WEG CFW500 Variable Frequency Drives Modbus RTU User`s Manual
Contents
1. 12 P0312 SERIAL PROTOCOL I os ac auem e cL vano E eO Rae 12 P0313 COMMUNICATION ERROR ACTION 13 P0314 SERIAL WATCHDOQ J nor Ea aa nion 14 P0316 5 5 2 22 lt lt 5 14 P0680 STATUS WORD pec 14 P0681 MOTOR SPEED IN 13 BITS 1 02 uu L 2 2 44544 24555544254424 danai aeaa 15 P0682 SERIAL CONTROL WORD J J J T 16 P0683 SERIAL SPEED REFERENGCE 16 P0695 DIGITAL OUTPUT J J J T 17 P0696 VALUE 1 FOR ANALOG OUTPUTS J J J T 18 P0697 VALUE 2 FOR ANALOG OUTPUTS J J J T 18 0698 VALUE FOR ANALOG OUTPUTS J 18 Phone 800 894 0412 Fax 888 723 4773 Web ww2. J J J AR 44 RR Q J 24 63 FUNCTION 43 READ DEVICE IDENTIFICATIONN J J Q 25 64 COMMUNICATION ERRORS J Q U U U U U AR NR U RR aad dA 25 7 FAULTS AND ALARMS RELATED TO THE MODBUS RTU COMMUNICATION 27 A128 F228 TIMEOUT FOR SERIAL COMMUNICATIONN 27 I iux lbi 28 APENDICE A ASCI TABLE tUe 28 AP NDICE CRC CALCULATION USING TABLES eres u u uu uuu 29 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net ABOUT THIS MANUAL This manual supplies the necessary information for the operation of the CFW500 frequency inverter using the Modbus protocol This manual must be used together with the CFW500 user manual ABBREVIATIONS AND DEFINITIONS ASCII American Standard Code for Information Interchange CRC Cycling Redundancy Check EIA Electronic Industries Alliance TIA Telecommunications Industry Association RTU Remote Terminal Unit NUMERICAL REPRESENTATION Decimal numbers are represented by means of digits without suffix Hexadecimal numbers are represented with the letter h after the number Binary numbers are represented with the letter b
3. NET Description It allows selecting the desired protocol for the serial interface Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net Table 3 1 P0312 options 0 HMI 1 For the standard RS485 interface 1 this option selects the remote HMI communication protocol 2 Modbus 1 For the standard RS485 interface 1 this option selects Modbus RTU slave as the communication protocol ESCIICOO EM s r 6 HMI 1 e Modbus For the interface modules with more than one serial interface RTU 2 example CFW500 CUSB etc this option allows to use the remote HMI connected to standard interface 1 and simultaneously to use Modbus RTU slave protocol at the additional serial interface 2 0313 COMMUNICATION ERROR ACTION Range 0 Inactive Default 1 1 Disable via Run Stop 2 Disable via General Enable 3 to Local 4 Change to Local keeping commands and reference 5 Causes a Fault Properties CFG Access groups via HMI NET Description It allows the selection of the action to be executed by the device if it is controlled via network and a communication error is detected Table 3 2 P0313 options Options 0 Inactive No action is taken and the drive remains in the existing status 1 Disable via Run Sto A stop command with deceleration ramp is executed and the p motor stops according to th
4. P0695 DIGITAL OUTPUT SETTING Range 0000h to 001Fh Default 0000h Properties Access groups via HMI NET Description It allows the control of the digital outputs by means of the network interfaces Serial CAN etc This parameter cannot be changed via HMI Each bit of this parameter corresponds to the desired value for one digital output In order to have the correspondent digital output controlled according to this content it is necessary that its function be programmed for PO695 Content at parameters P0275 to P0279 Bits bitu senses ES E 2 z E Function Q e ra Q Q 188 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net Table 3 6 P0695 parameter bit functions Bit 0 0 DO1 output open setting 1 DO1 output closed 0 DO2 output open DO2 setting 1 DO2 output closed 0 DOS output open DOS setting 1 DOS output closed 0 DO4 output open DO4 setting 1 DO4 output closed Bit 4 0 DO5 output open DOS setting 1 DOS output closed Bits 5 to 15 Reserved e NOTE Some of the digital outputs may not be available depending on the plug in module P0696 VALUE 1 FOR ANALOG OUTPUTS P0697 VALUE 2 FOR ANALOG OUTPUTS P0698 VALUE FOR ANALOG OUTPUTS Range 32768 to 32767 Default 0 Propert
5. 0 0 0x60 0x61 OxA1 0x63 OxA3 OxA2 0x62 0x66 0 6 0 7 0x67 OxA5 0x65 0x64 OxA4 0 6 OxAC OxAD Ox6D OxAF 0 6 0 6 OxAE Ox6A 0 6 OxAB 0x69 OxA9 OxA8 0x68 0x78 0 8 0 9 0x79 OxBB 0 7 0 7 OxBA OxBE 0 7 0 7 OxBF Ox7D OxBD OxBC Ox7C 0 4 0x74 0x75 0 5 0x77 0 7 OxB6 0x76 0x72 0 2 0 3 0x73 0 1 0x71 0x70 OxBO 0x50 0x90 0 91 0x51 0x93 0x53 0x52 0x92 0x96 0x56 0x57 0x97 0x55 0x95 0 94 0 54 0 9 0 5 Ox5D Ox9D 0 5 Ox9F 0 9 0 5 0 5 Ox9A 0 9 Ox5B 0x99 0x59 0x58 0x98 0x88 0x48 0x49 0x89 0 4 0x8B 0 8 0 4 Ox4E 0 8 0 8 0 4 Ox8D 0 4 Ox4C Ox8C 0x44 0x84 0x85 0x45 0x87 0x47 0x46 0x86 0x82 0x42 0x43 0x83 0x41 0x81 0x80 0 40 The function returns the CRC as a unsigned short type unsigned short CRC16 puchMsg usDataLen unsigned char puchMsg message to calculate CRC upon wy unsigned short usDataLen quantity of bytes in message AU unsigned char uchCRCHi OxFF high byte of CRC initialized unsigned char uchCRCLo OxFF low byte of CRC initialized yp unsigned uIndex will index into CRC lookup table while usDataLen pass through message buffer uIndex uchCRCLo puchMsggt calculate the CRC uchCRCLo uchCRCHi auchCRCHi uIndex uchCRCHi auchCRCLo uIndex return
6. 8192 gt 60 Hz 2048 gt Frequency in Hz Frequency in Hz 60 x 2048 8192 Frequency in Hz 30 Hz Negative values in this parameter indicate that the motor is running in the reverse direction Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net values transmitted over the network have scale limitation allowing maximum of 4 times the synchronous speed of the motor with saturation in 32767 or 32768 P0682 SERIAL CONTROL WORD Range 0000h to FFFFh Default 0000h Properties Access groups via HMI NET Description It is the device Modbus interface control word This parameter can only be changed via serial interface For the other sources HMI etc it behaves like a read only parameter In order to have those commands executed it is necessary to program the equipment to be controlled via serial This programming is achieved by means of parameters 105 and P0220 to P0228 Each bit of this word represents a command that can be executed Function Run Stop o D c P o z 3 Second LOC REM gt General enable JOG Speed direction Table 3 5 P0682 parameter bit functions S Bis Values Bit 0 O It stops the motor with deceleration ramp Run Stop The motor runs according to the acceleration ramp until reaching the sp
