AutomationDirect 5

GS1 M

ODBUS

C

OMMUNICATIONS

C

HAPTER

5

Contents of this Chapter...

Communication Parameters Summary . . . . . . . . . . . . . . . . . . . . .5–2

GS1 Parameter Memory Addresses . . . . . . . . . . . . . . . . . . . . . . . .5–4

GS1 Status Addresses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5–8

Communicating with AutomationDirect PLCs . . . . . . . . . . . . . . .5–11

Step 1: Choose the Appropriate CPU . . . . . . . . . . . . . . . . . . . . . . . . .5–11

Step 2: Make the Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5–11

GS1 RS-485 Serial Comm Port . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5–11

RS-485 Connections For Multiple Drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5–12

RS-232C to RS-485 Conversion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5–13

Ethernet Connection using GS-EDRV . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5–15

Step 3: Set AC Drive Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5–16

Step 4: Configure the PLC CPU . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5–16

Configure the CLICK PLC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5–16

Configure the DirectLOGIC CPUs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5–18

CLICK Modbus Ladder Programming . . . . . . . . . . . . . . . . . . . . .5–20

Separate Run Command Write Instruction . . . . . . . . . . . . . . . . . . . . . .5–20

Block Transfer Parameters for Modbus Programs . . . . . . . . . . . . . . . . .5–20

CLICK Communication Program – (for CLICK PLCs) . . . . . . . . . . . . . . .5–21

(Table of Contents continued next page)

5–1a

Chapter 5: GS1 Modbus Communications

Contents of this Chapter (continued from previous page)...

DirectLOGIC Modbus Ladder Programming . . . . . . . . . . . . . . . .5–35

Separate Run Command Write Instruction . . . . . . . . . . . . . . . . . . . . . .5–35

Block Transfer Parameters for Modbus Programs . . . . . . . . . . . . . . . . .5–35

DirectLOGIC Basic Communication Program – start with this code . . .5–36

Programming Differences for DirectLOGIC PLCs . . . . . . . . . . . . . . . . . .5–37

RX/WX Instructions for DL05, D2-250(-1), D4-450 . . . . . . . . . . . . . . . . . . . . .5–37

MRX/MWX Instructions for DL06, D2-260 . . . . . . . . . . . . . . . . . . . . . . . . . . .5–37

DL MRX/MWX Communication Program – for DL06 & D2-260 PLCs .5–38

DL RX/WX Communication Program – for DL05, D2-250(-1), D4-450 5–51

Communicating with Third-Party Devices . . . . . . . . . . . . . . . . . .5–64

Common Third-Party MODBUS RTU Masters . . . . . . . . . . . . . . . . . . . .5–64

Using Modbus ASCII . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5–65

Data Format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5–65

Communication Protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5–66

Comm Delay – Optimizing Communications . . . . . . . . . . . . . . .5–71

Optimizing Communications to GS Drives . . . . . . . . . . . . . . . . . . . . . .5–71

Types of Messages Sent to GS Drives . . . . . . . . . . . . . . . . . . . . . . . . . .5–72

Format of “Read Registers” Messages: . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5–72

Format of “Write Multiple Registers” Messages: . . . . . . . . . . . . . . . . . . . . . . .5–72

Format of “Write Single Register” Messages: . . . . . . . . . . . . . . . . . . . . . . . . .5–72

Example Message: . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5–72

Additional Message Delay Times . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5–73

Modbus-specified Delays Between Messages . . . . . . . . . . . . . . . . . . . . . . . . .5–73

Other Delays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5–74

Communication Delay Timing Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5–74

Communication Delay Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5–75

5–1b

GS1 Series AC Drive User Manual

2nd Edition 07/06/2011




5–1c


Communication Parameters Summary

A summary of the GS1 Communications Parameters is listed below. For a complete listing of the GS1 Parameters, refer to C

HAPTER

4.

GS1

Parameter

P9.00

P9.01

P9.02

P9.03

Communications Parameter Summary

Description

Communication Address

Transmission Speed

Communication Protocol

Transmission Fault Treatment

P9.04

P9.05

쏆 P9.07

Time Out Detection

Time Out Duration

Parameter Lock

P9.08

쏆 P9.11

쏆 P9.12

쏆 P9.13

쏆 P9.14

쏆 P9.15

쏆 P9.16

쏆 P9.17

쏆 P9.18

Restore to Default

Block Transfer Parameter 1








쏆 P9.19

쏆 P9.20



쏆

Parameter can be set during RUN Mode.

Range

1 to 254

0: 4800 baud

1: 9600 baud

2: 19200 baud

0: MODBUS ASCII mode, 7 data bits, no parity,2 stop bits

1: MODBUS ASCII mode, 7 data bits, even parity,1 stop bit

2: MODBUS ASCII mode, 7 data bits, odd parity,1 stop bit

3: MODBUS RTU mode, 8 data bits, no parity,2 stop bits

4: MODBUS RTU mode, 8 data bits, even parity,1 stop bit

5: MODBUS RTU mode, 8 data bits, odd parity,1 stop bit

0: Display fault and continue operating

1: Display fault and RAMP to stop

2: Display fault and COAST to stop

3: No fault displayed and continue operating

0: Disable

1: Enable

0.1 to 60.0 seconds

0: All parameters can be set and read

1: All parameters are read-only

99: Restores all parameters to factory defaults

P0.00 to P8.01, P9.99

P0.00 to P8.01, P9.99

P0.00 to P8.01, P9.99

P0.00 to P8.01, P9.99

P0.00 to P8.01, P9.99

P0.00 to P8.01, P9.99

P0.00 to P8.01, P9.99

P0.00 to P8.01, P9.99

P0.00 to P8.01, P9.99

P0.00 to P8.01, P9.99

Default

1

1

0

0

0

0.5

0

0

P9.99

P9.99

P9.99

P9.99

P9.99

P9.99

P9.99

P9.99

P9.99

P9.99

5–2




Communication Parameters Summary (continued)

Communications Parameter Summary (continued)

GS1

Parameter

Description

쏆 P9.26

Serial Comm Speed Reference

쏆 P9.27

Serial Comm RUN Command 0: Stop

쏆 P9.28

Serial Comm Direction Command 0: Forward

쏆 P9.29

Serial Comm External Fault 0: No fault

쏆 P9.30

Serial Comm Fault Reset

쏆 P9.31

Serial Comm JOG Command

0: No action

0: Stop

Range

0.0 to 400.0 Hz

1: Run

1: Reverse

1: External fault

1: Fault Reset

1: Jog

P9.39

Firmware Version #.##

P9.41

P9.42

GS Series Number

Manufacturer Model Information

1: GS1

2: GS2

3: GS3

4: GS4

0: GS1-10P2 (120V, 1ph, 0.25hp)

1: GS1-10P5 (120V, 1ph, 0.5hp)

2: GS1-20P2 (230V, 1ph/3ph, 0.25hp)

3: GS1-20P5 (230V, 1ph/3ph, 0.5hp)

4: GS1-21P0 (230V, 1ph/3ph, 1hp)

5: GS1-22P0 (230V, 3ph, 2hp)

쏆

Parameter can be set during RUN Mode.

Default

0

0

0

60.0

0

0

#.##

##

##



5–3


GS1 Parameter Memory Addresses

The octal address also can be used in the WX / RX instruction of the DL-250-1, DL-450, and DL05.

Parameter Memory Addresses

GS1

Parameter

Description Hexadecimal

Motor Parameters

P0.00

Motor Nameplate Voltage

P0.01

Motor Nameplate Amps

P0.02

Motor Base Frequency

P0.03

Motor Base RPM

P0.04

Motor Maximum RPM

0000

0001

0002

0003

0004

Modbus

Decimal *

40001

40002

40003

40004

40005

Octal

Ramp Parameters

P1.00

Stop Methods

쏆 P1.01

Acceleration Time 1

쏆 P1.02

Deceleration Time 1

P1.03

Accel S-curve

P1.04

Decel S-curve

쏆 P1.05

Acceleration Time 2

쏆 P1.06

Deceleration Time 2

P1.07

Select method to use – 2nd Accel/Decel

P1.08

Accel 1 to Accel 2 frequency transition

P1.09

Decel 2 to Decel 1 frequency transition

0100

0101

0102

0103

0104

0105

0106

0107

0108

0109

40257

40258

40259

40260

40261

40262

40263

40264

40265

40266

P1.10

Skip Frequency 1

P1.11

Skip Frequency 2

P1.12

Skip Frequency 3

P1.17

Skip Frequency Band

P1.19

DC Injection Voltage Level

P1.20

DC Injection during Start-up

P1.21

DC Injection during Stopping

010A

010B

010C

0111

0113

0114

0115

40267

40268

40269

40274

40276

40277

40278

P1.22

Start-point for DC Injection

쏆 Parameter can be set during RUN Mode.

0116 40279

* For Modbus Decimal addresses used with CLICK PLCs, insert another zero as the next-to-most-significant digit, e.g., 402333 instead of 42333.

404

405

406

407

410

411

412

400

401

402

403

413

414

421

423

424

425

426

2

3

4

0

1

5–4




Parameter Memory Addresses (continued)

GS1

Parameter

Description Hexadecimal

Volts/Hertz Parameters

P2.00

Volts/Hertz Settings

쏆 P2.01

Slip Compensation

쏆 P2.03

Manual Torque Boost

P2.04

Mid-point Frequency

P2.05

Mid-point Voltage

P2.06

Minimum Output Frequency

P2.07

Minimum Output Voltage

P2.08

PWM Carrier Frequency


0200

0201

0203

0204

0205

0206

0207

0208

Modbus

Decimal *

40513

40514

40516

40517

40518

40519

40520

40521

Octal

Digital Parameters

P3.00

Source of Operation Command

P3.01

Multi-function Input Terminals 1 & 2 (DI1 – DI2)

P3.02

Multi-function Input Terminal 3 (DI3)

P3.03

Multi-function Input Terminal 4 (DI4)

P3.11

Multi-Function Output Terminal 1 (Relay Output)

쏆 P3.16

Desired Frequency

쏆 P3.17

Desired Current


Analog Parameters

P4.00

Source of Frequency Command

쏆 P4.01

Analog Input Offset Polarity

쏆 P4.02

Analog Input Offset

쏆 P4.03

Analog Input Gain

P4.04

Analog Input Reverse Motion Enable

P4.05

Loss of ACI Signal (4-20 mA)


