Optidrive E3 Advanced Technical Manual Issue 05.Docx
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Support
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Fieldbus Interface Support
4.1
Fieldbus Support Overview
Optidrive E3 provides support for the following fieldbus networks and functions
Fieldbus
Interface
Drive Control
Drive Parameter Access
Modbus RTU
On-board RJ45
Yes
Access to all Writable Parameters
CAN bus
On-board RJ45
Yes
Access to all Writable Parameters
4.2
Modbus RTU
Optidrive E3 supports Modbus RTU communication, using the 03 Read Holding Registers and 06 Write Single Holding Register commands.
Many Master devices treat the first Register address as Register 0; therefore it may be necessary to convert the register numbers listed below
by subtracting 1 to obtain the correct Register address. The telegram structure is as follows:-
Command 03 – Read Holding Registers
Command 06 – Write Single Holding Register
Master Telegram
Length
Slave Response
Length
Master Telegram
Length
Slave Response
Length
Slave Address
1 Byte
Slave Address
1 Byte
Slave Address
1 Byte
Slave Address
1 Byte
Function Code (03)
1 Byte
Starting Address
1 Byte
Function Code (06)
1 Byte
Function Code (06)
1 Byte
1
st
Register Address
2 Bytes
1
st
Register Value
2 Bytes
Register Address
2 Bytes
Register Address
2 Bytes
No. Of Registers
2 Bytes
2
nd
Register Value
2 Bytes
Value
2 Bytes
Register Value
2 Bytes
CRC Checksum
2 Bytes
Etc...
CRC Checksum
2 Bytes
CRC Checksum
2 Bytes
CRC Checksum
2 Bytes
The table shows the Modbus RTU register number corresponding to each parameter value. All values are holding registers.
All User Adjustable parameters are accessible by Modbus, except those that would directly affect the Modbus communications, e.g.
P-36 Index 1 Drive Fieldbus Address
P-36 Index 2 Baud Rate
P-36 Index 3 Comms Loss Timeout
All parameter values can be read from the drive and written to, depending on the operating mode of the drive – some parameters cannot be
changed whilst the drive is enabled for example.
4.3
Profibus DP
Profibus DP communication is supported through an external gateway. Operation is explained further in section 5 Fieldbus Gateways on
page.37
4.4
DeviceNet
DeviceNet communication is supported through an external gateway. Operation is explained further in section 5 Fieldbus Gateways on page.37
4.5
CAN Open
The CANopen communication profile in the Optidrive E3 is implemented according to the specification DS301 version 4.02 of CAN in
automation (www.can-cia.de). Specific device profiles such as DS402 are not supported.
The CANopen communication function is enabled by default after power up. However in order to use any control functions through CANopen,
this requires P-12 = 7 or 8.
The CAN communication baud rate can be set by using parameter P-36. Available baud rates are: 125kbps, 250kbps, 500kbps, 1Mbps. (with
default settings as 500kbps).
The Node ID is set up through drive address parameter P-36 as well with the default value of 1.
The tables below show the Index and Sub Index required to address each parameter. All User Adjustable parameters are accessible by CAN,
except those that would directly affect the communications.
All parameter values can be read from the drive and written to, depending on the operating mode of the drive – some parameters may be
changed whilst the drive is enabled for example.
Optidrive E3 provides the following default COB-ID and functions:
Type
COB-ID
Function
NMT
000h
Network management
Sync
080h
Synchronous message
COB-ID can be configured to other value.
Emergency
080h + Node address
Emergency message
PDO1 (TX)
180h + Node address
Process data object.
PDO1 is pre-mapped and enabled by default.
COB-ID can be configured to other value.
PDO2 is pre-mapped and disabled by default.
Transmission mode, COB-ID and mapping can be configured.
PDO1 (RX)
200h + Node address
PDO2 (TX)
280h + Node address
PDO2 (RX)
300h + Node address
SDO (TX)
580h + Node address
SDO channel can be used for drive parameter access.
SDO (RX)
600h + Node address
Error Control
700h + Node address
Guarding and Heartbeat function are supported.
COB-ID can be configured to other value.
4.5.1.1
Note
The Optidrive E3 SDO channel only supports expedited transmission.
The Optidrive E3 can only support up to 2 Process Data Objects (PDO). All PDOs are pre-mapped; however PDO2 is disabled by
default. The table below gives the default PDO mapping information.
