Danfoss iC7 Series User manual

Operating Guide
iC7 Series Modbus
Modbus TCP OS7MT
drives.danfoss.com

1
1.1
1.2
1.3
1.4
1.5
1.6
1.7
2
2.1
2.2
2.2.1
2.2.1.1
2.2.1.2
2.2.2
2.2.2.1
2.2.2.2
2.2.2.3
2.2.3
2.2.3.1
2.2.3.2
2.2.4
2.2.4.1
2.2.4.2
2.3
2.3.1
2.3.2
2.3.3
3
3.1
3.2
3.3
3.4
3.5
Contents
Introduction and Safety 5
Purpose of this Operating Guide 5
Additional Resources 5
Safety Symbols 5
Qualified Personnel 5
Safety Precautions 5
Abbreviations 7
Version History 7
Overview 8
Modbus Features and Technical Data 8
Communication Profiles and Objects 8
iC Speed Profile 9
Control Word (CTW) in iC Speed Profile 9
Status Word (STW) in iC Speed Profile 10
PROFIdrive – Standard Telegram 1 11
Control Word (CTW) in PROFIdrive Standard Telegram 1 11
Status Word (STW) in PROFIdrive Standard Telegram 1 12
PROFIdrive State Machine 13
iC Grid Converter Profile 14
Control Word (CTW) in iC Grid Converter 14
Status Word (STW) in iC Grid Converter 16
iC DC/DC Converter Profile 17
Control Word (CTW) in iC DC/DC Converter 17
Status Word (STW) in iC DC/DC Converter 18
Network Topologies 18
Line Topology 19
Star Topology 20
Ring Topology 20
Modbus Data Mapping 22
Mapping Modbus Coils 22
Mapping Modbus Holding Registers 23
Mapping Modbus Input Registers 25
Setting Permissions 26
Saving Modbus Configuration to a Device 26
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Contents
iC7 Series Modbus
Operating Guide

4
4.1
4.2
4.2.1
4.2.2
4.3
4.3.1
4.4
4.4.1
4.4.2
5
5.1
5.2
5.3
5.4
5.5
5.6
6
6.1
6.2
6.3
7
7.1
7.2
7.3
7.4
Fieldbus Cable Connections 27
Prerequisites for Installation 27
Installation in Frequency Converters 27
Communication Interface X1/X2 in Frames FA02–FA12 27
Communication Interface X1/X2 in Frames FK06–FK12 27
Installation in System Modules 28
Communication Interface X1/X2 in System Modules 28
EMC-compliant Installation 29
Grounding 29
Cable Routing 29
Modbus Configuration 31
General Connectivity Settings 31
iC7-Automation Reference Handling 32
Configuring Ethernet Interface 32
Configuring Parallel Redundancy Protocol 34
Configuring Modbus Unit Identifier 35
Configuring Modbus Data Settings 36
Troubleshooting 37
Configuring Port Mirroring Settings 37
Identifying a Drive 37
Fieldbus Indicator LEDs 37
Modbus Features 40
Data Objects 40
Function Codes 40
Data Field 40
Read Device Identity 41
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Contents
iC7 Series Modbus
Operating Guide

