YASKAWA Varispeed G7 Modbus Communication Manual Download Page 19

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Chapter 2 - Message Formats

This chapter provides information on the message (telegram) contents and configuration.

Protocol ....................................................................................... 20

Read Multiple Registers – Function Code 03H......................... 21

Write Single Register – Function Code 06H ............................. 23

Loop-Back Test – Function Code 08H ...................................... 25

Write Multiple Registers – Function Code 10H ........................ 27

No Response............................................................................... 29

Error Codes ................................................................................. 29

CRC-16 Calculation .................................................................... 30

Summary of Contents for Varispeed G7

Page 1: ...Modbus Communication Manual G7 Drive Drive Model CIMR G7U Document Number TM G7 11...

Page 2: ...2 Page intentionally blank...

Page 3: ...capacitor remains charged even after the power supply is turned off Status indicator LEDs and Digital Operator display will be extinguished when the DC bus voltage is below 50 VDC To prevent electric...

Page 4: ...pertains to the G7 drive In this document the word inverter ac drive and drive may be used interchangeably For details on installation and operation of the G7 drive refer to the G7 Drive Technical Ma...

Page 5: ...isters Function Code 10H 27 No Response 29 Error Codes 29 CRC 16 Calculations 30 Chapter 3 Troubleshooting 31 General Information 33 RS 232 Communication 35 RS 422 RS 485 Communication 37 RS 422 RS 48...

Page 6: ...6 Notes...

Page 7: ...connect the G7 drive to a RS 232 RS 422 or RS 485 network Connection Check Sheet 8 Verify Operation 9 G7 Drive Connections 10 Serial Network Connections 11 Communications Parameters 13 Run Stop and F...

Page 8: ...fer to Figure 1 1 G7 Diagram for the location of drive connectors Use a DB9 to RJ 45 adapter with a standard Ethernet CAT 5 patch cable or use Yaskawa cable UWR00468 2 Do NOT connect this cable to an...

Page 9: ...cal Manual for information on connecting and operating the G7 drive Remove power from the G7 drive and wait for the charge lamp to be completely extinguished Wait at least five additional minutes for...

Page 10: ...10 G7 Drive Connections Figure 1 2 G7 Drive Connections...

Page 11: ...t is recommended that Yaskawa cable UWR00468 2 be used Note It is not possible to use the drive s keypad and an RS 232 connection at the same time Figure 1 3 RS 232 Network Connection RS 422 RS 485 4...

Page 12: ...imum of 31 devices may reside on any network segment before a repeater is required The maximum segment length is 4000 ft 1200 m Set the Termination Resistor S1 switch to ON slide the switch to the rig...

Page 13: ...Value Description Baud rate 9600 Parity None Stop Bits 1 Node Address N A RS 422 RS 485 Communication Node Address H5 01 The node address is set through G7 drive parameter H5 01 When communicating via...

Page 14: ...cording to H5 04 if communication is lost a message is not received for more than 2 seconds after successful communication has been initiated Table 1 5 Communication Fault Detection Selection Paramete...

Page 15: ...top command may be set to Terminals B1 01 1 while the Frequency Reference command may be set to Serial Communication B1 02 2 Run Stop Source Table 1 7 Run Stop Method Selection B1 01 Operation Method...

Page 16: ...H5 03 H5 07 Baud Rate Parity Data Bits Stop Bits 1 1 5 Verify that the communication parameters match 2 RS 422 RS 485 Communication 2 1 Verify that the G7 drive is connected correctly 2 2 Verify that...

Page 17: ...command message to the G7 drive from the controller and verify the data of the command and response messages 3 1 Verify the contents of the command message 3 2 Verify the contents of the response mes...

Page 18: ...18 Notes...

Page 19: ...age telegram contents and configuration Protocol 20 Read Multiple Registers Function Code 03H 21 Write Single Register Function Code 06H 23 Loop Back Test Function Code 08H 25 Write Multiple Registers...

