Schneider Electric PCMCIA communication card protocols UNI-TELWAY, MODBUS/JBUS. User Guide

PDF

문서

carte de communication PCMCIA protocoles

UNI-TELWAY, MODBUS/JBUS

PCMCIA communication card protocols

UNI-TELWAY, MODBUS/JBUS

VW3-A66301

guide d'exploitation user's manual

Altivar 16

Carte de communication PCMCIA ............................................................................. page 2 protocoles

UNI-TELWAY, MODBUS / JBUS

PCMCIA communication card .................................................................................. page 52 protocols

UNI-TELWAY, MODBUS / JBUS

Although every care has been taken in the preparation of this document,

Schneider Electric SA cannot guarantee the contents and cannot be held responsible for any errors it may contain or for any damage which may result from its use or application.

NOTE way be considered contractual.

5 2

Contents

Introduction

Installing the card

Connection to the multidrop bus

Communication principle

Setting up the Altivar 16

Reading parameters

Writing parameters

Altivar 16 variables

UNI-TELWAY requests

MODBUS / JBUS protocol

Diagnostics

56 to 58

59 to 61

62 and 63

66 to 84

85 to 88

89 to 100

101

5 3

Introduction

The communication card, reference VW3-A66301, is designed to be used with Altivar 16 speed controllers which are fitted with a VW3-A16303 communication interface.

It is designed to integrate these power switching components into modern control system architectures by enabling them to be connected to an industrial multidrop bus.

Data exchanges enable all the functions of the Altivar 16 to be used :

• function configuration,

• downloading of settings,

• control and supervision,

• monitoring,

• diagnostics.

The VW3-A66301 communication card (PCMCIA type 3 format) has a 3 m connection cable fitted with a 15-pin SUB-D connector.

The card manages the following communication protocols :

• UNI-TELWAY,

• MODBUS/J BUS.

Only VW3-A16303 communication interface with software version above or equal to V1.3 IE04 can be used with VW3-A66301 PCMCIA communication card.

5 4

Installing the card

Before performing any operation on the speed controller switch it off and wait for the capacitors to discharge (approximately 1 min after switching off).

• Check that the speed controller is connected to earth via terminal G.

• Install the VW3-A16303 communication interface on the speed controller (see user's manual).

• Insert the VW3-A66301 communication card in its guide so that the connection cable, which is 3 meters long, falls towards the base of the product.

• Run the connection cable through the cable clamp located below the communication card slot.

Communication interface

Communication card

Cable clamp

5 5

5 6

Connection to the multidrop bus

SUB-D connector pinout

The RS 485 and RS 422 (RS 232 C compatible) standard transmission interface is electrically isolated from the speed controller. It is available on a 15-pin SUB-D connector.

4,7 k

Ω

D (B)

4,7 k

Ω

D (A)

7 enable transmission

100 k

Ω

RD (B)

100 k

Ω

RD (A)

Seen from external contact side

Connection to the standard RS 485 bus

Pins to use

SUB-D connector (15-pin) Automated system

Transmission

D(B)

D(A)

Reception

RXD+

RXD-

120

Ω

1 nF

Reception

TXD+

TXD-

Transmission

Zt line terminator recommended at both ends of the line

*

Connection of the shielding to both ends depends on installation constraints

Recommendations

• use a shielded cable with 2 pairs of twisted conductors,

• connect the reference potentials to each other,

• maximum length of the line : 1000 meters,

• maximum length of a tap-link : 20 meters,

• do not connect more than 28 stations on a bus,

• cable routing : keep the bus away from the power cables

(30 cm minimum), and make right-angle crossovers if necessary; connect the cable shielding to the earth of each device,

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

Connection to multidrop bus

Connection to standard RS 422 bus

Pins to use

SUB-D connector (15-pin) Automated system

0V 15

Transmission

TXD+

RXD+

TXD-

RXD-

Reception

Rp Rp

RXD+

Reception

RXD-

TXD+

Transmission

TXD-

*

Connection of the shielding to both ends depends on the electrical constraints on the installation.

Using the ABE-6SD15F wiring interface enables connection to a screw terminal block via the

15-pin SUB-D connector.

RS 232 C connection

Pins to use

SUB-D connector (15-pin)

Transmission

TXD

Reception

RXD

0V SG

*

Automated system (connection example using 25-pin SUB-D connector)

RTS

CTS

DSR

DTR

TXD

Transmission

RXD

Reception

*

Connection of the shielding to both ends depends on the electrical constraints on the installation.

Using the ABE-6SD15F wiring interface enables connection to a screw terminal block via the

15-pin SUB-D connector.

Configuring communication functions

Refer to the operating manual of the PCMCIA communication interface of Altivar 16.

5 7

Connection to the multidrop bus

The following accessories are available for connecting equipment.

TSX-CSA… cables for bus sold in 100, 200 or 500 m lengths.

TSX-SCA62 subscriber connector

This passive unit comprises a printed circuit fitted with screw terminals for connecting 2 devices to the bus. It includes an end of line terminator when the connector is located at the end. The switches on the connector must be set in the following way switch number

3 switch position

OFF

5 OFF the position of the other switches has no effect.

Example of connection to a UNI-TELWAY bus

TSX-SCM 21.6

TSX-CSAXXX

VW3-A16303

TSX-CSB015

VW3-A66301

TSX-SCA62

ATV-16

5 8

Communication principle

Connecting the speed controller

The Altivar 16 can be connected according to the diagrams shown in the catalogue.

The communication function provides the facility of remote control of the speed controller safety relay (contacts brought out to terminals SA-SC-SB). Using these contacts in the control circuit of the line contactor enables the power to be switched on and off remotely.

Note : Since the power and control supplies are the same, power-up through the serial link isn't possible. Therefore, the line contactor release stops the communication.

Nevertheless, the safety function of the relay is maintained, and continues to have priority over the remote control facility : the contact will open if a speed controller fault occurs.

Status of the Altivar 16

The following diagram shows the three stable states of the speed controller.

➀

FAULT

RESET

ZERO

FAULT

"LOCKING" FAULT

➁

CORRECTABLE

FAULT

"LOCKING" FAULT

➂

UNCORRECTABLE

FAULT

may disappear on its own (motor overheating, for example). This type of fault causes the speed controller safety relay to open.

When the fault has disappeared, if contacts SA-SC, SC-SB are not used in the speed controller supply sequence, the Altivar 16 reset command (bit 0 of word W3050) acknowledges the fault and re-energizes the safety relay.

which requires corrective action, occurs (overcurrent due to a short-circuit, for example).

The safety relay can only be reset by a speed controller switch-on sequence.

When a communication fault occurs, the speed controller can change to 2 states depending on its configuration :

- Changing from line mode to local mode via an application-specific card logic input : the speed controller changes from the line frequency to the frequency required at the analog inputs with the acceleration or deceleration ramp.

- Changing from local mode to line mode : the speed controller brakes on the deceleration ramp and takes the speed and operating direction required by the serial link.

5 9

Communication principle

Data structure

The adjustment, control, supervision and monitoring of the Altivar 16 are performed using data

(or objects) which are specific to the product.

The data essentially comprises :

• BITS : named Bi (i = bit number) which are used to execute logic commands.

