CFW100 - Modbus RTU Manual
Contents
1. 7 213 Terminating eaxsnndecsedeeseesssencedseceessea8 8 21 4 8 2 1 5 Connection with 5485 8 22 USB COMMUNICATION MODULE CFW100 CUSB 8 2 2 1 Indications asar 8 9 3 1 SYMBOLS FOR THE PROPERTIES 9 P105 187 22 RAMP 6 1 9 P220 LOCAL REMOTE SELECTION 9 P221 SPEED REFERENCE SELECTION LOCAL SITUATION ennnen 9 P222 SPEED REFERENCE SELECTION REMOTE 51 9 P223 FORWARD REVERSE SELECTION LOCAL2. 17 6 DETAILED DESCRIPTION THE FUNCTIONS 19 6 1 FUNCTION 03 READ HOLDING REGISTER 2 19 6 2 FUNCTION 06 WRITE SINGLE REGISTER scscsecceseessecesceceesceseeseeseseeeseceeceasenseaseecenensaseasens 19 6 3 FUNCTION 16 WRITE MULTIPLE 5 65 4 04 0 02 20 64 FUNCTION 43 READ DEVICE 21 6 5 COMMUNICATION ERRORG sssescesssseesesceccesceccesseseseeeceeseesaesnseaeeecaesecaseensaseeseaessseaneaseasenseas 21 7 FAULTS AND ALARMS RELATED TO THE MODBUS RTU COMMUNICATION 23 128 228 TIMEOUT FOR SERIAL 23 APPENDICES 24 APPENDIX ASCII 24 APPENDIX CRC CALCULATION USING 25 CFW100 4 About this Manual ABOUT THIS MANUAL This manual supplies the necessary information for the operation of the CFW100 frequency inverter using the Modbus RTU protocol This manual must be used together with the
3. nnna 9 P224 RUN STOP SELECTION LOCAL 9 P225 JOG SELECTION LOCAL SITUATION 9 P226 FORWARD REVERSE SELECTION REMOTE SITUATION 9 227 RUN STOP SELECTION REMOTE SITUATION 9 P228 JOG SELECTION REMOTE 9 P308 SERIAL ADDRESS iii 9 P310 SERIAL BAUD RAGE 9 P311 SERIAL INTERFACE BYTE CONFIGURATION 10 P313 COMMUNICATION ERROR 10 P314 SERIAL WATCHDOG 11 P316 SERIAL INTERFACE 4 11 P680 STATUS 11 P681 MOTOR SPEED IN 13 4 5 44848584454855 8488 12
4. P308 SERIAL ADDRESS Range 1 to 247 Default 1 Properties Description It allows programming the address used for the inverter serial communication It is necessary that each device in the network has an address different from all the others P310 SERIAL BAUD RATE Range 9600 bits s Default 0 1 19200 bits s 2 38400 bits s Properties Description It allows programming the baud rate for the serial communication interface in bits per second This baud rate must be the same for all the devices connected to the network 100 9 meg Programming P311 SERIAL INTERFACE BYTE CONFIGURATION Range O 8 data bits no parity 1 stop bit Default 1 1 8 data bits even parity 1 stop bit 2 8 data bits odd parity 1 stop bit 3 8 data bits no parity 2 stop bits 4 8 data bits even parity 2 stop bits 5 8 data bits odd parity 2 stop bits Properties CFG Description It allows programming the number of data bits parity and stop bits of the serial interface bytes This configuration must be identical for all the devices connected to the network P313 COMMUNICATION ERROR ACTION Range O Inactive Default 1 1 Disable via Run Stop 2 Disable via General Enable 3 Change to Local 4 Change to Local keeping commands and reference 5 Causes a Fault Properties CFG Description It allows the selection of the action to be executed by the device if it is controll
5. calculate the CRC uchCRCLo uchCRCHi auchCRCHi uIndex uchCRCHi auchCRCLo uIndex return uchCRCHi lt lt 8 uchCRCLo 0x00 0 01 0 01 0 00 0 01 0 00 0 00 0 01 0 01 0 00 0 00 0 01 0 00 0 01 0 01 0 05 0 9 0 11 0 5 0 39 0 2 0 1 0 5 0 69 Ox7D 0 1 0 55 0 99 0 8 0 81 0 1 0 0 0 0 0 1 0 0 0 1 1 0 0 0 0 0 1 0 1 0 0 0 1 0 0 0 0 0 81 0 5 0 09 0 0 35 0 9 OxED 0 21 0 65 0 9 0 71 0 95 0 59 Ox4D 0x80 0 81 0 80 0 80 0 81 0 80 0 81 0 81 0 80 0 80 0 81 0 81 0 80 0 81 0 80 0 80 0 40 0 4 0 08 0 1 0 0 34 0 8 OxEC 0x20 0 64 0 8 OxBC 0 70 0 94 0 58 0 40 0 4 0 4 0 4 0 4 0 4 0 4 0 4 0 4 0 4 0 4 0 4 0 4 0 4 0 4 0 4 NON 77444 0 04 OxC8 OxDC 0 10 0 4 0 38 Ox2C 0 0 4 0 68 Ox7C OxBO 0x54 0x98 Ox8C 1 CFW100 25 WEG Drives 8 Controls Automa o LTDA Jaragu do Sul SC Brazil Phone 55 47 3276 4000 Fax 55 47 3276 4020 S o SP Brazil Phone 5
6. P682 SERIAL CONTROL 13 P683 SERIAL SPEED 13 4 MODBUS RTU keen 15 41 TRANSMISSION 5 4143 44444435354 4 15 4 2 MESSAGE STRUCTURE FOR nnmnnn nnmnnn nnmnnn nananana 15 4 2 1 5 15 4 2 2 Function COG 15 4 2 3 Data 15 4 2 4 E asus us au E 15 425 Time Between 15 5 OPERATION IN THE MODBUS NETWORK SLAVE 17 CFW100 3 meg Contents 5 1 AVAILABLE FUNCTIONS AND RESPONSE TIME 17 5 2
7. code 43 The response time from the end of transmission of the master until the response of the slave ranges from 2 to 10 ms for any of the functions above 52 MEMORY The CFW100 Modbus communication is based on the reading writing of the equipment parameters All the drive parameters list is made available as holding type 16 bit registers The data addressing is done with the offset equal to zero which means that the parameter number corresponds to the register address The following table illustrates the parameters addressing which can be accessed as holding type register Table 5 1 Modbus RTU Memory Map Modbus data address Parameter number Hexadecimal 0000h 0001h 0064h It is necessary to know the inverter list of parameters to be able to operate the equipment Thus it is possible to identify what data are needed for the status monitoring and the control of the functions The main parameters are Monitoring reading CFW100 17 meg Operation in the Modbus RTU Network Slave Mode P680 Status word P681 Motor speed Command writing P682 Command Word P683 Speed Reference Refer to the Programming Manual for a complete parameter list of the equipment NOTE 7 All the parameters are treated as holding type registers Depending the master that is used those registers are referenced starting from the base address 40000 or 4x In this case the address