Page 20: ...sage from the slave The following sections review the format of the command and response messages for each function Message Functions Supported The following table lists the Modbus function codes avai...

Page 21: ...ster address is 20h 0020h The quantity indicates how many consecutive registers are to be read The quantity may range from 1 to 8 registers If an invalid quantity is entered error code 03h is returned...

Page 22: ...section of the response message contains the data for the registers requested read in this case registers 20h 21h 22h and 23h Their data is 20h 1770h 21h 1770h 22h 0109h and 23h 0h Read Multiple Regis...

Page 23: ...sage there is no response message The function code of this message is 06h write single register In the command message above the register address is 01h 0001h The data section contains the data to be...

Page 24: ...er Fault Response Message Description Data Slave Address 01h Function Code 86h Error Code 21h Upper 82h CRC 16 Lower 78h The fault response message contains the same slave address as the command messa...

Page 25: ...at 01h Broadcast address 0 is not valid for Loop Back test commands The function code of this message is 08h Loop Back test The test code must be set to 0000h This function specifies that the data pa...

Page 26: ...01h Function Code 88h Error Code 01h Upper 87h CRC 16 Lower C0h The fault response message contains the same slave address as the command message indicating to the master which slave is responding The...

Page 27: ...to be written The quantity may range from 1 to 16 registers If an invalid quantity is entered error code of 03h is returned in a fault response message In this command message there are two consecuti...

Page 28: ...case the quantity is 2 Write Multiple Registers Fault Response Message Table 2 13 Write Registers Fault Response Message Description Data Slave Address 01h Function Code 90h Error Code 02h Upper CDh C...

Page 29: ...et in the slave 4 When it takes longer than 2 seconds to send a message 5 When the time interval between characters exceeds 3 5 ms 6 When the command message data length is not proper Error Codes Tabl...

Page 30: ...in the transmitted CRC 16 field If the two values are not equal the entire message is invalid Detailed examples of a CRC 16 generation using Quick Basic and C are shown below CRC 16 Calculation Examp...

Page 31: ...ables for i 0 i bufLen i Loop through characters of input array crc_0 unsigned long buf i 0x00ff XOR current character with 0x00ff for j 0 j 8 j Loop through characters bits crc_1 crc_0 1 0x7fff shift...

Page 32: ...32 Notes...

Page 33: ...pter 3 Troubleshooting This chapter describes basic troubleshooting methods for serial communication General Information 34 RS 232 Communication 35 RS 422 RS 485 Communication 37 RS 422 RS 485 Self Te...

Page 34: ...tomer support is necessary please have the information below available 1 G7 Drive Model CIMR _____ 4 Control Board ETC _____ 2 Input__ VAC____Hz 5 Software ID U1 14 __________________ 3 Serial Number_...

Page 35: ...s communication parameters H5 02 H5 03 H5 07 Baud Rate Parity Data Bits Stop Bits 1 1 5 Verify that the communication parameters match 2 Check the controller RS 232 wiring requirements 2 1 CTS Clear...

Page 36: ...r RXD and GND 4 1 1 Verify that the message pulse train exists and contains the correct number of pulses Refer to the chapter Message Formats for information on the message contents 4 1 2 Verify that...

Page 37: ...ecord the G7 drive communication parameters H5 01 H5 02 H5 03 H5 07 Baud Rate Parity Data Bits Stop Bits 1 1 6 Verify that the communication parameters match 1 7 For RS 485 2 wire networks only verify...

Page 38: ...at the signal levels adhere to the RS 422 RS 485 standard 4 2 Insert a data analyzer in the RS 422 RS 485 circuit and capture the message sent by the controller in a hexadecimal format Record the comm...

Page 39: ...ge Formats for information on the message contents 5 1 2 Verify that the signal levels adhere to the RS 422 RS 485 standard 5 2 Capture the response message in hexadecimal format and record it below 5...