0400

0401

0402

0403

0404

0405

0300

0301

0302

0303

030B

0310

0311

41025

41026

41027

41028

41029

41030

40769

40770

40771

40772

40780

40785

40786

Presets Parameters

쏆 P5.00

Jog

쏆 P5.01

Multi-Speed 1

쏆 P5.02

Multi-Speed 2

쏆 P5.03

Multi-Speed 3


0500

0501

0502

0503

41281

41282

41283

41284


2400

2401

2402

2403

1400

1401

1402

1403

1413

1420

1421

2000

2001

2002

2003

2004

2005

1000

1001

1003

1004

1005

1006

1007

1010



5–5



Parameter Description Hexadecimal

Modbus

Decimal *

Protection Parameters

P6.00

Electronic Thermal Overload Relay

P6.01

Auto Restart after Fault

P6.02

Momentary Power Loss

P6.03

Reverse Operation Inhibit

P6.04

Auto Voltage Regulation

P6.05

Over-Voltage Trip Protection

P6.06

Auto Adjustable Accel/Decel

P6.07

Over-Torque Detection Mode

P6.08

Over-Torque Detection Level

P6.09

Over-Torque Detection Time

P6.10

Over-Current Stall Prevention during Acceleration

P6.11

Over-Current Stall Prevention during Operation

P6.12

Maximum Allowable Power Loss Time

P6.13

Base-Block Time for Speed Search

P6.14

Maximum Speed Search Current Level

P6.15

Upper Bound of Output Frequency

P6.16

Lower Bound of Output Frequency

P6.17

Over-Voltage Stall Prevention Level

P6.18

Braking Voltage Level

P6.30 †

Line Start Lockout

P6.31

Present Fault Record

P6.32

Second Most Recent Fault Record

P6.33

Third Most Recent Fault Record

0600

0601

0602

0603

0604

0605

0606

0607

0608

0609

060A

060B

060C

060D

060E

060F

0610

0611

0612

061E

061F

0620

0621

41537

41538

41539

41540

41541

41542

41543

41544

41545

41546

41547

41548

41549

41550

41551

41552

41553

41554

41555

41567

41568

41569

41570

P6.34

Fourth Most Recent Fault Record

P6.35

Fifth Most Recent Fault Record

P6.36

Sixth Most Recent Fault Record

0622

0623

0624

41571

41572

41573

† - This parameter available only with firmware v1.07 or higher (refer to P9.39)

Octal

Display Parameters

쏆 P8.00

쏆 P8.01

User Defined Display Function

Frequency Scale Factor


0800

0801

42049

42050


4000

4001

3037

3040

3041

3042

3043

3044

3016

3017

3020

3021

3022

3036

3007

3010

3011

3012

3013

3014

3015

3000

3001

3002

3003

3004

3005

3006

5–6





Parameter Description Hexadecimal

Modbus

Decimal *

Communications Parameters

P9.00

Communication Address

P9.01

Transmission Speed

P9.02

Communication Protocol

0900

0901

0902

42305

42306

42307

P9.03

Transmission Fault Treatment

P9.04

Time Out Detection

P9.05

Time Out Duration

쏆 P9.07

Parameter Lock

P9.08

Restore to Default

쏆 P9.11


쏆 P9.12


쏆 P9.13


쏆 P9.14


쏆 P9.15


쏆 P9.16


쏆 P9.17


쏆 P9.18


쏆 P9.19


쏆 P9.20


쏆 P9.26

Serial Comm Speed Reference

쏆 P9.27

Serial Comm RUN Command

쏆 P9.28

Serial Comm Direction Command

쏆 P9.29

Serial Comm External Fault

쏆 P9.30

Serial Comm Fault Reset

쏆 P9.31

Serial Comm JOG Command

P9.39 †

Firmware Version

P9.41

GS Series Number

0903

0904

0905

0907

0908

090B

090C

090D

090E

090F

0910

0911

0912

0913

0914

091A

091B

091C

091D

091E

091F

0927

0929

42308

42309

42310

42312

42313

42316

42317

42318

42319

42320

42321

42322

42323

42324

42325

42331

42332

42333

42334

42335

42336

42344

42346

P9.42

Manufacturer Model Information 092A 42347

† - This parameter is available only with firmware v1.07 or higher.



Octal

4400

4401

4402

4403

4404

4405

4407

4410

4413

4414

4415

4416

4417

4420

4421

4422

4423

4424

4432

4433

4434

4435

4436

4437

4447

4451

4452



5–7


GS1 Status Addresses

The GS1 Series AC drive has status memory addresses that are used to monitor the

AC drive. The status addresses and value definitions are listed below.

Status Addresses (Read Only)

Description

Status Monitor 1


Frequency Command F

Output Frequency H

Output Current A

DC Bus Voltage d

Output Voltage U

Motor RPM

Scale Frequency (Low Word)

Scale Frequency (High Word)

% Load

Firmware Version

GS1 Status Addresses

Hexadecimal

2100

2101

2102

2103

2104

2105

2106

2107

2108

2109

210B

2110

Modbus Decimal

48449

48450

48451

48452

48453

48454

48455

48456

48457

48458

48460

48465

Octal

20400

20401

20402

20403

20404

20405

20406

20407

20410

20411

20413

20420


Error Codes:

00: No fault occurred

01: Over-current(oc)

02: Over-voltage(ov)

03: Overheat (oH)

04: Overload (oL)

05: Overload 1 (oL1)

06: Overload 2 (oL2)

07: External Fault (EF)

08: CPU Failure 1 (cF1)


h2100


11: Hardware Protection Failure (HPF)

12: Over-current during accel (ocA)

13: Over-current during decel (ocd)

14: Over-current during steady state (ocn)

16: Low Voltage (Lv)

18: External Base-Block (bb)

19: Auto Adjust accel/decel Failure (cFA)

20: Software Protection Code (codE)

Some error codes will not display under status address if only a warning message. The drive must have a hard trip. To manually check this, set “External Fault” to Terminal

Control, and trip. This will simulate the result of a hard trip.

5–8




Status Monitor 2 h2101

GS1 Memory Address

(hexadecimal)

15 14 13 12

GS1 Memory Data (binary)

11 10 9 8 7 6 5 4

2101

0 0 0 0 0 0 0 0 0 0 1 0

3

0

2

0

1

1

0

0

Bits

32768 16384

8192 4096 2048 1024

512 256 128

64 32 16

8 4 2 1 Bit Values

(decimal)

Status Monitor 2 - Memory Address h2101

Address

Bit(s)

Bit(s) Value

Binary (Decimal)

AC Drive Status

00 (0) Drive operation stopped (STOP)

0 and 1

2

3 and 4

5

6

7

8

9 ~ 15

01 (1)

10 (2)

11 (3)

1 (4)

00 (0)

01 (8)

10 (16)

11 (24)

1 (32)

1 (64)

1 (128)

1 (256)

N/A

Run to Stop transition

Standby

Drive operation running (RUN)

JOG active

Rotational direction forward (FWD)

REV to FWD transition

FWD to REV transition

Rotational direction reverse (REV)

Source of frequency determined by serial comm interface (P4.00 = 5)

Source of frequency determined by AI terminal (P4.00 = 2, 3, or 4)

Source of operation determined by serial comm interface (P3.00 = 3 or 4)

Parameters have been locked (P9.07 = 1)

Reserved

Frequency Command F (xxx.x)

Status location for the frequency setting of the AC drive.

h2102

Output Frequency H (xxx.x) h2103

Status location for the actual operating frequency present at terminals T1, T2, and

T3.

Output Current A (xxx.x)

Status location for the output current present at terminals T1, T2, and T3.

h2104



5–9


DC-BUS Voltage d (xxx.x)

Status location for the DC Bus Voltage.

h2105

Output Voltage U (xxx.x)

Status location for the output voltage present at terminals T1, T2, and T3.

(This is the RMS voltage between phases.)

h2106 h2107 Motor RPM

Status location for the present estimated speed of the motor.

Scale Frequency (Low word)

Status location for result of output frequency x P8.01 (low word).

h2108

Scale Frequency (High word)

Status location for result of output frequency x P8.01 (high word).

h2109

% Load h210B

Status location for the amount of load on the AC drive. (Output Current ÷ Drive

Rated Current) x 100.

Firmware Version

Status location for firmware version of the AC drive.

h2110

5–10




Communicating with AutomationDirect PLCs

The following steps explain how to connect and communicate with GS1 AC drives using AutomationDirect PLCs.

GS1 drives have a provision for shutting down control or power to the inverter in the event of a communications time out. This feature can be set up through parameters

P9.03, P9.04, and P9.05.

Step 1: Choose the Appropriate CPU

The GS1 AC drives will communicate with the following AutomationDirect PLCs using Modbus communications.

• Modbus control is easier to accomplish from a DirectLOGIC PLC with an RS-

485 port and MRX/MWX, or from a CLICK PLC using Send/Receive instructions.

Primary Choices

Secondary Choices

Choose Your CPU

CLICK Analog CPU with Send/Receive instructions & RS-485 comm port

D2-260 or DL06 with MRX / MWX instructions & RS-485 comm port

CLICK Basic CPU with Send/Receive instructions & RS-232 comm port

DL05, D2-250(-1), or D4-450 with RX / WX instructions & RS-232 comm port

Step 2: Make the Connections

GS1 RS-485 Serial Comm Port

GS1 Serial Comm Port

RS-485 Interface

RJ12 (6P4C)

6 1

1: +17V

2: GND

3: SG-

4: SG+

5: nc

6: reserved

The GS1 Comm Port requires an RS-485 input. RS-232 signals can be converted to RS-485 by using a separate converter.

PLC Connections for RS-485 Modbus RTU Control of GS1 Drive

Drive PLC * PLC Port * Communication

CLICK 3 RS-485

Direct Cable

ZL-RJ12-CBL-2P ***

Length

2m [6.6 ft] ***

GS1

DL05

DL06

D0-DCM

D2-DCM

D2-250(-1)

D2-260

D4-450

2 **

2

2 **

2

3 **

RS-232 – RS-485 **

RS-485

RS-232 – RS-485 **

RS-485

RS-232 – RS-485 **

N/A **

GS-485HD15-CBL-2 ***

N/A **

GS-485HD15-CBL-2 ***

N/A **

2m [6.6 ft] ***

2m [6.6 ft] ***

* If a PLC type or port is not listed in this chart, it cannot function as a Modbus RTU master.

** Requires RS-232–RS-485 converter & generic cabling options described later in this chapter.

*** Termination resistors not required due to short cable length.



5–11


RS-485 Connections For Multiple Drives

ZIPLink™ RS-485 communication boards (ZL-CDM-RJ12X4 or ZL-CDM-RJ12X10) provide an easy means to break out the RS-485 signal to several drives at one location, which creates a star configuration. However, the transmission errors are negligible, so this configuration is acceptable for proper operation of the VFDs.

RS-485 Direct Connections

Termination Resistors are required on both ends of RS-485 networks; especially on long runs.

Select resistors that match the impedance rating of the cable (between 100 and 500

Ω

).

Recommended RS-485 cable: Belden 9842 or equivalent.

CLICK C0-02: RS-485 Connection Wiring

120

⏲ Termination Resistor at both ends of network

TXD+ / RXD+

1

2

3

+

–

LG

TXD– / RXD–

Signal GND

CLICK C0-02

CPU Port 3

Connect shield to signal ground at one end only

4 SG +

GS1

Comm Port

3 SG -

2 GND

Node 1

4 SG +

GS1

Comm Port

3 SG -

2 GND

Node 2

D0-DCM/DL06/DL260: RS-485 Connection Wiring

120


TXD+ / RXD+

TXD– / RXD–

Signal GND

RXD–

1 6

11

0V

RTS+

TXD+

RXD+

CTS+

10

15

CTS–

5

TXD–

D0-DCM/DL06/DL260 Port 2

RTS–


4 SG +

GS1

Comm Port

3 SG -

2 GND

Node 1

4 SG +

GS1

Comm Port

3 SG -

2 GND

Node 2

5–12




RS-232C to RS-485 Conversion

An RS-485 network cable can span up to 1000 meters (4000 feet). However, most

DirectLOGIC PLCs have only RS-232C communication ports, and require an

FA-ISOCON (RS-232C to RS-422/485 network adapter) in order to make an RS-485 connection.

