Alti
var Process
EAV64325 11/2014
Altivar Process
Variable Speed Drives
Modbus Serial Link Manual (Embedded)
11/2014
EAV64325.01
www.schneider-electric.com
The information provided in this documentation contains general descriptions and/or technical characteristics of the performance of the products contained herein. This documentation is not intended as a
substitute for and is not to be used for determining suitability or reliability of these products for specific user
applications. It is the duty of any such user or integrator to perform the appropriate and complete risk
analysis, evaluation and testing of the products with respect to the relevant specific application or use
thereof. Neither Schneider Electric nor any of its affiliates or subsidiaries shall be responsible or liable for
misuse of the information contained herein. If you have any suggestions for improvements or amendments
or have found errors in this publication, please notify us.
No part of this document may be reproduced in any form or by any means, electronic or mechanical,
including photocopying, without express written permission of Schneider Electric.
All pertinent state, regional, and local safety regulations must be observed when installing and using this
product. For reasons of safety and to help ensure compliance with documented system data, only the
manufacturer should perform repairs to components.
When devices are used for applications with technical safety requirements, the relevant instructions must
be followed.
Failure to use Schneider Electric software or approved software with our hardware products may result in
injury, harm, or improper operating results.
Failure to observe this information can result in injury or equipment damage.
© 2014 Schneider Electric. All rights reserved.
2 EAV64325 11/2014
Table of Contents
Safety Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
About the Book. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Chapter 1 Presentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Hardware Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Software Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Chapter 2 Basics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
2.1 Profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Definition of a Profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Functional Profiles Supported by the Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Functional Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
CIA402 Operating State Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Description of Operating States. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Control Word
Stop Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Assigning Control Word Bits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Status Word
Starting Sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Sequence for a Drive Powered by the Power Stage Supply . . . . . . . . . . . . . . . . . . . . . . . . .
Sequence for a Drive with Separate Control Stage. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Sequence for a Drive with Mains Contactor Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2 Modbus Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Modbus Protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Supported Modbus Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
CMd . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
()
EtA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
()
Chapter 3 Hardware Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
Hardware Presentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Firmware Version . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Connection to the Adapter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Electrical Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Cable Routing Practices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Accessories Presentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Chapter 4 Software Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
4.1 Basic Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Configuring the Communication Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
[Modbus Address] (Add) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
[Modbus baud rate] (tbr) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
[Modbus format] (tFO) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
[Modbus Time Out] (tto). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2 Additional Settings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Local Configuration of the Communication Scanner . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
[Scan.IN1 address] (nMA1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
[Scan.IN2 address] (nMA2) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
[Scan.IN3 address] (nMA3) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
[Scan.IN4 address] (nMA4) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
[Scan.IN5 address] (nMA5) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
[Scan.IN6 address] (nMA6) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
[Scan.IN7 address] (nMA7) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
[Scan.IN8 address] (nMA8) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
[Scan.Out1 address] (nCA1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
[Scan.Out2 address] (nCA2) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
[Scan.Out3 address] (nCA3) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12
13
16
17
18
19
20
21
23
24
25
26
27
28
29
31
33
34
35
36
42
43
44
45
47
48
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
EAV64325 11/2014 3
[Scan.Out4 address] (nCA4) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
[Scan.Out5 address] (nCA5) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
[Scan.Out6 address] (nCA6) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
[Scan.Out7 address] (nCA7) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
[Scan.Out8 address] (nCA8) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.3 Monitoring the Communication Scanner . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
[Com Scan.In1 val.] (nM1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
[Com Scan.In2 val.] (nM2) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
[Com Scan.In3 val.] (nM3) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
[Com Scan.In4 val.] (nM4) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
[Com Scan.In5 val.] (nM5) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
[Com Scan.In6 val.] (nM6) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
[Com Scan.In7 val.] (nM7) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
[Com Scan.In8 val.] (nM8) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
[Com Scan.Out1 val.] (nC1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
[Com Scan.Out2 val.] (nC2) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
[Com Scan.Out3 val.] (nC3) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
[Com Scan.Out4 val.] (nC4) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
[Com Scan.Out5 val.] (nC5) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
[Com Scan.Out6 val.] (nC6) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
[Com Scan.Out7 val.] (nC7) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
[Com Scan.Out8 val.] (nC8) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.4 Fieldbus Integration Using Unity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Drive Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Modbus Master Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
Chapter 5 Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
5.1 Operating States . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Configuring Communication Detected Error Response . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2 Operating Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Configuring the Control Channel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Configuration of the Drive for Operation in I/O Profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Configuration of the Drive for Operation with CiA 402 Profile in Combined Mode . . . . . . . . .
Configuration of the Drive for Operation with CiA 402 Profile in Separate Mode. . . . . . . . . .
100
100
101
102
103
104
105
Chapter 6 Diagnostics and Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107
Fieldbus Status LEDs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Checking Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Fieldbus Function Test. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Communication Interruption Message . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Glossary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
108
110
111
112
113
4 EAV64325 11/2014
Safety Information
Important Information
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.
PLEASE NOTE
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.
A qualified person is one who has skills and knowledge related to the construction and operation of
electrical equipment and its installation, and has received safety training to recognize and avoid the
hazards involved.
Qualification Of Personnel
Only appropriately trained persons who are familiar with and understand the contents of this manual and
all other pertinent product documentation are authorized to work on and with this product. In addition, these
persons must have received safety training to recognize and avoid hazards involved. These persons must
have sufficient technical training, knowledge and experience and be able to foresee and detect potential
hazards that may be caused by using the product, by changing the settings and by the mechanical,
electrical and electronic equipment of the entire system in which the product is used. All persons working
on and with the product must be fully familiar with all applicable standards, directives, and accident
prevention regulations when performing such work.
EAV64325 11/2014 5
Intended Use
This product is a drive for three-phase synchronous and asynchronous motors and intended for industrial
use according to this manual.The product may only be used in compliance with all applicable safety
regulations and directives, the specified requirements and the technical data.Prior to using the product, you
must perform a risk assessment in view of the planned application. Based on the results, the appropriate
safety measures must be implemented.Since the product is used as a component in an entire system, you
must ensure the safety of persons by means of the design of this entire system (for example, machine
design). Any use other than the use explicitly permitted is prohibited and can result in hazards. Electrical
equipment should be installed, operated, serviced, and maintained only by qualified personnel.
Product Related Information
Read and understand these instructions before performing any procedure with this drive.
HAZARD OF ELECTRIC SHOCK, EXPLOSION OR ARC FLASH
z Only appropriately trained persons who are familiar with and understand the contents of this manual
and all other pertinent product documentation and who have received safety training to recognize and
avoid hazards involved are authorized to work on and with this drive system. Installation, adjustment,
repair and maintenance must be performed by qualified personnel.
z The system integrator is responsible for compliance with all local and national electrical code
requirements as well as all other applicable regulations with respect to grounding of all equipment.
z Many components of the product, including the printed circuit boards, operate with mains voltage. Do
not touch. Use only electrically insulated tools.
z Do not touch unshielded components or terminals with voltage present.
z Motors can generate voltage when the shaft is rotated. Prior to performing any type of work on the
drive system, block the motor shaft to prevent rotation.
z AC voltage can couple voltage to unused conductors in the motor cable. Insulate both ends of unused
conductors of the motor cable.
z Do not short across the DC bus terminals or the DC bus capacitors or the braking resistor terminals.
z Before performing work on the drive system:
z Disconnect all power, including external control power that may be present.
z Place a Do Not Turn On label on all power switches.
z Lock all power switches in the open position.
z Wait 15 minutes to allow the DC bus capacitors to discharge. The DC bus LED is not an indicator
of the absence of DC bus voltage that can exceed 800 Vdc.
Measure the voltage on the DC bus between the DC bus terminals (PA/+, PC/-) using a properly
rated voltmeter to verify that the voltage is <42 Vdc
z If the DC bus capacitors do not discharge properly, contact your local Schneider Electric represen-
tative. Do not repair or operate the product.
z Install and close all covers before applying voltage.
Failure to follow these instructions will result in death or serious injury.
DANGER
WARNING
UNEXPECTED MOVEMENT
Drive systems may perform unexpected movements because of incorrect wiring, incorrect settings,
incorrect data or other errors.
z Carefully install the wiring in accordance with the EMC requirements.
z Do not operate the product with unknown or unsuitable settings or data.
z Perform a comprehensive commissioning test.
