Electric SA assumes no liability for any omissions or errors it may contain, nor for any damages resulting from the application or use of the information herein.

The products and options described in this document may be changed or modified at any time, either from a technical point of view or in the way they are operated. Their description can in no way be considered contractual.

1755863 11/2010 3

Before you begin

Read and understand these instructions before performing any procedure with this drive.

DANGER

HAZARDOUS VOLTAGE

• Read and understand this manual before installing or operating the Altivar 71 drive. Installation, adjustment, repair, and maintenance must be performed by qualified personnel.

• The user is responsible for compliance with all international and national electrical standards in force concerning protective grounding of all equipment.

• Many parts in this variable speed drive, including printed wiring boards, operate at line voltage. DO NOT TOUCH.

Use only electrically insulated tools.

• DO NOT touch unshielded components or terminal strip screw connections with voltage present.

• DO NOT short across terminals PA and PC or across the DC bus capacitors.

• Install and close all covers before applying power or starting and stopping the drive.

• Before servicing the variable speed drive:

- Disconnect all power

- Place a "DO NOT TURN ON" label on the variable speed drive disconnect

- Lock the disconnect in the open position

• Disconnect all power including external control power that may be present before servicing the drive. WAIT 15

MINUTES for the DC bus capacitors to discharge. Then follow the DC bus voltage measurement procedure given in the Installation Manual to verify that the DC voltage is less than 45 Vdc. The drive LEDs are not accurate indicators of the absence of DC bus voltage.

Electric shock will result in death or serious injury

CAUTION

DAMAGED EQUIPMENT

Do not operate or install any drive that appears damaged.

Failure to follow this instruction can result in equipment damage.

1755863 11/2010

Documentation structure

Installation manual

This manual describes:

• How to assemble the drive

• How to connect the drive

Programming manual

This manual describes:

• The functions

• The parameters

• How to use the drive display terminal (integrated display terminal and graphic display terminal)

Communication parameters manual

This manual describes:

• The drive parameters with specific information (addresses, formats, etc.) for use via a bus or communication network

• The operating modes specific to communication (status chart)

• The interaction between communication and local control

Modbus

, CANopen

, Ethernet™, Profibus

, INTERBUS, Uni-Telway, FIPIO, DeviceNet™, Modbus

Plus manuals ...

These manuals describe:

• Connection to the bus or network

• Configuration of the communication-specific parameters via the integrated display terminal or the graphic display terminal

• Diagnostics

• Software setup

• The communication services specific to the protocol

Altivar 58/58F migration manual

This manual describes the differences between the Altivar 71 and the Altivar 58/58F.

It explains how to replace an Altivar 58 or 58F, including how to replace drives communicating on a bus or network.

1755863 11/2010 5

Introduction

Presentation

Two integrated communication ports mean that the Modbus protocol can be accessed directly:

• One RJ45 Modbus HMI connector port, located on the drive front panel, which is used to connect:

- The graphic display terminal

- A Magelis industrial HMI terminal

- The PC-Software workshop

• One RJ45 Modbus network port, located on the drive control terminals, which is dedicated to control and signaling by a PLC or other type of controller. It also supports the connection of a terminal or the PC software workshop when the terminal port is not available.

The two Modbus ports on the Altivar 71 can be used for the following functions:

• Configuration

• Adjustment

• Control

• Monitoring

The Altivar 71 supports:

• The 2-wire RS485 physical layer

• The RTU transmission mode

This manual describes how to set up the Altivar 71 drive on Modbus and also describes the Modbus services that are available on this drive.

Notation

Drive terminal displays

The graphic display terminal menus are shown in square brackets.

Example:

[1.9 COMMUNICATION]

The integrated 7-segment display terminal menus are shown in round brackets.

Example: (

COM-)

Parameter names are displayed on the graphic display terminal in square brackets.

Example:

[Fallback speed]

Parameter codes are displayed on the integrated 7-segment display terminal in round brackets.

Example: (

LFF)

Formats

In this manual, hexadecimal values are written as follows: 16#.

1755863 11/2010

Bus connection

Connecting to the Altivar 71

Connection accessories should be ordered separately (please consult our catalogs).

Connect the RJ45 cable connector to either of the RJ45 connectors on the Altivar 71:

Modbus

HMI

Modbus network

RJ45 connector pinouts

View from underneath

8........................1

Modbus network

Pin Signal

1 CAN_H (1)

CAN_L (1)

CAN_GND (1)

Not connected

VP (2)

Common

Modbus HMI

Pin Signal

Not connected

VP (2)

Common

(1) CANopen

signal.

(2) Power supply ( c

10 V 20 mA) for an RS232/RS485 converter (to PC-Software) or for the graphic display terminal.

Note: Avoid using pins marked “Not connected”.

1755863 11/2010 7

Bus connection

Wiring recommendations

• Use the Schneider-Electric cable with 2 pairs of shielded twisted conductors (catalog number: TSXCSA100, TSXCSA200 or

TSXCSA500).

• Keep the Modbus cable away from the power cables (30 cm minimum).

• If it is necessary for the Modbus cable and the power cables to cross each other, be sure they cross at right angles.

• Whenever possible, connect the cable shielding to the protective ground, e.g., to the ground of each device if this ground is connected to the protective ground.

• Install a line terminator at both ends of the line.

• Ensure the correct polarization of the line.

• Connect the common polarity (“Common” signal) to the protective ground at one or more points on the bus.

For more information, please refer to the TSX DG KBL E guide: "Electromagnetic compatibility of industrial networks and fieldbuses".

RS485 standard

The RS485 standard allows variants of different characteristics:

• Polarization

• Line terminator

• Distribution of a reference potential

• Number of slaves

• Length of bus

The new Modbus specification published on www.modbus.org in 2002 contains precise details of all these characteristics. They are also summarized in the next paragraph (standard schematic). The new Schneider-Electric devices conform to this specification.

Some devices comply with earlier specifications. The two most widespread are described in the appendices:

• "Uni-Telway schematic" page

• "Jbus schematic" page

Requirements enabling different types of protocol to coexist are given in the appendix:

• "Mixed schematic" page

1755863 11/2010

Bus connection

Modbus standard schematic

The standard schematic corresponds to the Modbus specification published in 2002 on www.modbus.org (Modbus_over_serial_line_V1.pdf,

Nov 2002) and in particular to the schematic of the 2-wire multidrop serial bus.

The ATV71 drive conforms to this specification.

Schematic diagram:

Master

650

0 V

5 V

650

120

1n F

120

1n F

Common

Type of trunk cable

Maximum length of bus

Maximum number of stations (without repeater)

Maximum length of tap links

Bus polarization

Line terminator

Common polarity

Slave 1

Slave n

Shielded cable with 1 twisted pair and at least a 3 rd

conductor

1000 m at 19200 bps with the Schneider-Electric TSX CSA p

cable

32 stations, i.e., 31 slaves

• 20 m for one tap link

• 40 m divided by the number of tap links on a multiple junction box

• One 450 to 650

pulldown resistor at 5 V (650

or thereabouts recommended)

• One 450 to 650

Ω pulldown resistor at Common

(650

or thereabouts recommended)

This polarization is recommended for the master.

