Oriental motor BLV Series User manual

HM-5114-7
Brushless Motor and Driver Package
BLV Series
Standard Type, Electromagnetic Brake Type
USER MANUAL (RS-485 Communication Mode)
Thank you for purchasing an Oriental Motor product.
This Manual describes product handling procedures and safety precautions.
•Please read it thoroughly to ensure safe operation.
•Always keep the manual where it is readily available.
Table of contents
1 Introduction..............................................................2
2 Safety precautions..................................................3
3 Precautions for use.................................................5
4 Method of control via Modbus protocol........6
4.1 Guidance...........................................................................6
4.2 Communication specications .................................9
4.3 Setting of switches........................................................9
4.4 Connecting the control power supply ................ 10
4.5 Connecting the RS-485 communication
cable ................................................................................ 11
4.6 Setting of RS-485 communication........................ 12
4.7 Communication mode.............................................. 12
4.8 Communication timing ............................................ 13
4.9 Message.......................................................................... 13
4.10 Function code .............................................................. 16
 Reading from a holding register(s) (03h)..................16
 Writing to a holding register (06h)..............................17
 Diagnosis (08h)...................................................................17
 Writing to multiple holding registers (10h) .............18
4.11 Register address list ................................................... 19
 Operation commands......................................................19
 Maintenance commands................................................21
 Monitor commands..........................................................22
 Parameter R/W commands [Operation data]..........24
 Parameter R/W commands [User parameters] .......26
 Parameters R/W commands [Alarm, warning]........28
 Parameter R/W commands [Data setter] ..................29
 Parameter R/W commands
[I/O function (Direct I/O)]................................................29
 Parameter R/W commands
[I/O function (Remote I/O)] ...........................................30
4.12 Group send.................................................................... 32
4.13 Detection of communication errors .................... 33
4.14 Timing charts................................................................ 34
5 Alarms, warnings and communication
errors ........................................................................ 35
5.1 Alarms ............................................................................. 35
5.2 Warnings ........................................................................ 37
5.3 Communication errors.............................................. 38
6 Related products (sold separately)................ 39

Introduction
−2−
1 Introduction
 Before using the product
Only qualied personnel of electrical and mechanical engineering should work with the product.
Use the product correctly after thoroughly reading the section "2 Safety precautions" on p.3. In addition, be
sure to observe the contents described in warning, caution, and note in this manual.
The product described in this document has been designed and manufactured to be incorporated in general
industrial equipment. Do not use for any other purpose. For the power supply, use a DC power supply with
reinforced insulation on its primary and secondary sides. Oriental Motor Co., Ltd. is not responsible for any
compensation for damage caused through failure to observe this warning.
 Operating manuals for the BLV Series
For operating manuals not included with the product, contact your nearest Oriental Motor sales oce or
download from Oriental Motor Website Download Page.
Operating manual name Manual number Included or not included with product
OPERATING MANUAL HM-5112 Included
USER MANUAL (Basic Function) HM-5113 Not included
USER MANUAL (RS-485 Communication Mode) HM-5114 Not included
Data setter OPX-2A HP-5049 Not included
Network Converter Slave Edition HP-5065 Not included
 RoHS Directive
The products do not contain the substances exceeding the restriction values of RoHS Directive (2011/65/EU).