7. after the number DOCUMENTS The RTU protocol was developed based on the following specifications and documents Document Version Source MODBUS Application Protocol Specification December V1 1b MODBUS ORG 28th 2006 MODBUS Protocol Reference Guide June 1996 MODICON MODBUS over Serial Line December 20th 2006 V1 02 MODBUS ORG In order to obtain this documentation consult MODBUS ORG which is nowadays the organization that keeps publishes and updates the information related to the Modbus protocol Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 1 INTRODUCTION TO SERIAL COMMUNICATION In a serial interface the data bits are sent sequentially through a communication channel or bus Several technologies use the serial communication for data transfer including the 5232 RS485 interfaces The directions that specify the 5232 and RS485 standards however do neither specify the character format nor its sequence for the data transmission and reception Therefore besides the interface it is also necessary to identify the protocol used for the communication Among the several existent protocols one used a lot in the industry is the Modbus RTU protocol In the sequence the characteristics of the RS232 5485 and USB serial interfaces available for the product will be presented as well as the Modbus RTU protocol for the use of this inte
8. network There are switches in the CFW500 frequency inverter that can be activated to enable the terminating resistor Refer to the plug in installation guide for details 2 33 Indications Details on the alarms communications failures and communication states are made through the keypad HMI and product parameters 2 9 4 Connection with the RS485 Network The following points must be observed for the connection of the device using the RS485 interface It is recommended the use of a shielded cable with a twisted pair of wires It is also recommended that the cable has one more wire for the connection of the reference signal GND In case the cable does not have the additional wire then the GND signal must be left disconnected The cable must be laid separately and far away if possible from the power cables All the network devices must be properly grounded preferably at the same ground connection The cable shield must also be grounded Enable the termination resistors only at two points at the extremes of the main bus even if there are derivations from the bus The limit number of devices that can be connected to the network depends also on the used protocol Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 24 RS232 2 4 4 Indications Details on the alarms communications failures and communication states are made through the keypad HMI an
9. FUNCTIONS A detailed description of the functions available in the CFW500 frequency inverter for the Modbus is provided in this section In order to elaborate the telegrams it is important to observe the following The values are always transmitted in hexadecimal The address of a datum the number of data and the value of registers are always represented in 16 bits Therefore it is necessary to transmit those fields using two bytes superior high and inferior low The telegrams for request as well as for response cannot exceed 64 bytes transmitted values are always integer regardless of having a representation with decimal point Thus the value 9 5 would be transmitted via serial as being 95 5Fh Refer to the CFW500 parameter list to obtain the resolution used for each parameter 6 1 FUNCTION 03 READ HOLDING REGISTER It reads the content of a group of registers that must be necessarily in a numerical sequence This function has the following structure for the request and response telegrams each field represents a byte Request Master Response Slave Slave Address Slave Address Address of the initial register high byte Address of the initial register low byte Datum 1 high Number of registers high byte Datum 1 low Number of registers low byte Datum 2 high Datum 2 Example reading of the motor speed 2 the motor current 003 of slave at a
10. byte with the address of the slave to which the message is destined When sending the answer the slave also initiates the telegram with its own address The master can also send a message to the address O zero which means that the message is destined to all the slaves in the network broadcast In that case no slave will answer to the master 4 2 2 Function Code This field also contains a single byte where the master specifies the kind of service or function requested to the slave reading writing etc According to the protocol each function is used to access a specific type of data For the available list of supported functions refer to item 5 4 2 8 Data Field It is a variable size field The format and contents of this field depend on the used function and the transmitted value This field is described together with the function description refer to item 5 4 2 4 CRC The last part of the telegram is the field for checking the transmission errors The used method is the CRC 16 Cycling Redundancy Check This field is formed by two bytes where first the least significant byte is transmitted CRC and then the most significant 4 The CRC calculation form is described in the protocol specification however information for its implementation is also supplied in the Ap ndice B 4 2 5 Time Between Messages In the RTU mode there is no specific character that indicates the beginning or the end of a t