One 120

0.25 W resistor in series with a 1nF 10 V capacitor

Yes (Common), connected to the protective ground at one or more points on the bus

1755863 11/2010 9

Bus connection

Connection via RJ45 wiring system

1. Master (PLC, PC or communication module)

2. Modbus cable depending on the type of master (see table)

2 3 4 6 4 6 5

3. Modbus splitter block LU9 GC3

4. Modbus drop cables VW3 A8 306 Rpp

4 4

5. Line terminators VW3 A8 306 RC

6. Modbus T-junction boxes VW3 A8 306 TFpp (with cable)

7. Modbus cable (to another splitter block) TSX CSAp00

ATV 71

Connection accessories

Description

Modbus splitter block

Modbus T-junction boxes

Line terminators

For RJ45 connector

Code

10 RJ45 connectors and 1 screw terminal block 3

With integrated cable (0.3 m) 6

With integrated cable (1 m) 6

R = 120

Ω, C = 1 nF

R = 150

Ω (specific to "Jbus schematic" page

42 )

Connecting cables

Description

Cables for

Modbus bus

RS 485 double shielded twisted pair cables

Length (m)

0.3

100

200

500

Connectors

1 RJ45 connector and 1 stripped end

2 RJ45 connectors

Supplied without connector

Catalog number

LU9 GC3

VW3 A8 306 TF03

VW3 A8 306 TF10

VW3 A8 306 RC

VW3 A8 306 R

Code

Catalog number

VW3 A8 306 D30

VW3 A8 306 R03

VW3 A8 306 R10

VW3 A8 306 R30

TSX CSA 100

TSX CSA 200

TSX CSA 500

10 1755863 11/2010

Bus connection

Type of master

Twido PLC

TSX Micro PLC

Master interface

Adaptor or mini-DIN

RS485 interface module

Adaptor or screw terminal RS485 interface module

Mini-DIN RS485 connector port

Modbus connection accessories for RJ45 wiring system

Description Catalog number

TWD XCA RJ030 3 m cable equipped with a mini-DIN connector and an RJ45 connector

3 m cable equipped with an RJ45 connector and stripped at the other end

VW3 A8 306 D30

3 m cable equipped with a mini-DIN connector and an RJ45 connector

TWD XCA RJ030

TSX Premium PLC

PCMCIA card (TSX

SCP114)

TSX SCY 11601 or TSX

SCY 21601 module

(SUB-D 25 socket)

Stripped cable

Cable equipped with a SUB-D 25 connector and stripped at the other end (for connection to the screw terminals of the

LU9GC3 splitter block)

PCMCIA card

(TSX SCP114)

Stripped cable

TSX SCP CM 4030

TSX SCY CM 6030

TSX SCP CM 4030

Screw terminal RS485 3 m cable equipped with an RJ45 connector and stripped at the other end

RJ45 RS485 1 m cable equipped with 2 RJ45 connectors

VW3 A8 306 D30

VW3 P07 306 R10

Ethernet bridge

(174 CEV 300 10)

Profibus DP gateway

(LA9P307)

Fipio (LUFP1) or

Profibus DP (LUFP7) or

DeviceNet (LUFP9) gateway

Serial port PC

RJ45 RS485

Male SUB-D 9

RS232 serial port PC

0.3 m cable equipped with 2 RJ45 connectors or

1 m cable equipped with 2 RJ45 connectors or

3 m cable equipped with 2 RJ45 connectors

RS232/RS485 converter and 3 m cable equipped with an

RJ45 connector and stripped at the other end (for connection to the screw terminals of the LU9GC3 splitter block)

VW3 A8 306 R03 or

VW3 A8 306 R10 or

VW3 A8 306 R30

TSX SCA 72 and

VW3 A8 306 D30

1755863 11/2010 11

Bus connection

Connection via junction boxes

2 5

3 4

1. Master (PLC, PC or communication module)

2. Modbus cable depending on the type of master

3. Modbus cable TSX CSAp00

4. Junction box TSX SCA 50

5. Subscriber sockets TSX SCA 62

6. Modbus drop cables VW3 A8 306

7. Modbus drop cable VW3 A8 306 D30

ATV 71

Connection accessories

Description

Tap junction

3 screw terminals and an RC line terminator, to be connected using cable VW3 A8 306 D30

Subscriber socket

2 female 15-way SUB-D connectors, 2 screw terminals, and an RC line terminator, to be connected using cable VW3 A8 306 or VW3 A8 306 D30

Code

Catalog number

TSX SCA 50

TSX SCA 62

Connecting cables

Description Length (m)

Cables for Modbus bus

RS 485 double shielded twisted pair cables

100

200

500

Connectors

1 RJ45 connector and one stripped end

1 RJ45 connector and 1 male 15-way SUB-D connector for

TSX SCA 62

Supplied without connector

Code

Catalog number

VW3 A8 306 D30

VW3 A8 306

TSX CSA 100

TSX CSA 200

TSX CSA 500

12 1755863 11/2010

Bus connection

Type of master

Twido PLC

TSX Micro PLC

TSX Premium PLC

Ethernet bridge

(174 CEV 300 10)

Profibus DP gateway

(LA9P307)

Fipio (LUFP1) or

Profibus DP (LUFP7) or

DeviceNet (LUFP9) gateway

Serial port PC

Master interface

Adaptor or screw terminal

RS485 interface module

Mini-DIN RS485 connector port

PCMCIA card

(TSX SCP114)

TSX SCY 11601 or TSX SCY

21601 module

(SUB-D 25 socket)

PCMCIA card

(TSX SCP114)

Screw terminal RS485

RJ45 RS485

Male SUB-D 9

RS232 serial port PC

Modbus connection accessories for junction boxes using screw terminals

Description

Modbus cable

Catalog number

TSX CSA100 or

TSX CSA200 or

TSX CSA500

Tap junction TSX P ACC 01

Cable equipped with a special connector and stripped at the other end

Cable equipped with a SUB-D 25 connector and stripped at the other end

Cable equipped with a special connector and stripped at the other end

Modbus cable

3 m cable equipped with an RJ45 connector and stripped at the other end

RS232/RS485 converter and

Modbus cable

TSX SCP CU 4030

TSX SCY CM 6030

TSX SCP CU 4030

TSX CSA100 or

TSX CSA200 or

TSX CSA500

VW3 A8 306 D30

TSX SCA 72 and

TSX CSA100 or

TSX CSA200 or

TSX CSA500

Type of master

Twido PLC

TSX Micro PLC

TSX Premium PLC

Master interface

Adaptor or screw terminal RS485 interface module

Mini-DIN RS485 connector port -

Modbus connection accessories for junction boxes using

SUB-D 15

Description

Catalog number

PCMCIA card (TSX SCP114)

TSX SCY 11601 or TSX SCY

21601 module (SUB-D 25 socket)

PCMCIA card (TSX SCP114)

Cable equipped with a special connector and a

SUB-D 25 connector

Cable equipped with a SUB-D 25 connector and stripped at the other end

TSX SCY CU

4530

TSX SCP CU

4530

Screw terminal RS485 -

Cable equipped with a special connector and stripped at the other end

TSX SCY CU

4530

Ethernet bridge

(174 CEV 300 10)

Profibus DP gateway

(LA9P307)

Fipio gateway (LUFP1) or

Profibus DP gateway (LUFP7)

Serial port PC

RJ45 RS485

Male SUB-D 9 RS232 serial port

3 m cable equipped with an RJ45 connector and a SUB-D 25 connector

VW3 A8 306

1755863 11/2010 13

Bus connection

Connection onto screw terminals

Connection accessories

Description

Line terminators

For screw terminals

Connecting cables

Description

Cables for

Modbus bus

RS 485 double shielded twisted pair cables

Length (m)

100

200

500

R = 120

Ω, C = 1 nF

R = 150

(specific to "Jbus schematic" page 42

)

Catalog number

VW3 A8 306 DRC

VW3 A8 306 DR

Connectors

1 RJ45 connector and one stripped end

Supplied without connector

Catalog number

VW3 A8 306 D30

TSX CSA 100

TSX CSA 200

TSX CSA 500

14 1755863 11/2010

Configuration

Configuring communication parameters

Modbus network

The configuration of the Modbus network parameters can be accessed via the

[1.9 - COMMUNICATION]

(

CON-) menu

(

[MODBUS NETWORK]

(

Nd1-) submenu).

Modbus parameter

[Modbus Address]

(

Add)

[Modbus add CI card]

(

AMOA)

[Mdbs add com card]

(

AMOC)

[Modbus baud rate]

( tbr)

[Modbus format]

( tFO)

Description/Possible values

1 to 247

Drive Modbus server disabled

1 to 247

“Controller inside” card Modbus server disabled

1 to 247

(Ethernet) communication card Modbus server disabled

4800 bps

9600 bps

19200 bps (1)

38400 bps

8 data bits, odd parity, 1 stop bit

8 data bits, even parity, 1 stop bit (1)

8 data bits, no parity, 1 stop bit

8 data bits, no parity, 2 stop bits

display

Terminal

[1]

(

[247]

(

247)

[Off]

(

OFF)

[1]

(

[247]

(

247)

[Off]

(

OFF)

[1]

(

[247]

(

247)

[Off]

(

OFF)

[4.8 Kbps]

(

4 8)

[9.6 Kbps]

(

9 6)

[19.2 Kbps]

(

19 2)

[38.4 Kbps]

(

38 4)

[8-O-1]

(

8O1)

[8 E 1]

(

8E1)

[8-N-1]

(

8n1)

[8-N-2]

(

8n2)

value

Default

[Off]

(

OFF)

[Off]

(

OFF)

[Off]

(

OFF)

[19.2 Kbps]

(

19 2)

[8 E 1]

(

8E1)

The addresses are applicable to both Modbus network and Modbus HMI. These 3 addresses can be freely chosen and must all be different.