8. that must be programmed in the master for a parameter is the address showed in the table above added to the base address Refer to the master documentation to find out how to access holding type registers It should be noted that read only parameters can only be read from the equipment while other parameters can be read and written through the network CFW100 18 Detailed Description of the Functions 6 DETAILED DESCRIPTION OF THE FUNCTIONS A detailed description of the functions available in the CFW100 frequency inverter for the Modbus RTU is provided in this section In order to elaborate the telegrams it is important to observe the following The values are always transmitted in hexadecimal address of a datum the number of data and the value of registers are always represented 16 bits Therefore it is necessary to transmit those fields using two bytes high and low telegrams for request as well as for response cannot exceed 64 bytes transmitted values are always integer regardless of having a representation with decimal point Thus the value 9 5 would be transmitted via serial as being 95 Refer to the CFW100 parameter list to obtain the resolution used for each parameter 6 1 FUNCTION 03 READ HOLDING REGISTER It reads the content of a group of registers that must be necessarily in a numerical sequence This function has the following structure for the request a
9. 0 0x41 0x00 OxCl 0x81 0x40 0x00 0 1 0x81 0x40 0x00 0 1 0x81 0x40 0x01 0 0 0x80 0x41 0x01 0 0 0 80 0x41 0x01 0 0 0x80 0x41 0x00 0xC1 0x81 0x40 0x00 0 1 0x81 0x40 0x00 0 1 0x81 0x40 0x01 0 0 0x80 0x41 0x01 0 0 0x80 0x41 0x00 0 1 0x81 0 40 0x01 0 0 0 80 0x41 0x01 0 0 0x80 0 41 0x01 0 0 0x80 0x41 0x00 OxCl 0x81 0 40 0x00 0 1 0x81 0 40 0x01 0 0 0x80 0 41 0x00 OxCl 0 81 0 40 0x00 0 1 0x81 0 40 0x00 0 1 0x81 0x40 0x01 0 0 0x80 0x41 0x01 0 0 0x80 0x41 0x00 0 1 0x81 0x40 0x01 0 0 0x80 0x41 0x01 0 0 0 80 0x41 0x01 0 0 0x80 0x41 0x00 0xC1 0x81 0x40 0x00 OxCl 0x81 0x40 0x00 0 1 0x81 0x40 0 01 0 0 0x80 0x41 0x01 0 0 0 80 0 41 0x01 0 0 0x80 0x41 0x00 OxCl 0x81 0 40 0x00 OxCl 0x81 0x40 0x01 0 0 0x80 0x41 0x00 OxCl 0x81 0x40 0x00 0 1 0x81 0x40 0x00 0 1 0x81 0x40 0x01 0 0 0x80 0x41 0x01 0 0 0x80 0x41 0x00 Table of CRC values for low order byte static char auchCRCLo 0 00 0 0 OxCl 0 01 0 3 0x03 0 02 0 2 0 6 0 06 0 07 0 7 0 0 0 0 0 OxCD 0 0 OxCF 0 0 0 0 0 0 OxCB 0 0 0 8 0x18 0x19 OxD9 0 OxDB OxDA OXIA 0 1 OxDE OxDF 1 0 14 0 4 OxD5 0 15 OxD7 0 17 0 16 OxD6 OxD2 0 12
10. 0 13 OxD3 OxFO 0 30 0 31 0 1 0 33 OxF3 OxF2 0 32 0 36 0 6 OxF7 0 37 0 3 OxFC OxFD 0 3 OxFF Ox3F 0 3 OxFE OxFA 0 3 0 3 OxFB 0x28 0 8 OxE9 0x29 OxEB 0 2 0 2 OxEA 0 0 2 0 2 OxEF OxE4 0x24 0x25 0 5 0 27 0 7 OxE6 0x26 0x22 0 2 OxE3 0x23 0 0 0x60 0 61 OxAl 0x63 OxA3 OxA2 0x62 0x66 OxA6 OxA7 0x67 Ox6C OxAC OxAD Ox6D OxAF 0 6 Ox6E OxAE OxAA Ox6B OxAB 0x78 0 8 OxB9 0x79 0 7 Ox7A OxBA OxBE 0 7 0 7 OxBF OxB4 0x74 0 75 OxB5 0 77 0 7 0 6 Ox76 0x72 OxB2 OxB3 0x73 0x50 0x90 0 91 0 51 0x93 0 53 0x52 0x92 0x96 0x56 Ox57 0 97 0 9 0 5 Ox5D 0 9 0 5 0 9 0 9 Ox5E 0 5 Ox9A 0 9 Ox5B 0x88 0x48 0x49 0x89 Ox4B 0 8 Ox8A Ox4A Ox4E Ox8E 0 8 4 0x44 0x84 0x85 0x45 0x87 0x47 0x46 0x86 0x82 0x42 0x43 0x83 0x41 The function returns the CRC as a unsigned short type unsigned short CRC16 puchMsg usDataLen unsigned char puchMsg message to calculate CRC upon unsigned short usDataLen quantity of bytes in message unsigned char uchCRCHi OxFF high byte of CRC initialized unsigned char uchCRCLo OxFF low byte of CRC initialized unsigned will index into CRC lookup table while usDataLen pass through message buffer uIndex uchCRCLo puchMsggt
11. 5 11 5053 2300 Fax 55 11 5052 4212 automacao weg net www weg net
