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vacon 100 industrialvacon 100 flowvacon 100 hvacvacon 100 x ac drivesmodbus tcp / modbus rtuuser manual
vacon 1Table of ContentsDocument: DPD00156CVersion release date: 5.2.161.Safety.21.11.21.3Danger.2Warnings .3Earthing and earth fault protection .42.3.Modbus - general info .5Modbus technical data .73.13.23.3Modbus RTU protocol .7Modbus TCP protocol.7Cable length lation in Vacon 100.8Prepare for use through ethernet .9Prepare for use through RS485.11Installation in Vacon 100 X.15Prepare for use through Ethernet .15Prepare for use through 3.25.45.4.15.4.25.4.3Modbus RS-485 parameters and monitoring values .19Modbus TCP parameters and monitoring values.20Ethernet common settings .20Modbus TCP settings .20Modbus RTU parameter descriptions.22Modbus RTU Parameters.22Modbus RTU monitoring values.22Modbus TCP parameter descriptions.25Ethernet common settings .25Modbus TCP settings .25Modbus TCP monitoring values.266.Communications .286.16.26.36.3.16.3.26.3.36.4Data addresses in Modbus messages .28Supported Modbus Functions .28Modbus data mapping.30Coils registers.30Discrete inputs .30Holding registers and input registers .30Example messages .407.Fault tracing .457.17.27.3Typical fault conditions .45RS-485 bus biasing .45Other fault conditions .468.9.Quick setup .48Annex.4924-hour support 358 (0)201 212 575 Email: [email protected]
vacon 21.SafetySAFETYThis manual contains clearly marked cautions and warnings which are intended for your personalsafety and to avoid any unintentional damage to the product or connected appliances.Please read the information included in cautions and warnings carefully.The cautions and warnings are marked as follows:Table 1. Warning signs DANGER! Dangerous voltage9000.emf WARNING or CAUTION13006.emf Caution! Hot 00.emf9000.emf9000.emf1The components of the power unit are live when the drive is connected to mainspotential. Coming into contact with this voltage is extremely dangerous and maycause death or severe injury.The motor terminals U, V, W and the brake resistor terminals are live when theAC drive is connected to mains, even if the motor is not running.After disconnecting the AC drive from the mains, wait until the indicators on thekeypad go out (if no keypad is attached see the indicators on the cover). Wait 5more minutes before doing any work on the connections of the drive. Do not openthe cover before this time has expired. After expiration of this time, use a measuring equipment to absolutely ensure that no voltage is present. Always ensureabsence of voltage before starting any electrical work!The control I/O-terminals are isolated from the mains potential. However, therelay outputs and other I/O-terminals may have a dangerous control voltagepresent even when the AC drive is disconnected from mains.Before connecting the AC drive to mains make sure that the front and cable covers of the drive are closed.During a ramp stop (see the Application Manual), the motor is still generatingvoltage to the drive. Therefore, do not touch the components of the AC drivebefore the motor has completely stopped. Wait until the indicators on the keypadgo out (if no keypad is attached see the indicators on the cover). Wait additional 5minutes before starting any work on the drive.Tel. 358 (0) 201 2121 Fax 358 (0)201 212 205
Safety1.2vacon 3WarningsThe AC drive is meant for fixed installations only.13006.emfDo not perform any measurements when the AC drive is connected to the mains.13006.emf13006.emf13006.emfThe earth leakage current of the AC drives exceeds 3.5mA AC. According to standard EN61800-5-1, a reinforced protective ground connection must be ensured.See chapter 1.3.If the AC drive is used as a part of a machine, the machine manufacturer isresponsible for providing the machine with a supply disconnecting device (EN60204-1).Only spare parts delivered by Vacon can be 13006.emfAt power-up, power brake or fault reset the motor will start immediately if thestart signal is active, unless the pulse control for Start/Stop logic has been selected.Futhermore, the I/O functionalities (including start inputs) may change if parameters, applications or software are changed. Disconnect, therefore, the motor ifan unexpected start can cause danger.The motor starts automatically after automatic fault reset if the auto restartfunction is activated. See the Application Manual for more detailed information.Prior to measurements on the motor or the motor cable, disconnect the motorcable from the AC drive.Do not touch the components on the circuit boards. Static voltage discharge maydamage the components.Check that the EMC level of the AC drive corresponds to the requirements of yoursupply network.24-hour support 358 (0)201 212 575 Email: [email protected]
