Schneider Electric ATV310 Modbus User Guide
Schneider Electric ATV310 Modbus is a variable speed drive for asynchronous motors that can be used in a variety of applications. It features a compact design, easy-to-use interface, and a built-in Modbus interface for easy communication with other devices. The ATV310 Modbus is a powerful and versatile drive that can help you improve the performance and efficiency of your motor-driven applications.
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2354235 11/2008
Altivar 310
Variable speed drives for asynchronous motors
Modbus Communication Manual
06/2014
www.schneider-electric.com
Contents
EAV94278 06/2014 3
4
Important Information
NOTICE
Read these instructions carefully, and look at the equipment to become familiar with the device before trying to install, operate, or maintain it. The following special messages may appear throughout this documentation or on the equipment to warn of potential hazards or to call attention to information that clarifies or simplifies a procedure.
The addition of this symbol to a Danger or Warning safety label indicates that an electrical hazard exists, which will result in personal injury if the instructions are not followed.
This is the safety alert symbol. It is used to alert you to potential personal injury hazards. Obey all safety messages that follow this symbol to avoid possible injury or death.
DANGER
DANGER indicates an imminently hazardous situation, which, if not avoided, will result in death or serious injury.
WARNING
WARNING indicates a potentially hazardous situation, which, if not avoided, can result in death or serious injury.
CAUTION
CAUTION indicates a potentially hazardous situation, which, if not avoided, can result in minor or moderate injury.
NOTICE
NOTICE, used without the safety alert symbol, indicates a potentially hazardous situation which, if not avoided, can result in property damage.
PLEASE NOTE
The word "drive" as used in this manual refers to the controller portion of the adjustable speed drive as defined by NEC.
Electrical equipment should be installed, operated, serviced, and maintained only by qualified personnel. No responsibility is assumed by
Schneider Electric for any consequences arising out of the use of this material.
© 2014 Schneider Electric. All Rights Reserved
EAV94278 06/2014
Before you begin
Read and understand these instructions before performing any procedure with this drive.
DANGER
HAZARD OF ELECTRIC SHOCK, EXPLOSION, OR ARC FLASH
• Only appropriately trained persons who are familiar with and understand the contents of this manual and all other pertinent product documentation and who have received safety training to recognize and avoid hazards involved are authorized to work on and with this drive system. Installation, adjustment, repair, and maintenance must be performed by qualified personnel.
• The system integrator is responsible for compliance with all local and national electrical code requirements as well as all other applicable regulations with respect to grounding of all equipment.
• Many components of the product, including the printed circuit boards, operate with mains voltage. Do not touch. Use only electrically insulated tools.
• Do not touch unshielded components or terminals with voltage present.
• Motors can generate voltage when the shaft is rotated. Before performing any type of work on the drive system, block the motor shaft to prevent rotation.
• AC voltage can couple voltage to unused conductors in the motor cable. Insulate both ends of unused conductors of the motor cable.
• Do not short across the DC bus terminals or the DC bus capacitors or the braking resistor terminals.
• Before performing work on the drive system:
- Disconnect all power, including external control power that may be present.
- Place a "Do Not Turn On" label on all power switches.
- Lock all power switches in the open position.
- Wait 15minutes to allow the DC bus capacitors to discharge. The DC bus LED is not an indicator of the absence of DC bus voltage that can exceed 800Vdc.
- Measure the voltage on the DC bus between the DC bus terminals using a properly rated voltmeter to verify that the voltage is
< 42Vdc.
- If the DC bus capacitors do not discharge properly, contact your local Schneider Electric representative.
• Install and close all covers before applying voltage.
Failure to follow these instructions will result in death or serious injury.
DANGER
UNINTENDED EQUIPMENT OPERATION
• Read and understand this manual before installing or operating the ATV310 drive.
• Any changes made to the parameter settings must be performed by qualified personnel.
Failure to follow these instructions will result in death or serious injury.
WARNING
DAMAGED DRIVE EQUIPMENT
Do not operate or install any drive or drive accessory that appears damaged.
Failure to follow these instructions can result in death, serious injury, or equipment damage.