12. 80 50 112 70 7 1 BEL Device Control 1 49 31 1 81 Q 113 71 8 2 DC2 Device Control 2 50 32 2 82 52 R 114 72 9 DC3 Device Control 3 oul 33 3 83 53 5 115 73 5 20 4 4 Device Control 4 52 34 4 84 54 T 116 74 t 21 5 NAK Negative Acknowledgement 53 35 5 85 55 U 117 75 u 22 6 SYN Synchronous Idle 54 36 6 86 56 118 76 23 T ETB End of Trans Block 55 37 7 87 119 77 24 8 1 56 38 8 88 58 120 78 x 25 9 EM End of Medium 557 39 9 89 59 Y 121 79 y 26 A SUB Substitute 58 3A i 90 5A 2 122 7 27 ESC Escape 59 3B 91 58 123 7B 28 FS File Separator 60 lt 92 50 124 7C 29 GS Group Separator 61 3D 93 5D 125 7D 30 E RS Record Separator 62 3E gt 94 5E 126 7 21 05 Unit Separator 63 3F 95 5F 127 DEL CFW100 24 meg Appendices APPENDIX B CRC CALCULATION USING TABLES Next a function using programming language is presented which implements the CRC calculation for the Modbus RTU protocol The calculation uses two tables to supply pre calculated values of the necessary displacement for the calculation Table of CRC values for high order byte static unsigned char auchCRCHi 0x00 0 1 0x81 0x40 0x01 0 0 0x80 0x41 0x01 0 0 0x80 0x41 0x01 0 0 0x80 0x41 0x00 OxCl 0x81 0x40 0x00 0 1 0x81 0x40 0x01 0 0 0x8
13. 85 interface connections are available via control terminal using the following pin assignment Table 2 1 RS485 connector pinout for the module CFW100 CRS485 Description RS485 B Table 2 2 Configuration of the switches to configure the RS485 __ SwitchSetting 2 S1 1 OFF e 1 2 OFF RS485 Termination off S1 1 ON e S1 2 RS485 Termination on 511 0FFe51 2 0N_ ris combination is not 511 ONeS12 0FF_ aoned ons no S1 1 ON e 51 2 OFF 21 2 RS485 Interface Characteristics interface follows the EIA TIA 485 standard allows communication baud rates from 9600 up to 38400 Kbit s interface is electrically isolated and with differential signal which grants more robustness against electromagnetic interference It allows the connection of up to 32 devices to the same segment More devices can be connected by using repeaters maximum bus length of 1000 meters 1 For connections that require distances greater than meters use remote keypad connection via control terminal 2 The limit of devices that can be connected on the network depends on the protocol used CFW100 7 Interface Description 2 1 3 Terminating resistor It is necessary to enable a terminating resistor at both ends of the main bus for each segment of the RS485 network If the equipment located at both ends of the bus does not have termination resistors use active termina
14. CFW100 user manual ABBREVIATIONS AND DEFINITIONS ASCII American Standard Code for Information Interchange CRC Cycling Redundancy Check EIA Electronic Industries Alliance TIA Telecommunications Industry Association RTU Remote Terminal Unit NUMERICAL REPRESENTATION Decimal numbers are represented by means of digits without suffix Hexadecimal numbers are represented with the letter h after the number Binary numbers are represented with the letter b after the number DOCUMENTS The Modbus RTU protocol was developed based on the following specifications and documents 2 Version MODBUS Application Protocol Specification December MODBUS ORG 28th 2006 MODBUS Protocol Reference Guide June 1996 MODICON MODBUS over Serial Line December 20th 2006 i MODBUS ORG In order to obtain this documentation consult MODBUS ORG which is nowadays the organization that keeps publishes and updates the information related to the Modbus protocol 100 5 meg Introduction to Serial Communication 1 INTRODUCTION TO SERIAL COMMUNICATION In a serial interface the data bits are sent sequentially through a communication channel or bus Several technologies use the serial communication for data transfer including the RS232 and RS485 interfaces The directions that specify the RS232 and RS485 standards however do neither specify the character format nor its sequence for the data transmiss
15. Motors Automation Energy Transmission amp Distribution Coatings Modbus RTU CFW100 User s Manual ESE Modbus RTU User s Manual Series CFW100 Language English Document Number 10002909455 01 Publication Date 03 2015 Contents CONTENTS CONTENTS ez ONO Ue 3 ABOUT THIS 5 ABBREVIATIONS AND 5 NUMERICAL REPRESENTATION 5 5 cu bade 5 1 INTRODUCTION TO SERIAL COMMUNICATION 6 2 INTERFACE DESCRIPTION ee 7 2 1 RS485 COMMUNICATION MODULE CFW100 CRS485 7 2 1 1 5485 module s Connector 7 2 1 2 RS485 Interface
16. arameter can only be changed via serial interface For the other sources HMI etc it behaves like a read only parameter In order to have those commands executed it is necessary to program the equipment to be controlled via serial This programming is achieved by means of parameters P105 and P220 to P228 Each bit of this word represents a command that can be executed Function 1508 7 2 2 8 8 5 Second ramp 2 LOC REM gt General enable Run Stop Speed direction Table 3 4 P682 parameter bit functions Bit O It stops the motor with deceleration ramp Run Stop The motor runs according to the acceleration ramp until reaching the speed reference value It disables the drive interrupting the supply for the motor General enable It enables the drive allowing the motor operation 0 To run the motor in a direction opposed to the speed reference Speed direction 1 To run the motor in the direction indicated by the speed reference It disables the JOG function JOG It enables the JOG function Bi The drive goes to the Local mode LOC REM 1 The drive goes to the Remote mode The drive uses the first ramp values programmed in P100 and P101 as the motor acceleration and Bit 5 deceleration ramp times Second ramp 1 The drive is configured to use the second ramp values programmed P102 and 103 as the motor acceleration and decelerat
