Lenze AC Tech POSITIONSERVO Manuale utente

Modbus Communication Module

Communications Interface Reference Guide

P94MOD01B

2P94MOD01B

permission from AC Technology Corporation. The information and technical data in this manual are subject to

change without notice. AC Tech makes no warranty of any kind with respect to this material, including, but not

limited to, the implied warranties of its merchantability and ﬁtness for a given purpose. AC Tech assumes no

responsibility for any errors that may appear in this manual and makes no commitment to update or to keep

current the information in this manual.

MotionView®, PositionServo®, and all related indicia are either registered trademarks or trademarks of Lenze

AG in the United States and other countries.

ModBus®is a registered trademark of ‘Schneider Automation’.

This document printed in the United States of America

About These Instructions

This documentation applies to Modbus RTU and Modbus TCP/IP communications for the PositionServo drive and

should be used in conjunction with the PositionServo User Manual (S94P01) that shipped with the drive. These

documents should be read carefully as they contain important technical data and describe the installation and

operation of the drive and this option module.

3 P94MOD01B

Table of Contents

1. Safety Information...................................................................................................4

1.1 Warnings, Cautions & Notes.............................................................................................4

1.2 Reference Documents...................................................................................................... 6

2. Introduction.............................................................................................................6

2.1 Modbus Overview ........................................................................................................... 6

2.2 Ethernet TCP/IP Modbus Conﬁguration............................................................................ 6

2.3 Modbus RTU Implementation Speciﬁcation ..................................................................... 7

3. Installation ..............................................................................................................9

3.1 Mechanical Installation .................................................................................................... 9

3.2 Electrical Installation....................................................................................................... 10

4 Modbus Protocol Details.........................................................................................11

4.1 Data Transmission.......................................................................................................... 11

4.2 Register Numbering........................................................................................................ 12

4.3 Supported Modbus Function Codes................................................................................. 12

5 Drive Memory Access ............................................................................................12

5.1 Mapping from Drive Variable to the Register Address...................................................... 12

5.2 Register Reading ............................................................................................................ 13

5.3 Register Writing .............................................................................................................. 13

5.4 No Response Conditions ................................................................................................. 14

5.5 Exception Responses ...................................................................................................... 15

6 Commissioning ......................................................................................................16

6.1 Drive Monitoring ............................................................................................................. 16

6.2 Controlling the Drive .......................................................................................................16

6.3 Changing Drive Parameters ............................................................................................ 16

7 Programming Parameters ......................................................................................16

7.1 Negative Number Transmission ...................................................................................... 16

4P94MOD01B

1. Safety Information

1.1 Warnings, Cautions & Notes

General

Some parts of Lenze controllers (frequency inverters, servo inverters, DC controllers) can be live, with the

potential to cause attached motors to move or rotate. Some surfaces can be hot.

Non-authorized removal of the required cover, inappropriate use, and incorrect installation or operation creates

the risk of severe injury to personnel or damage to equipment.

All operations concerning transport, installation, and commissioning as well as maintenance must be carried

out by qualiﬁed, skilled personnel (IEC 364 and CENELEC HD 384 or DIN VDE 0100 and IEC report 664 or DIN

VDE0110 and national regulations for the prevention of accidents must be observed).

According to this basic safety information, qualiﬁed skilled personnel are persons who are familiar with the

installation, assembly, commissioning, and operation of the product and who have the qualiﬁcations necessary

for their occupation.

Application as directed

Drive controllers are components which are designed for installation in electrical systems or machinery. They

are not to be used as appliances. They are intended exclusively for professional and commercial purposes

according to EN 61000-3-2. The documentation includes information on compliance with the EN 61000-3-2.

When installing the drive controllers in machines, commissioning (i.e. the starting of operation as directed)

is prohibited until it is proven that the machine complies with the regulations of the EC Directive 98/37/EC

(Machinery Directive); EN 60204 must be observed.

Commissioning (i.e. starting of operation as directed) is only allowed when there is compliance with the EMC

Directive (89/336/EEC).

The drive controllers meet the requirements of the Low Voltage Directive 73/23/EEC. The harmonised standards

of the series EN 50178/DIN VDE 0160 apply to the controllers.

The availability of controllers is restricted according to EN 61800-3. These products can cause radio

interference in residential areas.

Installation

Ensure proper handling and avoid excessive mechanical stress. Do not bend any components and do not

change any insulation distances during transport or handling. Do not touch any electronic components and

contacts.

Controllers contain electrostatically sensitive components, which can easily be damaged by inappropriate

handling. Do not damage or destroy any electrical components since this might endanger your health!

Electrical connection

When working on live drive controllers, applicable national regulations for the prevention of accidents (e.g. VBG

4) must be observed.

The electrical installation must be carried out according to the appropriate regulations (e.g. cable cross-sections,

fuses, PE connection). Additional information can be obtained from the national regulation documentation. In

the United States, electrical installation is regulated by the National Electric Code (nec) and NFPA 70 along with

state and local regulations.

