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VLT is a registered Danfoss trade mark

MG.10.P2.22

Table of Contents

Overview

Introduction ............................................................................................. 4
About This Manual .................................................................................. 4
Assumptions ........................................................................................... 4
What You Should Already Know ............................................................. 4
Modbus Overview .................................................................................... 5

Pre-installation Option Card and Drive Settings

Modbus RTU Option Card Baud Rate and Parity Settings .................... 7
Modbus RTU Option Card Address Settings .......................................... 8
VLT Parameter Settings .......................................................................... 8

Installation of Modbus Option Card

Modbus RTU Option Card Environmental Requirements ...................... 9
Installation ............................................................................................... 9
Status LEDs ............................................................................................. 13
Option Card Operability Loop Back Test ............................................... 13

Network Configuration

Remote Terminal Unit ............................................................................. 14
Modbus Message Structure ................................................................... 14
Translation from Modbus RTU Protocol to FC Protocol ....................... 16
Memory Mapping .................................................................................... 17
Message Translation Examples .............................................................. 20

Exception Codes

Exception Code Tables ............................................................................ 24

Appendix A

Supported Modbus Function Codes ...................................................... 25

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Summary of Contents for Modbus RTU

Page 1: ...1 VLT is a registered Danfoss trade mark MG 10 P2 22 Modbus RTU Option Card for VLT 5000 6000 Adjustable Frequency Drive ...

Page 2: ...rive does not disconnect the equipment from the AC line and is not to be used as a safety switch Touching electrical parts may be fatal even after equipment has been disconnected from AC line To be sure that capacitors have fully discharged wait 14 minutes for 220 and 500 V units wait 30 minutes for 550 600 V units after power has been removed before touching any internal component DANGER 3 Correc...

Page 3: ...bus RTU Option Card Address Settings 8 VLT Parameter Settings 8 Installation of Modbus Option Card Modbus RTU Option Card Environmental Requirements 9 Installation 9 Status LEDs 13 Option Card Operability Loop BackTest 13 Network Configuration RemoteTerminal Unit 14 Modbus Message Structure 14 Translation from Modbus RTU Protocol to FC Protocol 16 Memory Mapping 17 MessageTranslation Examples 20 E...

Page 4: ...ves to communicate over a Modbus network The VLT Modbus RTU option card is designed to communicate with any controller that supports the interfaces defined in this document It is assumed that you have full knowledge of the capabilities and limitations of the controller This manual assumes that you have a controller that supports the interfaces in this document and that all the requirements stipula...

Page 5: ...message and send it Controllers communicate using a master slave technique in which only one device the master can initiate transactions called queries The other devices slaves respond by supplying the requested data to the master or by taking the action requested in the query The master can address individual slaves or can initiate a broadcast message to all slaves Slaves return a message called ...

Page 6: ... VLT Modbus RTU Option Card 6 Pin Connector to VLT Terminals pin 1 Mounting Hole LEDs Baud Rate and Parity 8 Input Dip Switch 3 Pin RS 485 Connector Mounting Hole Address and Termination 9 Input Dip Switch pin 1 pin 1 pin 1 pin 1 pin 1 pin 9 termination ...

Page 7: ...ables provided below Baud Rate and Parity Switch Ensure that inputs 1 3 are set to ON default setting to select the 9600 baud rate Ensure that inputs 4 and 5 are set to ON default setting to select even parity Switches 6 8 are unassigned reserved switches Their setting does not matter NOTE Set baud rate and parity switch settings prior to installing Modbus RTU option card for ease of access 2 1 3 ...

Page 8: ...ss one 001 See the VLT Operating Instructions for details on selecting and changing parameter values if necessary VLT Parameter Settings VLT 5000 Parameter 500 Address 001 Parameter 501 Baud Rate 9600 baud VLT 6000 Parameter 500 Protocol FC protocol Parameter 501 Address 001 Parameter 502 Baud Rate 9600 baud The Modbus RTU option card has an address andtermination9 inputdipswitch TheModbus network...

Page 9: ...injury or death Follow this manual National Electrical Codes and local safety codes CAUTION CAUTION Electronic components of VLT adjustable frequency drive and Modbus option card are sensitive to electrostatic discharge ESD ESD can reduce performance or destroy sensitive electronic components Follow proper ESD procedures during installation or servicing to prevent damage It is responsibility of us...