11. groups via NET Description It allows programming the baud rate for the serial communication interface in bits per second This baud rate must be the same for all the devices connected to the network NOTE To use the RS485 interface with the remote keypad it is not necessary to set the baud rate This setting is necessary only with the other serial protocols for both the standard interface 1 as the additional interface 2 P0311 SERIAL INTERFACE BYTE CONFIGURATION Range 0 8 data bits no parity 1 stop bit Default 1 1 2 8 data bits even parity 1 stop bit 2 8 data bits odd parity 1 stop bit 3 8 data bits no parity 2 stop bits 4 8 data bits even parity 2 stop bits 5 8 data bits odd parity 2 stop bits Properties CFG Access groups via HMI NET Description It allows programming the number of data bits parity and stop bits of the serial interface bytes This configuration must be identical for all the devices connected to the network NOTE To use the RS485 interface with the remote keypad it is not necessary to set the byte configuration This setting is necessary only with the other serial protocols for both the standard interface 1 as the additional interface 2 P0312 SERIAL PROTOCOL Range HMI 1 Default 2 1 Reserved 2 Modbus 1 3 Not used 4 Not used 5 Not used 6 2 HMI 1 Modbus RTU 2 Properties CFG Access groups via
12. that it be possible to identify at the master what type of error occurred order to able to diagnose problems during the communication In the event of any of those errors the slave must send a message to the master indicating the type of error that occurred The error messages sent by the slave have the following structure Request Master Response Slave Slave Address Slave Address Function Function with the most significant bit in 1 Example the master requests to the slave at the address 1 the writing in the register 2900 nonexistent register Request Master Field Slave Address Function Register high Register low Value high Value low 4 CRC 14 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 7 FAULTS AND ALARMS RELATED THE MODBUS COMMUNICATION A128 F228 TIMEOUT FOR SERIAL COMMUNICATION Description It is the only alarm fault related to the serial communication indicates that the equipment stopped receiving valid serial telegrams for a period longer than the one programmed in P0314 Operation The parameter 0314 allows programming a period of time during which the equipment must receive at least one valid telegram via the RS485 serial interface with address and error checking field correct otherwise it will be considered that there was any problem in the serial communic
13. uchCRCHi lt lt 8 uchCRCLo Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net
14. 73 Web www ctiautomation net Email info ctiautomation net 4 MODBUS RTU PROTOCOL The Modbus protocol was initially developed 1979 Nowadays it is a widely spread open protocol used by several manufactures in many equipments 41 TRANSMISSION MODES Two transmission modes are defined in the protocol specification ASCII and RTU The modes define the way the message bytes are transmitted It is not possible to use the two transmission modes in the same network CFW500 frequency inverter uses only the mode for the telegram transmission The bytes are transmitted hexadecimal format and its configuration depends on the programming done by means of P0311 4 2 MESSAGE STRUCTURE FOR RTU MODE The Modbus structure uses master slave system for message exchange It allows up to 247 slaves but only one master Every communication begins with the master making a request to a slave which answers to the master what has been asked In both telegrams request and answer the used structure is the same Address Function Code Data and CRC Only the data field can have a variable size depending on what is being requested Master request telegram Address Function Request Data CRC 1 byte 1 byte n bytes 2 bytes Slave response telegram Address Function Response Data CRC 1 byte 1 byte n bytes 2 bytes 4 2 1 Address The master initiates the communication sending
15. 80 0 41 0x00 OxCl 0 81 0 40 0x01 0 0 0x80 0 41 0x00 OxCl 0x81 0x40 0x00 OxCl 0x81 0x40 0x01 0 0 0x80 0 41 0x00 OxC1 0x81 0x40 0 01 0 0 0x80 0x41 0 01 0xCO 0x80 0 41 0x00 OxCl 0 81 0 40 0x01 0 0 0x80 0 41 0x00 OxCl 0x81 0x40 0x00 OxCl 0x81 0x40 0x01 O0xCO 0x80 0 41 0x01 0xCO 0x80 0 41 0x00 OxCl 0x81 0x40 0x00 OxCl 0x81 0x40 0x01 O0xCO 0x80 0 41 0x00 0 1 0x81 0x40 0 01 0 0 0x80 Ox41 0x01 0 0 0x80 Ox41 0x00 OxC1 0x81 0x40 Table of CRC values for low order byte static char auchCRCLo 0x00 0xCO OxC1 0x01 OxC3 0x03 0x02 0xC2 OxC6 0x06 0x07 0 7 0x05 0 5 OxC4 0 04 0 0 0 0 0 OxCD OxOF 0 0 0 0 0 0 OxCB 0 0 OxC9 0x09 0x08 OxC8 OxD8 0x18 0x19 OxD9 OxDB OxDA 0 1 0 1 OxDE OxDF 0 1 OxDD 0 1 Ox1C OxDC 0 14 0 4 OxD5 0 15 OxD7 0 17 0 16 OxD6 OxD2 0 12 0 13 OxD3 0 11 OxD1 OxD0 0 10 0 0 0x30 0 31 OxF1 0x33 0 OxF2 0x32 0 36 0 6 0 7 0 37 OxF5 0x35 0 34 OxF4 0 3 OxFC OxFD Ox3D OxFF Ox3F 0 3 OxFE OxFA 0 3 0 3 OxFB 0x39 OxF9 OxF8 0x38 0x28 0 8 OxE9 0x29 OxEB 0 2 0 2 OxEA 0 0 2 0 2 OxEF 2 OxED OxEC 2 OxE4 0x24 0x25 OxE5 0x27 0 7 OxE6 0x26 0x22 0 2 0 0x23 OXEL 0x21 0x20 0
16. 85 INTERFACE AND ADDITIONAL INTERFACE 7 2 2 1 Plug in module with two RS485 interfaces 500 5485 8 2 2 2 Plug in module with RS485 and USB interfaces CFW500 CUSB 8 2 2 3 Plug in module with RS485 and RS232 interfaces CFW500 CRS232 9 2 3 RS499IL a M 9 2 3 1 RS485 Interface Characteristics 9 2 3 2 Lerminating 24 445 4 2 5 2 224454455543 51 2 3534 oe 4 1225244 445 152 11 9 2 3 3 INGIGATIONS 30 9 2 3 4 Connection with the RS485 Network 9 24 oc E 10 2 4 1 INGICATIONS u uu 10 2 4 2 Connection with the RS232 Network J 10 2 4 3 Cables for the RS232 Connection J iiem nena nnne nent nnnm nnn 10 3 ec e licer R M MA 11 3 1 SYMBOLS FOR T
17. HE PROPERTIES DESCRIPTIONN 11 P0105 187 200 RAMP SELECTION 11 P0220 LOCAL REMOTE SELECTION SOURGCE 11 P0221 SPEED REFERENCE SELECTION LOCAL SITUATION 11 P0222 SPEED REFERENCE SELECTION REMOTE SITUATION 11 P0223 FORWARD REVERSE SELECTION LOCAL SITUATIONN 11 P0224 RUN STOP SELECTION LOCAL SITUATIONN 11 P0225 JOG SELECTION LOCAL SITUATION T T 11 P0226 FORWARD REVERSE SELECTION REMOTE SITUATION 11 P0227 RUN STOP SELECTION REMOTE SITUATION 11 P0228 JOG SELECTION REMOTE SITUATIONN J 11 SERIAL ADDRESS u aasawa 11 P0310 SERIAL BAUD RATE 12 P0311 SERIAL INTERFACE BYTE CONFIGURATION
18. Modbus RTU CFW500 User s Manual BEEN PEH Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net E Modbus User s Manual Series CFW500 Language English Document Number 10002253377 Publication Date 06 2013 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 5 11 1 3 ABOUT THIS MANUAL sia 5 ABBREVIATIONS AND DEFINITIONS J sn J J J J J J J J 5 NUMERICAL REPRESENTATION J J santa J J 5 DOCUMENTS srki ae e A E Eea EE AAE Eea EEEE 5 1 INTRODUCTION TO SERIAL COMMUNICATIONN J 6 2 INTERFACE DESCRIPTION 7 21 PLUG IN MODULES WITH RS485 INTERFACE J 7 2 1 1 RS485 connector for the standard plug in module CFW500 IOS 7 2 2 PLUG IN MODULES WITH RS4
