Technical Manual Interfaces QT250 / 800
Contents
1. ELTORQUE Technical Manual D p ll A I Sa Ig i O TI PE Control interfaces for Eltorque QT250 amp QT800 Valve actuators Revision Date 2013 01 14 Author Tor Erik Naebb ELTQRQUE Revision history Technical Manual Control interfaces for QT250 amp QT800 Revision Done Approved by Changes date by 04 03 2009 TEN BB First version 02 09 2009 TEN Various changes TEN Changed Logo added QT2500 and MT actuators various other changes 14 01 2013 BN AEA Corrected characteristic values for digital interface outputs Referenced documentation User Manual QT250 and QT800 User Manual QT2500 User Manual MT50 and MT150 Eltorque Manager 2 Manual Eltorque Manager 3 Manual Q ELTO RQUE a tal QT250 amp QT800 Table of Contents i General information suini 4 LE Ido E 4 Bos MR Tm 4 1 3 The Eltorque control interfaces secuit tiu Eeer 6 IEEE MEI 7 1 5 Cable GAIN OE 9 1 6 Power supply connections cien recs qe ton x unn ed ten n ax ee roue denied esed exc derisum 9 BI i me rrr MR UN 10 MEM Iesu NR DO EM 10 22 III T 10 di AIO UG TC 13 dl Uit E 13 E 203 E 13 A nn 15 41 FUORI Vascello 15 CO e E 15 GA GANOPEN2. ELTORQUE ELTORQUE Digital Control Interface ELTORQUE Ou o a pen Vv 9 E 5 f c O O T A uedo peso 2 uowwoy uedo peso 2 uowwoy fjddns 9d ov AOS L XEN Ne uedo N OX pm OX O OX O Digital In Digital Out PLC Illustration 2 3 Digital interface control circuit examples Q ELTO RQUE ea tal QT250 amp QT800 3 ANALOGUE 3 1 Functionality The QT Analogue interface allows control of regulation valves where positioning of the valve is needed The actuator provides continuous feedback of its actual position for comparison between desired and actual position Both positioning and feedback signals are analogue 4 20 mA The control interface also has a digital Alarm output which is triggered by various failure scenarios 4 20mA Valve positioning PLS PC Illustration 3 1 Analogue level and flow control 3 2 Installation Note See section 1 4 1 5 and 1 6 for more information about connection terminals cable glands and power supply connections The signal terminals are arranged as shown below ELTORQUE Analogue Control Interface
3. Fs _ Lr Close Open Xx Closed Open Alarm Illustration 2 1 Digital Control using buttons and lamps or control via PLC As shown on the illustration above actuators with digital interface can be controlled directly from a conventional panel with buttons switches and indicator lamps Alternatively it can be controlled from a PLC with Digital inputs and outputs This allows extended functionality in terms of automatic control visual user interface on display etc 2 2 Installation Note See section 1 4 1 5 and 1 6 for more information about connection terminals cable glands and power supply connections The QT Digital interface has 2 inputs and 3 outputs as shown below Old interface 10 terminals New interface 8 terminals ELTORQUE ELTORQUE Digital Control Interface Digital Control Interface E O E Se OO 1 2 ollo o Closed oalClosed o Common o Common o Alarm o Alarm o Closed Illustration 2 2 Terminal overview of new and old type of digital interface Q ELTO RQUE ea T QT250 amp QT800 Note On the 8 pole version the output terminals are merged into one Common terminal The functionality of the outputs is identical for both versions the
4. Illustration 3 2 Analogue Control interface terminal overview Recommended cable cross section is 0 5 1 5 mm Analogue control signals can be sensitive to electro magnetic noise and Lyng Motor strongly recommends shielded cables and appropriate cable glands in case the actuator is placed near to or connected in the same network as equipment emitting high levels of disturbances control circuit e ELTORQUE Technical Manual Control interfaces for QT250 amp QT800 The analogue input and output are both passive and need to be powered from the PLC or other Analogue Control Interface type of controller supply voltage 12 24 VDC Note The accuracy of an actuator with analogue interface is 5 i e if control signal is 12 mA 5096 the valve position will be in the range of 45 5596 If a higher accuracy is needed please consider a Fieldbus interface with accuracy of 0 596 instead See section 4 and 5 for more information e Analogue Out Analogue Out T S o 3 D 9 bei c lt 1 Q vIAlarm on 15 VDC w Analogue In The Alarm output is triggered by the following scenarios e Manual emergency operation e Valve position out of defined operation area on TTT e Valve blocked 6 6 6 lll ololo e High temperature fg XO e Power failure O
