Kostal inveor User manual

Operating manual
MODBUS fieldbus

2Operating manual for Modbus fieldbus | DOC01824550 | 2016-10 | V1.0 EN
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KOSTAL Industrie Elektrik GmbH
An der Bellmerei 10
58513 Lüdenscheid
Germany
Tel. [phone]
Fax + 49 (0)2351 16-2400
[e-mail]
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trademark). KOSTAL assumes no liability for their free usage.
The illustrations and texts have been compiled with great care. However, the
possibility of errors cannot be ruled out. The compilation is made without any
guarantee.
General note on gender equality
KOSTAL is aware of how language impacts on gender equality and always
makes an effort to reflect this in documentation. Nevertheless, for the sake of
readability we are unable to use non-gender-specific terms throughout and use
the masculine form instead.
© 2016 KOSTAL Industrie Elektrik GmbH
All rights reserved by KOSTAL, including those of reproduction by photocopy
and storage in electronic media. Commercial use or distribution of the texts,
displayed models, diagrams and photographs appearing in this product is not
permitted.
This manual may not be reproduced, stored, transmitted or translated in any
form or by means of any medium - in whole or in part - without prior written
permission.

Operating manual for Modbus fieldbus | DOC01824550 | 2016-10 | V1.0 EN 3
Contents
1. General information ......................................................................... 5
1.1 Information about documentation........................................................ 5
1.1.1 Other applicable documents................................................................ 6
1.1.2 Storing the documentation .................................................................. 6
1.2 Notes in this manual ............................................................................ 7
1.2.1 Warnings ............................................................................................. 7
1.2.2 Warning symbols used ........................................................................ 8
1.2.3 Signal words........................................................................................ 8
1.2.4 Information notes................................................................................. 9
1.3 Symbols used in this manual ............................................................. 10
1.4 Qualified staff..................................................................................... 10
1.5 Proper use......................................................................................... 10
1.6 Responsibility .................................................................................... 11
1.7 Contacts for information .................................................................... 11
1.8 Safety instructions ............................................................................. 11
2. Device and system description..................................................... 12
2.1 Modbus............................................................................................. 12
2.1.1 Master/slave operation ...................................................................... 13
2.2 Scope of delivery ............................................................................... 13
2.3 Item description................................................................................. 13
2.4 Hardware components ...................................................................... 13
2.4.1 Interfaces on the drive controller........................................................ 15
2.4.2 Pin assignment for interfaces............................................................. 19
2.4.3 Cable................................................................................................. 19
2.5 Software components ....................................................................... 19
3. Installation....................................................................................... 20
3.1 Configuration of the drive controller for Modbus ................................ 21
3.2 INVEOR bus address......................................................................... 22

Contents
4Operating manual for Modbus fieldbus | DOC01824550 | 2016-10 | V1.0 EN
4. Accessing data via Modbus .......................................................... 23
4.1 Process data ..................................................................................... 23
4.1.1 Process data Out: Status word / actual frequency............................. 23
4.1.2 Structure of INVEOR status word ...................................................... 24
4.1.3 Further Process data Out .................................................................. 26
4.2 Process data In control word / nominal frequency............................. 31
4.2.1 Structure of INVEOR control word..................................................... 33
4.2.2 Further process data In ..................................................................... 35
4.3 Parameter.......................................................................................... 38
4.3.1 Parameter.......................................................................................... 38
5. Error detection and troubleshooting............................................ 48
5.1 Error word of application side ............................................................ 48
5.2 Error word of power side ................................................................... 49

Operating manual for Modbus fieldbus | DOC01824550 | 2016-10 | V1.0 EN 5
1. General information
Thank you for choosing an INVEOR drive controller with Modbus from KOSTAL
Industrie Elektrik GmbH! Our INVEOR line of drive controllers is designed to be
universally usable with all common motor types and bus systems.
If you have any technical questions, please call our central service hotline:
Tel.: [phone]
Monday to Friday: 7 am to 5 pm (UTC/GMT +1)
Fax: [phone]
E-mail: [e-mail]
Website
www.kostal-industrie-elektrik.com
1.1 Information about documentation
This documentation is a supplementary operating manual for the INVEOR drive
controller with the Modbus bus system. It contains all the important information
you need to install and operate the bus system.
Please read the operating manuals for the drive controller and bus system
through carefully. They contain important information for operating the INVEOR
with fieldbus.
We assume no liability for any damage resulting from non-observance of this
manual.
This manual is an integral part of the product and applies exclusively to the
INVEOR with Modbus from KOSTAL Industrie Elektrik GmbH.
Provide the operator of the system with this manual so it is available when
needed.