19. PEED REFERENCE SELECTION REMOTE SITUATION P0223 FORWARD REVERSE SELECTION LOCAL SITUATION P0224 RUN STOP SELECTION LOCAL SITUATION P0225 JOG SELECTION LOCAL SITUATION P0226 FORWARD REVERSE SELECTION REMOTE SITUATION P0227 RUN STOP SELECTION REMOTE SITUATION P0228 JOG SELECTION REMOTE SITUATION These parameters are used in the configuration of the command source for the CFW500 frequency inverter local and remote situations In order that the device be controlled through the Modbus RTU interface the options serial available in these parameters must be selected The detailed description of these parameters is found in the CFW500 programming manual P0308 SERIAL ADDRESS Range 1 to 247 Default 1 Properties CFG Access groups via HMI NET Description It allows programming the address used for the inverter serial communication It is necessary that each device in the network has an address different from all the others P0312 0 HMI programming needn t address P0312 1 Modbus valid addresses 1 to 247 312 6 HMI Modbus standard interface HMI needn t address additional interface Modbus RTU Valid addresses 1 to 247 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 0310 SERIAL BAUD RATE Range 0 9600 bits s Default 1 1 19200 bits s 2 38400 bits s Properties CFG Access
20. arameter be used it is necessary that the drive be programmed to use the speed reference via serial This programming is achieved by means of parameters P0221 and P0222 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net This word uses a 13 bit resolution with signal to represent the motor rated frequency PO403 683 0000h 0 decimal Speed reference 0 P0683 2000h 8192 decimal speed reference rated frequency P0403 Intermediate or higher reference values can be programmed by using this scale E 9 60Hz rated frequenoy to obtain a speed reference of 30 Hz one must calculate 60 Hz gt 8192 30 Hz gt 13 bit reference 13 bit reference 30 x 8192 60 13 bit reference 4096 gt Value corresponding to 30 Hz in a 13 bit scale This parameter also accepts negative values to revert the motor speed direction The reference speed direction however depends also on the control word P0682 bit 2 setting Bit 2 1 and P0683 gt reference for forward direction Bit2 1 and 0683 lt reference for reverse direction Bit2 0 and P0683 gt 0 reference for reverse direction Bit2 Oand P0683 lt reference for forward direction NOTE values transmitted over the network have scale limitation allowing to program speeq reference of 4 times the synchronous speed of the motor at most
21. ation The time counting initiates after the reception of the first valid telegram This function can be used by any serial protocol supported by the equipment After the serial communication timeout has been identified the A128 alarm or F228 fault message will be showed on the HMI depending on the P0313 programming For alarms if the communication is reestablished and new valid telegrams are received the alarm indication will be removed from the HMI Possible Causes Correction Verify factors that could cause failures in the communication cables installation and grounding sure that the master sends telegrams to the equipment in intervals shorter than the programmed P0314 Disable this function at P0314 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net I APPENDICES AP NDICE A ASCII TABLE Table 1 ASCII Characters Dec Hex Chr Dec Hex Chr Dec Hex Chr Dec Hex Chr 0 00 NUL Null char 32 20 Sp 64 40 8 96 60 1 01 SOH Start of Header 33 21 65 41 A 97 61 2 02 5 Start of Text 34 22 66 42 98 62 5 3 03 ETX End of Text 35 23 67 43 E 99 63 e 4 04 EOT End of Transmission 36 24 68 44 D 100 64 d 5 05 Enquiry 37 25 69 45 101 65 6 06 ACK Acknowledgment 38 26 amp 70 46 F 102 66 7 07 BEL Bel
22. bits s 573 us 2 005 ms 57600 bits s 573 us 2 005 ms Time for transmitting one byte of the telegram Tpaweenbyes lime between bytes o T3 5x Minimum interval to indicated beginning and end of a telegram 3 5 x T1 1bits Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 5 OPERATION IN THE MODBUS NETWORK SLAVE MODE The CFW500 frequency inverter has the following characteristics when operated in Modbus RTU network Network connection via RS485 serial interface Address communication rate and byte format defined by means of parameters tallows the device programming and control via the access to parameters 51 AVAILABLE FUNCTIONS AND RESPONSE TIMES In the Modbus RTU specification are defined the functions used to access different types of data In the CFW500 the parameters have been defined as being holding type registers In order to access those data the following services or functions have been made available Read Coils4 Description reading of bit blocks of the coil type Function code 01 Read Discrete Inputs Description reading of bit blocks of the discrete input type Function code 02 Read Holding Registers Description reading of register blocks of the holding register type Function code 03 Read Input Registers Description reading of register blocks of the input register type Function code 04 Wri
23. d product parameters 2 4 22 Connection with the RS232 Network The inverter RX and TX signals must be respectively connected to the master TX and RX signals besides the reference signal GND connection The RS232 interface is very susceptible to interference For that reason the cable used for the communication must be as short as possible always less than 10 meters and must be laid separately from the power input and motor cables 24 3 Cables for the RS232 Connection In case it is wished it is available the following cables for the connection in RS232 between the CFW500 frequency inverter and a network master as a PC for instance Shielded RS232 cable with a DB9 female connector 10050328 Length 3 meters Shielded RS232 cable with a DB9 female connector 10191117 Length 10 meters Other cables however can be found in the market generally called null modem or assembled according to what is wished for the installation Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 3 PROGRAMMING Next the CFW500 frequency inverter parameters related to the Modbus communication will be presented 3 1 SYMBOLS FOR THE PROPERTIES DESCRIPTION RO Reading only parameter CFG Parameter that can be changed only with a stopped motor P0105 151 2 RAMP SELECTION P0220 LOCAL REMOTE SELECTION SOURCE P0221 SPEED REFERENCE SELECTION LOCAL SITUATION P0222 S