EAV94278 06/2014 5
Before you begin
WARNING
LOSS OF CONTROL
• The designer of any control scheme must consider the potential failure modes of control paths and, for critical control functions, provide a means to achieve a safe state during and after a path failure. Examples of critical control functions are emergency stop, overtravel stop, power outage, and restart.
• Separate or redundant control paths must be provided for critical control functions.
• System control paths may include communication links. Consideration must be given to the implications of unanticipated transmission delays or failures of the link.
• Observe all accident prevention regulations and local safety guidelines. (a)
• Each implementation of the product must be individually and thoroughly tested for proper operation before being placed into service.
Failure to follow these instructions can result in death, serious injury or equipment damage. a. For USA: Additional information, refer to NEMA ICS 1.1 (latest edition), “Safety Guidelines for the Application, Installation, and
Maintenance of Solid State Control” and to NEMA ICS 7.1 (latest edition), “Safety Standards for Construction and Guide for Selection,
Installation and Operation of Adjustable Speed Drive Systems.”
6 EAV94278 06/2014
Documentation structure
The following Altivar 310 technical documents are available on the Schneider Electric website ( www.schneider-electric.com
).
ATV310 Quick Start Guide (EAV94272)
The Quick Start describes how to wire and configure the drive to start motor quickly and simply for simple applications.
This document is delivered with the drive with an Annex (S1A58684) for Short Circuit Current Ratings (SCCR) and branch circuit protection.
ATV310 User manual ( EAV94277)
This manual describes how to install, program and operate the drive.
ATV310 Modbus Communication manual (EAV94278)
This manual describes the assembly, connection to the bus or network, signaling, diagnostics, and configuration of the communicationspecific parameters via the 7 segment LED display.
It also describes the communication services of the Modbus protocol.
This manual includes all Modbus addresses. It explains the operating mode specific to communication (state chart).
ATV310 Modbus parameters description file ( EAV94279)
All the parameters are grouped together in an Excel file with the following data:
• Code
• Name
• Modbus Addresses
• Category
• Read/write access
• Type: signed numerical, unsigned numerical, etc.
• Unit
• Factory setting
• Minimum value
• Maximum value
• Display on the 7-segment integrated display terminal
• Relevant menu
• This file offers the option of sorting and arranging the data according to any criterion chosen by the user.
DANGER
UNINTENDED EQUIPMENT OPERATION
• Read and understand this manual before installing or operating the ATV310 drive.
• Any changes made to the parameter settings must be performed by qualified personnel.
• The excel file does not describe the behaviour of the parameters. Before any modification, refer to the ATV310 User Manual.
Failure to follow these instructions will result in death or serious injury.
EAV94278 06/2014 7
Presentation
The Modbus socket on the ATV310 can be used for the following functions:
• Configuration
• Settings
• Control
• Monitoring
The ATV310 fc drive supports:
• The 2-wire RS485 physical layer
• The RTU transmission mode
8 EAV94278 06/2014
Connection to RS485 bus
Connection to ATV310
Connection accessories should be ordered separately (please consult our catalogues).
Connect the RJ45 cable connector to the ATV310 connector.
Pin out of the ATV310 RJ45 Connector
View from underneath
5
6
3
4
7
8
Pin
1
2
8........................1
-
-
Signal
-
D1 (1)
-
D0 (1)
VP (2)
Common (1)
(1) Modbus signals
(2) Supply for RS232 / RS485 converter or a remote terminal
Protection against interference
• Use the Schneider Electric cable with 2 pairs of shielded twisted conductors (reference: TSXCSA100, TSXCSA200, TSXCSA500).
• Keep the Modbus cable separated from the power cables (30 cm (11.8 in.) minimum).
• Make any crossovers of the Modbus cable and the power cables at right-angles, if necessary.
For more information, please refer to the TSX DG KBL E manual: "Electromagnetic compatibility of industrial networks and fieldbuses".
RS485 bus schematic
The RS485 standard allows variants of different characteristics:
• polarisation
• line terminator
• distribution of a reference potential
• number of slaves
• length of bus
The new Modbus specification published on the Modbus.org site in 2002 contains precise details of all these characteristics. They are also summarised in Standard schematic section. The new Schneider Electric devices conform to this specification.
