Autonics SPRM User manual

SPRM
SPRM Communication (RS485 / EtherCAT)
Communication Manual ÊÊÊ MCY-SPRMC1-V1.2-2212US

Contents
Preface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê7
Manual Guide . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê9
Common Symbols in the Manual. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê11
1. Modbus RTU Protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê13
1.1. Modbus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê13
1.2. Frame Structure of Modbus RTU . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê13
1.2.1. Read Coil Status (Func 01-01H). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê13
1.2.2. Read Input Status (Func 02-02H) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê14
1.2.3. Read Holding Registers (Func 03-03H) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê14
1.2.4. Read Input Registers (Func 04-04H). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê15
1.2.5. Force Single Coil (Func 05-05H) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê15
1.2.6. Preset Single Register (Func 06-06H). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê16
1.2.7. Preset Multiple Registers (Func 16-10H). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê16
1.2.8. Exception Response - Error Code . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê17
1.3. Autonics Modbus Address System. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê18
2. Modbus Mapping Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê19
2.1. Common [Func: 04, R / W: R]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê19
2.2. 3-phase [Func: 04, R / W: R]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê20
2.2.1. Alarm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê20
2.2.2. Information. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê22
2.3. Single-phase L1 [Func: 04, R / W: R] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê23
2.3.1. Alarm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê23
2.3.2. Information. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê23
2.4. Single-phase L2 [Func: 04, R / W: R] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê24
2.4.1. Alarm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê24
2.4.2. Information. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê24
2.5. Single-phase L3 [Func: 04, R / W: R] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê25
2.5.1. Alarm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê25
2.5.2. Information. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê25
2.6. Accumulated power [Func: 04, R / W: R]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê26
2.7. Alarm History [Func: 04, R / W: R] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê27

2.8. Common [Func: 04, R / W: R]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê30
2.9. Control [Func: 03 / 06 / 16, R / W: R / W] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê32
2.10. 3-phase Setting [Func: 03 / 06 / 16, R / W: R / W] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê33
2.10.1. Control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê33
2.10.2. Alarm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê35
2.11. Single-phase L1 Setting [Func: 03 / 06 / 16, R / W: R / W] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê40
2.11.1. Control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê40
2.11.2. Alarm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê43
2.12. Single-phase L2 Setting [Func: 03 / 06 / 16, R / W: R / W] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê48
2.12.1. Control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê48
2.12.2. Alarm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê51
2.13. Single-phase L3 Setting [Func: 03 / 06 / 16, R / W: R / W] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê56
2.13.1. Control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê56
2.13.2. Alarm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê59
2.14. Other Setting [Func: 03 / 06 / 16, R / W: R / W] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê64
2.15. Display & Time & Alarm History Setting [Func: 03 / 06 / 16, R / W: R / W] . . . . . . . . . . . . . . . . . . . Ê67
3. EtherCAT communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê73
3.1. EtherCAT communication Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê73
3.1.1. EtherCAT communication Interface. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê73
3.2. EtherCAT Device Protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê74
3.2.1. CANopen over EtherCAT (CoE) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê74
3.2.2. EtherCAT State Machine (ESM) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê75
3.2.3. SyncManager (SM). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê77
3.2.4. Process Data Object (PDO). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê79
3.2.5. Service Data Object (SDO) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê79
3.3. Communication Sync Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê80
4. EtherCAT Mapping Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê81
4.1. Service Data Object (SDO) [R / W: R / W]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê81
4.1.1. 3-phase Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê81
4.1.2. Single-phase L1 Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê89
4.1.3. Single-phase L2 Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê97
4.1.4. Single-phase L3 Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê105
4.1.5. Other Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê113
4.1.6. Display & Time & Alarm History Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê117

4.2. Process Data Object (PDO) [R / W: R] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê126
4.2.1. 3-phase Monitoring Value [Index: 6010h Phase_3_Input] . . . . . . . . . . . . . . . . . . . . . . . . . . Ê126
4.2.2. Single-phase L1 Monitoring Value [Index: 6020h L_1_Input]. . . . . . . . . . . . . . . . . . . . . . . . Ê128
4.2.3. Single-phase L2 Monitoring Value [Index: 6030h L_2_Input]. . . . . . . . . . . . . . . . . . . . . . . . Ê129
4.2.4. Single-phase L3 Monitoring Value [Index: 6040h L_3_Input]. . . . . . . . . . . . . . . . . . . . . . . . Ê130
4.2.5. Alarm Monitoring Value [Index: 6050h Device_ALM] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê131
4.2.6. Time Monitoring Value [Index: 6060h TIME] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê132
4.2.7. Control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê133

Preface
Thank you for purchasing Autonics products.
Be sure to read and follow the Safety Precautions thoroughly before use.
This manual contains information about the product and how to use it properly, so keep it in a place
where users can easily find it.
Preface 7