24. ddress 1 assuming that 002 30 Hz and P0003 1 5 Address 1 01h 1 byte nitial register address 2 0002h 2 bytes Value of the fist parameter 30 001Eh 2 bytes Value of the second parameter 15 OOOFh 2 bytes Response Slave Field Slave Address Function Byte count P0002 high P0002 low P0008 high P0008 CRC 1 62 FUNCTION 06 WRITE SINGLE REGISTER This function is used to write a value for a single register It has the following structure each field represents a byte Value for the register low byte Value for the register low byte Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net Example writing of 30 Hz as the speed reference P0683 assuming motor frequency of 60 Hz for the slave at address 3 Address 3 O3h 1 byte nitial register address 683 02ABh 2 bytes Value for parameter 1000h 2 bytes Response Slave Field Slave Address Function Register high Register low Value high Value low CRC CRC uimioiai ioioio 95 65 5151515151515 Note that for this function the slave response is an identical copy of the request made by the master FUNCTION 16 WRITE MULTIPLE REGISTERS This function allows writing values for a group of registers which must be in a numerical sequence It can also be used to write in a single regi
25. e programmed deceleration ramp 2 Disable via General Enable The drive is disabled by removing the General Enabling and the motor coasts to stop 3 Change to Local The drive commands change to Local The drive commands change to Local but the status of the enabling and speed reference commands received via network are kept providing that the drive has been programmed to use in Local mode the commands via HMI or 3 wire start stop and Speed reference via either HMI or electronic potentiometer Instead of an alarm the communication error causes an drive 5 Causes a Fault fault so that a drive fault reset becomes necessary in order to 4 Change to Local keeping commands and reference restore normal operation The following events are considered communication errors Serial communication RS485 128 alarm F228 fault Serial communication timeout The actions described in this parameter are executed by means of the automatic writing of the selected actions in the respective bits of the interface control words Therefore in order that the commands written in this parameter be effective it is necessary that the device be programmed to be controlled via the used network interface with exception of option Causes a Fault which blocks the equipment even if it is not controlled by network This programming is achieved by means of parameters 220 to P0228 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomatio
26. eed reference value It disables the drive interrupting the supply for the motor General enable It enables the drive allowing the motor operation Speed direction 1 O To run the motor in a direction opposed to the speed reference To run the motor in the direction indicated by the speed reference O 0 It disables the JOG function JOG 1 It enables the JOG function Bit 4 0 The drive goes to the Local mode LOC REM 1 The drive goes to the Remote mode Bit 5 0 The drive uses the first ramp values programmed in PO100 and P0101 as the motor acceleration Second ramp and deceleration ramp times 4 The drive is configured to use the second ramp values programmed in PO102 and P0103 as the motor acceleration and deceleration ramp times Bit 6 0 It does not execute the quick stop command Quick stop 1 It executes the quick stop command Note This function is not allowed with control types P0202 V f VVW Bit 7 0 No function Fault reset 1 If in a fault condition then it executes the reset Bits 8 to 15 Reserved P0683 SERIAL SPEED REFERENCE Range 32768 to 32767 Default 0 Properties Access groups via NET Description It allows programming the motor speed reference via the Modbus RTU interface This parameter can only be changed via serial interface For the other sources HMI etc it behaves like a read only parameter In order that the reference written in this p
27. elegram The indication of when a new message begins or when it ends is done by the absence of data transmission in the network for a minimum period of 3 5 times the transmission time of a data byte 11 bits Thus in case a telegram has initiated after the elapsing of this minimum time the network elements will assume that the first Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net received character represents the beginning of a new telegram the same manner the network elements will assume that the telegram has reached its end when after receiving the telegram elements this time has elapsed again If during the transmission of a telegram the time between the bytes is longer than this minimum time the telegram will be considered invalid because the frequency inverter will discard the bytes already received anq will mount a new telegram with the bytes that were being transmitted For communication rates higher than 19200 bits s the used times are the same as for that rate The next table shows us the times for different communication transmission rates Thetweenbytes 13 5 aoa ao Transmission Signal Time NCC T11 bits rII Telegram Table 4 1 Communication rates and the time periods involved in the telegram transmission Baud rate 1200 bits s 2400 bits s 4 583 ms 16 042 ms 4800 bits s 9600 bits s 19200 bits s 38400
