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User's manual
Retain for future use
Altivar 71
Modbus/Uni-Telway card
Modbus protocol
VW3 A3 303
2
Contents
While every precaution has been taken in the preparation of this document, Schneider
Electric SA assumes no liability for any omissions or errors it may contain, nor for any damages resulting from the application or use of the information herein.
The products and options described in this document may be changed or modified at any time, either from a technical point of view or in the way they are operated. Their description can in no way be considered contractual.
1. Before you begin
Read and understand these instructions before performing any procedure with this drive.
DANGER
HAZARDOUS VOLTAGE
• Read and understand the Installation Manual before installing or operating the Altivar 71 drive. Installation, adjustment, repair, and maintenance must be performed by qualified personnel.
• The user is responsible for compliance with all international and national electrical standards in force concerning protective grounding of all equipment.
• Many parts of this variable speed drive, including the printed circuit boards, operate at the line voltage. DO NOT TOUCH.
Use only electrically insulated tools.
• DO NOT touch unshielded components or terminal strip screw connections with voltage present.
• DO NOT short across terminals PA/+ and PC/- or across the DC bus capacitors.
• Install and close all covers before applying power or starting and stopping the drive.
• Before servicing the variable speed drive
- Disconnect all power.
- Place a “DO NOT TURN ON” label on the variable speed drive disconnect.
- Lock the disconnect in the open position.
• Disconnect all power including external control power that may be present before servicing the drive. WAIT 15
MINUTES to allow the DC bus capacitors to discharge. Then follow the DC bus voltage measurement procedure given in the installation manual to verify that the DC voltage is less than 45 VDC. The drive LEDs are not accurate indicators of the absence of DC bus voltage.
Electric shock will result in death or serious injury.
CAUTION
EQUIPMENT DAMAGE
Do not operate or install any drive that appears damaged.
Failure to follow these instructions can result in equipment damage.
3
4
2. Documentation structure
The following Altivar 71 technical documents are available on the Telemecanique website (www.telemecanique.com) as well as on the CD-
ROM supplied with the drive.
b Installation Manual
This manual describes:
• How to assemble the drive
• How to connect the drive
b Programming Manual
This manual describes:
• The functions
• The parameters
• How to use the drive display terminal (integrated display terminal and graphic display terminal)
b Communication Parameters Manual
This manual describes:
• The drive parameters with specific information (addresses, formats, etc.) for use via a bus or communication network
• The operating modes specific to communication (state chart)
• The interaction between communication and local control
b Modbus, CANopen, Ethernet, Profibus, INTERBUS, Uni-Telway, DeviceNet, Modbus Plus and
FIPIO manuals
These manuals describe:
• Connection to the bus or network
• Configuration of the communication-specific parameters via the integrated display terminal or the graphic display terminal
• Diagnostics
• Software setup
• The communication services specific to the protocol
b Altivar 58/58F Migration Manual
This manual describes the differences between the Altivar 71 and the Altivar 58/58F.
It explains how to replace an Altivar 58 or 58F, including how to replace drives communicating on a bus or network.
3. Introduction
3. 1. Presentation
The communication card (catalog number VW3 A8 303 ) is used to connect an Altivar 71 drive to a Uni-Telway or Modbus bus.
This manual only describes how to use the Modbus protocol. For Uni-Telway, please refer to the Uni-Telway protocol manual.
The data exchanges permit access to all Altivar 71 functions:
• Configuration
• Adjustment
• Control and command
• Monitoring
• Diagnostics
The card has a female 9-way SUB-D connector for connection to the Modbus bus.
The connection cables and accessories should be ordered separately.
The drive address should be configured using the switches on the card.
The graphic display terminal or the integrated display terminal offer numerous functions for communication diagnostics.
Note: The Modbus card supports the following services in addition to those provided by the drive’s integrated ports:
- 2-wire and 4-wire RS485
- Choice of line polarization
- RTU and ASCII modes
- More diagnostic subcodes
- More Modbus functions (04: Read Input Registers and 11: Get Comm Event Counter)
3. 2. Notation
Drive terminal displays
The graphic display terminal menus are shown in square brackets.
Example: [1.9 COMMUNICATION]
The integrated 7-segment display terminal menus are shown in round brackets.
Example: ( COM-)
Parameter names displayed on the graphic display terminal are shown in square brackets.
Example: [Fallback speed]
Parameter codes displayed on the integrated 7-segment display terminal are shown in round brackets.
Example: ( LFF)
Formats
Hexadecimal values are written as follows: 16#
Binary values are written as follows: 2#
Abbreviations
Hi: High order
Lo: Low order
5
6
4. Hardware setup
4. 1. Receipt
Check that the card catalog number marked on the label is the same as that on the delivery note corresponding to the purchase order.
Remove the option card from its packaging and check that it has not been damaged in transit.
4. 2. Hardware description
LEDs
Female 9-way SUB-D connector
Polarization switches
4. 3. Installing the card in the drive
See the Installation Manual.
Address switches
4. 4. Switch coding b Choosing polarization
Normal setting for a Modbus bus:
• No polarization at drive level
Special setting (see "Creating a Modbus bus using non-standard equipment" on page 44 ):
• 4.7 k Ω RS485 line polarization at drive level
b Coding the address
The address switches are used to encode the address (1 to 247) of the drive on the bus.
The switch settings can only be changed when the drive is turned off.
The correspondence between the value and the position of the switch is as follows:
• 0 = OFF = Switch in upper position
• 1 = ON = Switch in lower position
The address is binary-coded.
Examples:
Address 11 = 2#0000 1011
Address 34 = 2#0010 0010
7
0 24
0 25
0 26
0 27
0 28
0 29
0 30
0 31
0 16
0 17
0 18
0 19
0 20
0 21
0 22
0 23
00 8
00 9
0 10
0 11
0 12
0 13
0 14
0 15
0
00 1
00 2
00 3
00 4
00 5
00 6
00 7
0 40
0 41
0 42
0 43
0 44
0 45
0 46
0 47
0 32
0 33
0 34
0 35
0 36
0 37
0 38
0 39
0 48
0 49
0 50
0 51
0 76
0 77
0 78
0 79
0 80
0 81
0 82
0 83
0 68
0 69
0 70
0 71
0 72
0 73
0 74
0 75
0 60
0 61
0 62
0 63
0 64
0 65
0 66
0 67
0 52
0 53
0 54
0 55
0 56
0 57
0 58
0 59
0 92
0 93
0 94
0 95
0 96
0 97
0 98
0 99
0 84
0 85
0 86
0 87
0 88
0 89
0 90
0 91
100
101
102
103
The table below indicates the positions of the 8 switches for all configurable addresses:
Address Address Address Address
0001 0000
0001 0001
0001 0010
0001 0011
0001 0100
0001 0101
0001 0110
0001 0111
0001 1000
0001 1001
0001 1010
0001 1011
0001 1100
0001 1101
0001 1110
0001 1111
Switches
1234 5678
0000 0000
0000 0001
0000 0010
0000 0011
0000 0100
0000 0101
0000 0110
0000 0111
0000 1000
0000 1001
0000 1010
0000 1011
0000 1100
0000 1101
0000 1110
0000 1111
0010 0000
0010 0001
0010 0010
0010 0011
0010 0100
0010 0101
0010 0110
0010 0111
0010 1000
0010 1001
0010 1010
0010 1011
0010 1100
0010 1101
0010 1110
0010 1111
0011 0000
0011 0001
0011 0010
0011 0011
0100 0100
0100 0101
0100 0110
0100 0111
0100 1000
0100 1001
0100 1010
0100 1011
0100 1100
0100 1101
0100 1110
0100 1111
0101 0000
0101 0001
0101 0010
0101 0011
Switches
1234 5678
0011 0100
0011 0101
0011 0110
0011 0111
0011 1000
0011 1001
0011 1010
0011 1011
0011 1100
0011 1101
0011 1110
0011 1111
0100 0000
0100 0001
0100 0010
0100 0011
0101 0100
0101 0101
0101 0110
0101 0111
0101 1000
0101 1001
0101 1010
0101 1011
0101 1100
0101 1101
0101 1110
0101 1111
0110 0000
0110 0001
0110 0010
0110 0011
0110 0100
0110 0101
0110 0110
0110 0111
0111 1000
0111 1001
0111 1010
0111 1011
0111 1100
0111 1101
0111 1110
0111 1111
1000 0000
1000 0001
1000 0010
1000 0011
1000 0100
1000 0101
1000 0110
1000 0111
Switches
1234 5678
0110 1000
0110 1001
0110 1010
0110 1011
0110 1100
0110 1101
0110 1110
0110 1111
0111 0000
0111 0001
0111 0010
0111 0011
0111 0100
0111 0101
0111 0110
0111 0111
1000 1000
1000 1001
1000 1010
1000 1011
1000 1100
1000 1101
1000 1110
1000 1111
1001 0000
1001 0001
1001 0010
1001 0011
1001 0100
1001 0101
1001 0110
1001 0111
1001 1000
1001 1001
1001 1010
1001 1011
128
129
130
131
132
133
134
135
120
121
122
123
124
125
126
127
112
113
114
115
116
117
118
119
104
105
106
107
108
109
110
111
144
145
146
147
148
149
150
151
136
137
138
139
140
141
142
143
152
153
154
155
180
181
182
183
184
185
186
187
172
173
174
175
176
177
178
179
164
165
166
167
168
169
170
171
156
157
158
159
160
161
162
163
196
197
198
199
200
201
202
203
188
189
190
191
192
193
194
195
204
205
206
207
1010 1100
1010 1101
1010 1110
1010 1111
1011 0000
1011 0001
1011 0010
1011 0011
1011 0100
1011 0101
1011 0110
1011 0111
1011 1000
1011 1001
1011 1010
1011 1011
Switches
1234 5678
1001 1100
1001 1101
1001 1110
1001 1111
1010 0000
1010 0001
1010 0010
1010 0011
1010 0100
1010 0101
1010 0110
1010 0111
1010 1000
1010 1001
1010 1010
1010 1011
1011 1100
1011 1101
1011 1110
1011 1111
1100 0000
1100 0001
1100 0010
1100 0011
1100 0100
1100 0101
1100 0110
1100 0111
1100 1000
1100 1001
1100 1010
1100 1011
1100 1100
1100 1101
1100 1110
1100 1111
Note: Address 0 is not valid.