If an FA-ISOCON module is used, set the module dipswitches as required.

Refer to the FA-ISOCON manual for more detailed information.

FA-ISOCON Switch Settings:

S21~S23 OFF, ON, ON

(19200 baud)

S24~S27 OFF

(Automatic Network Transmit Enable)

Terminate ON

(end of run term resistors)

Bias (2) ON

(end of run bias resistors)

1/2 DPX (2) ON

(RS-485 TXD/RXD jumpers)

FA-ISOCON RJ-12 Serial Comm Port A

RS-232 Input Port

6 1

1: Signal Ground

2: CTS (input)

3: RXD (input)

4: TXD (output)

5: +5VDC in

6: Signal Ground

Use the following wiring diagrams to connect DirectLOGIC RS-232C PLCs to a

GS1 Series AC drive with an FA-ISOCON network adapter module:

Recommended cable for RS-232: Belden 8102 or equivalent.

Recommended cable for RS-485: Belden 9842 or equivalent.



5–13


RS-232C to RS-485 Conversion (continued)

DL05: RS-232C to RS-485 Connection Wiring

DL05

PORT 2

C

+V

COM A

D

TXD+

TXD-

RXD-

RXD+

COM B

120


No connection

(for DL05)

1 0V

2 5V

3 RXD

4 TXD

5 RTS

6 0V

6 COM A

5 +5VDC

4 TXD

3 RXD

2 CTS

1 COM A

A


FA-ISOCON

RS-232 to RS-485 converter with ANTE

4 SG +

GS1

Comm Port

3 SG -

2 GND

Node 1

4 SG +

GS1

Comm Port


3 SG -

2 GND

Node 2

120


A cable (ZL-RJ12-CBL-2) is available that will connect the DL05 to the FA-ISOCON.

A cable can also be constructed using the FA-15HD adapter and RJ12-6P6C cable from the FA-CABKIT.

D0-DCM/DL250(-1): RS-232C to RS-485 Connection Wiring

D0-DCM/DL250

PORT 2

1

6

2 TXD

3 RXD

5 CTS

4 RTS

7 GND

15

C

+V

COM A

120


24VDC +

24VDC -

3 RXD

4 TXD

A

2 CTS

6 GND


D

TXD+

TXD-

RXD-

RXD+

COM B

4 SG +

GS1

Comm Port

3 SG -

2 GND

Node 1

FA-ISOCON


4 SG +

GS1

Comm Port


3 SG -

2 GND

Node 2

120


A cable that will connect the D0-DCM or DL250 to the FA-ISOCON can be constructed using the FA-15HD adapter and the D0-CBL cable. A cable can also be constructed using the FA-15HD adapter and RJ12-6P6C cable from the FA-CABKIT.

5–14




RS-232C to RS-485 Conversion (continued)

DL350/DL450: RS-232C to RS-485 Connection Wiring

DL350 PORT 2

DL450 PORT 1

1

2 TXD

3 RXD

5 CTS

4 RTS

7 GND

25

C

+V

COM A

120


24VDC +

24VDC -

3 RXD

A

4 TXD

2 CTS

6 GND

D

TXD+

TXD-

RXD-

RXD+

COM B

4 SG +

GS1

Comm Port

3 SG -

2 GND

Node 1

FA-ISOCON


4 SG +

GS1

Comm Port


3 SG -

2 GND

Node 2

120


A cable that will connect the DL450 to the FA-ISOCON can be constructed using the

DB25-pin-male-to-RJ12 adapter and the RJ12-6P6C cable from the FA-CABKIT.

Ethernet Connection using GS-EDRV

The GS-EDRV provides an Ethernet link between a control system and a GS1 AC drive. It mounts on DIN rail and connects a drive to an Ethernet hub/switch or

PC. The GS-EDRV processes signals to and from the drive. It formats the signals to conform with the Ethernet standard to the H2-ERM or H4-ERM, KEPdirect EBC

I/O server, or independent controller with a MODBUS TCP/IP driver. This Ethernet interface allows for great connectivity to many control system architectures. An additional feature is the built-in web browser which allows users to configure and control the drive from any web browser via the IP address of the GS-EDRV card.



5–15


Step 3: Set AC Drive Parameters

The following parameters need to be set as shown in order to communicate properly.

P3.00: 03 or 04

P4.00:

P9.00:

P9.01:

P9.02:

05 xx

01

05

Operation Determined by RS-485 interface.

Keypad STOP is enabled (03) or disabled (04).

Frequency determined by RS-485 communication interface.

Communication address 1-254

(unique for each device, see P9.00).

9600 baud data transmission speed

(higher baud rate setting may be required with

FA-ISOCON network adapter; set adapter DIP switches accordingly).

MODBUS RTU mode

<8 data bits, odd parity, 1 stop bit>.

This list of parameter settings is the minimum required to communicate with a

DirectLOGIC PLC. There may be other parameters that need to be set to meet the needs of your particular application.

Step 4: Configure the PLC CPU

The PLC CPUs must be configured to communicate with the GS1 AC drives. This configuration includes setting up the communication port and adding instructions to your logic program.

The set up for all of the AutomationDirect PLC CPUs is very similar, although there are some subtle differences between CPUs. Refer to the appropriate CPU

User Manual for the specifics on your specific PLC CPU if more details are needed.

For instructions on Modbus Configuration for your specific PLC CPU, refer to the appropriate PLC User Manual.

Configure the CLICK PLC

Configure the CLICK CPU communication port before writing communication instructions into your logic program.

For more detailed instructions on Modbus Configuration for your CLICK, refer to the

CLICK PLC Hardware User Manual, C0-USER-M, or to the CLICK software help file.

5–16




CLICK Port 3 MODBUS Configuration for RS-485

The following configuration example is specific for CLICK PLC CPUs.

• Configure the communication port before writing communication instructions into the logic program.

• In CLICK programming software, open the “Comm Port Details Setup” dialog box by choosing the Setup menu, then Comm Port Setup, then Port 2 Setup.

• From the “Port:” list box, choose “Port 3”.

• For the “Protocol:” list box, select “Modbus”.

• Set the “Node Address” to “1” to make the CLICK PLC a MODBUS master.

• Set the “Baud Rate” to “19200”

• Set the “Parity” to “Odd”.

• Set the “Stop Bit” to “1”.

• Set the “Time-out Setting” to “500ms”.

• Set the “Response Delay Time” to “0ms”.

The communication port settings are saved in the project file. The project must be transferred to the CLICK PLC in order for any port setting changes to take effect.



5–17


Configure the DirectLOGIC CPUs

DirectLOGIC MODBUS Port Configuration for D2-260 and DL06

The following configuration example is specific to the D2-260 and DL06. Refer to the appropriate CPU User Manual for the specifics on your DirectLOGIC CPU.

• In DirectSOFT, choose the PLC menu, then Setup, then ”Secondary Comm Port”.

• From the Port number list box at the top, choose “Port 2”.

• For the Protocol, select ONLY “MODBUS”. (Do not select multiple protocols.)

• Response Delay Time should be “0ms”. Both RTS on and off delay times must be set to 0ms .

• The Station Number should be set to “1” to make the D2-260 or DL06 CPU a

MODBUS master.

• The Baud Rate should be set at “9600”.

• In the Stop Bits list box, Choose “1”.

• In the Parity list box, choose “Odd”.

5–18




Step 4: Configure the DirectLOGIC CPUs (continued)

DirectLOGIC MODBUS Port Configuration for DL05, D2-250(-1), or D4-450

The following configuration example is specific to the D2-250(-1) and DL05.

Refer to the appropriate CPU User Manual for the specifics on your DirectLogic

CPU.

• In DirectSOFT, choose the PLC menu, then Setup, then “Secondary Comm Port”.

• From the Port list box, choose “Port 2”.

• For the Protocol, select ONLY “MODBUS”. (Do not select multiple protocols.)

• In the Timeout list box, select “800 ms”.

• Response Delay Time should be “0ms”.

• The Station Number should be set to “1” to make the D2-250(-1) or DL05 CPU a

MODBUS Master.

• The Baud Rate should be set at “9600” (or higher, if using an FA-ISOCON network adapter module).

• In the Stop Bits list box, choose “1”.

• In the Parity list box, choose “Odd”.

The DL250 network instructions used in Master mode will access only slaves 1 to 90.

Each slave must have a unique number.



5–19


CLICK Modbus Ladder Programming

The set up for all of the CLICK CPUs is very similar. However, there may be some subtle differences between CPUs, or for the requirements of your particular program. Refer to the CLICK programming software internal help file for more information regarding CLICK programming.

The following ladder program shows some examples of how to control the GS1

AC drive through Modbus RTU. The drive should be set up and tested for communications before it is connected to a load.

W

ARNING

: A drive should never be connected to a load until any applicable communication programs have been proven.

W

ARNING

: Write programs in such a way that the program does not erroneously overwrite a remote Stop command with a Run command, such as when P3.00 is set to 03. This example program prevents such an accidental overwrite.

These programs are for illustrational purposes only, and are not intended for a true application.

Separate Run Command Write Instruction

Why do we write the Run Command with a separate write instruction? If we write the Run Command to the drive along with the Speed Reference, Direction,

External Fault, and Fault Reset Commands, we can keep the parameter addresses in sequence, and we can update all five of the commands with one write instruction. This method is valid only if we disable the drive’s keypad STOP button (P3.00 = 04).

Typically, the keypad STOP button will be enabled (P3.00 = 03), and we need to prevent a change in one of the other commands from overriding a keypad Stop

Command by causing a previous Run Command to be rewritten to the drive. By using a separate Run Command write instruction, only a deliberate Run

Command change by the program will run the drive again after a stop.

Block Transfer Parameters for Modbus Programs

For writing to any of the parameters from P0.00 to P8.01, a group of 10 block transfer parameters (P9.11 to P9.20) is available in the GS1 AC drive. This sequential block of parameters can be used to "group" various miscellaneous nonsequential parameters, so that you can update the parameters in one programming write block instead of having to use multiple write commands.

For example, it would typically take three different write commands to change the three non-sequential parameters Accel Time 1 (P1.01), Accel S-curve (P1.03), and

Multi-speed 1 (P5.01).

However, you could make the same three changes using one write command by setting P9.11 to P1.01, P9.12 to P1.03, and P9.13 to P5.01, so that the parameters become sequential.

5–20




CLICK Communication Program – (for CLICK PLCs)

This program is for illustrational purposes only, and is not intended for a true application.

1

This rung counts the number of times the PLC attempts to communicate with the drives.

