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Modbus Option Card Properties

Publication

PUB091-004-00_0918

21 of 64

Actuator internal spur length as in the table below:

If greater distances are required for the network, then the actuators can be operated at lower baud
rates of 300, 600, 1,200, 2,400 or 4,800 baud. Alternatively, the distances can also be increased at the
higher data rates by using repeaters or fibre-optic links between the devices on the network.

4.3 Cable Types

The network must be connected using a suitable cable. Two conductors plus a shield and drain wire
are required as a minimum, though Rotork recommends the use of a 3 wire cable to ensure the
common mode voltage between all the actuators and the PLC is kept within the RS-485 specified
limits.

Among the cable manufacturers, Belden have the PVC jacketed 3105A single pair 2 core cable, which
meets the minimum requirement. Belden 3106A has an extra core and therefore has sufficient
conductors to include a common wire between all the nodes on the network and meets the Rotork
recommendation. Information on Belden cable may be found on the Belden web site
(www.belden.com) or at http://bwcecom.belden.com/, where a search on RS-485 will reveal technical
papers and cable information.

Belden Part No.

Total

Number of

Conductors

AWG (stranding)

dia. Inches

Nom. DC

Resistance

Insulation material

Nominal

O.D.

Nom

Impedance

(ohms)

Nominal

Capacitance

3105A

Paired

- EIA Industrial

RS-485 PLTC/CM

2

22 AWG

(7 x 30)

48.2 ohm/km

Overall PVC jacket

Datalene insulated

twisted pair

7.26 mm

120

36.1 nF/km

3106A

Composite - EIA

Industrial RS-485

PLTC/CM

3

22 AWG

(7 x 30)

48.2 ohm/km

Overall PVC jacket

Datalene insulated

twisted pair

7.67 mm

120

36.1 nF/km

Fig 13:

Typical RS-485 cable

Other cable manufacturers also produce suitable cables for Modbus networks. The quality of the
Modbus network will largely depend on the cabling choices made during planning; and quality of
installation.

The terminals to which the wires connect in each actuator type will be different and the actuator wiring
diagram must be consulted to establish the connections.

Actuator Type

IQ3

SI

3

CVA

CMA

K-Range

Internal Drop length (metres)

0.6

0.6

0.4

0.14

0.4

Data Pair

Screen

Belden 3105A

Belden 3106A

Common

Data Pair

Screen

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Содержание Modbus

Страница 1: ...Publication PUB091 004 00_0918 Modbus RTU Actuator Control Mk 3 Option Card Technical Manual IQ3 SI3 CVA CMA K Range...

Страница 2: ...2 Although the same Modbus module is fitted to the different ranges of actuators there will be different numbers of valid inputs and outputs for each range depending on the actuator capabilities For e...

Страница 3: ...logy 20 4 3 Cable Types 21 4 4 Termination Network 22 4 5 Inter connecting the Highway and Setting up the MFU 23 4 5 1 Single Highway 23 4 5 2 Dual Highway 23 4 5 3 Single Highway with Internal Repeat...

Страница 4: ...ack Diagnostic Test 50 7 6 9 Data Accessed with Function Code 17 Report Slave ID 50 7 7 Database Summary 51 7 8 Configuration Registers 53 7 9 Actuator Related Configurable Parameter Registers 54 7 9...

Страница 5: ...tion format 41 Fig 18 Limited Range Position Control and Reporting 55 Fig 19 Deadband and Hysteresis settings 56 Glossary of Terms Address The unique address for a node on a particular highway of the...

Страница 6: ...nitary load Abbreviations ACTCON Actuator Control Register CMA Compact Modulating Actuator Comms Communications CRC Cyclic Redundancy Check error detection CVA Control Valve Actuator CVL Linear versio...

Страница 7: ...Modbus master tool or via the Infra red or Bluetooth actuator setting tools for those products that support those interfaces The settings which must be correct for communication are address baud rate...

Страница 8: ...eneral The Modbus Module has three variants Single RS 485 highway Dual Independent isolated RS 485 highways Single RS 485 highway with inbuilt isolating repeater Communication Medium RS 485 2 wire hig...

Страница 9: ...the actuator by a ten pin connector 10 way header SK2 The field unit should be carefully fitted so that the connectors mate correctly The actuator internal wiring harness connects the field unit at S...

Страница 10: ...or It can also be read from the actuator using the setting tool by using Insight with Infra red or by using Insight2 with Bluetooth where appropriate Additionally the circuit includes non volatile mem...

Страница 11: ...nd there is an option to include Digital Outputs from relay contacts If the MFU is required to operate the 4 digital outputs that can be controlled from the card then an Extra Relay Indication card as...

Страница 12: ...ch the wiring loom to the correct terminals which are numbered Re fit the terminal bung Once the loom is in place connect it to the MFU then fit the MFU to the actuator main board connector Attach the...

Страница 13: ...ng looms from the sockets on the edges of the Main PCB noting carefully where they attach Each connector is different to avoid error Remove the Main PCB in its plastic chassis by gently pushing the ch...