Address
247
1110 0000
1110 0001
1110 0010
1110 0011
1110 0100
1110 0101
1110 0110
1110 0111
1110 1000
1110 1001
1110 1010
1110 1011
1110 1100
1110 1101
1110 1110
1110 1111
Switches
1234 5678
1101 0000
1101 0001
1101 0010
1101 0011
1101 0100
1101 0101
1101 0110
1101 0111
1101 1000
1101 1001
1101 1010
1101 1011
1101 1100
1101 1101
1101 1110
1101 1111
1111 0000
1111 0001
1111 0010
1111 0011
1111 0100
1111 0101
1111 0110
1111 0111
1111 1000
1111 1001
1111 1010
1111 1011
1111 1100
1111 1101
1111 1110
1111 1111
232
233
234
235
236
237
238
239
224
225
226
227
228
229
230
231
240
241
242
243
244
245
246
216
217
218
219
220
221
222
223
208
209
210
211
212
213
214
215
8
5. Connecting to the bus
5. 1. Wiring recommendations
• Use Telemecanique-approved cables and wiring accessories to ensure good transmission quality (matched impedance, immunity, shielding connection, etc.).
• Keep the Modbus cable away from the power cables (30 cm minimum).
• Be sure to cross the Modbus cable and the power cables at right angles.
• Whenever possible, connect the bus cable shielding to the protective ground, e.g., to the ground of each device if this ground is connected to the protective ground.
• Install a line terminator at both ends of the line.
• Ensure the correct line polarization.
• Connect the common polarity ("Common" signal) to the protective ground at one or more points on the bus.
For more information, please refer to the TSX DG KBL E guide: "Electromagnetic compatibility of industrial networks and fieldbuses".
5. 2. Modbus RS485 standard
Other non-Modbus-standard RS485 wiring diagrams are possible. Please see the Appendix for further information.
The latest generation of Telemecanique equipment conforms to Modbus (2-wire RS485).
Main characteristics:
Maximum length of bus 1000 m at 19,200 bps
Maximum number of stations 32 stations, i.e., 31 slaves (without repeater)
9
5. 3. Connection via RJ45 wiring system
1. Master (PLC, PC or communication module)
2. Cable depending on the type of master (see table)
1
3 2 3
3. Splitter block LU9 GC3
4. Drop cable VW3 A58 306 Rpp
5
4 4
6
4 4
5. Line terminators VW3 A8 306 RC
6. Modbus cable TSX CSA p00
ATV 71
b Connection accessories
Description
Modbus splitter block
Modbus T-junction boxes
Line terminators
For RJ45 connector
10 RJ45 connectors and 1 screw terminal block
With integrated cable (0.3 m)
With integrated cable (1 m)
R = 120
Ω, C = 1 nF
R = 150
Ω (specific to "Jbus schematic" page
5
5
Ref.
3
Catalog number
LU9 GC3
VW3 A8 306 TF03
VW3 A8 306 TF10
VW3 A8 306 RC
VW3 A8 306 R
b Connection cables
Description
Cables for Modbus bus
RS485 double shielded twisted pair cables
3
0.3
1
3
100
200
500
Length (m)
1
3
Connectors
1 RJ45 connector and
1 male 9-way SUB-D connector
1 RJ45 connector and
1 male 9-way SUB-D connector
1 RJ45 connector and 1 stripped end
2 RJ45 connectors
2 RJ45 connectors
2 RJ45 connectors
Supplied without connector
Supplied without connector
Supplied without connector
6
6
6
Ref.
4
4
Catalog number
VW3 A58 306 R10
VW3 A58 306 R30
VW3 A8 306 D30
VW3 A8 306 R03
VW3 A8 306 R10
VW3 A8 306 R30
TSX CSA 100
TSX CSA 200
TSX CSA 500
10
b Connection cables for the master
Type of master
Twido PLC
TSX Micro PLC
TSX Premium PLC
Master interface
Adaptor or mini-DIN
RS485 interface module
Adaptor or screw terminal RS485 interface module
Mini-DIN RS485 connector port
PCMCIA card
(TSX SCP114)
TSX SCY 11601 or
TSX SCY 21601 module
(25-way SUB-D socket)
Description
3 m cable equipped with a mini-DIN connector and an RJ45 connector
3 m cable equipped with an RJ45 connector and stripped at the other end
3 m cable equipped with a mini-DIN connector and an RJ45 connector
Stripped cable
Cable equipped with a 25-way SUB-D connector and stripped at the other end (for connection to the screw terminals of the LU9GC3 splitter block)
PCMCIA card
(TSX SCP114)
Stripped cable
Screw terminal RS485 3 m cable equipped with an RJ45 connector and stripped at the other end
RJ45 RS485 1 m cable equipped with 2 RJ45 connectors
Catalog number
TWD XCA RJ030
VW3 A8 306 D30
TWD XCA RJ030
TSX SCP CM 4030
TSX SCY CM 6030
TSX SCP CM 4030
VW3 A8 306 D30
VW3 P07 306 R10
Ethernet bridge
(174 CEV 300 20)
Profibus DP gateway
(LA9P307)
Fipio (LUFP1) or
Profibus DP (LUFP7) or
DeviceNet (LUFP9) gateway
Serial port PC
RJ45 RS485
Male 9-way SUB-D
RS232 serial port PC
0.3 m cable equipped with 2 RJ45 connectors or
1 m cable equipped with 2 RJ45 connectors or
3 m cable equipped with 2 RJ45 connectors
RS232/RS485 converter and 3 m cable equipped with an
RJ45 connector and stripped at the other end (for connection to the screw terminals of the LU9GC3 splitter block)
VW3 A8 306 R03 or
VW3 A8 306 R10 or
VW3 A8 306 R30
TSX SCA 72 and
VW3 A8 306 D30
11
5. 4. Connection via junction boxes
1
2 4
6
3 4
6
1. Master (PLC, PC or communication module)
2. Modbus cable depending on the type of master (see table)
3. Modbus cable TSX CSAp00
4. Subscriber sockets TSX SCA 62
5. Modbus drop cable VW3 A8 306 2
ATV 71
b Connection accessories
Description
Subscriber socket
2 female 15-way SUB-D connectors, 2 screw terminals, and an RC line terminator, to be connected using cable VW3 A8 306 or VW3 A8 306 D30
b Connection cables
Description
Cables for Modbus bus
RS485 double shielded twisted pair cables
Length (m) Connectors
3
100
200
500
1 9-way SUB-D connector and
1 male 15-way SUB-D connector for TSX SCA 62
Supplied without connector
Supplied without connector
Supplied without connector
Ref.
4
Catalog number
TSX SCA 62
3
3
3
Ref.
6
Catalog number
VW3 A8 306 2
TSX CSA 100
TSX CSA 200
TSX CSA 500
12
b Connection cables for the master
Type of master
Twido PLC
TSX Micro PLC
TSX Premium PLC
Ethernet bridge
(174 CEV 300 10)
Profibus DP gateway
(LA9P307)
Fipio (LUFP1) or
Profibus DP (LUFP7) or
DeviceNet (LUFP9) gateway
Serial port PC
Master interface
Adaptor or screw terminal
RS485 interface module
TSX SCY 11601 or
TSX SCY 21601 module
(25-way SUB-D socket)
PCMCIA card (TSX SCP114)
Description
Modbus cable
Catalog number
TSX CSA100 or
TSX CSA200 or
TSX CSA500
TSX P ACC 01 Mini-DIN RS485 connector port
PCMCIA card (TSX SCP114)
Tap junction
Cable equipped with a special connector and stripped at the other end
Cable equipped with a 25-way SUB-D connector and stripped at the other end
TSX SCP CM 4030
TSX SCY CM 6030
Screw terminal RS485
RJ45 RS485
RJ45 RS485
Male 9-way SUB-D RS232
serial port PC
Cable equipped with a special connector and stripped at the other end
Modbus cable
TSX SCP CM 4030
TSX CSA100 or
TSX CSA200 or
TSX CSA500
VW3 A8 306 D30 3 m cable equipped with an RJ45 connector and stripped at the other end
3 m cable equipped with an RJ45 connector and stripped at the other end
VW3 A8 306 D30
RS232/RS485 converter and
Modbus cable
TSX SCA 72 and
TSX CSA100 or
TSX CSA200 or
TSX CSA500
13
6. Configuration
6. 1. Communication parameters
Configure the following parameters in the [1.9 - COMMUNICATION] ( COM-) menu, [Uni-Telway/Modbus] ( UtL-) submenu:
[Protocol] ( PrO) , [Bit rate] ( bdr) and [Format] ( FOr) .
These parameters can only be modified when the motor is stopped. Modifications can only be taken into account by the drive following a power break.
