VW3-A66301 - Schneider Electric
Contents
1. ALTIVAR 16 carte de communication PCMCIA protocoles UNI TELWAY MODBUS JBUS PCMCIA communication card protocols UNI TELWAY MODBUS JBUS VW3 A66301 guide d exploitation user s manual GROUPE SCHNEIDER Altivar 16 Carte de communication PCMCIA oe eecceee cece cee eee cee eeeeceenee nee taeteetae tae taetaetaeeee page 2 protocoles UNI TELWAY MODBUS JBUS nO rPOZzrPINT PCMCIA communication Gard protocols UNI TELWAY MODBUS JBUS Although every care has been taken in the preparation of this document Schneider Electric SA cannot guarantee the contents and cannot be held responsible for any errors it may contain or for any damage which may result from its use or application The hardware software and services described in this document may be changed or modified at any time either from a technical point of view or in the way they are operated Their description can in no way be considered contractual 5 2 Contents Introduction 54 Installing the card 55 Connection to the multidrop bus 56 to 58 Communication principle 59 to 61 Setting up the Altivar 16 62 and 63 Reading parameters 64 Writing parameters 65 Altivar 16 variables 66 to 84 UNI TELWA2. Applications ATV16 General Materials Variable High usage handling torque speed Drive functions Maximum frequency A 40 200Hz A40 200Hz 440 200 Hz 40 70 80Hz 40 400Hz Voltage frequency ratio selection 1 E n P L E n L Bol eP E n L Slip compensation E yes no E yes no E yes no no no Switching frequency E 5 10kHz E 5 10kHz 5kHz E 5 10kHz 5kHz Current limit i5in A0 5to1 5In 1 51n 1 2In 1 2 In Braking to a standstill by DC injection f lt 0 1 Hz E yes no E yes no no no E yes no Functions in the application specific cards e 10 V analog input Summing E a Li E Speed regulation a a PI controller a Lal Logic inputs 2nd ramps a a a a Preset speeds a a a Current limit E speed a Step by step operation JOG a a Fast stop CL Freewheel stop a LI DC injection a Automatic manual a Start stop a a Reset after fault a a Change motor power LI Speed controller forced in local mode 3 a a a a Logic outputs Brake control sequence A Speed reference reached a LI a Low speed reached a CL High speed reached LI LU Current limit reached a a 1 1 In overload reached a a a 100 thermal state reached J Analog output Motor frequency a a Li a Motor current a a a Preprogrammed and programmable characteristics S ramps a a a Skip frequencies al Controlled stop on AC supply break 2 a m a a LI Automatic
3. CLI Assignment of control The Altivar 16 is controlled via the multidrop bus to LINE mode B4 NTO Inhibition of communication The Altivar 16 changes to fault condition SLF check in UNI TELWAY after no polling for 10 s e in MODBUS if more than 10 s elapse between two requests Setting this bit to 1 inhibits this check For safety reasons this feature should only be used during debugging phases B5 RUN Start stop command 1 start 0 stop B6 REV Frequency reference 1 negative 0 positive sign The direction of rotation can be reversed by changing the state of this bit or by providing a frequency reference of opposite sign in word W19 B7 DCB Braking control Takes priority over the RUN bit B8 CAL Selection of a freewheel Active when there is a stop command stop B9 CAR Selection of a fast stop Active when there is a stop command B10 Reserved These bits initiate the action shown when they are written as 1 They are reset to zero by the speed controller If they are written as zero they have no effect and are always read as zero 75 Altivar 16 variables Address zone common to Altivar 16 and Altivar 45 2 Adjustment words read and write WORD NAME RANGE UNIT DESCRIPTION COMMENTS WO Reserved WI Reserved W2 CGL 0 5Hz 0 1Hz Slip compensation W3 Not used W4 Not used W5 Not used W
4. The data is transmitted in binary code CRC16 cyclical redundancy check The end of frame is detected on a silence of 3 characters or more ASCII mode The frame is complete and is defined in the following way Heading Address Request Data LRC End CRLF heading H 3A the data is coded in ASCII each byte is divided into 2 four bit bytes each of which is coded by an ASCII character 0 to F LRC longitudinal redundancy check end CR LF H 0D and H 0A 89 Oe E ozm MODBUS JBUS protocol Principle The MODBUS protocol is a dialogue protocol which creates a hierarchical structure a master and several slaves The MODBUS protocol enables the master to interrogate one or more intelligent slaves A multidrop link connects the master and slaves Two types of dialogue are possible between master and slaves the master talks to a slave and waits for a response the master talks to all the slaves without waiting for a response broadcasting principle The slaves are numbered from 1 to 255 and number 0 is reserved for broadcasting Master The master manages the exchange and only it can take the initiative The master repeats the question when there is an H incorrect exchange and declares the interrogated slave absent if no response is received within a given time envelope Only one device can transmit on the line at
5. e Far format of the data frame 8 0 1 1 stop 2 stops odd parity even parity no parity 8 data bits 7 data bits NN 5 morn e Adr Logic address of the speed controller UtL rTu ASC FIP bdr All values All values All values For 8 0 1 8 0 7 8 E 1 8 0 7 8 E 1 8 n 7 8 n 2 8 n 1 8 n 2 7 0 1 7 E 1 7 0 2 7 E 2 Adr 1 to 31 1 to 31 1 to 31 1 to 63 62 Setting up the Altivar 16 Diagnostics On power up and after the protocol has been configured the COM lamp on the PCMCIA card indicates whether or not communication is functioning UNI TELWAY FIPIO protocol Green COM indicator lamp Normal operation Red ERR indicator lamp Communication fault Flashing green indicator lamp Serial link not configured Modbus RTU JBUS protocol Green COM indicator lamp Data transfer in progress Red ERR indicator lamp Waiting for data transfer Note For further information refer to the diagnostics page List of faults which may or may not be reset via communication When a fault occurs the speed controller freewheels to a stop To restart the operator must acknowlege the fault and reset the speed controller W3050 0 However 2 types of fault cannot be reset via communication but require action on the speed controller see table below Not possible to Possible to Code Description reset speed reset speed disp