Page 40: ...to be completely discharged Measure the DC bus voltage and verify that it is at a safe level Connect jumper wires to the following G7 drive control terminals see picture below Connect S to R Connect S...

Page 41: ...3 Monitor Registers Read Only 44 Parameter Registers Read Write 52 A Parameters 53 B Parameters 54 C Parameters 56 D Parameters 57 E Parameters 58 F Parameters 59 H Parameters 63 L Parameters 68 N Par...

Page 42: ...Function set by setting of H1 03 9h Multi Function Digital Input Terminal S6 Function set by setting of H1 04 Ah Multi Function Digital Input Terminal S7 Function set by setting of H1 05 Bh Multi Fun...

Page 43: ...ti Function Digital Input Terminal S4 Function set by setting of H1 02 7h Reserved 8h Reserved 9h Reserved Ah Reserved Bh Reserved Ch Multi Function Digital Input Terminal S5 Function set by setting o...

Page 44: ...eserved 2h Reserved 3h Fault Reset Signal 4h Speed Agree 5h Inverter Ready 6h Minor Fault Alarm 7h Major Fault 8h Reserved 9h Reserved Ah Reserved Bh Reserved Ch Reserved Dh Reserved Eh Frequency Refe...

Page 45: ...verheat 0h EF3 External Fault 3 1h EF4 External Fault 4 2h EF5 External Fault 5 3h EF6 External Fault 6 4h EF7 External Fault 7 5h EF8 External Fault 8 6h Reserved 7h OS Overspeed 8h DEV Speed Deviati...

Page 46: ...t 7 Dh Reserved Eh Reserved 0019h Minor Fault Contents 1 Fh OS Overspeed 0h DEV Speed Deviation 1h PGO Encoder PG Feedback Loss 2h OPR Operator Disconnected 3h CE Communication Loss 4h BUS Communicati...

Page 47: ...raking Resistor Fault 5h PUF DC Bus Fuse Failure 6h FBL PID Feedback Loss 7h EFx or EFO External Fault 8h CPF Control Board Hardware Fault 9h OL1 or OL3 or OL4 Motor Overload Overtorque 1 or 2 Ah PGO...

Page 48: ...ital Output 2 M3 M4 2h Multi Function Digital Output 3 M5 M6 3h Multi Function Digital Output 4 P3 C3 4h Multi Function Digital Output 5 P4 C4 002Dh Digital Output Status 5h Fh Reserved U1 07 0031h Ma...

Page 49: ...unction Digital Output 2 M3 M4 2h Multi function Digital Output 3 M5 M6 3h Multi function Digital Output 4 P3 C3 4h Multi function Digital Output 5 P4 C4 5h Reserved 6h Reserved 7h Fault Output 8h Res...

Page 50: ...h Estimated Motor Flux Units 0 1 U1 43 006Ah Motor Flux Compensation Units 0 1 U1 44 006Bh ASR Output Without Filtering Units 0 01 U1 45 006Ch Feed Forward Control Output Units 0 01 U1 48 006Fh Stabil...

Page 51: ...e 4 17 U3 04 0803h 4th Most Recent Fault See Table 4 17 U3 05 080Ah Elapsed Time at Most Recent Fault Units 1 0hr U3 06 080Bh Elapsed Time at 2nd Most Recent Fault Units 1 0hr U3 07 080Ch Elapsed Time...

Page 52: ...writable during Run Blank the parameter is Read Only during Run The Access columns describe the accessibility and access level for a given control mode see A1 01 for access levels and A1 02 for contr...

Page 53: ...er 8 0h 6ffh 0 01 0h A A A A A A2 09 010Eh User Parameter 9 0h 6ffh 0 01 0h A A A A A A2 10 010Fh User Parameter 10 0h 6ffh 0 01 0h A A A A A A2 11 0110h User Parameter 11 0h 6ffh 0 01 0h A A A A A A2...

