Schneider Electric ATV61 Modbus integrated [EN]
Altivar 71
Integrated Modbus
User's manual
11/2009
1755863
www.schneider-electric.com
Contents
While every precaution has been taken in the preparation of this document, Schneider
Electric SA assumes no liability for any omissions or errors it may contain, nor for any
damages resulting from the application or use of the information herein.
The products and options described in this document may be changed or modified at
any time, either from a technical point of view or in the way they are operated. Their
description can in no way be considered contractual.
Before you begin_____________________________________________________________________________________________ 4
Documentation structure_______________________________________________________________________________________ 5
Introduction_________________________________________________________________________________________________ 6
Presentation _____________________________________________________________________________________________ 6
Notation ________________________________________________________________________________________________ 6
Bus connection ______________________________________________________________________________________________ 7
Connecting to the Altivar 71 _________________________________________________________________________________ 7
RJ45 connector pinouts ____________________________________________________________________________________ 7
Wiring recommendations ___________________________________________________________________________________ 8
RS485 standard __________________________________________________________________________________________ 8
Modbus standard schematic_________________________________________________________________________________ 9
Connection via RJ45 wiring system __________________________________________________________________________ 10
Connection via junction boxes ______________________________________________________________________________ 12
Connection onto screw terminals ____________________________________________________________________________ 14
Configuration ______________________________________________________________________________________________ 15
Configuring communication parameters_______________________________________________________________________ 15
Control-signal configuration ________________________________________________________________________________ 16
Configuring the communication scanner ______________________________________________________________________ 19
Configuring monitored parameters ___________________________________________________________________________ 20
Configuring communication fault management _________________________________________________________________ 21
Diagnostics ________________________________________________________________________________________________ 22
LEDs__________________________________________________________________________________________________ 22
Communication diagnostics ________________________________________________________________________________ 23
Control-signal diagnostics__________________________________________________________________________________ 25
Communication faults _____________________________________________________________________________________ 27
Modbus protocol ____________________________________________________________________________________________ 28
RTU mode _____________________________________________________________________________________________ 28
Principle _______________________________________________________________________________________________ 28
Altivar 71 Integrated Modbus _______________________________________________________________________________ 29
Addresses______________________________________________________________________________________________ 29
Modbus functions ________________________________________________________________________________________ 30
Read N output words: Function 3 ____________________________________________________________________________ 30
Write one output word: Function 6 ___________________________________________________________________________ 31
Diagnostics: Function 8 ___________________________________________________________________________________ 32
Write N output words: Function 16 (16#10) ____________________________________________________________________ 33
Identification: Function 43 (16#2B)___________________________________________________________________________ 34
Read/write N words: Function 23 (16#17) _____________________________________________________________________ 36
Communication scanner___________________________________________________________________________________ 37
Exception responses _____________________________________________________________________________________ 39
Read non-existent or protected parameters ____________________________________________________________________ 39
Appendix: Non-standard schematics ____________________________________________________________________________ 41
UNI-TELWAY schematic __________________________________________________________________________________ 41
Jbus schematic__________________________________________________________________________________________ 42
Use of UNI-TELWAY slaves in a standard schematic ____________________________________________________________ 43
Recommendations for setting up a Modbus network using non-standard devices_______________________________________ 44
1755863 11/2009 3
Before you begin
Read and understand these instructions before performing any procedure with this drive.
DANGER
HAZARDOUS VOLTAGE
• Read and understand this manual before installing or operating the Altivar 71 drive. Installation, adjustment, repair,
and maintenance must be performed by qualified personnel.
• The user is responsible for compliance with all international and national electrical standards in force concerning
protective grounding of all equipment.
• Many parts in this variable speed drive, including printed wiring boards, operate at 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.
• Install and close all covers before applying power or starting and stopping the drive.
• Before servicing the variable speed drive:
- Disconnect all power
- Place a "DO NOT TURN ON" label on the variable speed drive disconnect
- Lock the disconnect in the open position
• Disconnect all power including external control power that may be present before servicing the drive. WAIT 15
MINUTES for the DC bus capacitors to discharge. Then follow the DC bus voltage measurement procedure given
in the Installation Manual to verify that the DC voltage is less than 45 Vdc. The drive LEDs are not accurate indicators
of the absence of DC bus voltage.
Electric shock will result in death or serious injury
CAUTION
DAMAGED EQUIPMENT
Do not operate or install any drive that appears damaged.
Failure to follow this instruction can result in equipment damage.