6. 0 1 600s 018s Deceleration time W3024 FLG 0 100 1 Frequency loop gain if FLG 100 frequency oop inhibited W3025 UFR 0 100 1 Set voltage frequency ratio W3026 ITH 0 5 1 15In 0 1 Thermal current W3027 IDC 0 5 1 5 Ith 0 1 A DC current amplitude W3028 TDC D Bis 0 1s DC injection time if TDC 5 1s continuous DC injection W3029 CGL 0 5 Hz 0 1 Hz Slip compensation W3030 AC2 0 1 600s 0 1s Acceleration time 2 W3031 DE2 0 1 600s 0 1s Deceleration time 2 W3032 JOG 0 1 10 Hz 0 1 Hz JOG speed W3033 SP3 LSP HSP 0 1 Hz 3rd speed W3034 SP4 LSP HSP 0 1 Hz 4th speed W3035 JF1 0 TFR 0 1 Hz Skip frequency 1 W3036 JF2 0 TFR 0 1 Hz Skip frequency 2 W3037 RGP 0 100 0 1 PI controller proportional gain W3038 RGI 0 100 0 1 PI controller integral gain W3039 IBR 0 1 15 In 0 12 Brake control level W3040 SMF 0 LSP 0 1 Hz Brake application level W3041 SRF 0 LSP 0 1 Hz Brake release level W3042 TMF 0 58 0 1 s Brake application time W3043 LTI 0 5 1 5In 0 1 A Current limit level W3044 to W3049 Reserved 70 Altivar 16 variables Address zone reserved for Altivar 16 Command words read and write WORD NAME RANGE UNIT DESCRIPTION W3050 COM Command register RST W3050 0 Reset speed controller DLI W3050 1 Assign commands on line FLI
7. DRF W3070 9 Overcurrent OBF W3070 A Overvoltage caused by overbraking OBF W3070 B Overcurrent caused by overbraking OLF W3070 C Motor overload W3070 D Reserved W3070 E Reserved CRF W3070 F Capacitor charging relay fault ink These faults are uncorrectable and cannot be acknowledged by the communication 73 Altivar 16 variables Address zone reserved for Altivar 16 Signalling words read only WORD NAME RANGE UNIT DESCRIPTION POSSIBLE VALUES W3071 DP1 Past fault 1 each of these words W3072 DP2 Past fault 2 has the same structure W3073 DP3 Past fault 3 as W3069 W3074 DP4 Past fault 4 W3075 DP5 Past fault 5 W3076 DP6 Past fault 6 W3077 DP7 Past fault 7 W3078 DP8 Past fault 8 74 Altivar 16 variables Address zone common to Altivar 16 and Altivar 45 2 Control bits read and write BIT NAME DESCRIPTION FUNCTION BO TST De energization of speed Disconnects the Altivar 16 power supply if the contact of the controller safety relay relay is used for the hold in circuit of the line contactor B1 RST Fault reset Acknowledges a correctable fault which has disappeared and Speed controller reset resets the safety relay B2 CLO Assignment of control The Altivar 16 can only be controlled via its terminals to LOCAL mode logic and analog inputs B3
8. This function is used to reinitialize communication of a slave and in particular to make it leave listen only mode LOM by transmission of a data H 0000 ou H FFOO change of ASCII delimiter In ASCII mode messages are delimited by the line feed character LF H 0A This function is used to change this character change to LOM mode This function is used to force a slave into listen only mode LOM In this mode the slave does not process messages which are addressed to it and only transmits a response when the channel is reinitialized counter reset This function resets to zero all the counters monitoring the exchanges of a slave number of correct messages seen on the line without CRC error or checksum error This function reads a 16 bit counter incremented from 0 to H FFFF which totals the messages seen on the line and processed by the slave number of messages received with checksum error reads a 16 bit counter number of exception responses Reads a 16 bit counter which totals the number of exception messages transmitted to the master by a slave following an incorrect frame number of messages addressed to the slave except for broadcasts Reads a 16 bit counter which totals the number of all types of messages addressed to the slave number of broadcast messages received Reads a 16 bit counter which totals the number of all types of messages addressed to the slave read number of NAQ responses The val
9. Write objects H 37 60 words max Event Yes data 2 words Specific H F2 See later Identification request Request code H OF Response given by Altivar Response code H 3F Product type H 14 for Altivar Sub type H 16 Altivar 16 Product version H XX software version eg H 21 for V2 1 ASCII string product reference eg ATV 16U29N4 The first byte of an ASCII string always corresponds to the length of the string 85 Oe E ozm UNI TELWAY requests Request status Request code H 31 Response given by Altivar Response code H 61 Current status H XX bit 0 internal fault bit 1 correctable fault bit 2 uncorrectable fault bit 3 not significant bit 4 not significant bit 5 not significant bit 6 speed controller stopped RDY or SLC or fault bit 7 speed controller in LOCAL control Status mask H C7 indicates the significant bits for the current status UNI TELWAY frame Transmitter address Target address Length of message Category Data Check request Heading Requests to read and write objects These requests are used to access several words within the limits described on the previous page These requests can be coded by specifying Question code TXTi C H 36 read or H 37 write Category 0 7 Segment H 68 internal word Object type H 06 for a byte 8 bits in readin
10. e cable routing keep the bus away from the power cables 30 cm minimum and make right angle crossovers if necessary connect the cable shielding to the earth of each device e fit a line terminator at both ends of the line 5 6 Connection to multidrop bus Connection to standard RS 422 bus Pins to use SUB D connector 15 pin Automated system y Tee we ee Se i 8 EE D i SE OV H 15 OV Transmission ka L TXD AW 14 B A N fi Jt Reception B 7 D RXD TD 1 i i jt t 40V L d A S 5 Transmission n EE or Ge D 8 T B eo svt LJ re E l Recepti K eception ul PG ME EE PG jr Connection of the shielding to both ends depends on the electrical constraints on the installation Using the ABE 6SD15F wiring interface enables connection to a screw terminal block via the 15 pin SUB D connector RS 232 C connection Pins to use Automated system connection example _ SUB D connector 15 pin using 25 pin SUB D connector i cy i IPG E p PG r I hd I Transmission TXD 7 2 TXD Transmission Reception IRXD 8 E 3 RXD Reception 0v SGH 3 7 HSG T I 14 E 4 RTS J IDE
11. 16 and Altivar 45 2 Signalling words read only WORD NAME RANGE UNIT DESCRIPTION COMMENTS W29 DIN Speed controller logic input status register W29 0 FW input W29 1 RV input W29 2 Not used W29 3 Not used W29 4 Not used W29 5 to W29 F reserved W30 DAI 0 1000 Value of speed controller 0 OV or 0 mA or 4 mA analog input 1000 10V or 20 mA W31 Reserved W32 Reserved 8 0 Altivar 16 variables Address zone common to Altivar 16 and Altivar 45 2 Configuration Configuration words can only be written when the speed controller is stopped They are stored in the EEPROM memory via the COM command register bit W18 F Configuration words read and write write when motor is stopped WORD NAME RANGE UNIT DESCRIPTION POSSIBLE VALUES W33 Not used W34 Not used W35 Configuration register W35 0 Not used W35 1 Not used W35 2 Not used W35 3 Not used W35 4 SLP Slip compensation 0 no and 1 yes W35 5 Not used W35 6 Not used W35 7 Not used W35 8 Not used W35 9 Not used W35 A Not used W35 B Not used W35 C Not used W35 D Not used W35 E Not used W35 F Not used 81 Altivar 16 variables Address zone common to Altivar 16 and Altivar 45 2 Configuration words re