To access the drive parameters, which are described in the parameters manual, just use the address

[Modbus Address]

(

Add)

. The addresses

[Modbus add CI card]

(

AMOA)

and

[Mdbs add com card]

(

AMOC)

are used solely for accessing the “Controller

Inside” (catalog number: VW3 A3 510) and Ethernet (catalog number: VW3 A3 310) option card parameters.

Modbus HMI

The configuration of the Modbus HMI parameters can be accessed via the

[1.9 - COMMUNICATION]

(

CON-)

menu (

[MODBUS

HMI]

(

Nd2-).

submenu).

Note: The drive address on Modbus HMI is identical to that on Modbus network. If Modbus network is disabled (value 0 or display “OFF”), the Modbus HMI connection remains active for the graphic display terminal and for PC-Software.

Parameter Possible values

[HMI baud rate]

( tbr2)

[HMI format]

( tFO2)

9600 bps

19200 bps (1)

8 data bits, even parity, 1 stop bit (1)

(1) The graphic display terminal will only work with these values.

Any other value will make communication with the graphic display terminal impossible.

Terminal display

[9.6 Kbps]

(

9 6)

[19.2 Kbps]

(

19 2)

[8 E 1]

(

8E1)

Default value

[19.2 Kbps]

(

19 2)

[8 E 1]

(

8E1)

1755863 11/2010 15

Configuration

Control-signal configuration

Numerous control-signal configurations are possible. For more information, refer to the programming manual and the parameters manual.

The following configurations are just some of the possibilities available.

Control via Modbus in I/O profile

The command and target come from Modbus.

The command is in I/O profile.

Configure the following parameters:

Parameter

Profile

Target 1 configuration

Command 1 configuration

Value Comment

I/O profile The run command is simply obtained by bit 0 of the command word.

Modbus The target comes from Modbus.

Modbus The command comes from Modbus.

Configuration via the graphic display terminal or the integrated display terminal:

Menu

[1.6 - COMMAND]

(

CtL-)

Parameter

[Profile]

(

CHCF)

[Ref.1 chan]

(

Fr1)

[Cmd channel 1]

(

Cd1)

Value

[I/O profile]

(

IO)

[Modbus]

(

Mdb)

[Modbus]

(

Mdb)

Control via Modbus or the terminals in I/O profile

Both the command and target come from Modbus or the terminals. Input LI5 at the terminals is used to switch between Modbus and the terminals.

The command is in I/O profile.

Configure the following parameters:

Parameter Value

Profile

Target 1 configuration

Target 1B configuration

I/O profile

Modbus

Analog input 1 on the terminals

Target switching Input LI5

Command 1 configuration Modbus

Command 2 configuration Terminals

Command switching Input LI5

Comment

The run command is simply obtained by bit 0 of the command word.

Target 1 comes from Modbus.

Target 1B comes from input AI1 on the terminals.

Input LI5 switches the target (1

↔

1B).

Command 1 comes from Modbus.

Command 2 comes from the terminals.

Input LI5 switches the command.

Target 1B is connected to the functions (summing, PID, etc.), which remain active, even after switching.

16 1755863 11/2010

Configuration

Configure the following parameters:

Menu

[1.6 - COMMAND]

(

CtL-)

[1.7 - APPLICATION FUNCT.]

(

FUn)

[REFERENCE SWITCH.]

Parameter

[Profile]

(

CHCF)

[Ref.1 chan]

(

Fr1)

[Cmd channel 1]

(

Cd1)

[Cmd channel 2]

(

Cd2)

[Command switching]

(

CCS)

[Ref.1B chan]

(

Fr1B)

[Ref 1B switching]

( rCb)

Control via Modbus in Drivecom profile

The command and target come from Modbus.

The command is in Drivecom profile.

Configure the following parameters:

Parameter

Profile

Target 1 configuration

Value

Combined Drivecom profile

Modbus

Value

[I/O profile]

(

IO)

[Modbus]

(

Mdb)

[Modbus]

(

Mdb)

[Terminals]

( tEr)

[LI5]

(

LI5)

[AI1 ref.]

(

AI1)

[LI5]

(

LI5)

Comment

The run commands are in Drivecom profile, the command and the target come from the same channel.

The command comes from Modbus.

Configuration via the graphic display terminal or the integrated display terminal

Menu

[1.6 - COMMAND]

(

CtL-)

Parameter

[Profile]

(

CHCF)

[Ref.1 chan]

(

Fr1)

Value

[Combined]

(

SIM)

(factory setting)

[Modbus]

(

Mdb)

Control via Modbus or the terminals in Drivecom profile

Both the command and target come from Modbus or the terminals. Input LI5 at the terminals is used to switch between Modbus and the terminals. The command is in Drivecom profile.

Configure the following parameters:

Parameter

Profile

Target 1 configuration

Target 2 configuration

Target switching

Value

Combined Drivecom profile

Modbus

Analog input 1 on the terminals

Input LI5

Comment

The run commands are in Drivecom profile, the command and the target come from the same channel.

Target 1 comes from Modbus.

Target 2 comes from input AI1 on the terminals.

Input LI5 switches the target (1

↔

2) and the command.

Note: Target 2 is directly connected to the drive’s reference limit. In the event of switching, the functions that have an effect on the target

(summing, PID, etc.) are disabled.

Configuration via the graphic display terminal or the integrated display terminal:

Menu

[1.6 - COMMAND]

(

CtL-)

Parameter

[Profile]

(

CHCF)

[Ref.1 chan]

(

Fr1)

[Ref.2 chan]

(

Fr2)

[Ref. 2 switching]

( rFC)

Value

[Combined]

(

SIM)

[Modbus]

(

Mdb)

[AI1 ref.]

(

AI1)

[LI5]

(

LI5)

1755863 11/2010 17

Configuration

Control in Drivecom profile via Modbus and target switching at the terminals

The command comes from Modbus.

The command comes either from Modbus or from the terminals. Input LI5 at the terminals is used to switch the target between Modbus and the terminals.

The command is in Drivecom profile.

Configure the following parameters:

Parameter

Profile

Target 1 configuration

Target 1B configuration

Target switching

Command 1 configuration

Command switching

Value

Separate Drivecom profile

Comment

The run commands are in Drivecom profile, the command and the target can come from different channels.

Modbus Target 1 comes from Modbus.

Analog input 1 on the terminals Target 1B comes from input AI1 on the terminals.

Input LI5 Input LI5 switches the target (1

↔

1B).

Modbus Command 1 comes from Modbus.

Channel 1 Channel 1 is the command channel.

Target 1B is connected to the functions (summing, PID, etc.), which remain active, even after switching.

Configuration via the graphic display terminal or the integrated display terminal:

Menu

[1.6 - COMMAND]

(

CtL-)

[1.7 - APPLICATION FUNCT.]

(

FUn)

[REFERENCE SWITCH.]

Parameter

[Profile]

(

CHCF)

[Ref.1 chan]

(

Fr1)

[Cmd channel 1]

(

Cd1)

[Command switching]

(

CCS)

[Ref.1B channel]

(

Fr1b)

[Ref 1B switching]

( rCb)

Value

[Separate]

(

SEP)

[Modbus]

(

Mdb)

[Modbus]

(

Mdb)

[ch1 active]

( cd1)

[AI1 ref.]

(

AI1)

[LI5]

(

LI5)

18 1755863 11/2010

Configuration

Configuring the communication scanner

Advantages of the communication scanner

The communication scanner enables all the application-relevant parameters to be grouped in 2 consecutive word tables so that single read and write operations may be performed. Even combined single operations are possible using the 23 = 16#17 Read/Write Multiple Registers function.

The 8 periodic output variables are assigned by means of parameters NCA1 to NCA8. They are configured using the graphic display terminal or integrated display terminal via the

[1.9 - COMMUNICATION]

(

COM-)

menu and

[COM. SCANNER OUTPUT]

(

OCS-)

submenu. An NCAp parameter with a value of zero does not designate any parameter in the drive. These 8 words are described in the table below:

Parameter name Default assignment

[Scan.Out1 address]

( nCA1)

Command word (CMD)

[Scan.Out2 address]

( nCA2)

Speed target (LFRD)

[Scan.Out3 address]

( nCA3)

Not used

[Scan.Out4 address]

( nCA4)

Not used

[Scan.Out5 address]

( nCA5)

Not used

[Scan.Out6 address]

( nCA6)

Not used

[Scan.Out7 address]

( nCA7)

Not used

[Scan.Out8 address]

( nCA8)

Not used

The 8 periodic input variables are assigned by means of parameters NMA1 to NMA8.

