AUMA AM 02.1, AMExB 01.1, AMExC 01.1 Operation Instructions Manual

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Actuator controls

AUMA MATIC

AM 01.1/ AM 02.1

AMExB 01.1/ AMExC 01.1

Modbus

Certificate Registration No.

12 100/104 4269

Operation instructions

Actuator controls AUMA MATIC AM/ AMExB/ AMExC

Modbus

Scope of these instructions:

Operation instructions

These instructions are valid for multi-turn actuators of type ranges

SA(R) 07.1 – SA(R) 16.1 and SA(R)ExC 07.1 – SA(R)ExC 16.1 and for part-turn actuators of type ranges SG(R) 05.1 – SG(R) 12.1 and SGExC

05.1 – SGExC 12.1 with the controls AUMA MATIC AM 01.1/ AM 02.1

or AMExB 01.1 and AMExC 01.1 and Modbus interface.

Safety instructions

1.1

Range of application

1.2

1.3

1.4

Commissioning (electrical connection)

Maintenance

Warnings and notes

Short description

Transport and storage

4.4

4.5

4.6

4.7

General information about Modbus

4.1

Basic characteristics

4.2

4.3

Modbus Basic functions

Transfer mode

Bus access

Communication

Protection functions

Modbus RTU mode

Technical data

Design AUMA MATIC Modbus

7.8

7.9

7.10

7.11

7.12

7.13

7.14

7.15

7.4

7.5

7.6

7.7

Electrical connection

7.1

Power supply (standard)

7.2

7.3

Bus connection (standard)

Fitting the cover

Remote position transmitter

AUMA MATIC on wall bracket

Test run

Mains and bus connection for Ex-version with plug/ socket connector / terminal board (KP)

Mains and bus connection for Ex-version with plug-in terminal connection (KES)

Redundant bus connection

Bus cables

Setting the Modbus interface

Setting the communication parameter

Setting parameter seating mode in end position CLOSED, parity bits and number of stop bits

Setting the Modbus address:

Setting the baud rate

Commissioning with controls

8.1

Introduction

8.2

8.3

Overview over the Modbus functions for data transmission

Modbus function and corresponding offset addresses of the AUMA MATIC

Input data

9.1

Reading the actuator signals from the actuator using register functions

9.2

9.3

Description of the input data

Reading the feedback signals from the actuator using status functions

10.

Process representation output

10.1

Transmitting operation commands to or reading out from the actuator using register functions

10.2

10.3

Description of the output data

Transmission of operation commands to the actuator using coil functions

Page

Operation instructions

11.

Operation parameters of the actuator

12.

Description of actuator functions

12.1

Operation commands for OPEN/ CLOSE operation

12.2

12.3

Positioner

Stepping mode

13.

Failure function

14.

Description Modbus interface

14.1

14.1.1

14.1.2

Indication during system start-up:

Indications of operation LEDs 7 to 0

System displays LEDs L1 to L4

14.2

14.3

Customer inputs assignment of the Modbus interface (option)

Modbus connection assignment

14.4

14.5

Assignment positioner connections

Checking/ setting the switches on the logic board

15.

Troubleshooting and corrective actions

15.1

Actuator can not be controlled via Modbus

15.2

15.3

Position feedback does not function

Actuator is not switched off by the limit switch in direction CLOSE

15.4

15.5

15.6

Index

Actuator stops immediately after having started

Actuator does not signalise reference operation, connection failure position transmitter or signal interruption position transmitter

Measuring the Modbus signals using an oscilloscope

16.

Appendix A Standard wiring diagram

16.1

Legend for standard wiring diagram

16.2

Additional information to the wiring diagram legend

17.

Appendix B Proposed external wiring diagram

18.

Appendix C Literature references

19.

Appendix D Connecting the cable shield for AUMA MATIC AMExB/ AMExC 01.1

Addresses of AUMA offices and representatives

Actuator controls AUMA MATIC AM/ AMExB/ AMExC

Modbus

Page

Actuator controls AUMA MATIC AM/ AMExB/ AMExC

Modbus

1. Safety instructions

1.1

Range of application

Operation instructions

AUMA actuators are designed for the operation of industrial valves, e.g. globe valves, gate valves, butterfly valves and ball valves.

For other applications, please consult us. The manufacturer is not liable for any possible damage resulting from use in other than the designated applications. Such risk lies entirely with the user.

Observance of these operation instructions is considered as part of the controls’ designated use.

1.2

Commissioning

(electrical connection)

1.3

Maintenance

1.4

Warnings and notes

During electrical operation, certain parts inevitably carry lethal voltages.

Work on the electrical system or equipment must only be carried out by a skilled electrician himself or by specially instructed personnel under the control and supervision of such an electrician and in accordance with the applicable electrical engineering rules.

The maintenance instructions must be strictly observed, otherwise a safe operation of the multi-turn actuator/ the controls is no longer guaranteed.

Non-observance of the warnings and notes may lead to serious injuries or damage. Qualified personnel must be thoroughly familiar with all warnings and notes in these operation instructions.

Correct transport, proper storage, mounting and installation, as well as careful commissioning are essential to ensure a trouble-free and safe operation.

The following references draw special attention to safety-relevant procedures in these operation instructions. Each is marked by the appropriate pictograph.

This pictograph means: Note!

“Note” marks activities or procedures which have major influence on the correct operation. Non-observance of these notes may lead to consequential damage.

This pictograph means: Electrostatically endangered parts!

If this pictograph is attached to a printed circuit board, it contains parts which may be damaged or destroyed by electrostatic discharges. If the boards need to be touched during setting, measurement, or for exchange, it must be assured that immediately before a discharge through contact with an earthed metallic surface (e.g. the housing) has taken place.

This pictograph means: Warning!

“Warning” marks activities or procedures which, if not carried out correctly, can affect the safety of persons or material.

2. Short description

AUMA actuators have a modular design. Motor and gearing are mounted in a common housing.

The actuators are driven by an electric motor and controlled with the electronic controls AUMA MATIC Modbus. The electronic controls are included in the scope of delivery.

Operation instructions

3. Transport and storage

Actuator controls AUMA MATIC AM/ AMExB/ AMExC

Transport to place of installation in sturdy packing.

Do not attach ropes or hooks to the handwheel for the purpose of lifting by hoist.

Store in well-ventilated, dry room.

Cover to protect against dust and dirt.

Apply suitable corrosion protection agent to bright surfaces.

Modbus

Protect against floor dampness by storage on a shelf or on a wooden pallet.

4. General information about Modbus

For the exchange of information among automation systems and between automation systems and the connected decentral field devices, serial fieldbuses are mainly used today as the communication system. Thousands of applications have proved impressively that cost savings of up to 40 % in wiring, commissioning, and maintenance are achieved by using fieldbus technology. Just two wires are needed to transmit all relevant information for the field devices, such as input and output signals, parameters, and diagnostics data. While in the past the fieldbuses used were often manufacturer specific and incompatible with other bus systems, the systems employed today are almost exclusively open and standardized. This means that the user is independent of individual suppliers and can choose the best product at the most competitive price.

Modbus is an open international fieldbus system which is also used successfully throughout the world. The application range includes automation in the areas of manufacturing, processing, and building.

These operation instructions cannot provide a general introduction into

Modbus. For this, please refer to the literature references in appendix C

(page 57).

4.1

Basic characteristics Modbus defines the functional features of a serial fieldbus system with which distributed digital automation devices can be interconnected. Modbus distinguishes between master and slave devices.

Master devices control the data traffic on the Bus. A master is allowed to send messages without an external request.

Slave devices such as AUMA Modbus actuators are peripheral devices.

Typical slave devices are input/ output devices, valves, actuators, and measuring transmitters. They do not have bus access, i.e. they may only ,at the request of a master, transmit messages to that master.

Actuator controls AUMA MATIC AM/ AMExB/ AMExC

Modbus

4.2

Modbus Basic functions

4.3

Transfer mode

4.4

Bus access

4.5

Communication

4.6

Protection functions

Operation instructions

Modbus uses a master-slave technique in which only the master can initiate a transaction. The slaves respond by supplying the requested data in a reply or by executing the action requested in the query.

The Modbus telegram from the master contains the slave address, a function code defining the requested action, a data field, and a CRC field. The

Modbus slaves’ response message contains fields confirming the requested action and possibly the requested data and also a CRC field.

If an error occurs during reception of the telegram or the slave is unable to perform the requested action, the slave will generate an error telegram and

send it as response to the master.

RS-485 twisted pair cable or fibre optic cable.

AUMA actuators support baud rates up to 38.4 kBit/s

Master-slave technique.

Mono-master system.

Master and slave devices: max. 127 devices at one bus

(the AUMA MATIC supports slave addresses from 1 to 127), without

repeater max. 32 devices.

Master-slave data exchange via query-response cycle (Polling procedure).

Modbus RTU protocol.

Parity check for each telegram byte

CRC check for each telegram

Watchdog for AUMA actuators with adjustable failure behaviour.

Query-response cycle monitoring with configurable timer interval at the master.

4.7

Modbus RTU mode Data format for a byte.

Coding system:

8 bit binary, hexadecimal 0-9, A-F

2 hexadecimal characters contained in each 8 bit field of the telegram

Bits per byte:

1 start bit

8 data bits; least significant bit sent first

1 bit for even/ odd parity, no bit for no parity

1 stop bit if parity is used, 2 stop bits if no parity is used.

Operation instructions

Actuator controls AUMA MATIC AM/ AMExB/ AMExC

Modbus

5. Technical data

Table 1: Modbus interface for actuator controls AM/ AMExB/ AMExC

Features and functions

Power supply Standard voltages:

3-phase AC voltages/ frequencies

1-phase AC 1) voltages/ frequencies

Volt 220 230 240 380 400 415 440 460 480 500 Volt 110,115,120 220,230,240

Hz 50 50 50 50 50 50 60 60 60 50 Hz 50/60 50/60

Special voltages:

3-phase AC voltages/ frequencies

Volt 525 575

Hz 50 50

660

690

1-phase AC 1) voltages/ frequencies

208

External supply of the electronics

(option)

Switchgear

Control and output signals

Modbus interface with additional inputs (option)

Local controls

24 V DC + 20 % / – 15 %,

Current consumption: Basic version approx. 200 mA, with options up to 500 mA

Standard: Reversing contactors 2) (mechanically and electrically interlocked) for motor power up to 1.5 kW

Options: Reversing contactors 2) (mechanically and electrically interlocked) for motor power up to 7.5 kW

Thyristor unit 3) (recommended for modulating actuators) for motor power up to 1.5 kW, 500 V AC, with internal fuses for motor power up to 5.5 kW, 500 V AC, external fuses required via Modbus interface

Modbus interface with 4 free 24 V DC inputs and 2 free 0/4 – 20 mA inputs. Signal transmission vial fieldbus interface.

Standard: Selector switch LOCAL – OFF – REMOTE (lockable in all three positions)

Push buttons OPEN – STOP – CLOSE

3 indication light:

End position CLOSED (yellow), collective fault signal (red),

End position OPEN (green)

Option: Protection cover, lockable

Functions

Motor protection evaluation

Standard

Standard:

Switch-off mode, adjustable

Limit or torque seating for end position CLOSED

Overload protection against excessive torque over the whole travel

Phase failure monitoring with automatic phase correction

Push-to-run operation or self-retaining in LOCAL

Positioner 4) :

Nominal position value via Modbus interface

Adjustable behaviour on loss of signal

Adjustable sensitivity (dead band) and pause time

For AM: Monitoring of motor temperature in combination with thermoswitches in actuator motor

For AMExB/ AMExC: Monitoring of the motor temperature with PTC tripping device in combination with PTC thermistors in the actuator motor

Optionen: Additional thermal overload relay in the controls in combination with thermoswitches within the actuator

PTC tripping device in combination with PTC thermistors in the actuator motor

Electrical connection Standard: For AM: AUMA plug/ socket connector with screw type connection

For AMExB/ AMExC: Ex-plug/ socket connector with terminal board

For further options and threads for cable entries, please refer to separate technical data sheets

Special threads, other than standard mentioned above, possible

Control plug gold plated 3) (sockets and pins)

Parking frame for wall mounting of the disconnected plug

Protection cover for plug compartment (when plug is removed)

Overvoltage protection 3) (option) Protection of the actuator and controls electronics against overvoltages on the fildbus cables of up to 4 kV

Wiring diagram (basic version) MSP 1B1-00-7-F18E1 KMS TP102/001

1) AC current only with AM 01.1/ AM 02.1 and AMExC 01.1 in combination with actuator SGExC

2) The lifetime guaranteed by the manufacturer amounts to min. 2 million cycles. If a higher number of switching cycles is to be expected, thyristor units with virtually unlimited lifetime should be used

3) only in combination with AM 01.1 and AM 02.1

4) Requires position transmitter (potentiometer or RWG) in actuator

Actuator controls AUMA MATIC AM/ AMExB/ AMExC

Modbus Operation instructions

Settings/ programming of the Modbus interface

Setting of the Modbus interface The setting of baud rate, parity, and Modbus address is realised via the AUMA MATIC

Modbus assembly

Commands and signals of the Modbus interface

Oricess representation output

(command signals)

OPEN, STOP CLOSE, nominal position value 4)

Process representation input

(feedback signals)

End position OPEN, CLOSED

Actual position value 4)

Selector switch in position LOCAL/ REMOTE

Running indication 4) (directional)

Torque switch OPEN, CLOSED

Limit switch OPEN, CLOSED

Manual operation by handwheel 4) or local controls

Process representation input

(fault signals)

Behaviour on loss of communication

Motor protection tripped

Torque switch tripped in mid-travel

One phase missing

The behaviour of the actuator is programmable:

- operation to end position OPEN or CLOSED

- operation to any intermediate position 4)

General Modbus data

Communication protocol

Network topology

Transmission medium

Modbus interface

Transmission speed/ cable length

Modbus RTU

Linear (BUS) structure. Active bus termination on both sides.