EAV94278 06/2014 9
Configuration of the Modbus serial port
Communication Menu Structure
The communication parameters are part of the COM- submenu.
This menu is accessible as follows:
Communication configuration - Parameters decription
Parameter description
MODBUS address of the drive
701
MODBUS baud rate
702
MODBUS format
703
MODBUS Time out
704
705-
706-
707-
708-
Range or listed values
1 to 247
0 : OFF (broadcast only)
4,8 kbps
9,6 kbps
19,2 kbps
38.4 kbps
8O1: 8 bits, odd parity, 1 stop bit.
8E1: 8 bits, even parity, 1 stop bit.
8N1, 8 bits, no parity, 1 stop bit
8N2: 8 bits, no parity, 2 stop bits.
Adjustable from 0.1 to 30s default
OFF
19,2 kbps
8E1
10,0 s
Possible Value
OFF
1 ...
247
4.8
9.6
19.2
38.4
8o1
8E1
8n1
8n2
Modbus address
16#1771 = 06001
16#1773 = 06003
16#1774 = 06004
0.1....30
16#1775 = 06005
Communication scanner submenus :Detailed in the next chapter
The behaviour of the ATV310 when a time-out occurs is defined by the 611 parameter, this parameter can be found in the menu 600-
(see User Manual).
WARNING
LOSS OF CONTROL
If Modbus fault management (611) = fault ignore (00) , communication control will be inhibited. For safety reasons, inhibition of communication fault should only be used for adjustment or special applications purpose.
Failure to follow these instructions can result in death, serious injury, or equipment damage.
10 EAV94278 06/2014
IO Scanner configuration parameters
Integrated communication scanner
The communication scanner is useful when used in combination by the Modbus client device with the function "Read/Write Multiple registers" : 23 (0x17), which provides in a single telegram a read multiple registers and a write multiple registers. The detail of the function
23 is described in the supported Modbus functions
Local configuration of the communication scanner
The communication scanner is accessible via the following menus : 700 and 705706 submenus.
The 4 output variables and the 4 input variables are assigned by means of parameters 706.0
to 706.3
and 705.0
to 705.3
.
An 706 or 705 parameter with a value of zero indicates that the parameter is not active. These 8 parameters are described in the table.
NCA or NMA defines the addresses. All these parameters are Modbus eligible addresses.
Submenu
705-
706-
On the local HMI, it is parameter description
NMA1 ( 705.0
)
Source drive address of the 1st input word
NMA2 ( 705.1
)
Source drive address of the 2nd input word
NMA3 ( 705.2
)
Source drive address of the 3rd input word
NMA4 ( 705.3
)
Source drive address of the 4th input word
NCA1 ( 706.0
)
Destination drive address of the 1st output word
NCA2 ( 706.1
)
Destination drive address of the 2nd output word
NCA3 ( 706.2
)
Destination drive address of the 3rd output word
NCA4 ( 706.3
)
Destination drive address of the 4th output word
Factory setting parameter
Address of ETA=3201
16#0C81
Address of RFRD=8604
16#219C
0
0
Address of CMD=8501
16#2135
Address of LFRD=8602
16#219A
0
0
Modbus address
705.0 address
16#319D = 12701
705.1 address
16#319E = 12702
705.2 address
16#319F = 12703
705.3 address
16#31A0 = 12704
706.0 address
16#31B1 = 12721
706.1 address
16#31B2 = 12722
706.2 address
16#31B3 = 12723
706.3 address
16#31B4 = 12724
Monitoring the communication scanner
It is also possible to monitor the parameters value that have been configured in the communication scanner. This monitored values are accessible via the following menus : 700 and 707708 submenu.
The 4 output variable values and the 4 input variable values are located into parameters 708.0
to 708.3
and 707.0
to 707.3
.