Parameter Possible values
[Protocol]
( PrO)
Uni-Telway
Modbus/RTU
Modbus/ASCII
0 to 247 [Address]
( AdrC)
[Bit rate]
( Bdr)
4800 bps
9600 bps
19,200 bps
[Format]
( FOr)
In RTU mode only:
8 data bits, odd parity, 1 stop bit
8 data bits, even parity, 1 stop bit
8 data bits, no parity, 1 stop bit
8 data bits, no parity, 2 stop bits
In RTU and ASCII modes:
7 data bits, odd parity, 1 stop bit
7 data bits, even parity, 1 stop bit
7 data bits, odd parity, 2 stop bits
7 data bits, even parity, 2 stop bits
Terminal display Default value
[Unitelway] ( UtE)
[Modbus RTU] ( rtU)
[Modbus ASCII] ( ASC)
[Unitelway] ( UtE)
[0] ( 0) to [247] ( 247) Value taken from the address switches
[4800 Bd] ( 4 8)
[9600 Bd] ( 9 6)
[19200 Bd] ( 19 2)
[19.2 Kbps] ( 19 2)
[8-O-1] ( 8o1)
[8-O-1] ( 8o1)
[8-E-1] ( 8E1)
[8-N-1] ( 8n1)
[8-N-2] ( 8n2)
[7-O-1] ( 7o1)
[7-E-1] ( 7E1)
[7-O-2] ( 7o2)
[7-E-2] ( 7E2)
14
6. 2. Control - Command
Numerous configurations are possible. For more information, refer to the Programming Manual and the Parameters Manual.
The following configurations are just some of the possibilities available.
b Control via Modbus in I/O profile
The command and reference come from Modbus.
The command is in I/O profile.
Configure the following parameters:
Parameter
Profile
Reference 1 configuration
Command 1 configuration
Value
I/O profile
Comment
The run command is simply obtained by bit 0 of the control word.
Network card The reference comes from Modbus.
Network card The command comes from Modbus.
Configuration via the graphic display terminal or the integrated display terminal:
Menu
[1.6 - COMMAND] ( CtL-)
Parameter
[Profile] ( CHCF)
[Ref.1 channel] ( Fr1)
[Cmd channel 1] ( Cd1)
Value
[I/O profile] ( IO)
[Com. card] ( nEt)
[Com. card] ( nEt)
b Control via Modbus or the terminals in I/O profile
Both the command and reference come from Modbus or the terminals. Input LI5 at the terminals is used to switch between Modbus and the terminals.
The command is in I/O profile.
Configure the following parameters:
Parameter
Profile
Reference 1 configuration
Reference 1B configuration
Reference switching
Command 1 configuration
Command 2 configuration
Command switching
Value
I/O profile
Comment
The run command is simply obtained by bit 0 of the control word.
Network card Reference 1 comes from Modbus.
Analog input 1 on the terminals Reference 1B comes from input AI1 on the terminals.
Input LI5 Input LI5 switches the reference (1 ↔ 1B).
Network card Command 1 comes from Modbus.
Terminals
Input LI5
Command 2 comes from the terminals.
Input LI5 switches the command.
Note: Reference 1B is directly connected to the drive reference limit. If switching is performed, the functions that affect the reference
(summing, PID, etc) are inhibited.
Configuration via the graphic display terminal or the integrated display terminal:
Menu
[1.6 - COMMAND] ( CtL-)
[1.7 APPLICATION FUNCT.]
[REFERENCE SWITCH.]
( FUn-)
Parameter
[Profile] ( CHCF)
[Ref.1 channel] ( Fr1)
[Cmd channel 1] ( Cd1)
[Cmd channel 2] ( Cd2)
[Cmd switching] ( CCS)
[Ref.1B channel] ( Fr1b)
[Ref 1B switching] ( rCb)
Value
[I/O profile] ( IO)
[Com. card] ( nEt)
[Com. card] ( nEt)
[Terminals] ( tEr)
[LI5] ( LI5)
[Ref. AI1] ( AI1)
[LI5] ( LI5)
15
b Control via Modbus in Drivecom profile
The command and reference come from Modbus.
The command is in Drivecom profile.
Configure the following parameters:
Parameter
Profile
Value
Drivecom profile not separate
Reference 1 configuration Network card
Comment
The run commands are in Drivecom profile, the command and the reference come from the same channel.
The command comes from Modbus.
Configuration via the graphic display terminal or the integrated display terminal:
Menu
[1.6 - COMMAND] ( CtL-)
Parameter
[Profile] ( CHCF)
[Ref. 1] ( Fr1)
Value
[Not separ.] ( SIM) (factory setting)
[Com. card] ( nEt)
b Control via Modbus or the terminals in Drivecom profile
Both the command and reference come from Modbus or the terminals. Input LI5 at the terminals is used to switch between Modbus and the terminals.
The command is in Drivecom profile.
Configure the following parameters:
Parameter
Profile
Reference 1 configuration
Value
Drivecom profile not separate
Network card
Reference 2 configuration Analog input 1 on the terminals
Reference switching Input LI5
Comment
The run commands follow the Drivecom profile, and the command and reference come from the same channel.
Reference 1 comes from Modbus.
Reference 2 comes from input AI1 on the terminals.
Input LI5 switches the reference (1 ↔ 2) and the command.
Caution: Reference 2 is directly connected to the drive reference limit. If switching is performed, the functions that affect the reference
(summing, PID, etc) are inhibited.
Configuration via the graphic display terminal or the integrated display terminal:
Menu
[1.6 - COMMAND] ( CtL-)
Parameter
[Profile] ( CHCF)
[Ref.1 channel] ( Fr1)
[Ref.2 channel] ( Fr2)
[Ref. 2 switching] ( rFC)
Value
[Not separ.] ( SIM)
[Com. card] ( nEt)
[Ref. AI1] ( AI1)
[LI5] ( LI5)
16
b Control in Drivecom profile via Modbus and reference switching at the terminals
The command comes from Modbus.
The command comes either from Modbus or from the terminals. Input LI5 at the terminals is used to switch the reference between Modbus and the terminals.
The command is in Drivecom profile.
Configure the following parameters:
Parameter
Profile
Value
Separate Drivecom profile
Comment
The run commands follow the Drivecom profile, and the command and reference can come from different channels.
Reference 1 comes from Modbus.
Reference 1 configuration Network card
Reference 1B configuration Analog input 1 on the terminals Reference 1B comes from input AI1 on the terminals.
Reference switching Input LI5 Input LI5 switches the reference (1 ↔ 1B).
Command 1 configuration Network card Command 1 comes from Modbus.
Command switching Channel 1 Channel 1 is the command channel.
Note: Reference 1B is directly connected to the drive reference limit. If switching is performed, the functions that affect the reference
(summing, PID, etc) are inhibited.
Configuration via the graphic display terminal or the integrated display terminal:
Menu
[1.6 - COMMAND] ( CtL-)
[1.7 APPLICATION FUNCT.]
[REFERENCE SWITCH.]
( FUn-)
Parameter
[Profile] ( CHCF)
[Ref.1 channel] ( Fr1)
[Cmd channel 1] ( Cd1)
[Cmd switching] ( CCS)
[Ref.1B channel] ( Fr1b)
[Ref 1B switching] ( rCb)
Value
[Separate] ( SEP)
[Com. card] ( nEt)
[Com. card] ( nEt)
[ch1 active] ( Cd1)
[Ref. AI1] ( AI1)
[LI5] ( LI5)
17
6. 3. Communication scanner
The communication scanner enables all the application-relevant parameters to be grouped in 2 consecutive word tables so that single read and write operations may be performed. It is even possible to perform a single transaction using the "Read/Write Multiple Registers" (23 =
16#17) function.
The 8 output variables are assigned using the 8 [Scan.Outp address] ( nCAp) parameters. They are configured using the graphic display terminal via the [1.9 - COMMUNICATION] ( COM-) menu, [COM. SCANNER OUTPUT] ( OCS-) submenu.
The 8 input variables are assigned using the 8 [Scan. INp address] ( nMAp) parameters. They are configured using the graphic display terminal via the [1.9 - COMMUNICATION] ( COM-) menu, [COM. SCANNER INPUT] ( ICS-) submenu.
Enter the logic address of the parameter (see the Parameters Manual).
If a [Scan.Outp address] ( nCAp) or [Scan. INp address] ( nMAp) parameter equals zero, the corresponding variable is not used by the drive.
These 16 assignment parameters are described in the tables below:
Configuration parameter name
[Scan. Out1 address] ( nCA1)
[Scan. Out2 address] ( nCA2)
[Scan. Out3 address] ( nCA3)
[Scan. Out4 address] ( nCA4)
[Scan. Out5 address] ( nCA5)
[Scan. Out6 address] ( nCA6)
[Scan. Out7 address] ( nCA7)
[Scan. Out8 address] ( nCA8)
Default assignment of the output variable
Control word (CMd)
Speed reference (LFrd)
Not used
Not used
Not used
Not used
Not used
Not used
Configuration parameter name
[Scan. IN1 address] ( nMA1)
[Scan. IN2 address] ( nMA2)
[Scan. IN3 address] ( nMA3)
[Scan. IN4 address] ( nMA4)
[Scan. IN5 address] ( nMA5)
[Scan. IN6 address] ( nMA6)
[Scan. IN7 address] ( nMA7)
[Scan. IN8 address] ( nMA8)
Default assignment of the input variable
Status word (EtA)
Output speed (rFrd)
Not used
Not used
Not used
Not used
Not used
Not used
Example of configuration via the graphic display terminal:
RDY NET +0.00Hz
0A RDY
COM. SCANNER INPUT
Scan. IN1 address : 3201
Scan. IN2 address : 8604
NET +0.00Hz
0A
COM. SCANNER OUTPUT
Scan. Out1 address
Scan. Out2 address
: 8501
: 8602
Scan. IN3 address
Scan. IN4 address
Scan. IN5 address
Code
Scan. IN6 address
Scan. IN7 address
Scan. IN8 address
: 0
: 0
: 0
Quick
: 0
: 0
: 0
Scan. Out3 address
Scan. Out4 address
Scan. Out5 address
Code
Scan. Out6 address
Scan. Out7 address
Scan. Out8 address
: 0
: 0
: 0
Quick
: 0
: 0
: 0
Note:
Any modification to parameters [Scan.Outp address] ( nCAp) or [Scan. INp address] ( nMAp) must be made with the motor stopped. The master PLC program should be updated to take account of this modification.