17. byte of the telegram Time between bytes Minimum interval indicated beginning end of a telegram 3 5 x T11bits 100 16 Operation the Modbus RTU Network Slave Mode 5 OPERATION IN THE MODBUS RTU NETWORK SLAVE MODE The CFW100 frequency inverter has the following characteristics when operated in Modbus RTU network Network connection via RS485 serial interface Address communication rate and byte format defined by means of parameters t allows the device programming and control via the access to parameters 51 AVAILABLE FUNCTIONS AND RESPONSE TIMES In the Modbus RTU specification are defined the functions used to access different types of data In the CFW100 the parameters have been defined as being holding type registers In order to access those data the following services or functions have been made available Read Holding Registers Description reading of register blocks of the holding register type Function code Read Input Registers Description reading of register blocks of the input register type Function code 04 Write Single Register Description writing in a single register of the holding type Function code 06 Write Multiple Registers Description writing in register blocks of the holding register type Function code 16 Read Device Identification Description identification of the device model Function
18. bytes 2 bytes Slave response telegram Address Function Response Data CRC 1 byte 1 byte n bytes 2 bytes 4 2 1 Address The master initiates the communication sending a byte with the address of the slave to which the message is destined When sending the answer the slave also initiates the telegram with its own address The master can also send a message to the address zero which means that the message is destined to all the slaves in the network broadcast In that case no slave will answer to the master 4 2 2 Function Code This field also contains a single byte where the master specifies the kind of service or function requested to the slave reading writing etc According to the protocol each function is used to access a specific type of data For the available list of supported functions refer to item 5 423 Data Field It is a variable size field The format and contents of this field depend on the used function and the transmitted value This field is described together with the function description refer to item 5 4 2 4 CRC The last part of the telegram is the field for checking the transmission errors The used method is the CRC 16 Cycling Redundancy Check This field is formed by two bytes where first the least significant byte is transmitted CRC and then the most significant CRC The CRC calculation form is described in the protocol specification however information for its implementat
19. d 8 gt reference for forward direction Bit 2 1 and P688 lt reference for reverse direction Bit 2 and 683 gt 0 reference for reverse direction Bit 2 P688 lt 0 reference for forward direction CFW100 14 Modbus RTU Protocol 4 MODBUS RTU PROTOCOL The Modbus RTU protocol was initially developed 1979 Nowadays it is a widely spread open protocol used by several manufactures in many equipments 41 TRANSMISSION MODES Two transmission modes are defined the protocol specification ASCII RTU The modes define the way the message bytes are transmitted It is not possible to use the two transmission modes in the same network The CFW100 frequency inverter uses only the RTU mode for the telegram transmission The bytes are transmitted in hexadecimal format and its configuration depends on the programming done by means of P311 4 2 MESSAGE STRUCTURE FOR MODE The Modbus RTU structure uses a master slave system for message exchange It allows up to 247 slaves but only one master Every communication begins with the master making a request to a slave which answers to the master what has been asked In both telegrams request and answer the used structure is the same Address Function Code Data and CRC Only the data field can have a variable size depending on what is being requested Master request telegram Address Function Request Data CRC 1 byte 1 byte n