Submenu
707-
708-
On the local HMI, it is parameter description
NM1 ( 707.0
)
Source drive value of the 1st input word
NM2 ( 707.1
)
Source drive value of the 2nd input word
NM3 ( 707.2
)
Source drive value of the 3rd input word
NM4 ( 707.3
)
Source drive value of the 4th input word
NC1 ( 708.0
)
Destination drive value of the 1st input word
NC2 ( 708.1
)
Destination drive value of the 2nd input word
NC3 ( 708.2
)
Destination drive value of the 3rd input word
NC4 ( 708.3
)
Destination drive value of the 4th input word
Factory setting parameter
ETA value
RFRD value
0
0
CMD value
LFRD value
0
0
Modbus address
707.0 address
16#31C5 = 12741
707.1 address
16#31C6 = 12742
707.2 address
16#31C7 = 12743
707.3 address
16#31C8 = 12744
708.0 address
16#31D9 = 12761
708.1 address
16#31DA = 12762
708.2 address
16#31DB = 12763
708.3 address
16#31DC = 12764
EAV94278 06/2014 11
IO Scanner configuration parameters
Configuration example
In this example the communication scanner is configured as follow, 706.0
, 706.1
, 705.0
, 705.1
are used with their default values. 706.2
is configured with the address of CMI Extended control word (Modbus 8504 16#2138). 705.2
is is configured with the address of EtI Extended control word (Modbus 3206 16#0C86).
How to read the diagram below
Example for 706.2
:
706.2
1
contain the logical address ( 2138 ) of CMI Extended control word
2
Communication scanner
• menu 700-
• submenu 700-, 706-
1
EtI
Extended control word
3206
16#0C86
2
(Extended control word)
8504
16#2138
Control word
Speed reference via the bus (signed value)
Status word
Speed reference via the bus (signed value)
8501
16#2135
8602
16#219A
3201
16#0C81
8604
16#219C
The required telegram to perform the exchange is the Modbus function 23, Obviously a sequence of requests based on Modbus functions
03 and 16 is also possible.
(See also the chapters Modbus Functions and ATV310 and M218).
12 EAV94278 06/2014
Modbus Functions
Modbus Protocol
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
Function name
Read holding registers
Write one output word
Write multiple registers
Read/write Multiple registers
(Sub-function)
Read device Identification
Request code
Code
03
16#03
06
16#06
16
16#10
23
16#17
43/14
16#2B
16#OE
Data
Encapsulated interface transport
/ Read device identification
CRC16
The data is transmitted in binary code.
CRC16: cyclical redundancy check.
The end of the frame is detected on a silence greater than or equal to 3 characters.
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.
The master repeats the question when there is an incorrect exchange, 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 i Slave j
Direct slave-to-slave communications are not possible.
Slave k
For slave-to-slave communication, the application software must therefore be designed to interrogate a slave and send back data received to the other slave.
Two types of dialogue are possible between master and slaves:
• the master sends a request to a slave and waits for its response
• the master sends a request to all slaves without waiting for a response (broadcasting principle)
Addresses
• The drive Modbus address can be configured from 1 to 247.
• Address 0 coded in a request sent by the master is reserved for broadcasting. ATV310 drives take account of the request, but do not respond to it.
Supported Modbus functions
The ATV310 supports the following Modbus functions.
Description
Read N output words
Write one output word
Write N output word
Read/write multiple registers
Remarks
Max PDU length : 63 words
Max PDU length : 61 words
Max PDU length : 4 words (W), 4 words (R)
EAV94278 06/2014 13
The following paragraphs describes each supported function.
Read Holding registers
Request
Function code
Starting Address
Quantity of Registers
1 Byte
2 Bytes
2 Bytes
0x03
0x0000 to 0xFFFF
1 to 63 (0x 3F)
Response
Function code
Byte count
Register value
*N: Quantity of Registers
Error
Error code
Exception code
1 Byte
1 Byte
N* x 2 Bytes
0x03
2 x N*
1 Byte
1 Byte
0x83
01 or 02 or 03 or 04
Example
Note: Hi = high order byte, Lo = low order byte.
This function can be used to read all ATV310 words, both input words and output words.
Request
Slave no.
1 byte
03
1 byte
No. of first word
Hi Lo
2 bytes
Number of words
Hi Lo
2 bytes
Lo
CRC16
2 bytes
Hi
Response
Slave no.
