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| Optidrive ODE-3 User Guide |
Version 2.00
www.invertekdrives.com
Modbus R
TU Communications
8
8. Modbus RTU Communications
8.1. Introduction
The Optidrive E3 can be connected to a Modbus RTU network via the RJ45 connector on the front of the drive.
8.2. Modbus RTU Specification
Protocol
Modbus RTU
Error check
CRC
Baud rate
9600bps, 19200bps, 38400bps, 57600bps, 115200bps (default)
Data format
1 start bit, 8 data bits, 1 stop bits, no parity
Physical signal
RS 485 (2-wire)
User interface
RJ45
Supported Function Codes
03 Read Multiple Holding Registers
06 Write Single Holding Register
16 Write Multiple Holding Registers (Supported for registers 1 – 4 only)
8.3. RJ45 Connector Configuration
For full MODBUS RTU register map information please
refer to your Invertek Drives Sales Partner. Local contacts
can be found by visiting our website:
www.invertekdrives.com
When using MODBUS control the Analog and Digital
Inputs can be configured as shown in section 7.5.
Macro Functions - Fieldbus Control Mode (P-12 = 3, 4,
7, 8 or 9).
1
CAN -
2
CAN +
3
0 Volts
4
-RS485 (PC)
5
+RS485 (PC)
6
+24 Volt
7
-RS485 (Modbus RTU)
8
+RS485 (Modbus RTU)
Warning:
This is not an Ethernet connection.
Do not connect directly to an Ethernet port.
8.4. Modbus Register Map
Register
Number
Par.
Type
Supported
Function Codes
Function
Range Explanation
03
06
16 Low Byte High Byte
1
-
R/W
✔
✔
✔
Drive Control Command
0..3
16 Bit Word.
Bit 0: Low = Stop, High = Run Enable
Bit 1: Low = Decel Ramp 1 (P-04),
High = Decel Ramp 2 (P-24)
Bit 2: Low = No Function, High = Fault Reset
Bit 3: Low – No Function, High = Coast Stop Request
2
-
R/W
✔
✔
✔
Modbus Speed
reference setpoint
0..5000 Setpoint frequency x10, e.g. 100 = 10.0Hz
4
-
R/W
✔
✔
✔
Acceleration and
Deceleration Time
0..60000 Ramp time in seconds x 100, e.g. 250 = 2.5 seconds
6
-
R
✔
Error code Drive status
Low Byte = Drive Error Code, see section 10.1. Fault
Code Messages
High Byte = Drive Status as follows:
0: Drive Stopped
1: Drive Running
2: Drive Tripped
7
R
✔
Output Motor Frequency 0..20000 Output frequency in Hz x10, e.g. 100 = 10.0Hz
8
R
✔
Output Motor Current
0..480
Output Motor Current in Amps x10, e.g. 10 = 1.0 Amps
11
-
R
✔
Digital input status
0..15
Indicates the status of the 4 digital inputs
Lowest Bit = 1 Input 1
20
P00-01
R
✔
Analog Input 1 value
0..1000 Analog input % of full scale x10, e.g. 1000 = 100%
21
P00-02
R
✔
Analog Input 2 value
0..1000 Analog input % of full scale x10, e.g. 1000 = 100%
22
P00-03
R
✔
Speed Reference Value
0..1000 Displays the setpoint frequency x10, e.g. 100 = 10.0Hz
23
P00-08
R
✔
DC bus voltage
0..1000 DC Bus Voltage in Volts
24
P00-09
R
✔
Drive temperature
0..100
Drive heatsink temperature in °C
All user configurable parameters are accessible as Holding Registers, and can be Read from or Written to using the appropriate Modbus
command. The Register number for each parameter P-04 to P-60 is defined as 128 + Parameter number, e.g. for parameter P-15, the register
number is 128 + 15 = 143. Internal scaling is used on some parameters, for further details please contact your Invertek Drives Sales Partner.