Failure to follow these instructions can result in death, serious injury, or equipment damage.
Damaged products or accessories may cause electric shock or unanticipated equipment operation.
6 EAV64325 11/2014
DANGER
ELECTRIC SHOCK OR UNANTICIPATED EQUIPMENT OPERATION
Do not use damaged products or accessories.
Failure to follow these instructions will result in death or serious injury.
Contact your local Schneider Electric sales office if you detect any damage whatsoever.
WARNING
LOSS OF CONTROL
z The designer of any control scheme must consider the potential failure modes of control paths and,
for 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, overtravel stop, power outage and restart.
z Separate or redundant control paths must be provided for critical control functions.
z System control paths may include communication links. Consideration must be given to the
implications of unanticipated transmission delays or failures of the link.
z Observe all accident prevention regulations and local safety guidelines (1).
z Each implementation of the product must be individually and thoroughly tested for proper operation
before being placed into service.
Failure to follow these instructions can result in death, serious injury, or equipment damage.
(1) For USA: 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.
NOTICE
DESTRUCTION DUE TO INCORRECT MAINS VOLTAGE
Before switching on and configuring the product, verify that it is approved for the mains voltage
Failure to follow these instructions can result in equipment damage.
EAV64325 11/2014 7
8 EAV64325 11/2014
At a Glance
Document Scope
Validity Note
About the Book
The purpose of this document is to:
z Show you how to install the Modbus fieldbus on your drive.
z Show you how to configure drive to use Modbus for monitoring and control.
z Provide examples of setup using Unity
NOTE: Read and understand this document and all related documents (see below) before
installing,operating, or maintaining your drive.
This documentation is valid for the drive Modbus fieldbus.
The technical characteristics of the devices described in this document also appear online. To access this
information online:
Step Action
1 Go to the Schneider Electric home page www.schneider-electric.com
2 In the Search box type the reference of a product or the name of a product range.
z Do not include blank spaces in the model number/product range.
z To get information on grouping similar modules, use asterisks (*).
3 If you entered a reference, go to the Product Datasheets search results and click on the reference that
interests you.
If you entered the name of a product range, go to the Product Ranges search results and click on the
product range that interests you.
4 If more than one reference appears in the Products search results, click on the reference that interests
you.
5 Depending on the size of your screen, you may need to scroll down to see the data sheet.
6 To save or print a data sheet as a .pdf file, click Download XXX product datasheet.
.
The characteristics that are presented in this manual should be the same as those characteristics that
appear online. In line with our policy of constant improvement, we may revise content over time to improve
clarity and accuracy. If you see a difference between the manual and online information, use the online
information as your reference.
EAV64325 11/2014 9
Related Documents
Use your tablet or your PC to quickly access detailed and comprehensive information on all our products
on www.schneider-electric.com
The Internet site provides the information you need for products and solutions
z The whole catalog for detailed characteristics and selection guides
z The CAD files to help design your installation, available in over 20 different file formats
z All software and firmware to maintain your installation up to date
z A large quantity of White papers, environment documents, application solutions, specifications... To
gain a better understanding of electrical systems and equipment or automation
z All the user guides related to your drive, listed below:
Title of Documentation Reference Number
Altivar Process Getting Started EAV63253
Altivar Process Installation Manual EAV64301
Altivar Process Programming Manual EAV64318
Altivar Process Modbus Serial Link Manual (Embedded) EAV64325
Altivar Process Ethernet Manual (Embedded) EAV64327
Altivar Process EtherNet/IP - Modbus TCP Manual (VW3A3720) EAV64328
Altivar Process PROFIBUS DP manual (VW3A3607) EAV64329
Altivar Process DeviceNet manual (VW3A3609) EAV64330
Altivar Process PROFINET manual (VW3A3627) EAV64333
Altivar Process CANopen Serial Link Manual (VW3A3608, 618, 628) EAV64331
Altivar Process Communication Parameters EAV64332
Altivar Process Safety Function Manual EAV64334
You can download these technical publications and other technical information from our website at
www.schneider-electric.com.
Standards and Terminology
The technical terms, terminology, and the corresponding descriptions in this manual normally use the
terms or definitions in the relevant standards.
In the area of drive systems this includes, but is not limited to, terms such as error, error message, failure,
fault, fault reset, protection, safe state, safety function, warning, warning message, and so on.
Among others, these standards include:
z IEC 61800 series: Adjustable speed electrical power drive systems
z IEC 61508 Ed.2 series: Functional safety of electrical/electronic/programmable electronic safety-related
z EN 954-1 safety of machinery - Safety related parts of control systems
z EN ISO 13849-1 & 2 safety of machinery - Safety related parts of control systems.
z IEC 61158 series: Industrial communication networks - Fieldbus specifications
z IEC 61784 series: Industrial communication networks - Profiles
z IEC 60204-1: Safety of machinery - Electrical equipment of machines – Part 1: General requirements
10 EAV64325 11/2014
Alti
var Process
Presentation
EAV64325 11/2014
Presentation
Chapter 1
Presentation
What Is in This Chapter?
This chapter contains the following topics:
Hardware Overview 12
Software Overview 13
Topic Page
EAV64325 11/2014 11
Presentation
Hardware Overview
General
The following figure shows the Modbus serial communication port:
1 Modbus serial communication port
12
EAV64325 11/2014
Software Overview
Supported Modbus Functions
The drive supports the following Modbus functions:
Function Name Code Description Remarks
Read Holding
Registers
Write One Output Word 06 06 hex Write 1 output word −
Write Multiple
Registers
Read/write Multiple
Registers
(Subfunction)
Read Device
Identification
Diagnostics 08 08 hex Diagnostics −
Presentation
Dec. Hex
03 03 hex Read N output words Maximum PDU length: 63 words
16 10 hex Write N output word Maximum PDU length: 61 words
23 17 hex Read/write multiple
43/14 2B hex/
0E hex
registers
Encapsulated interface
transport/Read device
identification
Maximum PDU length: 20 words (W),
20 words (R)
−
EAV64325 11/2014 13
Presentation
14
EAV64325 11/2014
Alti
var Process
Basics
EAV64325 11/2014
Basics
Chapter 2
Basics
What Is in This Chapter?
This chapter contains the following sections:
Section Topic Page
2.1 Profile 16
2.2 Modbus Functions 34
EAV64325 11/2014 15
Basics
Profile
Section 2.1
Profile
What Is in This Section?
This section contains the following topics:
Definition of a Profile 17
Functional Profiles Supported by the Drive 18
Functional Description 19
CIA402 Operating State Diagram 20
Description of Operating States 21
Summary 23
Control Word
Stop Commands 25
Assigning Control Word Bits 26
Status Word
Starting Sequence 28
Sequence for a Drive Powered by the Power Stage Supply 29
Sequence for a Drive with Separate Control Stage 31
Sequence for a Drive with Mains Contactor Control 33
Topic Page
CMd 24
()
EtA 27
()
16
EAV64325 11/2014
Definition of a Profile
Types of Profiles
There are 3 types of profile:
z Communication profiles
z Functional profiles
z Application profiles
Communication Profile
A communication profile describes the characteristics of the bus or network:
z Cables
z Connectors
z Electrical characteristics
z Access protocol
z Addressing system
z Periodic exchange service
z Messaging service
z ...
A communication profile is unique to a type of fieldbus (such as Modbus, PROFIBUS DP, and so on) and
is used by various different types of device.
Functional Profile
A functional profile describes the behavior of a type of device:
z Functions
z Parameters (such as name, format, unit, type, and so on.)
z Periodic I/O variables
z State chart
z ...
A functional profile is common to all members of a device family (such as variable speed drives, encoders,
I/O modules, displays, and so on).
They can feature common or similar parts. The standardized (IEC 61800-7) functional profiles of variable
speed drives are:
z CiA402
z PROFIDRIVE
z CIP
DRIVECOM has been available since 1991.
CiA402 device profile for drives and motion control represents the next stage of this standard development
and is now part of the IEC 61800-7 standard.
Some protocols also support the Open DeviceNet Vendor Association profile (ODVA).
Basics
Application Profile
Application profile defines the services to be provided by the devices on a machine. For example, CiA DSP
417-2 V 1.01 part 2: CANopen application profile for lift control systems - virtual device definitions.
Interchangeability
The aim of communication and functional profiles is to achieve interchangeability of the devices connected
via the fieldbus.