5. Nominal impedance Max 100 Q Capacitance Max 42 pF m Transmission range increases with lower capacitance Length related resistance Max 70mQ m Cable length 500 m Terminal resistor Yes at both ends Table 4 2 Cable requirements and recommendations ELTORQUE Modbus controller Modbus terminals O 4 A B GND QiOo Terminal resistor Technical Manual Control interfaces for QT250 amp QT800 Node ID 1 B TxD RxD Modbus Control Interface oA TxD RxD sl TxD RxD GND o GA TxD RxD O o GND Shielded cable Twisted pair Shielded cable d Node ID n Y A TxD RxD v B TxD RxD ELTORQUE Modbus Control Interface Il I Terminal resistor DIP switch 1 ON or Bridge terminal 4 amp 5 Illustration 4 4 Example of Modbus network connections controller placed in the end with terminal resistor 5 CANOPEN 5 1 Functionality CANopen is a fieldbus which allows communication between maximum 127 actuators connected to the same network It is not a master slave network ref Modbus hence all nodes in the network can actively send messages at their own initiative Communication is prioritized meaning that urg
6. hazardous locations The connection terminals are located inside the Eltorque Control box Iwvu Ma we wy nat Tri ze e Configuratio n connector Illustration 1 3 Connection terminals location The Voltage Supply and Configuration connectors are common for all interfaces while the DIP switch and Control Signals will vary depending on the interface version All terminals can accommodate wires of cross section 0 5 2 5 mm Q ELTO RQUE ea Ge QT250 amp QT800 Connection terminals for 1 0 and 2 0 versions Illustration 1 4 Pluggable screw type Illustration 1 5 Spring loaded terminal terminal 0 4 x 2 5 mm Flathead screwdriver 0 6 x 3 5 mm Flathead screwdriver recommended recommended Operating instructions 1 Insert screwdriver to open terminal Operating instructions 2 Insert wire 1 Check that terminal is open 3 Remove screwdriver 2 Insert wire 4 Pull wire to check that it is fastened properly 3 Tighten screw firmly 4 Pull wire to check that it is fastened properly Connection terminals for 2 1 EX version Illustration 1 6 EX E screw type terminal Illustration 1 7 EX E spring loaded terminal 0 6 x 3 5 mm Flathead screwdriver 0 6 x 3 5 mm Flathead screwdriver recommended recommended strip length 5 6 mm Operating instructions Operating instructions 1 Check that terminal is open 1 Press and hold down lever with the 2 Insert wire strip length 10 mm screwdriver 3 Tighten screw f
7. rieti 17 GE WR Eeler E 17 NN Ee se te 17 6 Configuration using Eltorque Manager cccccccssseseeeeeeeeeeeeeeeeeneeeeeeeeeeeeeeeeeeeeeenees 20 7 TFOUBICSHOOUING aisseveueenusvuckkani ka ninni ziali aw Ld kart Di Va kw Va dit Ew aut EAR Vb td raa i 21 A Wm 21 re ER c e 21 fo ARA ion 21 7 4 Modbus and CANopen 22 Contact information ELTORQUE AS Lyng Industrial Park 7125 Vanvikan Norway Tel 47 748 55 520 Fax 47 74 85 55 12 Web http www eltorque com Q ELTO RQUE ea tal QT250 amp QT800 1 GENERAL INFORMATION 1 1 Introduction Eltorque is a range of quarter turn electric valve actuators suitable for use in a wide variety of industrial environments The Eltorque actuators are characterized by e Compact size and good torque to size weight ratio e Flexible control interfaces for easy integration with a wide range of control systems Low power consumption Electronic configuration of speed torque and other parameters Easy and cost effective installation Maintenance free There are various actuator models available e QT250 Part turn 250 Nm max torque QT800 Part turn 800 Nm max torque QT2500 Part turn 2500 Nm max torque MT50 Multi turn 50 Nm max torque MT150 Multi turn 150 Nm max torque This Technical Manual covers the functionality of the control interfaces for the QT250 and QT800 Valve actuators The actuat
8. back circuits check PLC or power supply Cause amp solution 1 2 3 4 Bad connection check wiring Terminal resistor not present Baud rate not set correctly must be the same for all actuators and PLC Incorrect Node ID Unstable Fieldbus communication 1 Cable is outside specifications given in sections 4 2 and 0 respectively Pay special attention to shield and length Terminal resistor not present Q ELTO RQUE ea T QT250 amp QT800 ELTORQUE ELTORQUE FLOW CONTROL SYSTEM ows full control of volves and pumps monitoring and colculation of different parameters CABINETS for distributed or centralized interface to actuators operator station and other equipment ELTORQUE AS Lyng Industrial Park 7125 Vanvikan Norway Tel 47 748 55 520 Fax 47 74 85 55 12 Web http www eltorque com