12. UFT 0 2 Type of voltage frequency ratio 0 linear N 1 quadratic P 2 linear L 6 8 Altivar 16 variables Address zone reserved for Altivar 16 Configuration words read and write write when motor is stopped WORD INAME RANGE UNIT DESCRIPTION POSSIBLE VALUES W3013 CF1 Specific functions configuration register W3013 0 Reserved RPS W3013 1 S ramp O linear 1 S FLR W3013 2 Flying restart 0 no 1 yes ATR W3013 3 Automatic restart 0 no 1 yes SFR W3013 4 10 kHz switching frequency 0 5kHz 1 10kHz W3013 5 Reserved STP W3013 6 Controlled stop on AC supply break 0 no 1 yes BRA W3013 7 Adaptation of the deceleration ramp 0 n0o 1 yes SLP W3013 8 Slip compensation 0 no 1 yes RBL W3013 9 Activation of the speed reference 0 no 1 yes SCE W3013 A Speed ref in EEPROM memory 0 no 1 yes BST W3013 B Inhibit boost at start up 0 no 1 yes W3013 C Reserved W3013 D Reserved W3013 E Reserved W3013 F Reserved W3014 to W3019 Reserved 69 Altivar 16 variables Address zone reserved for Altivar 16 Adjustment words read and write WORD NAME RANGE UNIT DESCRIPTION W3020 LSP 0 HSP 0 1 Hz Low speed W3021 HSP LSP TFR 0 1 Hz High speed W3022 ACC 0 1 600s 0 1s Acceleration time W3023 DEC
13. W3050 2 Assign frequency reference on line 1 W3050 3 Reserved NTO W3050 4 Communication check inhibited 2 RUN W3050 5 Start stop command 1 DCB W3050 6 DC injection braking command W3050 7 Reserved CAL W3050 8 Select freewheel stop CAR W3050 9 Select fast stop W3050 A Reserved W3050 B Reserved W3050 C Reserved W3050 D Reserved EFL W3050 E External fault command W3050 F Store in EEPROM 3 W3051 FRH LSP HSP Signed line frequency reference W3052 LOL Write logic outputs on line only if they are not assigned W3053 0 Value applied at S2A S2B W3053 1 Value applied at LO W3053 2 to F Reserved W3053 AOL 0 255 Write analog output AO on line only if Al not assigned W3054 to W5059 Reserved The bits are active at state 1 1 The same message should not be used to assign FLI and RUN Use 2 messages the 1st for FLI the 2nd for RUN 2 The Altivar 16 changes to fault condition SLF e in UNI TELWAY when there has been no polling for 10 s e in MODBUS if more than 10 s elapse between requests Setting this bit to 1 inhibits this check For safety reasons this should only be performed during debugging phases 3 Global command to store all the adjustments and the entire configuration in the speed controller EEPROM The storage takes a few seconds and access to the speed controller is refused while it is being performed For this function the
14. any time No slave can send a message itself unless it is invited to do so CO lt gt V Slave j Slavei Slave k Note No lateral communication ie slave to slave can be performed directly The application software of the master must therefore be designed to interrogate a slave and send back data received to another slave 90 MODBUS JBUS protocol Accessible data The MODBUS protocol enables data bits and words to be exchanged between a master and several slaves and checks these exchanges Consequently bit areas are defined in each slave unit which will be read or written by the master An input object can only be read An output object can be read or written 1 Slave i Master MODBUS addressing Slave j 5 Input Bo bits 58 pad f T gt Output bits a E o nD 2 Input Si pu words E So Ek S x Output words SE i Slave k Exchanges The master or supervision device takes the initiative in exchanges The master addresses a slave by supplying it with four types of data the address of the slave the function required of the slave the data area variable depending on the request the exchange check The link master waits for the response of the slave before transmitting the n
15. bytes read 2 last word MS LS MS LS Tbyte 1 byte 1 byte 2 bytes 2 bytes 2 bytes Example read words W3020 to W3023 of slave 2 Question 02 04 OBCC 0004 33E1 Response 02 04 08 ox Ee xxxx CRC16 Value Value of W3020 of W3023 96 MODBUS JBUS protocol Write an output bit function 5 Question Slave 05 Bit n Bit value CRC16 n MS LS 1byte 1 byte 2 bytes 2 bytes 2 bytes The bit value field has two possible values only and can take no other value bit at 0 0000 bit at 1 FFOO Response Slave 05 Bit n Bit value CRC16 n MS LS 1 byte 1 byte 2 bytes 2 bytes 2 bytes Example write value 1 in bit B3 of slave 2 Question 02 05 0003 FFOO 7C09 and response Write an output word function 6 Question Slave 06 Word number Word value CRC16 n MS LS MS LS 1 byte 1 byte 2 bytes 2 bytes 2 bytes Response Slave 06 Wordnumber Word value CRC16 n MS IS MS LS 1 byte 1 byte 2 bytes 2 bytes 2 bytes Example write value H 0315 789 in word W3022 of slave 2 ACC 78 95 Question 02 06 oBcE 0315 2B1D and response 97 MODBUS JBUS protocol Diagnostic function 8 Question and response Slave 08 S
16. catching a spinning load a a al a Automatic restart a a a 1 n constant torque normal applications P variable torque L constant torque heavily loaded machines 2 ATV16 U N4 speed controller only 3 Only the Altivar 16 with software version IE07 fixed programmed function E programmable function A function with adjustable value 6 6 Altivar 16 variables Address zone reserved for Altivar 16 Configuration words read and write write when motor is stopped WORD NAME RANGE UNIT DESCRIPTION POSSIBLE VALUES W3000 Un 0 10 Assignment of logic input LI1 0 not assigned 1 start stop 2 fast stop 3 fault reset 4 speed 5 freewheel stop 6 switching to ramp 2 7 reduction of current limit 8 Jog 9 change motor power 10 local forcing W3001 LI2 0 11 Assignment of logic input LI2 0 not assigned 1 3rd speed 2 fast stop 3 fault reset 4 speed 5 freewheel stop 6 automatic manual switching 7 switching to ramp 2 8 reduction of current limit 9 Jog 10 change motor power 11 local forcing W3002 LI3 0 10 Assignment of logic input LI3 0 not assigned 1 4th speed 2 fast stop 3 DC injection 4 fault reset 5 freewheel stop 6 switching to ramp 2 7 reduction of current limit 8 Jog 9 change motor power 10 local forcing W3003 Ali 0 5 Assignment of analog input Al1 0 not assigned 1 speed
17. feedback 2 speed feedback backdriving contro 3 summing reference 2 input 4 PI feedback 5 manual reference input 67 Altivar 16 variables Address zone reserved for Altivar 16 Configuration words read and write write when motor is stopped WORD NAME RANGE UNIT DESCRIPTION POSSIBLE VALUES W3004 LO 0 6 Assignment of logic output LO 0 not assigned 1 100 thermal state reached 2 frequency reference reached 3 current limit reached 4 LSP reached 5 HSP reached 6 1 1 Ith overload reached W3005 SAB Assignment of relay S2A S2B 0 not assigned 1 100 thermal state reached 2 frequency reference reached 3 HSP reached 4 brake control W3006 AO Assignment of analog output AO 0 not assigned 1 motor frequency 2 motor current W3007 CPM Motor power coefficient 0 coefficient 1 1 1 coefficient 1 2 2 coefficient 1 3 3 coefficient 1 4 4 coefficient 1 5 W3008 TIC Type of DC injection 0 no injection 1 injection for f lt 0 1 Hz 2 injection for f lt LSP 3 injection for f lt SRF W3009 TFR 40 400 Hz 0 1 Hz Maximum frequency W3010 UNS 0 7 Motor nominal voltage 0 208 V 1 220 V 2 230 V 3 240 V 4 380 V 5 400 V 6 415V 7 460 V W3011 FRS 40 400 Hz 0 1 Hz Motor nominal frequency W3012
