Modbus TCP with Emerson Drive
Contents
1. NIDEC HG3F or HG4F Screen Modbus TCP IP Communication and Control of an Emerson Drive Date 10 01 2006 Products used e Emerson Control Techniques Unidrive SP SM Ethernet module for the Unidrive SP Ethernet cross over cable IDEC HG4F touchscreen Notes prior to setup This setup procedure assumes that the programmer has a working knowledge of Ethernet networking and address methods The Emerson drive uses an auxiliary SM Ethernet communication module This module comes pre programmed with an Ethernet address Subnet mask and Gateway address For further details on this card please consult the drives User Guide Manual or Tech Support for your drive manufacturer Please ensure that you understand the operation of the drive and have it wired according to the Users Manual Please follow all Safety precautions Setup procedure For simplicity our example shows communication between one screen and one drive 1 HG4F setup for Modbus TCP IP communication is chosen when configuring the project settings For this example we chose the following Select Host I F Driver Manufacturer Protocol Modbus ATU MOOBUS TCP Client MOODBUSYTOCP Server lt Previous Cancel Help 2 Clicking Next will bring up the Pop up tool box Select the Communication Interface tab The TCP IP address Subnet mask and Gateway were set as shown for our drive Again consult the drive manuals for proper setup parameters Project Set2. screen for this trial used one Numerical Data display one Numerical Data Entry display set to use a Pop Up screen 3001 for the Numerical keypad and three Word Write Buttons Touch apee Setting 7 Emerson Control Techniques overlaid the drives parameter set with the Modbus RTU Data Register Range When reading and writing data information using the Modbus Protocol the drive data locations are specified as HR Holding Registers staring at address 400000 also as seen in the HG4F screen To access a particular drive parameter such as X Y where X is the drive menu number and Y is the parameter number we will use parameter 1 21 which is the selected speed reference The Modbus equivalent in the HG4F would be 400121 The period used as a separator is not used Any value written to this register which is outlined in the drive User Manual as a legitimate speed reference would cause the drive to change speed to that reference In our example we used the Numerical Data Entry tool to enter a new value 8 In the Emerson Drive a control word is supplied to provide a method of controlling the drive functions directly This drive parameter is 6 42 as shown Open loop Closed loop vector Servo Regen Opentoop Glosedoop vector Serva Regen Bits 0 f ms read Bits 5 15 Background read 9 Each bit of the control word corresponds to a function in the drive The table below which is from the drives manual gives a d
3. 1 Please take special note of bit 7 in the control word This bit must be high for the control action to take effect
4. etailed explanation of the functions Parameter Keypad and Parameter Parameter Eber cele oto ae Serialcomms Electronic Ptaa Feature kpk structure desplay xop description format descriptions protocol nameplate up table Sits marked with have no effect in Regen mode a e Ra wad rs ae ae ee ei T E S e r peo S O F O Analogue Preset reference ee ogreverse res a Rese So o fore ooo E a aO Bits 0 7 and bit 9 sequencing control When the control word is enabled Pr 6 43 1 and the Aute manual bit bit are both one bits 0 te 6 and bit 8 of the control word become active The equivalent parameters are not modified by these bits but became inactive when the equivalent bits in the control word are active When the bits are active they replace the functions of the equivalent parameters For example if Pr 6 43 1 and bit 7 of Pr 6 42 1 the drive enable is no banger controlled by Pr 6 175 but by bit 0 of the control word If either Pr 6 43 0 or bit 7 of Pr 6 42 0 the drive enable is controlled by Pr 6 15 Bit Analog preset reference When the contral word is enabled Pr 6 43 bit 8 of the contral word becomes active Bit 7 of the control word has mo effect on this function The state of bit 8 is written to Pr 1 42 With default drive settings this selects analogue reference 1 bitS 0 or preset reference 7 bits 1 If any other drive parameters are routed to Pr 1 42 the value of Pr 1 42 is undefined Bitt2 Tri
5. p drive When the control word is enabled Pr 6 43 bit 12 of the control word becomes active Bit 7 of the control word has no effect on this function When bit 12 is set to one a CL bit trip is initiated The trip cannot be cleared until the bit is set to zero Bit 13 Reset drive When the control word is enabled Pr 6 43 bit 12 of the control word becomes active Bit 7 of the control word has no effect on this function When bit 13 is changed from 0 to 1 the drive is reset This bit does not modify the equivalent parameter Pr 10 33 Bit 14 Keypad watchdog When the control word is enabled Pr 6_43 bit 14 of the control word becomes active Bit 7 of the control word has no effect on this function watchdog is provided for an external keypad or other device where a break in the communication link must be detected The watchdog system can be enabled and or serviced if bit 14 of the ca saan word is changed fram zero to one with the control word enabled Once the watchdog is enabled it must be serviced at least once every second or an SOL trip occurs The watchdog is disabled when an SCL trip occurs and so it must be re enabled when the tip is reset 10 In our example we configured the three Word Write buttons on our screen in the HG4F to perform the following tasks by writing data to Modbus address 400642 a Writing 193 will STOP the drive b Writing 195 will run the drive FORWARD c Writing 201 will run the drive REVERSE 1
6. tings Printer CF Card Project Details Contents System Communication Interface Host I F Driver Host Fort Extension Intertace Configuration Interlace Settings Interface Protocol Host Communication Ol Link SERIAL 1 SERIAL 2 Ethernet Host Commun Parallel Printer IF Address 192 168 1 99 Subnet Mask 255 255 255 O0 Default Gateway 192 168 1 254 Forbid Maintenance Communication When Protocol i N A those settings are for Maintenance communication Default Cancel Basic Help 3 Next select the Host Port Extension tab The driver for the HG4F was chosen as a Server This gives the option to set the devices on the Ethernet network which we want to communicate with In the example we filled the table with the TCP IP address of our drive If there are different drives we would have a corresponding number of different addresses to a maximum of four 4 After downloading this screen data the HG4F screen is now fully programmed to communicate with the drive Project settings Printer LF Card Project Details Contents System Communication Interface Host I F Driver Host Port Extension Time Out 1 sec a Port Number 502 Processing Intewal K msec i T Client Address Client Address Client Addresss Client Address Cancel Basic Help 5 With help from your Drive supplier configure an HG screen to test control of the drive 6 The test
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