9. brief sum up of considerations related to choice of cable Cable parameter Required Recommended Number of conductors 1242 Twisted pair for CAN H and CAN L signals Cross section 0 5 1 5 mm The transmission range increases with larger cable cross section Shield Yes Requires use of EMC cable glands Nominal impedance 1200 Capacitance Max 42 pF m Transmission range increases with lower capacitance Length related resistance Max 70mQ m Specific Line Delay 5 ms m Cable length Max 500 m with baudrate 50 kbit s Max 250 m with baudrate 125 kbit s Terminal resistor Yes at both ends Table 5 1 Cable requirements and recommendations CANopen controller Twisted pair Terminal resistor Shieldedcable L Shielded cable Node ID 1 Node ID n 1 SEN ma Lon CANopen Control Interface Incoming Outgoing incoming Outgoing OCH i i E QI i EON OE NES Zu Si Ilog Sit OZ ZZ ilazziS9g azz PES Be EI Pr e aa ole HE GOGO G2 000 IE JE ARR ELISA ee Lal iL UM IU LU III Terminal resistor DIP switch 1 ON or Bridge terminal 4 amp 5 Illustration 5 4 Example of CANopen network connect
10. e Manager Screenshot without actuator connection Note The Eltorque Actuator image will be shaded and values under Actuator type set to dummy until you establish connection with the Actuator and its Control Interface For more information about the use of the Eltorque Manager please refer to its built in user guide found under Help Help Content ELTORQUE 7 TROUBLESHOOTING 7 1 General Problem description The actuator does neither respond to control signal nor give any feedback and there is little resistance if you try to turn the emergency operation hand wheel Technical Manual Control interfaces for QT250 amp QT800 Cause amp solution 1 No input power supply check wiring and fuses 2 Control interface electronics has stopped running disconnect input power supply wait 3 seconds and reconnect to reset the electronics It is not possible to establish connection with Eltorque manager 1 Check that configuration cable is properly connected 2 Check configuration cable switch it must be set to 0 Actuator is not able to turn valve with the desired speed or does not move to correct open or closed position 7 2 Digital Problem description The actuator does not respond to input control signals Use Eltorque Manger to re configure the actuator s speed torque and or open closed positions Cause amp solution Bad connection check wiring 2 A supply voltag
11. e is connected to the Common terminal must be disconnected immediately The actuator does not give Open Closed or Alarm feedback 7 3 Analogue Problem description The actuator does not respond to analogue input control signals Bad connection check wiring 2 No power supply in the feedback circuits check PLC or power supply Cause amp solution Bad connection check wiring 2 No power supply from the 4 20 mA PLC controller outputs Check that supply voltage is 12 24 VDC 3 Incorrect type of PLC Controller analogue output verify that it is 4 20 mA ELTQRQUE Problem description Technical Manual Control interfaces for QT250 amp QT800 Cause amp solution The actuator does not give analogue output feedback signal Analogue input or output signal is inaccurate 1 2 Bad connection check wiring No power supply from the 4 20 mA PLC controller inputs Check that supply voltage is 12 24 VDC Incorrect type of PLC Controller analogue input verify that it is 4 20 mA Use Eltorque Manager to calibrate the input and output see section 6 for more information Input and output is inverted The actuator does not give digital alarm signal 7 4 Modbus and CANopen Problem description The actuator does neither respond to control commands nor provide feedback Bad connection check wiring No power supply in the feed
12. ent messages are transmitted and received before information with lower priority Compared to Modbus CANopen has quite a few advantages e More reliable communication i e it is more likely that the information transmitted is correctly received by the recipient e More nodes pr network e More control and configuration features available e Higher performance CANopen fieldbus network 50 or 125 kBps max 500 or 250 m cable length PC or PLC based CAN controller DI DI E bX xX p Terminal bX DI E bX DI gt lt 0 Cd Maximum 127 units in one loop Illustration 5 1 Example of CANopen schematics controller placed in the center of the network bX DI DI p For more technical information about the Eltorque CANopen communication refer to the Eltorque CANopen communication definitions Send request by e mail to info eltorque com if you need this document Q ELTO RQUE ea tal QT250 amp QT800 5 2 Installation Note See section 1 4 1 5 and 1 6 for more information about connection terminals cable glands and power supply connections The signal terminals are arranged as shown in Illustration 5 2 CANopen Control Interface CANopen Control Interface Incoming Outgoing o wICAN_L o o CAN_L Bridge