18. speed controller must be on line and the motor stopped 71 Altivar 16 variables Address zone reserved for Altivar 16 Signalling words read only WORD NAME RANGE UNIT DESCRIPTION POSSIBLE VALUES W3060 STR Speed controller status register LOC W3060 0 All commands in local mode RDY W3060 1 Speed controller ready RDY or SLC FAI W3060 2 Faulty REN W3060 3 Reset authorized following correctable fault W3060 4 Reserved status register W3064 0 FW input state W3064 1 RV input state W3064 2 LI1 input state W3064 3 LI2 input state W3064 4 LI3 input state W3064 5 S2A S2B output state W3064 6 LO output state W3064 7 to W3064 F Reserved FLO W3060 5 Speed controller forced in Local mode NTO W3060 6 Communication check inhibited CFA W3060 7 Correctable fault RNG W3060 8 Motor running RVE W3060 9 Direction of rotation 0 forward 1 reverse BRE W3060 A DC injection braking SST W3060 B Steady state OVL W3060 C Motor thermal overload alarm 1 thermal state 2100 OBR W3060 D Overbraking alarm LIM W3060 E Current limit W3060 F Reserved W3061 FRR 0 1 Hz Actual rotation frequency signed value W3062 LCR 0 1 A Motor current W3063 ULN 0 1 V Mains supply voltage W3064 IOL Speed controller logic UO W3065 AIV 0 10000 AIV or AIC analog input value W3066 IAI 10000 10000 Al analog input value W3067 IAO 0 255 A
19. 6 Sei Not used W7 IDC 0 5 Big 0 1A DC amplitude when With ATV 45 2 range stopping from 0 5 to 1 5 In W8 TDC 0 4s 0 1s DC injection time when stopping wg UFR 0 100 1 Voltage frequency ratio adjustment With ATV 45 2 range coefficient from 0 to 99 W10 ITH 0 45 1 05In 0 1A Motor thermal current W11 FLG 0 99 1 Frequency loop gain With ATV 45 2 range from 0 to 100 W12 Not used W13 Se Not used W14 LSP 0 HSP 0 1Hz Low speed W15 HSP LSP TFR 0 1Hz High speed Adjust TFR in W3009 W16 ACC 0 1 600s 0 1s Acceleration time With ATV 45 2 range from 0 2 to 990 s W17 DEC 0 1 600s 0 1s Deceleration time With ATV 45 2 range from 0 2 to 990 s 76 Altivar 16 variables Address zone common to Altivar 16 and Altivar 45 2 Command words read and write WORD NAME RANGE UNIT DESCRIPTION COMMENTS W18 COM Command register W18 0 RST Reset speed controller fault reset W18 1 DLI Assign logic commande See note 1 on LINE W18 2 FLI Frequency reference See notes 1 and 2 on LINE W18 3 Reserved W18 4 NTO Inhibit communication check W18 5 RUN Start stop command See note 2 W18 6 DCB Braking control W18 7 Reserved W18 8 CAL Select freewheel stop W18 9 CAR Select fast stop W18 A Not used W18 B Reserved W18 C Reserved W18 D Reserved W18 E Reserved W18 F Storag
20. Address zone common to Altivar 16 and Altivar 45 2 Configuration words read and write write when motor is stopped WORD NAME RANGE UNIT DESCRIPTION COMMENTS W57 Not used W58 Not used W59 Not used W60 Not used W61 0 LSP 0 1Hz Brake application level W62 0 LSP 0 1 Brake release level W63 0 55 0 1s Brake application time adjustable from 0 to 4 s W64 Not used w65 Not used W66 40 200 Hz 0 1 s Nominal frequency W61 to W119 Reserved Maintenance The following words can be used for diagnostics and maintenance They contain alist of the 8 most recent faults which have caused the speed controller to stop power cuts are not considered as faults These 8 words are managed on a stacking principle the appearance of a fault causes the stack to move downwards and the fault which has appeared is stored in the 1st W120 word This principle continues to be used when the stack is full These words cannot be modified or reset to zero Words for maintenance read only WORD NAME DESCRIPTION COMMENTS W120 DP1 Register of the most recent fault Each of these words has the same format as W121 DP2 the FLT signalling register W21 to etc The value 0 indicates that there is no fault wi27 DP8 Register of the eighth fault recorded 84 UNI TELWAY requests General The exchange of data be
21. C SB Using these contacts in the control circuit of the line contactor enables the power to be switched on and off remotely Note Since the power and control supplies are the same power up through the serial link isn t possible Therefore the line contactor release stops the communication Nevertheless the safety function of the relay is maintained and continues to have priority over the remote control facility the contact will open if a speed controller fault occurs Status of the Altivar 16 The following diagram shows the three stable states of the speed controller O FAULT el coRRECTABLE geo TERED FAULT se oa FAULT LOCKING FAULT UNCORRECTABLE FAULT ZERO FAULT in this state the safety relay is closed CORRECTABLE FAULT this state is the result of the appearance of a type of fault which may disappear on its own motor overheating for example This type of fault causes the speed controller safety relay to open When the fault has disappeared if contacts SA SC SC SB are not used in the speed controller supply sequence the Altivar 16 reset command bit 0 of word W3050 acknowledges the fault and re energizes the safety relay UNCORRECTABLE FAULT this state is reached as soon as a serious or locking fault which requires corrective action occurs overcurrent due to a short circuit for example The safety relay can only be reset by a speed controller switch on sequenc
22. I I 15 rd 6 ps 5 I 20 DTR Connection of the shielding to both ends depends on the electrical constraints on the installation Using the ABE 6SD15F wiring interface enables connection to a screw terminal block via the 15 pin SUB D connector Configuring communication functions Refer to the operating manual of the PCMCIA communication interface of Altivar 16 57 Connection to the multidrop bus The following accessories are available for connecting equipment TSX CSA cables for bus sold in 100 200 or 500 m lengths TSX SCA62 subscriber connector This passive unit comprises a printed circuit fitted with screw terminals for connecting 2 devices to the bus It includes an end of line terminator when the connector is located at the end The switches on the connector must be set in the following way switch number switch position 2 OFF 3 OFF 5 OFF the position of the other switches has no effect Example of connection to a UNI TELWAY bus TSX SCM 21 6 TSX CSB015 ische VW3 A66301 Lo 5 8 Communication principle Connecting the speed controller The Altivar 16 can be connected according to the diagrams shown in the catalogue The communication function provides the facility of remote control of the speed controller safety relay contacts brought out to terminals SA S