vacon 41.3SafetyEarthing and earth fault protectionCAUTION!13006.emfThe AC drive must always be earthed with an earthing conductor connected to the earthing terminalmarked with.The earth leakage current of the drive exceeds 3.5mA AC. According to EN61800-5-1, one or moreof the following conditions for the associated protective circuit shall be satisfied:b) The protective conductor shall have a cross-sectional area of at least 10 mm2 Cu or 16mm2 Al, through its total run.c)Where the protective conductor has a cross-sectional area of less than 10 mm2 Cu or 16mm2 Al, a second protective conductor of at least the same cross-sectional area shall beprovided up to a point where the protective conductor has a cross-sectional area not lessthan 10 mm2 Cu or 16 mm2 Al.d) Automatic disconnection of the supply in case of loss of continuity of the protective conductor.The cross-sectional area of every protective earthing conductor which does not form part of thesupply cable or cable enclosure shall, in any case, be not less than:- 2.5mm2 if mechanical protection is provided or- 4mm2 if mechanical protection is not provided.The earth fault protection inside the AC drive protects only the drive itself against earth faults in themotor or the motor cable. It is not intended for personal safety.Due to the high capacitive currents present in the AC drive, fault current protective switches maynot function properly.13006.emfDo not perform any voltage withstand tests on any part of the AC drive. There isa certain procedure according to which the tests shall be performed. Ignoring thisprocedure may result in damaged product.NOTE! You can download the English and French product manuals with applicable safety,warning and caution information hnical-documentation/.REMARQUE Vous pouvez télécharger les versions anglaise et française des manuels produitcontenant l’ensemble des informations de sécurité, avertissements et mises en gardeapplicables sur le site al-documentation/.1Tel. 358 (0) 201 2121 Fax 358 (0)201 212 205
Modbus - general info2.vacon 5MODBUS - GENERAL INFOModbus is a communication protocol developed by Modicon systems. In simple terms, it is a way ofsending information between electronic devices. The device requesting the information is called theModbus Master (or the Client in Modbus TCP) and the devices supplying information are ModbusSlaves (in Modbus TCP servers). In a standard Modbus network, there is one Master and up to 247Slaves, each with a unique Slave Address from 1 to 247. The Master can also write information tothe Slaves. Modbus is typically used to transmit signals from instrumentation and control devicesback to a main controller or data gathering system.The Modbus communication interface is built around messages. The format of these Modbusmessages is independent of the type of physical interface used. The same protocol can be usedregardless of the connection type. Because of this, Modbus gives the possibility to easily upgradethe hardware structure of an industrial network, without the need for large changes in the software.A device can also communicate with several Modbus nodes at once, even if they are connected withdifferent interface types, without the need to use a different protocol for every d9325.emfFigure 1. Basic structure of Modbus frameOn simple interfaces like RS485, the Modbus messages are sent in plain form over the network. Inthis case the network is dedicated to Modbus. When using more versatile network systems like TCP/IP over Ethernet, the Modbus messages are embedded in packets with the format necessary for thephysical interface. In