18
6. 4. Communication faults
A Modbus fault is triggered if the Modbus card does not receive any Modbus requests at its address within a predefined time period (time out). All Modbus request types are taken into account (read, write, etc.). The time out is fixed at 10 s (non-modifiable).
The response of the drive in the event of a Modbus communication fault can be configured.
RDY NET +0.00Hz
0A
COM. FAULT MANAGEMENT
Configuration can be performed using the graphic display terminal or integrated display terminal using the [Network fault mgt] ( CLL) parameter in the [1.8 FAULT MANAGEMENT] ( FLt-) menu, [COM.
FAULT MANAGEMENT] ( CLL-) submenu.
Network fault mgt
CANopen fault mgt
Modbus fault mgt
: Freewheel
: Freewheel
: Freewheel
Code Quick
The values of the [Network fault mgt] ( CLL) parameter, which trigger a [Com. network] ( CnF) drive fault, are:
Value
[Freewheel] ( YES)
[Ramp stop] ( rMP)
[Fast stop] ( FSt)
[DC injection] ( dCI)
Meaning
Freewheel stop (factory setting)
Stop on ramp
Fast stop
DC injection stop
The values of the [Network fault mgt] ( CLL) parameter, which do not trigger a drive fault, are:
Value
[Ignore] ( nO)
[Per STT] ( Stt)
[fallback spd] ( LFF)
[Spd maint.] ( rLS)
Meaning
Fault ignored
Stop according to configuration of [Type of stop] ( Stt) .
Switch to fallback speed, maintained as long as the fault is present and the run command is not disabled.
The drive maintains the speed at the time the fault occurred, as long as the fault persists and the run command has not been removed.
The fallback speed can be configured via the [Fallback speed] ( LFF) parameter in the [1.8 – FAULT MANAGEMENT] ( FLt-) menu.
19
6. 5. Monitored parameters
It is possible to select up to 4 parameters to display their values in the [1.2 - MONITORING] menu ( [COMMUNICATION MAP] submenu) on the graphic display terminal.
The selection is made via the [6 – MONITOR CONFIG.] menu ( [6.3 - CONFIG. COMM. MAP] submenu).
RDY NET
Each parameter [Address 1 select] ... [Address 4 select] can be used to choose the logic address of the parameter. Select an address of zero to disable the function.
+0.00Hz
0A
6.3 CONFIG. COMM. MAP.
Address 1 select : 3204
In the example given here, the monitored words are:
FORMAT 1 : Signed
• Parameter 1 = Motor current (LCr): logic address 3204; signed decimal format
• Parameter 2 = Motor torque (Otr): logic address 3205; signed decimal format
• Parameter 3 = Last fault occurred (LFt): logic address 7121; hexadecimal format
• Disabled parameter: address 0; default format: hexadecimal format
Address 2 select
FORMAT 2
Address 3 select
Code
FORMAT 3
: 3205
: Signed
: 7121
Quick
: Hex
Address 4 select
FORMAT 4
: 0
: Hex
One of the three display formats below can be assigned to each monitored word:
Format
Hexadecimal
Signed decimal
Unsigned decimal
Range
0000 ... FFFF
-32,767 ... 32,767
0 ... 65,535
Terminal display
[Hex]
[Signed]
[Unsigned]
20
7. Diagnostics
7. 1. Checking the address
On the graphic display terminal or integrated display terminal, check the address that has been coded on the switches using the [Address]
( AdrC) parameter in the [1.9 COMMUNICATION] ( COM-) menu, [Uni-Telway / Modbus] ( UtL-) submenu.
This parameter cannot be modified.
7. 2. LEDs
The Modbus card has 2 LEDs, RUN and ERR, which are visible through the drive cover.
1.1
1.2
1.3
1.4
1.5
2.1
2.2
2.3
2.4
2.5
RUN (green)
ERR (red)
Green RUN
LED
Off
On
On
Off
Off
Flashing
Red ERR
LED
Off
On
Off
On
Meaning
Drive not operating or turned off
Drive starting
Normal operation
Communication fault on the bus
Check the power supply.
Corrective action
Flashing Error on character received
Off
Card fault
[internal com. link] (ILF)
• Check the environment (electromagnetic compatibility).
• Check the wiring.
• Check that the master is communicating within the time out period
(= 10 s).
• Check the environment (electromagnetic compatibility).
• Check the communication parameter configuration (protocol, speed, format).
• Do not forget that the communication parameter configuration is only taken into account by the drive following a power break.
• Check that the slave address is unique.
• Check the environment (electromagnetic compatibility).
• Check the card/drive connection.
• Check that only one communication card has been installed.
• Check that no more than two option cards have been installed.
• Replace the communication card.
• Inspect or repair the drive.
21
7. 3. Control - Command
On the graphic display terminal only, the [1.2 - MONITORING] menu ( [COMMUNICATION MAP] submenu) can be used to display controlsignal diagnostic information between the drive and the master:
Active command channel
Value of control word used to control the drive
(hexadecimal format)
Active reference channel
Value of frequency reference
(unit 0.1 Hz) used to control the drive
Value of status word
(hexadecimal format)
Values of the four monitored words selected by the user.
The address and display format of these parameters can be configured in the
[6 - MONITORING CONFIG.] menu,
[6.3 - COM. MAP CONFIG.]
submenu (see "Configuration" section on page 20
).
The value of a monitored word is equal to " ----" if:
Monitoring is not activated
(address equal to 0)
The parameter is protected
The parameter is not known (e.g., 3200)
Value of input variables
Communication scanner
Value of output variables
Control word from Modbus
[COM. card cmd.] ( CMd3)
Frequency reference from Modbus
[Com. card ref.] ( LFr3)
RUN NET +50.00Hz
80A
COMMUNICATION MAP
Command Channel : Com. card
Cmd value
Active ref. channel
Frequency ref.
Status word
: 000F
Hex
: Com. card
: 500.0
Hz
: 8627
Hex
Quick Code
W3204
W3205
: 53
: 725
W7132 : 0000
Hex
W0 : -----
Hex
COM. SCANNER INPUT MAP
COM SCAN OUTPUT MAP
CMD. WORD IMAGE
FREQ. REF. WORD MAP
MODBUS NETWORK DIAG
MODBUS HMI DIAG
CANopen MAP
PROG. CARD SCANNER
22
7. 4. Communication scanner
On the graphic display terminal, in the [1.2 - MONITORING] ( SUP-) menu ( [COMMUNICATION MAP] ( CMM-) submenu):
- The [COM. SCANNER INPUT MAP] ( ISA-) submenu is used to display the value of the 8 communication scanner input variables
[Com Scan Inp val.] (NMp) .
- The [COM SCAN OUTPUT MAP] ( OSA-) submenu is used to display the value of the 8 communication scanner output variables
[Com Scan Outp val.] (NCp) .
Input variable
No. 1
No. 2
No. 3
No. 4
No. 5
No. 6
No. 7
No. 8
Scanner parameter
[Com Scan In1 val.]
[Com Scan In2 val.]
[Com Scan In3 val.]
[Com Scan In4 val.]
[Com Scan In5 val.]
(NM1)
(NM2)
(NM3)
(NM4)
(NM5)
[Com Scan In6 val.] (NM6)
[Com Scan In7 val.] (NM7)
[Com Scan In8 val.] (NM8)
Configuration of these variables is described in the "Configuration" section.
Output variable
No. 1
No. 2
No. 3
No. 4
No. 5
No. 6
No. 7
No. 8
Scanner parameter
[Com Scan Out1 val.] (NC1)
[Com Scan Out2 val.] (NC2)
[Com Scan Out3 val.] (NC3)
[Com Scan Out4 val.] (NC4)
[Com Scan Out5 val.] (NC5)
[Com Scan Out6 val.] (NC6)
[Com Scan Out7 val.] (NC7)
[Com Scan Out8 val.] (NC8)
Example of communication scanner display on the graphic display terminal:
RUN NET +50.00Hz
80A RUN NET
COM. SCANNER INPUT MAP
Com Scan In1 val.
: 34359
Com Scan In2 val.
Com Scan In3 val.
: 600
: 0
+50.00Hz
80A
COM SCAN OUTPUT MAP
Com Scan Out1 val.
: 15
Com Scan Out2 val.
Com Scan Out3 val.
: 598
: 0
Com Scan In4 val.
Com Scan In5 val.
Code
Com Scan In6 val.
Com Scan In7 val.
Com Scan In8 val.
: 0
: 0
Quick
: 0
: 0
: 0
Com Scan Out4 val.
Com Scan Out5 val.
