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Appendix B – Modbus Protocol

NMBA-01 Installation and Start-up Guide

B-7

RTU

When RTU mode is used for character framing, the error checking field 
contains a 16-bit value implemented as two 8-bit bytes. The error check 
value is the result of a Cyclical Redundancy Check calculation per-
formed on the message contents.

The CRC field is appended to the message as the last field in the mes-
sage. When this is done, the low-order byte of the field is appended 
first, followed by the high-order byte. The CRC high-order byte is the 
last byte to be sent in the message.

Additional information about error checking is contained later in this 
appendix.

How Characters are

Transmitted Serially

When messages are transmitted on standard Modbus serial networks, 
each character or byte is sent in this order (left to right):

Least Significant Bit (LSB) … Most Significant Bit (MSB)

With RTU character framing, the bit sequence is:

With Parity Checking

Without Parity Checking

Error Checking 
Methods

Standard Modbus serial networks use two kinds of error checking. Par-
ity checking (even or odd) can be optionally applied to each character. 
Frame checking (CRC) is applied to the entire message. Both the char-
acter check and message frame check are generated in the master 
device and applied to the message contents before transmission. The 
slave device checks each character and the entire message frame dur-
ing receipt.

The master is configured by the user to wait for a predetermined time-
out interval before aborting the transaction. This interval is set to be 
long enough for any slave to respond normally. If the slave detects a 
transmission error, the message will not be acted upon. The slave will 
not construct a response to the master. Thus the time-out will expire 
and allow the master’s program to handle the error. Note that a mes-
sage addressed to a nonexistent slave device will also cause a time-
out. A proper time-out value for the NMBA-01 is 100 ms.

Start

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Stop

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Stop

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efesotomasyon.com - Control Techniques,emerson,saftronics -ac drive-servo motor

Содержание NMBA-01

Страница 1: ...ABB Drives Installation and Start up Guide Modbus Adapter Module NMBA 01 efesotomasyon com Control Techniques emerson saftronics ac drive servo motor ...

Страница 2: ...efesotomasyon com Control Techniques emerson saftronics ac drive servo motor ...

Страница 3: ...y All Rights Reserved Modbus Adapter Module NMBA 01 Installation and Start up Guide 3AFY 58919772 R0225 EFFECTIVE 1 2 1999 SUPERSEDES 1997 01 10 efesotomasyon com Control Techniques emerson saftronics ac drive servo motor ...

Страница 4: ...ii NMBA 01 Installation and Start up Guide efesotomasyon com Control Techniques emerson saftronics ac drive servo motor ...

Страница 5: ...rs are informed of situations that can result in serious physical injury and or serious damage to equipment with the following symbols Notes Readers are notified of the need for special attention or additional information available on the subject with the following symbols Dangerous Voltage Warning warns of situations in which a high voltage can cause physical injury and or damage equipment The te...

Страница 6: ...g work The motor cable terminals of the drive are at a dangerously high voltage when mains power is applied regardless of motor operation There can be dangerous voltages inside the drive from external control circuits when the drive mains power is shut off Exercise appropriate care when working with the unit Neglecting these instructions can cause physical injury and death WARNING There are severa...

Страница 7: ...on Mounting Outside the Drive 3 1 Mounting Inside the Drive 3 2 Chapter 4 Electrical Installation Cabling 4 1 Bus Termination 4 1 NMBA 01 Connections 4 2 Earthing 4 3 Earthing the Modbus Cable Shields 4 4 Chapter 5 Programming Configuring the System 5 1 Modbus Connection Configuration 5 1 Control Locations 5 3 Chapter 6 Communication Register Read and Write 6 1 Register Mapping 6 1 Exception Codes...

Страница 8: ...nts of the Data Field B 6 Contents of the Error Checking Field B 6 How Characters are Transmitted Serially B 7 Error Checking Methods B 7 Parity Checking B 8 CRC Checking B 8 Modbus Function Formats B 9 How Numerical Values are Expressed B 9 Data Addresses in Modbus Messages B 9 Field Contents in Modbus Messages B 9 Function Codes B 12 03 Read Holding Registers B 12 06 Preset Single Register B 14 ...