_Port_3_Ready_Flag bSC102

Counter

CT1 bCT1

Up

SetPoint

i9999

Complete bCT1

Reset

2

This rung counts the number of comm attempts that failed.

_Port_3_Error_Flag bSC103

Counter

Up

SetPoint

i9999

CT2

Complete bCT2 bCT2

Read Drive #1 Error bC202

Read Drive #2 Error bC205

Reset

3

This rung acts as an alternator, allowing the following logic to alternate between Drive #1 and

Drive #2. If there were additional drives, the Setpoint for the counter would simply be increased to match the number of drives.


Counter

CT3

(Coordinates the

Receive boxes, so they toggle back and forth.)

(Coordinates the Receive boxes, so they toggle back and forth.)

Up

Comm Interlock

Counter bCT3

Complete

Comm Interlock Counter bCT3

Reset

(Continued next page)



5–21


CLICK Communication Program (continued)

4

This rung checks to see if it is time to communicate to Drive #1, and also if there are no current

Write requests to that drive. If not, it reads data from Drive #1.


ICTD3 i0

Drive #1 Speed Ref Write-Enable bC10

Drive #1 Direction,

Fault, Reset,

Write-Enable bC11

Drive #1 CMD

Write-Enable bC12

Receive (Port3)

Slave ID

Modbus Function Code

Slave Addr

NO. of Master Addresses

Word Swap

MODBUS

1

03

408449

12

OFF bC200

Receiving

Master

Status from Drive #1 iDS1

Read Drive #1

Success bC201

Success

Read Drive #1

Error bC202

Error

ErrC...

iDS100

5

This rung checks to see if it is time to communicate to Drive #2, and also if there are no current

Write requests to that drive. If not, it reads data from Drive #2.


ICTD3 i1

Drive #2 Speed Ref Write Enable bC30

Drive #2 Direction,

Fault, Reset,

Write-Enable bC31

Drive #2 Run CMD

Write-Enable bC32

Receive (Port3)

Slave ID


Slave Addr


Word Swap

MODBUS

2

03

408449

12

OFF bC203

Receiving

Master

Status from Drive #2 iDS20

Read Drive #2

Success bC204

Success

Read Drive #2

Error bC205

Error

ErrC...

iDS103


5–22





6

This rung resets all the Receive status coils if either comm event is successful.

Read Drive #1 Success bC201 bC200 bC206

RST

Read Drive #2 Success bC204

7

** The following rungs are used for Drive #1 communications, through rung #27 **

Status from Drive #1 iDS1 i1

Drive #1 Fault bC1

SET

8

Drive #1 Fault Indication bC100

Drive #1 Fault bC1

RST

9


Drive #1 Overload bC2

SET

10

11

Drive #1 Overload Indicator bC101


SET

This rung determines if the Speed, Direction, Ext Fault, or Fault Reset words have changed and need to be written.

Drive #1 Speed

Ref New iDS300

Drive #1 Speed

Ref Retain iDS310


Drive #1

Direction New iDS302

Drive #1

Direction Retain iDS312

Drive #1 Run CMD

Write Enable bC12

Drive #1 Speed

Ref Write Enable bC10

SET

Drive #1 Ext

Fault New iDS303

Drive #1 Ext

Fault Retain iDS313

Drive #1 Fault

Reset New iDS304

Drive #1 Fault

Reset Retain iDS314




5–23



12

This rung writes the new Speed Reference if it changes.



Drive #1 Direction,

Fault, Reset

Write-Enable bC11

Send(Port3)

Slave ID


Slave Addr

MODBUS

1

06

402331

Sending bC206

Master

Drive #1 Speed Ref New iDS300 bC207

Success bC208

Error

ErrC...

iDS106

13

Drive #1 Direction, Fault, Reset Write-Enable bC11

SET

This rung writes the Direction, Ext Fault, and Fault Reset words if any of them changes.



5–24

Drive #1 Direction,

Fault, Reset

Write-Enable bC11

Send(Port3)

Slave ID


Slave Addr


Word Swap

MODBUS

1

16

402333

3

OFF

Sending bC209 bC210

Master

Drive #1 Direction New iDS302

Success bC211

Error

ErrC...

iDS109

Drive #1 Speed, Direction, Fault, Reset writes finished bC13

SET






14

This rung writes the new values for Speed Ref, Direction, Ext Fault, and Fault Reset words to their comparison locations so the code can again start watching for changes.



Drive #1 Speed, Direction, Fault,

Reset, writes finished bC13

Copy

Src

Single

Drive #1 Speed Ref New iDS300

Des

Drive #1 Speed Ref Retain iDS310

Copy

Single

Src


Des

Copy

Drive #1 Direction Retain iDS312

Single

Src

Drive #1 Ext Fault New iDS303

Des

Copy

Drive #1 Ext Fault Retain iDS313

Single

Src

Drive #1 Fault Reset New iDS304

Des

Drive #1 Fault Reset Retain iDS314


RST

Drive #1 Direction, Fault, Reset Write Enable bC11

RST

Drive #1 Speed Direction, Fault, Reset writes finished bC13

RST




5–25



15

Rungs 15 & 16 write to the Run Command word if it changes.

Drive #1 Run CMD New iDS301

Drive #1 Run CMD Retain iDS311


16


Drive #1 Run CMD Write-Enable bC12

Drive #1 Speed Ref Write-Enable bC12

SET


Send(Port3)

Slave ID


Slave Adder

Master

MODBUS

1

16

402332

Sending bC212

Drive #1 Run CMD New iDS301 bC213

Success bC214

Error

ErrC...

iDS112

Drive #1 Run CMD Write finished bC14

SET


5–26





17

This rung writes the new value for the Run Command word to its comparison location so the code can again start watching for changes.



Copy

Src

Single


Des



RST


RST

18

Rungs 18 & 19 select either 30Hz or 60Hz based on C102.

Drive #1 Speed Control 60/30 Hz bC102

Copy

Src

i300

Single

19


Des

Copy

Src


Single i600

Des

20

Rungs 20 & 21 select Run or Stop based on C103.

Drive #1 Run Stop bC103

Copy

Src

Drive #1 Speed Ref New iDS300 i1

Single

21


Des

Copy

Src


Single i0

Des





5–27



22

Rungs 22 & 23 select Direction based on C104.

Drive #1 Fwd Rev bC104

Copy

Src

i1

Single


Des

Copy

Src


Single i0

23

Des


24

Rungs 24 & 25 select Ext Fault or no fault based on C105.

Drive #1 Fault bC105

Copy

Src

i1

Single

25


Des

Copy

Src


Single i0

Des


26

Rungs 26 & 27 select Fault Reset or no reset based on C106.

Drive #1 Ext Fault Reset bC106

Copy

Src

i1

Single

27


Des

Copy

Src


Single i0

Des



5–28





28

** The remaining rungs are for Drive #2 communications. **


Drive #2 Fault bC20

SET

29

30

Drive #2 Fault Indication bC107


Drive #2 Fault bC20

RST


SET

31

Drive #2 Overload Indicator bC108


SET

32

This rung determines if the Speed, Direction, Ext Fault, or Fault Reset words have changed and need to be written.

Drive #2 Speed

Ref New iDS320

Drive #2 Speed

Ref Retain iDS330

Drive #2 Speed Ref

Write Enable bC30

Drive #2

Direction New iDS322

Drive #2

Direction Retain iDS332

Drive #2 Ext

Fault New iDS323

Drive #2 Ext

Fault Retain iDS333

Drive #2 Run CMD

Write Enable bC32

Drive #2 Fault

Reset New iDS324

Drive #2 Fault

Reset Retain iDS334

Drive #2 Speed Ref

Write Enable bC30

SET




5–29



33




Drive #2 Direction,

Fault, Reset,

Write Enable bC31

Send(Port3)

Slave ID


Slave Addr

Master

MODBUS

2

06

402331

Sending bC215

Drive #2 Speed Ref New iDS320 bC216

Success bC217

Error

ErrC...

iDS115

Drive #2 Direction, Fault, Reset, Write Enable bC31

SET

34




Drive #2 Direction,

Fault, Reset,

Write-Enable bC31

Send(Port3)

Slave ID


Slave Addr


Word Swap

MODBUS

2

16

402333

3

OFF

Sending bC218 bC219

Master


Success bC220

Error

ErrC...

iDS118

Drive #2 Speed, Direction, Fault, Reset, writes finished bC33

SET


5–30





35



Drive #2 Direction, Fault, Reset, Write-Enable bC31

Drive #2 Speed, Direction, Fault,

Reset, writes finished bC33

Copy

Src

Single


Des

Copy

Src

Drive #2 Speed Ref Retain iDS330

Single


Des

Copy

Src

Drive #2 Direction Retain iDS332

Single


Des

Drive #2 Ext Fault Retain iDS333

Copy

Src

Single


Des

Drive #2 Fault Reset Retain iDS334


RST


RST

Drive #2 Speed, Direction, Fault, Reset writes finished bC33

RST




5–31


5–32


36


Drive #2 Run

CMD New iDS321

Drive #2 Run

CMD Retain iDS331


Drive #2 Run CMD

Write-Enable bC32

Drive #2 Run CMD

Write-Enable bC32

SET


37


Send(Port3)

Slave ID


Slave Adder

MODBUS

2

06

402332

Sending bC221

Master

Drive #2 Run CMD New iDS321 bC222

Success bC223

Error

ErrC...

iDS121


SET

38


Drive #2 Run CMD

Write-Enable bC32

Drive #2 Run CMD

Write finished bC34

Copy

Src

Single


Des



RST

Drive #2 Run CMD write finished bC34

RST






39

Rungs 39 & 40 select either 30Hz or 60Hz based on C109.


Copy

Src

i300

Des

Single


40


Copy

Src

i600

Single

Des

41

Rungs 41 & 42 select Run or Stop based on C110.


Copy

Src

Drive #2 Speed Ref New iDS320 i1

Single

Des


42


Copy

Src

i0

Single

Des


43

Rungs 43 & 44 select Direction based on C111.


Copy

Src

Des

Single i1


44


Copy

Src

i0

Single

Des





5–33



45

Rungs 45 & 46 select Ext Fault or no fault based on C112.


Copy

Src

i1

Des

Single


46


Copy

Src

Des

Single i0


47

Rungs 47 & 48 select Fault Reset or no reset based on C113.


Copy

Src

i1

Des

Single



48

Copy

Src

Des

Single i0


49 END

5–34




DirectLOGIC Modbus Ladder Programming

The set up for all of the DirectLOGIC CPUs is very similar. However, there may be some subtle differences between CPUs. Refer to the appropriate CPU User

Manual for the specifics on your DirectLOGIC CPU.

The following ladder program shows some examples of how to control the GS1

AC drive through Modbus RTU. The drive should be setup and tested for communications before it is connected to a load.

W

ARNING

: A drive should never be connected to a load until any applicable communication programs have been proven.

W

ARNING

: Write programs in such a way that the program does not erroneously overwrite a remote Stop command with a Run command, such as when P3.00 is set to 03. This example program prevents such an accidental overwrite.