Safety precautions
−3−
2 Safety precautions
The precautions described below are intended to ensure the safe and correct use of the product, and to prevent
the user and other personnel from exposure to the risk of injury. Use the product only after carefully reading and
fully understanding these instructions.
WARNING
Handling the product without observing the instructions that accompany a "WARNING"
symbol may result in serious injury or death.
CAUTION
Handling the product without observing the instructions that accompany a “CAUTION”
symbol may result in injury or property damage.
Note The items under this heading contain important handling instructions that the user
should observe to ensure safe use of the product.
Explanation of graphic symbols : Indicates "prohibited" actions that must not be performed.
: Indicates "compulsory" actions that must be performed.
WARNING
•Do not use the product in explosive or corrosive environments, in the presence of ammable gases, locations
subjected to splashing water, or near combustibles. Doing so may result in re, electric shock or injury.
•Do not transport, install, connect, or inspect the product while the power is supplied. Always turn o the
power before carrying out these operations. Electric shock or damage to equipment may result.
•Do not use a motor without electromagnetic brake in a vertical application. If the driver protective function
is activated, the motor will stop and the moving part of the equipment may fall, thereby causing injury or
damage to equipment.
•Do not use the brake mechanism of the electromagnetic brake motor as a safety brake. It is intended to hold
the moving part and motor positions. Using it as a safety brake may result in injury or damage to equipment.
•Do not forcibly bend, pull or pinch the cable. Doing so may result in re, electric shock, or damage to equipment.
•Do not machine or modify the motor cable or connection cable. Doing so may result in re, electric shock, or
damage to equipment.
•Do not touch the motor or driver when conducting the insulation resistance measurement or dielectric
strength test. Accidental contact may result in electric shock.
•Do not disassemble or modify the motor, gearhead and driver. Doing so may result in injury or damage
to equipment. Refer all such internal inspections and repairs to the branch or sales oce from which you
purchased the product.
•Only qualied and educated personnel should be allowed to perform installation, connection, operation and
inspection/troubleshooting of the product. Handling by unqualied and uneducated personnel may result in
re, electric shock, injury, or damage to equipment.
•When the protective function of the driver is activated, remove the cause before clearing the protective
function. Continuing the operation without removing the cause of the problem may result in malfunction of
the motor and driver, leading to injury or damage to equipment.
•Install the motor, gearhead and driver in an enclosure. Failure to do so may result in electric shock or injury.
•Always keep the power supply voltage of the driver within the specied range. Failure to do so may result in
re or electric shock.
•For the power supply, use a DC power supply with reinforced insulation on its primary and secondary sides.
Failure to do so may result in electric shock.
•Securely connect the wirings in accordance with the connection examples. Failure to do so may result in re
or electric shock.
•Be sure to observe the specied cable sizes. Failure to do so may result in re or electric shock.
•Observe the specied screw tightening torque for the connector. Failure to do so may result in re or damage
to equipment.
•Use a motor, gearhead, and driver only in the specied combination. An incorrect combination may cause
re, electric shock, or damage to equipment.
•When the electromagnetic brake motor is used in an application of vertical drive such as elevating
equipment, operate it after checking the condition of a load suciently so that a load in excess of the rated
torque is not applied or a small value is not set in the torque limiting value. Failure to do so may result in
injury or damage to equipment.
•Always turn o the power before performing maintenance/inspection. Failure to do so may cause injury.
•Regularly check the openings in the driver for accumulated dust. Failure to do so may result in re.

Safety precautions
−4−
CAUTION
•Do not use the motor, gearhead and driver beyond the specications. Doing so may result in electric shock,
injury or equipment damage.
•Keep your ngers and objects out of the openings in the driver. Failure to do so may result in re, electric
shock or injury.
•Do not touch the motor, gearhead or driver while operating or immediately after stopping. The surface of the
motor, gearhead or driver may be hot and cause a skin burn(s).
•Do not leave anything around the motor and driver that would obstruct ventilation. Doing so may result in
damage to equipment.
•Do not move the product by holding the output shaft of the motor or the gearhead, or the motor cable.
Doing so may result in injury.
•Do not touch the motor output shaft (key slot or pinion) with bare hands. Doing so may result in injury.
•When assembling the motor with the gearhead, exercise caution not to pinch your ngers or other parts of
your body between the motor and gearhead. Injury may result.
•When installing the motor or gearhead in the equipment, exercise caution not to pinch your ngers or other
parts of your body between the equipment and motor or gearhead. Injury may result.
•Do not shut o the negative side of the power supply during operation. Also, make sure that the wiring for
the power supply does not disconnect. This may result in damage to equipment.
•Do not touch the rotating part (output shaft) while operating the motor. Doing so may cause injury.
•Securely install the motor, gearhead and driver to their respective mounting plates. Inappropriate installation
may cause the motor, gearhead or driver to detach and fall, resulting in injury or equipment damage.
•Provide a cover over the rotating part (output shaft) of the motor or gearhead. Failure to do so may result in
injury.
•Securely install a load on the output shaft of the motor or gearhead. Inappropriate installation may result in
injury.
•Provide an emergency stop device or emergency stop circuit external to the equipment so that the entire
equipment will operate safely in the event of a system failure or malfunction. Failure to do so may cause
injury.
•Immediately when a problem occurred, stop operation and turn o the driver power. Failure to do so may
result in re, electric shock or injury.
•The motor surface temperature may exceed 70°C (158°F) even under normal operating
conditions. If the operator is allowed to approach the motor in operation, attach a warning
label in a conspicuous position as shown in the gure. Failure to do so may result in a skin
burn(s). Warning label
•Dispose the product correctly in accordance with laws and regulations, or instructions of local governments.