4 1755863 11/2009
Documentation structure
Installation manual
This manual describes:
• How to assemble the drive
• How to connect the drive
Programming manual
This manual describes:
• The functions
• The parameters
• How to use the drive display terminal (integrated display terminal and graphic display terminal)
Communication parameters manual
This manual describes:
• The drive parameters with specific information (addresses, formats, etc.) for use via a bus or communication network
• The operating modes specific to communication (status chart)
• The interaction between communication and local control
Modbus, CANopen, Ethernet, Profibus, INTERBUS, Uni-Telway, FIPIO, DeviceNet, Modbus Plus
manuals ...
These manuals describe:
• Connection to the bus or network
• Configuration of the communication-specific parameters via the integrated display terminal or the graphic display terminal
• Diagnostics
• Software setup
• The communication services specific to the protocol
Altivar 58/58F migration manual
This manual describes the differences between the Altivar 71 and the Altivar 58/58F.
It explains how to replace an Altivar 58 or 58F, including how to replace drives communicating on a bus or network.
1755863 11/2009 5
Introduction
Presentation
Two integrated communication ports mean that the Modbus protocol can be accessed directly:
• One RJ45 Modbus HMI connector port, located on the drive front panel, which is used to connect:
- The graphic display terminal
- A Magelis industrial HMI terminal
- The PowerSuite software workshop
• One RJ45 Modbus network port, located on the drive control terminals, which is dedicated to control and signaling by a PLC or other
type of controller. It also supports the connection of a terminal or the PowerSuite software workshop when the terminal port is not
available.
The two Modbus ports on the Altivar 71 can be used for the following functions:
• Configuration
• Adjustment
• Control
• Monitoring
The Altivar 71 supports:
• The 2-wire RS485 physical layer
• The RTU transmission mode
This manual describes how to set up the Altivar 71 drive on Modbus and also describes the Modbus services that are available on this drive.
Notation
Drive terminal displays
The graphic display terminal menus are shown in square brackets.
Example:
The integrated 7-segment display terminal menus are shown in round brackets.
Example: (COM-).
Parameter names are displayed on the graphic display terminal in square brackets.
Example:
Parameter codes are displayed on the integrated 7-segment display terminal in round brackets.
Example: (LFF).
Formats
In this manual, hexadecimal values are written as follows: 16#.
[1.9 COMMUNICATION].
[Fallback speed]
6 1755863 11/2009
Bus connection
Modbus
HMI
Modbus
network
8........................1
Connecting to the Altivar 71
Connection accessories should be ordered separately (please consult our catalogs).
Connect the RJ45 cable connector to either of the RJ45 connectors on the Altivar 71:
RJ45 connector pinouts
View from underneath Modbus network Modbus HMI
Pin Signal Pin Signal
1 CAN_H (1) 1 Not connected
(1)CANopen signal.
(2) Power supply (
Note: Avoid using pins marked “Not connected”.
c 10 V 20 mA) for an RS232/RS485 converter (to PowerSuite) or for the graphic display terminal.
2 CAN_L (1) 2 Not connected
3 CAN_GND (1) 3 Not connected
4D1 4D1
5D0 5D0
6 Not connected 6 Not connected
7 VP (2) 7 VP (2)
8 Common 8 Common
1755863 11/2009 7
Bus connection
Wiring recommendations
• Use the Schneider-Electric cable with 2 pairs of shielded twisted conductors (catalog number: TSXCSA100, TSXCSA200 or
TSXCSA500).
• Keep the Modbus cable away from the power cables (30 cm minimum).
• If it is necessary for the Modbus cable and the power cables to cross each other, be sure they cross at right angles.
• Whenever possible, connect the cable shielding to the protective ground, e.g., to the ground of each device if this ground is connected
to the protective ground.
• Install a line terminator at both ends of the line.
• Ensure the correct polarization of the line.
• Connect the common polarity (“Common” signal) to the protective ground at one or more points on the bus.
For more information, please refer to the TSX DG KBL E guide: "Electromagnetic compatibility of industrial networks and fieldbuses".
RS485 standard
The RS485 standard allows variants of different characteristics:
• Polarization
• Line terminator
• Distribution of a reference potential
• Number of slaves
• Length of bus
The new Modbus specification published on www.modbus.org in 2002 contains precise details of all these characteristics. They are also
summarized in the next paragraph (standard schematic). The new Schneider-Electric devices conform to this specification.
Some devices comply with earlier specifications. The two most widespread are described in the appendices:
• "Uni-Telway schematic" page 41
• "Jbus schematic" page 42
Requirements enabling different types of protocol to coexist are given in the appendix:
• "Mixed schematic" page 43
8 1755863 11/2009
Bus connection
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
Slave 1
Slave n
Master
Modbus standard schematic
The standard schematic corresponds to the Modbus specification published in 2002 on www.modbus.org (Modbus_over_serial_line_V1.pdf,
Nov 2002) and in particular to the schematic of the 2-wire multidrop serial bus.