Example : B5 = start / stop command.

• WORDS (of 16 bits) : named Wi (i = word number) which are used for storage, either of complete digital values (- 32768 to + 32767), or of 16 independent logic states (in which case these words are termed registers).

Examples :

W3051 = frequency reference (digital value),

W3069 = fault register (16 fault bits).

Notation : W3069,2 designates the bit in row 2 of register W3069.

Access to data

The following tables give the list of parameters which can be accessed via the communication link. The exact function of each parameter and its effect on the behavior of the speed controller are described in the user's manual and catalogue for the speed controller.

Some data can be accessed in both read and write : these are the bits and words corresponding to adjustments, references and commands. This data is used by the speed controller.

However, data produced by the speed controller can only be accessed in read : signalling or fault data, etc. If written, they have no meaning and are rejected.

6 0

Communication principle

Units

These words are always expressed as signed numeric integer values (-32768 to +32767). The unit is defined for each of them.

Example : W3052 : frequency reference, unit = 0.1 Hz,

W3052 = 455 corresponds to a frequency reference of + 45.5 Hz.

Range

The range permitted by the speed controller is specified for each of the parameters.

A value which is outside limits is always accepted, but will be automatically adjusted by the speed controller to either its lower or upper limit.

Example : W3029 : slip compensation, range = 0.... 5 Hz.

Any negative value is adjusted to 0 (0 Hz).

Any value above 50 is adjusted to 50 (5 Hz).

Values on switching on

Each time it is switched on, the Altivar 16 is initialized with the configuration and the adjustments stored in the EEPROM memory.

The speed controller is systematically placed in LOCAL control mode (orders are expected on its terminal block).

To control it via the multidrop bus, its commands must be assigned to

LINE mode : command word W3050 is written by setting bits DLI and FLI to 1.

Altivar 16 variables

Some Altivar 16 variables can be accessed at two different addresses :

• in the 3000 to 3078 address zone reserved for the Altivar 16,

• in the 0 to 127 address zone already used by the Altivar 45 2.

While the control system is operating (control, monitoring or modification of the speed controller adjustments), only one zone should be used.

1– Address zone reserved for the Altivar 16 (3000 to 3078)

This address zone contains all the speed controller parameters for optimum use of the facilities of the Altivar 16.

2– Address zone (0 to 127) common to the Altivar 16 and the Altivar 45 2

This address zone should only be used when integrating an Altivar 16 in a control system which until now has only included Altivar 45 2 controllers. Not all Altivar 16 parameters appear here, in particular those connected with functions which require reconfiguration of the applicationspecific card. In certain cases, using these addresses avoids the necessity of modifying the program.

Small differences in relation to the Altivar 45 2 are shown in the comments.

6 1

Setting up the Altivar 16

Configuring communication

The following parameters can be set using the terminal :

• Pro : defines the communication protocol :

UtL

: UNI-TELWAY

- ASC : Modbus ASCII

- rtu

: Modbus RTU / JBUS

- FIP : FIPIO

• bdr : defines the data rate in kbps.

Possible values : 0.3 / 0.6 / 1.2 / 2.4 / 4.8 / 9.6 / 19.2

•

For

: format of the data frame

8 0 1

1 : 1 stop

2 : 2 stops

0 : odd parity

E : even parity n : no parity

8 : 8 data bits

7 : 7 data bits

• Adr : Logic address of the speed controller bdr

For

UtL

All values

8.0.1

rTu

All values

8.0.7 / 8.E.1

8.n.7 / 8.n.2

Adr

1 to 31 1 to 31

ASC

All values

8.0.7 / 8.E.1

8.n.1 / 8.n.2

7.0.1 / 7.E.1

7.0.2 / 7.E.2

1 to 31

FIP

1 to 63

6 2

Setting up the Altivar 16

Diagnostics

On power-up, and after the protocol has been configured, the COM lamp on the PCMCIA card indicates whether or not communication is functioning.

UNI-TELWAY - FIPIO protocol :

Green COM indicator lamp : Normal operation

Red ERR indicator lamp : Communication fault

Flashing green indicator lamp: Serial link not configured.

Modbus RTU/JBUS protocol :

Green COM indicator lamp : Data transfer in progress.

Red ERR indicator lamp : Waiting for data transfer

Note : For further information, refer to the diagnostics page.

List of faults which may or may not be reset via communication

When a fault occurs, the speed controller freewheels to a stop. To restart, the operator must acknowlege the fault and reset the speed controller (W3050.0). However, 2 types of fault cannot be reset via communication but require action on the speed controller (see table below) :

Description

Speed controller internal fault

Communication fault

EEPROM memory fault

External fault

Supply too low

Supply too high

Supply phase missing

Speed control fault

Overcurrent - overheating

Overvoltage due to harsh braking

Overcurrent due to harsh braking

Motor overload

Capacitor charging relay fault

Not possible to Possible to reset speed reset speed controller (1) controller (2)

Code displayed

SPF

DRF

OBF

OLF

CRF

INF

SLF

EEF

SRF

USF

OSF

PnF

(1) To reset the speed controller it is necessary to switch the power off then on again.

(2) The speed controller can be reset after the fault has been cleared.

6 3

Reading parameters

All the speed controller data can be read when the motor is running or stopped.

Signalling words (words W3060 - W3078) are read-only.

Example of reading words W3020 to 3043 (24 words) with the UNI-TELWAY protocol.

Description

Format

Code

Comments

Request Category

Code Code byte

H'36' read object byte

H'07' byte

H'68'

Type of object byte

H'07' internal specific words byte

Object address

Word

H'OBCC'

(3020 in hex)

Object number

Word

H'0018'

Number of words

(24 in hex)

Text block for transmission

TxTi, C = H'0736'

TxTi, L = 4

Transmission table

H'07' H'68'

H'CC'

H'18'

H'OB'

H'00'

Reception table

W3020 least sig.

H'07'

W3021 least sig. W3020 most sig.

W3021 most sig.

Response code :

- Positive response : H'FE'

- Negative response : H'FD' Reason : incorrect parameter number or wrong address

Note : For further information about the UNI-TELWAY protocol, refer to the

UNI-TELWAY requests page.

6 4

Writing parameters

It is possible to write Altivar 16 parameters for :

- command words (motor running or stopped),

- adjustment words (motor running or stopped),

- configuration words (motor stopped).

To control the speed controller from the multidrop bus, it is necessary to execute commands on line : command word W3050 is written by setting bits DLI and FLI to 1. Bits DLI and FLI of the command register offer the possibility of partially assigning the commands which can be executed from the bus.

Note : setting bit NTO to 1 in the command register inhibits the communication fault check

(Altivar 16 "SLF" fault).

For safety reasons, care must be taken when using this command.

Setting word W3050 to the value 5 with Modbus protocol (RTU frame)

Description

Format

Code

Comment

Slave no.

1 byte

Function

Code

1 byte

Writing a word

Word no.

2 bytes

OB EA

3050 in Hex.

= OBEA

Value of the word

2 bytes

00 05

CR16

2 bytes

6A 19

Note : For further information on Modbus frames, see the end of this guide (Modbus / Jbus

Protocol).

The following table shows all the functions of the Altivar 16 with its various application-specific cards.

