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Modbus Communication Module

Communications Interface Reference Guide

P94MOD01B

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Summary of Contents for POSITIONSERVO

Page 1: ...Modbus Communication Module Communications Interface Reference Guide P94MOD01B ...

Page 2: ...ual and makes no commitment to update or to keep current the information in this manual MotionView PositionServo and all related indicia are either registered trademarks or trademarks of Lenze AG in the United States and other countries ModBus is a registered trademark of Schneider Automation This document printed in the United States of America About These Instructions This documentation applies ...

Page 3: ...cal Installation 10 4 Modbus Protocol Details 11 4 1 Data Transmission 11 4 2 Register Numbering 12 4 3 Supported Modbus Function Codes 12 5 Drive Memory Access 12 5 1 Mapping from Drive Variable to the Register Address 12 5 2 Register Reading 13 5 3 Register Writing 13 5 4 No Response Conditions 14 5 5 Exception Responses 15 6 Commissioning 16 6 1 Drive Monitoring 16 6 2 Controlling the Drive 16 ...

Page 4: ...he starting of operation as directed is prohibited until it is proven that the machine complies with the regulations of the EC Directive 98 37 EC Machinery Directive EN 60204 must be observed Commissioning i e starting of operation as directed is only allowed when there is compliance with the EMC Directive 89 336 EEC The drive controllers meet the requirements of the Low Voltage Directive 73 23 EE...

Page 5: ...rs could be charged Wait at least 60 seconds before servic ing the drive Please observe the corresponding notes on the controller Do not continuously cycle input power to the controller more than once every three minutes Please close all protective covers and doors during operation WARNING Network control permits automatic operation of the inverter drive The system design must incorporate adequate...

Page 6: ... Section 3 for installation of the RS485 option module 2 1 Modbus Overview Modbus is an internationally accepted asynchronous serial protocol designed for commercial and industrial automation applications The Modbus RTU architecture is based upon a Master Slave orientation In Modbus RTU the PositionServo drive always acts as the slave responding to reads and writes from the Master In Modbus TCP IP...

Page 7: ...the drive is configured to receive commands from the Modbus Master Modbus Baud Rate the RS485 baud rate in Modbus mode The default configuration uses 2 stop bits and no parity Stop and parity bits are configurable from the same RS485 configuration menu Modbus Reply Delay The delay introduced after receiving a Modbus request and before sending a reply Note that this delay will always be 3 5 charact...

Page 8: ...e discrete values When the PositionServo drive receives a Modbus message the requested function is executed and the drive can reply with a Normal message an Exception Message or a No message These messages are described in the Modbus Application Protocol Specification V1 1 The PositionServo drive also supports a Modbus broadcast address In this case the PositionServo drive receives a correct Modbu...

Page 9: ...ions Module as illustrated in Figure 4 Disconnect power from drive and wait 3 minutes Remove the two COMM module screws that secure Option Bay 1 With a flat head screwdriver pry up the Option Bay 1 cover plate Install the RS485 COMM Module E94ZARS41 in Option Bay 1 Secure with two COMM module screws max torque 0 3Nm 3lb in S921 Figure 4 Installation of RS485 Communications Module ...

Page 10: ...tions and Shielding Figure 6 illustrates the connection of the cables for a PositionServo drive in a Modbus master slave network A 120ohm 1 termination is necessary between the high and low terminals of the first and last slaves in the network Note that while ModBus serial protocol supports up to 247 slave addresses the maximum number of slave nodes for a network is dictated by the Modbus Master P...

Page 11: ...tes in the field The data field may be nonexistent of zero length in certain kinds of requests In this case the server does not require any additional information The function code alone specifies the action If no error occurs related to the Modbus function requested in a properly received Modbus ADU the data field of a response from a server to a master contains the data requested If an error rel...

Page 12: ...as shown in Table 3 Table 3 Memory Address Ranges Variable Type Memory Range RAM Integer 0 511 RAM Float 512 1023 EPM Integer 1024 1535 EPM Float 1556 2047 RAM 16 bit Integer 2068 2303 EPM 16 bit Integer 2304 2560 Table 4 Hex to Decimal Number Reference Hex 0x00 0x1FF 0x200 0x3FF 0x400 0x5FF 0x600 0x7FF 0x800 0x8FF 0x900 0xA00 Decimal 0 511 512 1023 1024 1535 1536 2047 2048 2303 2304 2560 The regi...

Page 13: ...iable index is not multiplied by 2 because one variable is mapped to one register only If the variable which is represented as a 32 bit value internally is out of range lower than minimum or higher than maximum value for 16 bit integers then the return value is truncated to the closest value supported by the 16 bit register The access to a variable using this register address range will read only ...

Page 14: ...ion of variable X EPM Location of variable X RAM Location of variable X EPM changes update the RAM copy by default Figure 9 Mapping Register and Variable Addresses based on Access Type 5 4 No Response Conditions The PositionServo Drive will not respond to any message that contains one or more parity errors has an invalid CRC value was not directed to the drive s network address is not at least 8 b...

Page 15: ...ue as described above gets MSW to be cached When MSW is requested the cached value is returned to allow automatic operation If you try to write a 32 bit register using a write multiple register command that writes only one 16 bit register at a time then the write command is completed only after you write the second word MSW No partial writes are executed internally to allow automatic operation and...

Page 16: ...l Refer to the variable table in the PositionServo Programming Manual PM94P01 for the functionality of the drive s variables 6 3 Changing Drive Parameters To change drive parameters simply write to the appropriate register as listed in the PositionServo Programming Manual PM94P01 7 Programming Parameters NOTE The complete list of variables can be found in Appendix A of the PositionServo Programmin...

Page 17: ...AC Technology Corporation www actech com 630 Douglas Street Uxbridge MA 01569 Telephone 508 278 9100 Facsimile 508 278 7873 P94MOD01B ...

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