The ATV71 drive conforms to this specification.
Schematic diagram:
Type of trunk cable
Maximum length of bus
Maximum number of stations (without
repeater)
Maximum length of tap links
Bus polarization
Line terminator
Common polarity
Shielded cable with 1 twisted pair and at least a 3rd conductor
1000 m at 19200 bps with the Schneider-Electric TSX CSAp cable
32 stations, i.e., 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 or thereabouts recommended)
• One 450 to 650
Ω pulldown resistor at Common
(650
Ω or thereabouts recommended)
This polarization is recommended for the master.
One 120 Ω 0.25 W resistor in series with a 1nF 10 V capacitor
Yes (Common), connected to the protective ground at one or more points on the bus
1755863 11/2009 9
Bus connection
5
44
7
4
1
2
43 46 6 5
A TV 71
Connection via RJ45 wiring system
1. Master (PLC, PC or communication module)
2. Modbus cable depending on the type of master (see table)
3. Modbus splitter block LU9 GC3
4. Modbus drop cables VW3 A8 306 Rpp
5. Line terminators VW3A8306RC
6. Modbus T-junction boxes VW3 A8 306 TFpp (with cable)
7. Modbus cable (to another splitter block) TSX CSAp00
Connection accessories
Description Code Catalog number
Modbus splitter
block
Modbus T-junction boxes With integrated cable (0.3 m) 6 VW3 A8 306 TF03
Line
terminators
For RJ45 connector R = 120 Ω, C = 1 nF 5 VW3 A8 306 RC
10 RJ45 connectors and 1 screw terminal block 3 LU9 GC3
With integrated cable (1 m) 6 VW3 A8 306 TF10
R = 150 Ω (specific to "Jbus schematic" page 42) 5 VW3A8306R
Connecting cables
Description Length (m) Connectors Code Catalog number
Cables for
Modbus bus
RS 485 double
shielded twisted
pair cables
3 1 RJ45 connector and 1 stripped end VW3 A8 306 D30
0.3 2 RJ45 connectors 4 VW3 A8 306 R03
1 2 RJ45 connectors 4 VW3 A8 306 R10
3 2 RJ45 connectors 4 VW3 A8 306 R30
100 Supplied without connector 7 TSX CSA 100
200 Supplied without connector 7 TSX CSA 200
500 Supplied without connector 7 TSX CSA 500
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Bus connection
Type of master Master interface Modbus connection accessories for RJ45 wiring system
Description Catalog number
Twido PLC Adaptor or mini-DIN
RS485 interface module
Adaptor or screw
terminal RS485
interface module
TSX Micro PLC Mini-DIN RS485
connector port
3 m cable equipped with a mini-DIN connector and an RJ45
connector
3 m cable equipped with an RJ45 connector and stripped at
the other end
3 m cable equipped with a mini-DIN connector and an RJ45
connector
TWD XCA RJ030
VW3 A8 306 D30
TWD XCA RJ030
PCMCIA card (TSX
SCP114)
TSX Premium PLC TSX SCY 11601 or TSX
SCY 21601 module
(SUB-D 25 socket)
PCMCIA card
(TSX SCP114)
Ethernet bridge
(174 CEV 300 10)
Profibus DP gateway
(LA9P307)
Fipio (LUFP1) or
Profibus DP (LUFP7) or
DeviceNet (LUFP9)
gateway
Serial port PC Male SUB-D 9
Screw terminal RS485 3 m cable equipped with an RJ45 connector and stripped at
RJ45 RS485 1 m cable equipped with 2 RJ45 connectors VW3 P07 306 R10
RJ45 RS485 0.3 m cable equipped with 2 RJ45 connectors or
RS232 serial port PC
Stripped cable TSX SCP CM 4030
Cable equipped with a SUB-D 25 connector and stripped at
the other end (for connection to the screw terminals of the
LU9GC3 splitter block)
Stripped cable TSX SCP CM 4030
the other end
1 m cable equipped with 2 RJ45 connectors or
3 m cable equipped with 2 RJ45 connectors
RS232/RS485 converter and 3 m cable equipped with an
RJ45 connector and stripped at the other end (for
connection to the screw terminals of the LU9GC3 splitter
block)
TSX SCY CM 6030
VW3 A8 306 D30
VW3 A8 306 R03 or
VW3 A8 306 R10 or
VW3 A8 306 R30
TSX SCA 72 and
VW3 A8 306 D30
1755863 11/2009 11
Bus connection
32
6
1
7
45
A TV 71
Connection via junction boxes
1. Master (PLC, PC or communication module)