6 5

Altivar 16 variables

Applications ATV16 General usage

Materials handling

Variable torque

High speed

Drive functions

Maximum frequency

Voltage/frequency ratio selection (1)

Slip compensation

Switching frequency

Current limit

Braking to a standstill by DC injection (f<0.1 Hz)

Functions in the application-specific cards

•

10 V analog input

Summing

Speed regulation

PI controller

• Logic inputs

2nd ramps

Preset speeds

Current limit

+/- speed

Step by step operation (JOG)

Fast stop

Freewheel stop

DC injection

Automatic/manual

Start/stop

Reset after fault

Change motor power

Speed controller forced in local mode (3)

• Logic outputs

Brake control sequence

Speed reference reached

Low speed reached

High speed reached

Current limit reached

1.1 In overload reached

100% thermal state reached

• Analog output

Motor frequency

Motor current

Preprogrammed and programmable characteristics

– S ramps

– Skip frequencies

– Controlled stop on

AC supply break (2)

– Automatic catching a spinning load

– Automatic restart

▲

40 ... 200Hz

■ n-P-L

■ yes/no

■

5/10kHz

● 1.5 In

■ yes/no

■

■ yes/no

■

▲

40 ... 200Hz

▲

40 ... 200 Hz

▲

40 ... 70/80Hz

▲

40 ... 400Hz

■ n-L ■ n-L ● P ■ n-L

■ yes/no

■

5/10kHz

■

● yes/no

5kHz

▲ 0.5 to 1.5 In ● 1.5 In no

■

●

5/10kHz

1.2 In no

●

5kHz

1.2 In

■

(1) n : constant torque (normal applications), P : variable torque,

L : constant torque (heavily-loaded machines).

(2) ATV16 U..N4 speed controller only.

(3) Only the Altivar 16 with software version IE07.

●

- fixed, programmed function

■

- programmable function

▲

- function with adjustable value

6 6 no

■

▲

■

■ no

■

■ yes/no

■

Altivar 16 variables

Address zone reserved for Altivar 16

Configuration words (read and write) (write when motor is stopped)

WORD NAME RANGE UNIT DESCRIPTION

W3000 LI1 0…10 Assignment of logic input LI1

W3001 LI2

W3002 LI3

W3003 AI1

0…11

0…10

0…5

Assignment of logic input LI2

Assignment of logic input LI3

Assignment of analog input AI1

POSSIBLE VALUES

0 = not assigned

1 = start/stop

2 = fast stop

3 = fault reset

4 = + speed

5 = freewheel stop

6 = switching to ramp 2

7 = reduction of current limit

8 = Jog

9 = change motor power

10 = local forcing

0 = not assigned

1 = 3rd speed

2 = fast stop

3 = fault reset

4 = - speed

5 = freewheel stop

6 = automatic / manual

switching

7 = switching to ramp 2

8 = reduction of current limit

9 = Jog

10 = change motor power

11 = local forcing

0 = not assigned

1 = 4th speed

2 = fast stop

3 = DC injection

4 = fault reset

5 = freewheel stop

6 = switching to ramp 2

7 = reduction of current limit

8 = Jog

9 = change motor power

10 = local forcing

0 = not assigned

1 = speed feedback

2 = speed feedback + backdriving control

3 = summing reference 2 input

4 = PI feedback

5 = manual reference input

6 7

Altivar 16 variables

Address zone reserved for Altivar 16

Configuration words (read and write) (write when motor is stopped)

WORD NAME

W3004

W3005

W3006

W3007

W3008

LO1

SAB

AO1

CPM

TIC

RANGE

0…6

0…4

0…2

0…4

0…3

UNIT DESCRIPTION

Assignment of logic output LO

POSSIBLE VALUES

0 = not assigned

1 = 100% thermal state reached

2 = frequency reference reached

3 = current limit reached

4 = LSP reached

5 = HSP reached

6 = 1.1 Ith overload reached

Assignment of relay S2A S2B 0 = not assigned

1 = 100% thermal state reached

2 = frequency reference reached

3 = HSP reached

4 = brake control

Assignment of analog output AO 0 = not assigned

1 = motor frequency

2 = motor current

Motor power coefficient 0 = coefficient 1/1

1 = coefficient 1/2

2 = coefficient 1/3

3 = coefficient 1/4

4 = coefficient 1/5

Type of DC injection 0 = no injection

1 = injection for f < 0.1 Hz

2 = injection for f < LSP

3 = injection for f < SRF

W3009 TFR 40…400 Hz 0.1 Hz Maximum frequency

W3010 UNS 0…7 Motor nominal voltage 0 = 208 V

1 = 220 V

2 = 230 V

3 = 240 V

4 = 380 V

5 = 400 V

6 = 415 V

7 = 460 V

W3011 FRS 40…400 Hz 0.1 Hz Motor nominal frequency

W3012 UFT 0…2 Type of voltage/ frequency ratio 0 = linear N

1 = quadratic P

2 = linear L

6 8

Altivar 16 variables

Address zone reserved for Altivar 16

Configuration words (read and write) (write when motor is stopped)

WORD NAME RANGE UNIT DESCRIPTION

W3013 CF1 Specific functions configuration register

RPS

FLR

ATR

SFR

W3013,0 Reserved

W3013,1 S ramp

W3013,2 Flying restart

W3013,3 Automatic restart

W3013,4 10 kHz switching frequency

W3013,5 Reserved

STP

BRA

SLP

RBL

SCE

BST

W3013,6 Controlled stop on AC supply break

W3013,7 Adaptation of the deceleration ramp

W3013,8 Slip compensation

W3013,9 Activation of the + / – speed reference

W3013,A Speed ref. in EEPROM memory

W3013,B Inhibit boost at start-up

W3013,C Reserved

W3013,D Reserved

W3013,E Reserved

W3013,F Reserved

W3014 to W3019 : Reserved

POSSIBLE VALUES

0 = linear 1 = S

0 = no 1 = yes

0 = 5 kHz 1 = 10 kHz

0 = no

1 = yes

6 9

Altivar 16 variables

Address zone reserved for Altivar 16

Adjustment words (read and write)

WORD NAME

W3020 LSP

RANGE

0…HSP

UNIT DESCRIPTION

0.1 Hz Low speed

W3021 HSP LSP…TFR 0.1 Hz High speed

W3022 ACC 0.1…600s 0.1 s Acceleration time

W3023 DEC

W3024 FLG

0.1…600s

0…100

0 1 s Deceleration time

1 Frequency loop gain (if FLG=100 : frequency loop inhibited)

W3025 UFR 0…100 1 Set voltage / frequency ratio

W3026 ITH 0.5…1.15 In 0.1 A Thermal current

W3027 IDC 0.5…1.5 Ith 0.1 A DC current amplitude

W3028 TDC 0…5.1 s 0.1s

DC injection time (if TDC= 5.1s : continuous

DC injection)