They are configured using the graphic display terminal or integrated display terminal via the [1.9 - COMMUNICATION] (CON-) menu and [COM. SCANNER INPUT] (ICS-) submenu. An NCA parameter with a value of zero does not designate any parameter in the drive. These 8 words are described in the table below:

Parameter name

[Scan. In1 address]

( nMA1)

[Scan. In2 address]

( nMA2)

[Scan. In3 address]

( nMA3)

[Scan. In4 address]

( nMA4)

[Scan. In5 address]

( nMA5)

[Scan. In6 address]

( nMA6)

[Scan. In7 address]

( nMA7)

[Scan. In8 address]

( nMA8)

Default assignment

Status word (ETA)

Output speed (RFRD)

Not used

Example of communication scanner configuration via the graphic display terminal:

RDY MDB +00.00Hz

COM. SCANNER INPUT

0A RDY MDB +00.00Hz

COM. SCANNER OUTPUT

Scan. In1 address

Scan. In2 address

Scan. In3 address

Scan. In4 address

Scan. In5 address

Code

Scan. In6 address

Scan. In7 address

Scan. In8 address

: 3201

: 8604

: 0

Quick

: 0

Scan.Out1 address

Scan.Out2 address

Scan.Out3 address

Scan.Out4 address

Scan.Out5 address

Code

Scan.Out6 address

Scan.Out7 address

Scan.Out8 address

: 8501

: 8502

: 0

Quick

: 0

Note : All modifications to parameters NMA1 ... NMA8 or NCA1 ... NCA8 must be made with the motor stopped.

The master PLC program should be updated to take account of this modification.

1755863 11/2010 19

Configuration

Configuring monitored parameters

Up to 4 parameters can be selected and their value displayed in the

[1.2 - MONITORING]

menu on the graphic display terminal.

The selection is made via the

[6 – MONITOR CONFIG.]

menu (

[6.3 - CONFIG. COMM. MAP]

submenu).

Each of the parameters [Address 1 select] … [Address 4 select] can be used to select the logic address of the parameter. An address at zero is used to disable the function.

In the example given here, the monitored words are:

• Parameter 1 = Motor current (LCR): Logic address 3204; signed decimal format

• Parameter 2 = Motor torque (OTR): Logic address 3205; signed decimal format

• Parameter 3 = Last fault (LFT): Logic address 7121; hexadecimal format

• Disabled parameter: Address W0; default format: Hexadecimal format

RDY MDB +0.00Hz

6.3

CONFIG. COMM. MAP

Address 1 select

Format address 1

Address 2 select

: 3204

: Signed

: 3205

Format address 2

Address 3 select

Code

Format address 3

Address 4 select

Format address 3

: Signed

: 7121

Quick

: Hex

: 0

: Hex

One of the three display formats below can be assigned to each monitored word:

Format

Hexadecimal

Signed decimal

Unsigned decimal

Range

0000 ... FFFF

-32 767 ... 32 767

0 ... 65 535

Terminal display

[Hex]

[Signed]

[Unsigned]

Note: If a monitored parameter:

- has been assigned to an unknown address (e.g., 3200)

- has been assigned to a protected parameter

- has not been assigned the value displayed on the

[COMMUNICATION MAP]

screen will be "-----" (see "Diagnostics" section).

20 1755863 11/2010

Configuration

Configuring communication fault management

If the drive does not receive any Modbus request sent to its address for a predefined period of time (time out), a Modbus fault is triggered.

The “time out” can be set to between 0.1 and 30 s using the graphic display terminal or integrated display terminal via the

[Modbus time out]

( ttO)

parameter in the

[1.9 COMMUNICATION]

(

COM-)

menu (

[MODBUS NETWORK]

(

Md1-)

submenu). The default value is 10 s.

The response of the drive in the event of a Modbus communication fault can also be configured.

RDY MDB +0.00Hz

COM. FAULT MANAGEMENT

Configuration can be performed using the graphic display terminal or integrated display terminal via the parameter in the

[Modbus fault mgt]

(

SLL)

[1.8 – FAULT MANAGEMENT]

(

FLt-)

(

[COM. FAULT MANAGEMENT]

(

CLL-)

submenu).

Network fault mgt

CANopen fault mgt

Modbus fault mgt

: Freewheel

Code

The values of the

[Modbus fault mgt]

(SLL) parameter, which trigger a drive fault

[Modbus com.]

(SLF1) , are:

Value

[Freewheel]

(YES)

[Ramp stop]

(rMP)

[Fast stop]

(FSt)

[DC injection]

(dCI)

Meaning

Freewheel stop (factory setting).

Stop on ramp.

Fast stop.

DC injection stop.

Quick

The values of the

[Modbus fault mgt]

(SLL) parameter, which do not trigger a drive fault, are:

Value Meaning

[Ignore]

(nO) Fault

[Per STT]

(Stt) Stop according to configuration of

[Type of stop]

(Stt) .

[fallback spd]

(LFF)

Change to fallback speed, maintained as long as the fault persists and the run command has not been removed.

[Spd maint.]

(rLS)

The drive maintains the speed at the time the fault occurred, as long as the fault persists and the run command has not been removed.

The fallback speed can be configured in the

[1.8 – FAULT MANAGEMENT]

(FLt-) menu using the

[Fallback speed]

(LFF) parameter.

1755863 11/2010 21

Diagnostics

LEDs

The HMI and MOD LEDs are located on the left-hand side of the 4-digit 7-segment display on the front of the Altivar 71.

They indicate the status of Modbus communications.

HMI: Activity on Modbus HMI serial link

MOD: Activity on Modbus network serial link

Each LED lights up for 200 ms when a frame is being transmitted on the corresponding Modbus network, whether or not this is destined for the drive.

Note: Altivar 71 drives with high power ratings (>15 kW) do not feature an integrated display terminal. The HMI and MOD statuses are fed back to the graphic display terminal.

22 1755863 11/2010

Diagnostics

Communication diagnostics

RUN MDB +50.00Hz

80A

COMMUNICATION MAP

Cmd Channel : Modbus

Cmd value

Active ref. channel

: 000F

Hex

: Modbus

Frequency ref

Status word

Code

W3204

: 500.0

: 827

Quick

: 53

Hex

W3205

W7132

: 725

: 0000

Hex

W0 : -------

COM. SCANNER INPUT MAP

COM SCANNER OUTPUT MAP

CMD. WORD IMAGE

FREQ. REF. WORD MAP

MODBUS NETWORK DIAG

MODBUS HMI DIAG

CANopen MAP

PROG. CARD SCANNER

On the terminal, in the

[1.2 - MONITORING]

(

SUP-)

menu (

[COMMUNICATION MAP.]

(

CMM)

submenu):

• The

[MODBUS NETWORK DIAG]

submenu can be used to display the status of Modbus network communications.

• The

[MODBUS HMI DIAG]

submenu can be used to display the status of Modbus HMI communications.

RUN MDB +50.00Hz

80A RUN MDB +50.00Hz

80A

MODBUS NETWORK DIAG MODBUS HMI DIAG

COM LED

Mb1 process frames

Mb1 CRC errors

: 568

: 0

Scan.Out1 address :

Mb2 process frames : 10753

Mb2 CRC errors : 0

Code Quick Code Quick

LED display

• MOD LEDs: Modbus network activity

• HMI LED: Modbus HMI activity

The symbol signifies a non-illuminated LED (no Modbus frames).

The symbol signifies an illuminated LED (Modbus frame detected).

The LED remains illuminated for 200 ms whenever the drive detects transmission of a Modbus frame, even if the drive itself is not the intended recipient.

These LEDS are equivalent to the LEDs on the 7-segment integrated terminal (where supplied together with the drive).

The graphic display terminal is connected to Modbus HMI; the symbol assigned to the

[COM LED]

field in the

[MODBUS HMI DIAG]

submenu is always .

1755863 11/2010 23

Diagnostics

Modbus counters

•

[Mb1 process frames]

and

[Mb2 process frames]

indicate the number of Modbus frames received. The counter counts both correct and incorrect frames.