These programs are for illustrational purposes only, and are not intended for a true application.

Separate Run Command Write Instruction

Why do we write the Run Command with a separate write instruction? If we write the Run Command to the drive along with the Speed Reference, Direction,

External Fault, and Fault Reset Commands, we can keep the parameter addresses in sequence, and we can update all five of the commands with one write instruction. This method is valid only if we disable the drive’s keypad STOP button (P3.00 = 04).

Typically, the keypad STOP button will be enabled (P3.00 = 03), and we need to prevent a change in one of the other commands from overriding a keypad Stop

Command by causing a previous Run Command to be rewritten to the drive. By using a separate Run Command write instruction, only a deliberate Run

Command change by the program will run the drive again after a stop.

Block Transfer Parameters for Modbus Programs

For writing to any of the parameters from P0.00 to P8.01, a group of 10 block transfer parameters (P9.11 to P9.20) is available in the GS1 AC drive. This sequential block of parameters can be used to "group" various miscellaneous nonsequential parameters, so that you can update the parameters in one programming write block instead of having to use multiple write commands.

For example, it would typically take three different write commands to change the three non-sequential parameters Accel Time 1 (P1.01), Accel S-curve (P1.03), and

Multi-speed 1 (P5.01).

However, you could make the same three changes using one write command by setting P9.11 to P1.01, P9.12 to P1.03, and P9.13 to P5.01, so that the parameters become sequential.



5–35


DirectLOGIC Basic Communication Program – start with this code

We recommend starting with the following program code, and using it to test communication to each of your drives before adding more advanced code for your application.

To target different drives, change the value Kf201 to Kf202 for slave 2, Kf203 for slave 3, etc.


1

This rung counts the number of times the PLC attempts to communicate to the drive.

SP116

CNT

CT0

K9999

CT0

2

This rung counts the number of times an attempted communication to the drive fails.

SP117

CNT

CT1

K9999

CT1

4

3

This rung reads the ‘Status Addresses’ information from the drive.

Use this code to test communication to each of your drives before writing more advanced code that polls multiple drives. To target different drives, change the value ‘Kf201’ to ‘Kf202’ for slave 2, ‘Kf203’ for slave 3, etc.

SP116

LD

Kf201

LD

K24

LDA

O2000

RX

V20400

(

END

)

SP116 is a special relay in the

DirectLOGIC

CPUs that monitors the PLC’s communications. SP116 is on when Port 2 is communicating with another device.

SP117 is a special relay in the

DirectLOGIC

CPUs that monitors the PLC’s communications. SP117 is on when Port 2 has encountered a communication error.

5–36




Programming Differences for DirectLOGIC PLCs

Different types of DirectLOGIC PLCs can be programmed differently, depending upon the types of network read and write instructions they can perform. There are two different types of these instructions, and this User Manual shows programming examples of both types.

RX/WX Instructions for DL05, D2-250(-1), D4-450

PLCs with DL05, D2-250, D2-250-1, and D4-450 CPUs can read from and write to networks using RX (Read from Network) and WX (Write to Network) programming instructions.

MRX/MWX Instructions for DL06, D2-260

In addition to the RX and WX instructions listed above, PLCs with DL06 and D2-

260 CPUs can also read from and write to networks using MRX (Modbus Read from Network) and MWX (Modbus Write to Network) programming instructions.

The MRX and MWX instructions are simpler and easier to use than are the RX and

WX instructions. Therefore, we recommend that you use DL06 or D2-260 with

MRX and MWX instructions if you have a choice.



5–37


DL MRX/MWX Communication Program – for DL06 & D2-260 PLCs


1

This rung counts the number of times the PLC attempts to communicate to the drive.

Port Busy

SP116 CNT

CT0

K9999

CT0

2

This rung counts the number of times an attempted communication to the drive fails.

Port Comm Fail

SP117

CNT

CT1

K9999

CT1

3

This rung acts as an alternator, allowing the following logic to alternate between communicating to slave 1 or slave 2. If there were additional slaves, the ‘K’ number for the counter would simply be increased to match the number of slaves in the system.

Port Busy

SP116

CNT

CT2

K2

CT2

4

This rung checks to see if it is time to communicate to slave 1, and also if there are no current write requests to that drive. If not, it reads data from slave 1.

Port Busy

SP116

CTA2 K0

Drive #1

Speed Ref

Write Enable

C10

=

Drive #1

Direction, Fault, Reset

Write Enable

C11

Drive #1

Run CMD

Write Enable

C12

MRX

CPU/DCM Slot:

Port Number:

Slave Address:

Function Code:

CPU

K2

K1

03 - Read Holding Registers

Start Slave Memory Address:

Start Master Memory Address:

Number of Elements:

Modbus Data type:

Exception Response Buffer:

K48449

V2000

K12

584/984 Mode

V5000


5–38




DL MRX/MWX Communication Program (continued)

5


Port Busy

SP116

CTA2 K1

Drive #2

Speed Ref

Write Enable

C40

=

Drive #2


Write Enable

C41

Drive #2

Run CMD

Write Enable

C42

MRX

CPU/DCM Slot:

Port Number:

Slave Address:

CPU

K2

K2

Function Code: 03 - Read Holding Registers

Start Slave Memory Address: K48449


Number of Elements:

V2020

K12

Modbus Data type:


584/984 Mode

V5003

*** The following 21 rungs (6–26) are for slave 1 communications control. ***

6

This rung turns on C1 if there is a fault in drive #1.

V2000

욷

K1

Drive #1 Fault

C1

(

SET

)

7

This rung allows a switch on input X1 to reset the C bit used to indicate a drive #1 fault.

Drive #1 Fault Indication

Reset

X1

Drive #1 Fault

C1

(

RST

)

8

This rung turns on C2 if drive #1 has an overload fault.

V2000

K4

=

9

This rung allows a switch on input X2 to reset the overload fault bit C2.

Drive #1 Overload Indication

Reset

X2

Drive #1 OL

C2

(

SET

)

Drive #1 OL

C2

(

RST

)




5–39


5–40


10

11

This rung checks to see if the drive Speed, Direction, External Fault, or Fault Reset conditions have been changed in the local program, and need to be written to drive #1.

Drive #1

Speed Ref New

V3000

Drive #1

Speed Ref Retain

V3010

Drive #1 Speed Ref

Write Enable

C10

=

Drive #1

Direction New

V3002

=

Drive #1

Direction Retain

V3012

Drive #1

External Fault New

V3003

=

Drive #1

Ext Fault Retain

V3013

Drive #1

Run CMD

Write Enable

C12

Drive #1

Speed Ref

Write Enable

C10

(

SET

)

Drive #1

Fault Reset New

V3004

Drive #1

Fault Reset Retain

V3014

=


Port Busy

SP116

Drive #1

Speed Ref

Write Enable

C10

Drive #1


Write Enable

C11

MWX

CPU/DCM Slot:

Port Number:

Slave Address:

Function Code:

CPU

K2

K1

06 - Preset Single Register



K42331

V3000

Number of Elements:

Modbus Data type:

Exception Response Buffer: n/a

584/984 Mode

V5006

Drive #1


Write Enabled

C11

(

SET

)

12


Port Busy

SP116

Drive #1

Speed Ref

Write Enable

C10

Drive #1


Write Enable

C11

MWX

CPU/DCM Slot:

Port Number:

CPU

K2

Slave Address: K1

Function Code: 16 - Preset Multiple Registers



Number of Elements:

Modbus Data type:


K42333

V3002

K3

584/984 Mode

V5011

Drive #1, Speed,


Writes Finished

C13

(

SET

)






13


Drive #1

Speed Ref

Write Enable

C10

Drive #1


Write Enable

C11

Drive #1, Speed,


Writes Finished

C13

LD

Drive #1

Speed Ref New

V3000

OUT

Drive #1

Speed Ref Retain

V3010

LD

Drive #1

Direction New

V3002

OUT

Drive #1

Direction Retain

V3012

LD

Drive #1

Ext Fault New

V3003

OUT

Drive #1

Ext Fault Retain

V3013

LD

Drive #1

Fault Reset New

V3004

OUT

Drive #1

Fault Reset Retain

V3014

Drive #1

Speed Ref

Write Enable

C10

(

RST

)

Drive #1

Direction,

Fault Reset

Write Enable

C11

(

RST

)

Drive #1

Speed, Direction,

Fault Reset

Writes Finished

C13

(

RST

)




5–41



14


Drive #1

Run CMD

New

V3001

Drive #1

Run CMD

Retain

V3011

Drive #1

Speed Ref

Write Enable

C10

Drive #1

Run CMD

Write Enable

C12

=

Port Busy

SP116

Drive #1

Run CMD

Write Enable

C12

15

Drive #1

Run CMD

Write Enable

C12

(

SET

)

MWX

CPU/DCM Slot:

Port Number:

Slave Address:

Function Code:

CPU

K2

K1

06 - Preset Single Register



Number of Elements:

Modbus Data type:


K42332

V3001 n/a

584/984 Mode

V5014

Drive #1

Run CMD

Writes Finished

C14

(

SET

)

16


Drive #1

Run CMD

Write Enable

C12

Drive #1

Run CMD

Write Finished

C14 LD

Drive #1

Run CMD New

V3001

OUT

Drive #1

Run CMD Retain

V3011

Drive #1

Run CMD

Write Enable

C12

(

RST

)

Drive #1

Run CMD

Write Finished

C14

(

RST

)


5–42





17

Rungs 17 & 18 select either 30Hz or 60Hz based on X3.

Drive #1 Speed Control bit 60/30Hz

X3

18


X3

LD

K300

BIN

OUT

Drive #1

Speed Ref New

V3000

LD

K600

BIN

OUT

Drive #1

Speed Ref New

V3000

19

Rungs 19 & 20 select Run or Stop based on X5.

Drive #1 Run/Stop

X5

20

Drive #1 Run/Stop

X5

LD

K1

OUT

Drive #1

Run CMD New

V3001

LD

K0

OUT

Drive #1

Run CMD New

V3001




5–43



21

Rungs 21 & 22 select Direction based on X6.

Drive #1 Forward/Reverse

X6

22

23

24

25

Rungs 25 & 26 select Fault Reset or no reset based on X10.

Drive #1 Ext Fault Reset

X10

26


X7

X6

Rungs 23 & 24 select Ext Fault or no fault based on X7.

Drive #1 Ext Fault

X7

Drive #1 Ext Fault


X10

LD

K1

OUT

Drive #1

Direction New

V3002

LD

K0

OUT

Drive #1

Direction New

V3002

LD

K1

OUT

Drive #1

Ext Fault New

V3003

LD

K0

OUT

Drive #1

Ext Fault New

V3003

LD

K1

OUT

Drive #1

Ext Fault Reset New

V3004

LD

K0

OUT

Drive #1

Ext Fault Reset New

V3004


5–44






27


V2020

욷

K1

Drive #2 Fault

C31

(

SET

)

28

This rung allows a switch on input X21 to reset the C bit used to indicate drive #2 fault.