EAV64325 11/2014 17
Basics
Functional Profiles Supported by the Drive
I/O Profile
Using the I/O profile simplifies PLC programming.
The I/O profile mirrors the use of the terminal strip for control by utilizing 1 bit to control a function.
The I/O profile for the drive can also be used when controlling via a fieldbus.The drive starts up as soon as
the run command is sent.15 bits of the control word (bits 1...15) can be assigned to a specific function.
This profile can be developed for simultaneous control of the drive via:
z The terminals
z The Modbus control word
z The CANopen control word
z Ethernet Modbus TCP embedded
z The fieldbus module control word
The I/O profile is supported by the drive itself and therefore in turn by all the communication ports
(integrated Modbus, CANopen, Ethernet, PROFIBUS DP ,PROFINET, and DeviceNet fieldbus modules).
CiA402 Profile
The drive only starts up following a command sequence.
The control word is standardized.
5 bits of the control word (bits 11...15) can be assigned to a function.
The CiA402 profile is supported by the drive itself and therefore by all the communication ports (Modbus,
CANopen, Ethernet, PROFIBUS DP, PROFINET, and DeviceNet).
The drive supports the velocity mode of CiA402 profile.
In the CiA402 profile, there are two modes that are specific to the drive and characterize commands and
references value management:
z Separate [Separate] (SEP)
z Not separate [Not separ.] (SIN),
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EAV64325 11/2014
Functional Description
Introduction
Drive operation involves two main functions, which are illustrated in the diagrams below.
CiA402
The main parameters are shown with their CiA402 name and their CiA402/Drivecom index (the values in
brackets are the CANopen addresses of the parameter).
The following figure shows the control diagram for drive operation:
Simplified diagram for speed control in Velocity mode:
Basics
Altivar Drive
These diagrams translate as follows for the Altivar drive.
The following figure shows the control diagram for drive operation:
Simplified diagram for speed control in Velocity mode:
EAV64325 11/2014 19
Basics
CIA402 Operating State Diagram
State Diagram
After switching on and when an operating mode is started, the product goes through a number of operating
states.
The state diagram (state machine) shows the relationships between the operating states and the state
transitions. The operating states are internally monitored and influenced by monitoring functions.
The following figure shows the CIA402 state diagram:
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EAV64325 11/2014
Description of Operating States
Drive Operating State
The operating state of the drive changes depending on whether the control word is sent
event occurs (an error detection, for example).
The drive operating state can be identified by the value of the status word
Operating State Description
1 - Not ready to switch onInitialization starts. This is a transient state invisible to the communication network.
2 - Switch on disabled The power stage is not ready to switch on.
3 - Ready to switch on The power stage is ready to switch on and awaiting power stage supply mains.
4 - Switched on Power stage is switched on.
Basics
CMd or an
()
EtA .
()
The drive is locked, no power is supplied to the motor.
For a separate control stage, it is not necessary to supply the power.
For a separate control stage with mains contactor, the contactor is not closed.
The configuration and adjustment parameters can be modified.
For a separate control stage, it is not necessary to supply the power stage, but the
system expects it in order to change to state 4 - Switched on.
For a separate control stage with mains contactor, the contactor is not closed.
The drive is locked, no power is supplied to the motor.
The configuration and adjustment parameters can be modified.
For a separate control stage, the power stage must be supplied.
For a separate control stage with mains contactor, the contactor is closed.
The drive is locked, no power is supplied to the motor.
The power stage of the drive is ready to operate, but voltage has not yet been
applied to the output.
The adjustment parameters can be modified.
If a configuration parameter is modified, the drive returns to the state 2 - Switch
on disable .
EAV64325 11/2014 21
Basics
Operating State Description
5 - Operation enabled Power stage is enabled. The drive is in running state
For a separate control stage, the power stage must be supplied.
For a separate control stage with mains contactor, the contactor is closed.
The drive is unlocked, power is supplied to the motor.
The drive functions are activated and voltage is applied to the motor terminals.
If the reference value is zero or the Halt command is applied, no power is supplied
to the motor and no torque is applied. To perform.[Auto tuning]
tUn , the drive
()
must be in state 5 - Operation enabled.
The adjustment parameters can be modified.
The configuration parameters cannot be modified.
NOTE: The command 4 - Enable operation must be taken into consideration
only if the channel is valid. In particular, if the channel is involved in the command
and the reference value, transition 4 is possible only after the reference value has
been received once.
The reaction of the drive to a Disable operation command depends on the
value of the [Dis. operat opt code]
z If the [Dis. operat opt code]
dOtd parameter:
()
dOtd parameter is set to 0, the drive changes
()
to operating state 4 - Switched on and stops in freewheel stop.
z If the [Dis. operat opt code]
dOtd parameter is set to 1, the drive stops on
()
ramp and then changes to operating state 4 - Switched on.
6 - Quick stop active The drive performs a fast stop and remains locked in the operating state 6-Quick
stop active. Before restarting the motor, it is required to go to the operating state
2-switch on disabled.
During fast stop, the drive is unlocked and power is supplied to the motor.
The configuration parameters cannot be modified.
The condition for transition 12 to state 2 - Switch on disabled depends on the
value of the parameter
Quick stop mode (QStd):
If the Quick stop mode parameter has the value FST2, the drive stops according
to the fast stop ramp and then changes to state 2 - Switch on disabled .
If the Quick stop mode parameter has the value FST6, the drive stops according
to the fast stop ramp and then remains in state 6 - Quick stop active until:
z A Disable voltage command is received or
z The STOP key is pressed or
z A freewheel stop command via the digital input of the terminal.
7 - Fault reaction
active
Transient state during which the drive performs an action corresponding to the
selected error response.
8 - Fault Error response terminated. Power stage is disabled.
The drive is locked, no power is supplied to the motor.
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EAV64325 11/2014
Summary
Device Status Summary
Basics
Operating State Power Stage Supply for
Separate Control Stage
1 - Not ready to
switch on
2 - Switch on
disabled
3 - Ready to
switch on
4 - Switched on Required No Yes, return to 2 - Switch on
5 - Operation
enabled
6 - Quick stop
active
7 - Fault reaction
active
8 - Fault Not required No Yes
Not required No Yes
Not required No Yes
Not required No Yes
Required Yes No
Required Yes, during fast stop No
Depends on error response
configuration
Power Supplied to
Motor
Depends on error
response configuration
Modification of Configuration
Parameters
disabled operating state
−
EAV64325 11/2014 23
Basics
Control Word
Bit Mapping
CMd
()
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Fault reset Reserved
0 to 1
transition =
Error is
reset (after
cause of
error is no
longer
active)
Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8
Manufacturer
specific
assignable
(=0)
Manufacturer
specific
assignable
Reserved
(=0)
Manufacturer
specific
assignable
Reserved
(=0)
Manufacturer
specific
assignable
Enable
operation
1 = Run
command
Manufacturer
specific
0 = Forward
direction
asked
1= Reverse
direction
asked
Quick stop Enable
0 = Quick
stop active
voltage
Authorization
to supply AC
power
Reserved
(=0)
Reserved
(=0)
Switch on
Mains
contactor
control
Halt
Halt
Command State
Transition
Shutdown 2, 6, 8 3 - Ready
Switch on 3 4 -
Enable
operation
Disable
operation
Disable
voltage
Quick stop 11 6 - Quick
Fault
reset
X: Value is of no significance for this command.
0[gs56] 1: Command on rising edge.
4 5 -
5 4 -
7, 9, 10, 12 2 - Switch
7, 10 2 - Switch
15 2 - Switch
Final
Operating
State
to switch
on
Switched
on
Operation
enabled
Switched
on
on
disabled
stop
active
on
disabled
on
disabled
Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Example
Fault
Reset
X X 1 1 0 0006 hex
X X 1 1 1 0007 hex
X 1 1 1 1 000F hex
X 0 1 1 1 0007 hex
X X X 0 X 0000 hex
X X 0 1 X 0002 hex
0 [gs56] 1 X X X X 0080 hex
Enable
Operation
Quick
Stop
Enable
Voltage
Switch
On
Value
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EAV64325 11/2014
Stop Commands
Halt Command
The Halt command enables movement to be interrupted without having to leave the 5 - Operation
enabled state. The stop is performed in accordance with the [Type of stop]
If the Halt command is active, no power is supplied to the motor and no torque is applied.
Regardless of the assignment of the [Type of stop]
()
remains in the 5 - Operation enabled state.
