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Modbus Protocol

If you communicate with the unit by the Modbus protocol, you have full read and write access to all

internal parameters, states and actual values. The FM210 uses the Modbus RTU protocol. The serial

access codes for all parameters of the unit are listed in the parameter list. With the help of USB

access the parameter Serial Mode can be changed from Lecom to Modbus. The parameter Serial

Baud Rate refers to both protocols. With the parameter Modbus Address the Modbus unit address

can be set. Allowed here are the settings 1

…

247.

Attention: The Modbus checksum sequence L/H is just reversed to the data.

The FM210 supports the function Reading Holding Register (R, FCT = 03), the function Report Slave

ID (R, FCT = 11) and the function Preset Single Register (W, FCT = 06).

Modbus Read

To request data from the unit, the following request string must be sent:

ADR FCT STH STL CRH CRL CRCL

CRCH

ADR = MB address (Parameter)

FCT = function (Hex 03)

STH = start Address, High Byte

STL = start Address, Low Byte

CRH = number of registers High Byte

CRL = number of registers, Low Byte

CRCL = checksum CRC16, Low Byte

CRCH = checksum CRC16, High Byte

For example, if the parameter Ref Speed High (Modbus ST = 00 0C (hex), 32 Bit = 2 Word -> Modbus

CR = 00 02) is to be read from the unit with address 07, the detailed request string is:

Designation:

ADR

FCT

STH

STL

CRH

CRL

CRCL CRCH

Hexadecimal:

Binary:

0000
0111

0000
0011

0000
0000

0000
1100

0000
0000

0000
0010

0000
0100

0110
1110

Содержание FM210

Страница 1: ...cy Divider Product features Adjustable Multiplier divider F1 F2 Input format RS 422 HTL single ended HTL differential or TTL Multiplication division without cumulative residual error Additional functi...

Страница 2: ...sur https www motrona com fileadmin files bedienungsanleitungen Fm210_f pdf The operator software OS freeware is available at https www motrona com de support software html Version Description FM210_...

Страница 3: ...r Output A A B B Z Z 11 Control Outputs OUTx 11 LEDs 12 DIL Switch 12 USB 12 RS 485 12 Parameter 13 Factor Menu 13 Command Menu 13 General Menu 14 Input Menu 15 Output Menu 16 Modbus Menu 16 Serial Me...

Страница 4: ...tion Reset Static 28 Command Process Reference 28 Command Process Jog 28 Lecom Protocol 29 Lecom Read 29 Lecom Write 30 Modbus Protocol 31 Modbus Read 31 Modbus Write 32 Modbus CRC Calculation 35 Corr...

Страница 5: ...he right to modify the hardware software or operation manual at any time and without prior notice Therefore there might be minor differences between the unit and the descriptions in operation manual T...

Страница 6: ...ated as separator Incoming as well as outgoing wires and wires for extra low voltages ELV must be separated from dangerous electrical cables SELV circuits by using a double resp increased isolation Al...

Страница 7: ...mounted in a metal enclosure with sufficient distance to sources of electromagnetic noise Run signal and control cables apart from power lines and other cables emitting electromagnetic noise Please a...

Страница 8: ...drives in the realization of electronic shafts or electronically adjustable gears Since the pulse conversion works without errors the unit can also be used for positioning tasks or angular synchronou...

Страница 9: ...e phase offset A B DC Input Voltage Supply The unit is supplied with a DC voltage between 9 30 VDC via terminals 1 and 2 of X1 The current consumption depends among others on the level of the supply v...

Страница 10: ...2 signals is available at terminals 2 7 of X4 The unused inputs must either remain open HTL Single Ended as opposed to HTL Differential or possibly be terminated unused Z lines in RS 422 or HTL Differ...

Страница 11: ...g approximately to the supply voltage at X1 S2 1 OFF encoder output RS 422 S2 1 ON encoder output HTL Attention If the DIL switch is set incorrectly the following circuit may be damaged Control Output...

Страница 12: ...om 5V OFF to 24V ON The DIL switch 2 3 is used for loading the factory parameters when the supply voltage is switched on In the ON position the factory parameters will be loaded at the next power up a...

Страница 13: ...speed 1 1 000 000 2 000 005 Ref Ramp This parameter is only valid in Reference mode It indicates the ramp time in seconds 0 ramp off 0 99 10 006 Jog Speed This parameter is only valid in Jog mode It i...

Страница 14: ...rcent at the output 0 100 10 017 Calculation Freq This parameter reflects different ways of calculating the output frequency 0 faster but less accurate 1 slower but more accurate 0 1 0 018 Direction T...

Страница 15: ...unction 0 No Function 1 Reset Edge 2 Inhibit 3 Direction 4 Jog 5 Offset Edge 6 Reference 7 Trim 8 Trim 9 Prestop Mark 10 Edge Prestop 11 Reset Static 12 Z Reference 0 12 0 027 Input 2 Config see Input...

Страница 16: ...ry 0 no inversion of the outputs 1 OUT1 inverted OUT2 not inverted 2 OUT1 not inverted OU2 inverted 3 both outputs are inverted 0 3 0 036 Diff Error Number of differential counter increments at which...