Reset

X21

Drive #2 Fault

C31

(

RST

)

29


V2020 K4

=

Drive #2 OL

C32

(

SET

)

30



Reset

X22

Drive #2 OL

C32

(

RST

)

31


Drive #2

Speed Ref New

V3020

=

Drive #2

Speed Ref Retain

V3030

Drive #2 Speed Ref

Write Enable

C40

Drive #2

Direction New

V3022

=

Drive #2

Direction Retain

V3032

Drive #2

External Fault New

V3023

=

Drive #2

External Fault Retain

V3033

Drive #2

Run CMD

Write Enable

C42

Drive #2

Speed Ref

Write Enable

C40

(

SET

)

Drive #2

Fault Reset New

V3024

=

Drive #2

Fault Reset Retain

V3034




5–45



32


Port Busy

SP116

Drive #2

Speed Ref

Write Enable

C40

Drive #2


Write Enable

C41

MWX

CPU/DCM Slot:

Port Number:

Slave Address:

CPU

K2

K2

Function Code: 06 - Preset Single Register



Number of Elements:

V3030 n/a

Modbus Data type:


584/984 Mode

V5017

Drive #2


Write Enabled

C41

(

SET

)

33


Port Busy

SP116

Drive #2

Speed Ref

Write Enable

C40

Drive #2


Write Enable

C41

MWX

CPU/DCM Slot:

Port Number:

Slave Address:

CPU

K2

K2

Function Code: 16 - Preset Multiple Registers



Number of Elements:

Modbus Data type:


V3032

K3

584/984 Mode

V5022

Drive #2, Speed,


Writes Finished

C43

(

SET

)


5–46





34


Drive #2

Speed Ref

Write Enable

C40

Drive #2


Write Enable

C41

Drive #2, Speed,


Writes Finished

C43 LD

Drive #2

Speed Ref New

V3020

OUT

Drive #2

Speed Ref Retain

V3030

LD

Drive #2

Direction New

V3022

OUT

Drive #2

Direction Retain

V3032

LD

Drive #2

Ext Fault New

V3023

OUT

Drive #2

Ext Fault Retain

V3033

LD

Drive #2

Fault Reset New

V3024

OUT

Drive #2

Fault Reset Retain

V3034

Drive #2

Speed Ref

Write Enable

C40

(

RST

)

Drive #2

Direction,

Fault Reset

Write Enable

C41

(

RST

)

Drive #2

Speed, Direction,

Fault Reset

Writes Finished

C43

(

RST

)




5–47



35


Drive #2

Run CMD

New

V3021

=

Drive #2

Run CMD

Retain

V3031

Drive #2

Speed Ref

Write Enable

C40

Drive #2

Run CMD

Write Enable

C42

Port Busy

SP116

Drive #2

Run CMD

Write Enable

C42

36

Drive #2

Run CMD

Write Enable

C42

(

SET

)

MWX

CPU/DCM Slot:

Port Number:

Slave Address:

CPU

K2

K2

Function Code: 06 - Preset Single Register



Number of Elements:

V3031 n/a

Modbus Data type:


584/984 Mode

V5025

Drive #2

Run CMD

Writes Finished

C44

(

SET

)

37


Drive #2

Run CMD

Write Enable

C42

Drive #2

Run CMD

Write Finished

C44

LD

Drive #2

Run CMD New

V3021

OUT

Drive #2

Run CMD Retain

V3031

Drive #2

Run CMD

Write Enable

C42

(

RST

)

Drive #2

Run CMD

Write Finished

C44

(

RST

)


5–48





38



X23 LD

K300

BIN

OUT

Drive #2

Speed Ref New

V3020

39


X23

LD

K600

BIN

OUT

Drive #2

Speed Ref New

V3020

40


Drive #2 Run/Stop

X25

41

Drive #2 Run/Stop

X25

LD

K1

OUT

Drive #2

Run CMD New

V3021

LD

K0

OUT

Drive #2

Run CMD New

V3021




5–49



42



X26

5–50

43


X26

44


Drive #2 Ext Fault

X27

45

Drive #2 Ext Fault

X27

46



X30

47


X30

48


LD

K1

OUT

Drive #2

Direction New

V3022

LD

K0

OUT

Drive #2

Direction New

V3002

LD

K1

OUT

Drive #2

Ext Fault New

V3023

LD

K0

OUT

Drive #2

Ext Fault New

V3023

LD

K1

OUT

Drive #2

Ext Fault Reset New

V3024

LD

K0

OUT

Drive #2

Ext Fault Reset New

V3024

(

END

)



DL RX/WX Communication Program – for DL05, D2-250(-1), D4-450


1

This rung counts the number of times the PLC attempts to communicate to the drive.

Port Busy

SP116

CNT

CT0

K9999

CT0

2

This rung counts the number of times an attempted communication to the drive fails.

Port Comm Fail

SP117

CNT

CT1

K9999

CT1

3

This rung acts as an alternator, allowing the following logic to alternate between communicating to slave 1 or slave 2. If there were additional slaves, the ‘K’ number for the counter would simply be increased to match the number of slaves in the system.

Port Busy

SP116

CNT

CT2

K2

CT2

4


Drive #1

Port Busy

SP116

CTA2 K0

Speed Ref

Write Enable

C10

LD

(Slave #1)

Kf201

=

LD

K24

Drive #1

Drive #1


Write Enable

C11

Run CMD

Write Enable

C12

LDA

RX

O2000

V20400




5–51


DL RX/WX Communication Program (continued)

5


Port Busy

SP116

CTA2 K1

Drive #2

Speed Ref

Write Enable

C40

LD

(Slave #2)

Kf202

=

LD

K24

Drive #2


Write Enable

C41

Drive #2

Run CMD

Write Enable

C42

LDA

RX

O2020

V20400


6


V2000

욷

K1

Drive #1 Fault

C1

(

SET

)

7

This rung allows a switch on input X1 to reset the C bit used to indicate a drive #1 fault.


Reset

X1

Drive #1 Fault

C1

(

RST

)

8


V2000 K4

=

9



Reset

X2

Drive #1 OL

C2

(

SET

)

Drive #1 OL

C2

(

RST

)


5–52





10

11


Drive #1

Speed Ref New

V3000

=

Drive #1

Speed Ref Retain

V3010

Drive #1 Speed Ref

Write Enable

C10

Drive #1

Direction New

V3002

=

Drive #1

Direction Retain

V3012

Drive #1

External Fault New

V3003

=

Drive #1

Ext Fault Retain

V3013

Drive #1

Run CMD

Write Enable

C12

Drive #1

Speed Ref

Write Enable

C10

(

SET

)

Drive #1

Fault Reset New

V3004

=

Drive #1

Fault Reset Retain

V3014


Port Busy

SP116

Drive #1

Speed Ref

Write Enable

C10

Drive #1


Write Enable

C11

LD

Kf201

LD

K2

LDA

O3000

WX

V4432

12

Drive #1


Write Enabled

C11

(

SET

)


Drive #1

Speed Ref

Drive #1


Port Busy

SP116

Write Enable

C10

Write Enable

C11

LD

Kf201

LD

K6

LDA

O3002

WX

V4434

Drive #1 Speed,


Writes Finished

C13

(

SET

)




5–53


5–54


13


Drive #1

Speed Ref

Write Enable

C10

Drive #1


Write Enable

C11

Drive #1, Speed,


Writes Finished

C13 LD

Drive #1

Speed Ref New

V3000

OUT

Drive #1

Speed Ref Retain

V3010

LD

Drive #1

Direction New

V3002

OUT

Drive #1

Direction Retain

V3012

LD

Drive #1

Ext Fault New

V3003

OUT

Drive #1

Ext Fault Retain

V3013

LD

Drive #1

Fault Reset New

V3004

OUT

Drive #1

Fault Reset Retain

V3014

Drive #1

Speed Ref

Write Enable

C10

(

RST

)

Drive #1

Direction,

Fault Reset

Write Enable

C11

(

RST

)

Drive #1

Speed, Direction,

Fault Reset

Writes Finished

C13

(

RST

)






14


Drive #1

Run CMD

New

V3001

Drive #1

Run CMD

Retain

V3011

Drive #1

Speed Ref

Write Enable

C10

Drive #1

Run CMD

Write Enable

C12

=

Port Busy

SP116

Drive #1

Run CMD

Write Enable

C12

15

LD

Drive #1

Run CMD

Write Enable

C12

(

SET

)

Kf201

LD

K2

LDA

O3001

WX

V4433

16

Drive #1

Run CMD

Writes Finished

C14

(

SET

)


Drive #1

Run CMD

Drive #1

Run CMD

Write Enable

C12

Write Finished

C14 LD

Drive #1

Run CMD New

V3001

OUT

Drive #1

Run CMD Retain

V3011

Drive #1

Run CMD

Write Enable

C12

(

RST

)

Drive #1

Run CMD

Write Finished

C14

(

RST

)




5–55



17



X3

18


X3

19


Drive #1 Run/Stop

X5

20

Drive #1 Run/Stop

X5

LD

K300

BIN

OUT

Drive #1

Speed Ref New

V3000

LD

K600

BIN

OUT

Drive #1

Speed Ref New

V3000

LD

K1

OUT

Drive #1

Run CMD New

V3001

LD

K0

OUT

Drive #1

Run CMD New

V3001


5–56




21




X6

22


X6

LD

K1

OUT

Drive #1

Direction New

V3002

LD

K0

OUT

Drive #1

Direction New

V3002

23


Drive #1 Ext Fault

X7

24

Drive #1 Ext Fault

X7

LD

K1

OUT

Drive #1

Ext Fault New

V3003

LD

K0

OUT

Drive #1

Ext Fault New

V3003

25



X10

26


X10

LD

K1

OUT

Drive #1

Ext Fault Reset New

V3004

LD

K0

OUT

Drive #1

Ext Fault Reset New

V3004




5–57




27


V2020

욷

K1

Drive #2 Fault

C31

(

SET

)

28

29

30

31

This rung allows a switch on input X21 to reset the C bit used to indicate drive #2 fault.