General information
6Operating manual for Modbus fieldbus | DOC01824550 | 2016-10 | V1.0 EN
1.1.1 Other applicable documents
This refers to all manuals that describe how to operate the drive controller
system and any other manuals for the equipment used. Download the 3D files
(.stp) for INVEOR and adapter plates from
http://www.kostal.com/industrie/download/de/Antriebstechnik.
A description of parameters is available for download (www.kostal-industrie-
elektrik.com) for parametrising the drive controller system. In the download, you
will find all the information required for correct parameterisation.
1.1.2 Storing the documentation
Store this operating manual and all other applicable documents carefully so
they are available when needed.

General information
Operating manual for Modbus fieldbus | DOC01824550 | 2016-10 | V1.0 EN 7
1.2 Notes in this manual
1.2.1 Warnings
The warnings refer to life-threatening dangers. Serious injuries possibly resulting
in death may occur.
Each warning consists of the following elements:
DANGER
Risk of death due to electrical shock!
Death or serious injury!
De-energise drive controller and secure it against being restarted.
Fig.: 1 Structure of warnings
1 Warning symbol
2 Signal word
3 Type of danger and its source
4 Possible consequence(s) of failure to comply
5 Corrective actions
1
2
5
3
4

General information
8Operating manual for Modbus fieldbus | DOC01824550 | 2016-10 | V1.0 EN
1.2.2 Warning symbols used
Danger
Danger due to electrical shock and discharge
Danger due to burns
Danger due to electromagnetic fields
1.2.3 Signal words
Signal words are used to identify the severity of the danger.
DANGER
Indicates a direct hazard with a high level of risk, which, if not avoided, will
result in death or serious injury.
WARNING
Indicates a hazard with a moderate level of risk, which, if not avoided, will result
in death or serious injury.
CAUTION
Indicates a hazard with a low level of risk, which, if not avoided, may result in
minor or slight injury or property damage.

General information
Operating manual for Modbus fieldbus | DOC01824550 | 2016-10 | V1.0 EN 9
1.2.4 Information notes
Information notes contain important instructions for the installation and
problem-free operation of the drive controller. These must be followed at all
times. The information notes also point out that failure to observe may result in
damage to property or financial damages.
IMPORTANT
INFORMATION
The drive controller may only be assembled, operated, maintained
and installed by trained and qualified staff.
Fig.: 2 Example of an information note
Symbols within the information notes
Important information
Damage to property possible
Other notes
INFORMATION
Enlarged view

General information
10 Operating manual for Modbus fieldbus | DOC01824550 | 2016-10 | V1.0 EN
1.3 Symbols used in this manual
Symbol Meaning
1., 1., 3. … Consecutive steps in a handling instruction
Effect of a handling instruction
Final result of a handling instruction
List
Fig.: 3 Symbols and icons used
Abbreviations used
Abbreviation Explanation
Tab. Table
Fig. Figure
It. Item
Ch. Chapter
1.4 Qualified staff
You will find the "Qualified staff" chapter in the operating manual for the
INVEOR.
1.5 Proper use
You will find the "Proper use" chapter in the operating manual for the INVEOR.

General information
Operating manual for Modbus fieldbus | DOC01824550 | 2016-10 | V1.0 EN 11
1.6 Responsibility
You will find the "Responsibility" chapter in the operating manual for the
INVEOR.
1.7 Contacts for information
More information is available from:
Central service hotline
Tel.: [phone]
Monday to Friday: 7 am to 5 pm (UTC/GMT +1)
Fax: [phone]
E-mail: [e-mail]
Website address
Customers can find technical and general information on the following website:
www.kostal-industrie-elektrik.com
1.8 Safety instructions
You will find the "Safety instructions" chapter in the operating manual for the
INVEOR.

12 Operating manual for Modbus fieldbus | DOC01824550 | 2016-10 | V1.0 EN
2. Device and system description
This chapter contains information on the scope of delivery for the drive
controller and the function description.
2.1 Modbus
The Modbus bus system is part of the fieldbus family.
The network is generally linear in structure. The maximum data transfer rate to
a Modbus bus may be up to 115.2 kbit/s. The fieldbus cable is only connected
via the M12 connector socket on the front of the device. If the fieldbus cable is
to be routed to another participant, an M12 T-splitter (order no. 10272829)
should be used.
Fig.: 4 Wiring and bus connection
A repeater must be used when more than 32 devices (e.g. INVEOR)
are operated on one Modbus string.

