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Contents

Introduction ............................................................................................................................................3

Concept

 ................................................................................................................................................3

MODBUS RTU System ..............................................................................................................................3
Safety instructions ...................................................................................................................................4

Installation

 ...........................................................................................................................................5

Connection, cables and plugs ..................................................................................................................5
Installation rules ......................................................................................................................................7
Reverse polarity protection ......................................................................................................................9

MODBUS RTU Functional Description

 .............................................................................................11

Implementation class .............................................................................................................................11
Unicast/broadcast .................................................................................................................................12
Response time.......................................................................................................................................12
Error checking .......................................................................................................................................13
Message format ....................................................................................................................................13
Register-parameter mapping ..................................................................................................................14
Data formats .........................................................................................................................................15
Function codes ......................................................................................................................................16
Exceptions ............................................................................................................................................19

Typical Use Cases

 ..............................................................................................................................20

Configuration ........................................................................................................................................20
Run to target ........................................................................................................................................20
Run to predefined positions ...................................................................................................................21
Ramp down before target ......................................................................................................................22
Activation of multiple actuators .............................................................................................................22
Retrieval of service data.........................................................................................................................23
Customisation of MODBUS register mapping .........................................................................................23

BusLink Configuration Software

 .....................................................................................................25

Screen nr. 1: “Program initialisation” .....................................................................................................25
Screen nr. 2: “Configuration tab” ...........................................................................................................26
Screen nr. 3: “Manual run” ....................................................................................................................28
Screen nr. 4: ”Firmware” .......................................................................................................................29
Screen nr. 5: “Service counters” .............................................................................................................30

Troubleshooting

 ................................................................................................................................31

Problem: The master does not get any response from the actuator ..........................................................31
Problem: The master does not reliably get responses from the actuator(s) ...............................................31
Problem: The master receives a ‘Slave Device Failure’ from the actuator ..................................................31
Problem: The master receives an exception response from the actuator ...................................................31
Problem: The actuator does not move after a run-command ...................................................................32
Problem: BusLink PC tool can not communicate with the actuator ..........................................................32
Problem: Actuator firmware is corrupted e.g. due to upgrade problem ....................................................33

Declaration of incorporation of partly completed machinery

 ....................................................34

Appendix A – Register Map

 .............................................................................................................35

Addresses

 ...........................................................................................................................................44

Summary of Contents for TECHLINE LA35

Page 1: ...Page 1 of 44 LINAK COM TECHLINE Modbus option for LA35 LA36 and LA37 Installations guide ...

Page 2: ...register mapping 23 BusLink Configuration Software 25 Screen nr 1 Program initialisation 25 Screen nr 2 Configuration tab 26 Screen nr 3 Manual run 28 Screen nr 4 Firmware 29 Screen nr 5 Service counters 30 Troubleshooting 31 Problem The master does not get any response from the actuator 31 Problem The master does not reliably get responses from the actuator s 31 Problem The master receives a Slav...

Page 3: ...onfiguration software if you do not have BusLink please contact your local LINAK office Concept Modbus RTU System Universally recognised and widely used the MODBUS RTU fieldbus is still an essential open communications standard supported by a large number of products on the market today In the MODBUS network any MODBUS Master can be connected to one or several LINAK LA35 LA36 Actuators with MODBUS...

Page 4: ...ctuator suffering damage or being ruined Additional information Usage tips or additional information that is important in connection with the use of the actuator Be aware that a lot of test and quality activities have been performed to ensure the functionality and safe use of the product As with other electronic equipment the MODBUS option has a finite failure rate To ensure that one failure does ...

Page 5: ...cable distance from the power supply In terms of choosing the right power cable other issues must also be clarified i e The worst case current consumption for the individual actuator If it is specified that more than one actuator should run simultaneously In other words the goal is to select cable dimensions which ensure that the input voltage of all bus actuators is within the specified limits un...