Fast Stop Command
A Fast Stop command at the terminals or using a bit of the control word assigned to Fast Stop causes
a change to the 4 - Switched on
Freewheel Command
A Freewheel Stop command using a digital input of the terminal or a bit of the control word assigned
to Freewheel Stop causes a change to operating state 2 - Switch on disabled.
FSt ,[Ramp stop]
rMP , [Freewheel]
()
Stt parameter [Fast stop assign]
()
nSt , or [DC injection assign.]
()
Stt parameter.
()
dCI ), the drive
()
Basics
EAV64325 11/2014 25
Basics
Assigning Control Word Bits
Function Codes
In the CiA402 profile, fixed assignment of a function input is possible using the following codes:
Bit Integrated Modbus Serial
Bit 11 C111
Bit 12 C112
Bit 13 C113
Bit 14 C114
Bit 15 C115
For example, to assign the DC injection braking to bit13 of Modbus serial, simply configure the[ DC
injection assign.]
Bit 11 is assigned by default to the operating direction command [Reverse assign.]
dCI parameter with the [C113]
()
C113 value.
()
rrS .
()
26
EAV64325 11/2014
Basics
Status Word
Bit Mapping
EtA
()
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Warning Switch on
A warning is
active
Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8
Manufacturer
-specific
Direction of
rotation
Operating
State
1 -Not
ready to
switch on
2 -Switch
on
disabled
3 -Ready
to switch
on
4 Switched
on
5 Operation
enabled
6 -Quick
stop
active
7 -Fault
reaction
active
8 -Fault 0XX1000
(1)
This mask can be used by the PLC program to test the diagram state.
(2)
detected error following operating state 6 - Quick stop active.
X: In this state, the value of the bit can be 0 or 1.
disabled
Power stage
supply
disabled
Manufacturerspecific Stop
via STOP key
Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 ETA
Switch On
Disabled
0XX0000−
1 X X 0 0 0 0 0040 hex
0 1 X 0 0 0 1 0021 hex
0 1 1 0 0 1 1 0023 hex
0 1 11 0 1 1 1 0027 hex
0 0 0 1 1 1 0007 hex
0XX1111−
Quick stop Voltage
0 = Quick
stop is active
Reserved
(=0)
Quick
Stop
enabled
Power stage
supply
present
Reserved
(=0)
Voltage
Enabled
Detected
error
Detected
error
Internal limit
active
Reference
value outside
limits
Fault Operation
Enabled
Operation
enabled
Running Ready 1 = Awaiting
Target
reached
Reference
value
reached
Switched OnReady to
Switched on Ready to
Remote Reserved (=0)
Command
or reference
value via
fieldbus
Switch On
switch on
power
Stage
supply
Masked by
(1)
006F H
0008 hex
.0028 hex
(2)
..
EAV64325 11/2014 27
Basics
Starting Sequence
Description
The command sequence in the state diagram depends on how power is being supplied to the drive.
There are 3 possible scenarios:
Power stage
supply
Control stage
supply
(1)
The power stage supplies the control stage.
Direct Direct Mains contactor controlled by the
Not separate
(1)
drive
Separate Separate
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EAV64325 11/2014
Sequence for a Drive Powered by the Power Stage Supply
Description
Both the power and control stages are powered by the power stage supply.
If power is supplied to the control stage, it has to be supplied to the power stage as well.
The following sequence must be applied:
Step 1
Apply the 2 - Shut down command
Basics
Step 2
z Check that the drive is in the operating state 3 - Ready to switch on.
z Then apply the 4 - Enable operation command.
z The motor can be controlled (send a reference value not equal to zero).
EAV64325 11/2014 29
Basics
NOTE: It is possible, but not necessary to apply the 3 - Switch on command followed by the 4 -
Enable Operation command to switch successively into the operating states 3 - Ready to Switch
on, 4 - Switched on and then 5 - Operation Enabled. The 4 - Enable operation command
is sufficient.
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EAV64325 11/2014
Sequence for a Drive with Separate Control Stage
Description
Power is supplied separately to the power and control stages.
If power is supplied to the control stage, it does not have to be supplied to the power stage as well.
The following sequence must be applied:
Step 1
z The power stage supply is not necessarily present.
z Apply the 2 - Shut down command
Basics
Step 2
z Check that the drive is in the operating state 3 - Ready to switch on.
z Check that the power stage supply is present (Voltage enabled of the status word).
Power Stage Supply Terminal Display Status Word
Absent nLP 21 hex
Present rdY 31 hex
z Apply the 3 - Switch on command
EAV64325 11/2014 31
Basics
Step 3
z Check that the drive is in the operating state 4 - Switched on.
z Then apply the 4 - Enable operation command.
z The motor can be controlled (send a reference value not equal to zero).
z If the power stage supply is still not present in the operating state 4 - Switched on after a time delay
[Mains V. time out]
LCt , the drive triggers an error [input contactor]
()
LCF .
()
32
EAV64325 11/2014
Sequence for a Drive with Mains Contactor Control
Description
Power is supplied separately to the power and control stages.
If power is supplied to the control stage, it does not have to be supplied to the power stage as well. The
drive controls the mains contactor.
The following sequence must be applied:
Step 1
z The power stage supply is not present as the mains contactor is not being controlled.
z Apply the 2 - Shutdown command.
Basics
Step 2
z Check that the drive is in the operating state 3 - Ready to switch on.
z Apply the 3 - Switch on command, which closes the mains contactor and switch on the power stage
supply.
EAV64325 11/2014 33
Basics
Modbus Functions
Section 2.2
Modbus Functions
What Is in This Section?
This section contains the following topics:
Modbus Protocol 35
Supported Modbus Functions 36
Topic Page
34
EAV64325 11/2014
Modbus Protocol
Introduction
Principle
Basics
The transmission mode used is RTU. The frame does not contain message header and end of message
bytes.
Slave address Request code Data CRC16
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 three characters.
The Modbus protocol is a master/slave protocol
Addresses
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.
The 2 types of dialogue are possible between master and slaves:
z The master sends a request to a slave and waits for its response
z The master sends a request to all slaves without waiting for a response (broadcasting principle)
Address specification:
z The drive Modbus address can be configured from 1 to 247.
z Address 0 coded in a request sent by the master is reserved for broadcasting. Drives take account of
the request, but do not respond to it.
EAV64325 11/2014 35
Basics
Supported Modbus Functions
Introduction
The drive supports the following Modbus functions:
Function Name Code Description Remarks
Read Holding Registers 03 03 hex Read N output words Maximum PDU length: 63 words
Write One Output Word 06 06 hex Write 1 output word −
Write Multiple
Registers
Read/write Multiple
Registers
(Subfunction)
Read Device
Identification
Diagnostics 08 08 hex Diagnostics −
Read Holding Registers
Request
Function code 1 byte 03 hex
Starting address 2 bytes 0000 hex...FFFF hex
Quantity of registers 2 bytes 1...63 (3F hex)
Dec. Hex
16 10 hex Write N output word Maximum PDU length: 61 words
23 17 hex Read/write multiple
registers
43/14 2B hex/
0E hex
Encapsulated interface
transport/Read device
identification
Maximum PDU length: 20 words
(W), 20 words (R)
−
Response
Function code 1 byte 03 hex
Byte count 1 byte
Register value
(1)
N: Quantity of registers
(1)
N
x 2 bytes
2 x N
−
(1)
Request
Detected error code 1 byte 83 hex
Exception code 1 bytes 01...04
For example:
This function can be used to read all drive words, both input words and output words.
Request
Slave no. 03 No. of first word No. of words CRC16
Hi Lo Hi Lo Lo Hi
1 byte 1 byte 2 bytes 2 bytes 2 bytes
Hi = high-order byte, Lo = low-order byte.
Response
Slave no. 03 Number of bytes read First word value Last word value CRC16
Hi Lo Hi Lo Lo Hi
1 byte 1 byte 1 byte 2 bytes 2 bytes 2 bytes
Hi = high-order byte, Lo = low-order byte.