23. NI TELWAY requests Summary the use of event data with a TSX PLC requires Correct configuration of the UNI TELWAY link master module Regular monitoring of the indicators which display the arrival of unsolicited data and the addresses of the transmitters Acquisition of this data via the request to read event data Specific control request This request is used to control the Altivar 16 and to obtain in return data essential for controlling the speed controller Request format Request code byte H F2 Category byte 0 7 Specific request code byte Reserved byte Command word COM Reference word FRH Acceleration word ACC Deceleration word DEC Confirm format Response code byte H F2 Specific response code byte H 30 Reserved byte Reference word FRH Status register word STR Fault register word FLT Motor current word LCR Negative response Response code byte H FD Cause incorrect number of parameters 8 8 MODBUS JBUS protocol MODBUS frames Note In the rest of this document MODBUS and JBUS functions are grouped together under the heading MODBUS Two transmission modes can be used only one of them being used in a system RTU mode The frame defined for the MODBUS protocol has neither message heading bytes nor end of message bytes It is defined as follows Address Request Data CRC16
24. O output value W3068 FRE 0 1 Hz Effective frequency reference signed value 72 Altivar 16 variables Address zone reserved for Altivar 16 Signalling words read only WORD INAMEI RANGE UNIT DESCRIPTION POSSIBLE VALUES W3069 FLT Fault register fault which has caused speed controller to stop INF W3069 0 Speed controller internal fault SLF W3069 1 Communication fault EEF W3069 2 Storage fault in EEPROM SRF W3069 3 External fault generated by an EFL command USF W3069 4 Mains supply undervoltage OSF W3069 5 Mains supply overvoltage PHF W3069 6 Supply phase s failure W3069 7 Reserved W3069 8 Speed regulation fault tachogenerator absent DRF W3069 9 Overcurrent PWM overheating OBF W3069 A Overvoltage caused by overbraking OBF W3069 B Overcurrent caused by overbraking OLF W3069 C Motor overload W3069 D Reserved W3069 E Reserved CRF W3069 F Capacitor charging relay fault W3070 DPR Register of current faults INF W3070 0 Speed controller internal fault SLF W3070 1 Communication fault EEF W3070 2 Storage fault in EEPROM SRF W3070 3 External fault generated by an EFL command USF W3070 4 Mains supply undervoltage OSF W3070 5 Mains supply overvoltage PHF W3070 6 Supply phase s failure W3070 7 Reserved W3070 8 Speed regulation fault tachogenerator absent
25. Y requests 85 to 88 MODBUS JBUS protocol 89 to 100 Diagnostics 101 53 Introduction The communication card reference VW3 A66301 is designed to be used with Altivar 16 speed controllers which are fitted with a VW3 A16303 communication interface It is designed to integrate these power switching components into modern control system architectures by enabling them to be connected to an industrial multidrop bus Data exchanges enable all the functions of the Altivar 16 to be used e function configuration e downloading of settings control and supervision monitoring e diagnostics The VW3 A66301 communication card PCMCIA type 3 format has a 3 m connection cable fitted with a 15 pin SUB D connector The card manages the following communication protocols e UNI TELWAY e MODBUS J BUS Only VW3 A16303 communication interface with software version above or equal to V1 3 IE04 can be used with VW3 A66301 PCMCIA communication card 5 4 Installing the card Before performing any operation on the speed controller switch it off and wait for the capacitors to discharge approximately 1 min after switching off e Check that the speed controller is connected to earth via terminal G Install the VW3 A16303 communication interface on the speed controller see user s manual e Insert the VW3 A66301 communication card in its guide so that the connection cable which is 3 meters long fa
26. able Internal word segment Reception table Type of byte W3019 most sig H 06 W3020 H 06 H 68 W3021 6039 W3022 e 9 W3023 L_ H bytes to read most significant bit of W3019 8 bytes comprising W3020 to W3023 Number of first byte most significant bit of W3019 has address 2 x 3019 1 6039 Reading the most significant bit W3019 can be used to obtain a correct framework of the following words in the reception table and to avoid shifts between the most and least significant bits in these words Event data The Altivar 16 transmits data on its own initiative to the UNI TELWAY link master without having first received a question This data is sent via the unsolicited data request and does not require a response from the receiver Data is transmitted in the following 2 cases When a fault appears or disappears rising or falling edge at status register bit W3060 2 When the speed controller is forced into local control via one of its logic inputs if that input has been assigned to this function rising or falling edge at this input or via the local key on the interface for the PCMCIA communication card Size of event data 2 words of 16 bits sent in the following order STR status register word W3060 FLT fault register word W3069 To transmit unsolicited data the Altivar 16 must have an address between 1 and 32 87 Oe E ozm U
27. ad and write write when motor is stopped WORD NAME RANGE UNIT DESCRIPTION POSSIBLE VALUES W36 Configuration register 2 W36 0 FLR Flying restart 0 no and 1 yes automatic catching a spinning load W36 1 Not used W36 2 Not used W36 3 ATR Automatic restart 0 no and 1 yes W36 4 to W36 F not used W37 Not used W38 Not used W39 S Not used W40 Not used W41 RPS 0 1 Ramp shapes 1 O linear 1 S W42 Not used W43 Not used W44 Not used W45 BRA 0 1 Deceleration ramp adaptation 0 no 1 yes W46 JUFT 0 2 Voltage frequency ratio 2 0 linear N 1 quadratic P 2 linear L 1 Parabolic ramp not available on the Altivar 16 2 The F type does not exist on the Altivar 16 8 2 Altivar 16 variables Address zone common to Altivar 16 and Altivar 45 2 Configuration words read and write write when motor is stopped WORD NAME RANGE UNIT DESCRIPTION COMMENTS W47 Not used W48 SS Not used W49 Not used W50 Ge Not used W51 Not used W52 IBR 0 In 0 1 A Brake control level W53 AC2 0 1 600 s 0 1 s Acceleration time 2 on the ATV 45 2 adjustable from 0 2 to 990 s W54 DE2 0 1 600 s 0 1 s Deceleration time 2 on the ATV 45 2 adjustable from 0 2 to 990 s W55 Eu Not used W56 Not used 83 Altivar 16 variables