20. e following structure Request Master Response Slave Slave Address Slave Address Function Function with the most significant bit in 1 Data Error code CRC CRC Example the master requests to the slave at the address 1 the writing in the register 2900 nonexistent register Value 00 1 CRC A 4 PORCH 4 5 7 CFW100 22 meg Faults and Alarms Related to the Modbus RTU Communication 7 FAULTS AND ALARMS RELATED TO THE MODBUS RTU COMMUNICATION A128 F228 TIMEOUT FOR SERIAL COMMUNICATION Description It is the only alarm fault related to the serial communication indicates that the equipment stopped receiving valid serial telegrams for a period longer than the one programmed in P314 Operation The parameter P314 allows programming a period of time during which the equipment must receive at least one valid telegram via the RS485 serial interface with address and error checking field correct otherwise it will be considered that there was any problem in the serial communication The time counting initiates after the reception of the first valid telegram This function can be used by any serial protocol supported by the equipment After the serial communication timeout has been identified the A128 alarm or F228 fault message will be showed on the HMI depending on the P313 programming For alarms if the communication is reestablished and new valid telegrams are r
21. eceived the alarm indication will be removed from the HMI Possible Causes Correction a Verify factors that could cause failures in the communication cables installation and grounding sure that the master sends telegrams to the equipment in intervals shorter than the programmed P314 Disable this function at P314 CFW100 23 Appendices APPENDICES APPENDIX A ASCII TABLE Table 1 1 ASCII Characters Dec Hex Chr Dec Hex Chr Dec Hex Chr Dec Hex Chr 0 00 NUL Null char 32 20 Sp 64 40 96 60 1 01 SOH Start of Header 21 1 65 41 97 61 2 02 STX Start of Text 34 22 66 42 98 62 b 3 03 ETX End of Text 25 23 67 43 99 63 4 04 End of Transmission 36 24 5 68 44 100 64 5 05 Enquiry 37 25 5 69 45 101 65 6 06 Acknowledgment 38 26 amp 70 46 102 66 T 07 BEL Bell 39 27 71 47 103 67 8 08 BS Backspace 40 28 72 48 H 104 68 h 9 09 HT Horizontal Tab 41 29 73 49 I L05 69 3 0 0 Line Feed 42 2A 74 4A J 106 6A 1 1 08 VI Vertical Tab 43 2B 75 107 6 2 0 Form Feed 44 2C 7 7 6 4 L 108 6 1 3 OD CR Carriage Return 45 2D 77 4D M 109 6D m 4 OE 50 Shift Out 46 2 78 4 N 110 6 5 51 Shift In 47 2 79 4 111 6F 6 0 DLE Data Link Escape 48 30 0
22. ed via network and a communication error is detected Table 3 1 P313 options 0 Inactive motor stops according to the programmed deceleration ramp The drive is disabled by removing the General Enabling and the motor coasts to stop 2 Disable via General Enable 3 Change to Local The drive commands change to Local The drive commands change to Local but the status of the enabling and speed reference commands received via network are kept providing that the drive has been programmed to use in Local mode the commands via HMI or 3 wire start stop and speed reference via either HMI or electronic potentiometer Instead of an alarm the communication error causes a drive fault 5 Causes a Fault so that a drive fault reset becomes necessary in order to restore normal operation The following events are considered communication errors 4 Change to Local keeping commands and reference Serial communication RS485 A128 alarm F228 fault Serial communication timeout The actions described in this parameter are executed by means of the automatic writing of the selected actions in the respective bits of the interface control words Therefore in order that the commands written in this parameter be effective it is necessary that the device be programmed to be controlled via the used network interface with exception of option Causes a Fault which blocks the equipment even if it is not controlled by network This program
23. ending on the type of error the slave may or not send a response to the master CFW100 21 Detailed Description of the Functions When the master sends a message for an inverter configured in a specific network address the product will not respond to the master if the following occurs Parity bit error CRC error Timeout between the transmitted bytes 3 5 times the transmission time of a byte In those cases the master must detect the occurrence of the error by means of the timeout while waiting for the slave response In the event of a successful reception during the treatment of the telegram the slave may detect problems and send an error message indicating the kind of problem found Invalid function Error code 1 The requested function has not been implemented for the equipment Invalid datum address Error code 2 the datum address does not exist Invalid datum value Error code 3 It occurs in the following situations The value is out of the permitted range attempt to write datum that cannot be changed reading only register bit NOTE 7 It is important that it be possible to identify at the master what type of error occurred in order to be able to diagnose problems during the communication In the event of any of those errors the slave must send a message to the master indicating the type of error that occurred The error messages sent by the slave have th