36
EAV64325 11/2014
Write 1 Output Word
Basics
For example: read 4 words W3102...W3105 (0C1E...0C21 hex) in slave 2, using function 3, where:
z SFr = Switching frequency = 4 kHz (W3102 = 0028 hex)
z tFr = Maximum output frequency = 60 Hz (W3103 = 0258 hex)
z HSP = High speed = 50 Hz (W3104 = 01F4 hex)
z LSP = Low speed = 0 Hz (W3105 = 0000 hex)
Request
02 03 0C1E 004 276C
Response
02 03 08 0028 0258 01F4 0000 52B0
Value of: − W3102 W3103 W3104 W3105 −
Parameters: − SFr tFr HSP LSP −
Request
Function code 1 byte 06 hex
Register address 2 bytes 0000 hex...FFFF hex
Register value 2 bytes 0000 hex...FFFF hex
Response
Function code 1 byte 06 hex
Register address 2 bytes 0000 H...FFFF hex
Register value 2 bytes 0000 H...FFFF hex
Detected error
Detected error code 1 byte 06 hex
Exception code 1 bytes 01...04
For example
Request and response(the frame format is identical)
Slave no. 06 Word number Value of word CRC16
Hi Lo Hi Lo Lo Hi
1byte 1byte 2bytes 2bytes 2bytes
For example: write value 000D hex in word W9001 (2329 hex) in slave 2 (ACC = 1.3 s).
Request and response 02 06 2329 000D 9270
EAV64325 11/2014 37
Basics
Write Multiple Register
Request
Slave no. 10 No. of first word Number of words Number of
Hi Lo Hi Lo Hi Lo Lo Hi
1 byte 1 byte 2 bytes 2 bytes 1 byte 2 bytes 2 bytes
bytes
Value of first word CRC16
Response
Slave no. 10 No. of first word No. of words CRC16
Hi Lo Hi Lo Lo Hi
1byte 1byte 2bytes 2bytes 2bytes
For example
Write values 20 and 30 to words W9001 and W9002 on slave 2 (acceleration time = 2 s and deceleration
time = 3 s)
Request
Slave
no.
02 hex 10 hex 23 hex29 hex00 hex02 hex04 hex 00 hex14 hex00 hex 1E hex 73 hex A4 hex
Request
code
No. of first
word
Hi Lo Hi Lo Hi Lo Hi Lo Lo Hi
Number of
words
Number
of bytes
Value of first
word
Value of Second
word
CRC16
Response
Slave no. Response code No. of first word No. of words CRC16
Hi Lo Hi Lo Lo Hi
02 hex 10 hex 23 hex 29 hex 00 hex 02 hex 9B hex B7 hex
Read/Write Multiple Registers
Description Length in Byte Value Comment
Function code 1 17 hex −
Read starting address 2 XXXX hex Always Modbus address
Quantity 2 03 hex Contain number of holding registers to be read
Write starting address 2 XXXX hex Always Modbus address
Quantity 2 03 hex Contain number of holding registers to be written
Write byte count 1 06 hex The byte count specifies the number of bytes to follow
Write registers value 6 XXXXXX
For example
XXXXXX hex
in the field write register value
Value to be written respectively in NCA1 to NCA3, so
the configured
For example: CMD, LFRD, CMI
38
EAV64325 11/2014
Read Device Identification
The table provides the device identification details:
ID Name / Description Type
00 hex VendorName ASCII String
01 hex ProductCode ASCII String
02 hex MajorMinorRevision ASCII String
03 hex ProductName ASCII String
For example
Default value to be detailed
Request
Basics
Slave no. 2B Type of MEI
0E
1byte 1byte 1byte 1byte 1byte 2bytes
Read Device Id
01
Object Id
00
CRC16
Lo Hi
Response
Slave no. 2B Type of MEI
0E
1 byte 1 byte 1 byte 1 byte 1 byte
Number of additional frames
00
1byte 1byte 1byte
Id of object number 1
00
1 byte 1 byte 18 bytes
Id of object number 2
01
1 byte 1 byte 11 bytes
Next object Id
00
Length of object number 112Value of object number 1
Length of object number 2
0B
Read Device Id
01
Degree of conformity
02
Number of objects
03
Schneider Electric
Value of object number 2
ATV6xxxxxxxx
Id of object number 2
02
1byte 1byte 4bytes
CRC16
Lo Hi
1byte 1byte
Length of object number 204Value of object number 2
0201
The total response size equals 49 bytes
The three objects contained in the response correspond to the following objects:
z Object number 1: Manufacturer name (always Schneider Electric, that is. 18 bytes).
z Object number 2: Device reference (ASCII string; for example, ATV6xxxxxxxx, that is. 11 bytes).
z Object number 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 rather than the response described above.
EAV64325 11/2014 39
Basics
Diagnostics
Subcode 00 hex: Echo
This function asks the slave being interrogated to echo (return) the message sent by the master in its
entirety.
Subcode 0A hex: Counter reset
This function resets all the counters responsible for monitoring a slave exchanges.
Subcode 0C hex: Read message counter responsible for counting messages received with checksum
errors.
Subcode 0E hex: Read message counter responsible for counting messages addressed to slave. Read
a word indicating the total number of messages addressed to the slave, regardless of type (excluding
broadcast messages).
Request and response
Slave no. 08 Subcode Data CRC16
Hi Lo Hi Lo Lo Hi
1byte 1byte 2bytes Nbytes 2bytes
Subcode Request Data Response Data Function Executed
00 XX YY XX YY Echo
0A 00 00 00 00 Counter reset
0C 00 00 XX YY
(= counter value)
0E 00 00 XX YY
(= counter value)
Read message counter responsible for counting
messages received with checksum errors
Read message counter responsible for counting
messages addressed to slave
For example: values 31 hex and 32 hex echoed by slave 4.
Request and response
Slave no. Request code or
response code
02 hex 08 hex 00 hex 00 hex 31 hex 32 hex 74 hex 1B hex
Subcode Value of first
Hi Lo Lo Hi
byte
Value of
second byte
CRC16
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EAV64325 11/2014
Alti
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Hardware Setup
EAV64325 11/2014
Hardware Setup
Chapter 3
Hardware Setup
What Is in This Chapter?
This chapter contains the following topics:
Hardware Presentation 42
Firmware Version 43
Connection to the Adapter 44
Electrical Installation 45
Cable Routing Practices 47
Accessories Presentation 48
Topic Page
EAV64325 11/2014 41
Hardware Setup
Hardware Presentation
Modbus Serial Communication Port
The following figure shows the terminal view of the drive:
1 Modbus serial communication port
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EAV64325 11/2014
Firmware Version
Compatibility
There is no specific firmware for Modbus serial communication. The drive firmware embeds the Modbus
serial firmware.
Hardware Setup
EAV64325 11/2014 43
Hardware Setup
Connection to the Adapter
Procedure to Remove the Front Cover of the Drive
Apply the following instructions to remove the front cover of the drive:
Step Action
1 Unscrew the four screws attaching the front cover
2 Slide down the front cover
3 Remove the front cover
4 Plug the Modbus serial cable in the Modbus serial port
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Electrical Installation
Connection to Drive
Connection accessories should be ordered separately (See the catalog for more details).
Connect the RJ45 cable connector to the drive connector.
The following figure shows the pin layout for RJ45 connector:
The table describes the pin out of the RJ45 connector of the drive:
Pin Signal
1 Reserved
2
3
4
5
6 −
7
8 Common
(1)
Modbus signals
(2)
Supply for RS232 / RS485 converter or a remote terminal
(1)
D1
(1)
D0
VP, 10 Vdc
Hardware Setup
(2)
RS485 Bus Schematic
The RS485 standard allows variants of different characteristics:
z Polarization
z Line terminator
z Distribution of a reference potential
z Number of slaves
z Length of bus
The new Modbus specification published on the Modbus.org site in 2006 contains precise details of all
these characteristics. They are also summarized in standard schematic section. The new Schneider
Electric devices conform to this specification.
EAV64325 11/2014 45
Hardware Setup
Schematic Diagram
The following is the RS485 bus schematic diagram:
Characteristic Definition
Type of trunk cable Shielded cable with 1 twisted pair and at least a third conductor
Maximum length of bus 1000 m at 19200 bps with the Schneider Electric TSX CSA••• cable
Maximum number of stations (without
32 stations that are 31 slaves
repeater)
Maximum length of tap links
Bus polarization
z 20 m for 1 tape link
z 40 m divided by the number of tape links on a multiple junction box
z One 450...650 Ω pull-down resistor at 5 V (650 Ω recommended)
z One 450...650 Ω pull-down resistor at the common (650 Ω recommended)
This polarization is recommended for the master.