13. for o al terminal resistor on CAN_H CAN_H Illustration 5 2 Left Terminals on interface with DIP switch Right Terminals on interface without DIP switch On CANopen interfaces with DIP switch terminal resistor and Node ID can be configured as shown below On Off On off On Off On Of On Off On Off On Off E e B S E IS E S 1 0 2 0 4 0 8 0 16 0 32 0 64 0 Node ID Node ID Node ID Node ID Node ID Node ID Node ID Node ID Node ID Node ID Node ID Node ID Terminal resistor active Node ID Node ID Terminal resistor not active Not in use Illustration 5 3 CANopen DIP switch configuration On CANopen interfaces without DIP switch Node ID are configured using the Eltorque Manager see section 6 for more information Terminal resistor is set by bridging terminal 4 and 5 Baud rate 50 or 125 Kbit s can only be set using Eltorque Manager regardless of DIP switch presence Important 50 Kbit s Baud rate is recommended as this makes the CANopen network less sensitive to signal disturbances and issues of cable type or length The network response time is normally nearly the same for both baud rates e ELTORQUE Technical Manual Control interfaces for QT250 amp QT800 Detailed specification of cables suitable for CAN communication can be found in the ISO 11898 2 standard Below is a
14. ions controller placed in the end with terminal resistor e ELTQRQUE Technical Manual Control interfaces for QT250 amp QT800 6 CONFIGURATION USING ELTORQUE MANAGER The Eltorque actuators are configured using a standard PC with the Eltorque Manager 2 SW installed and a special configuration cable connected via USB 1 The Eltorque Manager can be downloaded from e www eltorque com downloads Manager To install it on your computer double click the Manager Setup msi file ae 2 Follow instructions on screen to complete the installation The USB cable drivers will also be installed automatically 3 Connect the configuration cable to a USB port on your PC 1_1 msi M2 4 Double click the Eltorque Manager icon to start program NE Eltorque Manager o ls QELTORQUE Wy Actuator type 4 SK Motortype dummy Encoder type dummy f Interface dummy Ex dummy A FW version dummy Compiled dummy Serialno dummy Quick settings Speed normal Torque normal Speed near closed Torque near closed Torque hold Near closed region NN WOOK YG BONS Closed ep een Oper 4 4 4 4 54 gt Status Controls Actuator status KS ken Il Sa E lt Com f K A Rom Position ter LR Serial no Temperature Configure Open Closed Disconnected 90 CCW 90 CW Torque off Set Closed Set Open SetC amp O Illustration 6 1 Eltorqu
15. irmly torque 0 4 0 5 Nm 2 Insert wire strip length 5 6 mm 4 Pull wire to check that it is fastened properly 3 Release lever 4 Pull wire to check that it is fastened properly Note On screw type terminals it is recommended to use appropriate ferrules for multi conductor wires On spring loaded terminals ferrules are not recommended regardless of wire type Q ELTO RQUE i T QT250 amp QT800 1 5 Cable Glands e Cable glands must be selected according to cable diameter e In order to maintain the Eltorque Actuator s IP68 encapsulation it is important to use IP68 rated cable glands e When installing 2 1 EX versions in hazardous environments use only EX E certified cable glands e Itis recommended to use EMC rated cable glands and shielded cables in environments with high levels of electro magnetic noise and disturbances Typical examples of such environments are in the vicinity to 1 8 Cable glands generators large electrical motors frequency converters etc The Eltorque control box has 5 threaded holes for cable glands and there are two different versions of hole configurations available e 2x M16 3x M20 Use M16 for signal cables e 5x M20 1 6 Power supply connections Note Electrical installation can only be designed and made by personnel with the appropriate skills and competence Ensure all such work is done according to applicable laws and regulations Special requirements apply for installation in haza
16. n Closed 2 Analogue 4 20 mA positioning 3 Modbus Fieldbus max 31 actuators pr network 4 Canopen Fieldbus max 127 actuators pr network The interface incl connection terminals are located inside the actuator s control box During installation and configuration this box must be removed by unscrewing the six M4 HEX 3 mm fastening screws Illustration 1 1 Actuator and control box separated NOTE When re assembling the control box with the actuator make sure no wires are jammed between the surfaces and that the screws are cross tightened It is also recommended to apply some seal lubrication on the gasket to ensure the actuator remains water proof Control Interface The Eltorque control interface consists of 3 main modules 1 Power supply 2 Motor Control 3 Interface Control signal and Configuration Connectors ojojojo l l v p Interface Valve position sensor od OV 1 NDC Power supply Motor Control Motor Illustration 1 2 Control interface schematics Q ELTO RQUE ea tal QT250 amp QT800 1 4 Connection Terminals Note Electrical installation can only be designed and made by personnel with the appropriate skills and competence Ensure all such work is done according to applicable laws and regulations Special requirements apply for installation in
