WRC Modbus to DeviceNet Gateway for GPD 506/P5
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1. 02Y00025 0537 Page 9 of 12 Date 10 12 01 Y YASKAWA aia pon The N7 0 register is increased by 1 this is so that the next message will have a different record number Each consecutive message must have a different record number otherwise it will not be sent B3 ADD 6 Add 0 Source A 1 Source B N7 0 460 Dest N7 0 460 This is just acting as a limiter for the record number EQU MOV 7H Equal Move Source A N7 0 Source 0 460 Source B 1000 Dest N7 0 460 8 END The N10 data table has the following information N10 0 11 4099 1 2 4 1 300 0 0 0 N10 10 6 771 32 5 0 0 0 0 0 0 N10 0 through N10 6 have the write command data to be written N10 10 through N10 13 have the read command The N7 data table has the following information N7 0 200 11 4099 1 300 0 0 _ 2 4 N7 10 0 0 0 0 0 0 0 0 0 0 N7 20 199 13 771 10 4 0 0 300 300 0 The information read from the drive is placed on registers N7 20 through N7 29 of which N7 24 through N7 28 are actual drive data Yaskawa Electric America inc www drives com 02Y00025 0537 Page 10 of 12 Date 10 12 01 Y YASKAWA seman N Scanner Configuration Notes The number of bytes used by the polled message devicenet is not the same as the number of bytes used for a modbus message The JDM configuration screen Figure 1 is used to set the number of bytes2. 9 and the record number N7 0 COP 1 Copy File Source N7 0 Dest M0 1 0 Length 10 Yaskawa Electric America inc www drives com 02Y00025 0537 Page 8 of 12 Date 10 12 01 Y YASKAWA nn tae nee This rung is looking for the multiple register read command 03h This command is in register 1 of the response message and is combined with the address of the drive 03h the result of this combination is 771 If the data in the M file corresponds to a response to the read command then place the data on the N7 20 registers for further use M1 1 0 EQU COP 2 Equal Copy File 15 Source A M1 1 1 Source M1 1 0 Dest N7 20 Source B 771 Length 15 U 0 The rest of the program handles the record number and the flip flop of the data read and write This rung increases the offset register N7 10 by 10 This will allow the transfer of the read command into the N7 1 area so that it can be sent to the drive B3 ADD 3 Add 0 Source A 10 Source B N7 10 0 Dest N7 10 0 If the offset register is greater than 10 the read command the reset it to 0 the write command GRT MOV 4H Greater Than A gt B Move Source A N7 10 Source 0 0 Source B 10 Dest N7 10 0 Copy the command from the N10 file to the N7 file N7 10 is used as the offset for the area to be copied B3 COP 5 Copy File 0 Source N10 N7 10 Dest N7 1 Length 9 Yaskawa Electric America inc www drives com
3. for the modbus message the number of bytes sent to and received from the drive The polled sizes are larger because of the extra information that is sent between the scanner and the WRC gateway e 16 bytes for the Rx This adds the space for the record number the communication status and the length e 13bytes for the Tx This adds the space for the record number and the length For more information regarding the WRC gateway and it s configuration refer to the 1782 JDM DeviceNet ModBus Gateway User s Manual Please consult with WRC with regards to current gateway firmware and documentation Wiring Figure 4 shows the proper wiring for RS232 between the WRC gateway and the GPD 506 P5 1782 JDM 1 RS232 HOU GPD506 Motherboard DbDoooogd DeviceNet Port JBHEH Figure 4 RS 232 wiring scheme The GPD 506 P5 connection side requires a special connector the Yaskawa part number for this connection kit is CM088 Please refer to the GPD 506 P5 Modbus RTU Technical Manual for the RS485 wiring scheme and required parts Yaskawa Electric America inc www drives com 02Y00025 0537 Page 11 of 12 Date 10 12 01 Y YASKAWA semaine a Reference material The following documents can be used as a reference on how to use the WRC gateway for a different drive or with a Modbus 485 network GPD 506 P5 GPD 506 P5 Modbus RTU Technical Manual 1782 JDM X User Manual for the Gateway SLC S
4. First register 0001h data lower segment 10 XXh First register 0001h data upper segment 11 YYh Second register 0002h data lower segment 12 YYh Second register 0002h data upper segment es lt SINICA AININ o O The first register 0001h controls the drive s run stop command and the second register 0002h controls the frequency 2 The output data format for the read command is Byte Data 0 Record number 06h Length Number of bytes of Modbus message Modbus address drive s address parameter n104 03h Multiple register read 20h Starting register lower address OOh Starting register upper address O5h Quantity of registers to read lower segment 00h Quantity of registers to read upper segment SDN On Bl QW rR In this case the data being read are registers 20h drive status 21h drive fault contents 22h communication data link progress 23h frequency reference and 24h output frequency The record number is used by the gateway to avoid sending the same message more than once this means that the number must change for the next message to be sent After the message has been sent converted to a true Modbus format and sent on to the drive the drive will respond The response is stripped of the CRC and added to it are the record number same as the message that it corresponds to communicati