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1 Introduction and Safety
1.1 Purpose of this Operating Guide
This operating guide provides information about configuring the system, controlling the drive, accessing parameters, configuring,
troubleshooting, and some typical application examples.
The operating guide is intended for use by qualified personnel, who are familiar with the iC7 drives, Modbus TCP technology, and
the PC or PLC that is used as a master in the system.
Read the instructions before configuring Modbus TCP, and follow the procedures in this guide.
1.2 Additional Resources
Additional resources are available to help understand the features, and safely install and operate the iC7 products:
The safety guide, which provides important safety information related to installing iC7 drives.
The installation guides, which cover the mechanical and electrical installation of drives, functional extension options, or other
extra components.
The application guides, which provide instructions on setting up the drive for a specific end-use.
Facts Worth Knowing about AC Drives, available for download on www.danfoss.com.
Other supplemental publications, drawings, and guides are available at www.danfoss.com/service-and-support/documenta-
tion/.
Latest versions of Danfoss product documentation are available for download at http://drives.danfoss.com/downloads/portal/.
1.3 Safety Symbols
The following symbols are used in this guide:
DANGER
Indicates a hazardous situation which, if not avoided, will result in death or serious injury.
WARNING
Indicates a hazardous situation which, if not avoided, could result in death or serious injury.
CAUTION
Indicates a hazardous situation which, if not avoided, could result in minor or moderate injury.
NOTICE
Indicates information considered important, but not hazard-related (for example, messages relating to property damage).
1.4 Qualified Personnel
Correct and reliable transport, storage, installation, operation, and maintenance are required for the trouble-free and safe operation
of the drive. Only qualified personnel are allowed to install and operate this equipment.
Qualified personnel are defined as trained staff, who are authorized to install, commission, and maintain equipment, systems, and
circuits in accordance with pertinent laws and regulations. Also, the qualified personnel must be familiar with the instructions and
safety measures described in this manual.
1.5 Safety Precautions
WARNING
HIGH VOLTAGE
AC drives contain high voltage when connected to AC mains input, DC supply, or load sharing. Failure to perform installation,
start-up, and maintenance by qualified personnel can result in death or serious injury.
Only qualified personnel must perform installation, start-up, and maintenance.
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Introduction and Safety
iC7 Series Modbus
Operating Guide

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WARNING
UNINTENDED START
When the drive is connected to the AC mains or connected on the DC terminals, the motor may start at any time, causing risk of
death, serious injury, and equipment or property damage.
Press [Off] on the control panel - if present - before configuring parameters.
Make sure that the drive cannnot be started by external switch, a fieldbus command, an input reference signal from the con-
trol panel, via remote operation using MyDrive®software tools, or after a cleared fault condition.
Disconnect the drive from all power sources whenever personal safety considerations make it necessary to avoid unintended
motor start.
Check that the drive, motor, and any driven equipment are in operational readiness.
DANGER
DISCHARGE TIME
The drive contains DC-link capacitors, which can remain charged even when the drive is not powered. High voltage can be
present even when the warning indicator lights are off.
Failure to wait the specified time after power has been removed before performing service or repair work could result in death or
serious injury.
Stop the motor.
Disconnect AC mains, permanent magnet type motors, and DC-link connections to other drives.
Wait for the capacitors to discharge fully before performing any service or repair work. The exact discharge time is shown on
the front cover of the drive.
Use a measuring device to make sure that there is no voltage, before opening the drive or performing any work on the ca-
bles.
WARNING
LEAKAGE CURRENT HAZARD
Leakage currents exceed 3.5 mA. Failure to ground the drive properly can result in death or serious injury.
Ensure that the minimum size of the ground conductor complies with the local safety regulations for high touch current
equipment.
WARNING
EQUIPMENT HAZARD
Contact with rotating shafts or electrical equipment can result in death or serious injury.
Ensure that only trained and qualified personnel perform installation, start-up, and maintenance.
Ensure that electrical work conforms to national and local electrical regulations.
Follow the procedures in this guide.
CAUTION
INTERNAL FAILURE HAZARD
An internal failure in the drive can result in serious injury when the drive is not properly closed.
Ensure that all safety covers are in place and securely fastened before applying power.
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Introduction and Safety
iC7 Series Modbus
Operating Guide

1.6 Abbreviations
Abbreviation
Definition
ACD
Address Conflict Detection
BOOL
Boolean
CTW
Control word
DCP
Discovery and configuration protocol
DHCP
Dynamic host configuration protocol
EMC
Electromagnetic compatibility
I/O
Input/Output
IP
Internet protocol
CP
Control panel
LED
Light-emitting diode
LLDP
Link layer discovery protocol
LSB
Least significant bit
MAV
Main actual value
MEI
Modbus encapsulated interface
MRV
Main reference value
MSB
Most significant bit
PC
Personal computer
PCD
Process channel data
PLC
Programmable logic controller
PNU
Parameter number
PPO
Process parameter object
REF
Reference
SNMP
Simple network management protocol
STW
Status word
VLAN
Virtual LAN
1.7 Version History
This guide is regularly reviewed and updated. All suggestions for improvement are welcome.
The original language of this guide is English.
Table 1: Version History
Version
Remarks
AQ456329149698, version 01
Initial version
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Introduction and Safety
iC7 Series Modbus
Operating Guide