2. Modbus cable depending on the type of master
3. Modbus cable TSX CSAp00
4. Junction box TSX SCA 50
5. Subscriber sockets TSX SCA 62
6. Modbus drop cables VW3 A8 306
7. Modbus drop cable VW3A8306D30
Connection accessories
Description Code Catalog number
Tap junction
3 screw terminals and an RC line terminator, to be connected using cable VW3 A8 306 D30
Subscriber socket
2 female 15-way SUB-D connectors, 2 screw terminals, and an RC line terminator, to be connected
using cable VW3 A8 306 or VW3 A8 306 D30
4 TSX SCA 50
5 TSX SCA 62
Connecting cables
Description Length (m) Connectors Code Catalog number
Cables for Modbus bus 3 1 RJ45 connector and one stripped end 7 VW3 A8 306 D30
RS 485 double shielded
twisted pair cables
3 1 RJ45 connector and 1 male 15-way SUB-D connector for
TSX SCA 62
100 Supplied without connector 3 TSX CSA 100
200 Supplied without connector 3 TSX CSA 200
500 Supplied without connector 3 TSX CSA 500
6 VW3 A8 306
12 1755863 11/2009
Bus connection
Type of master Master interface Modbus connection accessories for junction boxes using screw
terminals
Description Catalog number
Twido PLC Adaptor or screw terminal
RS485 interface module
TSX Micro PLC Mini-DIN RS485
connector port
PCMCIA card
(TSX SCP114)
TSX Premium PLC TSX SCY 11601 or TSX SCY
21601 module
(SUB-D 25 socket)
PCMCIA card
(TSX SCP114)
Ethernet bridge
(174 CEV 300 10)
Profibus DP gateway
(LA9P307)
Fipio (LUFP1) or
Profibus DP (LUFP7) or
DeviceNet (LUFP9) gateway
Serial port PC Male SUB-D 9
Screw terminal RS485 Modbus cable TSX CSA100 or
RJ45 RS485 3 m cable equipped with an RJ45 connector
RJ45 RS485 3 m cable equipped with an RJ45 connector
RS232 serial port PC
Modbus cable TSX CSA100 or
TSX CSA200 or
TSX CSA500
Tap junction TSX P ACC 01
Cable equipped with a special connector and
stripped at the other end
Cable equipped with a SUB-D 25 connector
and stripped at the other end
Cable equipped with a special connector and
stripped at the other end
and stripped at the other end
and stripped at the other end
RS232/RS485 converter and
Modbus cable
TSX SCP CU 4030
TSX SCY CM 6030
TSX SCP CU 4030
TSX CSA200 or
TSX CSA500
VW3 A8 306 D30
VW3 A8 306 D30
TSX SCA 72 and
TSX CSA100 or
TSX CSA200 or
TSX CSA500
Type of master Master interface Modbus connection accessories for junction boxes using
SUB-D 15
Description Catalog number
Twido PLC Adaptor or screw terminal RS485
interface module
TSX Micro PLC Mini-DIN RS485 connector port - -
PCMCIA card (TSX SCP114) Cable equipped with a special connector and a
TSX Premium PLC TSX SCY 11601 or TSX SCY
21601 module (SUB-D 25
socket)
PCMCIA card (TSX SCP114) Cable equipped with a special connector and
Ethernet bridge
(174 CEV 300 10)
Profibus DP gateway
(LA9P307)
Fipio gateway (LUFP1) or
Profibus DP gateway (LUFP7)
Serial port PC Male SUB-D 9 RS232 serial port PC--
Screw terminal RS485 - -
RJ45 RS485 - -
RJ45 RS485 3 m cable equipped with an RJ45 connector and
--
TSX SCY CU
SUB-D 25 connector
Cable equipped with a SUB-D 25 connector and
stripped at the other end
stripped at the other end
a SUB-D 25 connector
4530
TSX SCP CU
4530
TSX SCY CU
4530
VW3 A8 306
1755863 11/2009 13
Bus connection
Connection onto screw terminals
Connection accessories
Description Catalog number
Line
terminators
Connecting cables
Description Length (m) Connectors Catalog number
Cables for
Modbus bus
RS 485 double shielded
twisted pair cables
For screw terminals R = 120 Ω, C = 1 nF VW3 A8 306 DRC
R = 150 Ω
(specific to "Jbus schematic" page 42)
3 1 RJ45 connector
and one stripped end
100 Supplied without connector TSX CSA 100
200 Supplied without connector TSX CSA 200
500 Supplied without connector TSX CSA 500
VW3A8306DR
VW3 A8 306 D30
14 1755863 11/2009
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