that case Modbus and other types of connections can co-exist at the samephysical interface at the same time. Although the main Modbus message structure is peer-to-peer,Modbus is able to function on both point-to-point and multidrop networks.Each Modbus message has the same structure. Four basic elements are present in each message.The sequence of these elements is the same for all messages, to make it easy to parse the contentof the Modbus message. A conversation is always started by a master in the Modbus network. AModbus master sends a message and—depending of the contents of the message—a slave takesaction and responds to it. There can be more masters in a Modbus network. Addressing in themessage header is used to define which device should respond to a message. All other nodes on theModbus network ignore the message if the address field does not match their own address.Your Vacon 100 drive is equipped with Modbus support as standard.24-hour support 358 (0)201 212 575 Email: [email protected]
vacon 6Modbus - general infoEthernetModbus TCPSwitchModbusRTUmasterModbus RTU9326.emfFigure 2. Principal example diagram of ModbusIf you need to contact Vacon service in problems related to Modbus, send a description of theproblem together with the Drive Info File to ServiceSu[email protected]. 358 (0) 201 2121 Fax 358 (0)201 212 205
Modbus technical datavacon 73.MODBUS TECHNICAL DATA3.1Modbus RTU protocolInterfaceData transfer methodTransfer cableConnectorConnections and Electrical isolationcommunicationsModbus RTUBitrateAddresses3.2Modbus TCP protocolInterfaceData transfer methodData transfer speedProtocolConnections andConnectorcommunicationsCable typeModbus TCPDefault IP3.3Table 2.RS-485RS-485 MS/TP, half-duplexSTP (Shielded Twisted Pair), type Belden9841 or similar2.5 mm2FunctionalAs described in “Modicon Modbus Protocol Reference Guide”300, 600, 1200, 2400, 4800, 9600, 19200,38400, 57600, 76800, 115200 and 230400bits/s1 to 247Table 3.100BaseTX, IEEE 802.3 compatibleEthernet half/full -duplex10/100 MBit/s, autosensingModbus TCPShielded RJ45 connectorCAT5e STPAs described in Modbus MessagingImplementation GuideSelectable: Fixed or DHCP (AutoIP)Cable lengthThe maximum allowed length of a single CAT5 Ethernet cable is 100 meters.The maximum length of an RS-485 cable depends on the bitrate used, the cable (gauge, capacitanceor characteristic impedance) and the number of devices in the bus. The Modbus RTU specificationstates that the maximum cable length is 1000 meters when using max 9600 bits/second bitrate andAWG26 or wider gauge cable. The actual cable length which can be used in an installation can belower than this number depending on the aforementioned parameters.24-hour support 358 (0)201 212 575 Email: [email protected]
vacon 8Installation4.INSTALLATION4.1Installation in Vacon 100Open the cover of the AC drive.M4x5519174.emfThe relay outputs and other I/O-terminals may have a dangerous control voltagepresent even when the AC drive is disconnected from mains.9000.emfOpen the inner cover of the drive.29235.emf4Tel. 358 (0) 201 2121 Fax 358 (0)201 212 205
Installation4.1.1vacon 9Prepare for use through ethernetConnect the Ethernet cable (see specification in Chapter 3.2) to its terminal asshown in figure below.3Ethernetcable9316.emf24-hour support 358 (0)201 212 575 Email: [email protected]
vacon 10InstallationProtection class IP21: Cut free the opening on the AC drive cover for the Ethernet cable.Protection class IP54: Cut the rubber grommets open to slide the cablesthrough. Should the grommets fold in while inserting the cable, just draw thecable back a bit to straighten the grommets up. Do not cut the grommet openings wider than what is necessary for the cables you are using.NOTE! To meet the requirements of the enclosure class IP54, the connectionbetween the grommet and the cable must be tight. Therefore, lead the first bit ofthe cable out of the grommet straight before letting it bend. If this is not possible, the tightness of the connection must be ensured with insulation tape or acable tie.49068.emfRemount the AC drive cover.NOTE! When planning the cable runs, remember to keep the distance betweenthe Ethernet cable and the motor cable at a minimum of 30 cm. See figure below.5Ethernetcable9265.emfIP214IP54Tel. 358 (0) 201 2121 Fax 358 (0)201 212 205