Line terminator One 120 Ω 0.25 W resistor in series with 1 nF 10 V capacitor
Common polarity Yes (Common), connected to the protective earth ground at one or more
points of the bus
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Cable Routing Practices
Protection Against Interference
z Use the Schneider Electric cable with 2 pairs of shielded twisted conductors (reference: TSXCSA100,
TSXCSA200, and TSXCSA500).
z Keep the Modbus cable separated from the power cables (30 cm (11.8 in.) minimum).
z Make any crossovers of the Modbus cable and the power cables at right-angles, if necessary.
Hardware Setup
EAV64325 11/2014 47
Hardware Setup
Accessories Presentation
Introduction
Connection accessories should be ordered separately (See the catalogs).
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Software Setup
EAV64325 11/2014
Software Setup
Chapter 4
Software Setup
What Is in This Chapter?
This chapter contains the following sections:
Section Topic Page
4.1 Basic Settings 50
4.2 Additional Settings 56
4.3 Monitoring the Communication Scanner 74
4.4 Fieldbus Integration Using Unity 92
EAV64325 11/2014 49
Software Setup
Basic Settings
Section 4.1
Basic Settings
What Is in This Section?
This section contains the following topics:
Configuring the Communication Parameters 51
[Modbus Address] (Add) 52
[Modbus baud rate] (tbr) 53
[Modbus format] (tFO) 54
[Modbus Time Out] (tto) 55
Topic Page
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EAV64325 11/2014
Configuring the Communication Parameters
Overview
Configuration of the Modbus communication functions of the drive can be accessed from the
[Communication] (COM-) / [Comm parameters] (CMP-) / [Modbus SL] (MSL-) menu.
Software Setup
EAV64325 11/2014 51
Software Setup
[Modbus Address] (Add)
About This Parameter
This parameter defines the address of the drive on the network.
Access
This is a read/write parameter.
The parameter Modbus address is 6001
Possible Settings
The table presents the parameter settings:
Settings Code Value Description
[OFF]
[1 to 247]
(OFF)
(1...247)
0
1...247
Modbus address is not assigned.
Modbus address is assigned.
Factory setting: OFF
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EAV64325 11/2014
[Modbus baud rate] (tbr)
About This Parameter
This parameter defines the baud rate at which data is transferred.
Access
This is a read/write parameter.
The parameter Modbus address is 6003
Possible Settings
The table presents the parameter settings:
Settings Code Value Description
[4K8]
[9K6]
[19K2]
[38K4]
(4K8)
(9K6)
(19K2)
(38K4)
24
28
32
36
Software Setup
Baud rate is set to 4.8 Kbps.
Baud rate is set to 9.6 Kbps.
Baud rate is set to 19.2 Kbps.
Baud rate is set to 38.4 Kbps.
Factory setting: 19.2 Kbps
EAV64325 11/2014 53
Software Setup
[Modbus format] (tFO)
About This Parameter
This parameter is used to define the data format.
Access
This is a read/write parameter.
The parameter Modbus address is 6004
Possible Settings
This table presents the parameter settings:
Settings Code Value Description
[8O1]
[8E1]
[8N1]
[8N2]
(8O1)
(8E1)
(8N1)
(8N2)
2
3
4
5
8 data bits, odd parity, 1 stop bit
8 data bits, even parity, 1 stop bit
8 data bits, no parity, 1 stop bit
8 data bits, no parity, 2 stop bits
Factory setting: 8E1
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[Modbus Time Out] (tto)
About This Parameter
This parameter defines.
Access
This is a read/write parameter.
The parameter Modbus address is 6005
Possible Settings
The table presents the parameter settings:
Settings Code Value Description
[0.1...30.0] (0.1...30.0) 1...300 Adjustable from 0.1 to 30 s
Software Setup
Factory setting: 10 s
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Software Setup
Additional Settings
Section 4.2
Additional Settings
What Is in This Section?
This section contains the following topics:
Local Configuration of the Communication Scanner 57
[Scan.IN1 address] (nMA1) 58
[Scan.IN2 address] (nMA2) 59
[Scan.IN3 address] (nMA3) 60
[Scan.IN4 address] (nMA4) 61
[Scan.IN5 address] (nMA5) 62
[Scan.IN6 address] (nMA6) 63
[Scan.IN7 address] (nMA7) 64
[Scan.IN8 address] (nMA8) 65
[Scan.Out1 address] (nCA1) 66
[Scan.Out2 address] (nCA2) 67
[Scan.Out3 address] (nCA3) 68
[Scan.Out4 address] (nCA4) 69
[Scan.Out5 address] (nCA5) 70
[Scan.Out6 address] (nCA6) 71
[Scan.Out7 address] (nCA7) 72
[Scan.Out8 address] (nCA8) 73
Topic Page
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Local Configuration of the Communication Scanner
Overview
The communication scanner is useful when used in combination by the Modbus client device with the
function Read/Write Multiple registers: 23 (17 hex), 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.
The communication scanner is accessible via the following menus: Communication (COM-)/ Comm
parameters (CMP-)/ Modbus SL (MSL-)/ Modbus Fieldbus (Md1-) and [COM. SCANNER
INPUT] (ICS-), [COM. SCANNER OUTPUT] (OCS-) submenus.
The eight output variables and the eight input variables are assigned to parameter nCA1 to nCA8 and
nMA1 to nMA8. An nCAx or nMAx parameter with a value of zero is not linked to a parameter in the drive.
Software Setup
EAV64325 11/2014 57
Software Setup
[Scan.IN1 address] (nMA1)
About This Parameter
This parameter displays the source drive address of the first input word.
Access
This is a read/write parameter.
The parameter Modbus address is 12701
Possible Settings
The table presents the parameter settings:
Settings Code Value Description
[Scan.IN1 address] (nMA1) − Source drive address of the first input word.
Factory settings: Status (ETA)
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[Scan.IN2 address] (nMA2)
About This Parameter
This parameter displays the source drive address of the second input word.
Access
This is a read/write parameter.
The parameter Modbus address is 12702
Possible Settings
The table presents the parameter settings:
Settings Code Value Description
[Scan.IN2 address] (nMA2) − Source drive address of the second input word.
Software Setup
Factory settings: Output speed (RFRD)
EAV64325 11/2014 59
Software Setup
[Scan.IN3 address] (nMA3)
About This Parameter
This parameter displays the source drive address of the third input word.
Access
This is a read/write parameter.
The parameter Modbus address is 12703
Possible Settings
The table presents the parameter settings:
Settings Code Value Description
[Scan.IN3 address] (nMA3) − Source drive address of the third input word.
Factory settings: 0
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[Scan.IN4 address] (nMA4)
About This Parameter
This parameter displays the source drive address of the fourth input word.
Access
This is a read/write parameter.
The parameter Modbus address is 12704
Possible Settings
The table presents the parameter settings:
Settings Code Value Description
[Scan.IN4 address] (nMA4) − Source drive address of the fourth input word.
Software Setup
Factory settings: 0
EAV64325 11/2014 61
Software Setup
[Scan.IN5 address] (nMA5)
About This Parameter
This parameter displays the source drive address of the fifth input word.
Access
This is a read/write parameter.
The parameter Modbus address is 12705
Possible Settings
The table presents the parameter settings:
Settings Code Value Description
[Scan.IN5 address] (nMA5) − Source drive address of the fifth input word.
Factory settings: 0
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[Scan.IN6 address] (nMA6)
About This Parameter
This parameter displays the source drive address of the sixth input word.
Access
This is a read/write parameter.
The parameter Modbus address is 12706.
Possible Settings
The table presents the parameter settings:
Settings Code Value Description
[Scan.IN6 address] (nMA6) − Source drive address of the sixth input word.
Software Setup
Factory settings: 0
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Software Setup
[Scan.IN7 address] (nMA7)
About This Parameter
This parameter displays the source drive address of the seventh input word.
Access
This is a read/write parameter.
The parameter Modbus address is 12707
Possible Settings
The table presents the parameter settings:
Settings Code Value Description
[Scan.IN7 address] (nMA7) − Source drive address of the seventh input word.
Factory settings: 0
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[Scan.IN8 address] (nMA8)
About This Parameter
This parameter displays the source drive address of the eighth input word.
Access
This is a read/write parameter.
The parameter Modbus address is 12708.
Possible Settings
The table presents the parameter settings:
Settings Code Value Description
[Scan.IN8 address] (nMA8) − Source drive address of the eighth input word.
