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User's manual Retain for futu re use Altivar 71 Modbus/Uni-T elway card Modbus protocol VW3 A3 303.
2 Content s 1. Before you begin_______ __________________________________ _____________________________ _____________________ 3 2. Documentation struct ure___________________________________ _____________________________ _____________________ 4 3.
3 1. Before you begin Read and under stand th ese instructions before performing any procedure with this dri ve. DANGER HAZARDOUS VOLTAGE • Read and understa nd the Instal lation Manual b efore instal ling or operating the Alti var 71 drive. Ins tallation, adjustment, repair, and maintenance must be perf ormed by qualified personnel.
4 2. Document ation structure The following Altiv ar 71 technical documents ar e available on the Telemecaniq ue website (www.telemecaniqu e.com) as well as on t he CD- ROM supp lied with t he drive.
5 3. Introduction 3. 1. Presentation The communicatio n card (catalog number VW3 A8 303 ) is used to connect an Al tivar 71 drive to a Uni-Telway or Modbus bus. This manual only descri bes how to use the Modbus protocol. For Uni-Telway, please refer to the Uni-Telway protocol manua l.
6 4. Hardware setup 4. 1. Receipt Check that the card catalog number mark ed on the label is the same as that on the delivery no te corresponding to the purchase o rder. Remove the option card from its pack aging and check that it has not been damaged in tra nsit.
7 4. Hardware setup 4. 4. Switch coding b Choosing polarization Normal setting for a Modbus bus: • No polarization at drive l evel Special settin g (see "Creating a Modbus bus u sing non-standard equipment" o n page 44 ): • 4.
8 4. Hardware setup The table bel ow indicates the position s of the 8 switches f or all configurable a ddresses: Note: Address 0 is not valid. Address Switches 1234 5678 Address Switches 1234 5678 Ad.
9 5. Connecting to the bus 5. 1. Wiring recommendations • Use Telemecanique-a pproved cables and wiring accessories to ensure good tra nsmi ssion quality (matched impedance, immunit y, shielding connect ion, etc.). • Keep the Modbus cable away from th e power cables (30 cm mi nimum).
10 5. Connecting to the bus 5. 3. Connection via RJ45 wirin g system b Connection accessorie s b Connection cables 1. Master (PLC, PC or communication modul e) 2. Cable dependin g on the type of mast er (see table) 3. Splitter blo ck LU9 GC3 4. Drop cable VW3 A58 306 R pp 5.
11 5. Connecting to the bus b Connection cables for th e master Type of master Master interface Description Catalog number Twido PLC Adaptor or mini-DI N RS485 interface modu le 3 m cable equi pped wi.
12 5. Connecting to the bus 5. 4. Connection via junctio n boxes b Connection accessorie s b Connection cables 1. Master (PLC, PC or communication module) 2. Modbus cable depending on the typ e of mast er (see table) 3. Modbus cable TSX CSA p 00 4. Subscriber sockets TSX SCA 62 5.
13 5. Connecting to the bus b Connection cables for th e master Type of master Master interface Description Catalog number Twido PLC Adaptor or sc rew terminal RS485 interface module Modbus cable T SX.
14 6. Configuration 6. 1. Communication parameters Configure the followi ng paramet ers in the [1.9 - COMMUNICATION] ( COM- ) menu, [Uni-Telway/Modbus] ( UtL- ) submenu: [Protocol] ( PrO ) , [Bit rate] ( bd r ) and [Format] ( FOr ) . These parameters can only be modified when the mot or is stopped.
15 6. Configuration 6. 2. Control - Command Numerous configurations are poss ibl e. For more information, refer to the Programming Manual and the Parameters Manu al. The following confi gurations are just some of the possibiliti es available. b Control via Modbus in I/O profi le The command and reference come from Modbus.
16 6. Configuration b Control via Modbus in Drivecom profile The command and reference come from Modbus. The command is in Drivecom profile . Configure the following paramet ers: Configuration vi a th.
17 6. Configuration b Control in Drivecom prof ile via Modbus and reference switching at the terminals The command comes from Modbus. The command comes either from Modb us or from the terminals. I nput LI5 at t he terminals is used to switch the referenc e between Modb us and the termina ls.