Reset

X21

Drive #2 Fault

C31

(

RST

)


V2020

K4

=

Drive #2 OL

C32

(

SET

)



Reset

X22

Drive #2 OL

C32

(

RST

)


Drive #2 Drive #2

Drive #2 Speed Ref

Speed Ref New

Speed Ref Retain

Write Enable

V3020 V3030

C40

=

Drive #2

Direction New

V3022

=

Drive #2

Direction Retain

V3032

Drive #2

External Fault New

V3023

=

Drive #2

External Fault Retain

V3033

Drive #2

Run CMD

Write Enable

C42

Drive #2

Speed Ref

Write Enable

C40

(

SET

)

Drive #2

Fault Reset New

V3024

=

Drive #2

Fault Reset Retain

V3034


5–58




32



Drive #2

Speed Ref

Drive #2


Port Busy

SP116

Write Enable

C40

Write Enable

C41

LD

Kf202

LD

K2

LDA

O3000

WX

V4432

33

Drive #2


Write Enabled

C41

(

SET

)


Port Busy

SP116

Drive #2

Speed Ref

Write Enable

C40

Drive #2


Write Enable

C41

LD

Kf202

LD

K6

LDA

O3002

WX

V4434

Drive #2, Speed,


Writes Finished

C43

(

SET

)




5–59


5–60


34


Drive #2

Drive #2 Drive #2, Speed,

Speed Ref

Direction, Fault, Reset Direction, Fault, Reset

Write Enable

Write Enable

Writes Finished

C40

C41

C43 LD

Drive #2

Speed Ref New

V3020

OUT

Drive #2

Speed Ref Retain

V3030

LD

Drive #2

Direction New

V3022

OUT

Drive #2

Direction Retain

V3032

LD

Drive #2

Ext Fault New

V3023

OUT

Drive #2

Ext Fault Retain

V3033

LD

Drive #2

Fault Reset New

V3024

OUT

Drive #2

Fault Reset Retain

V3034

Drive #2

Speed Ref

Write Enable

C40

(

RST

)

Drive #2

Direction,

Fault Reset

Write Enable

C41

(

RST

)

Drive #2

Speed, Direction,

Fault Reset

Writes Finished

C43

(

RST

)






35


Drive #2

Run CMD

Drive #2

Run CMD

Drive #2

Speed Ref

Drive #2

Run CMD

New

V3021

Retain

V3031

Write Enable

C40

Write Enable

C42

=

Port Busy

SP116

Drive #2

Run CMD

Write Enable

C42

36

LD

Drive #2

Run CMD

Write Enable

C42

(

SET

)

Kf202

LD

K2

LDA

O3001

WX

V4433

37

Drive #2

Run CMD

Writes Finished

C44

(

SET

)


Drive #2

Run CMD

Drive #2

Run CMD

Write Enable

Write Finished

C42

C44

LD

Drive #2

Run CMD New

V3021

OUT

Drive #2

Run CMD Retain

V3031

Drive #2

Run CMD

Write Enable

C42

(

RST

)

Drive #2

Run CMD

Write Finished

C44

(

RST

)




5–61



38



X23

39


X23

40


Drive #2 Run/Stop

X25

41

Drive #2 Run/Stop

X25

LD

K300

BIN

OUT

Drive #2

Speed Ref New

V3020

LD

K600

BIN

OUT

Drive #2

Speed Ref New

V3020

LD

K1

OUT

Drive #2

Run CMD New

V3021

LD

K0

OUT

Drive #2

Run CMD New

V3021


5–62




42




X26

43


X26

LD

K1

OUT

Drive #2

Direction New

V3022

LD

K0

OUT

Drive #2

Direction New

V3002

44


Drive #2 Ext Fault

X27

45

Drive #2 Ext Fault

X27

LD

K1

OUT

Drive #2

Ext Fault New

V3023

LD

K0

OUT

Drive #2

Ext Fault New

V3023

46



X30

47


X30

LD

K1

OUT

Drive #2

Ext Fault Reset New

V3024

LD

K0

OUT

Drive #2

Ext Fault Reset New

V3024

(

END

)

48




5–63


Communicating with Third-Party Devices

The GS1 Serial Comm Port will accommodate an RS-485 connection.

An RS-485 network cable can span up to 1000 meters (3280 feet). The GS1 AC drive communication address is specified by P9.00. The third party device then controls each AC drive according to its communication address.

The GS1 series AC drive can be set up to communicate on standard MODBUS networks using the following transmission modes: ASCII or RTU. Using the

Communication Protocol parameter (P9.02), you can select the desired mode, data bits, parity, and stop bits. The mode and serial parameters must be the same for all devices on a MODBUS network.

GS1 RS-485 Serial Comm Port

GS1 Serial Comm Port

RS-485 Interface

RJ12 (6P4C)

6 1

1: +17V

2: GND

3: SG-

4: SG+

5: nc

6: reserved

GS1 drives have a provision for shutting down control or power to the inverter in the event of a communications time out. This feature can be set up through parameters

P9.03, P9.04, and P9.05.

Common Third-Party MODBUS RTU Masters

• MODSCAN from www.wintech.com

• KEPSERVER EX 4.0 from www.kepware.com

• Entivity Studio 7.2

• Think & Do Live 5.5.1

For additional technical assistance, go to our Technical support home page at: http://support.automationdirect.com/technotes.html

5–64




Using Modbus ASCII

Data Format

ASCII Mode: 10-bit character frame (For 7-bit character):

P9.02 = 00 (7 data bits, no parity, 2 stop bits)

Start bit

0 1 2 3 4 5 6

7-bit character

10-bit character frame

Stop bit

Stop bit

P9.02 = 01 (7 data bits, even parity, 1 stop bit)

Start bit

0 1 2 3 4

7-bit character


5

P9.02 = 02 (7 data bits, odd parity, 1 stop bit)

Start bit

0 1 2 3 4

7-bit character


5

6 Even parity

Stop bit

6 Odd parity

Stop bit

RTU Mode: 11-bit character frame (For 8-bit character):

P9.02 = 03 (8 data bits, no parity, 2 stop bits)

Start bit

0 1 2 3 4 5 6

8-bit character


7

P9.02 = 04 (8 data bits, even parity, 1 stop bit)

Start bit

0 1 2 3 4 5

8-bit character


P9.02 = 05 (8 data bits, odd parity, 1 stop bit)

Start bit

0 1 2 3 4 5

8-bit character


6

6

Stop bit

Stop bit

7 Even parity

Stop bit

7 Odd parity

Stop bit



5–65


Communication Protocol

ASCII Mode:

STX

ADR 1

ADR 0

CMD 1

CMD 0

DATA (n-1)

.......

DATA 0

LRC CHK 1

LRC CHK 0

END 1

END 0

Start Character: (3AH)

Communication Address: 8-bit address consists of 2 ASCII codes

Contents of data: n x 8-bit data consists of 2n ASCII codes. n

≤ 25 maximum of 50 ASCII codes

LRC check sum: 8-bit check sum consists of 2 ASCII codes

END characters: END 1 = CR (0DH); END 0 = LF (0AH)

RTU Mode:

START

ADR

CMD

DATA (n-1)

.......

DATA 0

CRC CHK Low

CRC CHK High

END

A silent interval of more than 10 ms

Communication Address: 8-bit address

Command Code: 8-bit command

Contents of data: n x 8-bit data, n

≤ 25

CRC check sum: 16-bit check sum consists of 2 8-bit characters

A silent interval of more than 10 ms

ADR (Communication Address)

Valid communication addresses are in the range of 0 to 254. A communication address equal to 0 means broadcast to all AC drives, in which case the drives will not reply any message to the master device.

For example, communication to AC drive with address 16 decimal:

ASCII mode: (ADR 1, ADR 0)='1','0' => '1'=31H, '0'=30H

RTU mode: (ADR)=10H

5–66




CMD (Command code) and DATA (data characters)

The format of data characters depends on the command code. The available command codes are described as follows: Command code: 03H, read N words.

The maximum value of N is 12. For example, reading continuous 2 words from starting address 2102H of the AC drive with address 01H.

ASCII mode:

Command Message

STX ':'

ADR 1

ADR 0

'0'

CMD 1

CMD 0

'1'

'0'

'3'

Starting data address

Number of data

(Count by word)

LRC CHK 1

LRC CHK 0

END 1

END 0

'2'

'D'

'7'

CR

LF

'0'

'0'

'0'

'2'

'1'

'0'

'2'

Response Message

STX ':' ':'

ADR 1

ADR 0

'0'

CMD 1

CMD 0

Number of data

(Count by byte)

Content of starting data address

2102H

Content data address 2103H

LRC CHK 1

LRC CHK 0

END 1

END 0

'7'

'1'

CR

LF

'0'

'0'

'0'

'7'

'0'

'0'

'0'

'4'

'1'

'7'

'1'

'0'

'3'

RTU mode:

Command Message

ADR

CMD


01H

03H

21H

02H

Number of data

(Count by word)

CRC CHK Low

CRC CHK High

00H

02H

6FH

F7H


ADR

CMD

Number of data

(Count by byte)

Content of data address 2102H


CRC CHK Low

CRC CHK High

01H

03H

04H

'0'

17H

70H

00H

02H

FEH

5CH



5–67


Command code: 06H, write 1 word

For example, writing 6000(1770H) to address 0100H of the AC drive with address

01H.

ASCII mode:

Command Message

STX ':'

ADR 1

ADR 0

'0'

'1'

CMD 1

CMD 0

Data Address

LRC CHK 1

LRC CHK 0

END 1

END 0

'7'

'1'

CR

'7'

'7'

'0'

LF

'1'

'0'

'0'

'1'

'0'

'6'

'0'


STX ':' ':'

ADR 1

ADR 0

CMD 1

CMD 0

Data Address

Data Content

LRC CHK 1

LRC CHK 0

END 1

END 0

'0'

'1'

'7'

'1'

CR

'7'

'7'

'0'

LF

'1'

'0'

'0'

'1'

'0'

'6'

'0'

RTU mode:

This is an example of using function code 16 for writing to multiple registers.

Command Message

ADR 01H

CMD


Number of registers

Byte count



CRC CHK Low

CRC CHK High

10H

02H

02H

58H

CBH

34H

20H

00H

00H

02H

04H

00H


ADR 01H

CMD 10H


Number of data

(Count by word)

CRC CHK Low

CRC CHK High

20H

00H

00H

02H

4AH

08H

5–68




CHK (check sum)

ASCII Mode:

LRC (Longitudinal Redundancy Check) is calculated by summing up module 256, the values of the bytes from ADR1 to last data character, then calculating the hexadecimal representation of the 2's-complement negation of the sum.

For example, reading 1 word from address 0401H of the AC drive with address 01H.

Command Message

STX ':'

ADR 1

ADR 0

'0'

'1'

CMD 1

CMD 0


Number of data

(Count by word)

LRC CHK 1

LRC CHK 0

END 1

END 0

'F'

'6'

CR

LF

'0'

'0'

'1'

'0'

'1'

'0'

'0'

'3'

'0'

'4'

01H+03H+04H+01H+00H+01H=0AH; the 2's complement negation of 0AH is F6H.

RTU Mode:


ADR

CMD


Number of data

(Count by word)

CRC CHK Low

CRC CHK High

01H

03H

21H

02H

00H

02H

6FH

F7H



5–69


CRC (Cyclical Redundancy Check) is calculated by the following steps:

Step 1: Load a 16-bit register (called CRC register) with FFFFH.

Step 2: Exclusive OR the first 8-bit byte of the command message with the low order byte of the 16-bit CRC register, putting the result in the CRC register.

Step 3: Shift the CRC register one bit to the right with MSB zero filling. Extract and examine the LSB.

Step 4: If the LSB of CRC register is 0, repeat step 3; else Exclusive OR the CRC register with the polynomial value A001H.

Step 5: Repeat step 3 and 4 until eight shifts have been performed. When this is done, a complete 8-bit byte will have been processed.

Step 6: Repeat steps 2 to 5 for the next 8-bit byte of the command message.

Continue doing this until all bytes have been processed. The final contents of the

CRC register are the CRC value.

