Schneider Electric VW3 A3 303 manuale d’uso

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. Introducti on ___________________ ______________________________ _____________________________ _______[...]

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. • The user[...]

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. b Installation Manual This manual describes: • How to assemble the drive • How to connect the drive b Programming Manual This manual describes: ?[...]

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. The data exchan ges permit access to al l Altivar 71 functions: [...]

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. 4. 2. Hardware description 4. 3. Installing the card in the drive See the Inst allati[...]

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 ): • 4.7 k Ω RS485 lin e polarization at drive level b Coding the address The address switches are used to encode th[...]

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 Address Switches 1234 5678 Address Switches 1234 5678 Address Switches 1234 5678 0 0000 0000 0 52 0011 010 0 104 0110 100 0 156 1001 110 0 208 1101 000 [...]

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). • Be sure to cross the Modbus cable and t he power cables a[...]

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. Line terminat ors V W 3A 83 0 6R C 6. Modbus cable TSX CS A p 00 Descripti[...]

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 with a mini-DIN connect or and an RJ45 connector TWD XCA RJ030 Adaptor or scre w terminal RS485 interface module 3 m cable equipped wi th an RJ45 connec[...]

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. Modbus drop cable V W 3A 83 0 62 Description Ref. Catalog number Sub[...]

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 CSA100 or TSX CSA200 or TSX CSA500 TSX Micro PLC Mini-DIN RS485 connector port Tap junction TSX P ACC 01 PCMCIA card (TSX SCP114) Cable equipped with[...]

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. Modificat ions can only be taken into account by t[...]

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. The command i s in I/O pro[...]

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 the graphic display terminal or the integrat ed display terminal: b Control via Modbus or the terminals in Drivecom profile Both the command and referen[...]

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. The command is in Drivecom profile . Configure the follow[...]

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. It is even possible to per form a si ngle tran saction usi ng the "Rea d/Write Mul tiple Re gis t ers" (23 = 16[...]

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.). The time out is fixed at 10 s (non-modifi able). The response of the drive in the e[...]

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.] menu ( [6.3 - CONFI G. COM M . MAP] submenu). One of the three display formats [...]

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. This parameter cannot be modifi ed. 7. 2. LEDs T[...]

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 +50.00Hz 80A COMMUNICA TION MAP Command Channel : Com. c ard Cmd value : 000F Hex Active ref. channel :[...]

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.] (NM p ) . - The [COM SCAN OUTPUT MAP] ( [...]

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. It is possib le to change the response of the drive in t he event of a Modbu[...]

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. Two types of dialog are possib [...]

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 3.5 characters. The format used for the f[...]

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. 8. 4. Read Holding/ Input Registers (3/4) Functions 3 an d 4 access all the dr[...]

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. 06 Word number Value of word CRC16 Hi Lo Hi Lo Lo Hi 1 byte 1 byte 2 bytes 2 bytes 2 bytes 02 06 2329 000D 9270[...]

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. 08 Sub-code Data CRC16 Hi Lo Hi Lo Hi Lo 1 byte 1 byte 2 bytes 2 bytes 2 bytes Sub code Function Reque st data Response data 00 Echo This function as ks the slave to ret[...]

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. 0B CRC16 1 byte 1 byte 2 bytes Sla[...]

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. • Write the values 20 (16#14) and 30[...]

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. 2B Ty p e of ME I 0E[...]

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. 2B + 80 AB Type of ME I 0E Error co[...]

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. Thus, the copy of several non-cont iguous parameters can be read or written in a single r e quest (an operation which wo[...]

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. Example • Use of the &[...]

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. Out2 address] ( nCA2 ) 8602 Speed reference (LFrd) [Scan. Out3 address] ( nCA3 ) [...]

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. Format of an e xception response: Example: Writin g the value 1 to the status word (EtA) = logic addres s 3201 (which cannot be written, because in “read-only" mod e) on slave 4 Re[...]

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. If the same Mo dbus function is used to rea d parameters, all of which are non-existent or protected, t he drive sends back an exc eption[...]

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. The Modbus specif ication published on www.mo dbu[...]

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. The Modbus card (VW3 A3 303) conforms to this spe cification. Schematic diagram: [...]

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. Schematic diagram: Type of t runk cable Cable with 2 twisted pai rs shielded in pairs Maximum len[...]

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.e., 31 slav es Maximum length of tap links 3 m Bus polarization One 470 Ω pull-up resisto r to the 5 V One 470 Ω pull-down [...]

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"). M If a new [...]

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. If Re is too high, ada pt the master’s polar[...]

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 (4.7 k Ω polarization fo[...]

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