5 P94MOD01B

The documentation contains information about installation in compliance with EMC (shielding, grounding, ﬁlters

and cables). These notes must also be observed for CE-marked controllers.

The manufacturer of the system or machine is responsible for compliance with the required limit values

demanded by EMC legislation.

Operation

Systems including controllers must be equipped with additional monitoring and protection devices according to

the corresponding standards (e.g. technical equipment, regulations for prevention of accidents, etc.). You are

allowed to adapt the controller to your application as described in the documentation.

DANGER!

• After the controller has been disconnected from the supply

voltage, live components and power connection must not be touched

immediately, since capacitors could be charged. Wait at least 60

seconds before servic-ing the drive Please observe the corresponding

notes on the controller.

• Do not continuously cycle input power to the controller more than once

every three minutes.

• Please close all protective covers and doors during operation.

WARNING!

Network control permits automatic operation of the inverter drive.

The system design must incorporate adequate protection to prevent

personnel from accessing moving equipment while power is applied to

the drive system.

Pictographs used in these instructions:

Pictograph Signal Word Meaning Consequence if Ignored

DANGER! Warning of Hazardous Electrical

Voltage.

Reference to an imminent

danger that may result in death

or serious personal injury if the

corresponding measures are

not taken.

WARNING! Impending or possible danger to

personnel

Death or injury

STOP! Possible damage to equipment Damage to drive system or its

surroundings

NOTE Useful tip: If note is observed, it

will make using the drive easier

6P94MOD01B

1.2 Reference Documents

• Modbus Application Protocol Speciﬁcation V1.1

To view this speciﬁcation, visit: http://www.modbus.org/tech.php

or: http://www.modbus-ida.org/specs.php

• Modbus Over Serial Line Speciﬁcation & Implementation Guide V1.0.

Refer to: http://www.modbus.org/

• PositionServo Programming Manual: PM94P01

Refer to: http://www.actech.com

NOTE:

The complete list of variables can be found in Appendix A of the PositionServo

Programming Manual (PM94P01).

2. Introduction

This reference guide assumes that the reader has a working knowledge of Modbus RTU or Modbus TCP/IP

Protocol and familiarity with the programming and operation of motion control equipment. This guide is intended

as a reference only. The PositionServo drive supports both Modbus TCP/IP and Modbus RTU communication

protocols. Modbus TCP/IP communications can be established via the PositionServo drive’s Ethernet port.

When using the RS485 option module (P/N E94ZARS41), Modbus RTU is the standard communication protocol.

Refer to Section 3 for installation of the RS485 option module.

2.1 Modbus Overview

Modbus is an internationally accepted asynchronous serial protocol designed for commercial and industrial

automation applications. The Modbus RTU architecture is based upon a Master-Slave orientation. In Modbus

RTU, the PositionServo drive always acts as the slave, responding to reads and writes from the Master. In

Modbus TCP/IP, the PositionServo drive can act as the Master or a slave. While the Modbus RTU protocol does

not specify the physical layer, the E94ZARS41 module uses a 2-wire RS-485 physical interface which is quite

common and well suited for the industrial environment. The E94ZARS41 module provides both galvanic and

optical isolation of the physical interface.

2.2 Ethernet TCP/IP Modbus Conﬁguration

The PositionServo Drive is a standard ModbusTCP slave device and its IP address, subnet mask and default

gateway can be conﬁgured using MotionView software. It supports up to two (2) simultaneous connections

on the standard Modbus TCP port 502. On open connections with no activity for more then 75 seconds, the

PositionServo Drive sends a TCP keep-alive message every 75 seconds to check the connection status.

7 P94MOD01B

2.3 Modbus RTU Implementation Speciﬁcation

Typical communications between master and slave would be:

• Write commands from Master

- Run command

- Reference values

- Modiﬁcation of Drive operating parameters

• Read requests from Master

- Reporting of drive status

- Fault status (and fault history)

The PositionServo drive most nearly conforms to the Modicon® Micro 84 in capabilities. This may be of

importance when conﬁguring networks for DDE Servers.The following table identiﬁes the Modbus serial

communication speciﬁcations. If the speciﬁcation is ﬁxed (non-adjustable) the value is shown under “Range”,

if the speciﬁcation is selectable, the table identiﬁes the Parameter and available range of selections.

Table 1: ModBus Communications Module Parameters

Description Type Range

Baud Rate Selectable 19200, 38400, 57600, 115200

Data Bits Fixed 8

Parity/Stop Bits Selectable Even/1, Odd/1, None1, None2

Network Address Selectable 1 - 247

The following communication parameters are available:

RS485 conﬁguration – If the value of this parameter is ‘Modbus slave’, the modbus slave protocol is enabled

on the RS485 port. If the value is ‘Normal’, the RS485 uses PPP (Point-to-Point Protocol). In Modbus ‘Slave’

mode the drive is conﬁgured to receive commands from the Modbus Master.

