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Modbus MFU Option Card Installation Manual

8 of 64

Publication PUB091-004-00_0918

1.1 General

The Modbus Module has three variants:



Single RS-485 highway



Dual Independent isolated RS-485 highways



Single RS-485 highway with inbuilt isolating repeater

Communication Medium

RS-485 2-wire highway (single or dual), half duplex

Protocol

Modbus RTU

Mode

Master/Slave; module is a slave.

Summary of Contents for Modbus

Page 1: ...Publication PUB091 004 00_0918 Modbus RTU Actuator Control Mk 3 Option Card Technical Manual IQ3 SI3 CVA CMA K Range...

Page 2: ...2 Although the same Modbus module is fitted to the different ranges of actuators there will be different numbers of valid inputs and outputs for each range depending on the actuator capabilities For e...

Page 3: ...logy 20 4 3 Cable Types 21 4 4 Termination Network 22 4 5 Inter connecting the Highway and Setting up the MFU 23 4 5 1 Single Highway 23 4 5 2 Dual Highway 23 4 5 3 Single Highway with Internal Repeat...

Page 4: ...ack Diagnostic Test 50 7 6 9 Data Accessed with Function Code 17 Report Slave ID 50 7 7 Database Summary 51 7 8 Configuration Registers 53 7 9 Actuator Related Configurable Parameter Registers 54 7 9...

Page 5: ...tion format 41 Fig 18 Limited Range Position Control and Reporting 55 Fig 19 Deadband and Hysteresis settings 56 Glossary of Terms Address The unique address for a node on a particular highway of the...

Page 6: ...nitary load Abbreviations ACTCON Actuator Control Register CMA Compact Modulating Actuator Comms Communications CRC Cyclic Redundancy Check error detection CVA Control Valve Actuator CVL Linear versio...

Page 7: ...Modbus master tool or via the Infra red or Bluetooth actuator setting tools for those products that support those interfaces The settings which must be correct for communication are address baud rate...

Page 8: ...eneral The Modbus Module has three variants Single RS 485 highway Dual Independent isolated RS 485 highways Single RS 485 highway with inbuilt isolating repeater Communication Medium RS 485 2 wire hig...

Page 9: ...the actuator by a ten pin connector 10 way header SK2 The field unit should be carefully fitted so that the connectors mate correctly The actuator internal wiring harness connects the field unit at S...

Page 10: ...or It can also be read from the actuator using the setting tool by using Insight with Infra red or by using Insight2 with Bluetooth where appropriate Additionally the circuit includes non volatile mem...

Page 11: ...nd there is an option to include Digital Outputs from relay contacts If the MFU is required to operate the 4 digital outputs that can be controlled from the card then an Extra Relay Indication card as...

Page 12: ...ch the wiring loom to the correct terminals which are numbered Re fit the terminal bung Once the loom is in place connect it to the MFU then fit the MFU to the actuator main board connector Attach the...

Page 13: ...ng looms from the sockets on the edges of the Main PCB noting carefully where they attach Each connector is different to avoid error Remove the Main PCB in its plastic chassis by gently pushing the ch...

Page 14: ...ing cover should be removed after unscrewing the four 6mm Allen machine screws The MFU should be fitted in the position shown in the illustrations above It plugs into the control board at the 10 way h...

Page 15: ...Modbus Option Card Properties Publication PUB091 004 00_0918 15 of 64 Fig 6 CMA menu structure for setting up the actuator start at the BASIC setting and select the ADVANC button...

Page 16: ...Modbus MFU Option Card Installation Manual 16 of 64 Publication PUB091 004 00_0918 Fig 7 CMA menu structure for setting up the actuator from the ADVANC setting select the COMMS button...

Page 17: ...PUB091 004 00_0918 17 of 64 Fig 8 CMA menu structure for setting up the actuator from the COMMS setting select the Modbus button From here you can adjust the individual Modbus settings Fig 9 Connecti...

Page 18: ...n the MFU card Modbus Option Card Main Card Fig 10 The MFU located in a K Range actuator The MFU should be replaced or fitted only in a suitable environment The actuator must be made electrically safe...

Page 19: ...a negative wire when a logic 1 pulse is on the highway The highway itself can use tapped spur or stub connections to the actuators but it is recommended to keep any stub lengths to a minimum for succe...