Страница 9: ...uctions are featured in the first few pages of this Guide Safety Instructions describe the formats for various warnings and notations used within this Guide This chapter also states the safety instructions which apply to the installation and operation of the NMBA 01 Module Chapter 1 Introduction to This Guide contains a short description of the Guide Chapter 2 Overview contains a short description...

Страница 10: ... ABB drive is connected to a Modbus serial communication bus Data Sets and Data Words Data sets are clusters of data sent through the DDCS link between the NMBA 01 Adapter Module and the drive Each data set consists of three 16 bit words i e data words The Control Word sometimes called the Command Word and the Status Word References and Actual Values see Chapter 6 are types of data words the conte...

Страница 11: ...nables the connection of the drive to a Modbus system The drive is considered as a slave in the Modbus network Through the NMBA 01 Modbus Adapter Module it is possible to Give control commands to the drive Start Stop Run enable etc Feed a motor speed or torque reference to the drive Give a process actual value or a process reference to the PID controller of the drive Read status information and ac...

Страница 12: ... NMBA 01 Modbus Adapter Module contains Modbus Adapter Module Type NMBA 01 Two pairs four pieces of fibre optic cables Mounting rail This manual the NMBA 01 Installation and Start up Guide NMBA 01 MODBUS ADAPTER BUS TERMINATION ON OFF X2 PE SH SHF DG D N D P TXD RXD XMIT REC ERROR 24V 0V Screw terminal block for the bus cable connection and for the external power supply connection see Chapter 4 Fi...

Страница 13: ...ac turer ever be liable for consequential and incidental damages The period of manufacturer s warranty is 12 months and not more than 18 months from the date of delivery Extended warranty may be available with certified start up Contact your local distributor for details Your local ABB Drives company or distributor may have a different war ranty period which is specified in their sales terms condi...

Страница 14: ...Chapter 2 Overview 2 4 NMBA 01 Installation and Start up Guide efesotomasyon com Control Techniques emerson saftronics ac drive servo motor ...

Страница 15: ...unt see Appendix C The degree of protection of the module is IP 20 Module earth is connected to the mounting rail by means of an earthing clip see Figure 3 1 The mounting rail onto which the option module is to be mounted must be earthed to a noiseless earth If the rail is not mounted on a properly earthed base a separate earthing conductor must be used The conductor must be as short as possible a...

Страница 16: ... the power supply of the drive and all dangerous voltages connected to the inputs and outputs 3 Wait for five minutes to ensure that the capacitors in the intermediate circuit have discharged 4 Remove the front cover of the drive 5 Ensure that the mains cable motor cable and capacitor bank UDC and UDC are not powered 6 Locate the position for the module see the user s manual of the drive Fasten th...

Страница 17: ...cables with care When unplugging optic cables always grab the connector not the cable itself Do not touch the ends of the fibres with bare hands as the fibre is extremely sensitive to dirt The maximum long term tensile load for the fibre optic cable is 1 N The minimum short term bend radius is 25 mm Bus Termination The built in terminating resistors must be switched on if the NMBA 01 module is ins...

Страница 18: ...l block X2 on the NMBA 01 Table 4 1 Description of terminal block X2 X2 Description 1 D P D P B Data Positive Conductor 1 in twisted pair D N A Data Negative Conductor 2 in twisted pair DG Data Ground 2 D N 3 DG 4 SHF Cable screen AC earthing via an RC filter 5 SH Cable screen earthing directly earthed 6 0V Power supply for the module 24 V d c 10 screened cable 7 24 V 8 PE Earth NMBA 01 MODBUS ADA...

Страница 19: ...e NMBA 01 module earth Normally no external wires need to be connected to this terminal The SH terminal is internally connected to the NMBA 01 module earth The SH terminal is normally used for earthing the Modbus cable shield if there is no other station at which the cable shield is directly earthed The SHF terminal is internally connected to the NMBA 01 module earth via an RC filter The SHF termi...