Modbus Baud Rate – the RS485 baud rate in Modbus mode. The default conﬁguration uses 2 stop bits and

no parity. Stop and parity bits are conﬁgurable from the same RS485 conﬁguration menu.

Modbus Reply Delay – The delay introduced after receiving a Modbus request and before sending a reply.

Note that this delay will always be >= 3.5 characters as required by the Modbus speciﬁcation. Some Modbus

master devices are slow and an increase of the ‘Modbus reply delay’ value may be required to successfully

work with these devices.

Each slave device in the Modbus network must have its own unique network address. The ‘Addr’ submenu

on the drive display and the front panel buttons can be used to set the Modbus network address. The Modbus

Master has no address.

The PositionServo is a Modbus slave device in a single master, multiple slave network. Sometimes slave

devices are named servers because they wait for requests. Therefore the PositionServo drive can be one of

many slaves communicating to the Modbus master. Most terminals are conﬁgured as masters with a Modbus

generic driver.

The PositionServo drive uses the required delay of 3.5 characters time between packets to determine the end

of a packet.

The following Modbus functions are supported:

1. 03 (0x03) Read Multiple Holding Registers

2. 16 (0x10) Write Multiple Holding Registers

8P94MOD01B

Note that all parameters in the PositionServo drive are 32 bit values and they cannot be accessed by Write

Single Register functions or Read Holding Register functions with a length of 1 (one 16 bit register). The

user has to use two 16 bit registers to read/write one 32 bit register and for this purpose should reserve 2

consecutive addresses per 32 bit register.

Discrete Number

17 16 0

ModBus Discrete Number and 32-bit Format

14 1

Bit

29 28 27 26 25 24 23 22 21 20 19 18 13 12 11 10 9 8 7 6 5 4 3 2

215

1 3 4 567 8 9 10 11 12 13 14

Hex value

x0001

x4000 x0002

x8000 x2000 x1000 x0800 x0400 x0200 x0100 x0080 x0040 x0020 x0010 x0008 x0004

Figure 1: 32 bit Pack Format Discrete Data

The user doesn’t have any discrete functions but can use holding registers with DWORD (integer 32 bit) access

to write discrete values.

When the PositionServo drive receives a Modbus message, the requested function is executed and the drive

can reply with a ‘Normal’ message, an ‘Exception’ Message or a ‘No’ message. These messages are described

in the Modbus Application Protocol Speciﬁcation V1.1.

The PositionServo drive also supports a Modbus broadcast address. In this case the PositionServo drive receives

a correct Modbus request and executes it without sending any reply back.

The DWORD (double word) and FLOAT numbers are sent with the LOW WORD FIRST convention by the

PositionServo drive.

Register_L (Bits 15 ... 0)

1 0 16

DWORD_ Unsigned Single Precision 32-bit Format

Register_H (Bits 31... 16)

30 17

HByte HByte

LByte LByte

13 12 11 10 9

15 8 7 6 54 3 229 28 27 26 25 24 23 22 21 20 19 18

Figure 2: DWORD Format

1bit

sign

8 bits

exponent

23 bits

mantissa

23 22 0

IEEE 754 Floating Point: Single Precision 32-bit Format

Figure 3: FLOAT Format

Note: Some terminals may have to be conﬁgured appropriately in order to accept such a WORD order.

9 P94MOD01B

3. Installation

This section is only applicable to Modbus RTU communication with the RS485 option module, E94ZARS41.

3.1 Mechanical Installation

Install the RS485 Communications Module as illustrated in Figure 4.

Disconnect power from drive and wait 3 minutes.

Remove the two COMM module screws that secure Option Bay 1.

With a ﬂat head screwdriver, pry up the Option Bay 1 cover plate.

Install the RS485 COMM Module (E94ZARS41) in Option Bay 1.

Secure with two COMM module screws (max torque: 0.3Nm/3lb-in).

S921

Figure 4: Installation of RS485 Communications Module

10P94MOD01B

3.2 Electrical Installation

Table 2 and Figure 5 illustrate the pinout of the PositionServo RS485 Option Module E94ZARS41. The 3-pin

connector provides 2-wire plus isolated ground connection to the network.

Table 2: RS485 Interface Pin Designation

Terminal Name Description

1 ICOM Isolated Common

2 TxB (+) Transmit B (+)

3 TxA (-) Transmit A (-)

Figure 5: RS485 Interface Pin Designation

Connections and Shielding

Figure 6 illustrates the connection of the cables for a PositionServo drive in a Modbus master/slave network.

A 120ohm (1%) termination is necessary between the high and low terminals of the ﬁrst and last slaves in the

network. Note that while ModBus serial protocol supports up to 247 slave addresses, the maximum number

of slave nodes for a network is dictated by the Modbus Master

PLC/PC

Modbus Master

PositionServo

Modbus Slave

PositionServo

Modbus Slave

GND ABGND GND

TxA TxATxB TxB

120Ω

Modbus Network

Figure 6: 120W(1%) Termination in RS485 Network

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