Page 20: ...ond the actuators can be directly connected to the trunk line in a daisy chain All the configurations require the cumulative total of the stub lines to be kept within the permitted maximum for the net...

Page 21: ...ork recommendation Information on Belden cable may be found on the Belden web site www belden com or at http bwcecom belden com where a search on RS 485 will reveal technical papers and cable informat...

Page 22: ...the devices on the highway is transmitting Without the active termination there may be some communications errors The value of the biasing resistors must be between 450 and 650 560 120 560 5 V 0 V Act...

Page 23: ...The terminal numbers depend on the actuator type and are indicated on the actuator wiring diagram Take care to ensure that the correct polarity is observed on the data highway connection Data line 1A...

Page 24: ...irections such that communications that appear on channel 1 will be repeated onto channel 2 and communications that appear on channel 2 will appear on channel 1 If the message is addressed to a device...

Page 25: ...originating at the PLC and operating the actuator controls i e Outputs from the PLC 5 1 Control Outputs The MFU can be used to control the actuator to position the valve The valve may be moved fully...

Page 26: ...est Local Controls Open Close Stop Direct Hard Wired Inputs Open Close Stop Maintain Emergency Shut Down Open Interlock active prevents opening Close Interlock active prevents closing Note Requires Di...

Page 27: ...position There are settings within the actuator to configure this to be a close open or stay put action It may also be switched off The ESD command can be configured to override Thermostat trip Interl...

Page 28: ...e The hard wired Close input will cause the actuator to run to the closed limit if there are no alarm conditions or local controls active and the Auxiliary Input Mask is set to an appropriate value Th...

Page 29: ...er devices or as control inputs The associated Auxiliary Input Mask parameter must be set to select the required function In the case of the hard wired input for ESD this can be configured either as a...

Page 30: ...e power is restored 5 1 3 Modbus Control using the ACTCON Register A single register is provided to allow the digital control of the actuator Writing a value to the register with function code 06 or 1...

Page 31: ...en the ESD input connection is made i e 24 volts applied to ESD Modbus control is not allowed This feature is independent of the Auxiliary Input Mask setting When the ESD DI 4 Net Disable parameter is...

Page 32: ...it is true 1 whenever the actuator motor contactor used to drive the actuator in the opening direction is energised Remote Selected This bit is true 1 when the actuator three position Remote Local Sto...

Page 33: ...re Valve Jammed This bit will be true 1 if the actuator is stationary at the end of travel and fails to move away from the seat of the valve when a network command requests it to do so The actuator wi...

Page 34: ...mains power is lost This battery is used only when the actuator has no power feed and the valve is actually moved Open Interlock The input contact to the Open Interlock is monitored by the MFU Whenev...

Page 35: ...on is set in the Auxiliary Input Mask parameter which determines whether the bit is reported as true 1 for a closed contact or an open contact and whether the input controls the actuator or not Note t...

Page 36: ...enting the percentage of actuator rated torque generated Valve Position The current valve position is reported as an Integer Value in the range 0 to 1000 0 3E8 hex representing the percentage position...

Page 37: ...when the actuator is moving from open to closed and reaches a particular position x The registers contain 11 values of torque generated in 10 position increments between 100 and 0 of valve travel Mot...

Page 38: ...Modbus MFU Option Card Installation Manual 38 of 64 Publication PUB091 004 00_0918 The rest of this page is intentionally blank...

Page 39: ...y s 3 5 3 5 3 5 3 5 3 5 3 5 3 5 3 5 3 5 3 5 Inter Character timeout t1 5 ms 55 04 27 52 13 76 6 88 3 44 1 72 0 860 0 750 0 750 0 750 Inter frame delay t3 5 ms 128 3 64 16 32 08 16 04 8 02 4 01 2 00 1...

Page 40: ...ollowing points must be noted The module only has one setting for the unit s communication speed and format Both the comms ports share one set of common values for these parameters The channels may ha...

Page 41: ...new character or frame completion then the next byte received will be the start of a new message beginning with the address Modbus Address Function Code Register or Discrete Address Number of Registe...

Page 42: ...Illegal data address Register or discrete address invalid 03 Illegal data value 06 Busy To read data the function code to use will depend on whether the data is to be read as single bits or as 16 bit...