Coupling and uncoupling of devices during operation without affecting other devices is possible.

Twisted, shielded copper cable according to EN 50 170

EIA-485 (RS485)

Baud rate (kbit/s) Max. cable length (segment length) without repeater

300

600

1,200

2,400

4,800

9,600

19,200

38,400

1,200 m

Possible cable length with repeater (total network cable length) approx. 10 km approx. 10 km approx. 10 km approx. 10 km approx. 10 km approx. 10 km approx. 10 km approx. 10 km

Device types

Number of devices

Bus access

Supported Modbus functions

(services)

Modbus slave, e.g. devices with digital and/ or analogue inputs and outputs, such as actuators, sensors

32 devices within each segment without repeater, with repeater expandable up to 127 5)

Polling between master and slaves (query-response)

Read Coil Status

Read Input Status

Read Holding Registers

Read Input Registers

Force Single Coil

15 (0FHex) Force Multiple Coils

06 Preset Single Register

16 (10Hex) Preset Multiple Registers

07 Read Exception Status

17 (11Hex) Report Slave ID

08 Diagnostics:

00 00 Loopback

00 10 (0AHex)

00 11 (0BHex)

00 12 (0CHex)

Clear Counters and Diagnostic Register

Return Bus Message Count

Return Bus Communication Error Count

00 13 (0DHex)

00 14 (0EHex)

00 15 (0FHex)

Return Bus Exception Error Count

Return Slave Message Count

Return Slave No Response Count

4) Requires position transmitter (potentiometer or RWG) in actuator

5) The highest Modbus address which can be set at the AUMA MATIC is 127

Operation instructions

Actuator controls AUMA MATIC AM/ AMExB/ AMExC

Modbus

Service conditions

Enclosure protection according to EN 60 529

Corrosion protection

Finish coating

Colour

Ambient temperature

Vibration resistance 7) according to IEC 60 068-2-6

Weight

Accessories

Wall bracket 8)

Other information

EU Directives

Reference documents

Standard:

Options:

Standard:

Optionen:

IP 67 (when mounted)

IP 68 6)

DS 3) Terminal compartment additionally sealed against interior (double sealed)

KN Suitable for installation in industrial units, in water or power plants with a low pollutant concentration

KS Suitable for installation in occasionally or permanently aggressive atmosphere with a moderate pollutant concentration

(e.g. wastewater treatment plants, chemical industry)

KX Suitable for installation in extremely aggressive atmosphere with high humidity and high pollutant concentration

KX-G Same as KX, however aluminium-free version (outer parts)

Two-component iron-mica combination

Special primer/special finish coat (customer’s choice)

Silver-grey (DB 701, similar to RAL 9007)

Standard:

Option:

Standard:

Option:

AMExB

Standard:

Other colours than standard colour are possible on request

AM 01.1/ AM 02.1:

Standard:

Options:

– 25 °C to + 70 °C

– 40 °C to + 70 °C, low temperature version

– 50 °C to + 70 °C, extreme low temperature version, incl. heating system

– 60 °C to + 70 °C, extreme low temperature version, incl. heating system

– 20 °C to + 40 °C

AMExC:

Standard:

Options:

– 20 °C to + 40 °C

– 40 °C to + 40 °C, low temperature version

– 50 °C to + 40 °C, extreme low temperature version, incl. heating system

1 g, for 10 to 200 Hz

(only for actuator with controls. Not valid in combination with gearboxes) approx. 7 kg (with AUMA plug/ socket connector) approx. 12 kg (with Ex-plug/ socket connector with terminal board)

AUMA MATIC mounted separately from the actuator, including plug/ socket connector.

Connecting cables on request..

Recommended for high ambient temperatures, difficult access, or in case of heavy vibrations during service.

Electromagnetic Compatibility (EMC): (89/336/EEC)

Low Voltage Directive: (73/23/EEC)

Machinery Directive: (98/37/EC)

Product description “Actuator controls AUMA MATIC”

Dimension sheets “Multi-turn actuators/ part-turn actuators with integral controls AUMA

MATIC”

3) Only in combination with AM 01.1 and AM 02.1

6) For version in enclosure protection IP 68, a higher corrosion protection KS or KX is strongly recommended

7) Resistant to vibrations during start-up or for failures of the plant. However, a fatigue strength may not be derived from this

8) Cable length between actuator and AUMA MATIC max. 100 m. Not suitable for version with potentiometer in the actuator. Instead of the potentiometer, an RWG has to be used in the actuator.

Actuator controls AUMA MATIC AM/ AMExB/ AMExC

Modbus Operation instructions

6. Design AUMA MATIC Modbus

The AUMA MATIC Modbus by AUMA represents the ideal controls for connecting multi-turn actuators of the SA range and part-turn actuators of the SG range to Modbus.

Figure A: AUMA MATIC Modbus

Modbus interface

Logic board

Local controls

Modbus connection board

Electrical connection with AUMA plug/ socket connector

Power supply unit

Switchgear

Signal and control board

Selector switch

Plug/ socket connector to actuator

The integral controls AUMA MATIC Modbus consist of the following

modules:

Modbus interface. The interface links the Modbus data with the internal electronics.

The logic board links the signals of the actuator with the local controls and the

Modbus interface and controls the reversing contactors or the thyristors.

Local controls with selector switch, push buttons, and indication lights.

The selector switch is used to select the control devices for the local

control LOCAL – 0 – REMOTE for remote control.

The push buttons (OPEN) – Stop – (CLOSE) are used for the electric operation of the actuator on site.

Plug/ socket connectors for easy mounting of the AUMA MATIC Modbus on the actuators.

Signal and control board with primary fuses, relays for conversion of the local control commands into electrical signals, and indication lights as an option.

Switchgear: Reversing contactors or thyristors for motor controls.

Modbus connection board with terminals for the Modbus cable and the termination resistor for bus termination.

Actuators which have already been installed can be retrofitted for Modbus by exchanging the controls AUMA MATIC for controls AUMA MATIC

Modbus.

Operation instructions

7. Electrical connection

Actuator controls AUMA MATIC AM/ AMExB/ AMExC

Modbus

Work on the electrical system or equipment must only be carried out by a skilled electrician himself or by specially instructed personnel under the control and supervision of

such an electrician and in accordance with the applicable electrical engineering rules.

Installation regulations for Modbus must be observed for the wiring.

(For literature references, please refer to appendix C)

Make sure to respect electromagnetic compatibility (EMC) when installing cables:

Signal and bus cables are susceptible to interference.

Electric power cables are interference sources.

Lay cables being susceptible to inferference or sources of interference at the highest possible distance from each other.

The interference immunity of signal and bus cables increases if the cables are laid close to the ground potential.

Avoid long cables, if possible, or make sure that they are laid in locations with low susceptibility to interference.

Avoid long parallel paths with cables being either interference sources or susceptible to interference.

7.1

Power supply (standard)

Figure B-1: Connection

50.0

50.01

51.0

51.01

Figure B-2: Parking frame (accessory)

For explosion-proof version (type designation: AMExB/ AMExC), please

refer to page 15 or page 17.

Check whether type of current, supply voltage, and frequency comply with motor data (refer to name plate at motor).

Loosen bolts (50.01) (figure B-1) and remove connection housing.

Loosen screws (51.01) and remove socket carrier (51.0) from plug cover

(50.0).

Insert cable glands suitable for connecting cables.

(The enclosure protection stated on the name plate is only ensured if suitable cable glands are used).

Seal cable entries which are not used with suitable plugs.

Connect cables according to order-related wiring diagram.

The wiring diagram applicable to the actuator is attached to the handwheel in a weather-proof bag, together with the operation instructions. In case the wiring diagram is not available, it can be obtained from

AUMA (state commission no., refer to name plate) or downloaded directly from the Internet (www.auma.com).

A special parking frame (figure B-2) for protection against touching the bare contacts and against environmental influences, in case the electrical connection has been removed, is available.

Parking frame

Table 2: Technical data AUMA plug/ socket connector for bus connection

Technical data

No. of contacts max.

Motor power connections 1) Protective earth

6 (3 are used) 1 (leading contact)

Marking

Connecting voltage max.

Nominal current max.

Type of customer connection

Cross section max.

Material: Pin/ socket carrier

Contacts

U1, V1, W1, U2, V2, W2

750 V

25 A

Screws

6 mm 2

Polyamide

Brass (Ms)

–

Screw for ring lug

6 mm 2

Polyamide

Brass (Ms)

1)Suitable for copper wires. For aluminium wires, please contact AUMA

Control terminals

50 pins / sockets

1 to 50

250 V

16 A

Screws

2.5 mm 2

Polyamide

Brass, tin plated or gold plated (option)

Actuator controls AUMA MATIC AM/ AMExB/ AMExC

Modbus

7.2

Bus connection (standard)

Operation instructions

For explosion-proof version (type designation: AMExB/ AMExC), please refer to page 15 or page 17.

For version with FO (fibre optics), refer to separate operation instructions

“AUMA MATIC AM 01.1/ AM 02.1 FO connection”.

Connect bus cable. Refer to figures C-1 and C-4.

The termination resistors for channel 1 and channel 2 are switched in via switches (S1) and (S2). Both switches are supplied in position ‘OFF’.

Only switch on the termination resistors (position ‘ON’) if the actuator is the final device in the Modbus segment.

Table 3: Switch positions of S1 and S2

OFF

Bus termination channel 1 ON

Bus termination channel 1 OFF

Bus termination channel 2 ON (option)

Bus termination channel 2 OFF (option)

Figure C-1: Connection board (standard)

Bus termination channel 1

Connection channel 1

Screening

Bus termination channel 2

(ption)

Connection channel 2

(redundant)

Screening

Figure C-2: Connection (standard)

5V P/B N/A P/B N/A GND

B A B A from previous / to next

Modbus device channel 1

Operation instructions

Actuator controls AUMA MATIC AM/ AMExB/ AMExC

Modbus

Figure C-3: Connection board (for overvoltage protection)

Bus termination channel 1

Bus termination channel 2

7.3

Fitting the cover

Figure C-4: Connection for overvoltage protection

1 2 3 4 from previous / to next

Modbus device channel 1

Table 4: Assignment of Modbus cable

Modbus cable

AUMA labelling at the connection

N/A

P/B

After connection:

Insert the socket carrier (51.0) into the plug cover (50.0) and fasten it with screws (51.01).

Clean sealing faces at the plug cover and the housing.

Check whether O-ring is in good condition.

Apply a thin film of non-acidic grease (e.g. Vaseline) to the sealing faces.

Replace plug cover (50.0) and fasten bolts (50.01) evenly crosswise.

Fasten cable glands with the specified torque to ensure the required enclosure protection.

Actuator controls AUMA MATIC AM/ AMExB/ AMExC

Modbus Operation instructions

7.4

Remote position transmitter For the connection of remote position transmitters (potentiometer, RWG) screened cables must be used.

7.5

AUMA MATIC on wall bracket The AUMA MATIC can also be mounted separately from the actuator on a

Figure C-5: AM on wall bracket

wall bracket.

For the connection of actuator and AUMA MATIC on wall bracket, use suitable flexible and screened connecting cables.