Code
Com Scan Out6 val.
Com Scan Out7 val.
Com Scan Out8 val.
: 0
: 0
Quick
: 0
: 0
: 0
In this example, only the first two variables have been configured (default assignment).
[Com Scan In1 val.] = [34343] Status word = 34359 = 16#8637
V
Drivecom "Operation enabled" state, reverse operation, speed reached
[Com Scan In2 val.] = [600]
[Com Scan Out1 val.] = [15]
[Com Scan Out2 val.] = [598]
Output speed = 600
Control word = 15 = 16#000F
Speed reference = 600
V
"Enable operation" (Run) command
23
7. 5. Communication fault
Modbus communication faults are indicated by the red ERR LED on the Modbus card.
In the factory configuration, a communication fault will trigger a resettable [Com. network] ( CnF) drive fault and initiate a freewheel stop.
It is possible to change the response of the drive in the event of a Modbus communication fault (see the Configuration section).
- [Com. network] ( CnF) drive fault (freewheel stop, stop on ramp, fast stop or DC injection braking stop)
- No drive fault (stop, maintain, fallback)
The Parameters Manual contains a detailed description of how to manage communication faults (see the "Communication monitoring" section).
• Following initialization (power-up), the drive checks that at least one command or reference parameter has been written for the first time by Modbus.
• Then, if a communication fault occurs on Modbus, the drive will react according to the configuration (fault, maintain, fallback, etc.).
8
9
10
11
4
5
6
7
Value
0
1
2
3
101
102
103
7. 6. Card fault
The [internal com. link] ( ILF) fault appears when the following serious problems occur:
- Hardware fault on the Modbus card
- Dialog fault between the Modbus card and the drive
The response of the drive in the event of an [internal com. link] ( ILF) fault cannot be configured, and the drive trips with a freewheel stop.
This fault cannot be reset.
Two diagnostic parameters can be used to obtain more detailed information about the origin of the [internal com. link] ( ILF) fault:
- [Internal link fault 1] ( ILF1) if the fault has occurred on option card no. 1 (installed directly on the drive)
- [Internal link fault 2] ( ILF2) if the fault has occurred on option card no. 2 (installed on option card no. 1)
The Modbus card can be in position 1 or 2.
The [Internal link fault 1] ( ILF1) and [Internal link fault 2] ( ILF2) parameters can only be accessed on the graphic display terminal in the [1.10 DIAGNOSTICS] ( DGt-) menu, [MORE FAULT INFO] ( AFI-) submenu.
Description of the values of the [Internal link fault 1] ( ILF1) and [Internal link fault 2] ( ILF2) parameters
No fault
Loss of internal communication with the drive
Hardware fault detected
Error in the EEPROM checksum
Faulty EEPROM
Faulty Flash memory
Faulty RAM memory
Faulty NVRAM memory
Faulty analog input
Faulty analog output
Faulty logic input
Faulty logic output
Unknown card
Exchange problem on the drive internal bus
Time out on the drive internal bus (500 ms)
24
8. Modbus protocol
8. 1. Principle
The Modbus protocol is a master-slave protocol.
Master
Only one device can transmit on the line at any one time.
The master manages the exchanges and only it can take the initiative.
It interrogates each of the slaves in succession.
No slave can send a message unless it is invited to do so.
In the event of an error during data exchange, the master repeats the question and declares the interrogated slave absent if no response is received within a given time period.
If a slave does not understand a message, it sends an exception response to the master.
The master may or may not repeat the request.
Slave j
Slave i Slave k
Direct slave-to-slave communications are not possible.
For slave-to-slave communication, the master’s application software must therefore be designed to interrogate one slave and send back data received to the other slave.
Two types of dialog are possible between master and slaves:
• The master sends a request to a slave and waits for it to respond.
• The master sends a request to all slaves without waiting for them to respond (broadcasting principle).
Note: The Modbus server on the "Controller Inside" card cannot be accessed via the Modbus card.
25
8. 2. Modes b RTU mode
The Modbus RTU frame contains no message header byte, nor end of message bytes.
It is defined as follows:
Slave address Function code Data
The data is transmitted in binary code.
CRC16: Cyclic redundancy check parameter.
The end of the frame is detected on a silence greater than or equal to 3.5 characters.
The format used for the frames in the rest of this document is RTU mode.
CRC16
b ASCII mode
The structure of the Modbus ASCII frame is as follows:
Header
":"
Slave address
Function code
Data LRC End
Hi Lo "CR" "LF"
Header: By default, ":" = 16#3A. Two other characters are possible: "CR" = 16#0D and "LF" = 16#0A.
LRC: The 2's-complement of the modulo 256 sum (in hexadecimal format) of the frame (excluding the header and end characters) before
ASCII coding.
Example: Write a value of 10 to logic address word 9001 (16#2329) on slave 2
Identical request and response:
In hexadecimal format
3A 30 32 30 36 32 33 32 39 30 30 30 41 41 32 0D 0A
In ASCII format
: 0 2 0 6 2 3 2 9 0 0 0 A A 2 CR LF
26
8. 3. Modbus functions available
The following table indicates which Modbus functions are managed by the Altivar 71 and specifies their limits.
The "read" and "write" functions are defined from the point of view of the master.
Code
3 = 16#03
4 = 16#04
6 = 16#06
8 = 16#08
11 = 16#0B
16 = 16#10
23 = 16#17
43 = 16#2B
Modbus name
Read Holding Registers
Read Input Registers
Write Single Register
Diagnostics
Get Comm Event Counter
Write Multiple Registers
Read/Write Multiple Registers
Read Device Identification
Description
Read N output words
Read N input words
Write one output word
Diagnostics
Read counter
Write N output words
Read/write N words
Identification
Broadcast Size of data
NO
63 words, max.
NO
63 words, max.
YES
NO
NO
YES
NO
NO
61 words, max.
20/20 words max.
8. 4. Read Holding/Input Registers (3/4)
Functions 3 and 4 access all the drive registers that make no distinction between the "Holding" or "Input" types.
Request:
Slave no.
1 byte
03/04
1 byte
No. of first word
Hi Lo
2 bytes
Number of words
Hi Lo
2 bytes
Lo
CRC16
Hi
2 bytes
Response:
Slave no.
03/04 -------
1 byte 1 byte
Number of bytes read
1 byte
First word value
Hi Lo
2 bytes
Last word value
Hi Lo
2 bytes
Lo
CRC16
2 bytes
Hi
Example: Use function 3 to read 4 logic address words 3102 to 3105 (16#0C1E to 16#0C21) on slave 2, where:
• SFr = Switching frequency = 4 kHz (logic address 3102 = 16#0028)
• tFr = Maximum output frequency = 60 Hz (logic address 3103 = 16#0258)
• HSP = High speed = 50 Hz (logic address 3104 = 16#01F4)
• LSP = Low speed = 0 Hz (logic address 3105 = 16#0000)
Request:
02 03 0C1E 0004 276C
Response:
02 03
Value of:
Parameter code:
08 0028
3102
SFr
0258
3103 tFr
01F4
3104
HSP
0000
3105
LSP
52B0
27
8. 5. Write Single Register (6)
Request and response:
Slave no.
1 byte
06
1 byte
Hi
Word number
Lo
2 bytes
Hi
Value of word
Lo
2 bytes
Example: Write value 16#000D to logic address word 9001 (16#2329) on slave 2 (ACC = 13 s)
Request and response:
02 06 2329 000D 9270
Lo
CRC16
2 bytes
Hi
28
8. 6. Diagnostics (8)
Request and response:
Slave no.
08
1 byte 1 byte
Hi
Sub-code
Lo
2 bytes
Hi
Data
2 bytes
Lo Hi
CRC16
Lo
2 bytes
Sub code
Function
00 Echo
This function asks the slave to return the request sent by the master. The size of the data is limited to 2 bytes.
01 Reinitialize channel
This function is used to reinitialize slave communication and, in particular, to make it exit listen only mode (LOM).
03 Change ASCII delimiter
In ASCII mode, messages are delimited by the line feed character
(LF = H'0A). This function is used to change this character.
04 Change to LOM mode
This function is used to force a slave to listen only mode (LOM). In this mode, the slave does not handle messages which are addressed to it, nor does it send any responses, except when the channel is reinitialized.
0A Counter reset
This function resets all the counters responsible for monitoring slave exchanges.
0B Read the number of correct messages on the line without checksum error
0C Read the number of incorrect messages on the line with checksum error
0D Read the number of exception responses sent by the slave
0E Read the number of messages addressed to the slave excluding
broadcast messages regardless of type
0F Read the number of broadcast messages on the line regardless of type
10 Read the number of NAK exception responses
The value read is always 0.
11 Read the number of slave not ready responses
The value read is always 0.
12 Read the number of messages received with character overrun
The counters are unsigned words.
Example: Values 16#31 and 16#32 echoed by slave 4
Request and response:
Slave no.
Code
04 08
Hi
00
Subcode
Lo
00
Value of
1 st
byte
31
Value of
2 nd
byte
32
Request
16#00 00 or
16#FF 00
XX 00
XX = new delimiter
00 00
CRC
Lo
74 data
XX YY
00 00
00 00
00 00
00 00
00 00
00 00
00 00
00 00
00 00
CRC
Hi
1B
Response data
XX YY
16#00 00 or
16#FF 00
XX 00
00 00
00 00
Value of counter
Value of counter
Value of counter
Value of counter
Value of counter
00 00
00 00
Value of counter
29
8. 7. Get Comm Event Counter (11 = 16#0B)
Question:
Slave no.