Installation4.1.2vacon 11Prepare for use through RS485Strip about 15 mm of the RS485 cable (see specification in Chapter 3.1) and cutoff the grey cable shield. Remember to do this for both bus cables (except for thelast device).Leave no more than 10 mm of the cable outside the terminal block and strip thecables at about 5 mm to fit in the terminals. See picture below.109189.emf15Also strip the cable now at such a distance from the terminal that you can fix it tothe frame with the grounding clamp. Strip the cable at a maximum length of 15mm. Do not strip the aluminum cable shield!mm159188.emf24-hour support 358 (0)201 212 575 Email: [email protected]
vacon 12InstallationThen connect the cable to its appropriate terminals on Vacon 100 drive standardterminal block, terminals A and B (A negative, B positive). See figure below.2Using the cable clamp included in the delivery of the drive, ground the shield ofthe RS485 cable to the frame of the AC drive.NOTE! This can be done in all drives if there is no difference in PE potentialbetween the drives. However, if there is PE potential difference then the shieldshould be connected to PE only at one point in the system. The shields ofthecables shall be joint but not connected to several PE points with differentpoten-tial.NOTE! This is only a principle drawing and the actual drive may look different.3Cable clamp3020.emf4Tel. 358 (0) 201 2121 Fax 358 (0)201 212 205
Installationvacon 13If Vacon 100 is the last device on the bus, the bus termination must be set.Locate the DIP switches to the right of the control keypad of the drive and turnthe switch for the RS485 bus termination resistor to position ON. Biasing is builtin the termination resistor. See also step 6 on page 14.4RS-485 bus terminationOFFON9110.emfUnless already done for the other control cables,cut free the opening on the AC drive cover for theRS485 cable (protection class IP21).NOTE! This is only a principle drawing and theactual drive may look different.59201.emfRemount the AC drive cover and run the RS485cables as shown in picture.NOTE! When planning the cable runs, rememberto keep the distance between the fieldbus cableand the motor cable at a minimum of 30 cm.6Fieldbuscables9202.emf24-hour support 358 (0)201 212 575 Email: [email protected]
vacon 14InstallationThe bus termination must be set for the first and the last device of the fieldbusline. See picture below. See also step 3 on page 13. We recommend that the firstdevice on the bus and, thus, terminated was the Master device.Vacon 100 Vacon 100 Vacon 100 Vacon 100Vacon 1007TerminationactivatedFieldbus cable Bus ted withjumper3007.emf4Tel. 358 (0) 201 2121 Fax 358 (0)201 212 205
Installation4.2vacon 15Installation in Vacon 100 XThe AC drive can be connected to fieldbus either through RS485 or Ethernet. The connection forRS485 is on the standard I/O terminals (A and B) and the connection for Ethernet is left to the controlterminals.RS485terminals12 13 14 15 16 17 18 19 30 A12345678B9 10 11EthernetconnectionFigure 3.4.2.11Prepare for use through EthernetConnect the Ethernet cable (see specification in Chapter 3.2) to its terminal andrun the cable through the conduit plate.Remount the powerhead.2NOTE: When planning the cable runs, remember to keep the distance betweenthe Ethernet cable and the motor cable at a minimum of 30 cm.For more detailed information, see the user’s manual of the fieldbus you are using.24-hour support 358 (0)201 212 575 Email: [email protected]
vacon 164.2.2InstallationPrepare for use through RS485Strip about 15 mm of the RS485 cable (see specification in Chapter 3.1) and cutoff the grey cable shield. Remember to do this for both bus cables (except for thelast device).Leave no more than 10 mm of the cable outside the terminal block and strip thecables at about 5 mm to fit in the terminals. See picture below.109189.emf15Also strip the cable now at such a distance from the terminal that you can fix it tothe frame with the grounding clamp. Strip the cable at a maximum length of 15mm. Do not strip the aluminum cable shield!m15m9188.emf42Then connect the cable to its appropriate terminals on VACON 100 X AC drivestandard terminal block, terminals A and B (A negative, B positive). SeeFigure 3.3Using the cable clamp included in the delivery of the drive, ground the shield ofthe RS485 cable to the frame of the AC drive.Tel. 358 (0) 201 2121 Fax 358 (0)201 212 205