•

[Mb1 CRC errors]

and

[Mb2 CRC errors]

indicate the number of Modbus frames containing checksum errors.

In the case of these two counters, only frames that are destined for the drive and whose Modbus address is supplied by the

[Modbus

Address]

(

Add)

parameter are counted. Broadcast frames are not counted.

[Mb1 process frames]

and

[Mb2 process frames]

are modulo 65 536 counters, i.e., the value is reset to zero once the value of

65 535 is reached.

By contrast, the

[Mb1 CRC errors]

and

[Mb2 CRC errors]

remain at 65 535 once this value is reached.

Each Modbus counter corresponds to a drive parameter:

Menu

[MODBUS NETWORK DIAG]

[MODBUS HMI DIAG]

Parameter name

[Mb1 process frames]

[Mb1 CRC errors]

[Mb2 process frames]

[Mb2 CRC errors]

Code

M1CT

M1EC

M2CT

M2EC

Logical address

6011

6010

6031

6030

24 1755863 11/2010

Diagnostics

Control-signal diagnostics

On the graphic display terminal, the

[1.2 - MONITORING]

(

SUP-)

menu (

[COMMUNICATION MAP]

(

CMM)

submenu) can be used to display control-signal diagnostic information between the Altivar 71 drive and the Modbus master:

• Active command channel

• Value of the command word (CMD) produced by the active command channel

• Active target channel

• Value of the target produced by the active target channel

• Value of the status word

• Values of four parameters selected by the user

• In the

[COM. SCANNER INPUT MAP]

submenu: Values of communication scanner input words

• In the

[COM SCANNER OUTPUT MAP]

submenu: Values of communication scanner output words

• In the

[CMD. WORD IMAGE]

submenu: Command words produced by all channels

• In the

[FREQ. REF. WORD MAP]

submenu: Frequency targets produced by all channels

Example of displaying communication diagnostic information

RUN MDB +50.00Hz

80A

COMMUNICATION MAP

Cmd Channel

Cmd value

Active ref. channel

Frequency ref

: Modbus

: 000F

Hex

Modbus

: 500.0

Hex

Status word

Code

W3204

W3205

W7132

W0 :

: 8627

Hex

Quick

: 53

: 725

0000

Hex

-----

COM. SCANNER INPUT MAP

COM SCANNER OUTPUT MAP

CMD. WORD IMAGE

FREQ. REF. WORD MAP

MODBUS NETWORK DIAG

MODBUS HMI DIAG

CANopen MAP

PROG. CARD SCANNER

Displaying the command word

The

[Cmd Channel]

parameter indicates the active command channel.

The

[Cmd value]

parameter indicates the hexadecimal value of the command word (CMD) used to control the drive.

The

[CMD. WORD IMAGE]

submenu (

[Modbus cmd.]

parameter) is used to display the hexadecimal value of the command word produced by Modbus.

1755863 11/2010 25

Diagnostics

Displaying the frequency target

The

[Active ref. channel]

parameter indicates the active target channel.

The

[Frequency ref]

parameter indicates the value (in 0.1 Hz units) of the frequency target (LFR) used to control the drive.

The

[FREQ. REF. WORD MAP]

submenu (

[Modbus ref.]

parameter) is used to display the value (in 0.1 Hz units) of the speed target produced by Modbus.

Displaying the status word

The

[Status word]

parameter indicates the value of the status word (ETA).

Displaying parameters selected by the user

The four

[W

••••]

parameters indicate the value of the four words selected for monitoring by the user.

The address and display format of these parameters can be configured in the

[6 - MONITORING CONFIG.]

(

[6.3 - COM. MAP CONFIG.]

submenu).

The value of a monitored word equals "-----" if:

• Monitoring has not been activated (address equals W0)

• The parameter is protected

• The parameter is not known (e.g., W3200)

Displaying communication scanner values

On the graphic display terminal, in the

[1.2 - MONITORING]

(

SUP-)

menu (

[COMMUNICATION MAP]

(

CMM-)

submenu):

- The

[COM. SCANNER INPUT MAP]

(

ISA-)

submenu is used to display the value of the 8 communication scanner input parameters NM1 to NM8.

- The

[COM SCANNER OUTPUT MAP]

(

OSA-)

submenu is used to display the value of the 8 communication scanner output parameters NC1 to NC8.

Configuration of these periodic parameters is described in the "Configuration" section.

Example of communication scanner display on the graphic display terminal:

RUN MDB +50.00Hz

80A

COM. SCANNER INPUT MAP

Com Scan In1 val.

Com Scan In2 val.

: 34359

: 600

Com Scan In3 val.

Com Scan In4 val.

Com Scan In5 val.

Code

: 0

Quick

Com Scan In6 val.

Com Scan In7 val.

Com Scan In8 val.

: 0

RUN MDB +50.00Hz

80A

COM SCANNER OUTPUT MAP

Com Scan Out1 val.

Com Scan Out2 val.

Com Scan Out3 val.

Com Scan Out4 val.

Com Scan Out5 val.

Code

Com Scan Out6 val.

Com Scan Out7 val.

Com Scan Out8 val.

: 15

: 598

: 0

Quick

: 0

In this example, only the first two parameters have been configured (default assignment).

[Com Scan In1 val.]

[Com Scan In2 val.]

= [34343] Status word = 34359 = 16#8637

= [600] Output speed = 600

[Com Scan Out1 val.]

= [15] Command word = 15 = 16#000F

[Com Scan Out2 val.]

= [598] Speed target = 600

Drivecom status "Operation enabled", reverse operation, speed reached.

600 rpm

"Enable operation" (Run) command

598 rpm

26 1755863 11/2010

Diagnostics

Communication faults

If there is no Modbus communication, the indicators of the integrated display terminal or graphic display terminal do not light.

There is no specific indicator for Modbus communication fault.

In factory settings, a Modbus communication fault triggers a re-settable drive fault

[Modbus com.]

(

SLF1)

and a freewheel stop.

The response of the drive in the event of a CANopen

communication fault can be changed (see "Configuring communication fault management") :

- Drive fault

[Modbus com.]

(

SLF1)

(freewheel stop, stop on ramp, fast stop or DC injection stop).

- No drive fault (stop, maintain, fallback).

The fault management is described in the user’manual "Communication parameters", chapter "Communication monitoring" :

• After initialization (power up), the drive checks that at least one of the command or target parameters has been written once via

Modbus.

• Then, if a Modbus communication fault occurs, the drive reacts according to the configuration (stop, maintain, fallback ...).

The Modbus communication fault is generated if the drive receives no request during a predefined period (see "Configuration of the communication fault management").

Every type of request is taken into account (write, read...).

If the drive is connected to a Modbus communication gateway, the upper level network may be connected to :

- a PLC that commands the drive,

- an industrial display terminal (Magelis) or a SCADA that monitors the drive.

If the PLC fails, the SCADA may go on transmitting Modbus requests to the drive. In this case, the Modbus communication fault will not appear.

1755863 11/2010 27

Modbus protocol

RTU mode

The transmission mode used is RTU mode. The frame contains no message header byte, nor end of message bytes.

It is defined as follows:

Slave address

Request code Data

The data is transmitted in binary code.

CRC16: cyclic redundancy check parameter.

The end of the frame is detected on a silence greater than or equal to 3.5 characters.

CRC16

Principle

The Modbus protocol is a master-slave protocol.

Master

Only one device can transmit on the line at any time.

The master manages the exchanges and only it can take the initiative.

It interrogates each of the slaves in succession.

No slave can send a message unless it is invited to do so.

In the event of an error during data exchange, the master repeats the question and declares the interrogated slave absent if no response is received within a given time period.

If a slave does not understand a message, it sends an exception response to the master.

The master may or may not repeat the request.

Slave j

Slave i

Slave k

Direct slave-to-slave communications are not possible.

For slave-to-slave communication, the application software must therefore be designed to interrogate one slave and send back data received to the other slave.

Two types of dialog are possible between master and slaves:

• The master sends a request to a slave and waits for it to respond

• The master sends a request to all slaves without waiting for them to respond (broadcasting principle)

28 1755863 11/2010

Modbus protocol

Altivar 71 Integrated Modbus

The Altivar 71 features 2 integrated Modbus ports:

· Modbus network

· Modbus HMI

These 2 ports are physically independent of one another. They are connected to 2 different Modbus networks, each with its own master.

Different speeds and formats are possible in each case.

