Modbus User Manual
Contents
1. Modbus User Manual PRELIMINARY RELEASE Covers the following Modbus RTU enabled drives STM24QF 3AN STM24QF 3AE STM24QF 3RN STM240F 3RE SWM24QF 3AN SWM24QF 3AE Applied Motion Products APPLIED MOTION PRODUCTS INC Modbus is a registered trademark of Schneider Electric licensed to the Modbus Organization Inc 920 0072 Rev A 12 2013 Modbus User Manual What is Modbus RTU Modbus originally created by Modicon is a fieldbus that allows a master and one or more slave devices to share data These data are organized into 16 bit registers which can also be used to share information single bit I O points It is a popular protocol with PLC vendors due to its simplicity and the inherent ease of sending PLC register data often 16 bits in width over a fieldbus protocol optimized for 16 bit data The master may initiate read and write operations on single registers or blocks of registers While there is no rule to this effect it is common for the master to read and write on a periodic time base polling rather than sending and requesting data only when it is needed In this manner PLC register data is ensured to be valid and consistent as a representation of the slave device s status Wiring Modbus RTU uses the standard RS 232 or RS 485 physical layer RS 232 is a point to point communications scheme and as such the largest possible network would consist of a single Slave drive Please note that even though it w2. Map table for details on specific data that can be monitored and written in this manner Sending Commands The Command Opcode register 40125 is designated to receive encoded SCL commands via Modbus Many SCL commands have been made available in this manner and will allow the user full control over the motion capabilities of the drive SCL command encoding details can be found in the Modbus Register Table Please refer to the Host Command Reference for details of the functionality of these registers and commands 3 920 0072 Rev A 12 2013 Modbus User Manual Register Access DataType SCLRagister_ Description 40004 ed SHORT DrverBoardmpustsy 400056 fed tone R Position E EP e 40078 ed Lone Immediate Absolute Position 1 40009 10 Wie fione AbsoutePosiioncommani f P Immediate Actual Velocity VO Immediate Drive Temperature IT 40007 Read SHORT Immediate Analog put vae iq fo a 48 ed SHORT QProgramLinenumber f bo Immediate Current Command IC Relative Distance D do 40022 28 ed tone SensorPositon fo o Point to Point Acceleration AC Point to Point Deceleration DE B 4oost 32 RW ton PointtoPoint0istane D Change Distance DC Point to Point Move State i o i e Jo sr KETI S NN CS N I 4008 RY SHORT Miscellaneous Flags fF 0045 46 Om fions input Counter PT 40 RW sHort gwo JP 4008 mw SHORT goe 40080 am sHort AcoeliDevelC
3. current state of the drive s configuration parameters 4 Click Motion amp 1 0 5 Specify the drive s node address and baud rate 6 For drives with Flex IO confirm the desired I O settings Click OK to return to the main screen 7 Set any desired motor and encoder configurations your application may require 920 0072 Rev A 2 12 2013 Modbus User Manual 8 Click Download to Drive to save the settings 9 Optionally launch Q Programmer to write and download a program for this axis The drive may be configured to launch the program automatically upon powerup or to wait for the AX command to be sent from the Modbus master 10 Remove power from the drive and install into the main machine network 11 Repeat for all other slave nodes taking care to ensure each has a unigue node address Note the drive must be rebooted to switch between Modbus and configuration modes Drive Behavior An extensive list of registers has been made available allowing the user to monitor or change every detail of the drives status It is also possible to send commands to a specific register mimicking the behavior of our proprietary SCL command set The capability allows a PLC to have unparalleled control over the drive s behavior at runtime The drive will respond to the following Modbus function codes 3 Read Holding Registers 4 Read Input Registers 6 Write Single Register 16 Write Multiple Registers Monitoring See the Register