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2 Overview
2.1 Modbus Features and Technical Data
Fieldbus options for iC7 are integrated in the control board. Modbus TCP is offered as standard, and other protocols such as PROFI-
NET RT, and EtherNet/IP can be selected in the configurator when ordering a drive, or alternatively, they can be activated later by a
proof-of-purchase token.
Table 2: Modbus Model Codes
Model code
Description
+BAMT
Modbus TCP OS7MT
Modbus is a communication protocol developed by Modicon for sending information between electronic devices. In Modbus TCP,
the device requesting the information is called the Modbus client, and the devices supplying information are called Modbus servers.
The client can also write information to the server. Modbus is typically used to transmit signals from instrumentation and control
devices back to a main controller or data gathering system.
Modbus does not feature a dedicated data channel, and therefore Modbus requests are handled as acyclic.
Table 3: Modbus TCP Features
Feature
Technical data
Cyclic response
5 ms response time per variable (read/write non-persistent storage)
Supported Modbus objects
Coils (1 bit): Read-write
Input register (16 bits): Read-only
Holding register (16 bits): Read-write
Connection
PRP (Parallel Redundancy Protocol)
LLDP/SNMP
IPv4
Addressing mode: DCP, STATIC, DHCP/BOOTP
Configuration
MyDrive®Insight
2.2 Communication Profiles and Objects
Communication profiles are selected in parameter 10.3.1.2 Fieldbus profile.
For Modbus, the fieldbus profile can also be selected via Holding Register location 1.
Table 4: Communication Profiles and Supported Applications
Product
Application Software
Profile
iC7-Automation
Industry
PROFIdrive
iC Speed Profile
Motion
PROFIdrive
iC Speed Profile
iC7-Hybrid
Grid Converter
iC Grid Converter Profile
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Overview
iC7 Series Modbus
Operating Guide

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Product
Application Software
Profile
DC/DC Converter
iC DC/DC Converter Profile
iC7-Marine
Propulsion and Machinery
PROFIdrive
iC Speed Profile
iC Generic Profile
Active Front End
iC Grid Converter Profile
2.2.1 iC Speed Profile
The iC Speed profile is used with the iC7 series. iC Speed profile differs from the PROFIdrive profile, because it does not have a state
machine. It is only controlled by the actual state 1/0 of the control bits, not the sequence in which they are manipulated.
2.2.1.1 Control Word (CTW) in iC Speed Profile
Table 5: iC Speed Profile Control Word Bits
Bit
number
Name
Description
0+1
Preset refer-
ence selector
00 = Preset reference 1
01 = Preset reference 2
10 = Preset reference 3
11 = Preset reference 4
2
Reserved
Reserved for future use.
Any control words sent to the device should keep this bit at 0 to ensure compatibility with future
extensions of the control word.
3
No coast/Coast
1 = No function.
0 = Causes the frequency converter immediately to coast the motor.
4
No quick stop/
Quick stop
1 = No function.
0 = Quick stops the frequency converter and ramps down the motor speed to stop as defined in the
quick-stop ramp parameter.
5
No hold/Hold –
output fre-
quency
1 = No function.
0 = Holds the present output frequency (in Hz).
6
Start/No start
1 = If the other starting conditions are fulfilled, the selection allows the frequency converter to start
the motor.
0 = Stops the frequency converter and ramps down the motor speed as defined in the ramp-down
parameter.
7
Fault acknowl-
edge
0→1 = Acknowledge faults.
Acknowledge is edge-triggered, when logic is changed from 0 to 1. Faults can only be acknowl-
edged if the trigger condition has been removed and any required acknowledgment has been
done.
0 = No function.
8
Jog/No jog
1 = Sets the output frequency to the jog speed defined in the jog speed parameter.
0 = No function.
9
Ramp select
1 = Ramp 2 is active.
0 = Ramp 1 is active.
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Overview
iC7 Series Modbus
Operating Guide