Страница 14: ...ing cover should be removed after unscrewing the four 6mm Allen machine screws The MFU should be fitted in the position shown in the illustrations above It plugs into the control board at the 10 way h...

Страница 15: ...Modbus Option Card Properties Publication PUB091 004 00_0918 15 of 64 Fig 6 CMA menu structure for setting up the actuator start at the BASIC setting and select the ADVANC button...

Страница 16: ...Modbus MFU Option Card Installation Manual 16 of 64 Publication PUB091 004 00_0918 Fig 7 CMA menu structure for setting up the actuator from the ADVANC setting select the COMMS button...

Страница 17: ...PUB091 004 00_0918 17 of 64 Fig 8 CMA menu structure for setting up the actuator from the COMMS setting select the Modbus button From here you can adjust the individual Modbus settings Fig 9 Connecti...

Страница 18: ...n the MFU card Modbus Option Card Main Card Fig 10 The MFU located in a K Range actuator The MFU should be replaced or fitted only in a suitable environment The actuator must be made electrically safe...

Страница 19: ...a negative wire when a logic 1 pulse is on the highway The highway itself can use tapped spur or stub connections to the actuators but it is recommended to keep any stub lengths to a minimum for succe...

Страница 20: ...ond the actuators can be directly connected to the trunk line in a daisy chain All the configurations require the cumulative total of the stub lines to be kept within the permitted maximum for the net...

Страница 21: ...ork recommendation Information on Belden cable may be found on the Belden web site www belden com or at http bwcecom belden com where a search on RS 485 will reveal technical papers and cable informat...

Страница 22: ...the devices on the highway is transmitting Without the active termination there may be some communications errors The value of the biasing resistors must be between 450 and 650 560 120 560 5 V 0 V Act...

Страница 23: ...The terminal numbers depend on the actuator type and are indicated on the actuator wiring diagram Take care to ensure that the correct polarity is observed on the data highway connection Data line 1A...

Страница 24: ...irections such that communications that appear on channel 1 will be repeated onto channel 2 and communications that appear on channel 2 will appear on channel 1 If the message is addressed to a device...

Страница 25: ...originating at the PLC and operating the actuator controls i e Outputs from the PLC 5 1 Control Outputs The MFU can be used to control the actuator to position the valve The valve may be moved fully...

Страница 26: ...est Local Controls Open Close Stop Direct Hard Wired Inputs Open Close Stop Maintain Emergency Shut Down Open Interlock active prevents opening Close Interlock active prevents closing Note Requires Di...

Страница 27: ...position There are settings within the actuator to configure this to be a close open or stay put action It may also be switched off The ESD command can be configured to override Thermostat trip Interl...

Страница 28: ...e The hard wired Close input will cause the actuator to run to the closed limit if there are no alarm conditions or local controls active and the Auxiliary Input Mask is set to an appropriate value Th...

Страница 29: ...er devices or as control inputs The associated Auxiliary Input Mask parameter must be set to select the required function In the case of the hard wired input for ESD this can be configured either as a...

Страница 30: ...e power is restored 5 1 3 Modbus Control using the ACTCON Register A single register is provided to allow the digital control of the actuator Writing a value to the register with function code 06 or 1...

Страница 31: ...en the ESD input connection is made i e 24 volts applied to ESD Modbus control is not allowed This feature is independent of the Auxiliary Input Mask setting When the ESD DI 4 Net Disable parameter is...

Страница 32: ...it is true 1 whenever the actuator motor contactor used to drive the actuator in the opening direction is energised Remote Selected This bit is true 1 when the actuator three position Remote Local Sto...

Страница 33: ...re Valve Jammed This bit will be true 1 if the actuator is stationary at the end of travel and fails to move away from the seat of the valve when a network command requests it to do so The actuator wi...

Страница 34: ...mains power is lost This battery is used only when the actuator has no power feed and the valve is actually moved Open Interlock The input contact to the Open Interlock is monitored by the MFU Whenev...

Страница 35: ...on is set in the Auxiliary Input Mask parameter which determines whether the bit is reported as true 1 for a closed contact or an open contact and whether the input controls the actuator or not Note t...

Страница 36: ...enting the percentage of actuator rated torque generated Valve Position The current valve position is reported as an Integer Value in the range 0 to 1000 0 3E8 hex representing the percentage position...

Страница 37: ...when the actuator is moving from open to closed and reaches a particular position x The registers contain 11 values of torque generated in 10 position increments between 100 and 0 of valve travel Mot...

Страница 38: ...Modbus MFU Option Card Installation Manual 38 of 64 Publication PUB091 004 00_0918 The rest of this page is intentionally blank...

Страница 39: ...y s 3 5 3 5 3 5 3 5 3 5 3 5 3 5 3 5 3 5 3 5 Inter Character timeout t1 5 ms 55 04 27 52 13 76 6 88 3 44 1 72 0 860 0 750 0 750 0 750 Inter frame delay t3 5 ms 128 3 64 16 32 08 16 04 8 02 4 01 2 00 1...