(Preconfectioned cables can be obtained from AUMA on request)

Permissible cable distance between actuator and AUMA MATIC amounts to a max. of 100 m.

Versions with potentiometer in the actuator are not suitable. Instead of the potentiometer, an RWG has to be used in the actuator.

Connect the wires in correct phase sequence.

Check direction of rotation before switching on.

Connecting cable to actuator

The plug connection on the wall bracket is made as crimp version.

Use a suitable four indent crimp tool for crimping.

Cross sections for flexible wires:

Control cables: max. 0.75 to 1.5 mm²

Power supply: max. 2.5 to 4 mm²

The connector at the actuator is equipped with screw type connections.

Wire end sleeves have to be used.

7.6

Test run Perform test run. Please refer to the operation instructions pertaining to the actuator (multi-turn actuator SA(R) ... / part-turn actuator SG ...).

Check limit and torque switching:

Check limit and torque switching, electronic position transmitter RWG or potentiometer (option) and re-set where appropriate.

The settings are described in the operation instructions pertaining to the actuator (multi-turn actuator SA(R) ... part-turn actuator SG ... ).

For actuators with feedback signal (RWG, potentiometer), a reference oper-

ation has to be performed after having changed the setting.

Perform reference operation:

Operate actuator electrically (via the push buttons OPEN and CLOSE of the local controls) once to the end position OPEN and once to the end position CLOSED.

If no reference operation is performed after changing the limit switching, the feedback signal via the bus is not correct. The bus signals the missing reference operation as warning (see page 28).

Operation instructions

Actuator controls AUMA MATIC AM/ AMExB/ AMExC

Modbus

7.7

Mains and bus connection for Ex-version with plug/ socket connector / terminal board (KP)

When working in potentially explosive areas, observe the

European Standards EN 60079-14 “Electrical installations in hazardous areas” and EN 60079-17 “Inspection and maintenance of electrical installations in hazardous areas”.

Figure D-1: Connection

50.0

50.01

For the Ex-plug/ socket connector (figure D-1), the electrical mains connection is made after removing the plug cover (50.0) at the EEx e terminals of the terminal board (51.0). The flameproof compartment (type of protection

EEx d) remains hereby closed.

Check whether type of current, supply voltage, and frequency correspond to motor data (refer to name plate at motor).

Loosen bolts (50.01) (figure D-1) and remove plug cover.

Insert cable glands with “EEx e” approval and of size suitable for connecting cables. For the recommended cable

51.0

glands refer to appendix D, page 57.

Figure D-2: Disconnection from the mains

50.0

51.0

51.02

(The enclosure protection stated on the name plate is only ensured if suitable cable glands are used).

Seal cable entries which are not used with suitable plugs.

No more than max. 2 wires with the same cross section may be connected to one terminal.

Remove cable sheathing in a length of 120 – 140 mm.

Strip wires: Controls max. 8 mm, motor max. 12 mm.

For stranded wires use end-sleeves according to DIN 46228.

Connect bus cable. Refer to figure (D-3).

The termination resistor for channel 1 is connected through linking the terminals 1 – 4 and 3 – 2 (standard).

Only connect the termination resistor if the actuator is the final device in the Modbus segment.

Connect screen largely to the cable glands. For the recommended cable glands refer to appendix D, page 57.

If the actuator must be taken from the valve, e.g. for service purposes, it can be separated from the mains without having to remove the wiring

(figure D-2). For this purpose, the screws (51.02) are removed and the plug/ socket connector is pulled off. Plug cover (50.0) and terminal board (51.0) remain together.

Flameproof enclosure! Before opening, ensure that no explosive gas and no voltage is present.

A special parking frame (figure D-2) for protection against touching the bare contacts and against environmental influences is available.

Actuator controls AUMA MATIC AM/ AMExB/ AMExC

Modbus

Figure D-3: Bus connection for channel 1 (standard)

Another bus device follows the actuator

Operation instructions from previous

Modbus device channel 1

Actuator is final bus device to next

Modbus device channel 1

Table 5: Technical data Ex plug/ socket connector with terminal board for explosion-proof actuators

Technical data

No. of contacts max.

Marking

Connecting voltage max.

Nominal current max.

Motor power connections

U1, V1, W1

550 V

25 A

Type of customer connection Screws

Cross section max.

6 mm 2

1) Protective earth

1 (leading contact)

–

Screws

6 mm 2

Material: Pin/ socket carrier

Contacts

Araldite/ Polyamide

Brass (Ms)

Araldite/ Polyamide

Brass (Ms)

1)Suitable for copper wires. For aluminium wires, please contact AUMA

Control terminals

38 pins/ sockets

1 to 24, 31 to 50

250 V

10 A

Screws

1.5 mm 2

Araldite/ Polyamide

Brass (Ms) tin-plated

Operation instructions

Actuator controls AUMA MATIC AM/ AMExB/ AMExC

Modbus

7.8

Mains and bus connection for Ex-version with plug-in terminal connection (KES)

When working in potentially explosive areas, observe the

European Standards EN 60079-14 “Electrical installations in hazardous areas” and EN 60079-17 “Inspection and maintenance of electrical installations in hazardous areas”.

Figure E-1: Plug-in terminal connection

Terminal cover

Terminals

Terminal board

The bus connection is realised via terminals (figure E-1) The terminal compartment is designed for explosion protection “EEx e” (increased

safety). The controls AUMA MATIC (type of protection EEx d) remain closed.

Loosen bolts (1) (figure E-1) and remove terminal cover.

Insert cable glands with “EEx e” approval and of size suitable for connecting cables. For the recommended cable glands refer to appendix D, page 57.

(The enclosure protection stated on the name plate is only ensured if suitable cable glands are used).

Seal cable entries which are not used with suitable plugs.

Cross sections for connection:

Control cables:

Motor connection: max.

2.5 mm 2 max. 10 mm 2 ,

Suitable bus cables, see page 19.

Connect bus cable to channel 1 according to configuration of the terminals (figure E-2).

The termination resistor for channel 1 is connected through linking the terminals 1 – 2 and 3 – 4.

Only connect the termination resistors if the actuator is the final device in the Modbus segment.

Figure E-2: Terminal configuration for Ex connection (KES)

Another bus device follows the actuator

Modbus device

Actuator is last bus device

Modbus device

Actuator controls AUMA MATIC AM/ AMExB/ AMExC

Modbus

7.9

Redundant bus connection

Operation instructions

AUMA Modbus devices can be connected with a second (redundant)

Modbus cable. If the bus on channel 1 fails, e. g. through cable break, the slave automatically switches to channel 2 after a waiting time.

Thus, the change-over is realised with a time delay (see parameter 5

“Time for channel changing in 0.1s”, page 35).

Additionally, the communication cannot be carried out on both channels simultaneously.

If the redundancy is activated (see parameter 4 “Redundancy”, page 34), the AUMA MATIC transmits its data using both channels but receives the data only using the active channel.

This cable redundancy may only be applied after previous integration test using the desired process control system!

For versions with AUMA plug/ socket connector (subclause 7.2):

Connect redundant bus cable to channel 2 in the same way as channel 1

(figure C-2).

For Ex-version with plug/ socket connector / terminal board (KP)

(subclause 7.7):

Connect cable B to terminal 6, cable A to terminal 7.

The termination resistor for channel 2 is connected through linking the terminals 5 – 6 and 7 – 8.

For Ex-version with plug-in terminal connection (KES)

(subclause 7.8):

Connect cable B to terminal 6, cable A to terminal 7 (figure E-2).

The termination resistor for channel 2 is connected through linking the terminals 5 – 6 and 7 – 8.

The setting of the redundant bus connection is realised via the parameters

4 and 5 (refert to pages 34, 35).

Operation instructions

7.10 Bus cables

Actuator controls AUMA MATIC AM/ AMExB/ AMExC

Modbus

Only cables according to the recommendations of EIA 485 standard may be used for Modbus wiring.

A maximum of up to 32 Modbus devices may be connected in one segment.

If more stations are to be connected to one Modbus network, several segments must be connected with repeaters.

The bus cable must be laid at a distance of at least 20 cm from other cables.

It should be laid in a separate, conductive, and earthed cable trunking.

It must be ensured that there are no potential differences between the individual devices on the Modbus (perform a potential compensation).

The max. cable length without repeater amounts to 1,200 m (independent of the baud rate).

Cable recommendation for Modbus

Characteristic impedance:

Cable capacity:

Core diameter

Core cross section:

Loop resistance:

Screening:

35 to 165 Ohm, at a measurement frequency of 3 to 20 MHz.

< 30 pF per metre

> 0.64 mm

> 0.34 mm², corresponds to AWG 22

< 110 Ohm per km copper shielding braid or shielding braid and shielding foil

Figure F: Example: Modbus with one secment

Controls (master)

Bus termination switched on

2-wire cable

Modbus board Bus termination switched on

Connection board

AUMA MATIC

Modbus

Actuator controls AUMA MATIC AM/ AMExB/ AMExC

Modbus

7.11 Setting the Modbus interface

Operation instructions

A correct communication is only possible if the settings of the baud rate, the parity, and the stop bits agree with the master settings.

The settings are realised on the Modbus interface board.

Loosen screws and remove cover (figure G-1)

Figure G-1

Screws

Modbus interface board

Figure G-2: Modbus interface board

LEDs: 7 6 5 4 3 2 1 0 green LED illuminated

ADDRESS MODE ON

L1 L2 L3 L4

Push buttons:

T1 RESET

T2 MODIFY

T3 CHANGE MODE

Operation instructions

Actuator controls AUMA MATIC AM/ AMExB/ AMExC

Modbus

7.12 Setting the communication parameters

Push buttons:

T1 RESET

T2 MODIFY

T3 CHANGE MODE:

DEFAULT MODE: for status indication and basic programming,

ADDRESS MODE for address setting

BAUD RATE MODE for baud rate selection

Push button 3 (CHANGE MODE) is used to switch between the following modes:

1) DEFAULT MODE is characterised by LED 7 (green) being switched off.

Display and modification of type of seating in end position CLOSED, parity bits and stop bits as well as display of DataExchange, status,

BusActivity, and LocalError.

2) ADDRESS MODE is characterised by LED 7 (green) being illuminated.

The address is adjustable.

3) BAUD RATE MODE is characterised by the blinking of LED 7 (green).The baud rate is adjustable.If no push buttons are pressed for 30 seconds, the display will revert to DEFAULT MODE .

The push button MODIFY allows incrementation of the figure shown in the

LED row. The new value is immediately accepted in the DEFAULT MODE .

For ADDRESS MODE and BAUD RATE MODE , the value is only accepted when leaving these modes.

7.13 Setting parameter seating mode in end position CLOSED, parity bits and number of stop bits

When not pressing push button CHANGE MODE , you are in the DEFAULT

MODE (LED 7 is not illuminated). LED 0, LED 1, and LED 2 show the value of the three mentioned parameters:

LED

Parameter LED on LED off seating mode in end position CLOSED torque seating limit seating

Parity setting No Parity Even Parity

Number of stop bits 2 stop bits 1 stop bit

Push button S3 “ MODIFY ” is used to set these parameters. If, for example, type of seating in end position CLOSED = torque seating, parity setting = even parity, and number of stop bits = 1 stop bit is to be selected, the combination 001 must be illuminated for the first 3 LEDs. The push button

“ MODIFY ” is operated until this combination appears. The parameter values become immediately valid.

7.14 Setting the Modbus address The Modbus address is set using push buttons T2 and T3. This is done according to the following sequence:

(a) Press push button T1 CHANGE MODE (hold down for 1 to 2 seconds):

The green LED 7 ADRESS MODE is illuminated (not blinking); it indicates the programming mode for the Modbus address.

The actually set Modbus address is displayed as binary coding by LEDs

6 to 0 (1 to 127).

(b) Set desired bus address using push button T2 MODIFY :

(Factory setting: slave address 2)

Address 1 will follow after address 127. If push button T2 MODIFY is held down (approx. 1/3 s), the incrementation is done automatically.

Actuator controls AUMA MATIC AM/ AMExB/ AMExC

Modbus Operation instructions

(d) After setting the required Modbus address, quit the programming mode by pressing key T3 CHANGE MODE . The newly set address now becomes valid.

Pressing the key T3 results in changing to BAUD RATE MODE ; renewed pressing of key 3 results in reverting to DEFAULT MODE .

(e) Alternatively to clause d), pressing the push button T3 may be ommitted.

After 30 s the status address mode is automatically quit and the

DEFAULT MODE is indicated. The set address is thus accepted.