Page 54: ...0 10 0 Hz 0 1 Hz 0 5 Hz A A A A A b2 02 018Ah DC Injection Current 0 100 1 50 A A A b2 03 018Bh DC Injection Time at Start 0 0 10 0 Sec 0 01 Sec 0 0 Sec A A A A A b2 04 018Ch DC Injection Time at Stop...

Page 55: ...isabled 1 Alarm b5 12 01B0h PID Feedback Loss Detection Selection 2 Fault 1 0 A A A A A b5 13 01B1h PID Feedback Loss Detection Level 0 100 1 0 A A A A A b5 14 01B2h PID Feedback Loss Detection Time 0...

Page 56: ...Slip Compensation Limit 0 250 1 200 A A 0 Disabled C3 04 0212h Slip Compensation During Regeneration 1 Enabled 1 0 A A 0 Disabled C3 05 0213h Output Voltage Limit Selection 1 Enabled 1 0 A A A C4 01...

Page 57: ...0 0 Hz 0 01 Hz 0 0 Hz R A A A A A d1 17 0292h Jog Frequency Reference 0 0 400 0 Hz 0 01 Hz 6 0 Hz R Q Q Q Q Q d2 01 0289h Frequency Reference Upper Limit 0 0 110 0 0 1 100 0 A A A A A d2 02 028Ah Freq...

Page 58: ...0317h Motor Iron Loss 0 65535 W 1 W kVA Dep A A E2 11 0318h Motor Rated Power 0 00 650 00 kW 0 01 kW kVA Dep Q Q Q Q Q E2 12 0328h Saturation Compensation 3 1 30 5 00 0 01 1 30 A A A 0 V F 1 V F w PG...

Page 59: ...c 0 1 Sec 1 0 Sec A A A F1 10 0389h PG Deviation Level 0 50 1 10 A A A F1 11 038Ah PG Deviation Time 0 0 10 0 Sec 0 1 Sec 0 5 Sec A A A F1 12 038Bh PG Gear Teeth 1 0 1000 1 0 A F1 13 038Ch PG Gear Tee...

Page 60: ...PID Output 38 PID Setpoint 42 Estimated Motor Flux 43 Id Compensation Value 44 ASR Output Without Filter 45 Feed Forward Output F4 01 0391h AO 08 AO 12 Option Kit Channel 1 Function Selection 48 Stab...

Page 61: ...larm 37 During Run 2 F5 01 0399h DO 02C DO 08 Option Kit Channel 1 Selection 38 drive Enable 1 0h F5 02 039Ah DO 02C DO 08 Channel 2 Selection See F5 01 1 01h A A A A A F5 03 039Bh DO 08 Channel 3 Sel...

Page 62: ...1 0 A A A A A 0 Display in Amps F6 05 03A6h Output Current Unit Selection 1 100 8192 1 0 A A A A A 0 Disabled F6 06 03A7h Torque Reference Limit From Option Card Selection 1 Enabled 1 0 A A 0 Ramp to...

Page 63: ...ult Reset 15h Fast Stop N O 16h Motor 2 Selection 17h Fast Stop N C 18h Timer Function Input 19h PID Disable 1Ah Multi Step Accel Decel 2 1Bh Program Lockout 1Ch Trim Control Increase 1Dh Trim Control...

Page 64: ...S7 Selection See H1 01 1 06h A A A A A H1 06 0405h Terminal S8 Selection See H1 01 1 08h A A A A A H1 07 0406h Terminal S9 Selection See H1 01 1 05h A A A A A H1 08 0407h Terminal S10 Selection See H...

Page 65: ...on Selection 38h drive Enable 1 0h H2 02 040Ch Terminal M3 M4 Selection See H2 01 1 1h A A A A A H2 03 040Dh Terminal M5 M6 Selection See H2 01 1 2h A A A A A H2 04 040Eh Terminal P3 C3 Selection See...