Страница 20: ...ed one because of its the better noise immunity Figure 4 3 Two wire Connection Figure 4 4 Three wire Connection Preferred Practice 3 2 1 4 SHF DG D N A B X2 100 Ω NMBA 01 Station 1 Termination OFF 3 2 1 4 SHF DG D N X2 100 Ω Station N Termination ON Modbus Master Termination ON GND D P D P NMBA 01 3 2 1 4 SHF DG D N A B X2 100 Ω NMBA 01 Station 1 Termination OFF 3 2 1 4 SHF DG D N X2 100 Ω Station...

Страница 21: ...guration The detailed procedure of activating the module for communication with the drive is dependent on drive type Normally a parameter must be adjusted to activate the communication See the drive documentation As communication between the drive and the NMBA 01 is established several configuration parameters are copied to the drive These parameters shown in Table 5 1 must be checked first and ad...

Страница 22: ...evice on the Modbus link must have a unique station number This parameter is used to define a station number for the drive it is con nected to BAUD RATE Defines the communication speed in Baud There are five selections 1200 2400 4800 9600 and 19200 Baud PARITY Defines the parity to be used with the Modbus communication This parameter also defines the number of stop bits in use Typically with Modbu...

Страница 23: ...parameter is only used with ACS 600 Note The changes to the parameters do not take effect immediately To change the module settings the power must be disconnected from the NMBA 01 Control Locations ABB drives can receive control information from multiple sources including digital inputs analogue inputs the drive control panel and a communication module e g NMBA 01 ABB drives allow the user to sepa...

Страница 24: ...Chapter 5 Programming 5 4 NMBA 01 Installation and Start up Guide efesotomasyon com Control Techniques emerson saftronics ac drive servo motor ...

Страница 25: ...riting The parame ter writes are verified for correct value and for valid register addresses Some parameters never allow writes including actual values some parameters allow write only when the drive is stopped including setup variables and some can be modified at any time including actual ref erence values Register Mapping The drive parameters are mapped to the 4xxxx area so that 40001 40096 are ...

Страница 26: ...er to the drive manuals for its data sets group and parameter numbers supported 4GGPP GG PP Data sets 40001 40096 00 Data sets 01 Data word 1 1 02 Data word 1 2 03 Data word 1 3 04 Data word 2 1 05 Data word 2 2 06 Data word 2 3 07 Data word 3 1 94 Data word 32 1 95 Data word 32 2 96 Data word 32 3 Parameters 40101 40199 01 Group 01 01 Parameter 01 02 Parameter 02 99 Parameter 99 40201 40299 02 Gr...

Страница 27: ...01 Code Name Reason 01 ILLEGAL FUNCTION Unsupported Command 02 ILLEGAL DATA ADDRESS Address does not exist or is read write protected 03 ILLEGAL DATA VALUE Value is outside min max limits Parameter is read only 04 SLAVE DEVICE FAILURE Reading a multiple parameter register which includes one or more read protected parameters 06 SLAVE DEVICE BUSY DDCS channel timeout Code Name Meaning 03 Read Holdin...

Страница 28: ...d to one Multiple Drive Control segment Figure 6 1 Multiple Drive Control Connection The Multiple Drive Control connection does not significantly add to the DDCS communication delay The update interval of the data in the parameter registers is longer than in point to point connection due to the fact that each parameter value is updated from the drive s internal memory The delay is most noticeable ...

Страница 29: ...is 5 then the station number of the second drive is 6 etc In Multiple Drive Control the NMBA 01 sends only two fieldbus parameters to all other drives in the ring These parameters are 01 MODULE TYPE and 03 STATION NUMBER and they are read only Parameter Handling The NMBA 01 can read and write up to 99 parameters in one frame if these are in the same parameter group The user can read and write Modb...

Страница 30: ...Chapter 6 Communication 6 6 NMBA 01 Installation and Start up Guide efesotomasyon com Control Techniques emerson saftronics ac drive servo motor ...