Bit
number
Name
Description
10
Data valid
1 = Uses the process data (control by PLC).
0 = Ignores the current process data. This is linked to the submodule where the CTW is present. If
signals are to be covered, the CTW/STW profile (for example, the iC Speed Profile) must be part of
the signals list.
Uses the previously processed data when the data valid bit was true (no control by PLC).
11
Reserved
Reserved for future use.
12
User defined
These bits are reserved for application-specific advanced control. For more information, refer to the
Parameter Descriptions chapter in the application guide.
13
User defined
14
User defined
15
User defined
2.2.1.2 Status Word (STW) in iC Speed Profile
Table 6: iC Speed Profile Status Word Bits
Bit
num-
ber
Name
Description
0
Control ready/Control
not ready
1 = The device controls are ready and react to process data.
0 = The device controls are not ready and do not react to process data.
1
Frequency converter
ready/Frequency con-
verter not ready
1 = The frequency converter is ready for operation.
0 = The frequency converter is not ready for operation. This does not involve faults and
warnings as they are indicated in their respective bits elsewhere.
2
Coasting/No coast
1 = There are no active coast signals, and the motor can start when a start signal is given.
0 = The frequency converter has an active coast signal and has released the motor.
3
Fault/No fault
1 = A fault has occurred, and an acknowledge signal is required to re-establish operation.
0 = There are no faults.
4
Reserved
Reserved
5
Reserved
Reserved
6
Reserved
Reserved
7
Warning/No warning
1 = A warning has occurred.
0 = There are no warnings.
8
Speed=reference/
Speed<>reference
1 = The present motor speed matches the present speed reference within a given toler-
ance. The tolerance is product-specific.
0 = The motor runs, but the present speed is different from the present speed reference,
for example while the speed ramps up or down during start or stop.
9
Bus control/Local opera-
tion
1 = The device is controlled and reacting to I/O and process data.
0 = The device does not react on commands from fieldbus, for 1 of the following reasons:
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Overview
iC7 Series Modbus
Operating Guide

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Bit
num-
ber
Name
Description
CTW Bit 10 = 0.
HMI is in local mode.
MyDrive® Insight has taken control.
Control places do not include fieldbus.
10
Frequency limit ok/Out
of frequency limit
1 = The output frequency is within the defined motor limits.
0 = The output frequency has exceeded the motor limits defined in parameters.
The speed limits are set by parameters:
P 5.8.3.1 Positive Speed Limit
P 5.8.3.2 Negative Speed Limit
P 5.8.3.3 Minimum Speed Limit
11
In operation/No opera-
tion
1 = The process is running, and the motor could be running or starting at any time.
0 = There are no active start requests, and the process does not run. The motor is in a coas-
ted state and is not started.
12
Reserved
Reserved
13
Reserved
Reserved
14
User defined
These bits are reserved for application-specific advanced control. For more information, re-
fer to the Parameter Descriptions chapter in the application guide.
15
User defined
2.2.2 PROFIdrive – Standard Telegram 1
Standard telegram 1 is implemented according to PROFIdrive Application Class 1 profile as defined in the PROFIdrive standard and
state machine diagram.
2.2.2.1 Control Word (CTW) in PROFIdrive Standard Telegram 1
Table 7: Control Word Bits in PROFIdrive Standard Telegram 1
Bit
number
Name
Description
0
On-Off
1 = On.
0 = Off.
1
Coast stop
1 = No coast stop.
0 = Coast stop.
2
Quick stop
1 = No quick stop.
0 = Quick stop.
3
Operation
1 = Enable operation.
0 = Disable operation.
4
Ramp genera-
tor
1 = Enable Ramp generator (RFG).
0 = Reset Ramp generator. Output of the RFG is set to 0. The drive decelerates along the current limit
or along the voltage limit of the DC link.
5
Freeze
1 = Unfreeze ramp generator.
0 = Freeze ramp generator. Freezes the present output frequency (in Hz).
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Overview
iC7 Series Modbus
Operating Guide