18 6. Configuration 6. 3. Communication scanner The communication sca nner enables all the applicat ion-relevant parameters to be grouped i n 2 consecutive word tables so that si n gle read and write operations may be performed.
19 6. Configuration 6. 4. Communication faults A Modbus fault i s triggered if the Modbus c ard does not receive any Modb us requests at its address wi thin a predefined time pe r iod (tim e out). All Modbus request types are taken into account (read, writ e, etc.
20 6. Configuration 6. 5. Monitored parameters It is possible t o select up to 4 parameters to display t heir values in the [1.2 - MONITORING] menu ( [COMMUNICATI ON MAP] subm enu) on the graphic display termi nal . The selecti on is made via the [6 – MONITOR CONFIG.
21 7. Diagnostics 7. 1. Checking the address On the graphic displa y t ermina l or i ntegrat ed dis play te rmi na l, chec k th e add ress t hat has been code d on the switches usi ng the [Address] ( AdrC ) para meter in the [1.9 COMMUNICATION] ( COM- ) menu, [Uni -Telway / Modbus] ( Ut L- ) submenu.
22 7. Diagnostics 7. 3. Control - Command On the graphic display terminal onl y, the [1.2 - MONITORING] menu ( [COMMUNICATION MAP] submenu) can be used to displ ay contro l- signal diagnost ic information between the drive and the master: RUN NET +50.
23 7. Diagnostics 7. 4. Communication scanner On the graphic d isplay terminal, in the [1.2 - MONITORING] ( SUP- ) menu ( [COMMUNICATION MAP] ( CMM- ) submenu): - The [COM. SCANN ER INP UT MAP] ( ISA- ) submenu is used to display the value of the 8 communicat ion scanner input variabl es [Com Scan In p val.
24 7. Diagnostics 7. 5. Communication fault Modbus communication fa ults are indicated by the red ERR LED on the Modbus card. In the factory config urati on, a communication fault will trigger a resettable [C om. ne twork] ( CnF ) drive fault and initiate a freewheel stop.
25 8. Modbus protocol 8. 1. Principle The Modbus protocol is a master-slave prot ocol. Direct slave-to-slav e communications are not possible. For slave-to-slave communication, the master’s applic ation software must therefore be desi gned to interrogate one slave and s en d bac k data received to the othe r slave.
26 8. Modbus protocol 8. 2. Modes b RTU mode The Modbus RTU frame contains no message he ader byte, nor end of mes sage bytes. It is defined as follows: The data is transmitt ed in binary code. CRC16: Cyclic redund ancy check parameter. The end of the frame is detected on a si lence greater than or equal to 3.
27 8. Modbus protocol 8. 3. Modbus functions available The following tabl e indicates which Modbus functions are managed by the Al tivar 71 and specifies their limits. The "read" and "write" functions are defi ned from the point of view of the master.
28 8. Modbus protocol 8. 5. Write Sing le Register (6) Request and response: Example: Writ e value 16#000D to logic address word 9001 (16#2329) on slave 2 (ACC = 13 s) Request and response: Slave no.
29 8. Modbus protocol 8. 6. Diagnostics (8) Request and response: The counters are unsigned words. Example: Values 16#31 and 16#32 echoed by slave 4 Request and response: Slave no.
30 8. Modbus protocol 8. 7. Get Comm Eve nt Counter (11 = 16#0B) Question: Response: 8. 8. Write Multiple Registers (16 = 16#10) Request: Response: Example: Write values 20 and 30 t o logic address words 9001 and 9002 on sl ave 2 (acceleration time = 20 s and dec eleration time = 30 s) Request: Response: Slave no.
31 8. Modbus protocol 8. 9. Read/Write Multip le Registers (23 = 16#17) Request: Response: Example: Th is example combines the two ex amples for functions 3 and 16. Wi th function 23, the line i s less busy than with these two functions. However, the number of words t hat can be read and written is restricted.