Страница 31: ...r is connected to the power connectors the fibre cables between the drive and the NMBA 01 are correctly connected the fibre link connector colours match the drive and NMBA 01 con nector colours Drive Setup Fieldbus parameter group is not visible on the control panel Activate the fieldbus module according to the instructions in the drive manual Drive parameters can be read but control commands Star...

Страница 32: ...7 2 below Module Diagnostics On module power up the NMBA 01 goes through a power up self test sequence During this the test state is indicated by the front three LEDs The normal power up procedure is as follows All LEDs are turned on for the duration of the RAM ROM test If the test is passed all LEDs will be turned off The ERROR LED will flash rapidly for few seconds as the DDCS link between the N...

Страница 33: ...fibre link Power on the drive Check the fibre link wiring All LEDs flash con tinuously at the same time Watchdog time out Hardware failure on NMBA mod ule Switch power off and wait a few seconds before switching the power on again if the problem persists check that fieldbus pa rameter 02 MODBUS MODE is set to RTU wdg rst Continuous reboot Fast blinking of ER ROR LED for ap prox 2 sec repeated ever...

Страница 34: ...Chapter 7 Fault Tracing 7 4 NMBA 01 Installation and Start up Guide efesotomasyon com Control Techniques emerson saftronics ac drive servo motor ...

Страница 35: ...Length between Stations 10 m Specifications Topology Point to point Ring in Multiple Drive Control Serial Communication Type Asynchronous half Duplex Transfer Rate 4 Mbit s Protocol Distributed Drives Communication System DDCS Connectors Blue receiver grey transmitter Parameter Minimum Maximum Unit Storage Temperature 55 85 C Installation Temperature 20 70 C Short Term Tensile Force 50 N Short Ter...

Страница 36: ...ding repeaters 31 stations and 1 repeater per segment Medium Shielded twisted pair RS485 cable Termination built in the NMBA 01 Module Modbus cable Belden 9841 typical Maximum Bus Length 1200 m Topology Multi drop Serial Communication Type Asynchronous half Duplex Transfer Rate 1200 2400 4800 9600 19200 bit s Protocol Modbus efesotomasyon com Control Techniques emerson saftronics ac drive servo mo...

Страница 37: ...VSTBW 2 5 8 ST 5 08 8 pole cross section 2 5 mm2 max screw terminal block for the fieldbus and power supply General All materials are UL CSA approved Complies with EMC Standards EN 50081 2 and EN 50082 2 X2 Description 1 D P D P B Data Positive Conductor 1 in twisted pair D N A Data Negative Conductor 2 in twisted pair DG Data Ground 2 D N 3 DG 4 SHF Cable screen AC earthing via an RC filter 5 SH ...

Страница 38: ...Appendix A Technical Data A 4 NMBA 01 Installation and Start up Guide efesotomasyon com Control Techniques emerson saftronics ac drive servo motor ...

Страница 39: ...ical interface to the NMBA 01 is half duplex RS 485 Transactions on Modbus Networks Standard Modbus ports on Modicon controllers use an RS 232C com patible serial interface that defines connector pinouts cabling signal levels transmission baud rates and parity checking Controllers can be networked directly or via modems Controllers communicate using a master slave technique in which only one devic...

Страница 40: ...the function For example function code 03 will query the slave to read holding registers and respond with their contents The data field must contain the infor mation telling the slave which register to start at and how many regis ters to read The error check field provides a method for the slave to validate the integrity of the message contents The Response If the slave makes a normal response the...

Страница 41: ...he NMBA 01 supports only the RTU mode Only the RTU mode is described in this document RTU Mode When controllers are setup to communicate on a Modbus network using RTU Remote Terminal Unit mode each 8 bit byte in a message contains two 4 bit hexadecimal characters The main advantage of this mode is that its greater character density allows better data throughput than ASCII for the same baud rate Ea...