7.15 Setting the baud rate

The baud rate is selected with the push buttons T2 and T3. This is done according to the following sequence:

(a) Press push button T3 CHANGE MODE (hold down for 1 to 2 seconds):

The green LED 7 is illuminated (not blinking): the ADDRESS MODE is active.

(b) Press push button T3 CHANGE MODE again (hold down for 1 to 2 seconds): The green LED 7 is blinking: now, the BAUD RATE MODE is active.

(d) The baud rate setting changes each time, push button T2 is pressed.

After the setting 56,400 bit/s (1001), the setting 110 Bit/s (0000) follows again. If push button T2 MODIFY is held down (approx. 1/3 s), the incrementation is done automatically. Only the first 4 LEDs count as only

10 baud rate settings are possible.

Setting

LED 3 LED 2 LED 1 LED 0

Baud rate bit/s

110

300

600

1200

2400

4800

9600

19200

38400

1 0 0 1

56400

Notes

Default setting

Baud rate deviation

– 2.5 % !

Baud rate deviation – 5 %

( not recommended)

(e) After setting the required Modbus baud rate, close the programming mode by pressing push button T3. The newly set baud rate becomes valid and the interface is in DEFAULT MODE .

(f) Alternatively to clause e), pressing the push button T3 CHANGE MODE may be omitted. After 30 s, the BAUD RATE MODE status is automatically quit and the DEFAULT MODE is indicated. The set baud rate is thus accepted.

Operation instructions

Actuator controls AUMA MATIC AM/ AMExB/ AMExC

Modbus

8. Commissioning with controls

8.1

Introduction To commission a Modbus slave, a special configuration of the master using a configuration file is usually not required.

The Modbus RTU transmission is based on a simple protocol containing the slave address, a function code with offset address, the process data, and a checksum.

8.2

Overview of the Modbus functions for data transmission

Description Function

Force Single Coil

Force Multiple Coils

Read Coil Status

Read Input Status

Preset Single Register

Preset Multiple Register

Read Input Register

Read Holding Register

Function code

(decimal)

Sets one single bit to ON or OFF within slave

Sets several subsequent bits to ON or OFF within slave

Reads the status of individual pieces of output bit information out of the slave.

Reads the status of individual pieces of input bit information out of the slave

Writs data into one single holding register (16 bit) of slave

Writes data into subsequent holding registers

Reads the content of input data register (16 bit) out of the slave

Reads the content of holding registers out of the slave

8.3

Modbus function and corresponding offset addresses of the AUMA MATIC

Action

Write or read process representation output data

(master outputs)

Read process representation input data (master inputs

Write or read parameters of

AUMA MATIC

Permissible function function code (decimal)

Force Single Coil (05)

Force Multiple Coils (15)

Read Coil Status (01)

Preset Single Register (06)

Preset Multiple Register (16)

Read Holding Register (03)

Read Input Status (02)

Read Input Register (04)

Preset Single Register (06)

Preset Multiple Register (16)

Read Holding Register (03)

Permissible offset addresses (decimal)

0 to 2

4096 to 4098

8192 to 8239

12288 to 12296

16384 to 16433

Permissible offset addresses (hexadecimal)

0x0000 to 0x0002

0x1000 to 0x1002

0x2000 to 0x202F

0x3000 to 0x3008

0x4000 to 0x4031

Actuator controls AUMA MATIC AM/ AMExB/ AMExC

Modbus Operation instructions

9. Input data

9.1

Reading the actuator signals from the actuator using register functions

Functions to be used:

Read Input Register (04)

Grey bits are collective signals. They contain the results of a disjunction (OR operation) of other information.

Offset

(hexadecimal)

0x3000

Offset

(decimal)

12288

Register contents

(For the description, refer to chapter 9.2)

0x3001 12289

Bit

0x3002

0x3003

12290

12291

Bit

0x3004 12292

Bit

Operation instructions

Offset

(hexadecimal)

0x3005

Offset

(decimal)

12293

Actuator controls AUMA MATIC AM/ AMExB/ AMExC

Modbus

Register contents

(For the description, refer to chapter 9.2)

0x3006 12294

Bit

0x3007

0x3008

12295

12296

Bit

To ensure that the actuator gives a correct end position signal after power failure in end position CLOSED/ OPEN, we recommend to evaluate the information LSC (WSR)/

LSO (WOEL) (bit 5/4 in register 2) for the end position signal

CLOSED/ OPEN.

Actuator controls AUMA MATIC AM/ AMExB/ AMExC

Modbus

9.2

Description of the input data

Register 1: Logical signals

Important signals from the actuator concerning errors, warnings, operations:

Operation instructions

Bit Designation Value Description

OPEN position

Limit seating in end position OPEN

Limit switch in direction OPEN operated.

other

CLOSED position

Limit seating in end position CLOSED

Limit switch in direction CLOSE operated.

other

CLOSED position

Torque seating in end position

CLOSED

Torque switch and limit switch in direction CLOSE operated.

other

Setpoint reached

The setpoint is within max. error variable (outer dead band). Signal occurs only if Modbus master has set the Setpoint reached bit.

other

3 —

(reserved for extensions)

Running

OPEN

Running

CLOSED

Warning ind.

Operation command (OPEN or SETPOINT) from

Modbus in direction OPEN is executed. For operation in stepping mode, this signal is also active during an off-time, the dead time, and the reversing prevention.

No operation is carried out via Modbus.

Operation command (CLOSE or SETPOINT) from

Modbus in direction CLOSE is executed. For operation in stepping mode, this signal is also active during an off-time, the dead time, and the reversing prevention.

No operation is carried out via Modbus.

One or several warnings have occurred.

Collective signal: Contains the result of a disjunction

(OR operation) of all bits of the register “Warning signals (page 28)

7 Fault ind.

No warnings are active (all bits of the warnings cancelled).

One or several faults have occurred so that the actuator can no longer be controlled via Modbus (at least one bit set in fault byte).

Collective signal: Contains the result of a disjunction

(OR operation) of all bits of the register “Fault signals”

(page 27).

No faults are active (all bits are cancelled in fault register).

Operation instructions

Actuator controls AUMA MATIC AM/ AMExB/ AMExC

Modbus

Register 2: Actuator signals

Basic signals originating from the logic

Bit Designation Value Description

0 Thermal fault

A thermal fault (motor protection) has occurred.

0 No thermal fault has occurred.

1 Mains fault

A mains failure has occurred, e.g. phase error.

No mains failure has occurred.

Remote sw.

position

Local sw.

position

Selector switch in position REMOTE.

Selector switch not in position REMOTE.

Selector switch in position LOCAL.

Selector switch not in position LOCAL.

LSO (WOEL)

LSC (WSR)

TSO (DOEL)

TSC (DSR)

Limit switch OPEN left operated.

Limit switch OPEN left not operated.

Limit switch CLOSE right operated.

Limit switch CLOSE right not operated.

Torque switch OPEN left operated (storing).

Torque switch OPEN left not operated.

Torque switch CLOSE right operated (storing).

Torque switch CLOSE right not operated.

Register 3: E2 Actual position

Actual actuator position, complete value, or low register

Condition

Parameter 2 (measured data coding position transmitter) = 0

Parameter 2 (measured data coding position transmitter) = 1

Value

Value range 0..100 %

Value range 0..1000 %

Register 4: Fault signals

The actuator is not ready for remote operation. As soon as one of these signals is set, bit

7 of register 1 will also be set.

Bit Designation Value Description

Wrong command

Indicates the fact that several operation commands were received simultaneously via Modbus (e.g. Remote

OPEN and Remote CLOSE simultaneously or Remote

CLOSE/ Remote OPEN and Remote SETPOINT (nominal) simultaneously) or that the max. value for a nominal position has been exceeded (setpoint > 1000 or > 100).

Selector not remote

Thermal fault

Operation commands correct

Selector switch: position LOCAL or OFF

Selector switch: position REMOTE

Motor protection has tripped; remedy: resetting local controls via selector switch position RESET after the motor has cooled off.

other

Loss of one phase or incorrect phase sequence.

3 Mains failure

TSO (DOEL) fault

TSC (DSR) fault

0 other

Torque fault OPEN occurred (only torque or torque before limit, according to type of seating); remedy: resetting using counter command.

other

Torque fault CLOSED occurred (only torque or torque before limit, according to type of seating); remedy: resetting using counter command.

other

Actuator controls AUMA MATIC AM/ AMExB/ AMExC

Modbus Operation instructions

Bit Designation Value Description

6 — not assigned (reserved for extensions)

7 —

0 not assigned (reserved for extensions)

Register 5: Warning signals

The warning signals serve only information purposes and do not interrupt or cancel an operation (as opposed to faults). As soon as one of these signals is set, bit 6 of register 1 will be set simultaneously.

Bit Designation Value Description

Failure 24 V supply

Failure 24 V supply voltage (internal 24 V DC supply outside the permissible range).

Channel 2 active

0 other

Actuator uses channel 2 for communication.

other

Loss of transm. signal

Signal interrupted at position transmitter RWG: For recognition purposes, parameter 1 must be set to value 3 (RWG 4 – 20 mA).

other

Potentiometer fault

Hardwarefault

No reference operation

Potentiometer fault: in end position CLOSED a value is measured being higher than the one in end position

OPEN.

other

Hardware fault: If this bit is set, the Modbus board must be checked/ replaced.

other

No reference operation: The values of the position transmitter cannot be used as long as the reference operation

(end position OPEN, en position CLOSED) has not been performed. A nominal operation is not possible.

other

—

0 not assigned (reserved for extensions) not assigned (reserved for extensions)

Register 6: Physical operation Bit Designation Value Description

Rev.prev./ dead time

Reversing prevention/ dead time warning: The actuator does not start as long as reversing prevention or dead time is still active. The bit is set if a operation command is available which cannot be executed immediately. The bit is cancelled as soon as the actuator starts other

1 — not assigned (reserved for extensions)

Operation pause

Operation pause other

Start stepping mode

Indicates that the actuator is within the stepping range during active stepping mode. Conditions: position transmitter is provided, stepping mode is active, remote operation is being performed.

other

Operation instructions

Actuator controls AUMA MATIC AM/ AMExB/ AMExC

Modbus

Remote

OPEN

Remote

CLOSE

6 Local OPEN

Local

CLOSE

Remote operation via Modbus in direction OPEN (remote operation bit for logic board set and movement of potentiometer detected). Signalling of this bit requires a position transmitter.

other

Remote operation via Modbus in direction CLOSE (remote operation bit for logic board set and movement of potentiometer detected). Signalling of this bit requires a position transmitter.

other

Actuator runs locally in direction OPEN (local controls or handwheel).

Signalling of this bit requires a position transmitter.

other

Actuator runs locally in direction CLOSE (local controls or handwheel). Signalling of this bit requires a position transmitter.

other

Register 7: Options

Digital inputs and signal loss at analogue inputs

Bit Designation Value Description

Dig.

input 1

Digital input Nr. 1 = 1 (switch closed)

Digital input Nr. 1 = 0 (switch open)

1 Digital input Nr. 2 = 1 (switch closed)

Dig.

input 2

Dig.

input 3

Digital input Nr. 2 = 0 (switch open)

Digital input Nr. 3 = 1 (switch closed)

Digital input Nr. 3 = 0 (switch open)

Dig.

input 4

Digital input Nr. 4 = 1 (switch closed)

Digital input Nr. 4 = 0 (switch open)

4 — Not assigned (reserved for extensions)

Analogue 2 loss

Analogue 3/4 loss

Signal interrupted at analogue input 2 (first free analogue input) i.e. the measured value is more than 0.2

mA lower than the set minimum value.

no signal interruption analogue input 2 detected

Signal interrupted at analogue input 3/4 (second free analogue input) i.e. the measured value is more than

0.2 mA lower than the set minimum value.

no signal interruption analogue input 3/4 detected

7 —

0 not assigned (reserved for extensions)

Register 8: First analogue input (wiring diagram designation analogue 2)

The data content depends on parameter 22 (coding analogue 2), holding register offset: 0x4015 (hexadezimal), 16405 (dezimal)

Settings:

0: 0 to 100 percent (default value)

1: 0 to 1000 per mil

2: 0 to 1023 (raw value of analogue-digital converter, not standardised)

Actuator controls AUMA MATIC AM/ AMExB/ AMExC

Modbus Operation instructions

Register 9: Second analogue input (wiring diagram designation analogue 3/4)

The data content depends on parameter 25 (coding analogue 3/4), holding register offset: 0x4018 (hexadecimal), 16408 (decimal)

Settings:

0: 0 to 100 percent (default value)

1: 1 to 1000 per mil

2: 0 to 1023 (raw value of analogue-digital converter, not standardised)

9.3

Reading the feedback signals from the actuator using status functions

Functions to be used:

Read Input Status (02)

Grey bits are collective signals. They contain the results of a disjunction (OR operation) of other information.