24. ion and reception Therefore besides the interface it is also necessary to identify the protocol used for the communication Among the several existent protocols one used a lot in the industry is the Modbus RTU protocol In the sequence the characteristics of the RS485 and USB serial interfaces available for the product will be presented as well as the Modbus RTU protocol for the use of this interface CFW100 6 meg Interface Description 2 INTERFACE DESCRIPTION The interfaces for serial communication RS485 or USB available for the CFW100 frequency inverter depend on the selected communication module for the product Following are presented information about the connection and installation of the equipment using different communication modules 2 1 RS485 COMMUNICATION MODULE CFW100 CRS485 Figure 2 1 Module with RS485 interface This plug in module for the CFW100 frequency inverter has one RS485 interface This standard RS485 interface has two functions Point to Point Connection with remote keypad via mini USB connector Connection RS485 for network operation via terminals NOTE 7 Although RS485 communication signal is available both connectors mini USB and control terminal these signals are the same internally For this reason it is not possible to use RS485 interface as command source or reference source and remote keypad at the same time 2 1 1 5485 module s connector The RS4
25. ion is also supplied in the Appendix B 425 Time Between Messages In the RTU mode there is no specific character that indicates the beginning or the end of a telegram The indication of when a new message begins or when it ends is done by the absence of data transmission in the network for a minimum period of 3 5 times the transmission time of a data byte 11 bits Thus in case a telegram has initiated after the elapsing of this minimum time the network elements will assume that the first CFW100 15 Modbus RTU Protocol received character represents the beginning of a new telegram And in the same manner the network elements will assume that the telegram has reached its end when after receiving the telegram elements this time has elapsed again If during the transmission of a telegram the time between the bytes is longer than this minimum time the telegram will be considered invalid because the frequency inverter will discard the bytes already received and will mount a new telegram with the bytes that were being transmitted For communication rates higher than 19200 bits s the used times are the same as for that rate The next table shows us the times for different communication transmission rates Thetweenbytes 35 Transmission Signal Time T11 bits Telegram Table 4 1 Communication rates and the time periods involved in the telegram transmission Ti bits Time for transmitting one
26. ion ramp times Bit 7 No function Fault reset 1 If in a fault condition then it executes the reset Bits 8 to 15 P683 SERIAL SPEED REFERENCE Range 32768 to 32767 Default 0 Properties Description It allows programming the motor speed reference via the Modbus RTU interface This parameter can only be changed via serial interface For the other sources HMI etc it behaves like a read only parameter In order that the reference written in this parameter be used it is necessary that the drive be programmed to use the speed reference via serial This programming is achieved by means of parameters P221 and P222 This word uses a 13 bit resolution with signal to represent the motor rated frequency 403 683 0000h 0 decimal speed reference 0 683 2000h 8192 decimal speed reference rated frequency P403 Intermediate or higher reference values can be programmed by using this scale E g 60Hz rated frequency to obtain a speed reference of 30 Hz one must calculate CFW100 13 Programming 60 Hz gt 8192 30 Hz gt 13 bit reference 13 bit reference 30 x 8192 60 18 bit reference 4096 gt Value corresponding to 30 Hz 13 bit scale This parameter also accepts negative values to revert the motor speed direction The reference speed direction however depends also on the control word P682 bit 2 setting Bit 2 1 an
27. lave Address Function Initial register address high byte initial register address low byte Number of registers high byte Number of registers low byte Byte count number of data bytes Datum 1 high byte Datum 1 low byte Datum 2 high byte Datum 2 low byte etc CRC CRC Example writing of the acceleration time P100 equal to 1 0 s and the deceleration time P101 equal to 2 0 s of a slave at address 15 Address 15 1 byte Initial register address 100 0064h 2 bytes Value for the first parameter 10 OOOAh 2 bytes Value for the second parameter 20 0014h 2 bytes P100 high byte Number of registers low byte Number of registers low byte 100 low byte i 00h oan on P101 lowbytey 48 o EO CFW100 20 Detailed Description of the Functions 64 FUNCTION 43 READ DEVICE IDENTIFICATION It is an auxiliary function that allows the reading of the product manufacturer model and firmware version It has the following structure 1 Code of the firstobject Value of the first object 0 of the second object Size of the second object of the second object n bytes YR This function allows the reading of three information categories Basic Regular and Ex