Страница 40: ...ollowing points must be noted The module only has one setting for the unit s communication speed and format Both the comms ports share one set of common values for these parameters The channels may ha...

Страница 41: ...new character or frame completion then the next byte received will be the start of a new message beginning with the address Modbus Address Function Code Register or Discrete Address Number of Registe...

Страница 42: ...Illegal data address Register or discrete address invalid 03 Illegal data value 06 Busy To read data the function code to use will depend on whether the data is to be read as single bits or as 16 bit...

Страница 43: ...en the Modbus Module and the host This code can be regularly sent and used as a heartbeat to test the communications link The MFU supports this test when used with diagnostic code 00 Return Query Data...

Страница 44: ...ns listed start from 0 Please check the host system documentation carefully to determine if any offsets are required Typical Offsets are Function Code Offset to be added to formulae result 01 1 02 100...

Страница 45: ...1 1 RO Closed position limit 0 1 2 RO Open position limit 0 1 3 RO Running closed 0 1 4 RO Running open 0 1 5 RO Remote selected 0 1 6 RO Local Stop selected 0 1 7 RO Local selected 0 1 8 RO Thermosta...

Страница 46: ...O Valve obstructed 0 1 0 11 RO Valve jammed 0 1 0 12 RO Valve moving by hand 0 1 0 13 RO Moving inhibited by MIT 0 1 0 14 RO Position control enabled 0 1 0 15 RO EEPROM Checksum failure 0 1 1 0 RO Bat...

Страница 47: ...0 78 hex 33 RO Open Torque set 0 78 hex 34 RO Torque at 0 open direction 0 78 hex 35 RO Torque at 10 open direction 0 78 hex 36 RO Torque at 20 open direction 0 78 hex 37 RO Torque at 30 open directio...

Страница 48: ...selected 0 1 0 7 RO Local selected 0 1 0 8 RO Thermostat tripped 0 1 0 9 RO Monitor relay 0 1 0 10 RO Valve obstructed 0 1 0 11 RO Valve jammed 0 1 0 12 RO Valve moving by hand 0 1 0 13 RO Moving inhi...

Страница 49: ...ial stroke test the actuator are not cancelled by writing a 0 but this will de energise the coils The actuator latches the instruction and will complete the action unless a subsequent counter command...

Страница 50: ...e is the same as the query sent Two codes are supported Code Data 00 Return query data 02 Return diagnostic register The Diagnostic Register contains the following data Location Reg Bit R W Data Range...

Страница 51: ...Input and Output Signals Publication PUB091 004 00_0918 51 of 64 7 7 Database Summary...

Страница 52: ...Modbus MFU Option Card Installation Manual 52 of 64 Publication PUB091 004 00_0918...

Страница 53: ...ion of the manual describes each variable parameter register and should be used for reference when using the configuration tools All the registers can be read using function code 03 Read Holding Regis...

Страница 54: ...sis to be set to 0 1 Modbus Network Related Network Configurable Parameter Registers Description Value Range Default Value Location Register R W Access Modbus Address 1 247 0001 00F7 hex 247 00F7 hex...

Страница 55: ...valve travel In this mode the position data relates to the reduced portion of the valve stroke This is sometimes used where the valve is required to have a 0 position or 100 position that is not the s...

Страница 56: ...the motor will be stopped For example a 5 deadband will cause the motor to be stopped once the actual position is within 5 of the desired position The inertia will then bring the actual position near...

Страница 57: ...x7x6x5x4 either enables or disables the associated input for control of the actuator The bits in the low order nibble y3y2y1y0 determine if the input reports a closed contact as a 1 or an open contac...

Страница 58: ...er 1 is set to Position No action will be taken unless the communications stops for a period equal or greater than the setting in the Comms Fault Timer Register 21 7 9 7 ESD DI 4 Net Disable Register...

Страница 59: ...ses 7 10 2 Baud Rate Register 23 Register 23 sets the communication baud rate On a dual channel unit both channels operate at the same baud rate 7 10 3 Parity and Stop Bits Register 24 The parity and...

Страница 60: ...Modbus MFU Option Card Installation Manual 60 of 64 Publication PUB091 004 00_0918 The rest of this page is intentionally blank...

Страница 61: ...unication port for setting the actuator performance limit switches and so on This communication link can be used to set some but not all of the MFU parameter registers The registers should still be ch...

Страница 62: ...the variable registers The table lists all the registers that must be checked and set up for each Modbus Module on a network The data should be recorded for each module Actuator Configurable Register...

Страница 63: ...an MFU fitted or the MFU may be damaged If the network is attached to the correct terminals and there are no communications then perhaps the A and B connections are reversed These could be swapped aga...

Страница 64: ...es the right to amend and change specifications without prior notice Published data may be subject to change Please check web site for latest version UK Rotork PLC Tel 44 0 1225 733 200 Fax 44 0 1225...

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