1 byte
03
1 byte
Number of bytes read
1 byte
First word value
Hi Lo
2 bytes
------Last word value
Hi Lo
2 bytes
Example: read 4 words W3102 to W3105 (16#0C1E to 16#0C21) in slave 2, using function 3, where:
• 315 = Switching frequency = 4 kHz (W3102 = 16#0028)
• 308 = Maximum output frequency = 60 Hz (W3103 = 16#0258)
• 512.2 = High speed = 50 Hz (W3104 = 16#01F4)
• LSP = Low speed = 0 Hz (W3105 = 16#0000)
Request 02 03 0C1E 0004 276C
Response 02 03
Value of:
Parameters:
08 0028
W3102
315
0258
W3103
308
01F4
W3104
512.2
0000
W3105
512.0
CRC16
Lo
2 bytes
Hi
52B0
14 EAV94278 06/2014
Write one output word
Request
Function code
Register Address
Register value
1 Byte
2 Bytes
2 Bytes
Response
Function code
Register Address
Register value
Error
Error code
Exception code
1 Byte
2 Bytes
2 Bytes
1 Byte
1 Byte
0x06
0x0000 to 0xFFFF
0x0000 to 0xFFFF
0x06
0x0000 to 0xFFFF
0x0000 to 0xFFFF
0x86
01 or 02 or 03 or 04
Example
Request and response (the frame format is identical)
Slave no.
1 byte
06
1 byte
Hi
Word number
Lo
2 bytes
Hi
Value of word
Lo
2 bytes
Example: write value 16#000D in word W9001 (16#2329) in slave 2 (ACC = 13 s).
Request and response 02 06 2329 000D 9270
Lo
CRC16
2 bytes
Hi
Read/write Multiple registers
Description
Function code
Read starting address
Quantity to read
Write starting address
Quantity to write
Write Byte count
2
1
2
2
Length in byte Value
1 16#17
2
16#03
16#03
16#06
Write Registers Value Nx2 Bytes
(N: quantity to write)
16#XX
XXXX
XXXX
XX
Example
Slave n°
1 byte
Function
Code
1 byte
Read starting
Address HI
Read starting
Address LOW
1 byte 1 byte
Qty
2 byte
Comment
Contain number of holding registers to be read.
Contain number of holding registers to be written.
The byte count specifies the number of bytes to follow in the field
Write Register Value.
Value to be written respectively in 706.0 to 706.2, so the configured example:
CMD, LFRD, CMI.
Write starting
Address HI
Write starting
Address LOW
1 byte 1 byte
Qty
2 byte
Write byte count
1 byte
Writing
Value 1 HI
1 byte
Value 1 Lo
1 byte
Value 1 HI
1 byte
Writing Value
1.. 2... 3...n ...
1 byte
CRC16
2 byte
EAV94278 06/2014 15
Read Device Identification
ID
0x00
0x01
0x02
Name / Description
VendorName
ProductCode
MajorMinorRevision
Type
ASCII String
ASCII String
ASCII String
Example
Default values to be detailed
Request
Slave no.
1 byte
2B
1 byte
Type of MEI
0E
1 byte
Response
Slave no.
1 byte
-------
2B
1 byte
Type of MEI
0E
1 byte
Number of additional frames
00
1 byte
ReadDeviceId
01
1 byte
Object Id
00
1 byte
Lo
CRC16
2 bytes
Hi
ReadDeviceId
01
1 byte
Degree of conformity
02
1 byte
Next object Id
00
1 byte
-------
Number of objects
03
1 byte
-------
------Id of object no. 1
00
1 byte
Length of object no. 1
12
1 byte
Value of object no. 1
“Schneider Electric”
18 bytes
-------
------Id of object no. 2
01
1 byte
------Id of object no. 3
02
1 byte
-------
Lo
1 byte
CRC16
Hi
1 byte
Length of object no. 2
0B
1 byte
Length of object no. 3
04
1 byte
Value of object no. 2
“ATV310H037N4”
11 bytes
Value of object no. 3
“0201”
0 4 bytes
-------
-------
The total response size equals 49 bytes
The three objects contained in the response correspond to the following objects:
• Object no. 1:
• Object no. 2:
• Object no. 3:
Manufacturer name (always “Schneider Electric”, ie. 18 bytes).