Bit
number
Name
Description
6
Enable set-
point
1 = Enable setpoint.
0 = Disable setpoint.
7
Fault ac-
knowledge
0 →1 = Acknowledge faults.
Acknowledge is edge-triggered when changing from logic 0 to logic 1.
0 = No function.
8
Jog 1
1 = Jog 1 on.
0 = Jog 1 off.
Operation is enabled, drive is in standstill and STW1 bit 4, 5, 6 = 0. The drive runs up along the ramp
to jogging setpoint 1.
9
Jog 2
1 = Jog 2 on.
0 = Jog 2 off.
Operation is enabled, drive is in standstill and STW1 bit 4, 5, 6 = 0. The drive runs up along the ramp
to jogging setpoint 1.
10
Control by
PLC
1 = Uses the process data (control by PLC).
0 = Ignores the current process data. This is linked to the submodule where the CTW is present. If
signals are to be covered, the CTW/STW profile (for example, the iC Speed Profile) must be part of
the signals list.
11
Reserved
Reserved for future use.
12
User defined
These bits enable mapping application functionality of the drive to the control word. Mapping is
done through parameters. For more information, refer to the Parameter Descriptions chapter in the
application guide.
13
User defined
14
User defined
15
User defined
2.2.2.2 Status Word (STW) in PROFIdrive Standard Telegram 1
Table 8: Status Word Bits in PROFIdrive Standard Telegram 1
Bit
Num-
ber
Name
Description
0
Ready to switch on
1 = Ready to switch on.
0 = Not ready to switch on.
1
Ready to operate
1 = Ready to operate.
0 = Not ready to operate.
2
Operation enabled
1 = Operation enabled.
0 = Operation disabled.
3
Operation fault
1 = Fault present.
0 = No fault.
4
Coast stop
1 = Coast stop not activated (No OFF2).
0 = Coast stop activated (OFF2).
5
Quick stop
1 = Quick stop not activated (No OFF3).
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Overview
iC7 Series Modbus
Operating Guide

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Bit
Num-
ber
Name
Description
0 = Quick stop activated (OFF3).
6
Switching on inhibi-
ted
1 = Switching on inhibited.
0 = Switching on not inhibited.
7
Warning
1 = A warning has occurred.
0 = There are no warnings.
8
Speed=reference/
Speed<>reference
1 = The present motor speed matches the present speed reference within a given tolerance.
The tolerance is product specific.
0 = The motor runs, but the present speed is different from the present speed reference. It
could, for example, be the case while the speed ramps up/down during start/stop.
9
Bus control/Local op-
eration
1 = The device is controlled and reacting to I/O and process data.
0 = The device does not react to commands from the fieldbus for 1 of the following reasons:
CTW bit 10 = 0.
HMI is in local mode.
MyDrive® Insight has taken control.
Control places do not include fieldbus.
10
Frequency limit
ok/Out of frequency
limit
1 = The output frequency is within the defined motor limits.
0 = The output frequency has exceeded the defined motor limits given by parameters.
The speed limits are set by parameters:
P 5.8.3.4 High Speed Warning
P 5.8.3.9 Low Speed Monitor Limit
11
User defined
These bits enable mapping application functionality of the drive to the status word. Mapping
is done through parameters. For more information, refer to the Parameter Descriptions chap-
ter in the application guide.
12
User defined
13
User defined
14
User defined
15
User defined
2.2.2.3 PROFIdrive State Machine
In the PROFIdrive control profile, the control bits perform different functions:
0–3 perform the basic start-up and power-down functions.
4–10 perform application-oriented control.
12–15 can be configured for different purposes.
See Illustration 1 for the basic state transition diagram, where control bits 0–3 control the transitions and the corresponding status
bit indicates the actual state. The black dots indicate the priority of the control signals. Fewer dots indicate lower priority, and more
dots indicate higher priority.
The general state diagram is defined in the PROFIdrive standard.
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Overview
iC7 Series Modbus
Operating Guide