Страница 42: ...itor the network bus continuously includ ing during the silent intervals When the first field the address field is received each device decodes it to find out if it is the addressed device Following the last transmitted character a similar interval of at least 3 5 character times marks the end of the message A new message can begin after this interval The entire message frame must be transmitted a...

Страница 43: ...y When a message is sent from a master to a slave device the function code field tells the slave what kind of action to perform Example is to read a group of outputs When the slave responds to the master it uses the function code field to indicate either a normal error free response or that some kind of error occurred called an exception response For a normal response the slave simply echoes the o...

Страница 44: ...occurs the data field of a response from a slave to a master contains the data requested If an error occurs the field contains an exception code that the master application can use to determine the next action to be taken The data field can be nonexistent of zero length in certain kinds of messages For example in a request from a master device for a slave to respond with its communications event l...

Страница 45: ...arity Checking Error Checking Methods Standard Modbus serial networks use two kinds of error checking Par ity checking even or odd can be optionally applied to each character Frame checking CRC is applied to the entire message Both the char acter check and message frame check are generated in the master device and applied to the message contents before transmission The slave device checks each cha...

Страница 46: ...ped in a character frame during transmission For example if Odd Parity checking is employed and two 1 bits are dropped from a character containing three 1 bits the result is still an odd count of 1 bits If No Parity checking is specified no parity bit is transmitted and no parity check can be made An additional stop bit is transmitted to fill out the character frame CRC Checking In RTU mode messag...

Страница 47: ...decimal values in the text of this sec tion They are expressed as hexadecimal values in the message fields of the figures Data Addresses in Modbus Messages All data addresses in Modbus messages are referenced to zero The first occurrence of a data item is addressed as item number zero For example The coil known as coil 1 in a programmable controller is addressed as coil 0000 in the data address fi...

Страница 48: ...ers use a Byte Count value that equals the count of 8 bit bytes in your message data The value is exclusive of all other field contents including the Byte Count field Figure B 4 Slave Response with RTU Framing shows how the byte count field is implemented in a typical response Figure B 3 Master Query with RTU Framing QUERY Field Name Example Hex RTU 8 Bit Field Header None Slave Address 06 0000 01...

Страница 49: ... 8 Bit Field Header None Slave Address 06 0000 0110 Function 03 0000 0011 Byte Count 06 0000 0110 Data Hi 02 0000 0010 Data Lo 2B 0010 1011 Data Hi 00 0000 0000 Data Lo 00 0000 0000 Data Hi 00 0000 0000 Data Lo 00 0000 0000 Error Check CRC 16 bits Trailer None Total Bytes 11 efesotomasyon com Control Techniques emerson saftronics ac drive servo motor ...

Страница 50: ...Query The query message specifies the starting register and quantity of regis ters to be read Registers are addressed starting at zero registers 1 16 are addressed as 0 15 Here is an example of a request to read registers 40108 40110 from slave device 17 Figure B 5 Read Holding Registers Query QUERY Field Name Example Hex Slave Address 11 Function 03 Starting Address Hi 00 Starting Address Lo 6B N...

Страница 51: ...controllers The response is returned when the data is completely assembled Here is an example of a response to the previous query Figure B 6 Read Holding Registers Response The contents of register 40108 are shown as the two byte values of 02 2B hex or 555 decimal The contents of registers 40109 40110 are 00 00 and 00 64 hex or 0 and 100 decimal RESPONSE Field Name Example Hex Slave Address 11 Fun...

Страница 52: ...t register 40002 to 00 03 hex in slave device 17 Figure B 7 Preset Single Register Query Response The normal response is an echo of the query returned after the regis ter contents have been preset Here is an example of a response to the query on the opposite page Figure B 8 Preset Single Register Response QUERY Field Name Example Hex Slave Address 11 Function 06 Register Address Hi 00 Register Add...

Страница 53: ...n a corresponding exception message Query The query message specifies the register references to be preset Registers are addressed starting at zero register 1 is addressed as 0 The requested preset values are specified in the query data field The NMBA 01 uses 16 bit values Data is packed as two bytes per register Here is an example of a request to preset one register starting at 40002 to 00 0A in ...