W3029 CGL

W3030 AC2

0…5 Hz

0.1…600 s

0.1 Hz Slip compensation

0.1 s Acceleration time 2

W3031 DE2 0.1…600 s 0.1 s Deceleration time 2

W3032 JOG 0.1…10 Hz 0.1 Hz JOG speed

W3033 SP3 LSP…HSP 0.1 Hz 3rd speed

W3034 SP4 LSP…HSP 0.1 Hz 4th speed

W3035 JF1

W3036 JF2

0…TFR

0.1 Hz

Skip frequency 1

Skip frequency 2

W3037 RGP

W3038 RGI

W3039 IBR

W3040 SMF

W3041 SRF

0…100

0.1

PI controller proportional gain

PI controller integral gain

0…1.15 ln 0.12 A Brake control level

0…LSP

0.1 Hz

Brake application level

Brake release level

W3042 TMF

W3043 LTI

0…5 s 0.1 s Brake application time

0.5…1.5 ln 0.1 A Current limit level

W3044 to W3049 : Reserved

7 0

Altivar 16 variables

Address zone reserved for Altivar 16

Command words (read and write)

WORD NAME

W3050 COM

RST

DLI

FLI

NTO

RUN

DCB

CAL

CAR

W3051 FRH LSP…HSP

W3052 LOL

W3053

EFL

AOL

RANGE

0…255

UNIT DESCRIPTION

Command register

W3050,0 Reset speed controller

W3050,1 Assign commands on line

W3050,2 Assign frequency reference on line (1)

W3050,3 Reserved

W3050,4 Communication check inhibited (2)

W3050,5 Start / stop command (1)

W3050,6 DC injection braking command

W3050,7 Reserved

W3050,8 Select freewheel stop

W3050,9 Select fast stop

W3050,A Reserved

W3050,B Reserved

W3050,C Reserved

W3050,D Reserved

W3050,E External fault command

W3050,F Store in EEPROM (3)

Signed line frequency reference

Write logic outputs on line

(only if they are not assigned)

W3053,0 Value applied at S2A-S2B

W3053,1 Value applied at LO

W3053,2 to F Reserved

Write analog output AO on line

(only if Al not assigned)

W3054 to W5059 : Reserved

The bits are active at state 1

(1) The same message should not be used to assign FLI and RUN. Use 2 messages, the 1st for FLI, the

2nd for RUN.

(2) The Altivar 16 changes to fault condition SLF :

• in UNI-TELWAY when there has been no polling for 10 s,

• in MODBUS if more than 10 s elapse between requests.

Setting this bit to 1 inhibits this check. For safety reasons, this should only be performed during debugging phases.

(3) Global command to store all the adjustments and the entire configuration in the speed controller EEPROM. The storage takes a few seconds, and access to the speed controller is refused while it is being performed. For this function, the speed controller must be on line and the motor stopped.

7 1

Altivar 16 variables

Address zone reserved for Altivar 16

Signalling words (read only)

RANGE WORD NAME

W3060 STR

LOC

RDY

FAI

REN

FLO

NTO

CFA

RNG

RVE

UNIT DESCRIPTION

Speed controller status register

W3060,0 All commands in local mode

W3060,1 Speed controller ready (RDY or SLC)

W3060,2 Faulty

W3060,3 Reset authorized

(following correctable fault)

W3060,4 Reserved

W3060,5 Speed controller forced in

Local mode

W3060,6 Communication check inhibited

W3060,7 Correctable fault

W3060,8 Motor running

W3060,9 Direction of rotation

W3061

BRE

SST

OVL

OBR

LIM

FRR

W3060,A DC injection braking

W3060,B Steady state

W3060,C Motor thermal overload alarm

W3060,D Overbraking alarm

W3060,E Current limit

W3060,F Reserved

0.1 Hz Actual rotation frequency

(signed value)

W3062

W3063

W3064

LCR

ULN

IOL

0.1 A Motor current

0.1 V Mains supply voltage

Speed controller logic I/O status register

W3064,0 FW input state

W3064,1 RV input state

W3064,2 Ll1 input state

W3064,3 Ll2 input state

W3064,4 Ll3 input state

W3064 5 S2A-S2B output state

W3064 6 LO output state

W3064,7 to W3064,F Reserved

W3065 AIV 0…10000

W3066 IAI -10000…+10000

W3067 IAO

W3068 FRE

0…255

AIV or AIC analog input value

Al analog input value

AO output value

0.1 Hz Effective frequency reference

(signed value)

POSSIBLE VALUES

0 = forward

1 = reverse

1= thermal state

≥

100%

7 2

Altivar 16 variables

Address zone reserved for Altivar 16

Signalling words (read only)

WORD NAME RANGE UNIT DESCRIPTION

W3069 FLT Fault register : fault which has caused speed controller to stop

INF

SLF

W3069,0 Speed controller internal fault (*)

W3069,1 Communication fault

EEF

SRF

W3069,2 Storage fault in EEPROM

W3069,3 External fault

(generated by an EFL command)

USF

OSF

PHF

W3069,4 Mains supply undervoltage

W3069,5 Mains supply overvoltage

W3069,6 Supply phase(s) failure

W3069,7 Reserved

W3069,8 Speed regulation fault / tachogenerator absent

W3069,9 Overcurrent, PWM overheating (*) DRF

OBF

OBF.

OLF

CRF

W3069,A Overvoltage caused by overbraking

W3069,B Overcurrent caused by overbraking

W3069 C Motor overload

W3069,D Reserved

W3069,E Reserved

W3069,F Capacitor charging relay fault

W3070 DPR

INF

SLF

EEF

SRF

USF

OSF

PHF

DRF

OBF

OBF.

OLF

CRF

W3070,0 Speed controller internal fault

W3070,1 Communication fault

W3070,2 Storage fault in EEPROM

W3070,3 External fault

(generated by an EFL command)

W3070,4 Mains supply undervoltage

W3070,5 Mains supply overvoltage

W3070,6 Supply phase(s) failure

W3070,7 Reserved

W3070,8 Speed regulation fault / tachogenerator absent

W3070,9 Overcurrent

W3070,A Overvoltage caused by overbraking

W3070,B Overcurrent caused by overbraking

W3070,C Motor overload

W3070,D Reserved

W3070,E Reserved

W3070,F Capacitor charging relay fault

POSSIBLE VALUES

(*) These faults are uncorrectable and cannot be acknowledged by the communication link.

7 3

Altivar 16 variables

Address zone reserved for Altivar 16

Signalling words (read only)

WORD NAME RANGE UNIT

W3071 DP1

W3072 DP2

W3073 DP3

W3074 DP4

W3075 DP5

W3076 DP6

W3077 DP7

W3078 DP8

DESCRIPTION

Past fault 1

Past fault 2

Past fault 3

Past fault 4

Past fault 5

Past fault 6

Past fault 7

Past fault 8

POSSIBLE VALUES each of these words has the same structure as W3069

7 4

Altivar 16 variables

Address zone common to Altivar 16 and Altivar 45 2

Control bits (read and write)

BIT NAME DESCRIPTION

B0 TST De-energization of speed controller safety relay

B1 (*) RST Fault reset

(Speed controller reset)

B2 (*) CLO Assignment of control to LOCAL mode

B3 (*) CLI Assignment of control to LINE mode

FUNCTION

Disconnects the Altivar 16 power supply if the contact of the relay is used for the hold-in circuit of the line contactor

Acknowledges a correctable fault which has disappeared and resets the safety relay

The Altivar 16 can only be controlled via its terminals

(logic and analog inputs)

The Altivar 16 is controlled via the multidrop bus

NTO Inhibition of communication check

RUN Start / stop command

The Altivar 16 changes to fault condition SLF :

• in UNI-TELWAY after no polling for 10 s

• in MODBUS if more than 10 s elapse between two requests

Setting this bit to 1 inhibits this check. For safety reasons this feature should only be used during debugging phases

1 = start 0 = stop

REV Frequency reference sign

1 = negative 0 = positive

The direction of rotation can be reversed by changing the state of this bit or by providing a frequency reference of opposite sign in word W19

DCB Braking control

CAL Selection of a freewheel stop

Takes priority over the RUN bit

Active when there is a stop command

B10

CAR Selection of a fast stop

Reserved

Active when there is a stop command

(*) These bits initiate the action shown when they are written as 1. They are reset to zero by the speed controller.