Device reference (ASCII string; for example: “ATV310H037N4”, ie. 11 bytes).
Device version, in “MMmm” format where “MM” represents the determinant and “mm” the subdeterminant (4-bytes
ASCII string; for example: “0201” for version 2.1).
Note: The response to function 43 may be negative; in this case, the response located at the top of the next page is sent by the ATV310 rather than the response described above.
16 EAV94278 06/2014
Error management
Exception responses
An exception response is returned by a slave when it is unable to perform the request which is addressed to it.
Format of an exception response:
Slave no.
1 byte
Response
code
1 byte
Error code
1 byte
Lo
CRC16
2 bytes
Hi
Response code: request function code + 16#80.
Error code:
1 = The function requested is not recognized by the slave
2 = The bit or word addresses indicated in the request do not exist in the slave
3 = The bit or 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
CRC16 calculation
The CRC16 is calculated on all the message bytes by applying the following method:
Initialize the CRC (16-bit register) to 16#FFFF.
Enter the first to the last byte of the message:
CRC
Enter
XOR
8 times
<byte> —> CRC
Move the CRC one bit to the right
If the output bit = 1, enter CRC XOR 16#A001—> CRC
End enter
End enter
The CRC obtained will be transmitted with the low order bytes sent first, followed by the high order ones (unlike the other data contained in
Modbus frames).
XOR = exclusive OR.
EAV94278 06/2014 17
ATV310 state machine
Status chart based on IEC 61800-7*
The state machine below describes the interaction between the drive's state machine, monitored by the status word (ETA) parameter, and the Command Word (CMD). CiA® and CANopen® are registered Community Trademarks of CAN in Automation e.V.
*:Since 2007, CiA402 profile is part of the IEC standard 61800-7. Therefore DriveCom or CiA402 terminology is no more used.
Fault Power section line supply present or absent
Entry into state chart
From all states
Fault
Not ready to switch on
Switch on disabled
Fault disappeared and faults reset
CMD=16#0080
Fault reaction active
Fault
18
“--06”
Disable voltage
CMD=16#0000 or
STOP key or freewheel stop at the terminals
Shutdown
CMD=16#0006
Disable voltage
CMD=16#0000 or
Quick stop
CMD=16#0002 or
STOP key
Ready to switch on
Disable voltage
CMD=16#0000 or
Quick stop
CMD=16#0002 or
STOP key or freewheel stop at the terminals or modification of a configuration parameter
After quick stop order, the drive stops according to the fast stop ramp and then changes to state "2 -
Switch on disabled".
Shutdown
CMD=16#0006
Switch on
CMD=16#0007
“--00”
Shutdown
CMD=16#0006
Switched on
“--00,--10”
Switch on
CMD=16#xxxF
Enable operation
CMD=16#xxxF
Disable operation
CMD=16#0007 or fast stop
Operation enabled
Quick stop
CMD=16#0002
“--01,--02...”
Examples:
ETA=16#0637: Stop or forward, speed reached
ETA=16#8637: Stop or reverse, speed reached
ETA=16#0237: Forward, accelerating or decelerating
ETA=16#8237: Reverse, accelerating or decelerating
Power section line supply present
Key:
Transition condition with example of command
State Switched on
“--00,--10”
Enable operation
CMD=16#xxxF
Value of status word
Status display on graphic display terminal
Quick stop active
“--10,--04”
EAV94278 06/2014
State machine description
The Altivar control process using the communication bus follows IEC 61800-7 profile status chart compatible with the DRIVECOM standard.
Each state represents an aspect of the internal behaviour of the drive.
This chart evolves according to whether the control word is sent (CMD W8501) or an event occurs (example: lock following malfunction).
The drive status can be identified by the value of the status word (ETA W3201).
Not ready to switch on (Initialization):
Communication is being initialized.
Transient state invisible to the communication bus.
Switch on disabled (Configuration):
Initialization of the drive is complete.
The configuration and adjustment parameters can be modified. The drive is locked.
Ready to switch on and Switched on (Drive initialized):
The drive is locked.
The power stage of the drive is ready to operate, but voltage has not yet been applied to the output.