17. n Eltorque valve actuators are controlled by Fieldbus the functionality is extended in terms of positioning commands feedback and configuration Control The Eltorque Modbus interface is using RS 485 serial communication utilizing the Modbus protocol Modbus Modbus is a fieldbus which allows communication with max 31 actuators connected to the same master slave network Master slave means that the Modbus controller is a master which actively sends commands and requests to the slave actuators The Eltorque CANopen interface is using the CAN Controller Area Network communications standard CANopen is a fieldbus which allows communication between max 127 actuators connected to the same network It is not a master slave network ref Modbus hence all nodes in the network can actively send messages at its their own initiative CANopen The communication is prioritized meaning that urgent messages are transmitted and received before information with lower priority Compared to Modbus CANopen has the following advantages e More reliable communication i e it is more likely that the information transmitted is received correctly by the recipient e More nodes pr network max 127 e More control and configuration features available Q ELTO RQUE ea tal QT250 amp QT800 1 3 The Eltorque control interfaces There are 4 different Eltorque control interfaces available i 1 Digital Ope
18. n in Illustration 4 2 Q ELTO RQUE ea T QT250 amp QT800 Modbus Control Interface Modbus Control Interface i Outgoing o lA TxD RxD o B TxD RxD Illustration 4 2 Left Terminals on interface with DIP switch Right Terminals on interface without DIP switch On Modbus interfaces with DIP switch terminal resistor baudrate and Node ID can be configured as shown below On Off On Off_ On offon Jo On off Baudrate 19 2 Kbit s o Oo bd o 2 E o o T E o Hn Terminal resistor not active Baudrate 38 4 Kbit s off On g El 9 i E Time delay 20 ms Time delay 0 ms Spare not in use Node ID 1 Node ID 0 node MB Node ID 0 Node ID 4 Node ID 0 Node ID 8 Node ID 0 Node ID 16 Node ID 0 Illustration 4 3 Modbus DIP switch configuration On Modbus interfaces without DIP switch baudrate and Node ID are configured using the Eltorque Manager see section 6 for more information Terminal resistor is set by bridging terminal 4 and 5 Cable requirements and recommendations Cable parameter Required Recommended Number of conductors 1 2 Twisted pair for TxD and RxD signals Cross section 0 5 1 5 mm The transmission range increases with larger cable cross section and lower capacitance Shield Yes Requires use of EMC cable glands
19. nly if alarm output is Out In Digitalin inverted Active i e 4 20 MA control signal is lost Analogue lo Analogue By using the Eltorque Manager you can configure the following parameters in the Controller Analogue control interface e Analogue input and output calibration this is necessary to ensure accurate control e Invert inputs and outputs Note It is recommended to invert the Alarm output as this also will trigger the alarm in case the actuator is subjected to a Illustration 3 4 Example of 4 20 mA power failure control circuit e Incase 4 20 mA control signal is lost the actuator has a configurable fail safe function Close valve Open valve or Idle i e position remains unchanged See section 6 for more information about the Eltorque Manager Cable requirements and recommendations Cable parameter Required Recommended Number of conductors 6 Cross section 0 5 1 5 mm Shield Not mandatory but is recommended in case the actuator is placed in conjunction with equipment emitting high levels of disturbances Length related resistance Max 100 mQ m Cable length Max 1000 m Table 3 1 Cable requirements and recommendations Q ELTO RQUE ea tal QT250 amp QT800 4 MODBUS 4 1 Functionality The Eltorque Modbus interface is using RS 485 serial communication Modbus allows communication between maximum 31 actuators connected to the same master slave ne