When transmitting the CRC value in the message, the upper and lower bytes of the

CRC value must be swapped; i.e., the lower-order byte will be transmitted first.

The following is an example of CRC generation using C language. The function takes two arguments:

Unsigned char* data

← a pointer to the message buffer

Unsigned char length

← the quantity of bytes in the message buffer

The function returns the CRC value as a type of unsigned integer.

Unsigned int crc_chk(unsigned char* data, unsigned char length){ int j; unsigned int reg_crc=0xFFFF; while(length--){

} reg_crc ^= *data++; for(j=0;j<8;j++){ if(reg_crc & 0x01){ /* LSB(b0)=1 */ reg_crc=(reg_crc>>1) ^ 0xA001;

}

}else{ reg_crc=reg_crc >>1;

}

} return reg_crc;

RTU mode is preferred. Limited support is available to ASCII users.

5–70




Comm Delay – Optimizing Communications

Optimizing Communications to GS Drives

In most cases, optimizing communications to GS Drives MAY NOT BE NECESSARY.

If you are only communicating to one or two drives and reading or writing only a few parameters, the communication speed will most likely be sufficient for your application.

However, in the case that the communication speed (reaction time from reading or writing an event to a given drive) is too slow, you may need to take a more detailed look at how your code is designed to communicate to the GS Drives in your application.

To properly design the system, it is necessary to understand all of the propagation delays that are incurred when triggering the event to send a Modbus message to the point of receiving the data or status of the reply into the PLC or Modbus master.

To determine the time necessary to transmit a message from the Master to the

Slave and vice versa, we must first determine the “Bit Time” and the “Character

Time”. This is calculated by using the following formulas:

• Bit Time:

The value one divided by the baud rate. A baud rate of 19,200 equals a bit rate of

0.0000528 (1/19200) or 52 µs (microseconds).

• Character Time:

Bit Time multiplied by the number of bits. With Modbus this is typically 10–12 bits per character [1 start bit (fixed), 1 or 2 stop bits (usually configurable), 0 or 1 parity bit (Odd & Even = 1 bit; None = 0), & 8 data bits]. For a setting of Odd parity and 1 Stop bit, this would be 11 bits. So at 19200, Odd parity and 1 stop bit, a character time would be 0.000573 or 573 µs (0.0000528 · 11).

Now that we know the byte time, we can multiply that time by the number of characters in each message.



5–71


Types of Messages Sent to GS Drives

There are three different types of messages typically be sent to GS Drives:

1) Read Registers (Function Code 3).

2) Write Multiple Registers (Function Code 16).

3) Write Single Register (Function Code 6).

Format of “Read Registers” Messages:

Request:

XX = Node Address (1 Char)

03 = Function Code (1 Char)

XXXX = Starting Address to read (2 Chars)

XXXX = Number of Registers to read (2 Chars)

XXXX = 16 Bit CRC (2 Chars)

Reply:



XX = Byte count of data being sent from Slave

(1 Char)

XXXX… = Depends upon Request

(2 Chars per Register requested)


Format of “Write Multiple Registers” Messages:

Request:


10 = Function Code (Hex format) (1 Char)

XXXX = Starting Address to write to (2 Chars)

XXXX = Number of Registers to write to

(2 Chars)

XX = Number of bytes of data to write

(1 Char)

XXXX… = Depends upon Request

(2 Chars per Register requested)


Reply:


10 = Function Code (Hex format)(1 Char)

XXXX = Starting Address to write to (2 Chars)

XXXX = Number of Registers to write to

(2 Chars)


Format of “Write Single Register” Messages:

Request:



XXXX = Register to Write to (2 Chars)

XXXX = Data to Write (2 Chars)


Reply:



XXXX = Register to Write to (2 Chars)

XXXX = Data to Write (2 Chars)


Example Message:

Write a value of 60Hz to P9.26 and a value of 1 to P9.27 =

01 10 09 1b 00 02 04 02 58 00 01 5a 66

We receive a good reply = 01 10 09 1b 00 02 a3 9f

Sending message (13 characters from above) = 7.4 ms (0.00744796)

Reply message (8 characters from above) = 4.6 ms (0.004583)

For more specific information on how Modbus messages are formed, refer to the

Modbus specifications found at www.modbus.org.

5–72




Additional Message Delay Times

So we have the total transmission time for sending a message and receiving a reply but this does not include all of the delays for a given message. The receiving device must have time to process the receipt of a message and formulate a reply. The amount of time that the receiving device needs will vary greatly depending upon the hardware platform and other processes that the device is running.

For the previous example message, the GS Drive responds in 4ms when the drive is stopped and will respond in 5ms when the drive is running. This may vary somewhat depending upon the specific parameter values and the size of the request.

Modbus-specified Delays Between Messages

There is one additional time delay required in the Modbus protocol. The protocol specifies at least a 3.5 character delay between messages. For the settings above, a 3.5 character time in our example would be about 2ms.

So the total time required for the message sent above would be:

7.4 ms (Transmission time for sending message)

5.0 ms (response delay from GS Drive when drive running)

4.6 ms (Transmission time for reply message)

+ 2.0 ms (Modbus message wait delay)

19.0 ms (approximately)

Remember from our description, this is purely the time from when the message leaves the serial port to when the reply is received back in to the serial port.



5–73


Other Delays

Depending upon the master device, there may be additional delays. For example:

In the DirectLogic PLC, the serial communications are serviced in the housekeeping portion of the PLC scan. So if the communications instruction is in rung #1 of a ladder program, the serial communications message does not get sent until the end of the total PLC scan. Likewise, if the reply message was received into the serial port at the beginning of the PLC scan, it would not be serviced until the end of the PLC scan.

So you would need to add an additional possible two PLC scan times to the number above to truly calculate the time necessary to read or write an event to the GS drive.

These delays are shown in the following Communication Delay Timing Diagram.

Communication Delay Timing Diagram

GS AC

Drive

Modbus Master

(typically PLC)

Communications

Instruction Enabled t

1 t

2 t

5 t

4 t

3 t

1

= Scan delay from the point of turning on a

communications instruction to when it actually goes

out of the serial port.

t

2

= Transmission time to send Message request

(read or write).

t

3

= Response delay from GS drive to receive the reply

and formulate the response.

t

4

= Transmission time to send Reply message.

t

5

= Scan delay from the point of receiving reply,

processing it and placing in PLC memory for Logic

usage.

t

6

= Wait time required by Modbus spec (3.5 byte times).

This may or may not be present depending upon the

Scan delay, but safer to factor in.

t

6

Data Processed and

Available to Logic

5–74




Communication Delay Summary

Now that you know how to calculate the time required for one message to one

GS drive, you would simply multiply this value per message to each GS drive on the network, since only one message can be sent at a time.

As you can deduce from the statement above, the more messages being sent to

GS drives, the longer it takes to communicate to an individual drive as each message has to take its turn.

So how do you optimize your communications to get messages faster to your GS drives?

There is no way to make a message go faster than what is specified above, but what you can affect is the amount of messages being sent to any given GS drive in two ways.

1) Group together messages into Block requests whenever possible. For example, if you wanted to read Status Monitor 1 and the Output Frequency status register from the drive, read the two together as a block (Status Monitor 1, Status Monitor

2, Frequency Command and Output Frequency), and ignore the other two status registers that you don’t need instead of sending two separate read commands. If you do the calculations above, you will see that is much faster to take the additional hit from four extra bytes in the reply message than it would be to send a separate message. NOTE that you cannot read across non-contiguous Modbus addresses, so this typically only works when reading within the Status registers or in a Parameter category (P9.xx, P1.xx, etc…).

2) Only send a write message when the value changes in the Master device. It is simpler to setup your communications instructions to read and write all the time, but it wastes precious network time to write the same value to the GS drive over and over if that value is not changing. Write some simple logic that only triggers a write command when the value to be sent has changed.

For more specific instructions on how to configure and/or interlock, in detail, the individual communications instructions, consult your PLC or Modbus Master

Device user manual. If using DirectLogic PLCs as the Modbus Master, consult the

Dx-USER-M manuals for specifics on configuring the individual communications instructions and look at the Hx-ECOM-M manual for information on interlocking communications instructions.



5–75


5–76



AutomationDirect 5

ODBUS

OMMUNICATIONS

HAPTER

Contents of this Chapter...

5–1a

Contents of this Chapter (continued from previous page)...

DirectLOGIC Basic Communication Program – start with this code . . .5–36

Communication Parameters Summary

Communications Parameter Summary

Communications Parameter Summary (continued)

GS1 Parameter Memory Addresses

Parameter Memory Addresses

Parameter Memory Addresses (continued)

Parameter Memory Addresses (continued)

Parameter Memory Addresses (continued)

GS1 Status Addresses

Status Addresses (Read Only)

Status Monitor 1

Error Codes:

h2100

Status Monitor 2 h2101

Frequency Command F (xxx.x)

h2102

Output Frequency H (xxx.x) h2103

Output Current A (xxx.x)

h2104

DC-BUS Voltage d (xxx.x)

h2105

Output Voltage U (xxx.x)

h2106 h2107 Motor RPM

Scale Frequency (Low word)

h2108

Scale Frequency (High word)

h2109

% Load h210B

Firmware Version

h2110

Communicating with AutomationDirect PLCs

Step 1: Choose the Appropriate CPU

Step 2: Make the Connections

Step 3: Set AC Drive Parameters

Step 4: Configure the PLC CPU

CLICK Modbus Ladder Programming

Separate Run Command Write Instruction

Block Transfer Parameters for Modbus Programs

CLICK Communication Program – (for CLICK PLCs)

DirectLOGIC Modbus Ladder Programming

Separate Run Command Write Instruction

Block Transfer Parameters for Modbus Programs

DirectLOGIC Basic Communication Program – start with this code

Programming Differences for DirectLOGIC PLCs

DL MRX/MWX Communication Program – for DL06 & D2-260 PLCs

*** The following 21 rungs (6–26) are for slave 1 communications control. ***

*** The following 21 rungs (27–47) are for slave 2 communications control. ***

DL RX/WX Communication Program – for DL05, D2-250(-1), D4-450

*** The following 21 rungs (6–26) are for slave 1 communications control. ***

*** The following 21 rungs (27–47) are for slave 2 communications control. ***

Communicating with Third-Party Devices

Common Third-Party MODBUS RTU Masters

Using Modbus ASCII

Comm Delay – Optimizing Communications

Optimizing Communications to GS Drives

Types of Messages Sent to GS Drives

Additional Message Delay Times

Communication Delay Summary

Related manuals

Automation Direct

D0-06USER-M

Automation Direct

GS1-M

Automation Direct

D0-DCM-M

Automation Direct

FA-ISOCON-M

Automationdirect.com

GS1-22P0

Table of contents

**Programming Differences for DirectLOGIC PLCs**

* The following 21 rungs (6–26) are for slave 1 communications control. *

* The following 21 rungs (27–47) are for slave 2 communications control. *

* The following 21 rungs (6–26) are for slave 1 communications control. *

* The following 21 rungs (27–47) are for slave 2 communications control. *