These 2 networks provide access to the drive’s 3 Modbus servers, which are identified by their address. The address of each server is the same on both networks.

These 2 networks constitute a single channel: The drive makes no distinction between the commands and targets that come from the 2 ports (i.e., the 2 Modbus masters).

In practice, a single PLC or industrial HMI terminal (Magelis type) controls the drive.

The display terminal and PC-Software are also Modbus masters, but benefit from designated channels. They are identified as setup tools and make use of specific services.

Addresses

• The Modbus addresses of the drive can be configured from 1 to 247.

• Address 0 coded in a request sent by the master is reserved for broadcasting. ATV 71 drives take account of the request, but do not respond to it.

The drive has 3 Modbus servers, each with its own address:

• One Modbus server for the drive parameters

• One Modbus server for the variables (%MW...) of the "Controller inside" programmable card

• One Modbus server for the communication card (Ethernet) parameters

The addresses of these servers are identical for both Modbus network and Modbus HMI. The assignment of these addresses is subject only to the following regulations:

- Addresses must be between 1 and 247.

- Each address must be unique within the context of the network.

1755863 11/2010 29

Modbus protocol

Modbus functions

The following table indicates which Modbus functions are managed by the Altivar 71, and specifies their limits.

The "read" and "write" functions are defined from the point of view of the master.

Code

3 = 16#03

6 = 16#06

8 = 16#08

16 = 16#10

23 = 16#17

43 = 16#2B

Modbus name

Read Holding Registers

Write Single Register

Diagnostics

Write Multiple Registers

Read/Write Multiple Registers

Read Device Identification

Function name

Read N output words

Write one output word

Diagnostics

Write N output words

Read/write N words

Identification

Broadcast

YES

Max. value of N

63 words max.

–

61 words max.

20/20 words max.

–

Read N output words: Function 3

Note:

Hi = high order byte, Lo = low order byte.

This function can be used to read the ATV 71 parameters, regardless of type.

Request

Slave no.

1 byte

No. of first word

Hi Lo

2 bytes

Number of words

Hi Lo

2 bytes

Response

Slave no.

1 byte

Number of bytes read

1 byte

First word value

Hi Lo

2 bytes

-------

CRC16

2 bytes

Last word value

Hi Lo

2 bytes

CRC16

2 bytes

Example 1: Use function 3 to read 4 words W3 102 to W3 105 (16#0C1E to 16#0C21) on slave 2, where:

• SFr = Switching frequency = 4 kHz (W3 102 = 16#0028)

• tFr = Maximum output frequency = 60 Hz (W3 103 = 16#0258)

• HSP = High speed = 50 Hz (W3 104 = 16#01F4)

• LSP = Low speed = 0 Hz (W3 105 = 16#0000)

Request

02 03 0C1E 0004 276C

Response

02 03

Value of:

Parameters:

08 0028

W3 102

SFr

0258

W3 103 tFr

01F4

W3 104

HSP

0000

W3 105

LSP

52B0

30 1755863 11/2010

Modbus protocol

Example 2: Use function 3 to read 5 memory words %MW20 (16#0014) to %MW24 (16#0018) on the “Controller Inside” card (catalog number: VW3 A3 510); the Modbus server address for this card is configured using the

[Modbus add CI card]

(

AMOA)

parameter:

Modbus address 54 (16#36). The five values read are as follows: 16#0054, 16#0123, 16#01A3, 16#1AD5, and 16#009E.

Request

36 03 0014 0005 C18A

Response

36 03 0A 0054

%MW20

0123

%MW21

01A3

%MW22

1AD5

%MW23

009E

%MW24

214C

Example 3: Use function 3 to read the current value of the Ethernet card IP address (reference: VW3 A3 310); the Modbus server address for this card is configured using the

[Mdbs add com card]

(

AMOC)

parameter: Modbus address 104 (16#68). The 4 consecutive addresses used for this IP address run from 60 006 (16#EA66) to 60 009 (16#EA69) and their values are equal to 16#008B, 16#00A0,

16#0045, and 16#F1 (IP address = IPC1.IPC2.PC3.IPC4 = 139.160.69.241).

Request

68 03 EA66 0004 9937

Response

68 03 08 008B

IPC1

00A0

IPC2

0045

IPC3

00F1

IPC4

2E0A

Write one output word: Function 6

Request and response (the frame format is identical)

Slave no.

1 byte

Word number

2 bytes

Value of word

2 bytes

Example: Write value 16#000D to word W9 001 (16#2329) on slave 2 (ACC = 13 s).

Request and response

02 06 2329 000D 9270

CRC16

2 bytes

1755863 11/2010 31

Modbus protocol

Diagnostics: Function 8

Subcode 16#00: Echo

This function asks the slave being interrogated to echo (return) the message sent by the master in its entirety.

Subcode 16#0A: Counter reset

This function resets all the counters responsible for monitoring a slave’s exchanges.

Subcode 16#0C: Read message counter responsible for counting messages received with checksum errors

Subcode 16#0E: Read message counter responsible for counting messages addressed to slave

Read a word indicating the total number of messages addressed to the slave, regardless of type (excluding broadcast messages).

Request and response

Slave no.

1 byte

Subcode

2 bytes

Data

N bytes

Lo Lo

CRC16

2 bytes

Subcode

Request data

XX YY

00 00

Response data

XX YY

00 00

XX YY

(= counter value)

XX YY

(= counter value)

Function executed

Echo

Counter reset

Read message counter responsible for counting messages received with checksum errors

Read message counter responsible for counting messages addressed to slave

Example: Values 16#31 and 16#32 echoed by slave 4

Request and response (if function successful)

Slave no.

Request code or Response code

Subcode

00 04

(hexadecimal values)

Value of 1

31 st

byte Value of 2 nd

byte

CRC16

32 1755863 11/2010

Modbus protocol

Write N output words: Function 16 (16#10)

Request

Slave no.

1 byte

No. of first word

Hi Lo

2 bytes

Number of words Number of bytes

Hi Lo

2 bytes 1 byte

Response

Slave no.

Value of first word

Hi Lo

2 bytes

1 byte 1 byte

No. of first word

Hi Lo

2 bytes

Number of words

Hi Lo

2 bytes

CRC16

2 bytes

-------

CRC16

2 bytes

Example: Write values 20 and 30 to words W9 001 and W9 002 on slave 2 (acceleration time = 20 s and deceleration time = 30 s)

Request

Slave no.

Request code

No. of first word

Number of words

Hi Lo

00 02

Number of bytes

Value of first word Value of second word

Hi Lo Hi Lo

00 14 00 1E

CRC16

Response

Slave no.

Response code

No. of first word

23 29

Number of words

Hi Lo

00 02

CRC16

B7 02

(hexadecimal values)

1755863 11/2010 33

Modbus protocol

Identification: Function 43 (16#2B)

Request

Slave no.

1 byte

Type of MEI

1 byte

ReadDeviceId

1 byte

Response

Slave no.

1 byte

Type of MEI

1 byte

ReadDeviceId

1 byte

------Number of additional frames

1 byte

Object Id

1 byte

CRC16

2 bytes

Degree of conformity

1 byte

Next object Id

1 byte

-------

Number of objects

1 byte

-------

------Id of object no. 1

1 byte

------Id of object no. 2

1 byte

------Id of object no. 3

1 byte

------Id of object no. 4

1 byte

Length of object no. 1

1 byte

Length of object no. 2

1 byte

Length of object no. 3

1 byte

Length of object no. 4

1 byte

Value of object no. 1

“Schneider-Electric”

18 bytes

Value of object no. 2

“ATV71HU15M3”

11 bytes

Value of object no. 3

“0201”

0 4 bytes

Value of object no. 4

“MACHINE 4”

0 9 bytes

-------

1 byte

CRC16

1 byte

The total response size given in this example equals 55 bytes

The response contains the following four objects:

• Object no. 1: Manufacturer name (always "Schneider-Electric", i.e., 18 bytes).

• Object no. 2: Device reference (ASCII string; for example: “ATV71HU15M3”, i.e., 11 bytes).

The length of this object varies according to drive type. Use the “Length of object no. 2” field to determine the length.

• Object no. 3: Device version, in "MMmm" format where "MM" represents the determinant and "mm" the subdeterminant

(4-byte ASCII string; for example: "0201" for version 2.1).

• Object no. 4: Device name (ASCII string; for example: "MACHINE 4", i.e., 9 bytes).