Page 43: ...en the Modbus Module and the host This code can be regularly sent and used as a heartbeat to test the communications link The MFU supports this test when used with diagnostic code 00 Return Query Data...

Page 44: ...ns listed start from 0 Please check the host system documentation carefully to determine if any offsets are required Typical Offsets are Function Code Offset to be added to formulae result 01 1 02 100...

Page 45: ...1 1 RO Closed position limit 0 1 2 RO Open position limit 0 1 3 RO Running closed 0 1 4 RO Running open 0 1 5 RO Remote selected 0 1 6 RO Local Stop selected 0 1 7 RO Local selected 0 1 8 RO Thermosta...

Page 46: ...O Valve obstructed 0 1 0 11 RO Valve jammed 0 1 0 12 RO Valve moving by hand 0 1 0 13 RO Moving inhibited by MIT 0 1 0 14 RO Position control enabled 0 1 0 15 RO EEPROM Checksum failure 0 1 1 0 RO Bat...

Page 47: ...0 78 hex 33 RO Open Torque set 0 78 hex 34 RO Torque at 0 open direction 0 78 hex 35 RO Torque at 10 open direction 0 78 hex 36 RO Torque at 20 open direction 0 78 hex 37 RO Torque at 30 open directio...

Page 48: ...selected 0 1 0 7 RO Local selected 0 1 0 8 RO Thermostat tripped 0 1 0 9 RO Monitor relay 0 1 0 10 RO Valve obstructed 0 1 0 11 RO Valve jammed 0 1 0 12 RO Valve moving by hand 0 1 0 13 RO Moving inhi...

Page 49: ...ial stroke test the actuator are not cancelled by writing a 0 but this will de energise the coils The actuator latches the instruction and will complete the action unless a subsequent counter command...

Page 50: ...e is the same as the query sent Two codes are supported Code Data 00 Return query data 02 Return diagnostic register The Diagnostic Register contains the following data Location Reg Bit R W Data Range...

Page 51: ...Input and Output Signals Publication PUB091 004 00_0918 51 of 64 7 7 Database Summary...

Page 52: ...Modbus MFU Option Card Installation Manual 52 of 64 Publication PUB091 004 00_0918...

Page 53: ...ion of the manual describes each variable parameter register and should be used for reference when using the configuration tools All the registers can be read using function code 03 Read Holding Regis...

Page 54: ...sis to be set to 0 1 Modbus Network Related Network Configurable Parameter Registers Description Value Range Default Value Location Register R W Access Modbus Address 1 247 0001 00F7 hex 247 00F7 hex...

Page 55: ...valve travel In this mode the position data relates to the reduced portion of the valve stroke This is sometimes used where the valve is required to have a 0 position or 100 position that is not the s...

Page 56: ...the motor will be stopped For example a 5 deadband will cause the motor to be stopped once the actual position is within 5 of the desired position The inertia will then bring the actual position near...

Page 57: ...x7x6x5x4 either enables or disables the associated input for control of the actuator The bits in the low order nibble y3y2y1y0 determine if the input reports a closed contact as a 1 or an open contac...

Page 58: ...er 1 is set to Position No action will be taken unless the communications stops for a period equal or greater than the setting in the Comms Fault Timer Register 21 7 9 7 ESD DI 4 Net Disable Register...

Page 59: ...ses 7 10 2 Baud Rate Register 23 Register 23 sets the communication baud rate On a dual channel unit both channels operate at the same baud rate 7 10 3 Parity and Stop Bits Register 24 The parity and...

Page 60: ...Modbus MFU Option Card Installation Manual 60 of 64 Publication PUB091 004 00_0918 The rest of this page is intentionally blank...

Page 61: ...unication port for setting the actuator performance limit switches and so on This communication link can be used to set some but not all of the MFU parameter registers The registers should still be ch...

Page 62: ...the variable registers The table lists all the registers that must be checked and set up for each Modbus Module on a network The data should be recorded for each module Actuator Configurable Register...

Page 63: ...an MFU fitted or the MFU may be damaged If the network is attached to the correct terminals and there are no communications then perhaps the A and B connections are reversed These could be swapped aga...

Page 64: ...es the right to amend and change specifications without prior notice Published data may be subject to change Please check web site for latest version UK Rotork PLC Tel 44 0 1225 733 200 Fax 44 0 1225...

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