28. he source of commands or references the other is necessarily inactive or remote keypad as the selection of P0312 The Serial 1 Interface is the standard interface CFW500 and is present in all plug In modules via the terminals of the standard RS485 port The Serial 2 interface is present only in the Plug In modules described below Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 2 It is not possible use the serial interfaces for communication with two different networks The only allowed simultaneous operation is using Serial 1 connected to the remote keypad and another programmed protocol to Serial 2 2 2 1 Plug in module with two RS485 interfaces CFW500 CRS485 Figure 2 2 Plug in module with additional 5485 For this plug in module besides the standard RS485 interface a second RS485 interface is available This accessory allows simultaneous connection of a remote HMI in the standard RS485 serial interface plus a programmable 5485 interface 2 2 2 Plug in module with RS485 and USB interfaces CFW500 CUSB EE Figure 2 3 Plug in module with USB connection For this plug in module besides the standard RS485 interface a USB interface with mini USB connector is available When connecting the USB interface it will be recognized as a USB to serial converter and a virtual COM port will be created Thus communication is made w
29. ies Access groups via NET Description They allow the control of the analog outputs by means of network interfaces Serial CAN These parameters cannot be changed via The value written in these parameters is used as the analog output value providing that the function for the desired analog output be programmed for P0696 P0697 P0698 value at the parameters P0251 P0254 P0257 The value must be written in a 15 bit scale FFFh 32767 to represent 100 96 of the output desired value i e P0696 0000h 0 decimal analog output value 0 96 P0696 7FFFh 32767 decimal analog output value 100 96 The showed example was for P0696 but the same scale is also used for the parameters P0697 P0698 For instance to control the analog output 1 via serial the following programming must be done Choose a parameter from P0696 P0697 P0698 to be the value used by the analog output 1 For this example we are going to select P0696 Program the option PO696 value as the function for the analog output 1 in PO254 Using the network interface write in P0696 the desired value for the analog output 1 between and 100 96 according to the parameter scale NOTE For CFW500 frequency inverter the analog output 3 represents the frequency output FO 3 For the actual output resolution refer to the product manual Phone 800 894 0412 Fax 888 723 47
30. ing language C is presented which implements the CRC calculation for the Modbus protocol The calculation uses two tables to supply pre calculated values of the necessary displacement for the calculation Table of CRC values for high order byte static unsigned char auchCRCHi 0x00 OxC1 0x81 0x40 0 01 0 0 0x80 0x41 0 01 0xCO 0x80 0 41 0x00 OxCl Ox81 0 40 0x01 0 0 0x80 0 41 0x00 OxCl 0x81 0x40 0x00 OxCl 0x81 0x40 0x01 0 0 0x80 0 41 0x01 0 0 0x80 0 41 0x00 OxC1 0x81 0x40 0x00 OxCl 0x81 0x40 0x01 O0xCO 0x80 0 41 0x00 OxC1 0x81 0x40 0 01 0 0 0x80 0x41 0 01 0 0 0x80 0 41 0x00 OxCl 0 81 0 40 0x01 0 0 0x80 0 41 0x00 OxCl 0x81 0x40 0x00 OxCl 0x81 0x40 0x01 O0xCO 0x80 Ox41 0x00 OxC1 0x81 0x40 0 01 0 0 0x80 0x41 0 01 0 0 0x80 0 41 0x00 OxCl 0 81 0 40 0x00 OxC1 0x81 0x40 0 01 0 0 0x80 0x41 0 01 0xCO 0x80 0 41 0x00 OxCl 0 81 0 40 0x01 0 0 0x80 0 41 0x00 OxCl 0x81 0x40 0x00 OxCl 0x81 0x40 0x01 O0xCO 0x80 0 41 0x01 0xCO 0x80 0 41 0x00 OxCl 0x81 0x40 0x00 OxCl 0x81 0x40 0x01 0 0 0x80 0 41 0x00 OxC1 0x81 0x40 0 01 0 0 0x80 0x41 0 01 0 0 0x80 0 41 0x00 OxCl 0 81 0 40 0x00 OxC1 0x81 0x40 0 01 0 0 0x80 0x41 0 01 0 0 0x
31. ith the drive via this COM port The USB accessory also provides the connection to the remote keypad via standard RS485 interface 1 It is necessary to install the USB driver on the CD ROM supplied with the product The COM port number created depends on the availability in the operating system and once connected consult the hardware resources of the system to identify this port Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 2 2 8 Plug in module with RS485 and RS232 interfaces CFW500 CRS232 Figure 2 4 Plug in module with 5232 connection For this plug in module besides the standard RS485 interface an RS232 interface is available This accessory allows simultaneous connection of a remote in the standard RS485 serial interface plus a programmable RS232 interface 2 3 RS485 23 1 5485 Interface Characteristics interface follows the EIA 485 standard tallows communication baud rates from 9600 up to 38400 Kbit s The interface is electrically isolated and with differential signal which grants more robustness against electromagnetic interference It allows the connection of up to 32 devices to the same segment More devices be connected by using repeaters A maximum bus length of 1000 meters 2 3 2 Terminating resistor It is necessary to enable a terminating resistor at both ends of the main bus for each segment of the 5485
32. l 39 27 71 47 103 67 g 8 08 BS Backspace 40 28 72 48 104 68 9 09 Horizontal Tab 41 29 73 49 3 105 69 3 0 0 Line Feed 42 2A bl 74 4A Ji 106 6A 3 1 0B VT Vertical Tab 43 2B 75 4B K 107 6B k 2 0C FF Form Feed 44 2G 76 4 L 108 6 1 3 0 CR Carriage Return 45 2D 77 4 109 6D m 4 OE 50 Shift Out 46 2 78 4 110 6E n 5 OF Sd Shift In 47 2 19 4 111 6F 6 0 DLE Data Link Escape 48 30 0 80 50 P 112 70 p 7 1 DEL Device Control 1 49 31 1 81 51 Q 113 8 2 DC2 Device Control 2 50 32 2 82 52 R 114 72 9 3 DC3 Device Control 3 51 33 3 83 53 5 115 73 8 20 4 4 Device Control 4 52 34 4 84 54 T 116 74 21 5 NAK Negative Acknowledgement 53 35 5 85 55 9 117 75 22 6 SYN Synchronous Idle 54 36 6 86 56 V 118 76 23 7 of Trans Block 55 37 7 87 87 W 119 77 24 8 1 56 38 8 88 58 x 120 78 x 25 9 End of Medium 57 39 9 89 50 X 121 79 y 26 A SUB Substitute 58 3A H 90 5A Z 122 7A z 27 B ESC Escape 59 3B 91 5B 123 7B 28 C FS File Separator 60 3C 92 56 b 124 7 29 Gs Group Separator 61 3D 93 5D 125 7 30 RS Record Separator 62 gt 94 126 7E 31 05 Unit Separator 63 3F 2 95 127 7F DEL Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net AP NDICE B CRC CALCULATION USING TABLES Next a function using programm
