0 1 x 16#0002

active

disabled

0 ○ 1xxxx16#0080

disabled

Enable

operation

Quick

stop

Switch on

disabled

Switch on

value

BBV28590 06/2012 19

ATV12 state machine

Status word description ETA - 3201

bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0

Reserved

(always 0)

bit 15 bit 14 bit 13 bit 12 bit 11 bit 10 bit 9 bit 8

0: Motor

rotation in

forward

direction (or

stopped)

Status bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 ETA

1 -Not ready to

switch on

2 - Switch on

disabled

3 - Ready to

switch on

4 - Switched on 0 1 1 0 0 1 1 16#0033

5 - Operation

enabled

6 - Quick stop

active

7 - Fault reaction

active

8 - Fault 0 x x 1 0 0 0 16#0018 (2)

Switch on

disabled

Stop via STOP

key

Switch on

disabled

0xx0000 -

1 x x 0 0 0 0 16#0050

0 1 x 0 0 0 1 16#0031

0 1 1 0 1 1 1 16#0037

0 0 1 0 1 1 1 16#0017

0xx1111 -

Quick stop

(bit active at 0)

Reserved (=0) Reserved (=0) Reference

Quick stop Voltage

Voltage

enabled

(bit always on)

enabled

Fault

detection

Fault

detection

exceeded

(< LSP or >

HSP)

Operation

enabled

Operation

enabled

Reference

reached

(steady state)

Switched onReady to

(bit active at 0)

Switched on Ready to

switch on

Local mode

switch on

Reserved (=0)

masked by

16#006F (1)

or 16#0038

x: In this state, the value of the bit can be 0 or 1.
(1)This mask can be used by the PLC program to test the chart state.
(2)Fault following state "6 - Quick stop active".

20 BBV28590 06/2012

Application example

Connecting an ATV12 to a M340 PLC

Here is an example of an application that shows how to control an ATV12 from a M340 PLC equipped with a Modbus master serial port.
The program provides a control of the drive from an operator screen designed under Unity.
The example illustrates also the previous chapter

Configuration of the Modbus Master

The default settings of the serial port used as a Modbus master are compliant with the default settings of the ATV12.

BBV28590 06/2012 21

Application example

Initialization

The communication is based on the READ_VAR , WRITE_VAR functions. During the first execution of the MAST task you can initialize the
data structures used by these two functions. Devicepath describes the path to the device including its slave address. ReadVarMgt and
WriteVarMgt are arrays used respectively by READ_VAR and WRITE_VAR. Only the 3rd element of these arrays is modifiable by the user:
To define the time out duration of the requests

(* data initialization *)

(* Communication path to Modbus slave device at @ 3 *)
(* The device path can be modified later by the app. *)
(* MSB of DevicePath[3] contains the device address *)

DevicePath := ADDM ('0.0.0.3');

(* Time out duration *)

ReadVarMGT[2]:=50;
WriteVarMGT[2]:=50;

Data structure declaration :

22 BBV28590 06/2012

Application example

Cyclical exchanges

In the example below the application manages 2 requests:

• "A read request of 4 words starting at Modbus address 12741 (NM1) - Modbus function #3

• "A write request of 4 words starting at Modbus address 12761 (NC1) - Modbus function #16

Requests are executed only each N x FAST task to avoid too much activity on the serial line.
The device can be modified (polling several devices) by writing in DevicePath[3].

Cyclical communication

(* Modbus Requests are sent only each:
( ModbusRequestPeriod X FAST period X n) *)

if ModbusRequestPeriod >25 then

(* Read request to ATV12 : Modbus function 3 *)

IF not ReadVarBusy then
READ_VAR(DevicePath, '%MW' , 12741, 4, ReadVarMGT, %MW124:4);

(*Devicepath is initialized during Init_Sequence *)

END_IF;

(* Write request to ATV12 : Modbus function 16 *)

IF not WriteVarBusy then
WRITE_VAR(DevicePath, '%MW' , 12761, 4, %MW120:4, WriteVarMGT);

END_IF;
ModbusRequestPeriod:=0;
END_IF;

The key data are highlighted: address and lengh in the device source and destination of the data in the PLC.
The time out can be managed by the application in a separate way by testing the activity of the 2 bits: ReadVarBusy and WriteVarBusy

Overview of the communication tables:

BBV28590 06/2012 23

Connection to RS485 bus

1n F

650 Ω

650 Ω

120 Ω

1n F

120 Ω

5 V

0 V

T

R

T

R

T

R

D1

Common

D0

Standard schematic

The standard schematic corresponds to the Modbus specification published on the Modbus.org site in 2002
(Modbus_over_serial_line_V1.pdf, Nov 2002) and in particular to the schematic of the 2-wire multidrop serial bus.

The ATV12 drive follows this specification.

Schematic diagram:

Master

Type of trunk cable

Maximum length of bus

Maximum number of stations (without
repeater)

Maximum length of tap links

Bus polarisation

Line terminator

Common polarity

Slave 1 Slave n

Shielded cable with 1 twisted pair and at least a 3rd conductor

1000 m at 19200 bps with the Schneider Electric TSX CSAppp cable

32 stations, ie. 31 slaves

• 20 m for one tap link

• 40 m divided by the number of tap links on a multiple junction box

• One 450 to 650 Ω pulldown resistor at 5 V (650 Ω recommended)

• One 450 to 650
This polarisation is recommended for the master.

One 120 Ω 0.25 W resistor in series with a 1nF 10 V capacitor

Ω pulldown resistor at the Common (650 Ω recommended)

Yes (Common), connected to the protective ground at one or more points on the bus

24 BBV28590 06/2012

BBV28590

ATV12_Modbus_EN_V2

06/2012