e30bk784.10
S3: Switching ON inhibited
STW bit 6=true 0, 1, 2=false
OFF
AND No coast stop
AND No quick stop
CTW bit 0=false
AND bit 1=true
AND bit 2=true
Coast stop
OR quick stop
CTW bit 1=false
OR bit 2=false
Coast stop
CTW bit 1=false
Coast stop
OR quick stop
CTW bit 1=false
OR bit 2=false
S2: Ready for switching ON
STW bit 0=true 1, 2, 6=false
Coast stop
CTW bit 1=false Standstill
Standstill
S5: Switching off
STW bit 0, 1=true
bit 2, 6=false
Quick stop
Quick stop
STW bit 2=false
Ramp stop
ON
CTW bit 0=true OFF CTW bit 0=true
ON
CTW bit 0=true
OFF
CTW bit 0=false Quick stop
CTW bit 2=false
S3: Switched ON
STW bit 0,1=true 2, 6=false
Enable
operation
CTW bit 3=true
Disable
operation
CTW bit 3=false
S4: Operation
STW bit 0, 1, 2=true 6=false
= 1st priority
= 2nd priority
= 3rd priority
Illustration 1: General State Diagram
2.2.3 iC Grid Converter Profile
2.2.3.1 Control Word (CTW) in iC Grid Converter
Table 9: Fieldbus Control Word
Bit
Name
Description
Further information
0
Switch On
Enable
0: Pre-charging(1), closing the main circuit breaker(1), and
running are prevented or interrupted. If the main circuit
breaker is closed, it is opened(1).
1: Pre-charging(1), closing the main circuit breaker(1), and
running are not prevented or interrupted.
This bit is used with control word bit 3 to enable
operation of the unit. When this bit is set to false
while running, the unit stops. As shown in the
state diagram, to transition from S1 to S2, this bit
must be false, otherwise switching on keeps
from being inhibited.
1
MCB Close
Enable
0: Closing the main circuit breaker is prevented(1) or the
main circuit breaker is opened(1), and running is preven-
ted or interrupted.
1: Closing the main circuit breaker is not prevented(1).
This bit is used to move from S1 to S2 and allows
MCB to close when charging is completed. If the
bit is removed anytime during operation, then
the unit comes back to S1.
2
Quick Stop
Inverse
0: Activate Quick Stop.
1: Do not activate Quick Stop.
This bit is used to request a quick stop to be exe-
cuted. When the bit is set to false during opera-
tion, the unit stops modulation, and depending
on the configuration an exception is issued.
3
Start
0: Stop the unit if it is running, or stop the startup se-
quence if it is not completed.
1: Initiate the startup sequence (DC-link pre-charge(2),
closing the main circuit breaker(2), and start running), or
keep the unit running.
A rising edge is required for DC-link pre-charge
to start. Depending on parameter number 5114,
a rising edge can be required for the unit to start.
In that case, if for any reason the unit cannot be
started when the rising edge is detected, it will
not start until a new rising edge is issued.
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Overview
iC7 Series Modbus
Operating Guide

Bit
Name
Description
Further information
4
Pre-charge
0: Stop the DC-link pre-charge, if ongoing.
1: Start or continue the DC-link pre-charge.
This bit is only used when the DC-link pre-charge
is controlled by the application.
5
--
Reserved
6
--
Reserved
7
Event Reset
0: No action
1: Reset active events.
This bit is used to acknowledge faults in the con-
verter. A raising edge (a transition false to true)
on this bit issues an event reset request.
8
--
Reserved
9
--
Reserved
10
Data Valid
0: Ignore the current incoming process data values, in-
stead use the last processed value when the Data Valid
bit was true.
1: Use the current incoming process data values.
For Modbus protocol, this bit currently applies to
control word only.
For bit 11 ('Watchdog'), the current control word
value is used regardless.
The default control word value is 0x5. When the
Data Valid bit is false, the default value is used as
the initial value, and whenever the fieldbus
watchdog supervision fault is active (event num-
ber 5161 is active, when configured as a fault).
11
Watchdog
Incoming Watchdog bit from customer.
This is the input bit used for the fieldbus watch-
dog.
12
Vendor Spe-
cific Bit 1
0: Deactivate the vendor-specific function using digital
input/output virtual slot 6412.
1: Activate the vendor-specific function using digital in-
put/output virtual slot 6412.
13
Vendor Spe-
cific Bit 2
0: Deactivate the vendor-specific function using digital
input/output virtual slot 6413.
1: Activate the vendor-specific function using digital in-
put/output virtual slot 6413.
14
Vendor Spe-
cific Bit 3
0: Deactivate the vendor-specific function using digital
input/output virtual slot 6414.
1: Activate the vendor-specific function using digital in-
put/output virtual slot 6414.
15
Vendor Spe-
cific Bit 4
0: Deactivate the vendor-specific function using digital
input/output virtual slot 6415.
1: Activate the vendor-specific function using digital in-
put/output virtual slot 6415.
1If controlled by the grid converter unit
2If applicable
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Overview
iC7 Series Modbus
Operating Guide