If they are written as zero they have no effect and are always read as zero.

7 5

Altivar 16 variables

Address zone common to Altivar 16 and Altivar 45 2

Adjustment words (read and write)

WORD NAME

–

W10

W11

CGL

–

IDC

TDC

UFR

ITH

FLG

RANGE

–

[0... 5Hz]

UNIT

–

DESCRIPTION

Reserved

–

[0.5... 1.5Ifh]

[0... 4s]

[0... 100]

0.1Hz Slip compensation

– Not used

–

Not used

– Not used

0.1A

DC amplitude when stopping

0.1s

DC injection time when stopping

1 Voltage/frequency ratio adjustment coefficient

[0.45... 1.05In] 0.1A

Motor thermal current

[0... 99%] 1% Frequency loop gain

COMMENTS

With ATV 45 2 range from 0.5 to 1.5 In

With ATV 45 2 range from 0 to 99

With ATV 45 2 range from 0 to 100

W12

W13

W14 LSP

–

W15 HSP

W16 ACC

W17 DEC

–

[0...HSP]

[LSP... TFR]

[0.1... 600s]

–

Not used

0.1Hz Low speed

0.1Hz High speed

0.1s

Acceleration time

[0.1... 600s] 0.1s

Deceleration time

Adjust TFR in W3009

With ATV 45 2 range from 0.2 to 990 s

7 6

Altivar 16 variables

Address zone common to Altivar 16 and Altivar 45 2

Command words (read and write)

WORD NAME

W18 COM

RANGE

–

UNIT

–

W19 FRH [LSP... HSP] 0.1Hz

DESCRIPTION

Command register

W18,0 (RST) Reset speed controller

(fault reset)

W18,1 (DLI) Assign logic commands on LINE

W18,2 (FLI) Frequency reference on LINE

W18,3 Reserved

W18,4 (NTO) Inhibit communication check

W18,5 (RUN) Start / stop command

W18,6 (DCB) Braking control

W18,7 Reserved

W18,8 (CAL) Select freewheel stop

W18,9 (CAR) Select fast stop

W18,A Not used

W18,B Reserved

W18,C Reserved

W18,D Reserved

W18,E Reserved

W18,F Storage in EEPROM

Signed frequency reference

COMMENTS

See note 1

See notes 1 and 2

See note 2

See note 3

Signed value

The bits are active at state 1.

note 1 : Bits W18,1 and W18,2 can be used to partially assign commands which can be executed from the multidrop bus. It is important to set them correctly each time the COM register is written.

note 2 : Do not use the same message to assign FLI and RUN. Use 2 messages : the 1st for FLI, the 2nd for RUN.

note 3 : Global command to store all the adjustments (W0 to W17) and the entire configuration (W33 to

W66) in the speed controller EEPROM.

This command should be used with care : the storage takes a few seconds, and access to the speed controller is refused while it is being performed.

7 7

Altivar 16 variables

Address zone common to Altivar 16 and Altivar 45 2

Signalling words (read only)

WORD NAME

W20 STR

RANGE

–

UNIT DESCRIPTION

Status register

W20,0 (LOC) All commands assigned in LOCAL mode

W20,1 (RDY) Speed controller ready

W20,2 (FAI) Faulty

W20,3 (REN) Reset authorized

W20,4 Not used

W20,5 (FLO) Speed controller forced in LOCAL mode

W20,6 (NTO) Communication check inhibited

W20,7 (CFA) Correctable fault

W20,8 (RNG) Running

W20,9 (RVE) Direction of operation

W20,A (BRE) DC injection braking

W20,B (SST) Steady state

W20,C (OVL) Motor thermal overload alarm

W20,D (OBR) Overbraking alarm

W20,E (LIM) Current limit

W20,F Not used

COMMENTS

Motor rotating

0 = forward 1 = reverse

7 8

Altivar 16 variables

Address zone common to Altivar 16 and Altivar 45 2

Signalling words (read only)

WORD NAME

W21 FLT

RANGE

W22

W24

W26

W27

W28

LCR

W23 RFR

–

W25 ULN

–

UNIT

–

0.1A

0.1Hz

–

DESCRIPTION

Fault register

W21,0 (INF) Speed contr. internal fault (*)

W21,1 (SLF) Communication fault

W21,2 (EEF) EEPROM fault

W21,3 (SRF) Fault generated by the

TST command

W21,4 (USF) Mains supply undervoltage

W21,5 (OSF) Mains supply overvoltage

W21,6 (PHF) Supply phase(s) failure

W21,7 Not used

W21,8 (SPF) Speed regulation fault

COMMENTS

W21,9 (DRF) Overcurrent, PWM overheating, With ATV 45 2, this bit underheating of PWM control (*) indicates an overcurrent

W21,A (OBF) Overvoltage caused by overbraking

W21,B (OBF.) Overcurrent caused by overbraking

W21,C (OLF) Motor overload

W21,D Not used

W21,E Reserved

W21,F (CRF) Charging relay fault

Motor current

Actual rotation frequency

Not used

Mains voltage

Not used

Reserved

Signed value

(*)

These faults are uncorrectable and cannot be acknowledged by the communication link.

7 9

Altivar 16 variables

Address zone common to Altivar 16 and Altivar 45 2

Signalling words (read only)

WORD NAME RANGE

W29 DIN

UNIT

–

W30 DAI [0... 1000]

W31 –

W32 –

–

DESCRIPTION

Speed controller logic input status register

W29,0 FW input

W29,1 RV input

W29,2 Not used

W29,3 Not used

W29,4 Not used

W29,5 to W29,F : reserved

Value of speed controller analog input

Reserved

COMMENTS

0 = 0V or 0 mA or 4 mA

1000 = 10V or 20 mA

8 0

Altivar 16 variables

Address zone common to Altivar 16 and Altivar 45 2

Configuration

Configuration words can only be written when the speed controller is stopped

They are stored in the EEPROM memory via the COM command register

(bit W18,F).