Software Setup
Factory settings: 0
EAV64325 11/2014 65
Software Setup
[Scan.Out1 address] (nCA1)
About This Parameter
This parameter displays the destination drive address of the first output word.
Access
This is a read/write parameter.
The parameter Modbus address is 12721.
Possible Settings
The table presents the parameter settings:
Settings Code Value Description
[Scan.Out1 address] (nCA1) − Destination drive address of the first output word.
Factory settings: Command (CMD)
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[Scan.Out2 address] (nCA2)
About This Parameter
This parameter displays the destination drive address of the second output word.
Access
This is a read/write parameter.
The parameter Modbus address is 12722.
Possible Settings
The table presents the parameter settings:
Settings Code Value Description
[Scan.Out2 address] (nCA2) − Destination drive address of the second output
Software Setup
word.
Factory settings: Speed target (LFRD)
EAV64325 11/2014 67
Software Setup
[Scan.Out3 address] (nCA3)
About This Parameter
This parameter displays the destination drive address of the third output word.
Access
This is a read/write parameter.
The parameter Modbus address is 12723.
Possible Settings
The table presents the parameter settings:
Settings Code Value Description
[Scan.Out3 address] (nCA3) − Destination drive address of the third output word.
Factory settings: 0
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[Scan.Out4 address] (nCA4)
About This Parameter
This parameter displays the destination drive address of the fourth output word.
Access
This is a read/write parameter.
The parameter Modbus address is 12724.
Possible Settings
The table presents the parameter settings:
Settings Code Value Description
[Scan.Out4 address] (nCA4) − Destination drive address of the fourth output word.
Software Setup
Factory settings: 0
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Software Setup
[Scan.Out5 address] (nCA5)
About This Parameter
This parameter displays the destination drive address of the fifth output word.
Access
This is a read/write parameter.
The parameter Modbus address is 12725.
Possible Settings
The table presents the parameter settings:
Settings Code Value Description
[Scan.Out5 address] (nCA5) − Destination drive address of the fifth output word.
Factory settings: 0
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[Scan.Out6 address] (nCA6)
About This Parameter
This parameter displays the destination drive address of the sixth output word.
Access
This is a read/write parameter.
The parameter Modbus address is 12726.
Possible Settings
The table presents the parameter settings:
Settings Code Value Description
[Scan.Out6 address] (nCA6) − Destination drive address of the sixth output word.
Software Setup
Factory settings: 0
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Software Setup
[Scan.Out7 address] (nCA7)
About This Parameter
This parameter displays the destination drive address of the seventh output word.
Access
This is a read/write parameter.
The parameter Modbus address is 12727.
Possible Settings
The table presents the parameter settings:
Settings Code Value Description
[Scan.Out7 address] (nCA7) − Destination drive address of the seventh output word.
Factory settings: 0
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[Scan.Out8 address] (nCA8)
About This Parameter
This parameter displays the destination drive address of the eight output word.
Access
This is a read/write parameter.
The parameter Modbus address is 12728.
Possible Settings
The table presents the parameter settings:
Settings Code Value Description
[Scan.Out8 address] (nCA8) − Destination drive address of the 8 output word.
Software Setup
Factory settings: 0
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Software Setup
Monitoring the Communication Scanner
Section 4.3
Monitoring the Communication Scanner
What Is in This Section?
This section contains the following topics:
Introduction 75
[Com Scan.In1 val.] (nM1) 76
[Com Scan.In2 val.] (nM2) 77
[Com Scan.In3 val.] (nM3) 78
[Com Scan.In4 val.] (nM4) 79
[Com Scan.In5 val.] (nM5) 80
[Com Scan.In6 val.] (nM6) 81
[Com Scan.In7 val.] (nM7) 82
[Com Scan.In8 val.] (nM8) 83
[Com Scan.Out1 val.] (nC1) 84
[Com Scan.Out2 val.] (nC2) 85
[Com Scan.Out3 val.] (nC3) 86
[Com Scan.Out4 val.] (nC4) 87
[Com Scan.Out5 val.] (nC5) 88
[Com Scan.Out6 val.] (nC6) 89
[Com Scan.Out7 val.] (nC7) 90
[Com Scan.Out8 val.] (nC8) 91
Topic Page
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Introduction
Overview
Software Setup
It is also possible to monitor the value of the parameters which has been configured in the communication
scanner.This monitored values are accessible via the following menus: [Display] (MOn-
)/[Communication map] (CMM-)[Modbus network diag] (Mnd-) and [COM. SCANNER INPUT
MAP] (ISA-), [COM SCAN OUTPUT MAP] (OSA-) submenu.
The 8 output variable values and the 8 input variable values are located into parameters [Com Scan Out1
val.] (nC1) to [Com Scan Out8 val.] (nC8) and [Com Scan In1 val.] (nM1) to [Com Scan In8 val.]
(nM8).
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Software Setup
[Com Scan.In1 val.] (nM1)
About This Parameter
This parameter displays the source drive value of the first input word.
Access
This is a read/write parameter.
The parameter Modbus address is 12741.
Possible Settings
The table presents the parameter settings:
Settings Code Value Description
[Com Scan.In1 Val.] (nM1) − Source drive value of the first input word.
Factory settings: ETA value
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[Com Scan.In2 val.] (nM2)
About This Parameter
This parameter displays the source drive value of the second input word.
Access
This is a read/write parameter.
The parameter Modbus address is 12742.
Possible Settings
The table presents the parameter settings:
Settings Code Value Description
[Com Scan.In2 Val.] (nM2) − Source drive value of the second input word
Software Setup
Factory settings: RFRD value
EAV64325 11/2014 77
Software Setup
[Com Scan.In3 val.] (nM3)
About This Parameter
This parameter displays the source drive value of the third input word.
Access
This is a read/write parameter.
The parameter Modbus address is 12743 .
Possible Settings
The table presents the parameter settings:
Settings Code Value Description
[Com Scan.In3 Val.] (nM3) − Source drive value of the third input word
Factory settings: 0
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[Com Scan.In4 val.] (nM4)
About This Parameter
This parameter displays the source drive value of the fourth input word.
Access
This is a read/write parameter.
The parameter Modbus address is 12744.
Possible Settings
The table presents the parameter settings:
Settings Code Value Description
[Com Scan.In4 Val.] (nM4) − Source drive value of the fourth input word.
Software Setup
Factory settings: 0
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Software Setup
[Com Scan.In5 val.] (nM5)
About This Parameter
This parameter displays the source drive value of the fifth input word.
Access
This is a read/write parameter.
The parameter Modbus address is 12745.
Possible Settings
The table presents the parameter settings:
Settings Code Value Description
[Com Scan.In5 Val.] (nM5) − Source drive value of the fifth input word.
Factory settings: 0
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EAV64325 11/2014
[Com Scan.In6 val.] (nM6)
About This Parameter
This parameter displays the source drive value of the sixth input word.
Access
This is a read/write parameter.
The parameter Modbus address is 12746.
Possible Settings
The table presents the parameter settings:
Settings Code Value Description
[Com Scan.In6 Val.] (nM6) − Source drive value of the sixth input word
Software Setup
Factory settings: 0
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Software Setup
[Com Scan.In7 val.] (nM7)
About This Parameter
This parameter displays the source drive value of the seventh input word.
Access
This is a read/write parameter.
The parameter Modbus address is 12747.
Possible Settings
The table presents the parameter settings:
Settings Code Value Description
[Com Scan.In7 Val.] (nM7) − Source drive value of the seventh input word.
Factory settings: 0
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[Com Scan.In8 val.] (nM8)
About This Parameter
This parameter displays the source drive value of the eighth input word.
Access
This is a read/write parameter.
The parameter Modbus address is 12748.
Possible Settings
The table presents the parameter settings:
Settings Code Value Description
[Com Scan.In8 Val.] (nM8) − Source drive value of the eighth input word.
Software Setup
Factory settings: 0
EAV64325 11/2014 83
Software Setup
[Com Scan.Out1 val.] (nC1)
About This Parameter
This parameter displays the destination drive value of the first output word.
Access
This is a read/write parameter.
The parameter Modbus address is 12761.
Possible Settings
The table presents the parameter settings:
Settings Code Value Description
[Com Scan.Out1 Val.] (nC1) − Destination drive value of the first output word.
Factory settings: CMD value
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[Com Scan.Out2 val.] (nC2)
About This Parameter
This parameter displays the destination drive value of the second output word.