1 byte
0B
1 byte
CRC16
2 bytes
Response:
Slave no.
0B 00 00
1 byte 1 byte 2 bytes
Value of counter
Hi Lo
2 bytes
CRC16
Lo
2 bytes
Hi
8. 8. Write Multiple Registers (16 = 16#10)
Request:
Slave no.
1 byte
10
1 byte
No. of first word
Hi Lo
2 bytes
Number of words Number of bytes
Hi
2 bytes
Lo
1 byte
Response:
Slave no.
10
Value of first word
Hi Lo
2 bytes
1 byte 1 byte
No. of first word
Hi Lo
2 bytes
Number of words
Hi Lo
2 bytes
CRC16
Lo
2 bytes
Hi
------CRC16
Lo
2 bytes
Hi
Example: Write values 20 and 30 to logic address words 9001 and 9002 on slave 2 (acceleration time = 20 s and deceleration time = 30 s)
Request:
Slave no.
02
Request code
10
No. of first word
Hi
23
Lo
29
Number of words
Hi
00
Lo
02
Number of bytes
04
Value of first word Value of second word
Hi
00
Lo
14
Hi
00
Lo
1E
CRC16
Lo
73
Hi
A4
Response:
Slave no.
Response code
02 10
Hi
23
No. of first word
Lo
29
Number of words
Hi
00
Lo
02
Lo
9B
CRC16
Hi
B7
30
8. 9. Read/Write Multiple Registers (23 = 16#17)
Request:
Slave no.
1 byte
17
1 byte
--Number of bytes to be written
---
1 byte
No. of 1 st
word to be read
Hi Lo
2 bytes
Number of words to be read
Hi Lo
2 bytes
No. of 1 st
word to be written
Hi Lo
2 bytes
Number of words to be written
Hi Lo
2 bytes
---
---
Value of 1 st
word to be written
Hi Lo
2 bytes
-----------------------------
Value of last word to be written
Hi
2 bytes
Lo Lo
CRC16
2 bytes
Hi
Response:
Slave no.
17 Number of bytes read
Value of 1 st
word read Value of last word read CRC16
1 byte
---
---
---
1 byte
No. of bytes to be written
Response:
04
1 byte
Hi
2 bytes
Value of 1 st
word to be written
Hi
00
Lo
14
Lo -------------Hi
2 bytes
Value of 2 nd
word to be written
Hi
00
Lo
1E
Lo
Example: This example combines the two examples for functions 3 and 16. With function 23, the line is less busy than with these two functions. However, the number of words that can be read and written is restricted.
• Write the values 20 (16#14) and 30 (16#1E) respectively to the 2 logic address words 9001 and 9002 on slave 2.
• Read the 4 logic address words 3102 to 3105 on the same slave (values read = 16#0028, 16#0258, 16#01F4, and 16#0000).
Request:
Slave no.
02
Request code No. of 1 st
word to be read
17
Hi
0C
Lo
1E
No. of words to be
Hi
00 read
Lo
04
No. of 1 st
word to be written
Hi
23
Lo
29
No. of words to be written
Hi
00
Lo
02
---
---
---
CRC
Lo
D2
Lo
2 bytes
Hi
CRC
Hi
F5
Slave no.
02
Response code
17
No. of bytes read
08
Value of 1 st
word read
Hi
00
Lo
28
Value of 2 nd
word read
Hi
02
Lo
58
Value of 3 rd
word read
Hi
01
Lo
F4
Value of 4 th
word read
Hi
00
Lo
00
CRC
Lo
12
CRC
Hi
F0
31
8. 10. Read Device Identification (43 = 16#2B)
Request:
Slave no.
1 byte
2B
1 byte
Type of MEI
0E
1 byte
ReadDeviceId
01
1 byte
Object Id
00
1 byte
Response:
Slave no.
1 byte
2B
1 byte
Type of MEI
0E
1 byte
ReadDeviceId
01
1 byte
Degree of conformity
02
1 byte
Lo
CRC16
Hi
2 bytes
-------
-------
-------
-------
-------
Number of additional frames
00
1 byte
Id of object no. 1
00+
1 byte
Id of object no. 2
01
1 byte
Id of object no. 3
02
1 byte
Length of object no. 1
0D
1 byte
Length of object no. 2
0B
1 byte
Length of object no. 3
04
1 byte
Next object Id
00
1 byte
Value of object no. 1
“Telemecanique”
13 bytes
Number of objects
04
1 byte
-------
------Value of object no. 2
“ATV71HU15M3”
11 bytes
Value of object no. 3
“0201”
0 4 bytes
-------
-------
------Id of object no. 4
06
1 byte
Length of object no. 4
09
1 byte
Value of object no. 4
“MACHINE 4”
0 9 bytes
-------
-------
Lo
1 byte
CRC16
Hi
1 byte
The total response size given in this example equals 55 bytes.
The response contains the following four objects:
• Object no. 1: Manufacturer name (always "Telemecanique", i.e., 13 bytes).
• Object no. 2: Device catalog number (ASCII string; for example: “ATV71HU15M3”, i.e., 11 bytes).
The length of this object varies according to drive type. Use the “Length of object no. 2” field to determine the length.
• Object no. 3: Device version, in "MMmm" format where "MM" represents the determinant and "mm" the subdeterminant (4-byte
ASCII string; for example: "0201" for version 2.1).
• Object no. 4: Device name (ASCII string; for example: "MACHINE 4", i.e., 9 bytes).
The length of this object varies according to the device name assigned to the drive (the latter being configured by the user): [7. DISPLAY CONFIG.] menu, [7.1 USER PARAMETERS] submenu, [DEVICE NAME] parameter.
This menu can only be accessed in Expert mode.
Maximum size 16 bytes.
32
Negative response specifically related to the identification function:
Slave no.
1 byte
Error code:
2B + 80
AB
1 byte
16#00 =
16#01 =
16#02 =
Type of MEI
0E
1 byte
Error code
00 to 02
1 byte
Lo
1 byte
CRC16
Hi
1 byte
No error
The "Request code" (16#2B), the "Type of MEI" (16#0E) or the "ReadDeviceId" (16#01) contained in the request is incorrect.
The "Object Id" (16#00) contained in the request is incorrect.
Example of positive response:
• Address = 2
• Manufacturer name = “Telemecanique”
• Device name = “ATV71HU15M3”
• Device version = “0201”
• Device name = “MACHINE 4”
Request:
Slave no.
02
Response:
Slave no.
02
Request code
2B
Response code
2B
Type of MEI ReadDeviceld
0E 01
Type of
MEI
0E
ReadDeviceld
01
Object Id
00
CRC
Lo
34
CRC
Hi
77
Degree of conformity
02
No. of additional frames
Next object Id
00 00
Object no.
04
-------
-------
-----
-----
Id of object no.
1
00
Length of object no. 1
0D
’T’
54
’e’
65
’l’
6C
’e’
65
’m’
6D
Value of object no. 1
’e’ ’c’ ’a’
65 63 61
’n’
6E
’i’
69
’q’
71
’u’
75
’e’
65
-----
-----
----
----
Id of object no.
2
01
Length of object no. 2
0B
’A’ ’T’ ’V’
41 54 56
’7’
37
Value of object no. 2
’1’
31
’H’
48
’U’
55
’1’ ’5’ ’M’ ’3’
31 35 4D 33
----
----
----
----
Id of object no.
02
Length of object no. 3
04
Value of object no. 3
’0’ ’2’ ’0’ ’1’
30 32 30 31
----
----
Id of object no.
4
06
Length of object no. 4
09
Value of object no. 4
’M’ ’A’ ’C’ ’H’ ’I’ ’N’ ’E’
4D 41 43 48 49 4E 45
’ ’ ’4’
20 34
CRC CRC
Lo Hi
6F 50
33
8. 11. Communication scanner
The communication scanner can be used to enhance application performance. The drive automatically copies non-contiguous parameters to an input table and an output table. Thus, the copy of several non-contiguous parameters can be read or written in a single request (an operation which would normally have required several Modbus requests).
The input table and the output table each contain 8 variables.
Output variables
[Com Scan Out1 val.] ( nC1)
[Com Scan Out2 val.] ( nC2)
[Com Scan Out3 val.] ( nC3)
[Com Scan Out4 val.] ( nC4)
[Com Scan Out5 val.] ( nC5)
[Com Scan Out6 val.] ( nC6)
[Com Scan Out7 val.] ( nC7)
[Com Scan Out8 val.] ( nC8)
Logic address
12 761 = 16#31D9
12 762 = 16#31DA
12 763 = 16#31DB
12 764 = 16#31DC
12 765 = 16#31DD
12 766 = 16#31DE
12 767 = 16#31DF
12 768 = 16#31E0
Default assignment
Control word (CMd)
Speed reference (LFrd)
Not used
Not used
Not used
Not used
Not used
Not used
Input variables
[Com Scan In1 val.] ( nM1)
[Com Scan In2 val.] ( nM2)
[Com Scan In3 val.] ( nM3)
[Com Scan In4 val.] ( nM4)
[Com Scan In5 val.] ( nM5)
[Com Scan In6 val.] ( nM6)
[Com Scan In7 val.] ( nM7)
[Com Scan In8 val.] ( nM8)
Logic address
12 741 = 16#31C5
12 742 = 16#31C6
12 743 = 16#31C7
12 744 = 16#31C8
12 745 = 16#31C9
12 746 = 16#31CA
12 747 = 16#31CB
12 748 = 16#31CC
Default assignment
Status word (EtA)
Output speed (rFrd)
Not used
Not used
Not used
Not used
Not used
Not used
The values of these communication scanner variables can be displayed on the graphic display terminal using the
[1.2-MONITORING] menu, [COMMUNICATION MAP] ( CMM) submenu (see section "7. Diagnostics - 7.4 Communication scanner").