Precautions for use
−5−
3 Precautions for use
This section covers restrictions and requirements the user should consider when using the BLV Series.
•Regeneration energy
When the motor is used in operation such as vertical drive (gravitational operation) or sudden accelerating/
decelerating of an inertia body, regeneration energy may generate. Since the driver has no function to consume
regeneration energy, if the output capacity or overvoltage allowance of the DC power supply is small, the
protective function for the power supply or driver may be activated to stop the motor. When performing these
operations, use a DC power supply or battery that has a large output capacity or overvoltage allowance.
Also, use an electromagnetic brake type motor because there is a risk of falling the moving part in vertical drive
such as elevating equipment.
If the protective function for the power supply or driver is activated, contact your nearest Oriental Motor sales
oce.
•Do not conduct the insulation resistance measurement or dielectric strength test with the motor
and driver connected.
Conducting the insulation resistance measurement or dielectric strength test with the motor and driver
connected may result in damage to the product.
•Do not use a solid-state relay (SSR) to turn on or o the power supply.
A circuit that turns on or o the power supply via a solid-state relay (SSR) may damage the motor and driver.
•Notes for power ON/OFF using a mechanical contact
When turning on or o the power supply using a mechanical contact (breaker, electromagnetic switch, relay, etc.),
do so only the positive side (+) of the power supply using the mechanical contact. Turning on or o the positive
side (+) and the negative side (–) of the power supply simultaneously using a mechanical contact may cause
damage to the control circuit or peripheral equipment.
Refer to the USER MANUAL (Basic Function) for details.
•Note on connecting a power supply whose positive terminal is grounded
The main power supply input terminal (CN1), I/O signal connector (CN4), communication connectors (CN5/CN6/
CN7), and control power supply input terminal (TB1) of the driver are not electrically insulated. When grounding
the positive terminal of the power supply, do not connect any equipment (PC, etc.) whose negative terminal is
grounded. Doing so may cause the driver and these equipment to short, damaging both.
•Noise elimination measures
Refer to the USER MANUAL (Basic Function) for the noise elimination measures.
•Grease measures
On rare occasions, grease may ooze out from the gearhead. If there is concern over possible environmental
contamination resulting from the leakage of grease, check for grease stains during regular inspections.
Alternatively, install an oil pan or other device to prevent damage resulting from contamination. Grease leakage
may lead to problems in the user’s equipment or products.
•Note on using in low temperature environment
When an ambient temperature is low, a load torque may increase due to the oil seal or viscosity of grease used
in the gearhead, and the output torque may decrease or an overload alarm may be generated. However, as time
passes, the oil seal or grease is warmed up, and the motor can be driven without generating an overload alarm.
•Apply grease to the hollow output shaft of a hollow shaft at gearhead.
When using a hollow shaft at gearhead, apply grease (molybdenum disulde grease, etc.) on the surface of the
load shaft and inner walls of the hollow output shaft to prevent seizure.
•The driver uses semiconductor components. So be extremely careful when handling it.
The driver uses components that are sensitive to electrostatic charge. Before touching the driver, turn o the
power to prevent electrostatic charge from generating. If an electrostatic charge is impressed on the driver, the
driver may be damaged.
•Use a connection cable (included) when extending the wiring distance between the motor and driver.
•Sliding noise of electromagnetic brake
The electromagnetic brake motor may cause sliding noise of the brake disk during operation.
There is no functional problem.