Page 66: ...erminal A3 Gain 0 0 1000 0 0 1 100 0 R A A A A A H3 07 0416h Terminal A3 Bias 100 0 100 0 0 1 0 0 R A A A A A 0 0 10 VDC 1 10 10 VDC H3 08 0417h Analog Input Terminal A2 Signal Type Selection Set Swit...

Page 67: ...00 bps H5 02 0426h Baud Rate 4 19200 bps 1 3 A A A A A 0 No Parity 1 Even Parity H5 03 0427h Parity Selection 2 Odd Parity 1 0 A A A A A 0 Ramp to Stop 1 Coast to Stop 2 Fast Stop C1 09 H5 04 0428h Co...

Page 68: ...A A A A L2 07 048Bh Powerloss Ride Thru Accel Time 0 0 25 5 Sec 0 1 Sec 0 0 Sec A A A A A L2 08 048Ch KEB Frequency Gain 0 300 1 100 A A A A A 0 Disabled 1 General Purpose L3 01 048Fh Stall Preventio...

Page 69: ...Torque Detection 2 Selection OL4 UL4 8 Undertorque Run Fault 1 0 A A A A A L6 05 04A5h Torque Detection 2 Level 0 300 1 150 A A A A A L6 06 04A6h Torque Detection 2 Time 0 0 10 0 Sec 0 1 Sec 0 1 Sec A...

Page 70: ...6h Cooling Fan On Off Selection 1 Fan Always On 1 0 A A A A A L8 11 04B7h Fan Off Delay Time After Stop Command 0 300 Sec 1 Sec 60 Sec A A A A A L8 12 04B8h Ambient Temperature 45 60 Deg 1 Deg 45 Deg...

Page 71: ...0 0 0 1 15 A n4 11 059Eh High Low Speed Observer Changeover Frequency 40 70 Hz 1 Hz 70 Hz A n4 15 05A2h Low Speed Regenerative Coefficient 1 0 0 3 0 0 1 0 3 A n4 17 05A4h Torque Adjustment Gain at Low...

Page 72: ...U ID 29 Accumulated kWh 30 Accumulated MWh 32 ACR Iq Output 33 ACR Id Output 34 OPE Detected 36 PID Input 37 PID Output 38 PID Setpoint 39 Transmit Error 40 FAN Elapsed Time 42 Estimated Motor Flux 43...

Page 73: ...6 050Ah Operator Disconnect Detection Selection 1 Enabled 1 0 A A A A A o2 07 050Bh Accumulated Time Initial Setting 0 65535 H 1 H 0 H A A A A A 0 Power On Time o2 08 050Ch Accumulated Time Selection...

Page 74: ...arameter 13 P2 04 060Dh CASE Parameter 14 P2 05 060Eh CASE Parameter 15 P2 06 060Fh CASE Parameter 16 P2 07 0610h CASE Parameter 17 P2 08 0611h CASE Parameter 18 P2 09 0612h CASE Parameter 19 P2 10 06...

Page 75: ...Bit Description 0h Forward Run Input 1h Reverse Run Input 2h Multi Function Digital Input Terminal S3 Function set by setting of H1 01 3h Multi Function Digital Input Terminal S4 Function set by sett...

Page 76: ...on Output 2 M3 M4 Dh Multi Function Output 3 M5 M6 Eh Motor 2 Selected 2000h Status Fh Zero Servo Complete 2001h Speed Feedback Monitor Keypad Monitor U1 05 2002h Torque Reference Monitor Keypad Monit...

Page 77: ...GO Encoder PG Feedback Loss Ah PF Input Phase Loss Bh LF Output Phase Loss Ch OH3 Motor Overheat 1 Dh OPR Operator Disconnected Eh ERR EEPROM Write Failure 200Ah Error 2 Fh OH4 Motor Overheat 2 0h CE...

Page 78: ...ta in the off line memory area but if power is lost all of the changes will be lost The ACCEPT command can be performed as many times as needed An ACCEPT command is performed by writing a value of zer...