The configuration and adjustment parameters can be modified, but modifying a configuration parameter returns the drive to the "Switch on disabled" state.
Operation enabled (Operational):
The drive is unlocked and voltage can be applied to the motor terminals.
Auto-tuning (tUn) requires an injection of current. The drive must therefore be in this state to perform this command.
The adjustment parameters can be modified even if a run command or a DC injection current is present. However, a configuration parameter can only be modified if the motor is stopped, and this returns the drive to the "Switch on disabled" state.
Quick stop active (Emergency stop active):
Fast stop
Restarting is only possible after the drive has changed to the "Switch on disabled" state.
Malfunction reaction active (Reaction on fault):
Transient state during which the drive performs an action appropriate to the type of fault detection.
Malfunction (Fault):
The drive is locked.
Summary
State
1 - Not ready to switch on
2 - Switch on disabled
3 - Ready to switch on
4 - Switched on
5 - Operation enabled
6 - Quick stop active
7 - Fault reaction active
8 - Fault
Power supplied to motor
No
No
No
No
Yes, except at zero reference or "halt"
Yes, during fast stop
Depends on fault managment configuration
No
No
No
-
Yes
Modification of configuration parameters
Yes
Yes
Yes
Yes, return to "2 - Switch on disabled" state
EAV94278 06/2014 19
Command word description CMD - 8501
bit 7
0 to 1 transition :
Fault reset bit 6 bit 5 bit 4
Reserved (=0) Reserved (=0) 0:Free wheel staying in
"Operation
Enabled" bit 3
Enable operation
Drivecom state activation bit 2
Quick stop
Drivecom state activation
(bit active at 0) bit 1
Switch on disabled.
Drivecom state activation
(bit active at 0) bit 0
Switch on bit 15
Reserved bit 14
Not assignable bit 13
Reserved bit 12
Reserved bit 11
Direction of rotation asked
0: Forward
1: Reverse bit 10 bit 9 bit 8
Reserved (=0) Reserved (=0) 0: RUN asked
1: STOP asked
Command Transition address
Final state
Shutdown
Switch on
Enable operation
Disable operation
Disable voltage
Quick stop
Fault reset
2, 6, 8
3
4
5
7, 9, 10, 12
11
7, 10
15
3 - Ready to switch on
4 - Switched on
5 - Operation enabled
4 - Switched on
2 - Switch on disabled
6 - Quick stop active
2 - Switch on disabled
2 - Switch on disabled x: Value is of no significance for this command.
0 ○ 1: Command on rising edge.
x x x bit 7
Fault reset x x x bit 3
Enable operation x x
1
0 x x
1 x
0 bit 2
Quick stop
1 bit 1
Switch on disabled
1 bit 0
Switch on
0
1
1
1
1
1
1
1
0
1
1 x x
0 ○ 1 x x x x
Example value
16#0080
16#0006
16#0007
16#000F
16#0007
16#0000
16#0002
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Status word description ETA - 3201
bit 7
Reserved
(always 0) bit 6
Switch on disabled bit 5
Quick stop
(bit active at 0) bit 4
Voltage enabled
(bit always on) bit 3
Fault detection bit 2
Operation enabled bit 1
Switched on bit 0
Ready to switch on bit 15
0: Motor rotation in forward direction (or stopped) bit 14
Stop via STOP key bit 13 bit 12
Reserved (=0) Reserved (=0) bit 11
Reference exceeded
(< LSP or >
HSP) bit 10
Reference reached
(steady state) bit 9
Local mode
(bit active at 0) bit 8
Reserved (=0)
Status
1 -Not ready to switch on
2 - Switch on disabled
3 - Ready to switch on
4 - Switched on
5 - Operation enabled
6 - Quick stop active
7 - Fault reaction active
8 - Fault bit 6
Switch on disabled
0 bit 5
Quick stop x
1
0
0
0
0
0
0 x
1
1
1
0 x x bit 4
Voltage enabled x x x
1
1
1 x x bit 3
Fault detection
0 bit 2
Operation enabled
0 bit 1
Switched on
0 bit 0
Ready to switch on
0
0 0 0 0
0
0
0
0
1
1
0
0
1
1
1
0
0
1
1
1
1
0
1
1
1
1
1
0
ETA masked by
16#006F (1)
-
16#0050
16#0031
16#0033
16#0037
16#0017
-
16#0018 (2) or 16#0038 x: In this state, the value of the bit can be 0 or 1.