28. d in the user s manual and catalogue for the speed controller Some data can be accessed in both read and write these are the bits and words corresponding to adjustments references and commands This data is used by the speed controller However data produced by the speed controller can only be accessed in read signalling or fault data etc If written they have no meaning and are rejected 60 Communication principle Units These words are always expressed as signed numeric integer values 32768 to 32767 The unit is defined for each of them Example W3052 frequency reference unit 0 1 Hz W3052 455 corresponds to a frequency reference of 45 5 Hz Range The range permitted by the speed controller is specified for each of the parameters A value whichis outside limits is always accepted but will be automatically adjusted by the speed controller to either its lower or upper limit Example W3029 slip compensation range 0 5 Hz Any negative value is adjusted to 0 0 Hz Any value above 50 is adjusted to 50 5 Hz Values on switching on Each time it is switched on the Altivar 16 is initialized with the configuration and the adjustments stored in the EEPROM memory The speed controller is systematically placed in LOCAL control mode orders are expected on its terminal block To control it via the multidrop bus its commands must be assigned to LINE mode command word W3050 is written by set
29. e When a communication fault occurs the speed controller can change to 2 states depending on its configuration Changing from line mode to local mode via an application specific card logic input the speed controller changes from the line frequency to the frequency required at the analog inputs with the acceleration or deceleration ramp Changing from local mode to line mode the speed controller brakes on the deceleration ramp and takes the speed and operating direction required by the serial link 59 Communication principle Data structure The adjustment control supervision and monitoring of the Altivar 16 are performed using data or objects which are specific to the product The data essentially comprises e BITS named Bi i bit number which are used to execute logic commands Example B5 start stop command WORDS of 16 bits named Wi i word number which are used for storage either of complete digital values 32768 to 32767 or of 16 independent logic states in which case these words are termed registers Examples W3051 frequency reference digital value W3069 fault register 16 fault bits Notation W3069 2 designates the bit in row 2 of register W3069 Access to data The following tables give the list of parameters which can be accessed via the communication link The exact function of each parameter and its effect on the behavior of the speed controller are describe
30. e in EEPROM See note 3 W19 FRH LSP HSP 0 1Hz Signed frequency reference Signed value The bits are active at state 1 note 1 Bits W18 1 and W18 2 can be used to partially assign commands which can be executed from the multidrop bus It is important to set them correctly each time the COM register is written note 2 Do not use the same message to assign FLI and RUN Use 2 messages the 1st for FLI the 2nd for RUN note 3 Global command to store all the adjustments WO to W17 and the entire configuration W33 to W66 in the speed controller EEPROM This command should be used with care the storage takes a few seconds and access to the speed controller is refused while it is being performed 77 Altivar 16 variables Address zone common to Altivar 16 and Altivar 45 2 Signalling words read only WORD NAME RANGE UNIT DESCRIPTION COMMENTS W20 STR Status register W20 0 LOC All commands assigned in LOCAL mode W20 1 RDY Speed controller ready W20 2 FAI Faulty W20 3 REN Reset authorized W20 4 Not used W20 5 FLO Speed controller forced in LOCAL mode W20 6 NTO Communication check inhibited W20 7 CFA Correctable fault W20 8 RNG Running Motor rotating W20 9 RVE Direction of operation 0 forward 1 reverse W20 A BRE DC injection braking W20 B SST Steady state W20 C OVL Motor thermal ove
31. ext message thus avoiding any conflict on the line Operation in half duplex is therefore authorized 91 Oe E GZ m MODBUS JBUS protocol Control and monitoring All control of exchanges between two units which are communicating via asynchronous serial link naturally includes exception messages when exchange faults occur Various incorrect messages may be sent to a slave In this event the slave will tell the master that it does not understand and the master will decide whether or not to repeat the exchange Master H FIL The master has access to a certain amount of data which is stored and managed by the slave The master can access this data using special function codes diagnostic mode read event counter etc 92 MODBUS JBUS protocol MODBUS functions MODBUS functions include main functions for exchanging data additional functions for exchange diagnostics The following table shows the functions which are managed by the ALTIVAR 16 communication function and specifies its limits The definition of the read and write functions are understood from the point of view of the master Code Type of function D ALTIVAR 16 01 Read N output bits 1 max 02 Read N input bits 1 max 03 Read N output words 63 max 04 Read N input words 63 max 05 Write one output bit D Yes 06 Write one ou
32. g or H 07 for a word 16 bits Object address Etc in reading and writing H xxxx Words reserved or not used are read to 0 and their write is not significant The response to a write objects request is accepted if a word is written at least Example programming on a TSX7 PLC using a text block READ words W3020 to W3023 of the Altivar 16 Using word type object H 07 Transmission text block TxTi C H 0736 category request TxTi L 6 transmission table Transmission table Internal word segment Word type H 07 H 68 3020 4 as 4 words to read L Number of first word Reception text block TxTi V H 66 confirm TxTi S 9 9 bytes received reception table Reception table W3020 least sig H 07 W3021 least sig W3020 most sig W3021 most sig W3022 least sig W3023 least sig W3022 most sig W3023 most sig The data received in the reception table is offset by one byte It is the application program which must correct the data for example by successive offsets before using it UNI TELWAY requests Using byte type object H 06 Transmission text block Reception text block TxTi C H 0736 category request TxTi V H 66 confirm TxTi L 6 TxTi S 10 10 bytes received transmission table reception table Transmission t
33. layed controller 1 controller 2 Speed controller internal fault X INF Communication fault X SLF EEPROM memory fault X EEF External fault X SRF Supply too low X USF Supply too high X OSF Supply phase missing X PnF Speed control fault X SPF Overcurrent overheating x DRF Overvoltage due to harsh braking x OBF Overcurrent due to harsh braking X OBF Motor overload X OLF Capacitor charging relay fault X CRF 1 To reset the speed controller it is necessary to switch the power off then on again 2 The speed controller can be reset after the fault has been cleared 63 Reading parameters All the speed controller data can be read when the motor is running or stopped Signalling words words W3060 W3078 are read only Example of reading words W3020 to 3043 24 words with the UNI TELWAY protocol Description Request Category Type Object Object Code Code of object address number Format byte byte byte byte Word Word Code H 36 H 07 H 68 H 07 H OBCC H 0018 Comments read internal specific 3020 Number of words object words byte in hex 24 in hex Text block for transmission TxTi C H 0736 TxTi L 4 Transmission table Reception table H 07 H 68 W3020 least sig H 07 H CC H OB W3021 least sig W3020 most sig H 18 H 00 W3021 most sig Response code Positive response H FE Negative respo