Page 10: ...osening captive screws and swing open Disconnect Local Control Panel LCP cable Remove control wiring by unplugging connector terminals A Remove grounding clamps B by removing two screws holding each in place Save screws for reassembly Loosen two captive screws C securing cassette to chassis 2 Disconnect Control Card Cassette Lift control card cassette from bottom Unplug two ribbon cables A and B f...

Page 11: ...Wire Modbus interface connector com pin 3 to VLT terminals 20 and 61 Wire Modbus interface connector RTxD pin 4 to VLT terminal 68 Plug Modbus interface connector into bottom of Modbus option card Connect control card cassette to hinge at top of drive Connect ribbon cables 6 Install Ribbon Cables NOTE Ribbon cables must be recon nected to same connections from which removed spare spare RTxD RTxD C...

Page 12: ...erminal Connector Fasten control card cassette by alternately tightening two captive screws A Route control wires through clamp fasteners B and secure clamps with two screws Connect control terminals C by firmly pressing them into connector receptacles IP20 NEMA 1 Drives Install LCP by sliding bottom into guide slots oncradle thenpressintoplaceensuringthat connector on back of LCP is engaged Repla...

Page 13: ...in access to the 8 input dip switch for baud rate and parity and to rewire the option card connectors Ensure that power has been removed from adjustable fre quency drive for a minimum of 14 minutes for 220 and 500 V units and 30 minutes for 550 600V units to allow voltage to dissipate Remove the option card in accordance with the procedures described in the installation section of this manual Set ...

Page 14: ...messages using the FC protocol No response is needed on broadcast messages To ensure the attribute data returned is the most current each attribute access must include one attribute only A typical message frame is shown below Start Address Function Data CRC Check End T1 T2 T3 T4 8 Bits 8 Bits n x 8 Bits 16 Bits T1 T2 T3 T4 Remote Terminal Unit Start Stop Field Messages start with a silent interval...

Page 15: ... data field of messages sent from a master to slave device contains additional information which the slave must use to take the action defined by the function code This can include items like discrete and register addresses the quantity of items to be handled and the count of actual data bytes in the field The data field can have a length of zero CRC Check Field Messages include an error checking ...

Page 16: ...WE contains the parameter value The parameter value block consists of 2 words 4 bytes The value depends on the command given AK PWE is zero filled on reads On writes PWE is filled with the data field of the Modbus write message PCD1 PCD2 Control packet master slave Control word Coils 1 16 DEC Reference value Coils 17 32 DEC Reply packet slave master Status word Coils 33 48 DEC Given output frequen...

Page 17: ...ll rules IND Modbus Register 1 must be written with a value of 0400HEX read or 0500HEX write prior to reading or writing a text string Bit Setting 0 1 00 0 Preset Ref LSB 01 0 Preset Ref MSB 02 1 DC Brake no DC Brake 03 0 Coast Sto no Coast Stop 04 1 Quick Stop no Quick Sto 05 1 Freeze Freq no Freeze Freq 06 0 Ramp Stop Start 07 0 no Reset Reset 08 0 no Jo Jog 09 0 no function 10 1 Data Not Valid ...

Page 18: ...ameter 300 Terminal 16 Digital Input 03460 Parameter 346 Encoder Loss Function 03470 03999 Reserved 04000 Parameter 400 Brake Function 04540 Parameter 454 Dead Time Compensation 04550 04999 Reserved 05000 Parameter 500 Address 05410 Parameter 541 Data Readout Warning Word 2 05420 05999 Reserved 06000 Parameter 600 Operating Data Operating Hours 06310 Parameter 631 Nameplate Communication Option Or...

Page 19: ...ermal Protection 01180 01999 Reserved 02000 Parameter 200 Output Frequency Range 02280 Parameter 228 Warning High Feedback 02290 02999 Reserved 03000 Parameter 300 Terminal 16 Digital Input 03280 Parameter 328 Pulse Feedback Max Freq 03290 03999 Reserved 04000 Parameter 400 Reset Function 04270 Parameter 427 PID Lowpass Filter Time 04280 04999 Reserved 05000 Parameter 500 Protocol 05660 Parameter ...