The length of this object varies according to the device name assigned to the drive (the latter being configured by the user):

[7. DISPLAY CONFIG.]

menu,

[7.1 USER PARAMETERS]

submenu,

[DEVICE NAME]

parameter.

Maximal length 16 bytes.

34 1755863 11/2010

Modbus protocol

Negative response specifically related to identification function

Slave no.

1 byte

Error code:

2B + 80

1 byte

16#00 =

16#01 =

16#02 =

Type of MEI

1 byte

Error code

00 to 02

1 byte

CRC16

1 byte

No error

The "Request code" (16#2B), the "Type of MEI" (16#0E) or the "ReadDeviceId" (16#01) contained in the request is incorrect

The "Object Id" (16#00) contained in the request is incorrect

Example of positive response: Following the request from the Modbus master, slave 2 identifies itself as follows:

• Manufacturer name = “Schneider-Electric”

• Device name = “ATV71HU15M3”

• Device version = “0201”

• Device name = “MACHINE 4”

Request

Slave no.

Request code

Type of MEI

ReadDeviceld

Object Id

CRC

Response

Slave no.

Response code

Type of

MEI

ReadDeviceld

Degree of conformity

No. of additional frames

Next object Id

00 00

Object no.

-------

-----

Id of object no.

Length of object no. 1

’T’

’e’

’l’

’e’

’m’

Value of object no. 1

’e’ ’c’ ’a’

65 63 61

’n’

’i’

’q’

’u’

’e’

-----

----

Id of object no.

Length of object no. 2

’A’ ’T’ ’V’

41 54 56

’7’

Value of object no. 2

’1’

’H’

’U’

’1’ ’5’ ’M’ ’3’

31 35 4D 33

----

Id of object no.

Length of object no. 3

Value of object no. 3

’0’ ’2’ ’0’ ’1’

30 32 30 31

----

Id of object no.

Length of object no. 4

Value of object no. 4

’M’ ’A’ ’C’ ’H’ ’I’ ’N’ ’E’

4D 41 43 48 49 4E 45

’ ’ ’4’

20 34

CRC CRC

Lo Hi

6F 50

1755863 11/2010 35

Modbus protocol

Read/write N words: Function 23 (16#17)

Request

Slave no.

1 byte

--Number of bytes to be written

---

1 byte

No. of 1 st

word to be read

Hi Lo

2 bytes

Number of words to be read

Hi Lo

2 bytes

No. of 1 st

word to be written

Hi Lo

2 bytes

Number of words to be written

Hi Lo

2 bytes

---

Value of 1 st

word to be written

Hi Lo

2 bytes

-----------------------------

Value of last word to be written

2 bytes

Lo Lo

CRC16

2 bytes

Response

Slave no.

17 Number of bytes read

Value of 1 st

word read Value of last word read CRC16

1 byte

---

1 byte

No. of bytes to be written

Response

1 byte

2 bytes

Value of 1 st

word to be written

Lo -------------Hi

2 bytes

Value of 2 nd

word to be written

Example: This example combines the two examples for functions 3 and 16. With function 23, the line is less busy than with these two functions. However, the number of words that can be read and written is restricted.

• Write values of 20 (16#14) and 30 (16#1E) respectively to the 2 words W9 001 and W9 002 on slave 2.

• Read the 4 words W3 102 to W3 105 on the same slave (values read = 16#0028, 16#0258, 16#01F4, and 16#0000).

Request

Slave no.

Request code No. of 1 st

word to be read

No. of words to be

00 read

No. of 1 st

word to be written

No. of words to be written

---

CRC

2 bytes

CRC

Slave no.

Response code

No. of bytes read

Value of 1 st word read

Value of 2 nd word read

Value of 3 rd word read

Value of 4 th word read

CRC

36 1755863 11/2010

Modbus protocol

Communication scanner

To improve communication performance with an Altivar 71, non-contiguous drive parameters can be copied automatically to contiguous parameters. Thus, the copy of several non-contiguous drive parameters can be read or written using a single read and/or write request (an operation, which would normally have required several Modbus requests).

This function is called the “communication scanner”.

The Altivar 71 communication scanner supports up to eight control scanner parameters and eight monitoring scanner parameters.

These parameters can be accessed via all the read and write requests supported by the Altivar 71.

There is a marked improvement in performance for the following functions:

Code

3 = 16#03

16 = 16#10

43 = 16#2B

Modbus name

Read Holding Registers

Write Multiple Registers

Read Device Identification

Function name

Read N output words

Write N output words

Identification

Max. value of N

63 words max.

61 words max.

–

The eight control scanner parameters are NC1 to NC8 (W12 761 to W12 708).

Their addresses are NCA1 to NCA8 (W12 721 to W12 728).

The eight monitoring scanner parameters are NM1 to NM8 (W12 741 to W12 748).

Their addresses are NMA1 to NMA8 (W12 701 to W12 708).

Configuration of the communication scanner is described in the "Configuration" section.

Example of how scanner parameters can be used:

• Use of the “Read/write N words” function (request code = 23 = 16#17)

• Transmission of the request to an Altivar 71 located at address 20 (16#14)

• Read all 8 monitoring scanner parameters (NM1 to NM8: W12 741 to W12 748 = addresses 16#31C5 to 16#31CC)

• List of source parameters:

No.

Parameter

ETA

RFRD

LCR

OTR

Logical address

W3 201

W8 604

W3 204

W3 205

Read value

16#0007

16#1388

16#0064

16#0045

No.

Parameter

ULN

THD

THR

LFT

Logical address

W3 207

W3 209

W9 630

W7 121

Read value

16#00F0

16#0065

16#0032

16#0000

• Write first 6 control scanner parameters (NC1 to NC6: W12 761 to W12 766 = addresses 16#31D9 to 16#31DE)

• List of target parameters:

No.

Parameter Logical address No.

Parameter Logical address

CMD

LFRD

HSP

LSP

W8 501

W8 602

W3 104

W3 105

Value to be written

16#000F

16#1388

16#1F40

16#01F4

ACC

DEC

W9 001

W9 002

Value to be written

16#04B0

16#0258

16#0000

1755863 11/2010 37

Modbus protocol

The control scanner and monitoring scanner parameters are configured via the display terminal as follows:

Command

Menu

[Scan.Out1 address]

( nCA1)

[Scan.Out2 address]

( nCA2)

[Scan.Out3 address]

( nCA3)

[Scan.Out4 address]

( nCA4)

[Scan.Out5 address]

( nCA5)

[Scan.Out6 address]

( nCA6)

[Scan.Out7 address]

( nCA7)

[Scan.Out8 address]

( nCA8)

Value

8 501

8 602

3 104

3 105

9 001

9 002

Code

CMD

LFRD

HSP

LSP

ACC

DEC

Command word

Speed target

High speed

Low speed

Acceleration time

Deceleration time

Parameter name

Monitoring

Menu

[Scan. In1 address]

( nNA1)

[Scan. In2 address]

( nNA2)

[Scan. In3 address]

( nNA2))

[Scan. In4 address]

( nNA4)

[Scan. In5 address]

( nNA5)

[Scan. In6 address]

( nNA6)

[Scan. In7 address]

( nNA7)

[Scan. In8 address]

( nNA8)

Value

3 201

8 604

3 204

3 205

3 207

3 209

9 630

7 121

Code

ETA

RFRD

LCR

OTR

ULN

THD

THR

LFT

Parameter name

Status word

Output speed

Motor current

Torque

Mains voltage

Thermal state of the drive

Thermal state of the motor

Last fault

Request

Slave no.

Request code No. of 1 st

word to be read

Hi Lo

14 17 31 C5

No. of words to be read

Hi Lo

00 08

No. of 1 st

word to be written

Hi Lo

31 D9

No. of words to be written

Hi Lo

00 06

No. of bytes to be written

---

Value of 1 st word to be written

Value of 2 nd word to be written

Value of 3 rd word to be written

Value of 4 th word to be written

Value of 5 th word to be written

Value of 6 th word to be written

CRC CRC

Response

Slave no.

Response code

14 17

No. of bytes read

Value of 1 st

word read

Value of 2 nd

word read

Value of 3 rd

word read

Value of 4 th

word read

---

--Value of 5 th

word read Value of 6 th

word read Value of 7 th

word read Value of 8 th

word read

---

CRC

38 1755863 11/2010

Modbus protocol

Exception responses

An exception response is returned by a slave when it is unable to perform the request, which is addressed to it.