0x2007

0x2008

0x2009

0x200A

0x200B

0x200C

0x200D

0x200E

0x200F

0x2010

0x2011

0x2012

0x2013

0x2014

0x2015

0x2016

0x2017

0x2018

0x2019

Offset

(hexadecimal)

0x2000

0x2001

0x2002

0x2003

0x2004

0x2005

0x2006

Offset

(decimal)

8192

8193

8194

8195

8196

8197

8198

8205

8206

8207

8208

8209

8210

8211

8212

8199

8200

8201

8202

8203

8204

8213

8214

8215

8216

8217

Content

(Description in subclause 9.2)

OPEN position

CLOSED position

Setpoint reached

- -

Running OPEN

Running CLOSE

Warning signals

(refer to page 28, register 5)

Error signals (refer to page 27, register 4)

Thermal fault

Mains failure (phase loss)

Selector switch REMOTE

Selector switch LOCAL

LSO (WOEL)

LSC (WSR)

TSO (DOEL)

TSC (DSR)

Wrong command

Selector switch not remote

Thermal fault

Mains failure (phase loss)

TSO (DOEL) fault

TSC (DSR) fault

- -

24 V power supply failure

Channel 2 active

Operation instructions

Actuator controls AUMA MATIC AM/ AMExB/ AMExC

Modbus

0x2025

0x2026

0x2027

0x2028

0x2029

0x202A

0x202B

0x202C

0x202D

0x202E

0x202F

Offset

(hexadecimal)

0x201A

0x201B

0x201C

0x201D

0x201E

0x201F

0x2020

0x2021

0x2022

0x2023

0x2024

8229

8230

8231

8232

8233

8234

8235

8236

8237

8238

8239

Offset

(decimal)

8218

8219

8220

8221

8222

8223

8224

8225

8226

8227

8228

Content

(Description in subclause 9.2)

Signal loss position transmitter

Potentiometer fault (wrong polarity)

Hardware fault

No reference operation

- -

Rev.prev./ dead time

- -

Operation pause

Start stepping mode

Remote OPEN

Remote CLOSE

Local OPEN

Local CLOSE

Digital input 0

Digital input 1

Digital input 2

Digital input 3

- -

Singal loss customer analogue input 1

Signal loss customer analogue input 2

- -

Actuator controls AUMA MATIC AM/ AMExB/ AMExC

Modbus Operation instructions

10. Process representation output

Via the process representation output, the master (controls) can control the slave (actuator).

10.1 Transmitting operation commands to or reading out from the actuator using register functions

Functions to be used:

Preset Single Register (06); Preset Multiple Register (16);

Read Holding Register (03)

Offset

(hexadecimal)

Offset

(decimal)

Register contents

0x1000 4096

Bit

0x1002 4098

Holding register operation commands also change the corresponding coils for operation commands.

Operation commands which cannot be executed are rejected with ILLEGAL DATA VALUE (code 03). Operation commands cannot be executed if a thermal fault or mains failure have occurred, or if the local controls are not set to remote, or if commands are contradictory.

If a thermal fault or a mains failure occurs during remote operation, or if the remote operation is switched off via the selector switch, the actuator will cancel all pending operation commands

10.2 Description of the output data

Register 1: Commands (high byte)

With the bits 0 – 2, the operation commands are transmitted to the actuator. Only one of these bits may be set at any given time.

If remote

SETPOINT is set, the value of the nominal position

(register 2) is used.

Bits 3 – 15 are reserved for future extensions and must remain set to 0.

As soon as these bits are written to via coil functions, the contents of the respective

Holding Registers for the operation commands will also change.

If the Coil Remote SETPOINT is used, the respective setpoint has to be entered on the setpoint register.

Bit Designation Value Description

Remote

OPEN

1 Running OPEN

0 Not running OPEN

Remote

CLOSED

Remote

SETPOINT

1 Running CLOSE

0 Not running CLOSE

Running to setpoint

Can only be set if a position transmitter e.g. potentiometer/ RWG (options) is available.

- -

0 Not running to setpoint.

Not assigned (reserved for extensions)

- -

Not assigned (reserved for extensions)

Operation instructions

Actuator controls AUMA MATIC AM/ AMExB/ AMExC

Modbus

Register 2: E1 Setpoint

The setpoint can be transmitted either as a value between

0 – 100 (percent) or 0 – 1000

(per mil). The cange-over between 0 – 100 and 0 – 1000is realised via parameter 2

“Measured data coding position transmitter”. According to this programming, different maximum values apply. When these limits are exceeded, the actuator stops and signals a fault.

Byte 2: Setpoint 0...100 or setpoint 0...1000

Condition

Parameter 2 (measured data coding position transmitter) = 0

Parameter 2 (measured data coding position transmitter) = 1

Value

Setpoint 0...100 %

Setpoint 0...1000 %

10.3 Transmission of operation commands to the actuator using coil functions

Functions to be used:

Force Single Coil (05)

Force Multiple Coils (15)

Read Coil Status (01)

Offset

(hexadecimal)

0x0000

0x0001

0x0002

Offset

(decimal)

Contents

(Description in page 41)

REMOTE OPEN

REMOTE CLOSED

REMOTE SETPOINT

If a Force Coil is set, the other two coils will be deleted by the actuator

(the actuator executes the last command issued).

Coil operation commands also change the corresponding holding register for the operation commands.

Operation commands which cannot be executed are rejected with ILLEGAL

DATA VALUE (code 03). Operation commands cannot be executed if: a thermal fault or a power failure have occurred.

the remote controls is not set to REMOTE.

an impermissible nominal value has been set (>100 or >1000).

commands are contradictory (coil contents at Force Multiple Coils or holding registers contradictory).

If a thermal fault or a power failure occurs during remote operation or if the remote operation is switched off, the actuator will cancel the pending operation commands.

Actuator controls AUMA MATIC AM/ AMExB/ AMExC

Modbus Operation instructions

11. Operation parameters of the actuator

Functions to be used:

The parameters of the AUMA MATIC can be written or read using the following functions:

Preset Single Register (06),

Preset Multiple Register (16), or

Read Holding Register (03)

Parameters should only be changed as a whole parameter record in order to avoid inconsistent parameter records. The Modbus software checks the consistency of parameters and refuses inconsistent parameter records

(ILLEGAL DATA VALUE, code 03).

Parameter 1 “Position transmitter”

Holding Register Offset: 0x4000 (hex.), 16384 (decimal)

Default value (standard setting): 1

0: The actuator is not equipped with a position transmitter.

1: The actuator is equipped with a potentiometer without RWG.

Switch S1.2 on Modbus board must be switched off!

2: Actuator is equipped with an RWG 0 – 20 mA.

For this position transmitter, the signal interruption noitoring is not active.

Switch S1.2 must be switched on!

3: Actuator is equipped with an RWG 4 – 20 mA.

For this position transmitter, the signal interruption monitoring is active.

Switch S1.2 on Modbus board must be switched on!

Parameter 2 “Measured data coding position transmitter”

Holding Register Offset: 0x4001 (hexadecimal), 16385 (decimal)

Default value: 0

0: Feedback signal (register 3, E2 actual position) 0 to 100 percent, resolution is 1 %, setpoint (register 2, E1 actual position) 0 to 100 percent.

1: Feedback signal (register 3, E2 actual position) 0 to 1000 per mil, resolution is 0.1 %, setpoint (register 2, E1 actual position) 0 to 1000 per mil.

Parameter 3 “Reversing prevention in ms”

Parameter for setting the waiting time in between a change of direction.

If necessary, adjust the value to the mechanics to prevent destruction caused by excessively fast changes of direction.

Holding Register Offset: 0x4002 (hexadecimal), 16386 (decimal)

Default value: 200 lowest value: 100 (0.1s) maximum value: 1000 (1 s)

Parameter 4 “Redundancy”

Holding Register Offset: 0x4003 (hexadecimal), 16387 (decimal)

Default value 0

0: no cable redundancy (only the first channel is used for communication).

1: Cable redundancy is switched on (first and second communication channel connected).

Operation instructions

Actuator controls AUMA MATIC AM/ AMExB/ AMExC

Modbus

Parameter 5 “Time for channel changing in 0.1 s”

Indicates the time after which the channel is changed if no process data, i.e.

expiry of connection control time of 0.1 s, is received. This parameter is only effective if the cable redundancy (parameter 4) is switched on.

Holding Register Offset: 0x4004 (hexadecimal), 16388 (decimal)

Default value: 50 lowest value: 50 (5 s) maximum value: 6000 (10 min)

Parameter 6 “Failure behaviour”

Failure operation on failure of connection.

The parameters set in the most recent connection also apply to the failure behaviour after interruption and restoring of the voltage supply.

Holding Register Offset: 0x4005 (hexadecimal), 16389 (decimal)

Default value: 0

0: Failure behaviour switched off (parameters 7, 8, 9 insignificant)

1: Simple failure behaviour switched on.

A failure operation will only be started if a connection to the master

(process data exchange) was already available.

2: Extended failure behaviour switched on.

If extended failure behaviour is switched on, a failure operation can be initiated immediately after the actuator has been switched on.

Parameter 7 “Delay time for failure operation 0.1 s”

Delay time for failure operation in 0.1 s.

Indicates the down time of process data exchange after which a failure operation will be started. If the exchange is restored during this time, no failure operation will be performed.

Holding Register Offset: 0x4006 (hexadecimal), 16390 (decimal)

Default value: 30 lowest value: 0 (actuator reacts immediately) maximum value: 12,000 (actuator reacts after 20 minutes)

Parameter 8 “Failure operation”

Holding Register Offset: 0x4007 (hexadecimal), 16391 (decimal)

Default value 0

0: The actuator stops (STOP).

1: Actuator runs CLOSE

2: Actuator runs OPEN

3: Actuator runs to failure position.

If no position transmitter is installed (parameter 1 = 0), value 3 is not permitted. In this case, the parameter record is rejected.

Parameter 9 “Failure position in per mil”

Actuator runs to the pre-set failure position.

This parameter is only effective if parameter 8 (failure operation) is set to value 3, and if parameter 6 (failure behaviour) is not 0.

Holding Register Offset: 0x4008 (hexadecimal), 16392 (decimal)

Default value: 0 lowest value: 0 (end position CLOSED) maximum value: 1,000 (end position OPEN)

Actuator controls AUMA MATIC AM/ AMExB/ AMExC

Modbus Operation instructions

Parameter 10: not used

For detailed descriptions of parameters 11 to 14, please refer to subclause 12.2

Parameter 11 “Dead time positioner in 0.1 s”

Indicates the dead time which has to be maintained between two motor starts. In case the Modbus master issues a command before that time, the

AUMA MATIC delays the actuator reaction until dead time has expired.

Holding Register Offset: 0x400A (hexadecimal), 16394 (decimal)

The Modbus master of the controls must ensure that the maximum number of motor starts of the actuator is not exceeded.

Default value: 0 minimum value: 0 (actuator reacts immediately) maximum value: 600 (actuator delays reaction by 1 minute max.)

Parameter 12 “Overrun direction OPEN in per mil”

The motor is switched off as soon as the distance between the actuator position and the nominal position reaches this value. This is only valid for operations in direction OPEN.

This parameter must be lower than the value in parameter 14 (max. error in per mil).

Holding Register Offset: 0x400B (hexadecimal), 16395 (decimal)

Default value: 5 minimum value: 0 (no overrun in direction OPEN) maximum value: 100 (10 % overrun in direction OPEN)

Parameter 13 “Overrun direction CLOSE in per mil”

The motor is switched off as soon as the distance between the actuator position and the nominal position reaches this value. This is only valid for operations in direction CLOSE.

This parameter must be smaller than the value in parameter 14 (max. error in per mil).

Holding Register Offset: 0x400C (hexadecimal), 16396 (decimal)

Default value: 5 minimum value: 0 (no overrun in direction CLOSE) maximum value: 100 (10 % overrun in direction CLOSE)

Parameter 14 “Max. error in per mil”

The actuator will only be restarted if the distance between the nominal position and the actual position is higher than this value.

Corresponds to the outer dead band.

This parameter must be higher than the value in parameter 12 (overrun in direction OPEN) and parameter 13 (overrun in direction CLOSE).