Page 20: ... car TU option car TU option card d d d d Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Slave Address Function Coil Addr HI Coil Addr LO No of Coils HI No of Coils LO Error Check 01 0F 00 00 00 20 54 13 Modbus function 0FHEX Force Multiple Coils Message sent to Modbus RTU option card from Modbus master Message sent to Modbus RTU option card from Modbus master Message sent to Modbus RTU option c...

Page 21: ...p Motor All values are in hexadecimal Message sent to Modbus RTU option card from Modbus master Message sent to Modbus RTU option card from Modbus master Message sent to Modbus RTU option card from Modbus master Message sent to Modbus RTU option card from Modbus master Message sent to Modbus RTU option card from Modbus master Message r Message r Message r Message r Message retur etur etur etur etu...

Page 22: ...3C Message r Message r Message r Message r Message retur etur etur etur eturned to Modbus master fr ned to Modbus master fr ned to Modbus master fr ned to Modbus master fr ned to Modbus master from Modbus R om Modbus R om Modbus R om Modbus R om Modbus RTU option car TU option car TU option car TU option car TU option card d d d d Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Slave Address Func...

Page 23: ...s master Modbus Function 06HEX Preset Single Register Message sent to Modbus RTU option card from Modbus master Message sent to Modbus RTU option card from Modbus master Message sent to Modbus RTU option card from Modbus master Message sent to Modbus RTU option card from Modbus master Message sent to Modbus RTU option card from Modbus master Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 ...

Page 24: ...or the reason for the exception The tables below identify the codes and describe their meaning Modbus Code decimal Meaning 00 The parameter number does not exist 01 There is no write access to the parameter 02 The data value exceeds the parameter limits 03 The used sub index does not exist 04 The parameter is not of the array type 05 The data type does not match the parameter called 17 Data change...

Page 25: ...arting Address HI 00 Starting Address LO 00 No of Points HI 00 No of Points LO 10 Error Check CRC Response The coil status in the response message is packed as one coil per bit of the data field Status is indicated as 1 ON 0 OFF The LSB of the first data byte contains the coil addressed in the query The other coils follow toward the high order end of this byte and from low order to high order in s...

Page 26: ...oil 1 is addressed as 0 Force Data 00 00HEX OFF or FF 00HEX ON Example of a request to set coil 1 addressed as 0 from slave device 01 Field Name Example HEX Slave Address 01 Function 05 Coil Address HI 00 Coil Address LO 00 Force Data HI FF Force Data LO 00 Error Check CRC Response The normal response is an echo of the query returned after the coil state has been forced Field Name Example HEX Slav...

Page 27: ... of a request to set 10 coils starting at coil 1 addressed as 0 from slave device 01 Field Name Example HEX Slave Address 01 Function 0F Coil Address HI 00 Coil Address LO 00 Quantity of Coils HI 00 Quantity of Coils LO 0A Byte Count 02 Force Data HI Coils 8 1 FF Force Data LO Coils 10 9 03 Error Check CRC Response The normal response returns the slave address function code starting address and qu...

Page 28: ...eld Name Example HEX Slave Address 01 Function 03 Starting Address HI 00 Starting Address LO 00 No of Points HI 00 No of Points LO 03 Error Check CRC Response The register data in the response message are packed as two bytes per register with the binary contents right justified within each byte For each register the first byte contains the high order bits and the second contains the low order bits...

Page 29: ...tarting at zero Register 1 is addressed as 0 Example of a request to preset register 40002 to 00 03HEX in slave device 01 Field Name Example HEX Slave Address 01 Function 06 Register Address HI 00 Register Address LO 01 Preset Data HI 00 Preset Data LO 03 Error Check CRC Response The normal response is an echo of the query returned after the register contents have been passed Field Name Example HE...

Page 30: ...ting at 40002 to 00 AAHEX and 01 02HEX in slave device 1 Field Name Example HEX Slave Address 01 Function 10 Starting Address HI 00 Starting Address LO 01 No of Registers HI 00 No of Registers LO 02 Byte Count 04 Write Data HI Register 40001 00 Write Data LO Register 40001 0A Write Data HI Register 40002 01 Write Data LO Register 40002 02 Error Check CRC Response The normal response returns the sl...

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