Device and system description
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2.1.1 Master/slave operation
The INVEOR should only be operated as a Modbus slave.
2.2 Scope of delivery
The scope of delivery is described in the INVEOR basic documentation.
The Modbus interface card forms part of the INVEOR.
2.3 Item description
As of software V 03.80, every INVEOR drive controller supports the MODBUS
protocol.
IMPORTANT INFORMATION
Exceptions to this are INVEOR drive controllers with the MMI option
(DK05)
2.4 Hardware components
The following hardware components are available for connecting the INVEOR to
a Modbus bus system:
Description Article number
M12 connecting cable 2 m
M12 plug on M12 coupling / RS485 / 4-pin / 2 m / A-coded
P AL-WAK4-m-AL_8044041
10272382
M12 connecting cable 5 m
M12 plug on M12 coupling / RS485 / 4-pin / 5 m / A-coded
P AL-WAK4-m-AL-WAS4/S37080
10272793
Continues on next page

Device and system description
14 Operating manual for Modbus fieldbus | DOC01824550 | 2016-10 | V1.0 EN
Continuation
Description Article number
M12 connection cable open 2 m
M12 plug / open / RS485 / 4-pin / 2 m / A-coded
P AL-WAS4-m / S370 8043817
10272795
M12 connection cable open 10 m
M12 plug / open / RS485 / 4-pin / 10 m / A-coded
P AL-WAS4-m / S370 8043819
10272794
M12 T-splitter
M12 plug on plug and socket / RS485 / 4-pin / A-coded
J FKM4-FSM4-FSM4, 8008139
10272829
M12 plug can be self-assembled
M12 plug / RS485 / 4-pin / A-coded
INVZUB – L/CF/RS/M12M/-/-/A/
10137294
M12 coupling can be self-assembled
M12 coupling / RS485 / 4-pin / A-coded
P WAKC4K 8004811
10272796

Device and system description
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2.4.1 Interfaces on the drive controller
The following connections can be found on the INVEOR with Modbus interface
card:
Size Alpha:
Fig.: 5 Size Alpha "Modbus" connections
Size Alpha "Modbus" connections
1
Blind plug (optional motor connection with wall mounting)
2
Control cable blind plug
3
Ground screw
4
Grid connection
5
Transparent plug
6
MMI / Modbus
7
Foil keypad (optional)

Device and system description
16 Operating manual for Modbus fieldbus | DOC01824550 | 2016-10 | V1.0 EN
Size A:
Fig.: 6 Size A "Modbus" connections
Size A "Modbus" connections
1
Blind plug
2
Control line
3
Blind plug
4
MMI / Modbus
5
Potentiometer
6
Grid connection
7
Blind plug STO (mount the EMC threaded connection in the accessory pack)
8
Blind plug STO (mount the EMC threaded connection in the accessory pack)

Device and system description
Operating manual for Modbus fieldbus | DOC01824550 | 2016-10 | V1.0 EN 17
Sizes B - C
Fig.: 7 Sizes B - C "Modbus" connections
Sizes B - C "Modbus" connections
1
Blind plug STO (install EMC screw connection supplied in the package)
2
Control line
3
Blind plug
4
Blind plug
5
MMI / Modbus
6
Potentiometer
7
Blind plug STO (mount the EMC threaded connection in the accessory pack)
8
Blind plug STO (mount the EMC threaded connection in the accessory pack)
9
Grid connection

Device and system description
18 Operating manual for Modbus fieldbus | DOC01824550 | 2016-10 | V1.0 EN
Size D:
Fig.: 8 Size D "Modbus" connections
Size D "Modbus" connections
1
Cable screw connection with blind plug
2
Control line
3
Blind plug
4
MMI / Modbus
5
Potentiometer
6
Blind plug STO (mount the EMC threaded connection in the accessory pack)
7
Blind plug STO (mount the EMC threaded connection in the accessory pack)
8
Grid connection

Device and system description
Operating manual for Modbus fieldbus | DOC01824550 | 2016-10 | V1.0 EN 19
2.4.2 Pin assignment for interfaces
Pin assignment on device side of M12 socket for Modbus:
Pin no. Assignment Socket
1
24 V
2
RS 485 - A
3
GND
4
RS 485 - B
Housing Shielding
Fig. 9: Round plug connector, 4-pin, M12, A-coded for Modbus fieldbus
2.4.3 Cable
The following points should be observed when wiring:
Lay bus and power cables as far apart as possible (min. 30 cm),
If cables do cross, an angle of 90° should be observed if possible.
2.5 Software components
The INVEOR drive controller can be parameterised using the INVEORpc tool
and MMI (see operating manual) as well as using the Modbus master.

20 Operating manual for Modbus fieldbus | DOC01824550 | 2016-10 | V1.0 EN
3. Installation
The fieldbus line is exclusively connected via an M12 Y-
splitter found on the front of the M12 connection socket.
The Modbus M12 Y-splitter must demonstrate the following
features:
2× plugs 4-pin
1× socket 4-pin
Completely shielded
A code
M12 Y-splitter
Terminating resistor
A terminating resistor must be installed at both ends of
the Modbus.
The terminating resistor must demonstrate the following
features:
Plug 4-pin
A code
Terminating resistor
Terminating resistor
plug assignment