Configuration words (read and write) (write when motor is stopped)

POSSIBLE VALUES WORD NAME

W33 –

W34 –

W35 –

RANGE

–

UNIT DESCRIPTION

Not used

Configuration register

W35,0 Not used

W35,1 Not used

W35,2 Not used

W35,3 Not used

W35,4 (SLP) Slip compensation

W35,5 Not used

W35,6 Not used

W35,7 Not used

W35,8 Not used

W35,9 Not used

W35,A Not used

W35,B Not used

W35,C Not used

W35,D Not used

W35,E Not used

W35,F Not used

0 = no and 1 = yes

8 1

Altivar 16 variables

Address zone common to Altivar 16 and Altivar 45 2

Configuration words (read and write) (write when motor is stopped)

W37

W38

W39

W40

W41 RPS

W42

W43

W44

W45 BRA

W46 UFT

WORD NAME

W36 –

0...1

–

0...1

–

RANGE

–

0...2

UNIT DESCRIPTION

Configuration register 2

W36,0 (FLR) Flying restart

(automatic catching a spinning load)

W36,1 Not used

W36,2 Not used

W36,3 (ATR) Automatic restart

W36,4 to W36,F : not used

Not used

Ramp shapes (1)

Not used

Deceleration ramp adaptation

Voltage/frequency ratio (2)

POSSIBLE VALUES

0 = no and 1 = yes

0 = linear 1 = S

0 = no

1 = yes

0 = linear N

1 = quadratic P

2 = linear L

(1) Parabolic ramp not available on the Altivar 16

(2) The F type does not exist on the Altivar 16

8 2

Altivar 16 variables

Address zone common to Altivar 16 and Altivar 45 2

Configuration words (read and write) (write when motor is stopped)

COMMENTS WORD NAME

W47

W48

–

W49

W50

W51

W52

W53

RANGE

–

IBR

–

0...In

AC2 0.1...600 s

UNIT DESCRIPTION

Not used

0.1 A Brake control level

0.1 s Acceleration time 2

W54 DE2 0.1...600 s 0.1 s Deceleration time 2 on the ATV 45 2 : adjustable from 0.2 to 990 s on the ATV 45 2 : adjustable from 0.2 to 990 s

W55

W56

–

Not used

8 3

Altivar 16 variables

Address zone common to Altivar 16 and Altivar 45 2

Configuration words (read and write) (write when motor is stopped)

COMMENTS WORD NAME

W57

W58

–

W59

W60

W61

W62

W63

–

RANGE

–

0...LSP

0...5 s

W64

W65

W66

–

40...200 Hz

W61 to W119 : Reserved

UNIT DESCRIPTION

Not used

0.1Hz

Brake application level

0.1 s Brake release level

0.1 s Brake application time adjustable from 0 to 4 s

Not used

0.1 s Nominal frequency

Maintenance

The following words can be used for diagnostics and maintenance. They contain a list of the 8 most

recent faults which have caused the speed controller to stop (power cuts are not considered as faults).

These 8 words are managed on a stacking principle : the appearance of a fault causes the stack to move downwards and the fault which has appeared is stored in the 1st W120 word.

This principle continues to be used when the stack is full.

These words cannot be modified or reset to zero.

Words for maintenance (read only)

WORD

W120

W121

W127

NAME

DP1

DP2

DP8

DESCRIPTION

COMMENTS

Each of these words has the same format as the FLT signalling register [W21]

The value 0 indicates that there is no fault

8 4

UNI-TELWAY requests

General

The exchange of data between computer systems, PLCs and other intelligent systems must be performed using a common language.

This language should be as simple as possible and understood by everyone involved. Nevertheless, it must be possible to check every exchange to ensure the integrity of the transfers. The variables exchanged are therefore inserted in a frame which generally comprises the following :

Heading Address Request

Data

Check

End

Each protocol defines the presence, the format and the contents of the various groups of variables which surround the data zone.

This structuring makes it possible to define the start and the size of messages, if necessary the system to which the data is addressed, the type of function required, the variables themselves, a control parameter and an end code which validates the whole message.

The form and content of this frame are different for each type of protocol.

List of requests

The following table describes the requests accepted by the Altivar 16 and their limits.

Details of the coding of the requests are given in the UNI-TELWAY reference manual.

Request

Identification

Protocol version

Status

Mirror

Read error counters

Reset counters

Read a bit

Write a bit

Read a word

Write a word

Read objects

Write objects

Event data

Specific

Code (hex)

H’0F’

H’30'

H’31'

H’FA’

H’A2'

H’A4'

H’00'

H’10'

H’04'

H'14'

H’36'

H’37'

–

H’F2'

Altivar 16

Yes

63 words max.

60 words max.

Yes

2 words

See later

Identification request - Request code H'OF'

Response given by Altivar

Response code

Product type

= H'3F'

= H'14' for Altivar

Sub-type

Product version

ASCII string*

= H'16' Altivar 16

= H'XX' software version (eg : H'21' for V2.1)

= product reference (eg : ATV-16U29N4)

* The first byte of an ASCII string always corresponds to the length of the string.

8 5

8 6

UNI-TELWAY requests

Request status - Request code H'31'

Response given by Altivar

Response code = H'61'

Current status = H'XX' bit 0 : internal fault bit 1 : correctable fault bit 2 : uncorrectable fault bit 3 : not significant bit 4 : not significant

Status mask bit 5 : not significant bit 6 : speed controller stopped (RDY or SLC or fault) bit 7 : speed controller in LOCAL control

= H'C7' indicates the significant bits for the current status

UNI-TELWAY frame

Heading

Target address

Transmitter address

Length of message

Requests to read and write objects

These requests are used to access several words within the limits described on the previous page.

These requests can be coded by specifying :

Question code (TXTi,C)

Event data

The Altivar 16 transmits data on its own initiative to the UNI-TELWAY link master without having first received a question.

This data is sent via the "unsolicited data" request and does not require a response from the receiver.

Data is transmitted in the following 2 cases :

– When a fault appears or disappears (rising or falling edge at status register bit W3060,2).

– When the speed controller is forced into local control via one of its logic inputs, if that input has been assigned to this function (rising or falling edge at this input), or via the local key on the interface for the PCMCIA communication card.

Size of event data : 2 words of 16 bits sent in the following order :

– STR status register (word W3060).

– FLT fault register (word W3069).

To transmit unsolicited data, the Altivar 16 must have an address between 1 and 32.

8 7

UNI-TELWAY requests

Summary

: the use of event data with a TSX PLC requires :

– Correct configuration of the UNI-TELWAY link master module.

– Regular monitoring of the indicators which display the arrival of unsolicited data and the addresses of the transmitters.

– Acquisition of this data via the request to read event data.

Specific control request

This request is used to control the Altivar 16 and to obtain in return data essential for controlling the speed controller.

Request format

Request code

MODBUS frames

Note : In the rest of this document MODBUS and JBUS functions are grouped together under the heading MODBUS.

Two transmission modes can be used, only one of them being used in a system.

RTU mode

The frame defined for the MODBUS protocol has neither message heading bytes nor end of message bytes. It is defined as follows :

Address Request Data CRC16

The data is transmitted in binary code.

CRC16 : cyclical redundancy check.

The end of frame is detected on a silence of 3 characters or more.

ASCII mode

The frame is complete and is defined in the following way :

Heading

Address Request Data LRC

– heading = ":" (H’3A),

– the data is coded in ASCII : each byte is divided into 2 four-bit bytes, each

of which is coded by an ASCII character (0 to F),

– LRC : longitudinal redundancy check,

– end : "CR" "LF" (H’0D and H’0A).