These parameters can be accessed via all the read and write requests supported by the drive.
There is a marked improvement in performance for the following functions:
Code
3 = 16#03
Modbus name
Read Holding Registers
4 = 16#04 Read Input Registers
16 = 16#10 Write Multiple Registers
23 = 16#17 Read/Write Multiple Registers
43 = 16#2B Read Device Identification
Description
Read N output words
Read N input words
Write N output words
Read/write N words
Identification
Size of data
63 words, max.
63 words, max.
61 words, max.
20/20 words max.
34
The link between the drive parameters and the communication scanner variables can be made:
- Via the display terminal (see section "6. Configuration - 6.2 Communication scanner")
- Via Modbus: Before starting the application, the PLC must first write the address tables described below.
Output variable address
[Scan.Out1 address] ( nCA1)
[Scan.Out2 address] ( nCA2)
[Scan.Out3 address] ( nCA3)
[Scan.Out4 address] ( nCA4)
[Scan.Out5 address] ( nCA5)
[Scan.Out6 address] ( nCA6)
[Scan.Out7 address] ( nCA7)
[Scan.Out8 address] ( nCA8)
Logic address
12 721 = 16#31B1
12 722 = 16#31B2
12 723 = 16#31B3
12 724 = 16#31B4
12 725 = 16#31B5
12 726 = 16#31B6
12 727 = 16#31B7
12 728 = 16#31B8
Default value
8501 = 16#2135
8602 = 16#219A
0
0
0
0
0
0
Input variable address
[Scan. IN1 address] ( nMA1)
[Scan. IN2 address] ( nMA2)
[Scan. IN3 address] ( nMA3)
[Scan. IN4 address] ( nMA4)
[Scan. IN5 address] ( nMA5)
[Scan. IN6 address] ( nMA6)
[Scan. IN7 address] ( nMA7)
[Scan. IN8 address] ( nMA8)
Logic address
12 701 = 16#319D
12 702 = 16#319E
12 703 = 16#319F
12 704 = 16#31A0
12 705 = 16#31A1
12 706 = 16#31A2
12 707 = 16#31A3
12 708 = 16#31A4
0
0
0
0
0
Default value
3201 = 16#0C8B
8604 = 16#219C
0
Example
• Use of the "Read/Write Multiple Registers" function (request code: 23 = 16#17)
• Transmission of the request to a drive located at address 20 (16#14)
• Reading all 8 scanner input variables
• List of source parameters:
No. Parameter
1
Status word (EtA)
2
3
4
Output speed (rFrd)
Motor current (LCr)
Output torque (Otr)
Logic address
3201
Read value
16#0007
8604
3204
3205
16#1388
16#0064
16#0045
No. Parameter
5
6
7
8
Power section AC supply voltage
(ULn)
Drive thermal state (tHd)
Motor thermal state (tHr)
Altivar fault code (LFt)
Logic address
3207
3209
9630
7121
Read value
16#00F0
16#0065
16#0032
16#0000
• Writing the first 6 scanner output variables
• List of target parameters:
No. Parameter
1
2
3
4
Control word (CMd)
Speed reference (LFrd)
High speed (HSP)
Low speed (LSP):
Logic address
8501
8602
3104
3105
Value to be written
16#000F
16#1388
16#1F40
16#01F4
No. Parameter
5
6
7
8
-
-
[Acceleration] (ACC)
[Deceleration] (dEC)
Logic address
9001
9002
0
0
Value to be written
16#04B0
16#0258
16#0000
16#0000
35
The communication scanner is configured via the display terminal as follows:
Output (control):
Configuration parameter
[Scan. Out1 address] ( nCA1)
[Scan. Out2 address] ( nCA2)
[Scan. Out3 address] ( nCA3)
[Scan.Out4 address] ( nCA4)
[Scan. Out5 address] ( nCA5)
[Scan. Out6 address] ( nCA6)
[Scan. Out7 address] ( nCA7)
[Scan. Out8 address] ( nCA8)
Value
8501
8602
3104
3105
9001
9002
0
0
Parameter assigned
Control word (CMd)
Speed reference (LFrd)
[High speed] (HSP)
[Low speed] (LSP):
[Acceleration] (ACC)
[Deceleration] (dEC)
Not used
Not used
Input (monitoring):
Configuration parameter
[Scan. IN1 address] ( nNA1)
[Scan. IN2 address] ( nNA2)
[Scan. IN3 address] ( nNA3)
[Scan. IN4 address] ( nNA4)
[Scan. IN5 address] ( nNA5)
[Scan. IN6 address] ( nNA6)
[Scan. IN7 address] ( nNA7)
[Scan. IN8 address] ( nNA8)
Request:
Value
3201
8604
3204
3205
3207
3209
9630
7121
Parameter assigned
Status word (EtA)
Output speed (rFrd)
[Motor current] (LCr)
[Output torque] (Otr)
[Power section AC supply voltage] (ULn)
[Drive thermal state] (tHd)
[Motor thermal state] (tHr)
Altivar fault code (LFt)
Slave no.
Request code No. of 1 st
word to be read
14 17
Hi
31
Lo
C5
No. of words to be read
Hi
00
Lo
08
No. of 1 st
word to be written
Hi
31
Lo
D9
No. of words to be written
Hi
00
Lo
06
No. of bytes to be written
---
0C
---
---
---
---
---
Value of 1 st
word to be written
Hi
00
Lo
0F
Value of 2 nd
word to be written
Hi
13
Lo
88
Value of 3 rd
word to be written
Hi
1F
Lo
40
Value of 4 th
word to be written
Hi
01
Lo
F4
Value of 5 th
word to be written
Hi
04
Lo
B0
Value of 6 th
word to be written
Hi
02
Lo
58
CRC CRC
Lo
56
Hi
3D
Response:
Slave no.
Response code
14 17
No. of bytes read
10
Value of 1 st
word read
Hi
00
Lo
07
Value of 2 nd
word read
Hi
13
Lo
88
Value of 3 rd
word read
Hi
00
Lo
64
Value of 4 th
word read
Hi
00
Lo
45
---
---
---
--Value of 5 th
word read Value of 6 th
word read Value of 7 th
word read Value of 8 th
word read
--Hi Lo Hi Lo Hi Lo Hi Lo
--00 F0 00 65 00 32 00 00
CRC
Lo
E4
CRC
Hi
90
36
8. 12. Exception responses
An exception response is returned by a slave when it is unable to perform the request which is addressed to it.
Format of an exception response:
Slave no.
1 byte
Response code
1 byte
Error code
1 byte
Lo
CRC16
2 bytes
Hi
Response
code:
Error code: request code + H’80.
1 = The function requested is not recognized by the slave.
2 = The addresses indicated in the request do not exist in the slave.
3 = The values indicated in the request are not permitted on the slave.
4 = The slave has started to execute the request but cannot continue to process it completely.
6 = The requested write operation has been refused because the drive is in "Forced local" mode.
7 = The requested write operation has been refused because the motor is running (configuration parameters).
Example: Writing the value 1 to the status word (EtA) = logic address 3201 (which cannot be written, because in “read-only" mode) on slave 4
Request:
Slave no.
4
Request code
10
No. of 1 st
word
Hi
0C
Lo
81
No. of words
Hi
00
Lo
01
No. of bytes
02
Value of 1 st
word
Hi
00
Lo
01
CRC
Lo
8A
CRC
Hi
D1
Response:
Slave no.
4
Response code
90
Error code
00
CRC
Lo
5C
CRC
Hi
01
37
8. 13. Read non-existent or protected parameters
If a set of parameters is read using a Modbus function, the value returned for non-existent and protected parameters is equal to 16#8000.
If the same Modbus function is used to read parameters, all of which are non-existent or protected, the drive sends back an exception response with an error code equal to 2.
Example of non-existent or protected parameters being read:
In this example, the same request to read a non-existent parameter followed by 2 existing parameters is used several times in a row in order to demonstrate the effects of parameter protection.
The "Read Holding Registers" request (3) is addressed to a drive with a Modbus address of 12 (16#0C). The read operation is performed for 3 consecutive words, starting with address 8400.
Logic address
8400 = 16#20FA
8401 = 16#20D1
8402 = 16#20D2
Parameter
Non-existent
[Profile] (CHCF)
[Copy channel 1 ↔ 2] (COP)
Value
-
3
2
Request:
Slave no.
Request code
0C 03
No. of 1st word
Hi Lo
20 D0
Hi
No. of words
Lo
00 03
Lo
0E
CRC16
Hi
EF
Response:
Scenario no. 1: Parameters CHCF (8401) and COP (8402) not protected V Successful reading of these two parameters and value equal to 16#8000 for the non-existent parameter located at address 8400.
Slave no.
0C
Response code No. of bytes read
03 06
Value 8400
Hi Lo
80 00
Value 8401
Hi Lo
00 03
Value 8402
Hi Lo
00 02
Lo
CRC16
Hi
17 E4
Scenario no. 2: Parameter CHCF (8401) protected and COP (8402) not protected V Successful reading of COP and value equal to
16#8000 for the non-existent parameter located at address 8400 and for parameter CHCF.
Slave no.