32 8. Modbus protocol 8. 10. Read Device Identification (43 = 16#2B) Request: Response: The total resp onse size given in thi s example equals 55 bytes. The response cont ains the following fo ur objects: Slave no. 2B Ty p e of ME I 0E ReadDeviceId 01 Object Id 00 CRC16 Lo Hi 1 byte 1 byte 1 byte 1 byte 1 byte 2 bytes Slave no.
33 8. Modbus protocol Negative response s pecifically related to the identification function: Example of positive response: • Address = 2 • Manufacturer name = “Telemecanique” • Device name = “ATV71HU15M3” • Device version = “0201” • Device name = “MACHINE 4” Request: Response: Slave no.
34 8. Modbus protocol 8. 11. Communication scanner The communication scann er can be used to enhance app licat ion performance. The drive automa tical ly copies non-cont iguou s paramet ers to an input table and an ou tput table.
35 8. Modbus protocol The link bet ween the drive paramete rs and the communicatio n scanner variables can be made: - Via the display terminal (s ee section "6. Configurati on - 6.2 Communication scanner") - Via Modbus: Before starting the appli cation, the PLC must first write the address ta bles described below.
36 8. Modbus protocol The communication scann er is configured via the display terminal as fo llows: Output (control): Input (monitoring ): Request: Response: Configuration parameter Value Parameter assigned [Scan. Out1 address] ( nCA1 ) 8501 Control word (CMd) [Scan.
37 8. Modbus protocol 8. 12. Exception responses An exception response is ret urned by a sl ave when it is unable to perform the request which is addressed to it.
38 8. Modbus protocol 8. 13. Read non-existent or protected parameters If a set of parameters is read using a Modbus function, the val ue returned for non-existent and protected parame ters i s equal t o 16#8000.
39 9. Appendix 9. 1. RS485 standard The RS485 standard (ANSI/TIA/EI A-485-A-1998) allows variant s of certain characteristics : • Polarization • Line termination • Distribut ion of a reference potentia l • Number of slav es • Length of bus It does not specify th e connector type or pinout.
40 9. Appendix 9. 2. Modbus 2-wire standard schematic The standard schemat ic corresponds to the Modbus speci fication published in 2 002 on www.modbus.org (Modbus_over_serial_ line_V1.pdf, Nov 2002) and, in particular, to th e 2-wire multipoint serial bus schemati c.
41 9. Appendix 9. 3. Modbus 4-wire standard schematic 5 V G R G R Rp Rp Rp Rp LT LT RXD1 TXD1 RXD0 TXD0 LT LT 5 V G R Slave 1 Slave n Master Slave pair Master pair Common.
42 9. Appendix 9. 4. Uni-Telway schematic The Uni-Telway bus sche matic was used by Telemecanique for olde r-ge neration drives and soft starte rs (ATV58, ATV28, ATS48, etc. ) marketed before the Modbus specifi cations were published on www.modbus.org.
43 9. Appendix 9. 5. 2-wire Jbus schematic Schematic diagram: Type of t runk cable Cable with 1 shielded twisted pair Maximum length of bus 1,300 m at 1 9200 bps Maximum number of stations (withou t repeater) 32 statio ns, i.
44 9. Appendix 9. 6. Creating a Modbus bus using non-standard equipment b Different scena rios M If the Modbus bus is created using t he latest-generation Telemecanique devices and Telemecanique Modbus wiring accessories, installation is simple and no calculation is required (see the sec tion entitled "Connecting to the bus").
45 9. Appendix b Calculating the polarization M Principle You must ensure that the equi valent bus resistance is between 162 Ω and 650 Ω . The equivalent bus re sistance (Re) depends on the polarizat ion resistance of the slaves (Rs) and the master (Rm): If Re is too low, reduce the number of slaves.
46 9. Appendix 9. 7. RS485 schematic for the card The RS485 interface on the Mod bus card is electrically isolated from the drive. Schematic diagram: The polarizati on switches are used to connect or disco nnect th e pu ll-up and pull-down resi stors, whic h implement eit her Modbus (no sla ve polarization) or Un i-Te lway (4.
2005-05 atv71_Modbus_Jbus_EN_ V1.
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