Method of control via Modbus protocol
−6−
4 Method of control via Modbus protocol
This chapter explains how to control the motor via RS-485 communication. The protocol used in RS-485
communication is the Modbus protocol.
The Modbus protocol is simple to use and its specication is open to the public, so this protocol is widely used in
industrial applications.
Modbus communication is based on the single-master/multiple-slave method. Only the master can issue a query
(command). Each slave executes the requested process and returns a response message.
4.1 Guidance
If you are new to the BLV Series products, read this section to understand the operating methods along with the
operation ow.
Note Before operating the motor, check the surrounding conditions to ensure safety.
STEP 1 Check the installation and connection
Check
Motor connection
Check
RS-485 communication
cable connection
Check
MEXE02 or OPX-2A connection
Check
Power supply connection
Pr
ogrammable controller
or master device
Or
P.11

Method of control via Modbus protocol
−7−
STEP 2 Set the switches
No.7: Termination resistor
Set address number.
No.1 to No.3: RS-485 transmission rate
No.5: Protocol
Set SW2.
No.8: Address number
Check
Set the switches
Check
Set the switch
SW3
SW2
STEP 3 Turn on the power and set the parameters
Or
Turn po
wer supply on.
Set the following RS-485
communication parameters
via MEXE02 or OPX-2A.
•Communication parity
•Communication stop bit
•Transmission waiting time
P. 9
P. 9
*Refer to p.28 when these parameters
are set via communication.

Method of control via Modbus protocol
−8−
STEP 4 Cycle the power
Parameters for "communication parity," "communication stop bit" and "transmission waiting time" will be enabled
after the power is cycled.
STEP 5 Operate the motor
1. Set the rotation speed using the
internal potentiometer.
2. Turn the NET-IN3 (FWD) of "driver
input command" in operation
commands ON, and then write to the
holding register.
3. Conrm that the motor
r
otates without problem.
Programmable controller
or master device
Or
STEP 6 Were you able to operate the motor properly?
How did it go? Were you able to operate the motor properly? If the motor does not function, check the following
points:
•Is any alarm present?
•Are the power supply, motor and RS-485 communication cable connected securely?
•Are the slave address, transmission rate and termination resistor set correctly?
•Is the C-ERR LED lit?
•Is the C-DAT LED lit?
For more detailed settings and functions, refer to the following pages.

Method of control via Modbus protocol
−9−
4.2 Communication specications
Electrical characteristics
In conformance with EIA-485
Use a twisted pair cable (TIA/EIA-568B CAT5e or higher is recommended) and keep the total
wiring distance including extension to 50 m (164 ft.) or less.
Transmission mode Half duplex
Transmission rate Selectable from 9600 bps, 19200 bps, 38400 bps, 57600 bps and 115,200 bps.
Physical layer Asynchronous mode (data: 8 bits, stop bit: 1 bit/2 bits, parity: none/even number/odd
number)
Protocol Modbus RTU mode
Type of connection Up to 31 drivers can be connected to one programmable controller (master device).
4.3 Setting of switches
Note
•Be sure to turn o the driver power before setting the switches. If the switches are set while the
power is still on, the new switch settings will not be enabled.
•Do not set No.4 and No.6 of the communication function switch (SW2) to ON.
Address number setting switch (SW3)
Communication function switch (SW2)
SW3
SW2
No.7: Termination resistor
No.1 to No.3: RS-485 transmission rate
No.5: Protocol
No.8: Address number
 Protocol
Set No.5 of the communication function switch (SW2) to ON. The Modbus protocol is selected.
Factory setting OFF
 Address number (slave address)
Set the address number (slave address) using the address number setting switch (SW3) and No.8 of the
communication function switch (SW2). Make sure each address number (slave address) you set for each driver is
unique. Address number (slave address) 0 is reserved for broadcasting, so do not use this address.
Factory setting SW3: 0, SW2-No.8: OFF
Address number (slave address) list
SW3 SW2-No.8: OFF SW3 SW2-No.8: OFF SW3 SW2-No.8: ON SW3 SW2-No.8: ON
0 Broadcast reserved 8 8 0 16 8 24
1 1 9 9 1 17 9 25
2 2 A 10 2 18 A 26
3 3 B 11 3 19 B 27
4 4 C 12 4 20 C 28
5 5 D 13 5 21 D 29
6 6 E 14 6 22 E 30
7 7 F 15 7 23 F 31