Access
This is a read/write parameter.
The parameter Modbus address is 12762.
Possible Settings
The table presents the parameter settings:
Settings Code Value Description
[Com Scan.Out2 Val.] (nC2) − Destination drive value of the second output word
Software Setup
Factory settings: LFRD value
EAV64325 11/2014 85
Software Setup
[Com Scan.Out3 val.] (nC3)
About This Parameter
This parameter displays the destination drive value of the third output word.
Access
This is a read/write parameter.
The parameter Modbus address is 12763.
Possible Settings
The table presents the parameter settings:
Settings Code Value Description
[Com Scan.Out3 Val.] (nC3) − Destination drive value of the third output word.
Factory settings: 0
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[Com Scan.Out4 val.] (nC4)
About This Parameter
This parameter displays the destination drive value of the fourth output word.
Access
This is a read/write parameter.
The parameter Modbus address is 12764.
Possible Settings
The table presents the parameter settings:
Settings Code Value Description
[Com Scan.Out4 Val.] (nC4) − Destination drive value of the fourth output word.
Software Setup
Factory settings: 0
EAV64325 11/2014 87
Software Setup
[Com Scan.Out5 val.] (nC5)
About This Parameter
This parameter displays the destination drive value of the fifth output word.
Access
This is a read/write parameter.
The parameter Modbus address is 12765.
Possible Settings
The table presents the parameter settings:
Settings Code Value Description
[Com Scan.Out5 Val.] (nC5) − Destination drive value of the fifth output word.
Factory settings: 0
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[Com Scan.Out6 val.] (nC6)
About This Parameter
This parameter displays the destination drive value of the sixth output word.
Access
This is a read/write parameter.
The parameter Modbus address is 12766.
Possible Settings
The table presents the parameter settings:
Settings Code Value Description
[Com Scan.Out6 Val.] (nC6) − Destination drive value of the sixth output word.
Software Setup
Factory settings: 0
EAV64325 11/2014 89
Software Setup
[Com Scan.Out7 val.] (nC7)
About This Parameter
This parameter displays the destination drive value of the seventh output word.
Access
This is a read/write parameter.
The parameter Modbus address is 12767.
Possible Settings
The table presents the parameter settings:
Settings Code Value Description
[Com Scan.Out7 Val.] (nC7) − Destination drive value of the seventh output word.
Factory settings: 0
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[Com Scan.Out8 val.] (nC8)
About This Parameter
This parameter displays the destination drive value of the eighth output word.
Access
This is a read/write parameter.
The parameter Modbus address is 12768.
Possible Settings
The table presents the parameter settings:
Settings Code Value Description
[Com Scan.Out8 Val.] (nC8) − Destination drive value of the eighth output word.
Software Setup
Factory settings: 0
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Software Setup
Fieldbus Integration Using Unity
Section 4.4
Fieldbus Integration Using Unity
What Is in This Section?
This section contains the following topics:
Introduction 93
Drive Configuration 94
Modbus Master Configuration 95
Topic Page
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Introduction
Overview
Software Setup
Here is an example of an application that shows how to control a drive with a M340 PLC equipped with a
Modbus master serial port. The operator can control the drive directly from Unity. The version of Unity used
here is Unity Pro XL
In the example, the communication scanner of the drive is used. The PLC sends the command and the
reference speed to the drive and read the status word and the actual speed of the drive.
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Software Setup
Drive Configuration
Factory Setting
Before configuring the drive, it is advised to make a factory setting. Go to:
z [File management] (FMt-) menu,
z [Factory settings] (FCS-) submenu.
Then configure the following parameters:
z [Parameter group list] (FrY-) = [All] (All)
z [Go to Factory Settings] (GFS) = OK
Command Configuration
To control the drive with a Modbus master, it is necessary to select Modbus as command channel active.
Goto to:
z [Complete Settings] (CSt-)
z [Command and Reference] (CrP-) menu
Then configure:
z [Ref.1 channel] (Fr1) parameter to [Ref. Freq-Modbus] (Mdb) value.
Communication Configuration
Select the Modbus address in the menu:
z [Communication] (COM-)
z [Comm parameters] (CMP-)
z [Modbus SL] (MSL-)
z [Modbus Fieldbus] (Md1-)
z [Modbus Address] (Add)
The drive must be restarted in order to take into account the Modbus address.
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Modbus Master Configuration
Overview
In this example, Modbus master configuration is done with unity.
Serial Port Configuration
Configure the serial port as master. The other default settings are compliant with the default settings of the
drive.
Software Setup
Data Structure Declaration
Create the following table (DevicePath). DevicePath describes the path to the device including its slave
address.
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Software Setup
Then create the four other tables as arrays from 0 to 3 of integer.
As all the tables declared are dynamic (no fixed address), it is necessary in the project setting to «Allows
dynamic array» and to «Directly represented array variables». The parameterization must be done in the
menu «Tool», «Project settings», «Language extensions» window.
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Program
Software Setup
Create a program in MAST section.
The communication is based on the READ_VAR, WRITE_VAR functions. During the first execution of the
MAST task, you can initialize the data structure used by these two functions.
ReadVarMgt and WriteVarMgt are arrays used respectively by READ_VAR and WRITE_VAR. Only the
third element of these arrays is modifiable, you can define the timeout duration of the requests.
In the example, the application manages two requests:
z A read request of four words starting at Modbus address 12741 (31C5 hex). It is the address of the first
word of the input scanner of the drive [Com Scan In1 val.] (nM1). Modbus function. The information
is sent from the PLC to the drive. The table ATV_NM is used.The 2 first words are mapped by default.
Name Address Comment
ATV_NM(0) 12741 Default: ETA (status word)
ATV_NM(1) 12742 Default: RFRD (output speed)
ATV_NM(2) 12743 −
ATV_NM(3) 12744 −
z A write request of four words starting at Modbus address 12761 (31D9 hex). It is the address of the first
word of the input scanner of the drive [Com Scan Out1 val.] (nC1). Modbus function #16.The
information is sent from the drive to the PLC. The table ATV_NC is used. The 2 first words are mapped
by default.
Name Address Comment
ATV_NC(0) 12761 Default: CMD (command word)
ATV_NC(1) 12762 Default: LFRD (speed referenced)
ATV_NC(2) 12763 −
ATV_NC(3) 12764 −
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var Process
Operations
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Operations
Chapter 5
Operations
What Is in This Chapter?
This chapter contains the following sections:
Section Topic Page
5.1 Operating States 100
5.2 Operating Modes 101
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Operations
Operating States
Section 5.1
Operating States
Configuring Communication Detected Error Response
Description
The response of the drive in the event of a Modbus serial communication interruption can be configured.
Configuration can be performed using the display terminal from the [Complete settings] (CSt-),
[Error/warning handling] (CSWM) menu, [Fieldbus monitoring]
Error Resp]
The values of the [Modbus Error Resp]
[Modbus Com Interruption] (SLF1), are:
Value Meaning
[Freewheel] (YES) Freewheel stop (factory setting)
[Ramp stop] (rMP) Stop on ramp
[Fast stop]
[DC injection]
SLL .
()
SLL parameter, which triggers a drive detected error
()
FSt Fast stop
()
dCI DC injection stop
()
CLL- submenu, via the [Modbus
()
The values of the [Modbus Error Resp]
SLL parameter, which does not trigger a drive detected error,
()
are:
Value Meaning
[Ignore] (nO) Detected error ignored
[Per STT] (Stt) Stop according to configuration of [Type of stop] (Stt)
[fallback spd] (LFF) Change to fallback speed, maintained as long as the detected error persists
and the run command has not been removed.The fallback speed can be
configured in the [Complete settings] (CSt-), [Error/warning handling]
(CSWM) menu, [Fallback speed]
speed] (LFF) parameter.
[Spd maint.] (rLS) The drive maintains the speed at the time the detected error occurred, as long
as the detected error persists, and the run command has not been removed
LFF- submenu, using the [Fallback
()
WARNING
LOSS OF CONTROL
If this parameter is set to nO, Modbus communication monitoring is disabled.
z Only use this setting after a thorough risk assessment in compliance with all regulations and standards
that apply to the device and to the application.
z Only use this setting for tests during commissioning.
z Verify that communication monitoring has been re-enabled before completing the commissioning
procedure and performing the final commissioning test.
Failure to follow these instructions can result in death, serious injury, or equipment damage.
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