33. n net Email info ctiautomation net P0314 SERIAL WATCHDOG Range 0 0 to 999 0s Default 0 0 Properties CFG Access groups via NET Description It allows programming a time limit for the detection of serial interface communication error If the frequency inverter remains without receiving valid telegrams longer than the time programmed in this parameter it will be considered that a communication error has occurred the alarm A128 will be showed on the HMI and the option programmed in P0313 will be executed After being powered up the frequency inverter starts counting this time from the first received valid telegram The value 0 0 disables this function P0316 SERIAL INTERFACE STATUS Range 0 Inactive Default 1 Active 2 Watchdog error Properties RO Access groups via NET Description It allows identifying whether the RS485 serial interface board is properly installed and whether the serial communication presents errors Table 3 3 P0316 options Inactive serial interface It occurs when the device does not have the 5485 E board installed 1 Active Installed and acknowledged RS485 interface board The serial interface is active but a serial communication error has been detected 128 alarm F228 fault P0680 STATUS WORD Range 0000h to FFFFh Default Properties RO Access groups via NET Description It allows the device status monitori
34. ng Each bit represents a specific status Function Undervoltage LOC REM Speed direction Active General Motor Running Alarm condition In configuration Second ramp Active fast stop Reserved 5 5 2 Q 5 lt 2 a T Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net Table 3 4 P0680 parameter bit functions Bits O to 3 Reserved Bit 4 0 The fast stop command is not active Active quick stop 1 The drive is executing the fast stop command Bit 5 0 The drive is configured to use the first ramp values programmed in 100 and PO101 as the motor Second ramp acceleration and deceleration ramp times 1 The drive is configured to use the second ramp values programmed in P0102 and P0103 as the motor acceleration and deceleration ramp times Bit 6 0 The drive is operating normally In configuration mode 1 The drive is in the configuration mode It indicates a special condition during which the drive cannot be enabled Executing the self tuning routine Executing the oriented start up routine Executing the HMI copy function Executing the flash memory card self guided routine There is a parameter setting incompatibility There is no power at the drive power section Bit 7 0 The drive is not in alarm condition Alarm condition 1 The drive is in alarm condition Note The alarm number can be read by means of the parameter P0048 Present Ala
35. object 0 24 of the second object bytes 2 a ET x m r C 11 This function allows the reading of three information categories Basic Regular Extended each category is formed by a group of objects Each object is formed by a sequence of ASCII characters For the CFW500 frequency inverter only basic information formed by three objects is available Objeto OOh VendorName represents the product manufacturer Objeto O1h ProductCode formed by the product code CFW500 plus the inverter rated voltage and current ex CFW500 220 230 V 10 A Objeto 02h MajorMinorRevision it indicates the product firmware version in the format VX XX The reading code indicates what information categories are read and if the objects are accessed in sequence or individually The CFW500 supports the codes 01 basic information in sequence and O4 individual access to the objects The other fields are specified by the protocol and for the CFW500 they have fixed values Example reading of basic information in sequence starting from the object 02h from a CFW500 at address 1 Request Master 1 Numbeofobecs On 1 Obetcde 02 jective 08 Obetvle CRC In this example the value of the objects was not represented in hexadecimal but using the corresponding ASCII characters instead E g for the object O2h the value V1 00 was t
36. ransmitted as being five ASCII characters which in hexadecimal have the values 56h V 31h 1 2Eh 30h 0 and 30h 0 6 4 COMMUNICATION ERRORS Communication errors may occur in the transmission of telegrams as well as in the contents of the transmitted telegrams Depending on the type of error the slave may or not send a response to the master Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net When the master sends a message for an inverter configured in specific network address the product will not respond to the master if the following occurs Parity bit error CRC error Timeout between the transmitted bytes 3 5 times the transmission time of a byte In those cases the master must detect the occurrence of the error by means of the timeout while waiting for the slave response In the event of a successful reception during the treatment of the telegram the slave may detect problems and send an error message indicating the kind of problem found Invalid function Error code 1 The requested function has not been implemented for the equipment Invalid datum address Error code 2 the datum address does not exist Invalid datum value Error code 3 It occurs in the following situations The value is out of the permitted range An attempt to write in a datum that cannot be changed reading only register bit NOTE 2 It is important
37. rface Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 2 DESCRIPTION The interfaces for serial communication RS232 RS485 or USB available for the CFW500 frequency inverter depend on the selected plug in module for the product Following are presented information about the connection and installation of the equipment using different plug in modules 21 PLUG IN MODULES WITH RS485 INTERFACE SEP Plug in Figure 2 1 Example of CFW500 plug in module All plug in modules for CFW500 frequency inverter have at least one standard RS485 interface identified as Serial 1 This standard RS485 interface has two functions Point to Point Connection with remote keypad Connection via RS485 for network operation The selection of the function that will be used for the product is made using parameter 12 211 RS485 connector for the standard plug in module CFW500 IOS For the standard plug in module the connection to the RS485 interface is available via the control terminal using the following pin assignment Function RxD TxD negative RxD TxD positive OV isolated from the RS485 circuit Table 2 1 RS485 connector pinout for standard plug in module CFW500 IOS 2 2 PLUG IN MODULES WITH RS485 INTERFACE AND ADDITIONAL INTERFACE Depending on the installed plug In module CFW500 has up to two serial interfaces simultaneously but only one can be t