The parameter must be set sufficiently high to ensure a stable function of the positioner. If the value is set too low, the actuator moves continuously within nominal value range which will result in reducing the life time of the actuator.

Holding Register Offset: 0x400D (hexadecimal), 16397 (decimal)

Default value: 10 minimum value: 1 (0,1 % error).

maximum value: 100 (10 % error).

Operation instructions

Actuator controls AUMA MATIC AM/ AMExB/ AMExC

Modbus

Parameters 15 to 19 are not used

Parameter 20 “Start analogue 2 in 0.1 mA”

Current value at which the measuring range of analogue 2 input (option) begins. This value must be smaller than the value in parameter 21 (end analogue 2 in 0.1 mA). If a sensor with 4 – 20 mA signal is connected to the analogue 2 input, the value must be set to 40.

Holding Register Offset: 0x4013 (hexadecimal), 16403 (decimal)

Default value: 0 minimum value: 0 (value for sensor with 0 – 20 mA signal) maximum value: 150 important value: 40 (this corresponds to the correct value for a sensor with a

4 - 20 mA signal)

Parameter 21 “End analogue 2 in 0.1 mA”

Current value at which the measuring range of analogue 2 input (option) ends. This value must be higher than the value in parameter 20 (start analogue 2 in 0.1 mA).

Holding Register Offset: 0x4014 (hexadecimal), 16404 (decimal)

Default value: 200 minimum value: 50 maximum value: 200 (value for sensor with 0 – 20 or 4 – 20 mA signal)

Parameter 22 "Coding analogue 2"

Holding Register Offset: 0x4015 (hexadecimal), 16405 (decimal)

Default value: 0

0: 0 to 100 percent

1: 0 to 1000 per mil

2: 0 to 1023 (raw value of analogue-digital converter, not standardised)

Parameter 23 “Start analogue 3/4 in 0.1 mA”

Current value at which the measuring range of analogue 3/4 input begins.

This value must be smaller than the value in parameter 24 (end analogue 3/4).

If a sensor with a 4 – 20 mA signal is connected to analogue 3/4, the value must be set to 40.

Holding Register Offset: 0x4016 (hexadecimal), 16406 (decimal)

Default value 0 minimum value: 0 (value for sensor with 0 – 20 mA output) maximum value: 150 important value: 40 (this corresponds to the correct value for a sensor with a

4 – 20 mA signal)

Parameter 24 “End analogue 3/4 in 0.1 mA”

Current value at which the measuring range of analogue 3/4 input ends.

This value must be higher than the value in parameter 23 (start analogue 3/4).

Holding Register Offset: 0x4017 (hexadecimal), 16407 (decimal)

Default value: 200 minimum value: 50 maximum value: 200 (value for sensor with 0 – 20 mA or 4 – 20 mA output)

Actuator controls AUMA MATIC AM/ AMExB/ AMExC

Modbus Operation instructions

Parameter 25 “Coding analogue 3/4”

Holding Register Offset: 0x4018 (hexadecimal), 16408 (decimal)

Default value: 0

0: 0 to 100 percent

1: 0 to 1000 per mil

2: 0 to 1023 (raw value of analogue-digital converter, not standardised)

The stepping mode increases the number of starts of the actuator. It must be ensured that the maximum number of starts will equally not be exceeded when operating in stepping mode.

Parameter 26 “Stepping direction OPEN active”

This parameter is only effective if parameter 1 (position transmitter) is not 0.

Otherwise, the parameter record will be rejected.

Holding Register Offset: 0x4019 (hexadecimal), 16409 (decimal)

Default value: 0

0: Stepping mode in direction OPEN switched off

1: Stepping mode in direction OPEN switched on

Parameter 27 “Stepping operating time OPEN in 0.1 s”

Stepping operating time direction OPEN in 0.1 s

This parameter is only effective if parameter 26 (stepping direction OPEN active) is not 0.

Holding Register Offset: 0x401A (hexadecimal), 16410 (decimal)

Default value: 10 minimum value: 1 (actuator runs 0.1 s per stepping period) maximum value: 36,000 (actuator runs 1 hour per stepping period)

Parameter 28 “Stepping pause time OPEN in 0.1 s”

Stepping pause time direction OPEN in 0.1 s

This parameter is only effective if parameter 26 (stepping direction OPEN active) is not 0.

Holding Register Offset: 0x401B (hexadecimal), 16411 (decimal)

Default value 50

Default value: 50 minimum value: 1 (actuator stationary 0.1 s per stepping period) maximum value: 36,000 (actuator stationary 1 hour per stepping period)

Parameter 29 “Stepping start OPEN in per mil”

Start stepping range in direction OPEN with indication of position in per mil.

This value must be smaller than the value in parameter 30 (stepping end

OPEN in per mil). Otherwise, the parameter record will be rejected.

This parameter is only effective if parameter 26 (stepping direction OPEN active) is not 0.

Holding Register Offset: 0x401C (hexadecimal), 16412 (decimal)

Default value: 0 minimum value: 0 (stepping mode in direction OPEN begins at position 0, end position CLOSED) maximum value: 999

Operation instructions

Actuator controls AUMA MATIC AM/ AMExB/ AMExC

Modbus

Parameter 30 “Stepping end OPEN in per mil”

End stepping range in direction OPEN with indication of position in per mil.

This value must be higher than the value in parameter 29 (stepping start

OPEN in per mil). Otherwise, the parameter record will be rejected. This parameter is only effective if parameter 26 (stepping direction OPEN active) is not 0.

Holding Register Offset: 0x401D (hexadecimal), 16413 (decimal)

Default value: 1000 minimum value: 1 maximum value: 1,000 (Stepping mode in direction OPEN ends at position

1,000, end position OPEN)

Parameter 31 “Stepping direction CLOSE active”

This parameter is only effective if parameter 1 (position transmitter) is not 0.

Otherwise, the parameter record will be rejected.

Holding Register Offset: 0x401E (hexadecimal), 16414 (decimal)

Default value: 0

0: Stepping mode in direction CLOSE switched off

1: Stepping mode in direction CLOSE switched on

Parameter 32 “Stepping operating time CLOSE in 0.1 s”

Operating time for stepping mode in direction CLOSE. Indication in 0.1

seconds.

This parameter is only effective if parameter 31 (stepping direction CLOSE active) is not 0.

Holding Register Offset: 0x401F (hexadecimal), 16415 (decimal)

Default value: 10 minimum value: 1 (actuator runs 0.1 s per stepping period) maximum value: 36,000 (actuator runs 1 hour per stepping period)

Parameter 33 “Stepping pause time CLOSE in 0.1 s”

Pause time for stepping mode in direction CLOSE. Indication in 0.1 seconds

This parameter is only effective if parameter 31 (stepping direction CLOSE active) is not 0. Otherwise, the parameter record will be rejected.

Holding Register Offset: 0x4020 (hexadecimal), 16416 (decimal)

Default value: 50 minimum value: 1 (actuator stationary 0.1 s per stepping period) maximum value: 36,000 (actuator stationary 1 hour per stepping period)

Parameter 34 “Stepping start CLOSE in per mil”

Start stepping range in direction CLOSE with indication of position in per mil.

This value must be higher than the value in parameter 35 (stepping end

CLOSE in per mil). Otherwise, the parameter record will be rejected.

This parameter is only effective if parameter 31 (stepping direction CLOSE active) is not 0.

Holding Register Offset: 0x4021 (hexadecimal), 16417 (decimal)

Default value: 1000 minimum value: 1 maximum value: 1,000 (Stepping mode in direction CLOSE starts at position

1,000, end position OPEN)

Actuator controls AUMA MATIC AM/ AMExB/ AMExC

Modbus Operation instructions

Parameter 35 “Stepping end CLOSED in per mil”

End stepping range in direction CLOSE with indication of position in per mil.

This value must be higher than the value in parameter 34 (stepping start

CLOSE in per mil). This parameter is only effective if parameter 31 (stepping direction CLOSE active) is not 0. Otherwise, the total parameter record will be rejected.

Holding Register Offset: 0x4022 (hexadecimal), 16418 (decimal)

Default value: 0 minimum value: 0 (stepping mode in direction CLOSE ends at position 0, end position CLOSED) maximum value: 999

Parameters 36 to 50 are spare parameters

They are reserved for extensions.

Default value: 0

Value range: 0 to 65535

Operation instructions

Actuator controls AUMA MATIC AM/ AMExB/ AMExC

Modbus

12. Description of actuator functions

12.1 Operation commands for OPEN/ CLOSE operation

Operation commands are determined by the operation command bits and the nominal value (setpoint) of the Modbus process representation output.

Only one command bit may be set at any given time. If several command bits are set, no operation is performed and the fault signal ‘Wrong command’ is given.

To avoid placing too much strain on the mechanics the actuator is equipped with a (programmable) delay when changing direction (reversing prevention).

The following operation command bits are required for OPEN/ CLOSE operation :

Remote OPEN

Remote CLOSE

Remote operation OPEN / STOP

Remote OPEN = 1 The actuator runs in direction OPEN.

Remote OPEN = 0 The actuator stops.

The actuator is switched off automatically if the end position OPEN

(limit switch LSO [WOEL]) is reached.

Occurring faults (thermal protection, phase failure, torque failure) stop the operation.

Remote operation CLOSE/ STOP

Remote CLOSED = 1 The actuator runs to position CLOSED.

Remote CLOSED = 0 The actuator stops.

The actuator is switched off automatically if the end position CLOSED is reached (limit switch LSC [WSR] for limit seating or LSC [WSR] and TSC

[DSR] for torque seating). Occurring faults (thermal failure, phase failure, torque failure) stop the operation.

Remote operation to setpoint position/ STOP

The positioner can only function if the actuator is equipped with a position transmitter, e.g. potentiometer/ RWG (option).

Remote SETPOINT = 1 The actuator moves to the set nominal value.

Remote SETPOINT = 0 The actuator stops.

The setpoint must be indicated in % or in ‰ (depending on the AUMA user parameter 2 “Measured data coding position transmitter”.

Occurring faults (thermal failure, phase failure, torque failure) stop an operation via the positioner.

With a setpoint of 0 % (0 ‰), the actuator runs to the end position CLOSED.

With a setpoint of 100 % (1000 ‰), the actuator runs to the end position

OPEN. In case the setpoint is more than 100 % (1,000 ‰) , no operation is performed and the fault signal “Wrong command” is given.

12.2 Positioner The positioner is activated via the bit ‘Remote SETPOINT’.

The positioner is a three-position controller. Via the setpoint E1 in the process representation output, the nominal value of the position is transmitted to the actuator as nominal variable.

The positioner integrated in the actuator controls AUMA MATIC provides the position signal for controlling the motor depending on the nominal and actual position value. The feedback signal (actual position E2) is produced internally within the actuator.

The position transmitter compares the nominal value of the position set in the controls to the locally measured actual value of the position. If the difference between nominal value and actual value is higher than the max. error

(parameter 14), the positioner drives the motor, depending on the error, either in direction OPEN or direction CLOSE.

Actuator controls AUMA MATIC AM/ AMExB/ AMExC

Modbus Operation instructions

Figure H: Modulating duty: nominal operation to 50 %

OPEN

100 %

Overrun (inner dead band)

51 %

50,5 %

Setpoint

50 %

49,5 %

49 %

Overrun

Setpoint reached

Max.

error

= 1 %

Motor is switched off

CLOSED 0 % t

The inner dead band determines the switching-off point of the actuator.

The tripping point in both directions can be set via the parameters 12 and

13 (page 35), so that the actuator stops as close as possible to the nominal value.

Max. error (outer dead band)

Dead time

12.3 Stepping mode

The outer dead band determines the switching-on point of the actuator.

If the actual position or a change in nominal value is higher than the max.

permissible error set with parameter 14 (page 36), the motor is started.

The parameter must be set sufficiently high to ensure a stable function of the positioner. If the value is set too low, the number of starts is likely to be increased. Thus, the end of the lifetime of the actuator and valve will be reached sooner.

The dead time prevents the operation to a new nominal position within a pre-defined time period. The time can be between

0 and 1 minute and is set in parameter 11.

The controls must ensure that the maximum number of motor starts of the actuator is not exceeded. This can be achieved by setting the parameter 11 to a sufficiently high value.

For further information on the positioner, please refer to the operation instructions pertaining to the actuator (multi-turn actuator SA(R).../ part-turn actuator SG... with AUMA MATIC AM...).

Stepping mode requires a position transmitter (option).

The stepping mode lengthens the operating time for part of or for the whole travel.