Страница 17: ...d formats 0 Lecom protocol with RS Unit No Baud rate and format 1 Modbus protocol with RS baud rate and 8E1 2 Modbus protocol with RS baud rate and 8O1 3 Modbus protocol with RS baud rate and 8N2 0 3...

Страница 18: ...te no error Setting the Encoder Output The encoder output can be changed from RS 422 5V signals to HTL 24 signals using the DIL switch S2 S2 1 OFF encoder output RS 422 S2 1 ON encoder output HTL Atte...

Страница 19: ...pulses per time unit then an asymmetrical Z pulse output image appears as long as the command or input is active at the output 6 5 2 Setting the Serial RS 485 Interface The protocol of the RS 485 int...

Страница 20: ...the command is set If the Output X Function parameter is set to 4 the output reflects the command status command set output high without inversion Direction The Direction function changes the directi...

Страница 21: ...de 65 the command is set Modbus FF0C hex Release 07 06 FF 0C 00 00 79 BB Set 07 06 FF 0C 00 01 B8 7B Modbus address 7 command in hex If a 1 is written to FF0C the command is set Trim Triggering Parame...

Страница 22: ...many increments per time are added or subtracted and the closed loop control is not able to follow the differential counter may run away The closed loop control or the affected parameters have to be a...

Страница 23: ...e Tiggering Parameter Comment Addition Input Input X Config 0 1 Input X Function 2 If Input X Config 0 is set the command is triggered in case of a low state at input X The status of the input can be...

Страница 24: ...Input Input X Config 0 1 Input X Function 4 If Input X Config 0 is set the command is triggered in case of a low state at input X The status of the input can be read in the OS Input field Lecom Code...

Страница 25: ...g Parameter Comment Addition Input Input X Config 0 1 Input X Function 9 If Input X Config 0 is set the command is triggered in case of a low state at input X The status of the input can be read in th...

Страница 26: ...til the limit switch Prestop Mark command is passed After the limit switch has been passed the frequency is reduced to zero with the same ramp time start drive stop After zeroing the drive changes the...

Страница 27: ...cycle The Reference command can be reset earlier If the Special Mode is set to 2 reset the Reference command means an abort In this case the sequence would have to correspond the image below to compl...

Страница 28: ...unter becomes larger than the value set in the Diff Error parameter a phase error is triggered which can then be shown via an output Direction f 0 If the output frequency f 0 the output will be set Th...

Страница 29: ...Low Byte C1 code High Byte C2 code Low Byte ENQ control character Hex 05 If the current differential counter for example should be read code 1 with the unit address 11 parameter RS Unit No then the d...

Страница 30: ...prepare several new parameters in the background while the unit is running If the transferred parameters are to be activated the value 1 must be sent to the Activate Data register This will activate a...

Страница 31: ...e data The FM210 supports the function Reading Holding Register R FCT 03 the function Report Slave ID R FCT 11 and the function Preset Single Register W FCT 06 Modbus Read To request data from the uni...

Страница 32: ...g Holding Register also supports more than 2 Word accesses to the direct parameter addresses 0x0 0x4 0x8 0xC for area readout Modbus Write To write data to the unit the following string must be sent A...

Страница 33: ...ew parameters in the background while the unit is running If the transferred parameters are to be activated an Activate Data must be sent to the unit This will activate all changed parameters simultan...

Страница 34: ...001 0001 1100 0011 1000 1100 The answer of the unit is if the request is correct Designation ADR FCT BYTE RUN DATA CRCL CRCH Hexadecimal 07 11 12 FF 46 4D 32 31 30 20 20 20 46 4D 32 31 30 30 31 42 C9...

Страница 35: ...hat with Modbus the CRC sends first the LByte and then the HByte therefore byte swapping is necessary Correction of the difference increments The correction of the difference increments can be done by...

Страница 36: ...ow the Correction Freq is set to 500 and Correction Value to 1500 500kHz Difference counter now moves around 40 to 20 If the frequency is now reduced to 250kHz the differential counter moves by 20 to...

Страница 37: ...H3A 015 Sampling Time 1 1000 1 4 3 12 L3C H3E 016 Overshoot 0 100 10 3 0 13 L40 H42 017 Calculation Freq 0 1 0 1 0 14 L44 H46 018 Direction 0 1 0 1 0 15 L48 H4A 019 Correction Basis 0 10000 25 5 0 16...

Страница 38: ...0 C2 LA0 HA2 041 Reserved 0 10000 1000 5 0 C3 LA4 HA6 042 USB Unit Nr 11 11 11 2 0 90 LA8 HAA 043 USB Baud Rate 0 0 0 1 0 91 LAC HAE 044 USB Format 0 0 0 1 0 92 LB0 HB2 045 Serial Page 0 7 0 1 0 0 LB4...

Страница 39: ...Fm210_01b_oi_e docx Nov 20 Page 39 40 Dimensions...

Страница 40: ...tial signal 1 V max 350kHz Level 1 Low 0 10V High 14 30 V Level 2 Low 0 5V High 9 30 V max 350kHz Low 0 0 6V High 2 2 5V Control inputs Number of inputs Format Frequency Reaction time Load 4 HTL PNP L...

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