Contents
Publication PUB091-003-00_0119
3 of 76
Contents
1
INTRODUCTION .................................................................................................. 7
1.1
General ................................................................................................................................8
2
MODBUS OPTION CARD PROPERTIES ............................................................ 9
2.1
Mechanical properties ........................................................................................................9
2.2
Electrical Properties ......................................................................................................... 11
2.3
Operation and Storage ...................................................................................................... 11
3
FITTING THE MODBUS MODULE OPTION CARD .......................................... 12
3.1
Inside an IQ Pro or IQT Pro actuator ................................................................................ 12
3.2
Inside a Q actuator ............................................................................................................ 13
3.3
Inside ROMpak actuator ................................................................................................... 14
3.4
Inside an SI or EH actuator ............................................................................................... 15
3.5
Replacing or Fitting a Modbus Module Option Card ....................................................... 16
4
RS-485 DATA HIGHWAY, CONNECTIONS AND MFU SETUP........................ 17
4.1
Data Highway .................................................................................................................... 17
4.2
Highway Topology ............................................................................................................ 18
4.3
Cable Types ....................................................................................................................... 19
4.4
Termination Network......................................................................................................... 20
4.5
Inter-connecting the Highway and Setting up the MFU ................................................... 21
4.5.1
Single Highway with Analogue Input ............................................................................. 22
4.5.2
Dual Highway ............................................................................................................... 23
4.5.3
Single Highway with Internal Repeater ......................................................................... 24
5
THE ACTUATOR INPUT AND OUTPUT SIGNALS .......................................... 27
5.1
Control Outputs ................................................................................................................ 27
5.1.1
Controls Priority ........................................................................................................... 30
5.1.2
Modbus Control using Individual Coil commands .......................................................... 31
5.1.3
Modbus Control using the ACTCON Register ............................................................... 31
5.1.4
Modbus Control using the Actuator Position DV register ............................................... 31
5.1.5
The IQ ‘S’ contacts (Modbus DOs). .............................................................................. 32
5.1.6
IQ Modbus Network Control Disable feature ................................................................. 32
5.2
Actuator Digital Input Status Feedback ........................................................................... 32
5.2.1
Digital Inputs from All Actuator Types ........................................................................... 33
5.2.2
Digital Inputs from IQ and IQT Actuator ........................................................................ 36
5.2.3
Digital Inputs from IQT Actuator.................................................................................... 37
5.3
Actuator Analogue Input Feedback.................................................................................. 37
5.4
IQ Data Logger Information .............................................................................................. 38
6
MODBUS COMMUNICATION............................................................................ 40
6.1
Electrical Specification ..................................................................................................... 40
6.2
Outer Protocol ................................................................................................................... 40
6.3
Repeaters .......................................................................................................................... 40
6.4
Dual Channel Mode ........................................................................................................... 41