20. ors themselves including valve interfacing spare parts etc are described in separate User manuals QT2500 and MT actuators are covered in separate User Manuals 1 2 Terminology Term Description An electric device for operation of valves in various process control Valve actuator systems Electronic device controlling the valve actuator according to Control signals from an overall control system e g PLC or other type of Interface electronic controller The set up of parameters which affects the actuator s Configuration performance and behaviour Area in which the permanent or periodical presence of explosive Hazardous area substances causes a risk of explosion A Programmable Logic Controller is a digital computer used for automation of industrial processes such as control of machinery on factory assembly lines measurement and control of process plants etc PLC Simple control utilizing relays on off switches and indicators HEIS Geng Allows only Open or Closed functionality for a valve actuator Step less control utilizing analogue current or voltage signals e g 4 20 mA 0 10 V etc Allows positioning of the valve actuator between Open and Closed Analogue Control Q ELTO RQUE CIE ae ol QT250 amp QT800 Term Description A fieldbus is an industrial computer network for real time EIERE distributed control of various devices including valve actuators Whe
21. rdous locations The supply voltage must be 230 V AC with an acceptable tolerance of 180 264 V AC The power consumption varies between 30 W and 120 W depending on whether the actuator is in standby mode or is running Start up current after loss of power will be max 5x1A 230V Each actuator has two power supply connectors enabling serial power connection of multiple actuators But keep the following aspects in mind when designing the circuit e Fuses must have a current rating according to max power consumption of all actuators combined Fuses with slow C characteristic is recommended to avoid undesired tripping during start up e Wiring must have appropriate cross section according to max current consumption e Incase of power loss in the circuit none of these actuators and valves can be operated Fuse cabinet Fuses C Characteristics N N 9 Q Illustration 1 9 Multiple actuators with serial power connection Q ELTO RQUE ea tal QT250 amp QT800 2 DIGITAL 2 1 Functionality The QT Digital Interface allows simple Open amp Close operation of valves i e you can command the actuator to Close or Open the valve The actuator provides feedback when the valve is Closed Open or a failure is triggering the Alarm function Valve No X
22. relays are voltage free and normally open Max switching voltage to the output terminals are 277 VAC or 125 VDC Maximum switching rating 1250 VA 150 W 5 A is the maximum carrying current Input signals are given by bridging terminal 1 2 or 1 3 and the signal can be constant or pulses of minimum 100 ms length In case both the Close and Open signals are active simultaneously the actuator will respond to the Open signal Note The Common input terminal 1 is active and has an internal power supply of 15 V 50 mA Do not attempt to connect an external supply to this terminal as it can damage the control interface Cable requirements and recommendations Cable parameter Required Recommended Number of conductors 7 Cross section 0 5 1 5 mm Shield Not mandatory but is recommended in case the actuator is placed in conjunction with equipment emitting high levels of disturbances Length related resistance Max 100 mQ m Cable length Max 1000 m Table 2 1 Cable requirements and recommendations The outputs provide feedback of the actuator s status i e Closed Open and or Alarm An alarm is triggered by the following failure scenarios e Manual emergency operation Valve position out of defined operation area Valve blocked High temperature The digital interface can be used in various control circuits as shown below Control interfaces for QT250 amp QT800 Technical Manual
23. twork Master slave means that the Modbus controller is the master which actively sends commands and requests to the slave actuators Modbus fieldbus network Baudrate 19 2 or 38 4 kBps PC or PLC based ki ky ky Uv Uv Modbus controller XL A A v U 2 Terminal T P resistor x S Pd A A A Db P4 P4 P4 MA A Maximum 31 units in one loop Illustration 4 1 Example of Modbus schematics controller placed in the center of the network Each actuator in a Modbus network must be assigned a unique Node ID in the range 1 31 Commands to actuator Feedback from actuator Configuration Open Position 0 100 Torque Close Status Open Closed Speed Go to position 0 100956 Error messages Table 4 1 The Modbus interface offers functionality in terms of commands feedback and configuration For more technical information about the Eltorque Modbus communication refer to the Eltorque modbus communication definitions Send request by e mail to info eltorque com if you need this document 4 2 Installation Note See section 1 4 1 5 and 1 6 for more information about connection terminals cable glands and power supply connections The signal terminals are arranged as show
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