28. ming is achieved by means of parameters P220 to P228 CFW100 10 Programming P314 SERIAL WATCHDOG Range 0 0 to 999 0s Default 0 0 Properties Description It allows programming a time limit for the detection of serial interface communication error If the frequency inverter remains without receiving valid telegrams longer than the time programmed in this parameter it will be considered that a communication error has occurred the alarm A128 will be showed on the HMI and the option programmed in P313 will be executed After being powered up the frequency inverter starts counting this time from the first received valid telegram The value 0 0 disables this function P316 SERIAL INTERFACE STATUS Range O Inactive Default 1 Active 2 Watchdog error Properties RO Description It allows identifying whether the RS232 or RS485 serial interface board is properly installed and whether the serial communication presents errors Table 3 2 P316 options Inactive serial interface It occurs when the device does not have the RS232 RS485 board installed 1 Active Installed and acknowledged RS232 or RS485 interface board Watchdog ertor The serial interface is active but a serial communication error has been 9 detected 128 alarm F228 fault P680 STATUS WORD Range 0000 to FFFFh Default Properties RO Description It allows the device statu
29. nd response telegrams each field represents a byte Request Master Response Slave CR ER Example reading of the motor speed 2 and the motor current of slave at address 1 assuming that 2 30 Hz and 1 5 A Address 1 Oth 1 byte Initial register address 2 0002h 2 bytes Value of the first parameter 30 1 2 bytes Value of the second parameter 15 OOOFh 2 bytes 1 6 2 FUNCTION 06 WRITE SINGLE REGISTER This function is used to write a value for a single register It has the following structure each field represents a byte Value for the register high byte Value for the register high byte Value for the register low byte Value for the register low byte CFW100 19 Detailed Description of the Functions Example writing of 30 Hz as the speed reference P683 assuming a motor frequency of 60 Hz for the slave at address 3 Address OSh 1 byte Initial register address 683 O2ABh 2 bytes Value for parameter 1000h 2 bytes Note that for this function the slave response is an identical copy of the request made by the master 6 3 FUNCTION 16 WRITE MULTIPLE REGISTERS This function allows writing values for a group of registers which must be in a numerical sequence It can also be used to write in a single register each field represents a byte Request Master S
30. ral Enable is active and the drive is ready to run the motor 0 The motor is running in the reverse direction 1 The motor is running in the forward direction 1 Active JOG function 1 Drive in Remote mode 0 No Undervoltage Undervoltage 1 With Undervoltage it 15 The drive is not in a fault condition 1 The drive has detected fault Note The fault number can be read by means of the parameter 49 Present Fault Bit 6 In configuration mode P681 MOTOR SPEED IN 13 BITS Range 32768 to 32767 Default Properties RO Description It allows monitoring the motor speed This word uses 13 bit resolution with signal to represent the motor rated frequency 403 681 0000h 0 decimal motor speed 0 681 2000h 8192 decimal motor speed rated frequency Intermediate or higher speed values in rom can be obtained by using this scale E g 6QHz rated frequency if the value read is 2048 0800h then to obtain the speed in Hz one must calculate 8192 gt 60 Hz 2048 gt Frequency in Hz Frequency in Hz 60 x 2048 8192 Frequency in Hz 15 Hz Negative values in this parameter indicate that the motor is running in the reverse direction CFW100 12 Programming P682 SERIAL CONTROL WORD Range to FFFFh Default Properties Description It is the device Modbus RTU interface control word This p