Page 6: ... is the responsibility of the customer system integrator The following cable characteristics must be fulfilled when selecting the trunk cabling Electrical requirements according to TSB89 Application Guidelines for TIA EIA 485 A which is typical 24 AWG shielded twisted pair 120 Ω characteristic impedance Capacity less than 40 pF meter Drain wire as common signal reference Pin Signal 1 Common RS485 ...

Page 7: ...ion in a transmission line is the result of an impedance discontinuity that a travelling wave sees as it propagates down the line To minimise the reflections from the end of the RS485 cable it is required to place a Line Termination LT near each of the 2 ends of the Bus The termination is made with a 120 Ohms 0 25 W resistor see figure below Line biasing No line biasing is necessary for the LINAK ...

Page 8: ...n DATA cable Derivation cables Standard LINAK cable supplied with MODBUS actuator not extended Termination In both ends of string Total string length 1000 m If your MODBUS system either includes more than 32 actuators the trunk cable exceeds 1000 m the derivation cables are extended includes 3rd party slaves then you have to test if the installation needs repeaters or other actions to provide a st...

Page 9: ... table are exceeded the actuator will take permanent damage This is used when selecting the power supply and the fuse types for a string of actuators The power supply must be a current limiting type and the maximum operating time for the selected fuse must be known at the current limit of the power supply For further explanation read the following examples Example 1 The selected power supply has a...

Page 10: ...uator will see 100A of current At this level the current will be interrupted after 150ms maximum We can see from the table that this is not OK as a current pulse of up to 100A is only allowed to have a duration of 50ms Usually stated at 150 210 275 400 and 1000 of the rated current When using soft stop on a DC motor a short peak of higher voltage will be sent back towards the power supply It is im...

Page 11: ...lue Remarks Adressing Configurable from 1 to 246 247 un assigned Configured by BusLink software Broadcast Yes Baud rate 9 6 kBaud 115 2 kBaud 19 2 kBaud Configured by BusLink software Parity Even odd no parity Even Configured by BusLink software Stop Bits 1 2 1 Configured by BusLink software Notice that a No parity setting requires 2 stop bits Mode RTU Not configurable Electrical Interface RS485 2...

Page 12: ...quest response unicast The requests from the master are addressed to a given slave The master then waits for the response from the slave which has been interrogated In this mode the transaction consists of 2 messages a request from the master and a response from the slave Response time The slave device will respond on each valid MODBUS request from the master within a time which is dependent on th...

Page 13: ... is selected the number of 1 bits in the data portion of each character frame is counted Each character in RTU mode contains 8 bits The parity bit will then be set to a 0 or a 1 to result in an even even parity or odd odd parity total number of 1 bits The use of no parity requires 2 stop bits Frame checking RTU Mode message frames include an error checking method that is based on a Cyclical Redund...

Page 14: ...ption response For a normal response the slave simply echoes the original function code For an exception response the slave returns a code that is equivalent to the original function code with the most significant bit set In addition the slave adds a unique code into the data field of the message telling the master what kind of error occurred Data field The data field is of varying length The data...

Page 15: ...dix A LINAK MODBUS devices support the following datatypes illustrated by single register write message examples Short integer register U8 Status bytes and small integer values are stored in MODBUS registers where only half of the register is utilised Integer values from 0 to 255 are stored in the least significant byte of the register Unsigned integer register U16 Integer values from 0 to 65 535 ...

Page 16: ...ice tool can read a large amount of service counter input registers Function code 3 Read Holding Registers Function code 3 is used to read one or more holding registers in the actuator referenced inAppendixA When the master access a register that is not supported by the slave it responds with an exception message The register address in this context is without 4xxxx identification E g the Target P...

Page 17: ...olding Register Function code 6 is used to write a new value to a holding register of the actuator referenced inAppendixA When the master accesses a register that is not supported by the slave or when it tries to write a value outside defined boundaries the slave responds with an exception message The register address in this context is without 4xxxx identification e g meaning address 0 equals reg...