(1) This mask can be used by the PLC program to test the chart state.
(2) Fault following state "6 - Quick stop active".
EAV94278 06/2014 21
Application example
Connecting an ATV310 to a M218 PLC
Here is an example of an application that shows how to control an ATV310 from a M218 PLC equipped with a Modbus master serial port.
The program provides a control of the drive from an operator screen designed under Unity.
The example illustrates also the previous chapter
Configuration of the Modbus Master
The default settings of the serial port used as a Modbus master are compliant with the default settings of the ATV310.
22 EAV94278 06/2014
Initialization
The communication is based on the READ_VAR , WRITE_VAR functions. During the first execution of the MAST task you can initialize the data structures used by these two functions. Devicepath describes the path to the device including its slave address. ReadVarMgt and
WriteVarMgt are arrays used respectively by READ_VAR and WRITE_VAR. Only the 3rd element of these arrays is modifiable by the user:
To define the time out duration of the requests
(* data initialization *)
(* Communication path to Modbus slave device at @ 3 *)
(* The device path can be modified later by the app. *)
(* MSB of DevicePath[3] contains the device address *)
DevicePath := ADDM ('0.0.0.3');
(* Time out duration *)
ReadVarMGT[2]:=50;
WriteVarMGT[2]:=50;
Data structure declaration :
EAV94278 06/2014 23
Cyclical exchanges
In the example below the application manages 2 requests:
• "A read request of 4 words starting at Modbus address 12741 (NM1) - Modbus function #3
• "A write request of 4 words starting at Modbus address 12761 (NC1) - Modbus function #16
Requests are executed only each N x FAST task to avoid too much activity on the serial line.
The device can be modified (polling several devices) by writing in DevicePath[3].
Cyclical communication
(* Modbus Requests are sent only each:
( ModbusRequestPeriod X FAST period X n) *) if ModbusRequestPeriod >25 then
(* Read request to ATV310 : Modbus function 3 *)
IF not ReadVarBusy then
READ_VAR(DevicePath, '%MW' , 12741, 4, ReadVarMGT, %MW124:4);
(*Devicepath is initialized during Init_Sequence *)
END_IF;
(* Write request to ATV310 : Modbus function 16 *)
IF not WriteVarBusy then
WRITE_VAR(DevicePath, '%MW' , 12761, 4, %MW120:4, WriteVarMGT);
END_IF;
ModbusRequestPeriod:=0;
END_IF;
The key data are highlighted: address and lengh in the device source and destination of the data in the PLC.
The time out can be managed by the application in a separate way by testing the activity of the 2 bits: ReadVarBusy and WriteVarBusy
Overview of the communication tables:
24 EAV94278 06/2014
Connection to RS485 bus
Standard schematic
The standard schematic corresponds to the Modbus specification published on the Modbus.org site in 2002
(Modbus_over_serial_line_V1.pdf, Nov 2002) and in particular to the schematic of the 2-wire multidrop serial bus.
The ATV310 drive follows this specification.
Schematic diagram:
Master
R
650
0 V
T
5 V
650
D1
120
1n F
120
1n F
D0
Common
Type of trunk cable
Maximum length of bus
Maximum number of stations (without repeater)
Maximum length of tap links
Bus polarisation
Line terminator
Common polarity
R
T
R
T
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 ppp cable
32 stations, ie. 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 recommended)
• One 450 to 650 pulldown resistor at the Common (650 recommended)
This polarisation 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
EAV94278 06/2014 25
26 EAV94278 06/2014
EAV94278
ATV310_Modbus_EN_EAV94278_01
06/2014

Public link updated
The public link to your chat has been updated.
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Key features
- Compact design for easy installation
- Easy-to-use interface for quick setup and configuration
- Built-in Modbus interface for easy communication with other devices
- Supports a wide range of motor types and sizes
- Provides a variety of control modes for precise speed and torque control
- Built-in protection features to protect the drive and motor from damage