34. lls towards the base of the product Run the connection cable through the cable clamp located below the communication card slot Communication interface Communication card Cable clamp 55 Connection to the multidrop bus SUB D connector pinout The RS 485 and RS 422 RS 232 C compatible standard transmission interface is electrically isolated from the speed controller It is available on a 15 pin SUB D connector TX enable trans mission WE RX p DV Seen from external contact side Connection to the standard RS 485 bus Pins to use SUB D connector 15 pin Automated system SEENEN E L PG ee PG r T In ov 15 ov Transmission j teat I D B 14 sa 1202 D A E Li SS RXD l 1nF Da g RX Ge Zt line terminator B recommended at i diss both ends of the line ES EE Transmission Connection of the shielding to both ends depends on installation constraints Recommendations e use a Shielded cable with 2 pairs of twisted conductors connect the reference potentials to each other maximum length of the line 1000 meters maximum length of a tap link 20 meters e do not connect more than 28 stations on a bus
35. nse H FD Note Reason incorrect parameter number or wrong address For further information about the UNI TELWAY protocol refer to the UNI TELWAY requests page 64 Writing parameters It is possible to write Altivar 16 parameters for command words motor running or stopped adjustment words motor running or stopped configuration words motor stopped To control the speed controller from the multidrop bus it is necessary to execute commands on line command word W3050 is written by setting bits DLI and FLI to 1 Bits DLI and FLI of the command register offer the possibility of partially assigning the commands which can be executed from the bus Note Setting word W3050 to the value 5 with Modbus protocol RTU frame setting bit NTO to 1 in the command register inhibits the communication fault check Altivar 16 SLF fault For safety reasons care must be taken when using this command Description Slave no Function Word no Value CR16 Code of the word Format 1 byte 1 byte 2 bytes 2 bytes 2 bytes I j T Code 01 06 OB EA 00 05 6A 19 Comment Writing 3050 in Hex a word OBEA Note For further information on Modbus frames see the end of this guide Modbus Jbus Protocol The following table shows all the functions of the Altivar 16 with its various application specific cards 65 Altivar 16 variables
36. nt Example the byte containing the slave number 06 will be coded by 2 ASCII characters 0 and 6 ie by H 30 and H 36 LRC modulo 256 hexadecimal sum of the contents of the frame without the delimiters before ASCII coding 2 s complement The byte obtained is then coded in the form of 2 ASCII characters as above Example write value 1 in bit B3 of slave 2 Question and response Hexadecimal 3A 30 32 30 35 30303033 46463030 4637 DD DA AGCH 02 05 0003 FFOO F7 CR LF LRC calculation Sum of the bytes in the frame H 02 H 05 H 00 H 03 H FF H 00 H 109 265 Modulo sum 256 H 09 9 Modulo sum 256 2 s complement H 100 H 09 256 9 247 H F7 100 Diagnostics Fault For the communication fault codes refer to the user s manual for the PCMCIA communication card interface Additional diagnostics Check the state of the two indicator lamps located on the front panel of the VW3 A66301 communication card O ERR O COM Cable State of indicator lights PLC equivalent O NET O RUN Cable 0 off 1 2 flashing 1 on Green light Red light Probable causes Corrective actions COM ERR 1 0 Normal operation 1 2 0 Incorrect communication Check configuration configuration or communication Check software compatibility fault with l Altivar 16 0 1 Communicati
37. on fault on the bus Check the position of TSX SCA62 Wait for request in MODBUS or subscriber connector switches of no polling in UNI TELWAY the Altivar 16 Check the connections Check that master link is installed and check its configuration and operation 0 0 Fault of PCMCIA card or speed Check the Altivar 16 by removing controller the PCMCIA card If necessary replace the Altivar 16 or the card 101 54749 1997 03 VD0C01B311
38. rload alarm W20 D OBR Overbraking alarm W20 E LIM Current limit W20 F Not used 78 Altivar 16 variables Address zone common to Altivar 16 and Altivar 45 2 Signalling words read only WORD NAME RANGE UNIT DESCRIPTION COMMENTS wet FLT Fault register W21 0 INF Speed contr internal fault W21 1 SLF Communication fault W21 2 EEF EEPROM fault W21 3 SRF Fault generated by the TST command W21 4 USF Mains supply undervoltage W21 5 OSF Mains supply overvoltage W21 6 PHF Supply phase s failure W21 7 Not used W21 8 SPF Speed regulation fault W21 9 DRF Overcurrent PWM overheating underheating of PWM control With ATV 45 2 this bit indicates an overcurrent W21 A OBF Overvoltage caused by overbraking W21 B OBF Overcurrent caused by overbraking W21 C OLF Motor overload W21 D Not used W21 E Reserved W21 F CRF Charging relay fault W22 LCR 0 1A Motor current W23 RFR 0 1Hz Actual rotation frequency Signed value W24 Not used W25 ULN 1V Mains voltage W26 Not used W27 Reserved W28 Reserved These faults are uncorrectable and cannot be acknowledged by the communication link 79 Altivar 16 variables Address zone common to Altivar
39. ting bits DLI and FLI to 1 Altivar 16 variables Some Altivar 16 variables can be accessed at two different addresses in the 3000 to 3078 address zone reserved for the Altivar 16 in the 0 to 127 address zone already used by the Altivar 45 2 While the control system is operating control monitoring or modification of the speed controller adjustments only one zone should be used 1 Address zone reserved for the Altivar 16 3000 to 3078 This address zone contains all the speed controller parameters for optimum use of the facilities of the Altivar 16 2 Address zone 0 to 127 common to the Altivar 16 and the Altivar 45 2 This address zone should only be used when integrating an Altivar 16 in a control system which until now has only included Altivar 45 2 controllers Not all Altivar 16 parameters appear here in particular those connected with functions which require reconfiguration of the application specific card In certain cases using these addresses avoids the necessity of modifying the program Small differences in relation to the Altivar 45 2 are shown in the comments 61 Setting up the Altivar 16 Configuring communication The following parameters can be set using the terminal e Fr a defines the communication protocol UHEL UNI TELWAY ASC Modbus ASCII r Eu Modbus RTU JBUS F IP FIPIO hdr defines the data rate in kbps Possible values 0 3 0 6 1 2 2 4 4 8 9 6 19 2