5. WRC Modbus to DeviceNet Gateway for GPD 506 P5 Y YASKAWA Introduction This document describes the recommended method to configure and connect Western Reserve Controls WRC Modbus to DeviceNet gateway for use with the GPD 506 P5 There currently are three types of gateways available e 1782 JDM 1 for RS232 e 1782 JDM 2 for RS485 e 1782 JDM 3 for isolated RS232 Although this document focuses on the use of this gateway with the GPD 506 P5 drive it can be used with any Yaskawa drive that communicates via Modbus Configuration amp settings This procedure assumes that the reader is familiar with the GPD 506 P5 drive DeviceNet Modbus communication protocol and PLC programming The configuration of the gateway is straightforward and must be done through configuration software such as DeviceNet Manager RSNetworx for DeviceNet or equivalent Figure 1 shows the configuration screen for RSNetworx with the recommended parameter settings EE 1782 JDM RIES General Device Parameters 1 0 Defaults EDS File Online Groups Restore Default Values Parameter Help iD _ _ Parameter Modbus Protocol Rx Character Length Tx Character Lenath Modbus Baudrate DeviceNet Baudrate Modbus Time out Fault action Fault string Idle action Idle string Serial Comm Format C All oon nonk U N ot O Sinde Woload From Device BDonnoadiio Device Start tH onitor Cur
6. canner Module 1747 SDN Installation Instructions May 1997 or later PLC Scanner Module 1771 SDN Installation Instructions May 1997 or later Yaskawa Electric America inc www drives com 02Y00025 0537 Page 12 of 12 Date 10 12 01
7. e would contain the following information which would be sent to the WRC gateway via DeviceNet Register Data Description N10 1 1 Record number N10 2 11 Length N10 3 4099 Combination of Modbus address and write command N10 4 1 Starting register N10 5 2 Number of registers to write N10 6 4 Number of data bytes sent N10 7 1 Data of first register N10 8 300 Data of second register The information although the same as in the previous example is easier to understand the only register that presents an incoherent number is N10 3 This is because the decimal number shown is the combination of the Modbus address lower and the function code upper Yaskawa Electric America inc www drives com 02Y00025 0537 Page 6 of 12 Date 10 12 01 VY YASKAWA CPD B00PS 1771 SDN Scanner Module 21x General Module Scanlist Input Output Summary Auto ap EJ A01 1782JDM Polled 16 Yes sites Unmap Byte 15 Figure 3 Segmented input mapping A response message from the drive by means of a multiple register read would also be easier to understand Again because of the way the information is formatted on the scanner figure 3 Based on the example settings the drive would return the following data Drive register 0020h 04h Drive status Drive register 0021h 00h Fault indicators Drive register 0022h 00h Communication status Drive register 0023h 12C
8. h Drive s frequency reference Drive register 0024h 12Ch Drive s output frequency Yaskawa Electric America inc www drives com 02Y00025 0537 Page 7 of 12 Date 10 12 01 Y YASKAWA aen os The way the data would be transferred into the N9 registers would look like Register Data Description N9 1 1 Combination of record number and status N9 2 13 Length N9 3 771_ Combination of Modbus address and read command N9 4 10 Number data bytes received N9 5 5 Drive status 0020h N9 6 0 Fault indicators 0021h N9 7 0 Communication status 0022h N9 8 300 Frequency reference 0023h N9 9 300 Output frequency 0024h As with the output registers the only register with an incoherent number is N9 3 and the reason is the same This register is the combination of the Modbus address lower and the Modbus read command upper The first register N9 1 will indicate the record number lower and if there is communication problem the communication error upper If there are no communication errors the upper segment of the 16 bit register will always be 0 For a procedure on how to segment information on a scanner module consult the help files or the user s manual of the configuration software Ladder logic example The following example was written for a SLC using a 1747 SDN Enables the scanner module Copies the modbus message located on N7 1 through N7
9. on status bit 7 is set to 1 while the gateway awaits for a response and to 0 when it receives it and the message length in bytes Yaskawa Electric America inc www drives com 02Y00025 0537 Page 3 of 12 Date 10 12 01 Y YASKAWA aano one 3 The input data format information from the drive to the scanner for a write command is Byte Data 0 Record number Status Length Number of bytes of Modbus message Modbus address drive s address parameter n104 10h Multiple register write OOh Starting register lower address Olh Starting register upper address 00h Quantity of registers to write lower segment 02h Quantity of registers to write upper segment CO Di Ny AIIN The record number will match the one of the sent messages and the status will be 0 unless a communication error has occurred This response verifies that the registers were written to The PLC can monitor the status register and will ignore the message unless there is an error 4 The input data format for a read command is Byte Data Record number Status Length Number of bytes of Modbus message Modbus address drive s address parameter n104 03h Multiple register read OAh Number of data bytes UUh First register data lower segment UUh First register data upper segment VVh Second register data lower segment VVh Second register data upper segment WWh Third register data lower