Страница 54: ... error no response is returned The master program will eventually process a time out condition for the query 3 If the slave receives the query but detects a communication error parity LRC or CRC no response is returned The master program will eventually process a time out condition for the query 4 If the slave receives the query without a communication error but cannot handle it for example if the...

Страница 55: ... data field for the exception code Data Field In a normal response the slave may return data or statis tics in the data field any information that was requested in the query In an exception response the slave returns an exception code in the data field This defines the slave condition that caused the exception Figure B 11 Master Query and Slave Exception Response shows an example of a master query...

Страница 56: ...address for the slave 03 ILLEGAL DATA VALUE A value contained in the query data field is not an allowable value for the slave 04 SLAVE DEVICE FAILURE An unrecoverable error occurred while the slave was attempting to perform the requested action 05 ACKNOWLEDGE The slave has accepted the request and is processing it but a long duration of time will be required to do so This response is returned to p...

Страница 57: ...sive ORed with a preset fixed value if the LSB was a 0 no exclusive OR takes place This process is repeated until eight shifts have been performed After the last eighth shift the next 8 bit character is exclusive ORed with the register s current value and the process repeats for eight more shifts as described above The final contents of the register after all the characters of the message have bee...

Страница 58: ...ments through the message buffer One array contains all of the 256 possible CRC values for the high byte of the 16 bit CRC field and the other contains all of the values for the low byte Indexing the CRC in this way provides faster execution than would be achieved by calculat ing a new CRC value with each new character from the message buffer The function takes two arguments XQVLJQHG FKDU SXFK0VJ ...

Страница 59: ...t up Guide B 21 7DEOH RI 5 YDOXHV IRU KLJK RUGHU E WH VWDWLF XQVLJQHG FKDU DXFK 5 L O O O O O O O O O 7DEOH RI 5 YDOXHV IRU ORZ RUGHU E WH VWDWLF FKDU DXFK 5 R O O O O O O O OO O O efesotomasyon com Control Techniques emerson saftronics ac drive servo motor ...

Страница 60: ... 5 LQLWLDOL HG XQVLJQHG FKDU XFK 5 R ORZ E WH RI 5 LQLWLDOL HG XQVLJQHG X QGH ZLOO LQGH LQWR 5 ORRNXS WDEOH ZKLOH XV DWD HQ SDVV WKURXJK PHVVDJH EXIIHU X QGH XFK 5 L A SXFK0VJ FDOFXODWH WKH 5 XFK 5 L XFK 5 R A DXFK 5 L X QGH XFK 5 R DXFK 5 R X QGH UHWXUQ XFK 5 L _ XFK 5 R All trade names referenced are trademarks or registered trademarks of their respective companies efesotomasyon com Control Tech...

Страница 61: ...hock Max 70 m s2 22 ms IEC 68 2 27 Ambient Conditions Storage Ambient storage conditions refer to the conditions the option module is subjected to during storage in the protective package Temperature 40 to 70 C Relative Humidity Less than 95 no condensation allowed Atmospheric Pressure 70 to 106 kPa Vibration Max 0 3 mm 2 to 9 Hz max 1 m s2 9 to 200 Hz sinusoidal IEC 68 2 6 Shock Max 100 m s2 11 m...

Страница 62: ...Appendix C Ambient Conditions C 2 NMBA 01 Installation and Start up Guide efesotomasyon com Control Techniques emerson saftronics ac drive servo motor ...

Страница 63: ...efesotomasyon com Control Techniques emerson saftronics ac drive servo motor ...

Страница 64: ... Box 184 FIN 00381 Helsinki FINLAND Telephone 358 10 222 000 Telefax 358 10 222 2681 NMBA 01 EN 3AFY 58919772 R0225 EFFECTIVE 1 2 1999 SUPERSEDES 1997 01 10 efesotomasyon com Control Techniques emerson saftronics ac drive servo motor ...

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