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2.2.3.2 Status Word (STW) in iC Grid Converter
Table 10: Fieldbus Status Word
Bit
Name
Description
Additional Information
0
Ready to
Switch On
0: Unit is not ready to switch on
1: Unit is ready to switch on
This bit indicates that the unit is ready to start the start-
up sequence (charging and/or MCB closure, if controlled
by the application). This bit is true, if:
Switch On Enabled is active
MCB close Enabled is active
Quick Stop is not requested
There are no active faults
This bit has the same behavior as the corresponding digi-
tal input, if present.
1
Power Unit
Ready
0: Power unit is not ready to run
1: Power unit is ready to run
When this bit is true, it indicates that the unit can be suc-
cessufully started.
2
Running
0: Unit is in stop state
1: Unit is running
This bit indicates whether the unit is operating (modulat-
ing).
3
Fault
0: No active faults
1: One or more faults are active
This bit indicates the presence of one or more active fault
level events.
4
--
Reserved
5
Quick Stop In-
verse
0: Quick stop is active
1: Quick Stop is not active
This bit indicates whether the quick stop command is ac-
tive or not.
6
--
Reserved
7
Warning
0: No active warnings.
1: One or more warnings are active
This bit indicates the presence of 1 or more active warn-
ing level events.
8
--
Reserved
9
Controlled by
PLC
0: The active control place is not the fieldbus
1: The active control place is the fieldbus
10
--
Reserved
11
Run Enabled
0: Run enable signal from dedicated input is
missing
1: Run enable signal from dedicated input is
present
12
--
Reserved
13
--
Reserved
14
--
Reserved
15
Watchdog
Bit used for the fieldbus watchdog.
Mirroring control word bit 11.
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iC7 Series Modbus
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2.2.4 iC DC/DC Converter Profile
2.2.4.1 Control Word (CTW) in iC DC/DC Converter
Table 11: Fieldbus Control Word
Bit
Name
Description
Further Information
0
Switch On Enable
0: Running is prevented or interrupted
1: Running is not prevented or interrupted
1
--
Reserved
2
Quick Stop In-
verse
0: Initiate quick stop
1: No action
3
Start
0: Stop modulation if the unit is running
1: Start modulation or keep the unit running
Depending on parame-
ter 5114, a rising edge is
or is not required for the
unit to start modulation.
4
--
Reserved
5
--
Reserved
6
--
Reserved
7
Fault Reset
0: No action
1: Reset active faults and other events
Edge sensitive - a reset
command is issued
when a rising edge is de-
tected.
8
--
Reserved
9
--
Reserved
10
Data Valid
0: Ignore the current incoming process data values, instead use the last
processed value when the Data Valid bit was true.
1: Use the current incoming process data values
In Modbus protocol, the
incoming process data
refers to the control
word only, excluding bit
11 Watchdog.
11
Watchdog
Incoming fieldbus Watchdog bit
12
Vendor Specific
Bit 1
0: Deactivate the vendor-specific function using digital input/output virtual
slot 6412
1: Activate the vendor-specific function using digital input/output virtual
slot 6412
13
Vendor Specific
Bit 2
0: Deactivate the vendor-specific function using digital input/output virtual
slot 6413
1: Activate the vendor-specific function using digital input/output virtual
slot 6413
14
Vendor Specific
Bit 3
0: Deactivate the vendor-specific function using digital input/output virtual
slot 6414
1: Activate the vendor-specific function using digital input/output virtual
slot 6414
15
Vendor Specific
Bit 4
0: Deactivate the vendor-specific function using digital input/output virtual
slot 6415
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iC7 Series Modbus
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•
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Bit
Name
Description
Further Information
1: Activate the vendor-specific function using digital input/output virtual
slot 6415
2.2.4.2 Status Word (STW) in iC DC/DC Converter
Table 12: Fieldbus Status Word
Bit
Name
Description
Additional Information
0
Ready to Switch