Setting operation and pause times as well as stepping ranges

The operation and pause times (stepping times) in opening or closing direction are set with the parameters 27, 28 and 32, 33. An individual operation and pause time can be set for each direction.

The stepping ranges can be set separately in direction OPEN and CLOSE

(parameter 29, 30 and 34, 35).

Indication of operation in stepping mode

The states of the operation in stepping mode are indicated by the bits 2 and

3 in register 6 of the process representation input.

Operation instructions

13. Failure function

Actuator controls AUMA MATIC AM/ AMExB/ AMExC

Modbus

The failure function allows the start of failure operations in case of special events, e.g. when the communication between the actuator and the master is interrupted. This function is set with the parameters 6 to 9.

If the actuator is in the failure function, the set failure position is approached via a failure operation.

If the actuator is then moved to another position (e.g. by manual operation), it will try to perform the set failure action while the selector switch is in position REMOTE.

To prevent a new approach to the failure position during manual operation, the selector switch (local controls) must be switched to position ‘LOCAL’ or ‘OFF’ before operating the handwheel.

The following events can trigger the failure function:

The connection to the master is interrupted.

The master sends no telegrams to the actuator.

As soon as the cause for triggering the failure function is eliminated

(connection restored, master in Operate state), the operation commands from the master can be executed again.

The last operation command having been transmitted to the actuator prior to the connection failure is deleted within the actuator. To ensure a defined behaviour, a valid operation command must be transmitted to the actuator upon resuming communication.

Time behaviour of the failure function

The internal connection control time (1 s) is started with the last Modbus query-response cycle prior to communication failure.

If no valid Modbus telegram was received within this connection control time, the failure function will be initiated with the start of the delay time. At the end of the delay time, the failure action will be executed:

Last Modbus

Query-response cycle

End of the connection control time (1s)

Start of the failure function delay time

End of the failure function delay time

(Parameter 7)

Executing the failure action

Actuator controls AUMA MATIC AM/ AMExB/ AMExC

Modbus

14. Description Modbus interface

Figure J: Modbus interface board

LEDs: 7 6 5 4 3 2 1 0

Operation instructions

L1 L2 L3 L4

Switch S1

(below cover plate)

1 6 1

Taster

6 1 1 4

X8 Modbus X11 X12 X10

S1.1

When using the external analogue input X11 AI 3/4, the switch S1.1 must be in position On.

S1.2

Switch for setting the position feedback via position transmitter potentiometers/ RWG (option).

S1.2 = OFF: The actuator is equipped with a potentiometer.

S1.2 = ON: Switch may only be in this position if an RWG (0/4 – 20 mA) is installed in the actuator.

14.1 Indication during system start-up

When starting the system, the LEDs 0 to 7 will be illuminated. LEDs L1 to L4 are switched off. This signifies that the board is correctly started.

After a short time (approx. 1/4 s), the LED L1 (round red LED) will be illuminated and the LEDs 0 to LED 7 will be switched off one after the other. This means that the microcontroller is now operating. If LED L1 is switched off and the LEDs 0 to 7 are still illuminated, then the system is in the reset status (this situation can also be reproduced by constantly pressing push button T1).

14.1.1 Indications of operation LEDs 7 to 0

Indications of operation

LED Default Mode

0 (red)

1 (red)

2 (red)

3 (red)

4 (red)

5 (red)

6 (red)

7 (red)

LED on LED is off torque seating no parity

2 stop bits data exchange bus active local error limit seating even parity

1 stop bit no data exchange state (blinking) no bus active no local error off

Significance

Address

Mode

64 on

Baud rate

Mode

–

– blinking

LED 0 Indicates torque or limit switching in end position CLOSED

(illuminated for torque switching)

LED 1 Indicates the quantity of the parity bits from the Modbus protocol

(illuminated for No Parity). Only No Parity and Even Parity are supported, Odd paritiy is not supported

Operation instructions

Actuator controls AUMA MATIC AM/ AMExB/ AMExC

Modbus

LED 2

LED 3

LED 4

LED 5

LED 6

LED 7

Indicates the quantity of stop bits - 1 or 2 - (illuminated for 2 stop bits)

Is blinking for each incoming telegram which is assigned to the actuator.

Applications LED:

- is blinking in 1 s intervals for normal service

(0.5 s illumination, 0.5 s pause)

- is permanently illuminated in case of initialisation failure

- is blinking twice while Fail Safe status is active.

Is blinking for each telegram which has been recognized at the bus.

Local actuator signal:

- blinking once:

- blinking twice:

Thermal fault

Power failure

- blinking 3 times: TSO (DOEL) fault

- blinking 4 times: TSC (DSR) fault

- blinking 5 times: 24 V power supply > 28.3 V or <18 V indicates the setting mode:

Off:

On:

DEFAULT MODE

ADDRESS MODE

Blinking: BAUD RATE MODE

14.1.2 System displays LEDs L1 to L4

LED L1 indicates the actuator status. If L1 is illuminated, the actuator is ready for operation.

System indications

L1 (red) System is Ok (CPU working)

L2 (red)

L3 (red)

L4 (red)

Actuator runs OPEN

Actuator runs CLOSE not assigned

LEDs L2 to L4 are illuminated if the actuator has received and processed a feasible operation command via the bus. The following combinations are valid:

Operation indications

LED 4 off off off

LED 3 off off on

LED 2 on on on

Signification no operation operation direction OPEN operation direction CLOSE

14.2 Customer input assignment of the Modbus interface (option)

X7 Digital inputs This plug provides pins for 4 digital customer inputs.

Table 6: Digital inputs (galvanically isolated)

Pin

Description

Digital input 1

Digital input 2

Digital input 3

Digital input 4

+ 24 V DC

These signals are freely available inputs which the microcontroller transmits into the process representation input (register 7, bits 0 – 3). The inputs are galvanically isolated and internally connected to 0 V via pull-down resistors.

In an unconnected state, a logical zero is transmitted. To set an input to logical one, + 24 V DC must be applied (pins 5 or 6).

For these signals, proposed external wiring diagrams .

(appendix B) must be observed.

The bounce time of the connected switches should not be more than 1 ms.

Actuator controls AUMA MATIC AM/ AMExB/ AMExC

Modbus Operation instructions

X11 Second analogue input (analogue 3/4)

An external 0/4 – 20mA sensor for transmitting the measured values via the

Modbus can be connected to this input.

Table 7: Analogue inputs at plug X11

Pin

Description

+ 24 V DC

GND (system ground)

AN 3+: analogue signal 0 – 20 mA (plus)

AN 4–: analog signal 0 – 20 mA (minus)

GND (system ground)

If switch S1.1 is set to position ON, then pin 5 (AN 3/4+) is connected to

GND and input AN 3/4– can be used in the same way as AN 2.

If the switch is set to position OFF, a differential measurement between AN

3/4+ and AN 3/4– can be performed.

X12 First analogue input (analogue 2).

An external 0/4 – 20mA sensor for transmitting the measured values via the

Modbus can be connected to this input.

Table 8: Analogue inputs at plug X12 AI 2

Pin

Description

AN 2: analogue signal (0 – 20 mA)

GND (system ground)

Potential-free differential measurement is not possible due to the presence of a permanent ground (GND) connection.

For these signals, proposed external wiring diagrams

(appendix B) must be observed.

The inputs AN2, AN3, and AN4 do not have galvanic isolation via opto-isolator. The maximum load of the 24 V DC voltage source applied by the sensors must not exceed

40 mA altogether.

14.3 Modbus connection assignment

X8 MODBUS The bus signals and the galvanically isolated power supply for the bus termination are allocated to this plug.

Table 9: Assignment for plug X8

Pin Description

1 Channel 1: B cable Modbus

Channel 1: A cable Modbus

Channel 2: A cable Modbus (redundant channel)

Channel 2: B cable Modbus (redundant channel)

GND float (Modbus ground)

+ 5 V float (Modbus + 5 V)

14.4 Assignment positioner connections

X10 The signals required for the position transmitter with potentiometer or with

RWG are allocated to this plug.

Table 10: Assignment for plug X10 AI 1

Pin Description

1 + 5 V for potentiometer

AN 1: analogue signal from position transmitter

GND (system ground)

+ 24V for RWG

Operation instructions

Actuator controls AUMA MATIC AM/ AMExB/ AMExC

Modbus

14.5 Checking/ setting the switches on the logic board

The settings on the logic board are already made in the factory, according to the order details.

The logic board is located below the Modbus board.

Figure K: Logic board

S3-2:

Switching-off in end position OPEN.

Switch position has no influence.

When controlling via Profibus DP, switching-off is always realised by limit seating in end position OPEN

S3-2

S2-2

S1-2

Position 1:

Switching-off by limit seating in end position CLOSED

Position 2:

Switching-off by torque seating in end position CLOSED

The setting of the end position seating in end position

CLOSED must be the same on the Modbus board (LED 0 in default mode, figure J, page 44) and on the logic board

(switch S1-2).

Table 11

DIP switch S2-2 Programming

(ON = pressed)

Direction CLOSE Direction OPEN

Self-retaining REMOTE may not be used!

Self-retaining REMOTE

Push-to-run operation REMOTE

Self-retaining LOCAL

Push-to-run operation LOCAL

Blinker transmitter (option)

Torque error: torque switch tripping

(in mid-travel) contained in collective fault signal (insignificant for fieldbus interface)

Blinker transmitter must be deactivated!

Blinker transm. deact.

included not included

Actuator controls AUMA MATIC AM/ AMExB/ AMExC

Modbus

15. Troubleshooting and corrective actions

15.1 Actuator can not be controlled via Modbus

Operation instructions

Actuator cannot be controlled via Modbus continuously illuminated

Modbus board defective

LED ‘SYSTEM OK’ (V1) ?

is blinking is not illuminated

Modbus board not supplied with voltage

Yes EPROM installed on board?

Exchange

Modbus board

Install

Modbus EPROM

Yes Operation via local controls possible?

Exchange

Modbus board

Check voltage supply of AUMA MATIC

Check fuses

Voltage supply of

Modbus board correct

Operation instructions

Yes

Modbus communication correct

Voltage supply of Modbus board correct

‘Data Ex.’ illuminated?

(LED 3)

Actuator controls AUMA MATIC AM/ AMExB/ AMExC

Modbus

Modbus slave not in Data Exchange mode

Yes

LED 5 illuminated?

(bus active)

Master poss. sends data to the wrong slave address

- check master or change slave address of AUMA MATIC

- Baud rate setting, check parity and number of stop bits

- Check RS485 wiring

- Baud rate setting, check parity and number of stop bits

- poss. exchange of

Modbus interface

Actuator controls AUMA MATIC AM/ AMExB/ AMExC

Modbus

Modbus communication correct blinking once LED 4

(State)

blinking twice

Operation instructions

Slave is in failure mode 1) is not illuminated blinking once blinking twice

LED 5 (LocErr) ?

blinking three times blinking four times blinking five times

Thermal fault

Motor overheating

Power failure: mains failure/ overcurrent/ phase loss

TSO (DOEL) fault:

Torque in direction OPEN

TSC (DSR) fault:

Torque in direction CLOSE

Let motor cool off. Eliminate cause of overheating

Check mains connection

Eliminate cause of torque fault

24 DC power supply fault

Check mains voltage. Poss.

exchange PSU

Modbus board does not signal any fault

Check

Yes

Modbus board

Check logic board

Yes

Operation possible via controls?

Illumination of LED or if operation command is sent via Modbus ?

No operation command issued by master

Check prgram of controls

Check logic board, motor control and/ or motor

1) refer to setting of application parameters 6, 7, 8, and 9

Actuator controls AUMA MATIC AM/ AMExB/ AMExC

Modbus Operation instructions

15.2 Position feedback does not function .

Check if the voltage at plug (X1) on the Modbus board, pin 3 (-) and pin 2

(+) is subject ot linear incrementation when running open and linear decrement when running close.

The value for position CLOSED should be within the range of 0 to 2 V.

The value for position OPEN should be within the range of 3 to 5 V. The voltage difference between CLOSED and OPEN should be superior to 3V.

15.3 Actuator is not switched off by the limit switch in direction CLOSE

The actuator is set to torque seating.

Set actuator to limit seating:

Set switch S4 (see figure H, page 44) on the Modbus board to position

‘LIMIT’.

Adjust switch S1-2 on the logic board (see page 47) to position 1.

15.4 Actuator stops immediately after having started .

Set switch S2-2 (blinker transmitter) on the logic board to position ‘ON’.

