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Version 3.07
| Optidrive P2 User Guide |
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Modbus RTU and CANbus connection should be made via the RJ45 connector. The pin assignments are as shown above, in section
9.1. RS-485 Communications.
 Modbus RTU and CANbus networks require three conductors for best operation and to eliminate common mode voltages on the
drive terminals:
o RS485+
o RS485-
o 0 Volt Common
 Connection should be made using a suitable dual twisted pair, shielded cable, with a wave impedance of 120 Ohms.
 Use one of the twisted pairs to connect to the RS485+ and RS485- of each drive.
 Use one conductor of the remaining pair to connect together all the 0 volt common connection terminals.
 The cable shield should be connected to a suitable clean ground point to prevent interference with the screen maintained as close
as possible to the cable terminations.
 Do not connect the 0 Volt Common, RS485- or RS485+ to ground at any point.
 Network terminating resistor (120 Ohms) should be used at the end of the network to reduce noise.
9.2. Modbus RTU Communications
9.2.1. Modbus Telegram Structure
The Optidrive P2 supports Master / Slave Modbus RTU communications, using the 03 Read Multiple Holding Registers and 06 Write
Single Holding Register commands and 16 Write Multiple Holding Registers (Supported for registers 1 – 4 only). Many Master
devices treat the first Register address as Register 0; therefore it may be necessary to convert the Register Numbers detailed in section
9.2.2. Modbus Control & Monitoring Registers by subtracting 1 to obtain the correct Register address.
9.2.2. Modbus Control & Monitoring Registers
The following is a list of accessible Modbus Registers available in the Optidrive P2.
 When Modbus RTU is configured as the Fieldbus option, all of the listed registers can be accessed.
 Registers 1 and 2 can be used to control the drive provided that Modbus RTU is selected as the primary command source
(P1-12 = 4) and no Fieldbus Option Module is installed in the drive Option Slot.
 Register 4 can be used to control the acceleration and deceleration rate of the drive providing that Fieldbus Ramp Control is
enabled (P5-07 = 1).

Registers 6 to 24 can be read regardless of the setting of P1-12.
9
Serial Communications