End "CRLF"

MODBUS / JBUS protocol

Principle

The MODBUS protocol is a dialogue protocol which creates a hierarchical structure (a master and several slaves).

The MODBUS protocol enables the master to interrogate one or more intelligent slaves. A multidrop link connects the master and slaves.

Two types of dialogue are possible between master and slaves :

– the master talks to a slave and waits for a response,

– the master talks to all the slaves without waiting for a response (broadcasting principle).

The slaves are numbered from 1 to 255, and number 0 is reserved for broadcasting.

Master

The master manages the exchange and only it can take the initiative. 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 envelope. Only one device can transmit on the line at any time.

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

Slave j

Slave i

Slave k

Note

No lateral communication (ie. slave to slave) can be performed directly.

The application software of the master must therefore be designed to interrogate a slave and send back data received to another slave.

MODBUS / JBUS protocol

Accessible data

The MODBUS protocol enables data (bits and words) to be exchanged between a master and several slaves, and checks these exchanges.

Consequently, bit areas are defined in each slave unit which will be read or written by the master.

An input object can only be read.

An output object can be read or written.

Master

MODBUS addressing

Slave i

Slave j

Input bits

Output bits

Input words

Output words

Slave k

Exchanges

The master, or supervision device, takes the initiative in exchanges. The master addresses a slave by supplying it with four types of data :

– the address of the slave,

– the function required of the slave,

– the data area (variable depending on the request),

– the exchange check.

The link master waits for the response of the slave before transmitting the next message, thus avoiding any conflict on the line. Operation in half duplex is therefore authorized.

MODBUS / JBUS protocol

Control and monitoring

All control of exchanges between two units which are communicating via asynchronous serial link naturally includes exception messages when exchange faults occur. Various incorrect messages may be sent to a slave. In this event, the slave will tell the master that it does not understand, and the master will decide whether or not to repeat the exchange.

Master

ATV 16

The master has access to a certain amount of data which is stored and managed by the slave. The master can access this data using special function codes (diagnostic mode, read event counter, etc).

MODBUS / JBUS protocol

MODBUS functions

MODBUS functions include :

– main functions for exchanging data,

– additional functions for exchange diagnostics.

The following table shows the functions which are managed by the ALTIVAR 16 communication function, and specifies its limits.

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

Code Type of function D ALTIVAR 16

Read N output bits

Read N input bits

Read N output words

Read N input words

Write one output bit

Write one output word

Diagnostics (see details below)

Read event counter

Write N output words

1 max

63 max

Yes

60 max

Functions marked «D» can be broadcast.

The message transmitted by the master must specify slave number = 0.

A response message is never returned.

Detailed information on functions

Code 01 :

Code 02 : read N output bits.

This function is used to read output bits (bits which can be written and read in the slave by the master).

read N input bits.

As above, but applies to input bits (bits which the master can only read).

Code 03 :

Code 04 :

Code 05 :

Code 06 : read N output words.

This function is used to read output words (words which can be written and read in the slave by the master ).

read N input words.

As above, but applies to input words (words which the master can only read).

write an output bit.

Used to set an output bit to 0 or 1 (can only be accessed in write).

write an output word

Used to write a 16-bit output word (can only be accessed in write).

MODBUS / JBUS protocol

Diagnostic function code 08 is always accompanied by a sub-code.

Code 08/00 : echo.

This function requests the interrogated slave to send back the whole message sent by the master.

Code 08/01 :

Code 08/03 : channel reinitialization.

This function is used to reinitialize communication of a slave and in particular to make it leave listen only mode (LOM) by transmission of a data H'0000 ou H'FF00.

change of ASCII delimiter.

In ASCII mode, messages are delimited by the line feed character

(LF = H’0A). This function is used to change this character.

Code 08/04 : change to LOM mode.

This function is used to force a slave into listen only mode (LOM).

In this mode the slave does not process messages which are addressed to it, and only transmits a response when the channel is reinitialized.

Code 08/0A : counter reset.

This function resets to zero all the counters monitoring the exchanges of a slave.

Code 08/0B : number of correct messages seen on the line without CRC error or checksum error.This function reads a 16-bit counter

(incremented from 0 to H’FFFF) which totals the messages seen on the line and processed by the slave.

Code 08/0C : number of messages received with checksum error (reads a 16-bit counter).

Code 08/0D : number of exception responses.

Reads a 16-bit counter which totals the number of exception messages transmitted to the master by a slave (following an incorrect frame).

Code 08/0E : number of messages addressed to the slave except for broadcasts.

Reads a 16-bit counter which totals the number of all types of messages addressed to the slave.

Code 08/0F : number of broadcast messages received.

Reads a 16-bit counter which totals the number of all types of messages addressed to the slave.

Code 08/10 :

Code 08/11 :

Code 08/12 : read number of NAQ responses. The value read is always 0.

read of number of responses from the slave that is not ready. The value read is always 0.

read the number of characters which are not processed (incorrect).

MODBUS / JBUS protocol

Code 11 :

Code 16 : read event counter.

– a status (always zero),

– a counter which is incremented each time a correct message sent to the slave is received (form and content) except for exception messages.

write N output words.

This function enables the master to write output words to the slave

(words which can be written or read).

MODBUS / JBUS protocol

Details of frames (RTU mode)

Read N bits : function 1 or 2

Question

Slave 01 or 02 n

1 byte 1 byte

of 1st bit

MS LS

2 bytes

Number of bits

2 bytes

CRC16

2 bytes

Response

Slave n

1 byte

01 or 02

1 byte

Number of bytes read

1 byte

Value

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

Value CRC16

2 bytes

Example : read bit B4 of slave 2

Question 02

Response 02

0004

0001

BC38

51CC if B4 = 0

02 01 01 01 900C

Bit B4 can always be used and can be read at 1 or at 0.

if B4 = 1

Read N words : function 3 or 4

Question

Slave 03 or 04 n

1 byte 1 byte

Response

of 1st word

MS LS

2 bytes

Number of words

MS LS

2 bytes

CRC16

2 bytes

Slave n

03 or 04 Number of Value of 1st word bytes read

MS LS

-------

1 byte 1 byte 1 byte 2 bytes

Value of last word

MS LS

2 bytes

CRC16

2 bytes

Example : read words W3020 to W3023 of slave 2

Question

Response

0BCC 0004

33E1 xxxx

---------------------xxxx CRC16

Value of W3020

Value of W3023

MODBUS / JBUS protocol

Write an output bit

: function 5

Question

Slave n

1byte

1 byte

Bit n

MS LS

2 bytes

Bit value CRC16

2 bytes 2 bytes

The "bit value" field has two possible values only, and can take no other value :

– bit at 0 = 0000

– bit at 1 = FF00

Response

Slave n

1 byte

Bit n

MS LS

2 bytes

Bit value

2 bytes

Example : write value 1 in bit B3 of slave 2

Question and response

02 05 0003 FF00 7C09

CRC16

2 bytes

Write an output word :

function 6

Question

Slave n

1 byte

Response

1 byte

Word number

2 bytes

Word value

2 bytes

CRC16

2 bytes

Slave n

1 byte

Word number

2 bytes

Word value CRC16

MS LS

2 bytes 2 bytes

Example : write value H'0315' = 789 in word W3022 of slave 2 ( ACC = 78,9s )