15.5 Actuator does not signal reference operation, connection failure position transmitter or signal interruption position transmitter

The position transmitter (potentiometer, RWG) is faulty.

Check position transmitter wiring and connection

Check the setting of parameter 1 “Position transmitter”

If the actuator is not equipped with a position transmitter, parameter 1 has to be set to value 0 (no position transmitter)

15.6 Measuring the Modbus signals using an oscilloscope

On the Modbus board, the signal from Modbus channel 1 on the plug (X8

Modbus, refer to page 46) pin 1 (P/B) and pin 2 (N/A) can be checked using a digital oscilloscope.

The off-load voltage between pin 1 (+) and pin 2 (-) must be positive and within the range of 0.8 V and 1.4 V.

Example for correct Modbus signal: Example for incorrect Modbus signal

(Bus only terminated on one side):

Actuator controls AUMA MATIC AM/ AMExB/ AMExC

Modbus Operation instructions

16. Appendix A Standard wiring diagram

Legend page 53

Original wiring diagram and legend are delivered together with the actuator.

Actuator controls AUMA MATIC AM/ AMExB/ AMExC

Operation instructions

16.1 Legend for standard wiring diagram

S 1

S 2

S 3

S 4

F 1, F 2

F 3, F 4

H 1

H 2

H 3

K 1, K 2

K 3, K4

S 11

S 12.1

S 12.2

S 12.3

R 2

F 1

R 1

A 1.8

A 2

A 8

A 13

A 20

TSC

(DSR)

TSO

(DOEL)

Torque switch, closing, clockwise rotation

Torque switch, opening, counterclockwise rotation

LSC

(WSR)

Limit switch, closing, clockwise rotation

LSO

(WOEL)

Limit switch, opening, counterclockwise rotation

Potentiometer

Thermoswitch (motor protection)

Heater

Modbus board

Logic board

Power supply board

Bus connection board

Signal and control board

Primary fuses for power supply unit

Secondary fuses

Indication light end position CLOSED

Indication light end position OPEN

Indication light FAULT

Reversing contactors

Control relays for reversing contactors

Selector switch LOCAL – OFF – REMOTE

Push button OPEN

Pusbutton STOP

Push button CLOSE

16.2 Additional information to the wiring diagram legend

Information B:

Local controls

Information F:

Power supply board

Information H:

Modbus board

Modbus

Actuator controls AUMA MATIC AM/ AMExB/ AMExC

Modbus Operation instructions

17. Appendix B Proposed external wiring diagram

Digital and analogue inputs are optional.

The two analogue customer connections (AI 3/4 and AI 2) as well as the four digital customer inputs (Dig 1 ...4) are only provided (wired) by the factory if explicitly mentioned in the order.

The 5th digit of the MSP number (refer to name plate) indicates if analogue connections are available.

If the 5th digit is assigned to ‘0’, no external connections are available.

If the 5th digit is assigned to ‘L’, the connections are provided.

Connection of external sensors, 2-wire technology

Operation instructions

Connection of external sensors, 3-wire technology

Actuator controls AUMA MATIC AM/ AMExB/ AMExC

Modbus

Actuator controls AUMA MATIC AM/ AMExB/ AMExC

Modbus

Connection of external sensors, 4-wire technology

Operation instructions

Actuator controls AUMA MATIC AM/ AMExB/ AMExC

Modbus

18. Appendix C Literature references

1. Modicon protocol:

Reference Guide PI-MBUS-300

2. http:/ www.modbus.org

Modbus Application Protocol Specification

Modbus over serial line specification and implementation guide

19. Appendix D Connecting the cable shield for AUMA MATIC AMExB/ AMExC 01.1

The shield of the fieldbus cable should be largely connected with the respective threads.

Recommended threads e.g. WAZU-EMV/EX supplied by Hugro (refer to www.hugro-gmbh.de).

Actuator controls AUMA MATIC AM/ AMExB/ AMExC

Modbus

Notes

Operation instructions

Index

Actuator controls AUMA MATIC AM/ AMExB/ AMExC

Modbus

Cable capacity

Cable recommendation

Characteristic impedance

Collective fault signal

Commissioning

Communication

Connection board

Controls

Core cross section (bus cable 19

Core diameter (bus cable) 19

Corrosion protection 5

10,12

Dead band

Dead time

26,42

Electrical connection

Error

Error variable

Failure function

Fault signals

Faults

Handwheel

4,11

26,48

Indication lights

Limit seating

Literature

Local controls

Loop resistance

Maintenance 4

Measuring the Modbus signals 51

Motor connection

Motor protection

Name plate 15

Operating time

Overrun

Overvoltage protection

36,42

Parameter

Coding

Coding analogue 3/4

Dead time positioner

Delay time for failure operation 35

End analogue 37

End analogue 3/4 in 0.1 mA 37

Failure behaviour

Failure operation

Failure position

Max. error

Measured data coding

Overrun direction CLOSE

Overrun direction OPEN

Position transmitter

Redundancy

Reversing prevention

Stepping

Stepping direction

Start analogue 37

Start analogue 3/4 in 0.1 mA 37

CLOSE active

Stepping end CLOSED

39 in per mil 40

Stepping end OPEN in per mil 39

Stepping operating time

CLOSE in 0.1 s

Stepping operating time

OPEN in 0.1 s

Stepping pause time

CLOSE in 0.1 s

Stepping pause time

OPEN in 0.1 s

Stepping start

CLOSE in per mil 39

Stepping start

OPEN in per mil 38

Time for channel changing 35

Parking frame

Part-turn actuators

Phase failure 41

Plug/ socket connector 10,15,16

Position transmitter

Position transmitter RWG

Positioner

Power supply

Process representation

Protective functions

Push-to-run operation

Reversing contactors

Safety instructions

Screening (bus cable)

Seating

Selector switch

Self-retaining

Signals

Stepping mode

Storage

Switching-off point

Technical data

Termination resistors

Thyristors

Torque switching

Transfer mode

Transport

7,8,9,16

10,12

Trouble shooting and corrective actions 48

Wall bracket

Warning signals

Warnings

Wiring diagram

4,26

38,42

Information also available on the Internet:

Wiring diagram, inspection records and further actuator information can be downloaded directly from the Internet by entering the order no. or

COMM. no (refer to name plate).

Our website: http://www.auma.com

Europe

AUMA Riester GmbH & Co. KG

Factory Müllheim

DE-79373 Müllheim

Tel +49 7631 809 - 0

Fax +49 7631 809 - 250 [email protected]

www.auma.com

Factory Ostfildern-Nellingen

DE-73747 Ostfildern

Tel +49 711 34803 - 3000

Fax +49 711 34803 - 3034 [email protected]

Service Centre Cologne

DE-50858 Köln

Tel +49 2234 20379 - 00

Fax +49 2234 20379 - 99

[email protected]

Service Centre Magdeburg

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Fax +49 39204 759 - 19

[email protected]

Service Centre Bavaria

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Fax +49 89 329885 - 18

[email protected]

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Tel +49 40 791 40285

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North Office, Industry

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Fax +49 5167 565

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Fax +49 711 34803 81

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Baden Office

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Power plant sector

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Fax +49 7631 809 294

[email protected]

Büro Bavaria

DE-93356 Teugn/Niederbayern

Tel +49 9405 9410 24

Fax +49 9405 9410 25

[email protected]

AUMA Armaturenantriebe GmbH

AT-2512 Tribuswinkel

Tel +43 2252 82540

Fax +43 2252 8254050 [email protected]

AUMA (Schweiz) AG

CH-8965 Berikon

Tel +41 566 400945

Fax +41 566 400948

[email protected]

AUMA Servopohony spol. s.r.o.

CZ-10200 Praha 10

Tel +420 272 700056

Fax +420 272 704125 [email protected]

OY AUMATOR AB

FI-02270 Espoo

Tel +35 895 84022

Fax +35 895 8402300 [email protected]

AUMA France

FR-95157 Taverny Cédex

Tel +33 1 39327272

Fax +33 1 39321755 [email protected]

www.auma.fr

AUMA ACTUATORS Ltd.

GB- Clevedon North Somerset BS21 6QH

Tel +44 1275 871141

Fax +44 1275 875492 [email protected]

AUMA ITALIANA S.R.L.

IT-20023 Cerro Maggiore Milano

Tel +39 0331-51351

Fax +39 0331-517606 [email protected]

www.auma.it

AUMA BENELUX B.V.

NL-2314 XT Leiden

Tel +31 71 581 40 40

Fax +31 71 581 40 49 [email protected]

Fax +351 2 1910 95 99 [email protected]

MEGA Endüstri Kontrol Sistemieri Tic. Ltd. Sti.

TR-06460 Övecler Ankara

Tel +90 312 472 62 70

Fax +90 312 472 62 74 [email protected]

CTS Control Limited Liability Company

UA-02099 Kiyiv

Tel +38 044 566-9971, -8427

Fax +38 044 566-9384 [email protected]

Africa

AUMA South Africa (Pty) Ltd.

ZA-1560 Springs

Tel +27 11 3632880

Fax +27 11 8185248 [email protected]

A.T.E.C.

EG- Cairo

Tel +20 2 3599680 - 3590861

Fax +20 2 3586621 [email protected]

America

AUMA ACTUATORS INC.

US-PA 15317 Canonsburg

Tel +1 724-743-AUMA (2862)

Fax +1 724-743-4711 [email protected]

www.auma-usa.com

AUMA Chile Respresentative Office

CL- La Reina Santiago de Chile

Tel +56 2 821 4108

Fax +56 2 281 9252 [email protected]

AUMA Polska

PL-41-310 Dabrowa Górnicza

Tel +48 32 26156 68

Fax +48 32 26148 23

[email protected]

www.auma.com.pl

AUMA Priwody OOO

RU-141400 Moscow region

Tel +7 095 221 64 28

Fax +7 095 221 64 38 [email protected]

www.auma.ru

ERICHS ARMATUR AB

SE-20039 Malmö

Tel +46 40 311550

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GRØNBECH & SØNNER A/S

DK-2450 København SV

Tel +45 33 26 63 00

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[email protected]

www.g-s.dk

IBEROPLAN S.A.

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Tel +34 91 3717130

Fax +34 91 7427126 [email protected]

D. G. Bellos & Co. O.E.

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SIGURD SØRUM A. S.

NO-1301 Sandvika

Tel +47 67572600

Fax +47 67572610 [email protected]

INDUSTRA

PT-2710-297 Sintra

Tel +351 2 1910 95 00

LOOP S. A.

AR-C1140ABP Buenos Aires

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Fax +54 11 4307 8612 [email protected]

Asvotec Termoindustrial Ltda.

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MAN Ferrostaal de Colombia Ltda.

CO- Bogotá D.C.

Tel +57 1 4 011 300

Fax +57 1 4 131 806 [email protected]

www.manferrostaal.com

PROCONTIC Procesos y Control Automático

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Tel +593 2 292 0431

Fax +593 2 292 2343 [email protected]

IESS DE MEXICO S. A. de C. V.

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Multi-Valve Latin America S. A.

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2005-04-11

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Asia

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Fax +49 (0)711 / 34803 34 [email protected]

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For detailed information on AUMA products, please refer to the Internet: www.auma.com

Certificate Registration No.

12 100/104 4269

Y003.953/003/en/1.05

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Actuator controls

AUMA MATIC

AM 01.1/ AM 02.1

AMExB 01.1/ AMExC 01.1

Modbus

Operation instructions

Table of contents

1.

Safety instructions

2.

Short description

3.

Transport and storage

4.

General information about Modbus

5.

Technical data

6.

Design AUMA MATIC Modbus

7.

Electrical connection

8.

Commissioning with controls

9.

Input data

10.

Process representation output

11.

Operation parameters of the actuator

12.

Description of actuator functions

13.

Failure function

14.

Description Modbus interface

15.

Troubleshooting and corrective actions

16.

Appendix A Standard wiring diagram

17.

Appendix B Proposed external wiring diagram

18.

Appendix C Literature references

19.

Appendix D Connecting the cable shield for AUMA MATIC AMExB/ AMExC 01.1

Notes

Index

Related

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Auma TIGRON TR-M30X Manual

AUMA Matic Operation Instructions

AUMA AM 01.1/AM 02.1 INTERBUS-S Actuator Controls Short Instructions for Bus Connection

Auma Test device PV 1339 Operating Instructions

AUMA SA 07.1 - SA 30.1 Operation Instructions Manual

AUMA MATIC-S Calibration Instruction

AUMA Electric multi-turn actuators SA 07.1 - SA 30.1 Operation instructions

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