4. encode this command the user would select 0x31 for the character 1 and 0x46 for the character P input 1 or output 1 input 4 or output 4 high state open a oe isingedge 7 920 0072 Rev A 12 2013 920 0072 Rev A 12 2013 Applied Motion Products Applied Motion Products 404 Westridge Drive Watsonville CA 95076 USA tel 831 761 6555 fax 831 761 6544 www applied motion com
5. ill be the only device on the network it will still reguire an address This address may be an integer value from 1 32 and is set through the ST Configurator software during initial configuration For drives with RS 485 communications there are a few things to consider It is possible to use 2 wire RS 485 for operational communication over Modbus however 4 wire RS 485 is reguired for use with all Applied Motion configuration and programming software i e ST Configurator and O Programmer As such we recommend that all RS 485 networks be constructed using the 4 wire method Be sure to consult your drive s hardware manual for specific wiring details Drive configuration First download and install the most recent version of the ST Configurator software from the Applied MOtion Products website www applied motion com For RS 485 drives you will also need a USB to RS 485 converter such as the USB COMi M module available from AMP Consult your drive s manual for wiring and general communication instructions 1 Launch ST Configurator software and select the appropriate COM port 2 Apply power to the drive Note perform this step with only a single drive on the network Each drive must be configured individually before it may be used on a network 3 ST Configurator will automatically identify the drive but will not upload all parameters Click Upload from Drive This will ensure that the software accurately reflects the
6. r FD 0x69 OPoint1 Conditiont 1 0 Point 2 Condition2 0 Follow Encoder yoroint Condition 0 o 0 FL o 0 0 F xCC Feedto Lengh FL fose 0 68 67 0 Feed to Sensor with Mask M Ox6A I O Poin nditi Distance 0 Feed and Set Output I O Poi nditi FeedtoPosiion FP foer 0 Feed to Sensor 1 0 Poi Conditi 0 in hi Feed to Sensor with FY x6C I O Poin Conditi Safety Distance t t o o X i Ro oO x Ke m 6 A E vopoint 5 Filter Input CO 2 B ojlo x lt oO mm 1 0 Poin Condition oO Pad 1 0 Poin 0 001 V Function 1 3 1 0 Point i x Filter Time Filter Select Inputs D o lea leal SIS DI 46 47 I O Point ii 8 int t t te n o o od AHE m Condition eni 78 6F Stop Move Kill Buffer E lele l x x x l QI oO wet Notes e 32 bit values may be either big endian or little endian Set the value of register 40134 to either a 0 or 1 to switch the system endianness setting to match that of the PLC or HMI master device e Consult the I O Encoding Table for details on parameter data for commands referencing I O 920 0072 Rev A 6 12 2013 Modbus User Manual IO Encoding Table Useful ASCII values for IO commands Character values shown are taken from standard SCL command nomenclature For example a Feed to Sensor command example may utilize the falling edge of input 1 and appear as FS1F To
7. uremt c 40082 Rw stor Ile Current 920 0072 Rev A 4 12 2013 Modbus User Manual 40053 RW SHORT Steps per Revolution OO R O 40054 Rw SHORT Pulse Counter E Ss 92 40055 SHORT Time Stamp JW 40056 40058 SHORT Analog Offset AV 40059 60 LONG Accumulator 40063 64 40073 74 40077 78 40083 84 40087 88 LO z az ODIDI DIDIDIDIDI DIDIDIDIDIDIDIDIDIDIDIDIDI7D i GE n D Analog Position Gain AP 40057 SHORT Analog Threshold AT Hm Use E EE N D CD D E an lG lG D O N D D Cc n D D c nln D D I D Cc n D D E 2 D Defi Defi Defi Defi r Defi Defi Defi Defi Defi r Defi Defi Defi Defi Defi User Defi User Defi D EZ lE l v w jo D CD lep o a wn D D n D Defi Defi Defi Defi r Defi lt X ned ned n n i n ned ned ned n n ned ned ned S S A 0 ned ned ned a o a Q AN oa a a SHORT 40126 ri SHORT Parameter 1 SHORT SHORT 40131 40133 reserved 40134 SHORT Endianness Switch 0 little endian 1 big endian 920 0072 Rev A 12 2013 Modbus User Manual een ente Pret Prager rame T mal 2 Alarm Rest__ ax ogg o o o o 0 Start Jogging CI foss 0 Stop Jogging SI Joos 0 Encoder Function 0 1 2 or 6 Feed to Double Senso
Download Pdf Manuals
Related Search