38. rm Bit 8 0 The motor is stopped Motor Running 1 The drive is running the motor at the set point speed or executing either the acceleration or the deceleration ramp Bit 9 0 General Enable is not active Active General Enable 1 General Enable is active and the drive is ready to run the motor Bit 10 0 The motor is running in the reverse direction Speed direction 1 The motor is running in the forward direction Bit 11 0 Inactive JOG function JOG 1 Active JOG function Bit 12 0 Drive in Local mode LOC REM 1 Drive in Remote mode Bit 13 0 No Undervoltage Undervoltage 1 With Undervoltage Bit 14 0 PID in manual mode Manual Automatic 1 PID in Automatic mode Bit 15 O The drive is not in a fault condition Fault condition 1 The drive has detected a fault Note The fault number can be read by means of the parameter P0049 Present Fault P0681 MOTOR SPEED IN 13 BITS Range 32768 to 32767 Default Properties RO Access groups via NET Description It allows monitoring the motor speed This word uses 13 bit resolution with signal to represent the motor rated frequency 403 P0681 0000h 0 decimal motor speed 0 P0681 2000h 8192 decimal motor speed rated frequency Intermediate or higher speed values in rpm can be obtained by using this scale E g 6QHz rated frequency if the value read is 2048 0800h then to obtain the speed in Hz one must calculate
39. ster each field represents a byte Function Function Initial register address high byte Initial register address low byte Initial register address low byte 4 Datum2 hig oo Datum 2 low etc CRC CRC Example writing of the acceleration time PO100 equal to 1 0s and the deceleration time PO101 equal to 2 0s of a slave at address 15 Address 15 OFh 1 byte nitial register address 100 0064h 2 bytes Value for the fist parameter 10 000Ah 2 bytes Value for the second parameter 20 0014 2 bytes Request Master Response Slave Field Field Slave Address Slave Address Function Function Initial register high Initial register high Initial register low 64h Initial register low Number of registers high Number of registers high Number of registers low Number of registers low Byte count CRC P0100 high CRC P0100 low P0101 high P0101 low CRC CRC e gt Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 6 3 FUNCTION 43 READ DEVICE IDENTIFICATION It is an auxiliary function that allows the reading of the product manufacturer model and firmware version It has the following structure Request Master Response Slave Coqeofthefistobet p Seofthefrstobect 2 Value ofthe first object n byte o x Size of the second
40. te Single Description writing in a single bit of the coil type Function code 05 Write Single Register Description writing in a single register of the holding type Function code 06 Write Multiple Coils Description writing in bit blocks of the coil type Function code 15 Write Multiple Registers Description writing in register blocks of the holding register type Function code 16 Read Device Identification Description identification of the device model Function code 43 The response time from the end of transmission of the master until the response of the slave ranges from 2 to 10 ms for any of the functions above 5 2 MEMORY The CFW500 Modbus communication is based on the reading writing of the equipment parameters All the drive parameters list is made available as holding type 16 bit registers The data addressing is done with the offset equal to zero which means that the parameter number corresponds to the register number The following table illustrates the parameters addressing which can be accessed as holding type register Functions used to access SoftPLC data Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net Table 5 1 Moqbus Memory Modbus data address Parameter number Hexadecimal It is necessary to know the inverter list of parameters to be able to operate the equipment Thus it is possible
41. to identify what data are needed for the status monitoring and the control of the functions The main parameters are Monitoring reading P0680 holding register 680 Status word P0681 holding register 681 Motor speed Command writing P0682 holding register 682 Command Word P0683 holding register 683 Speed Reference Refer to the Programming Manual for a complete parameter list of the equipment NOTE O Al the parameters are treated as holding type registers Depending on the master that is used those registers are referenced starting from the base address 40000 or 4x In this case the address that must be programmed in the master for a parameter is the address showed in the table above added to the base address Refer to the master documentation to find out how to access holding type registers t should be noted that read only parameters can only be read from the equipment while other parameters can be read and written through the network Besides the parameters other types of data as bit markers word or float can also be accessed using the Modbus interface Those markers are used mainly by the SoftPLC function available for the CFW500 Refer to the SoftPLC Manual for the description of those markers as well as for the addresses via Modbus Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 6 DETAILED DESCRIPTION OF THE
42. w ctiautomation net Email info ctiautomation net 4 MODBUS RTU PROTOCOL L a 19 4 1 TRANSMISSION MODES 4 T qua a aoaaa a 19 4 2 MESSAGE STRUCTURE FOR MODE J J Q U T J Q 19 4 2 1 Address us 19 4 2 2 Function Code uu aa a Ya ak Dru RR aar 8 241145423455 a A 2444484 2444 19 4 2 3 D CERE dO 19 4 2 4 ORG EE 19 4 2 5 Time Between Messages 414 4 444445 11 404 4444446442 4444 44444544114406 44468 6 10 04 19 5 OPERATION IN THE MODBUS NETWORK SLAVE 21 5 1 AVAILABLE FUNCTIONS AND RESPONSE TIMES J J Q 21 52 MEMORY MAP Em 21 6 DETAILED DESCRIPTION OF THE 65 23 6 1 FUNCTION 03 READ HOLDING REGISTER J J J Q J 23 6 2 FUNCTION 06 WRITE SINGLE REGISTER J J aa aa uaa U oaa J Q u 23 FUNCTION 16 WRITE MULTIPLE REQGISTERS
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