Format of an exception response:

CRC16

Slave no.

Response code Error code

Lo Hi

1 byte 1 byte 1 byte 2 bytes

Response code: Function code of the request + 16#80 (the most significant bit is set to 1).

Error code:

1 = The function requested is not recognized by the slave.

2 = The word addresses indicated in the request do not exist in the slave.

3 = The word values indicated in the request are not permissible in the slave.

4 = The slave has started to execute the request but cannot continue to process it completely.

Example: Write the value 1 to word ETA = W3 201 (which cannot be written, as in “read-only" mode) on slave 4.

Request

Slave no.

Request code

No. of 1st word

Hi Lo

0C 81

No. of words

Hi Lo

00 01

No. of bytes

Value of 1st word

Hi Lo

00 01

Response

Slave no.

Response code Error code

04 10 + 80 = 90 04

CRC

Read non-existent or protected parameters

If a set of parameters is read using a Modbus function, the value returned for non-existent and protected parameters is equal to 16#8000.

If the same Modbus function is used to read parameters, all of which are non-existent or protected, the drive sends back an exception response with an error code equal to 2.

Example of non-existent or protected parameters being read:

In this example, the same read request is used several times in a row for a non-existent parameter (W8400), CHCF (W8401) and COP

(W8402) in order to demonstrate the effects of parameter protection.

The read request is a Read N output words request (function 3) and is addressed to a drive whose Modbus address is equal to 12 (16#0C).

The read operation is performed for 3 consecutive words, starting with address W8400 (16#20D0).

The value of CHCF is equal to 16#0003 (I/O profile) and the value of COP is equal to 16#0002 (copy of the command word on switching from command channel no. 1 to command channel no. 2).

Read N output words request:

Slave no.

Request code

No. of 1st word

Hi Lo

20 D0

No. of words

00 03

CRC16

1755863 11/2010 39

Modbus protocol

Response to the Read N output words request:

Scenario no. 1: Parameters CHCF (W8 401) and COP (W8 402) not protected

Successful reading of these two parameters and value equal to 16#8000 for the non-existent parameter located at address W8 400.

Slave no.

Response code No. of bytes read Value of W8 400 Value of W8 401 Value of W8 402

Hi Lo Hi Lo Hi Lo

03 06 80 00 00 03 00 02

CRC16

17 E4

Scenario no. 2: Parameter CHCF (W8 401) protected and COP (W8 402) not protected

Successful reading of COP and value equal to

16#8000 for the non-existent parameter located at address W8 400 and for parameter CHCF.

Slave no.

Response code

0C 03

No. of bytes read Value of W8 400 Value of W8 401 Value of W8 402

Hi Lo Hi Lo Hi Lo

06 80 00 80 00 00 02

CRC16

CE 24

Scenario no. 3: Parameters CHCF (W8 401) and COP (W8 402) protected

Exception response (response code = 16#80 + request code), as all the parameters read are either non-existent, or protected; error code equal to 2 (the word addresses indicated in the request do not exist in the slave).

Slave no.

Response code Error code

0C 80+03 = 83 02

CRC16

51 32

40 1755863 11/2010

Appendix: Non-standard schematics

UNI-TELWAY schematic

Schneider-Electric used the UNI-TELWAY bus schematic for drives and soft starters (ATV58, ATV28, ATS48, etc.) sold prior to the publication of the Modbus specifications on www.modbus.org. In the case of the ATV31 and ATV71 speed drives, the standard schematic applies (see page

9 ).

Schematic diagram:

Master

4,7 k

0 V

5 V

4,7 k

D(B)

120

1 nF

120

1 nF

D(A)

0VL

4,7 k

0 V

5 V

4,7 k

Slave 1

4,7 k

0 V

5 V

4,7 k

Slave n

Type of trunk cable

Maximum length of bus

Maximum number of stations (without repeater)

Maximum length of tap links

Bus polarization

Line terminator

Common polarity

Cable with 2 twisted pairs shielded in pairs

1000 m at 19200 bps

29 stations, i.e., 28 slaves

• 20 m

• 40 m divided by the number of tap links on a multiple junction box

For the master and each slave:

• One 4.7 k

Ω pulldown resistor at 5 V

• One 4.7 k

Ω pulldown resistor at 0 VL

One 120

Ω 0.25 W resistor in series with a 1 nF 10 V capacitor

Yes (0 VL) and high impedance placed between 0 VL and the ground in each station

1755863 11/2010 41

Appendix: Non-standard schematics

Jbus schematic

Schematic diagram:

Master

470

0 V

5 V

470

L- (B/B')

150

L+ (A/A')

150

Slave 1

Slave n

Type of trunk cable

Maximum length of bus

Maximum number of stations (without repeater)

Maximum length of tap links

Bus polarization

Line terminator

Common polarity

Cable with 1 shielded twisted pair

1300 m at 19200 bps

32 stations, i.e., 31 slaves

3 m

One 470

Ω pulldown resistor at 5 V

One 470

Ω pulldown resistor at 0 V

This polarization is often provided in the master.

One 150

Ω resistor

42 1755863 11/2010

Appendix: Non-standard schematics

Use of UNI-TELWAY slaves in a standard schematic

Slaves with 4.7k

Ω polarization can be integrated into a standard schematic. Suitable polarization resistance (Rp) must be calculated.

Schematic diagram:

In this example, slave 1 has a 4.7 k

Ω polarization.

Master

5 V

0 V

120

1 nF

Common

4,7 k

0 V

5 V

4,7 k

T T

Slave 1

Slave n

Type of trunk cable

Maximum length of bus

Maximum number of stations (without repeater)

Maximum length of tap links

Shielded cable with 1 twisted pair and at least a 3

1000 m at 19200 bps

conductor

Up to 32 stations, i.e., 31 slaves (depending on Rp and the number of 4.7 k

Ω resistors)

Bus polarization

Line terminator

Common polarity

• 20 m for a single tap link

• 40 m divided by the number of tap links on a multiple junction box

• One pulldown resistor at 5 V (Rp)

• One pulldown resistor at the Common (Rp)

This polarization can be provided in the master.

The value of Rp should be validated (or determined) by calculating the equivalent polarization (Re) according to the polarization of the master and slave stations.

The value of Re must be between 162

Ω and 650 Ω (recommended value: 650 Ω).

One 120

Ω 0.25 W resistor in series with a 1 nF 10 V capacitor

Yes (Common)

• If the master has a 470

Ω polarization and all the slaves have 4.7 kΩ polarization, up to 18 slaves can be connected.

• To calculate the polarization resistance (Rp), all station polarizations must be deemed to be connected in parallel.

Example:

If the bus Rp polarization is 470

Ω (installed in the master) and 2 slaves have 4700 Ω polarization, the equivalent polarization is:

1/Re = 1/470 + 1/4700 + 1/4700, i.e., Re = 1/ (1/470 + 1/4700 + 1/4700) and therefore Re = 390

Ω.

390

Ω is greater than 162 Ω, and the schematic is correct.

For an ideal equivalent polarization (650

Ω), Rp bus polarization can be installed so that:

1/650 = 1/Rp + 1/4700 + 1/4700, i.e., Rp = 1/(1/650 - 1/4700 - 1/4700) and therefore Rp = 587

Ω.

1755863 11/2010 43

Appendix: Non-standard schematics

Recommendations for setting up a Modbus network using non-standard devices

1. Identify polarities D0 and D1.

They are labeled in a variety of ways according to the specification used:

Modbus

EIA/TIA-485

UNI-TELWAY

Jbus

A / A’

D(A)

RD + / TD +

L +

B / B’

D(B)

RD - / TD -

L -

Common

C / C’

0VL

However, certain RS485 electronic components are labeled in the opposite way to the EIA/TIA-485 standard.

It may be necessary to perform a test by connecting a master to a slave, then reversing the connection in the event of failure.

2. Check polarizations.

Study the documentation supplied with the devices to determine the polarization resistance.

If there is one, check that the value is correct (see Use of UNI-TELWAY slaves in a standard schematic page 43 )

Polarization is not always possible. For example, in the event of the 5 V not being available in the master.

3. Select a line terminator.

In the case of polarization, select an RC line terminator (R = 120

Ω, C = 1 nF).

If polarization is not possible, select an R line terminator (R = 150

Ω).

44 1755863 11/2010

ATV71_modbus_int_EN_1755863_03

1755863 11/2010

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