On
0: Not ready to switch on
1: Ready to switch on
This bit is true if all following con-
ditions are satisfied:
Switch on enable is present.
Quick stop is not requested.
No faults are active.
1
Converter Ready
0: The converter is not ready to start (Check the DC/DC Ctrl. Ready
Status Word)
1: The converter is ready to start modulating, if Ready to Switch
On is true and all the start and run interlocks are present
2
Running
0: The unit is not running (modulating)
1: The unit is running (modulating)
3
Fault
0: No faults active
1: One or more faults are active
4
--
Reserved
5
Quick Stop In-
verse
0: Quick stop active
1: Quick stop not active
6
--
Reserved
7
Warning
0: No warnings active
1: One or more warnings are active
8
--
Reserved
9
Control by PLC
0: The active control place is not fieldbus
1: The active control place is fieldbus
10
--
Reserved
11
Run Enabled
0: Run enable from the dedicated input signal is missing
1: Run enable from the dedicated input signal is present
12
--
Reserved
13
--
Reserved
14
--
Reserved
15
Watchdog
Outgoing fieldbus watchdog bit
2.3 Network Topologies
Communication interface X1/X2 is used for fieldbus connection.
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iC7 Series Modbus
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The iC7 series communication interface has 2 Ethernet ports (X1 and X2) and an embedded switch with 2 Ethernet RJ45 connectors.
It has 1 MAC and IP address, and is considered a single device in the network. The communication interface supports 3 network
topologies:
Line topology
Star topology
Ring topology
2.3.1 Line Topology
In many applications, line topology enables simpler cabling and the use of fewer Ethernet switches. Observe network performance
and the number of devices in a line topology. Too many devices in a line may exceed network update time limits.
NOTICE
When line topology is used, take precautions to avoid timeout in the PLC when more than 8 drives are installed in series. Each
drive in the network adds a small delay to the communication due to the built-in Ethernet switch. When the update time is too
short, the delay can lead to a timeout in the PLC.
Set the update time as shown in the table. The numbers given are typical values and can vary from installation to installation.
Number of drives connected in series
Minimum update time [ms]
<8
2
8–16
4
16–32
8
33–50
16
>50
Not recommended
NOTICE
Using tools such as MyDrive®Insight may influence system performance in a line topology.
e30bk812.10
Illustration 2: Example of Line Topology
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NOTICE
Installing drives of different current ratings in line topology may result in unwanted power-off behavior.
Mount the drives with the longest discharge time first in the line topology. In normal operation, the drives with bigger cur-
rent ratings have a longer discharge time.
2.3.2 Star Topology
In a star network, all devices are connected to the same switch or switches. Star topology reduces the damage caused by single
cable failure. In a star topology, a single cable failure affects a single drive instead of all drives. In many applications, this topology
enables simpler cabling depending on the location and distance of the device.
e30bk813.10
Illustration 3: Example of Star Topology
2.3.3 Ring Topology
Ring topology enables the same simpler cabling and reduced cabling costs as line topology, but also reduces the damage caused
by a single cable failure in a similar manner as star topology.
The ring topology protocol depends on the protocol in use.
Modbus uses the parallel redundancy protocol (PRP). PRP is a layer 2 network protocol that enables a redundant topology in an
Ethernet network. PRP provides uninterrupted switchovers in failure situations, and is independent of the application.
For more information on configuring parallel redundancy protocol (PRP), see 5.4 Configuring Parallel Redundancy Protocol.
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Overview
iC7 Series Modbus
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