Installationvacon 17If VACON 100 X AC drive is the last device on the bus, the bus termination mustbe set. Locate the DIP switches to the top of the control unit (see figure below).4Turn the right most switch to position “1”. Biasing is builtin the termination resistor. See also step 6.NOTE: When planning the cable runs, remember to keepthe distance between the fieldbus cable and the motorcable at a minimum of 30 cm.The bus termination must be set for the first and the last device of the fieldbusline. See picture below and step 4. We recommend that the first device on the busand, thus, terminated, was the Master device.Vacon 100 Vacon 100 Vacon 100 Vacon 100Vacon 1005TerminationactivatedModbus RTU Bus terminationTerminationdeactivated24-hour support 358 (0)201 212 575 Email: [email protected] withDIP switch4
vacon 185.ProgrammingPROGRAMMINGFor basic information on how to use the control keypad, see the corresponding drive ApplicationManual.The navigation path to the fieldbus parameters may differ from application to application. Theexemplary paths below apply to the Vacon 100 drive.Navigate: Main Menu I/O and Hardware RS-485 OR Ethernet Commonsettings Protocol (P5.x.1.1) Edit (Choose protocol)1. First ensure that the right fieldbus protocol is selected.Navigate: Main Menu Quick Setup Rem. Ctrl. Place (P1.15)ORNavigate: Main Menu Parameters Start/Stop Setup Rem. Ctrl. Place2. Select ‘Fieldbus control’ as the Remote Control Place.3. Choose source of reference.Navigate: Main Menu Parameters References4. Set fieldbus parameters. See below.5Tel. 358 (0) 201 2121 Fax 358 (0)201 212 205
Programming5.1vacon 19Modbus RS-485 parameters and monitoring valuesTable 4. Parameters related with Modbus used through METERSP5.X.3.1.1Slave address1247bd12320 Unique slave device address.6Communication speed3006001200240048002378 960019200384005760076800115200230400P5.X.3.1.2Baud rate300230400P5.X.3.1.3Parity type0200 Even2379 1 Odd2 NoneP5.X.3.1.4Stopbits1331 1 stop bit2380 2 1.5 stop bits3 2 stop bitsP5.X.3.1.5Communicationtime-out065535102321 0 Not usedP5.X.3.1.6(1)Operate Mode0102374P5.x.3.1.7.1-30IDMap IDs0655350s0 Slave1 MasterIDMap IDsMONITORING VALUESP5.X.3.2.1Fieldbus protocolstatus1310 Init1 Stopped23812 Operational3 Faulted0-99 Number of messageswith errors2382 0-999 Number of messageswithout communicationerrorsP5.X.3.2.2Communication status0.0P5.X.3.2.3Illegal functions02383 See page 23.P5.X.3.2.4Illegal dataaddresses02384 See page 23.P5.X.3.2.5Illegal data values02385 See page 23.P5.X.3.2.6Slave device busy02386 See page 23.P5.X.3.2.7Memory parity error02387 See page 23.P5.X.3.2.8Slave device failure02388 See page 23.P5.X.3.2.9Last fault response02389 See page 23.P5.X.3.2.10Control wordhex2390 See page 33 and page 36.P5.X.3.2.11Status wordhex2391 See page 33 and page 36.1)99.9990.0This feature is not supported in Vacon 100 HVAC. The default Vacon 100 application supports onlySlave mode. A special application is required for Master functionality.24-hour support 358 (0)201 212 575 Email: [email protected]
vacon 20Programming5.2Modbus TCP parameters and monitoring values5.2.1Ethernet common settingsTable 5. Common settings for Modbus TCP (Ethernet)CodeParameterP5.X.1.1IP address mode2482See page 25.P5.X.1.2IP address2483See page 25.P5.X.1.3Subnet mask2484See page 25.P5.X.1.4Default gateway2485See page 25.P5.X.1.5MAC address2486See page 25.5.2.2MinMaxUnitDefaultIDDescriptionModbus TCP settingsTable 6. Parameters related to Modbus METERS (Common settings )P5.X.2.1.1Connection limit0322446Number of allowed connectionsP5.X.2.1.2Unit identifiernumber025512447See chapter 5.4.2 Modbus TCP 0 Not usedP5.9.2.1.4.130IDMap IDs065535s0IDMap IDsMONITORING VALUES (Connection 1, Monitoring *P5.X.2.2.1.1Fieldbus protocolstatus1324491 Stopped2 Operational3 Faulted24500-99 Number of messages with errors0-999 Number of messages without communication .3Illegal functions02451See page 26.P5.X.2.2.1.4Illegal dataaddresses02452See page 26.P5.X.2.2.1.5Illegal data values02453See page 26.P5.X.2.2.1.6Slave device busy02454See page 26.P5.X.2.2.1.7 Memory parity error02455See page 26.P5.X.2.2.1.8Slave device failure02456See page 27.P5.X.2.2.1.9Last fault response02457See page 27.P5.X.2.2.1.10Control wordhex2458See page 33.P5.X.2.2.1.11Status wordhex2459See page 36.99.9990.0MONITORING VALUES (Connection 2, Monitoring)*5Tel. 358 (0) 201 2121 Fax 358 (0)201 212 205