Page 79: ...h 44 EF9 External Fault S9 000Dh 13 OL3 Overtorque Detection 1 002Dh 45 EF10 External Fault S10 000Eh 14 OL4 Overtorque Detection 2 002Eh 46 EF11 External Fault S11 000Fh 15 RR Braking Transistor Fail...

Page 80: ...80 Notes...

Page 81: ...81 Chapter 5 User Notes This chapter allows the user to enter information specific to their application Notes 82 User Parameter Settings 83 Hex Dec Conversion Table 91...

Page 82: ...82 Notes drive drive Name Date...

Page 83: ...er 20 0h A2 21 User Parameter 21 0h A2 22 User Parameter 22 0h A2 23 User Parameter 23 0h A2 24 User Parameter 24 0h A2 25 User Parameter 25 0h A2 26 User Parameter 26 0h A2 27 User Parameter 27 0h A2...

Page 84: ...on 0 b5 19 PID Setpoint 0 00 b6 01 Dwell Reference at Start 0 0 Hz b6 02 Dwell Time at Start 0 0 Sec b6 03 Dwell Reference at Stop 0 0 Hz b6 04 Dwell Time at Stop 0 0 Sec b7 01 Droop Level 0 00 b7 02...

Page 85: ...cy Reference 5 0 0 Hz d1 06 Frequency Reference 6 0 0 Hz d1 07 Frequency Reference 7 0 0 Hz d1 08 Frequency Reference 8 0 0 Hz d1 09 Frequency Reference 9 0 0 Hz d1 10 Frequency Reference 10 0 0 Hz d1...

Page 86: ...Motor 2 60 0 Hz E3 05 Midpoint Frequency Motor 2 Control Meth E3 06 Midpoint Voltage Motor 2 Control Meth E3 07 Minimum Frequency Motor 2 Control Meth E3 08 Minimum Voltage Motor 2 Control Meth E4 01...

Page 87: ...on 0 F6 03 EF0 Fault Selection 1 F6 04 CP 916 Trace Sample Time 0 F6 05 Output Current Unit Selection 0 F6 06 Torque Reference Limit Select 0 F6 08 SI T Communication Loss Select 1 F6 09 SI T Loss Ret...

Page 88: ...20 Sec L2 01 Power Loss Ride Thru Selection 0 L2 02 Power Loss Ride Thru Time 0 1 Sec L2 03 Minimum Baseblock Time 0 5 Sec L2 04 Voltage Recovery Ramp Time 0 3 Sec L2 05 Undervoltage Detection Level...

Page 89: ...4 08 Speed Estimator P Gain 15 n4 10 Observer Gain at High Speed 15 n4 11 Observer Switch Frequency 70 Hz n4 15 Low Speed Regen Coefficient 1 0 3 n4 17 Torque Adjustment Gain 1 1 n4 18 Motor Cable Res...

Page 90: ...P1 09 CASE Parameter 9 0 P1 10 CASE Parameter 10 0 P2 01 CASE Parameter 11 0 P2 02 CASE Parameter 12 0 P2 03 CASE Parameter 13 0 P2 04 CASE Parameter 14 0 P2 05 CASE Parameter 15 0 P2 06 CASE Paramete...

Page 91: ...125 B1 177 E5 229 16 22 4A 74 7E 126 B2 178 E6 230 17 23 4B 75 7F 127 B3 179 G7 231 18 24 4C 76 80 128 B4 180 E8 232 19 25 4D 77 81 129 B5 181 E9 233 1A 26 4E 78 82 130 B6 182 EA 234 1B 27 4F 79 83 13...

Page 92: ...AMERICA INC Marketing Communications 16555 West Ryerson Road New Berlin WI 53151 U S A Phone 1 800 YASKAWA 800 927 5292 Fax 262 782 3418 Internet http www yaskawa com YASKAWA ELECTRIC CORPORATION New...

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