31. s monitoring Each bit represents a specific status Function Fault condition Reserved Undervoltage LOC REM Speed direction Active General Motor Running Alarm condition In configuration Second ramp Reserved CFW100 11 Programming Table 3 3 P680 parameter bit functions San SS See Yas 0 The drive is configured to use the first ramp values programmed in 100 and P101 as the motor Bit 5 acceleration and deceleration ramp times Second ramp 1 The drive is configured to use the second ramp values programmed P102 and P103 as the motor acceleration and deceleration ramp times 0 The drive is operating normally 1 The drive is in the configuration mode It indicates a special condition during which the drive cannot be enabled Executing the self tuning routine Executing the oriented start up routine Executing the HMI copy function Executing the flash memory card self guided routine There is a parameter setting incompatibility There is no power at the drive power section 0 The drive is not in alarm condition Bit 7 7 The drive is in alarm condition Note The alarm number can be read by means of the parameter 048 Present Alarm B 0 The motor is stopped Motor Runnin 1 The drive is running the motor at the set point speed or executing either the acceleration or the 9 deceleration ramp it 8 Bit 9 0 General Enable is not active Active General Enable 1 Gene
32. tended and each category is formed by a group of objects Each object is formed by a sequence of ASCII characters For the CFW100 frequency inverter only basic information formed by three objects is available Objeto 00h VendorName represents the product manufacturer Objeto 01h ProductCode formed by the product code CFW100 Objeto 02h MajorMinorRevision it indicates the product firmware version in the format The reading code indicates what information categories are read and if the objects are accessed in sequence or individually The CFW100 supports the codes 01 basic information in sequence and 04 individual access to the objects The other fields are specified by the protocol and for the CFW100 they have fixed values Example reading of basic information in sequence starting from the object 02h from CFW100 at address 1 1 th 1 0280 00 __ In this example the value of the objects was not represented in hexadecimal but using the corresponding ASCII characters instead E g for the object 02h the value V1 00 was transmitted as being five ASCII characters which in hexadecimal have the values 56h V 31h 1 2Eh 30h 0 and 30h 07 6 5 COMMUNICATION ERRORS Communication errors may occur in the transmission of telegrams as well as in the contents of the transmitted telegrams Dep
33. ting to enable these resistors 2 1 4 Indications Details on the alarms communications failures and communication states are made through the keypad HMI and product parameters 2 1 5 Connection with RS485 Network The following points must be observed for the connection of the device using the RS485 interface t is recommended the use of a shielded cable with a twisted pair of wires also recommended that the cable has one more wire for the connection of the reference signal GND In case the cable does not have the additional wire then the GND signal must be left disconnected The cable must be laid separately and far away if possible from the power cables All the network devices must be properly grounded preferably at the same ground connection The cable shield must also be grounded Enable the termination resistors only at two points at the extremes of the main bus even if there derivations from the bus 2 2 USB COMMUNICATION MODULE CFW100 CUSB Figure 2 2 Module with USB connection For this module a USB interface with mini USB conector is available When connecting the USB interface it will be recognized as a USB to serial converter and a virtual COM port will be created Thus communication is made with the drive via this COM port The USB accessory also provides the connection to the remote keypad via standard RS485 interface 2 21 Indications Details on the alarms communica
34. tions failures and communication states are made through the keypad HMI and product parameters 3 It is necessary to install the USB driver on the CD ROM supplied with the product The COM port number created depends on the availability in the operating system and once connected consult the hardware resources of the system to identify this port CFW100 8 Programming 3 PROGRAMMING Next the CFW100 frequency inverter parameters related to the Modbus communication will be presented 3 1 SYMBOLS FOR THE PROPERTIES DESCRIPTION RO Reading only parameter CFG Parameter that can be changed only with a stopped motor P105 187 28 RAMP SELECTION P220 LOCAL REMOTE SELECTION SOURCE P221 SPEED REFERENCE SELECTION LOCAL SITUATION P222 SPEED REFERENCE SELECTION REMOTE SITUATION P223 FORWARD REVERSE SELECTION LOCAL SITUATION P224 RUN STOP SELECTION LOCAL SITUATION P225 JOG SELECTION LOCAL SITUATION P226 FORWARD REVERSE SELECTION REMOTE SITUATION P227 RUN STOP SELECTION REMOTE SITUATION P228 JOG SELECTION REMOTE SITUATION These parameters are used in the configuration of the command source for the CFW100 frequency inverter local and remote situations In order that the device be controlled through the Modbus RTU interface the options serial available in these parameters must be selected The detailed description of these parameters is found in the CFW100 programming manual
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