10. rent Value RATU Mode 13 11 9600 baud Autobaud 40 Ims No action upon fault No action upon Idle Command 8 data bits Even parity 1 stop bit 2 Cancel Apply Help Figure 1 Basic Gateway Settings Yaskawa Electric America inc www drives com 02Y00025 0537 Page 1 of 12 Date 10 12 01 Y YASKAWA aen eas Modbus Protocol The GPD 506 P5 supports Modbus RTU protocol only through its serial port If ASCII protocol is used the drive will not respond Modbus baud rate Modbus time out serial communication format These settings are used to configure the serial port which is fixed on the drive to 8 data bits and 1 stop bit Rx amp Tx character length These parameters refer to the amount of information that will be passed between the GPD 506 P5 and the WRC gateway This is explained in more detail in the Mapping the Gateway to the Scanner paragraph The drive s parameters must be properly set for it to communicate Table 1 indicates what parameters affect the communication and where appropriate the recommended settings The settings are based on the gateway configuration as displayed in Figure 1 Table 1 506 P5Communication Parameters Parameter Description Comments Setting n002 Operation mode selection This setting is process dependent User n101 Modbus timeout detection The setting is process dependent User n102 Stop method on Modbus The setting is process dependent User communica
11. segment WWh Third register data upper segment XXh Fourth register data lower segment XXh Fourth register data upper segment YYh Fifth register data lower segment YYh Fifth register data upper segment ed Reet Reed Ron m m BO lp lO eI A ALAA SL NlRe lo The read message response will always be longer because of the data coming across The Modbus response also is stripped of the CRC and the record number Status and message length are added For a comprehensive explanation of the Modbus protocol and the data format refer to the GPD 506 P5 Modbus RTU Technical Manual Yaskawa Electric America inc www drives com 02Y00025 0537 Page 4 of 12 Date 10 12 01 Y YASKAWA ee Raa aes Mapping the Gateway to the Scanner Correct mapping of the gateway will eliminate a lot of confusion with regards to the appearance of the information In the previous section the data tables indicate the format in which the information is set on the gateway Since typical mapping is done by placing the individual bytes in word registers the data may look confusing For example if a write message is sent to a drive with the following information Modbus address 03 Command 16 10h Run command a value of 1 on register 0001 Frequency a value of 300 30 0 Hz on register 0002 The N10 register table if using a 1771 SDN would contain the following information and would be sen
12. t to the WRC gateway via DeviceNet Register Data Description N10 1 2816 Combination of record number and message length N10 2 4099 Combination of address and Modbus command N10 3 1 Combination of starting address upper and lower N10 4 2 Combination of records to read upper and lower N10 5 260 Combination of number of bytes and first register lower N10 6 256 Combination or first register upper and second lower N10 7 44 Second register upper A response message from the drive by means of a multiple register read would also appear incoherent Example of Segmented Mapping There is a another way to map the WRC Gateway so that the information sent and received is easier to read This procedure requires mapping different segments of the gateway into different areas of the scanner There can be up to 4 segments for each device on the scan list Drive s Modbus address 03 Drive will be running register 0001h must have a value of 1 Drive will be running at 30 0 Hz register 0002h must have a value of 300 Yaskawa Electric America inc www drives com 02Y00025 0537 Page 5 of 12 Date 10 12 01 VY YASKAWA CPD B00PS lt 1771 SDN Scanner Module 24x General Module Scanlist Input Output Summary EJ 401 1782JDM Polled 13 Yes Byte 0 Byte 1 Byte 2 Byte 8 Byte 12 Ok Cancel Apply Help Figure 2 Segmented output mapping The N10 register tabl
13. tion error n103 Modbus frequency reference This refers to the resolution of the User unit reference number sent by the master device n104 Modbus slave address Addresses must be between O and User 31 Each drive must have its own unique address n105 Modbus BPS selection This should be set to the max 2 9600 n106 Modbus parity selection Based on limitations of the 1 Even gateway even parity is parity recommended Yaskawa Electric America inc www drives com 02Y00025 0537 Page 2 of 12 Date 10 12 01 Y YASKAWA ee aaa eee Gateway Message Format The Yaskawa family of drives can handle two of the Modbus commands the multiple register read 03h and the multiple register write 10h These commands can be used to send the start stop and frequency reference as well as to read the drive status and operating frequency Important Information will not be formatted in a typical ODVA inverter drive assembly 1 The output data format information from the scanner to the drive for a write command is Data Record number OBh Length Number of bytes of Modbus message Modbus address drive s address parameter n104 10h Multiple register write Olh Starting register lower address OOh Starting register upper address 02h Quantity of registers to write lower segment OOh Quantity of registers to write upper segment 04h Number of bytes that will be sent 2 per register XXh
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