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Manual Guide
•Use the product after fully reading the contents of the manual.
•The manual explains the product functions in detail and does not guarantee the contents other than
the manual.
•Any or all of the manual may not be edited or copied without permission.
•The manual is not provided with the product.
•Download and use from our website (www.autonics.com).
•The contents of the manual are subject to change without prior notice according to the improvement
of the product’s performance, and upgrade notices are provided through our website.
•We put a lot of effort to make the contents of the manual a little easier and more accurate.
Nevertheless, if you have any corrections or questions, please feel free to comment through our
website.
Manual Guide 9

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Common Symbols in the Manual
Failure to follow instructions may result in serious injury or death.
Failure to follow instructions may result in injury or product damage.
Supplementary explanation of the function
Example of that function
Important information about the feature
Common Symbols in the Manual 11

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1. Modbus RTU Protocol
1.1. Modbus
The Modbus industrial protocol was developed in 1979 to make communication possible between
automation devices. The protocol has expanded to include implementations over serial, TCP/IP, and
the user datagram protocol (UDP). Today, it is a common protocol used by countless devices for simple,
reliable, and efficient communication across a variety of modern networks.
Refer to the reference document of developer for the details.
1.2. Frame Structure of Modbus RTU
1.2.1. Read Coil Status (Func 01-01H)
Reads output (OX reference, Coil) ON/OFF status in the Slave device.
Query (Master)
Slave Address Function Starting Address No. of Points Error Check (CRC16)
1 Byte 1 Byte 2 Byte 2 Byte 2 Byte
•Calculation range of CRC16 = Slave Address to No. of Points
Response (Slave)
Slave Address Function Byte Count Data Data Data Error Check (CRC16)
1 Byte 1 Byte 1 Byte 1 Byte 1 Byte 1 Byte 2 Byte
•Calculation range of CRC16 = Slave Address to Data
1.1. Modbus 13

1.2.2. Read Input Status (Func 02-02H)
Reads Input ON/OFF status (1X reference) in Slave device.
Query (Master)
Slave Address Function Starting Address No. of Points Error Check (CRC16)
1 Byte 1 Byte 2 Byte 2 Byte 2 Byte
•Calculation range of CRC16 = Slave Address to No. of Points
Response (Slave)
Slave Address Function Byte Count Data Data Data Error Check (CRC16)
1 Byte 1 Byte 1 Byte 1 Byte 1 Byte 1 Byte 2 Byte
•Calculation range of CRC16 = Slave Address to Data
1.2.3. Read Holding Registers (Func 03-03H)
Reads the Binary data of Holding Registers (4X reference) in Slave device.
Query (Master)
Slave Address Function Starting Address No. of Points Error Check (CRC16)
1 Byte 1 Byte 2 Byte 2 Byte 2 Byte
•Calculation range of CRC16 = Slave Address to No. of Points
Response (Slave)
Slave Address Function Byte Count Data Data Data Error Check (CRC16)
1 Byte 1 Byte 1 Byte 2 Byte 2 Byte 2 Byte 2 Byte
•Calculation range of CRC16 = Slave Address to Data
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1.2.4. Read Input Registers (Func 04-04H)
Reads the Binary data of Input Registers (3X reference) in Slave device.
Query (Master)
Slave Address Function Starting Address No. of Points Error Check (CRC16)
1 Byte 1 Byte 2 Byte 2 Byte 2 Byte
•Calculation range of CRC16 = Slave Address to No. of Points
Response (Slave)
Slave Address Function Byte Count Data Data Data Error Check (CRC16)
1 Byte 1 Byte 1 Byte 1 Byte 1 Byte 1 Byte 2 Byte
•Calculation range of CRC16 = Slave Address to Data
1.2.5. Force Single Coil (Func 05-05H)
Turns ON (FF00 H) or OFF (0000 H) of single coil (0X reference) status in Slave device.
Query (Master)
Slave Address Function Coil Address Preset Data Error Check (CRC16)
1 Byte 1 Byte 2 Byte 2 Byte 2 Byte
•Calculation range of CRC16 = Slave Address to Preset Data
Response (Slave)
Slave Address Function Coil Address Preset Data Error Check (CRC16)
1 Byte 1 Byte 2 Byte 2 Byte 2 Byte
•Calculation range of CRC16 = Slave Address to Preset Data
1.2. Frame Structure of Modbus RTU 15