Question

02 06 0BCE 0315 2B1D and response

MODBUS / JBUS protocol

Diagnostic : function 8

Question and response

Slave n

1 byte

Sub-code

1 byte

Sub-code

2 bytes

Question data

XX YY

00 00

XX 00

00 00

Data

2 bytes

Response data

XX YY

00 00

XX 00

No response

00 00

XX YY

CRC16

2 bytes

Function executed

Echo

Reinitialization

XX = new delimiter

Change to LOM mode

Reset counters to 0

XXYY = counter value

Read event counter : function 11 ( H'0B' )

Question

Slave n

1 byte

0B CRC16

1 byte 2 bytes

Response

Slave n

1 byte

2 bytes

00 Counter value

MS LS

2 bytes

CRC16

2 bytes

Write N output words : function 16 (H'10' )

Question

Slave n

1 byte 1 byte

of 1st word Number Number Value of 1st word

MS LS of words of bytes MS LS

----

2 bytes 2 bytes 1 byte 2 bytes

CRC16

2 bytes

Response

Slave 10 N

of 1st word Number of words CRC16 n

MS LS MS LS

1 byte 1 byte 2 bytes 2 bytes 2 bytes

Example : write values 2 and 3 in words W3022 and W3023 of slave 2

Question 02

Response 02

0BCE 0002

2220

0002 0003 E3C6

MODBUS / JBUS protocol

Exception responses

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

Format of an exception response :

Slave n

1 byte

Response Error code

1 byte code

1 byte

CRC16

2 bytes

Response code :

function code of the request + H’80 (the most significant bit is set to 1).

Error code :

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

2 = the bit and word numbers (addresses) indicated in the request do not exist in the slave.

3 = the bit and 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 execute it completely.

CRC16 calculation

The CRC16 is calculated based on all the bytes of the message by applying the following method.

Initialize the CRC (16-bit register) to H’FFFF.

Enter the first to the last byte of the message :

CRC X0R <byte> —> CRC

Enter 8 times

Move the CRC one bit to the right

If the output bit = 1, enter CRC X0R H’A001—> CRC

End enter

The CRC obtained will be transmitted least significant byte first, then most significant.

X0R = exclusive OR.

MODBUS / JBUS protocol

ASCII mode

In this mode, the MODBUS frame has the following structure :

•

Slave n

Function Data

--------------------code

LRC

MS LS

CR LF

Data identical to RTU mode, but coded differently

Delimiters : ":" = H’3A’, CR = H’0D’, LF = H’0A’.

Data :

the data field is analogous to the RTU frames, but coded in ASCII characters. Each byte is divided into 2 four-bit bytes, each of which is coded by its ASCII equivalent.

Example : the byte containing the slave number 06 will be coded by 2 ASCII characters

"0" and "6", ie. by H’30' and H’36'.

LRC :

modulo 256 hexadecimal sum of the contents of the frame (without the delimiters) before

ASCII coding, 2's complement.

The byte obtained is then coded in the form of 2 ASCII characters as above.

Example : write value 1 in bit B3 of slave 2

Question and response

Hexadecimal

3A 30 32 30 35 30303033 46463030

ASCII

0 0 0 3 F F 0 0 : 0 2

LRC calculation

0 5

4637

F 7

Sum of the bytes in the frame :

H'02' + H'05' + H'00' + H'03' + H'FF' + H'00' = H'109' = 265

Modulo sum 256 : H'09' = 9

Modulo sum 256, 2's complement :

H'100' - H'09' = 256 - 9 = 247 = H'F7'

100

Diagnostics

Fault

For the communication fault codes refer to the user's manual for the PCMCIA communication card interface.

Additional diagnostics

Check the state of the two indicator lamps located on the front panel of the VW3-A66301 communication card.

PLC equivalent

ERR

COM

NET

RUN

Cable

Câble

State of indicator lights : 0 = off 1/2 = flashing

Probable causes Green light Red light

COM ERR

1 0

1/2 0

1 = on

Corrective actions

Normal operation

Incorrect communication configuration or communication fault with l'Altivar 16.

Check configuration.

Check software compatibility.

Communication fault on the bus Check the position of TSX-SCA62

(Wait for request in MODBUS or subscriber connector switches of no polling in UNI-TELWAY) the Altivar 16.

Check the connections. Check that master link is installed, and check its configuration and operation.

Fault of PCMCIA card or speed controller.

Check the Altivar 16 by removing the PCMCIA card. If necessary, replace the Altivar 16 or the card.

101

54749 1997-03

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어시스턴트 입력 중

어시스턴트가 키보드에서 벗어났습니다. 나중에 다시 시도하십시오.

여러 언어로 작성된 문서에 접속하신 것 같습니다. 여기에는 모국어가 아닌 언어도 포함되어 있습니다. 다음 링크를 사용하여 원하는 언어가 없는 페이지를 일시적으로 숨길 수 있습니다.

carte de communication PCMCIA protocoles

UNI-TELWAY, MODBUS/JBUS

PCMCIA communication card protocols

UNI-TELWAY, MODBUS/JBUS

guide d'exploitation user's manual

Only VW3-A16303 communication interface with software version above or equal to V1.3 IE04 can be used with VW3-A66301 PCMCIA communication card.

SUB-D connector pinout

Connection to the standard RS 485 bus

*

Connection to standard RS 422 bus

*

RS 232 C connection

*

*

Configuring communication functions

Connecting the speed controller

Status of the Altivar 16

➀

FAULT

RESET

ZERO

FAULT

➁

CORRECTABLE

FAULT

➂

UNCORRECTABLE

FAULT

Data structure

Access to data

Units

Range

Values on switching on

Altivar 16 variables

Configuring communication

Diagnostics

List of faults which may or may not be reset via communication

Address zone reserved for Altivar 16

Address zone reserved for Altivar 16

Address zone reserved for Altivar 16

Address zone reserved for Altivar 16

Address zone reserved for Altivar 16

Address zone reserved for Altivar 16

Address zone reserved for Altivar 16

Address zone reserved for Altivar 16

Address zone common to Altivar 16 and Altivar 45 2

Address zone common to Altivar 16 and Altivar 45 2

Address zone common to Altivar 16 and Altivar 45 2

Address zone common to Altivar 16 and Altivar 45 2

Address zone common to Altivar 16 and Altivar 45 2

Address zone common to Altivar 16 and Altivar 45 2

Address zone common to Altivar 16 and Altivar 45 2

Configuration

Address zone common to Altivar 16 and Altivar 45 2

Address zone common to Altivar 16 and Altivar 45 2

Address zone common to Altivar 16 and Altivar 45 2

Maintenance

General

List of requests

Identification request - Request code H'OF'

Request status - Request code H'31'

UNI-TELWAY frame

Requests to read and write objects

Event data

Specific control request

MODBUS frames

Principle

Accessible data

Exchanges

Control and monitoring

MODBUS functions

Detailed information on functions

Details of frames (RTU mode)

Exception responses

CRC16 calculation

ASCII mode

Fault

Additional diagnostics

54749 1997-03

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