Programmingvacon 21CodeParameterMinMaxP5.X.2.2.1.1Fieldbus protocolstatus13UnitDefaultIDDescription24601 Stopped2 Operational3 Faulted24610-99 Number of messages with errors0-999 Number of messages without communication .3Illegal functions02462See page 26.P5.X.2.2.1.4Illegal dataaddresses02463See page 26.P5.X.2.2.1.5Illegal data values02464See page 26.P5.X.2.2.1.6Slave device busy02465See page 26.P5.X.2.2.1.7 Memory parity error02466See page 26.P5.X.2.2.1.8Slave device failure02467See page 27.099.9990.0P5.X.2.2.1.9Last fault response2468See page 27.P5.X.2.2.1.10Control wordhex2469See page 33.P5.X.2.2.1.11Status wordhex2470See page 36.MONITORING VALUES (Connection 3, Monitoring)*P5.X.2.2.1.1Fieldbus protocolstatus1324711 Stopped2 Operational3 Faulted24720-99 Number of messages with errors0-999 Number of messages without communication .3Illegal functions02473See page 26.P5.X.2.2.1.4Illegal dataaddresses02474See page 26.P5.X.2.2.1.5Illegal data values02475See page 26.P5.X.2.2.1.6Slave device busy02476See page 26.P5.X.2.2.1.7 Memory parity error02477See page 26.P5.X.2.2.1.8Slave device failure02478See page 27.P5.X.2.2.1.9Last fault response02479See page 27.P5.X.2.2.1.10Control wordhex2480See page 33.P5.X.2.2.1.11Status wordhex2481See page 36.99.9990.0* Will appear only after connection has been established24-hour support 358 (0)201 212 575 Email: [email protected]
vacon 22Programming5.3Modbus RTU parameter descriptions5.3.1Modbus RTU ParametersP5.X.3.1.1SLAVE ADDRESSEach slave must have a unique address (from 1 to 247) so that it can be addressed independentlyfrom other nodes.P5.X.3.1.2BAUD RATESelect the communication speed for the network. The default value is 9600 baud.P5.X.3.1.3PARITY TYPEUsers can select the parity type for the network.Modbus RTU specifies the stop bit configuration shown in table 7. The user can modify this stop bitconfiguration manually using parameter P5.X.3.1.4.Table 7. Parity typeTable 8.P5.X.3.1.4Parity typeStopbitsEven1Odd1None2STOP BITSUser can select the stop bit amount for the Modbus RTU network.P5.X.3.1.5COMMUNICATION TIME-OUTModbus initiates a communication error for a time defined with this parameter. ‘0’ means that nofault is generated.P5.X.3.1.6OPERATE MODEUsed to select the operate mode of the Modbus RTU protocol (slave / master). This feature is notsupported in Vacon 100 HVAC. The default Vacon 100 application supports only Slave mode. Aspecial application is required for Master functionality. 0 Slave1 MasterP5.8.3.1.7.1-30 IDMAP IDSSee Chapter 6.3.3.4.5Tel. 358 (0) 201 2121 Fax 358 (0)201 212 205
Programming5.3.2vacon 23Modbus RTU monitoring valuesP5.X.3.2.1FIELDBUS PROTOCOL STATUSFieldbus Protocol Status tells the status of the protocol.Table 9. FB protocol statusesINITIALIZINGProtocol is starting upSTOPPEDProtocol is timeouted or not usedOPERATIONALProtocol is runningFAULTEDMajor fault in protocol, requires restarting.If fault remains contact [email protected] STATUSThe Communication status shows how many error and how many good messages the AC drive hasreceived. The Communication status includes a common error counter that counts CRC and parityerrors and a counter for good messages.Only messages to the current slave in use are counted in the good messages.Table 10.Good messages0 999Number of messages received without errorsBad Frames0 99P5.X.3.2.3Number of messages receiv
Modbus is a communication protocol developed by Modicon systems. In simple terms, it is a way of sending information between electronic devices. The device requesting the information is called the Modbus Master (or the Client in Modbus TCP) and the devices supplying information are Modbus