1.2.6. Preset Single Register (Func 06-06H)
Writes the Binary data of single Holding Registers (4X reference) in Slave device.
Query (Master)
Slave Address Function Register Address Preset Data Error Check (CRC16)
1 Byte 1 Byte 2 Byte 2 Byte 2 Byte
•Calculation range of CRC16 = Slave Address to Preset Data
Response (Slave)
Slave Address Function Register Address Preset Data Error Check (CRC16)
1 Byte 1 Byte 2 Byte 2 Byte 2 Byte
•Calculation range of CRC16 = Slave Address to Preset Data
1.2.7. Preset Multiple Registers (Func 16-10H)
Writes the Binary data of Holding Registers (4X reference) consecutively in Slave device.
Query (Master)
Slave
Address
Function Starting
Address
No. of
Register
Byte
Count
Data Data Error Check
(CRC16)
1 Byte 1 Byte 2 Byte 2 Byte 1 Byte 2 Byte 2 Byte 2 Byte
•Calculation range of CRC16 = Slave Address to Data
Response (Slave)
Slave Address Function Starting Address No. of Registers Error Check (CRC16)
1 Byte 1 Byte 2 Byte 2 Byte 2 Byte
•Calculation range of CRC16 = Slave Address to No. of Registers
It is recommended to use the Single Register Write function rather than Multi Register
Write function if you use the slave (device) connecting with external devices such as
PLC, Graphic Panel, except in the case of download that presets the
minimum/maximum or basic value of parameter by Input specifications in PC Loader
Program.
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1.2.8. Exception Response - Error Code
If occurs an error, send a response command and transmit each Exception Code after set(1) the highest
level bit of received command(Function).
Slave Address Function + 80H Exception Code Error Check (CRC16)
1 Byte 1 Byte 1 Byte 2 Byte
•Calculation range of CRC16 = Slave Address to Exception Code
•ILLEGAL FUNCTION (Exception Code: 01 H): When a command is not supported.
•ILLEGAL DATA ADDRESS (Exception Code: 02 H): When Reserved area is read.
•ILLEGAL DATA VALUE (Exception Code: 03 H): When data write to out of setting range
is requested.
•SLAVE DEVICE FAILURE (Exception Code: 04 H): When the parameter is locked or
communication write is disable.
•SLAVE DEVICE BUSY (Exception Code: 06 H): When the device status cannot perform
the requested order.
•When the exception response situation, the device do not respond data, but send
exception code only.
1.2. Frame Structure of Modbus RTU 17

1.3. Autonics Modbus Address System
Parameter address structure
The parameter address is written in form ‘Reference number - Decimal address (Hexadecimal
address).
For example, if the parameter address is 30 1001 (03E8), it means that 3is Reference number, 1001
is Decimal address (DEC), 03E8 is Hexadecimal address (HEX).
Reference number per each FUNC
Reference Function
0FUNC 01 [R], FUNC 05 [W], FUNC 15 [MW]
1FUNC 02 [R]
3FUNC 04 [R]
4FUNC 03 [R], FUNC 06 [W], FUNC 16 [MW]
Correlation between decimal address and hexadecimal address
The parameter address can be somewhat different for each manufacturer because the regulation for
a starting number is not defined.
Autonics Modbus address is started at ‘1’ for decimal (DEC) address, and at ‘0’ for hexadecimal (HEX).
So, decimal (DEC) address values are +1 for Hex (HEX) address values.
03E8 (HEX) → 1001 (DEC) (1000 + 1)
07D0 (HEX) → 2001 (DEC) (2000 + 1)
157C (HEX) → 5501 (DEC) (5500 + 1)
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2. Modbus Mapping Table
2.1. Common [Func: 04, R / W: R]
No (Address) Parameter Description Default
300101 (0064) DeviceID_H Product number H 91
300102 (0065) DeviceID_L Product number L 00
300103 (0066) HWVersion H/W version 43
300104 (0067) FWVersion S/W version A+x
300105 (0068) Model name 1 Model name 1 - Item PS
300106 (0069) Model name 2 Model name 2 - Item MR
300107 (006A) Model name 3 Model name 3 - 3-phase _3
300108 (006B) Model name 4 Model name 4 - Rated current xF
300109 (006C) Model name 5 Model name 5 - Item xx
300110 (006D) Model name 6 Model name 6 - EtherCAT / RS485 xx
300111 (006E) Model name 7 Model name 7 0
300112 (006F) Model name 8 Model name 8 0
300113 (0070) Model name 9 Model name 9 0
300114 (0071) Model name 10 Model name 10 0
2.1. Common [Func: 04, R / W: R] 19

2.2. 3-phase [Func: 04, R / W: R]
2.2.1. Alarm
No (Address) Parameter Description Type
301001 (03E8) Alm_L1 3-phase L1 Alarm
value
•BIT0: Overcurrent alarm
•BIT1: Overvoltage alarm
•BIT2: Heater break alarm
•BIT3: Load unbalance alarm
•BIT4: SCR error alarm
•BIT5: Fuse break alarm
•BIT6: Frequency error alarm
•BIT7 (Not used): Partial heater
break alarm
301002 (03E9) Alm_L2 3-phase L2 Alarm
value
•BIT0: Overcurrent alarm
•BIT1: Overvoltage alarm
•BIT2: Heater break alarm
•BIT3: Load unbalance alarm
•BIT4: SCR error alarm
•BIT5: Fuse break alarm
•BIT6: Frequency error alarm
•BIT7 (Not used): Partial heater
break alarm
20 Autonics | SPRM