Response code No. of bytes read
0C 03 06
Value 8400
Hi
80
Lo
00
Value 8401
Hi
80
Lo
00
Value 8402
Hi
00
Lo
02
Lo
CE
CRC16
Hi
24
Scenario no. 3: Parameters CHCF (8401) and COP (8402) protected V Exception response (response code = 16#80 + request code), as all the parameters read are either non-existent, or protected; error code equal to 2 (the word addresses indicated in the request do not exist in the slave).
Slave no.
Response code Error code
0C 80+03 = 83 02
Lo
CRC16
Hi
51 32
38
9. Appendix
9. 1. RS485 standard
The RS485 standard (ANSI/TIA/EIA-485-A-1998) allows variants of certain characteristics:
• Polarization
• Line termination
• Distribution of a reference potential
• Number of slaves
• Length of bus
It does not specify the connector type or pinout.
The Modbus specification published on www.modbus.org in 2002 contains precise details of all these characteristics. They are also summarized in the next sections (Modbus 2-wire and 4-wire standard schematics). The latest generation Telemecanique devices
(Altivar 31, Altivar 71, etc.) conform to this specification.
Older devices comply with earlier specifications. The two most widespread are described in the following sections:
• "Uni-Telway schematic" page
• "Jbus schematic" page
Requirements enabling different types of protocol to coexist are given in the following section in this appendix:
• "Creating a Modbus bus using non-standard equipment" on page 45
39
9. 2. Modbus 2-wire standard schematic
The standard schematic corresponds to the Modbus specification published in 2002 on www.modbus.org
(Modbus_over_serial_line_V1.pdf, Nov 2002) and, in particular, to the 2-wire multipoint serial bus schematic.
The Modbus card (VW3 A3 303) conforms to this specification.
Schematic diagram:
Master
R
650 Ω
0 V
G
5 V
650 Ω
D1
120 Ω
1n F
120 Ω
1n F
D0
Common
Type of trunk cable
Maximum length of bus
Maximum number of stations (without repeater)
Maximum length of tap links
Bus polarization
Line termination
Common polarity
R
G
Slave 1
R
G
Slave n
Shielded cable with 1 twisted pair and at least a 3 rd
conductor
1000 m at 19200 bps with the Telemecanique TSX CSA p 00 cable
32 stations, i.e., 31 slaves
• 20 m for one tap link
• 40 m divided by the number of tap links on a multiple junction box
• One 450 to 650 Ω pull-up resistor to the 5 V (650 Ω or thereabouts recommended)
• One 450 to 650 Ω pull-down resistor to the Common (650 Ω or thereabouts recommended)
This polarization is recommended for the master.
One 120 Ω 0.25 W resistor in series with a 1nF 10 V capacitor
Yes (Common), connected to the protective ground at one or more points on the bus
40
9. 3. Modbus 4-wire standard schematic
Master
G
R
LT
TXD1
TXD0
Slave pair
LT
G
Slave 1
R
RXD1
RXD0
G
Slave n
R
Master pair
Common
5 V
Rp
Rp
5 V
Rp
LT
LT
Rp
41
9. 4. Uni-Telway schematic
The Uni-Telway bus schematic was used by Telemecanique for older-generation drives and soft starters (ATV58, ATV28, ATS48, etc.) marketed before the Modbus specifications were published on www.modbus.org.
Schematic diagram:
Master
R
4.7 k
Ω
0 V
G
5 V
4.7 k Ω
D(B)
120 Ω
1 nF
120 Ω
1 nF
D(A)
0VL
4.7 k Ω
0 V
5 V
4.7 k Ω
R
G
Slave 1
4.7 k Ω
0 V
R
G
5 V
4.7 k Ω
Slave n
Type of trunk cable
Maximum length of bus
Maximum number of stations (without repeater)
Maximum length of tap links
Bus polarization
Line termination
Common polarity
Cable with 2 twisted pairs shielded in pairs
1000 m at 19200 bps
29 stations, i.e., 28 slaves
• 20 m
• 40 m divided by the number of tap links on a multiple junction box
For the master and each slave:
• One 4.7 k
Ω pull-up resistor to the 5 V
• One 4.7 k
Ω pull-down resistor to the 0 VL
One 120
Ω 0.25 W resistor in series with a 1 nF 10 V capacitor
Yes (0 VL) and high impedance placed between 0 VL and the ground in each station
42
9. 5. 2-wire Jbus schematic
Schematic diagram:
150 Ω
L- (B/B')
L+ (A/A')
Master
R
470
Ω
0 V
G
5 V
470 Ω
150 Ω
R
G
Slave 1
R
G
Slave n
Type of trunk cable
Maximum length of bus
Maximum number of stations (without repeater)
Maximum length of tap links
Bus polarization
Line termination
Common polarity
Cable with 1 shielded twisted pair
1,300 m at 19200 bps
32 stations, i.e., 31 slaves
3 m
One 470
Ω pull-up resistor to the 5 V
One 470
Ω pull-down resistor to the 0 V
This polarization is often provided in the master.
One 150
Ω resistor
No
43
9. 6. Creating a Modbus bus using non-standard equipment b Different scenarios
M If the Modbus bus is created using the latest-generation Telemecanique devices and Telemecanique Modbus wiring accessories, installation is simple and no calculation is required (see the section entitled "Connecting to the bus").
M If a new Modbus bus has to be created using devices of different brands or older-generation devices, which do not comply with the
Modbus standard, several checks are required (see "Recommendations" below).
M If, on an existing Modbus bus, a device with 4.7 kΩ polarization is to be replaced by a new-generation device, set the 2 polarization switches to the lower position to activate the card’s 4.7 k
Ω polarization.
Polarization switches:
4.7 k Ω RS485 line polarization at drive level
b Recommendations
1. Identify the polarities D0 and D1.
They are labeled in different ways depending on the standard:
Signals
Generator
Receiver
Modbus
D0
D1
Common
B
R
EIA/TIA-485
(RS 485)
A/A’
B/B’
C/C’
G
R
Standard
Uni-Telway
D (A)
D (B)
0VL
Jbus
RD +/TD + or L +
RD -/TD - or L -
However, certain RS485 electronic components are labeled in the opposite way to the EIA/TIA-485 standard.
It may be necessary to perform a test by connecting a master to a slave, then reversing the connection in the event of failure.
2. Check polarizations
Check the documentation supplied with the devices to determine their polarization.
If there is a polarization, check that the equivalent polarization value is correct (see "Calculating the polarization").
It is not always possible to implement correct polarization (for example, if the 5 V is not available on the master).
In this case, it may be necessary to limit the number of slaves.
3. Choose a line terminator
If there is a polarization, select an RC line terminator (R = 120
Ω, C = 1 nF)
If it is not possible to install a polarization, select an R line terminator (R = 150
Ω).
44
b Calculating the polarization
M Principle
You must ensure that the equivalent bus resistance is between 162 Ω and 650 Ω .
The equivalent bus resistance (Re) depends on the polarization resistance of the slaves (Rs) and the master (Rm):
Re
=
Rm
+
Rs
1
+
1
Rs
2
+
…
If Re is too low, reduce the number of slaves.
If Re is too high, adapt the master’s polarization (if possible) or add polarization resistors (Rp).
Re
=
Rp
+
Rm
+
Rs
1
+
1
Rs
2
+
…
Master
R
G
5 V
Rm
Rm
0 V
5 V
Rp
D1
120 Ω
1 nF
D0
Common
Rs
1
0 V
R
G
5 V
Rs
1
0 V
Rp
R
G
Slave 1 Slave n
Example 1
If the master has 470
Ω polarization and all the slaves have 4.7 kΩ polarization, a maximum of 18 slaves can be connected.
Rm = 470
Ω
Rs = 4.7 k
Ω
A/Re = 1/470 + 18 x 1/4700 i.e., Re = 168 Ω
Example 2
If the bus polarization Rp is 470
Ω (installed in the master) and 2 slaves have 4.7 Ω polarization, the equivalent polarization is:
1/Re = 1/470 + 1/4700 + 1/4700 i.e., Re = 1/ (1/470 + 1/4700 + 1/4700) and therefore Re = 390 Ω
390
Ω is between 162 Ω and 650 Ω , and the schematic is correct.
For an ideal equivalent polarization (650
Ω), the master’s polarization can be adapted so that:
1/650 = 1/Rm + 1/4700 + 1/4700 i.e., Rm = 1/(1/650 - 1/4700 - 1/4700) and therefore Rm = 587
Ω
45
9. 7. RS485 schematic for the card
The RS485 interface on the Modbus card is electrically isolated from the drive.
Schematic diagram:
Enable
Rx &
Tx G
5 V
Polarization switch
Pull-up polarization resistor
4.7 kΩ
D1 = B/B' = D(B)
Female 9-way
SUB-D
7
0 V
D0 = A/A' = D(A)
Pull-down polarization resistor
4.7 kΩ
Polarization switch
3
R
5 V
100 kΩ
R
0 V
0 V
100 kΩ
RXD1 = RD(B)
RXD0 = RD(A)
0 V
5
6
2
4
The polarization switches are used to connect or disconnect the pull-up and pull-down resistors, which implement either Modbus (no slave polarization) or Uni-Telway (4.7 k
Ω polarization for each station) type polarization.
9. 8. Card connector pinout
Contact no.
Signal
1 Reserved
2
3
RXD0 = RD(A)
D0 = A/A’ = D(A)
6
7
8
9
4
5
Common = C/C’ = 0VL
RxD1 = RD(B)
RxD1 = RD(B)
D1 = B/B’ = D(B)
Not connected
Not connected
46
atv71_Modbus_Jbus_EN_V1
2005-05
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