Page 18: ...e written in one single command then the actuator will start running towards the new position with the new speed Broadcast is supported but any response including exceptions is discarded Request message The normal response message returns the slave address function code starting address and the quantity of registers written Response message Addr Function Register address Register data CRC Slave Ad...

Page 19: ... slave receives the request without a communication error but cannot handle it The slave will in that case return an exception response informing the master about the nature of the error Exception response message Exception codes are Addr Function Error CRC Slave Address Function Code 80 hex Error Code Exception Code Definition Description 01 Invalid Function The message received is not an allowab...

Page 20: ...errors might mean that the actuator is in a state where further operation is not possible General run prerequisites IR Input Register HR Holding Register Parameter Description Address Set the MODBUS device address to a unique value between 1 and 246 Baudrate The baudrate parameter is set to the communication speed required by the PLC system Parity The parity parameter is set to the value required ...

Page 21: ...ister Action 1 Check that general run prerequisites are fulfilled 2 HR 1 Write a value into Target Position parameter unit is 1 10 mm relative to offset 3 HR 2 Write a 1 Run to Target Position into Command Remote parameter The actuator will now start to move towards the target position 4 IR 3 IR 5 If you want the acknowledge of a successful positioning you should read and wait until Run Status has...

Page 22: ...ply and cabling has to be dimensioned for simultaneous run of all started actuators 1 The Next time to run command must be sent minimum 2 sec before the trigger the trigger is HR4 HR10 and HR5 HR11 2 When waiting for next time to run IR 1 3 the function will be interrupted if a new value is written to Command Remote HR 2 Step Register Action 1 HR 17 Write a value into Ramp Down Before Target param...

Page 23: ... register 1 and parameter 56 Total RunningTime default mapped to input register 32 33 in a single MODBUS request response transaction you have to change the mapping as e g shown in the example below In the example we will set up input registers 74 75 76 to read the two parameters Run Status 16 bit and Total Running Time 32 bit Step Register Action 1 IR 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 ...

Page 24: ...h you want to re map by writing the number 76 to holding register 1001 If you now read holding register 1002 it will show the existing mapping to parameter 31 6 HR 1002 Specify the new mapping of input register 76 by writing the number 33 into holding register 1002 as new reference to parameter 56 Total Running Time least significant part 7 HR 1005 If you want to save this new mapping into non vol...

Page 25: ...r it is important that this is done carefully In order to protect the plugs and pins please be sure that the plug is in the right location and fully pressed in before the cable lid is mounted As power is supplied through the USB connection the actuator does not have to be separately powered up 24V to be configured However if you want to run with it in manual run then you need to supply the actuato...

Page 26: ... nr 2 Configuration tab Generally the left part of this screen shows actual configuration data loaded and may be changed from file or actuator The right part of the screen shows the actual actuator values if any actuator is connected The green and red signals to the right indicates if actuator and PC values are equal or unequal With the two arrows in the top of the screen you can upload and downlo...

Page 27: ...s Modbus response delay is used in cases where the MODBUS master is unable to pickup too fast responses from the slave In case of communication problems you can increase this value In the Actuator configuration section of the screen you can set up some basic parameter values Ref pos 1 4 are used to define 4 different set points as you prefer This could e g be a safe position in case of storm or ma...

Page 28: ...he run Set Limit in Set Limit out is used to define the operational position limits after having positioned the actuator to the position where you want these limits Please be aware to use ONLY one virtual endstop Limit in or Limit out at a time in order to ensure that one end is always open for initialisation of the actuator Initialise In Out and Run Out In will not respect the Limit in out settin...

Page 29: ... the actuator if a new firmware version is released All you need to do is to select the new firmware file and press Download Verify means that you can verify the previously downloaded firmware Verification is a time consuming process and is normally not needed after a successful download ...

Page 30: ...sured on the FET transistors and the processor In the current section it is possible to see the performed work current cut offs etc In the voltage section the number of power fails and the reason for power down In the communication section you can read if there has been any communication problems For better traceability in an service situation a unique device ID can be utilised as reference The se...