40. tput word D Yes 08 Diagnostics see details below Yes 11 Read event counter Yes 16 Write N output words D 60 max Functions marked D can be broadcast The message transmitted by the master must specify slave number 0 A response message is never returned Detailed information on functions Code 01 read N output bits This function is used to read output bits bits which can be written and read in the slave by the master Code 02 read N input bits As above but applies to input bits bits which the master can only read Code 03 read N output words This function is used to read output words words which can be written and read in the slave by the master Code 04 read N input words As above but applies to input words words which the master can only read Code 05 write an output bit Used to set an output bit to 0 or 1 can only be accessed in write Code 06 write an output word Used to write a 16 bit output word can only be accessed in write 93 Oe E ozm MODBUS JBUS protocol Diagnostic function code 08 is always accompanied by a sub code Code 08 00 Code 08 01 Code 08 03 Code 08 04 Code 08 0A Code 08 0B Code 08 0C Code 08 0D Code 08 0E Code 08 0F Code 08 10 Code 08 11 Code 08 12 echo This function requests the interrogated slave to send back the whole message sent by the master channel reinitialization
41. tween computer systems PLCs and other intelligent systems must be performed using a common language This language shouldbe as simple as possible and understood by everyone involved Nevertheless it must be possible to check every exchange to ensure the integrity of the transfers The variables exchanged are therefore inserted in a frame which generally comprises the following Heading Address Request Data Check End Each protocol defines the presence the format and the contents of the various groups of variables which surround the data zone This structuring makes it possible to define the start and the size of messages if necessary the system to which the data is addressed the type of function required the variables themselves a control parameter and an end code which validates the whole message The form and content of this frame are different for each type of protocol List of requests The following table describes the requests accepted by the Altivar 16 and their limits Details of the coding of the requests are given in the UNI TELWAY reference manual Request Code hex Altivar 16 Identification H 0F Yes Protocol version H 30 Yes Status H 31 Yes Mirror H FA Yes Read error counters H A2 Yes Reset counters HA4 Yes Read a bit H 00 Yes Write a bit H 10 Yes Read a word H 04 Yes Write a word H 14 Yes Read objects H 36 63 words max
42. ub code Data CRC16 n 1 byte 1 byte 2 bytes 2 bytes 2 bytes Sub code Question data Response data Function executed 00 XX YY XX YY Echo 01 00 00 00 00 Reinitialization 03 XX 00 XX 00 XX new delimiter 04 00 00 No response Change to LOM mode 0A 00 00 00 00 Reset counters to 0 0B 00 00 XX YY XXYY counter value DC 00 00 XX YY XXYY counter value DD 00 00 XX YY XXYY counter value 0E 00 00 XX YY XXYY counter value Read event counter function 11 H 0B Question Slave 0B CRC16 ne 1 byte 1 byte 2 bytes Response Slave 0B 00 00 Counter value CRC16 n MS L 1 byte 1 byte 2 bytes 2 bytes 2 bytes Write N output words function 16 H 10 Question Slave 10 N of 1st word Number Number Value of 1st word _ CRC16 n MS LS ofwords of bytes MS LS 1byte 1 byte 2 bytes 2 bytes 1 byte 2 bytes 2 bytes Response Slave 10 N of 1st word Number of words CRC16 n MS LS MS LS 1 byte 1 byte 2 bytes 2 bytes 2 bytes Example write values 2 and 3 in words W3022 and W3023 of slave 2 Question 02 10 OBCE 0002 04 0002 0003 E3C6 Response 02 10 OBCE 0002 2220 98 MODBUS JBUS protocol Exception responses An exception response is given by a slave when it is unable to perform the request which is addressed to it Format of an exception response Slave Response Error CRC16 n code code 1 byte 1 b
43. ue read is always 0 read of number of responses from the slave that is not ready The value read is always 0 read the number of characters which are not processed incorrect 94 MODBUS JBUS protocol Code 11 Code 16 read event counter a status always zero a counter which is incremented each time a correct message sent to the slave is received form and content except for exception messages write N output words This function enables the master to write output words to the slave words which can be written or read 95 MODBUS JBUS protocol Details of frames RTU mode Read N bits function 1 or 2 Question Slave Toi org N of tstbit Number of bits CRC16 n MS LS MS LS 1 byte 1 byte 2 bytes 2 bytes 2 bytes Response Slave 01 or 02 Number of Value Value CRC16 n bytes read 1 byte 1 byte 1 byte 2 bytes Example read bit B4 of slave 2 Question 02 01 0004 0001 BC38 Response 02 01 01 00 51CC ifB4 0 02 01 01 01 900C ifB4 1 Bit B4 can always be used and can be read at 1 or at 0 Read N words function 3 or 4 Question Slave 03 0r04 N ofistword Number of words CRC16 n MS LS MS LS 1 byte 1 byte 2 bytes 2 bytes 2 bytes Response Slave 03 or 04 Number of Value of 1st word Value of CRC16 n
44. yte 1 byte 2 bytes Response code function code of the request H 80 the most significant bit is set to 1 Error code 1 the function requested is not recognized by the slave 2 the bit and word numbers addresses indicated in the request do not exist in the slave 3 the bit and word values indicated in the request are not permissible in the slave 4 the slave has started to execute the request but cannot continue to execute it completely CRC16 calculation The CRC 16 is calculated based on all the bytes of the message by applying the following method Initialize the CRC 16 bit register to H FFFF Enter the first to the last byte of the message CRC XOR lt byte gt gt CRC Enter 8 times Move the CRC one bit to the right If the output bit 1 enter CRC XOR H A001 gt CRC End enter End enter The CRC obtained will be transmitted least significant byte first then most significant XOR exclusive OR 99 Oe E ozm MODBUS JBUS protocol ASCII mode In this mode the MODBUS frame has the following structure Slave n Function Data LRC CR LF e code Ir MS LS Data identical to RTU mode but coded differently Delimiters H 3A CR H 0D LF HOA Data the data field is analogous to the RTU frames but coded in ASCII characters Each byte is divided into 2 four bit bytes each of which is coded by its ASCII equivale
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