Page 31: ...tional hour Causes solutions Cause The RS485 cabling is not implemented as specified Solution Change cabling and or grounding Cause All devices on the bus do not have a unique slave address Solution Set up unique addresses by use of BusLink Cause The master is not fast enough to pick up fast slave responses Solution Increase MODBUS response delay by use of BusLink Cause The MODBUS is placed in an ...

Page 32: ... load Cause Actuator lost its position Solution Reinitialise In Out by use of BusLink Cause Temperature limit exceeded Solution Verify that specified operation conditions are met Cause Voltage or power supply error Solution Return the actuator for repair if you consistently recognise stop 9 Power Switch error 10 H bridge error or 11 High side voltage error Cause Motor stall due to wrong load speed...

Page 33: ...ons Cause Firmware is corrupted Solution To activate the actuator bootloader and download new firmware using BusLink This is done by strictly following the following procedure Disconnect actuator communication cable and power cable Start BusLink without any cables connected to the actuator Go to Firmware tab Connect ONLY actuator communication cable USB2LIN Download new firmware ...

Page 34: ... 5 1 Electricity supply The relevant technical documentation is compiled in accordance with part B of Annex VII and that this documentation or part hereof will be transmitted by post or electronically to a reasoned request by the national authorities This partly completed machinery must not be put into service until the final machinery into which it is to be incorporated has been declared in confo...

Page 35: ...in service mode Bit 10 Position valid Bit 11 15 Reserved U16 5 Reason for Last Stop 50 0 Target position reached 1 Current cut off out 2 Current cut off in 3 Stop command received 4 Undervoltage detected on V_IN 5 Overvoltage detected on V_IN 6 FET Temperature exceeded 7 Actuator Internal Temperature exceeded 8 Hall error 9 Power Switch error 10 H brige error 11 High side voltage error 12 Not conf...

Page 36: ...ailable via the BusLink service tool U32 0 4294967295 31 16 29 Total Number of Starts Inwards 54 Service counter Also available via the BusLink service tool U32 0 4294967295 15 0 30 Total Number of Starts Outwards 55 Service counter Also available via the BusLink service tool U32 0 4294967295 31 16 31 Total Number of Starts Outwards 55 Service counter Also available via the BusLink service tool U3...

Page 37: ...th Actuator Temperature Exceeded 80 Service counter Also available via the BusLink service tool U16 0 65535 48 94 For development production purposes U8 0 225 49 95 For development production purposes U16 0 65535 50 74 For development production purposes U16 0 65535 51 75 For development production purposes U16 0 65535 52 1 For development production purposes U16 0 65535 53 Remote Data Bus Baud Ra...

Page 38: ...15 74 29 For development production purposes U16 100 4095 75 30 For development production purposes U16 100 4095 76 31 For development production purposes U16 0 50000 77 32 For development production purposes U16 0 50000 78 12 For development production purposes U8 0 200 79 53 For development production purposes U8 0 3 80 83 For development production purposes U16 1614 1923 81 84 For development p...

Page 39: ...Resolution in 1 10mm relative to Offset U16 0 65000 10 Current Time s 39 Value between in the range from 0 to 59 Written to by broadcast U8 0 59 11 Current Time m 40 Value between in the range from 0 to 59 Written to by broadcast U8 0 59 12 Current Time h 41 Value between in the range from 0 to 23 Written to by broadcast U8 0 23 13 Current Time date 42 Date counted as days since 1 1 2000 Written t...

Page 40: ...cell in the Modbus User Map table specified by Modbus User Map Input Register Reference U8 0 255 1003 Modbus User Map Hold ing Register Address 87 Hardcoded to Modbus Holding register 1003 Used to set the target cell for the Parameter Address set by Modbus User Map Parameter Reference H When written to Modbus User Map Parameter Reference H is updated with the current value from the Modbus Hold ing...

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