Method of control via Modbus protocol
−10−
 Transmission rate
Set the transmission rate using Nos. 1 to 3 of the communication function switch (SW2).
The transmission rate to be set should be the same as the transmission rate of the master device.
Factory setting All OFF (9600 bps)
SW2-No.3 SW2-No.2 SW2-No.1 Transmission rate (bps)
OFF OFF OFF 9600
OFF OFF ON 19200
OFF ON OFF 38400
OFF ON ON 57600
ON OFF OFF 115,200
Note Do not set other combinations except the above table.
 Termination resistor
Use a termination resistor for the driver located farthest away (positioned at the end) from the programmable
controller (master device).
Turn No.7 of the communication function switch (SW2) ON to set the termination resistor for RS-485
communication (120 Ω).
Factory setting OFF (termination resistor disabled)
SW2-No.7 Termination resistor (120 Ω)
OFF Disabled
ON Enabled
4.4 Connecting the control power supply
Although all functions including the communication function can be used by using the main power supply, if the
driver is connected to the control power supply, it can communicate with the master device without turning on
the main power supply. Using only the communication function can set the operation data and parameters, and
also check the alarm history.
Note When the driver is connected to the control power supply while not connected to the main power
supply, the undervoltage alarm is generated but the communication operation can be performed as it
is.
1. Press the
button of the
terminal.
2. Insert each
lead wire.
 Control power supply specications
Model Input power supply
voltage Current capacity
BLV620 24 VDC±10% 300 mA or more
BLV640 48 VDC±10%
 Applicable lead wire
•Stripping length of wire insulation: 11 mm (0.43 in.)
•Applicable lead wire: AWG24 to AWG16 (0.2 to 1.25 mm2)

Method of control via Modbus protocol
−11−
4.5 Connecting the RS-485 communication cable
Connect the RS-485 communication cable to the CN5 or CN6 on the driver.
The vacant connector can be used to connect a dierent driver. Use a commercial LAN cable to link drivers.
Drivers can
be linked.
RS-485 communication
connector (CN5/CN6)
C
ommunication function
switch (SW2-No.7)
•Internal circuit
6 TR -
3 TR+
2 GND
6 TR
-
3 TR+
2 GND
0 V
∗
C-DAT LED
(Green)
C-ERR LED
(Red)
120 Ω
SW2-No.7
* The GND line is used in common with the main power
supply input terminal (CN1) and control power supply
input terminal (TB1) [not insulated].
•CN5/CN6 pin assignments •LED
Pin No. Signal name Description
1
8
·
·
·
·
·
Name Description
1 N.C. Not used C-DAT LED
(Green)
This LED is lit when the driver communicates
with the master station properly via RS-485
communication.
2 GND GND
3 TR+ RS-485 communication signal (+)
4 N.C. Not used C-ERR LED
(Red)
This LED is lit when a RS-485 communication
error occurs with the master station.
5 N.C. Not used
6 TR− RS-485 communication signal (–)
7 N.C. Not used
8 N.C. Not used
 Connection example
RS-485
Address number 1
Pr
ogrammable controller
or master device
Address number 2Address number 31
Termination resistor
(SW2-No.7): ON
Termination
resistor

Method of control via Modbus protocol
−12−
TR+
TR
-
GND
TR+
TR
-
GND
TR+
TR
-
GND
TR+
TR
-
GND
TR+
TR
-
GND
120 Ω
0 V∗3 0 V
SW2-No.7
Driver 1Master deviceRS-485
∗1
120 Ω
0 V∗3
SW2-No.7
Driver 2
120 Ω
0 V∗3
SW2-No.7∗2
Driver 31
*1 Termination resistor 120 Ω
*2 Turn the termination resistor (SW2-No.7) ON.
*3 The GND line is used in common with the main
power supply input terminal (CN1) and control
power supply input terminal (TB1) [not insulated].
4.6 Setting of RS-485 communication
Set parameters required for RS-485 communication rst.
Refer to p.28 when these parameters are set via communication.
Parameter name Setting range Initial value Description
Communication parity
0: None
1: Even number
2: Odd number
1 Sets the parity for RS-485 communication.
Communication stop bit 0: 1 bit
1: 2 bits 0 Sets the stop bit for RS-485 communication.
Transmission waiting time 0 to 10000 (×0.1 ms) 100 Sets the transmission waiting time for RS-485
communication.
Communication timeout 0: Not monitored
0 to 10000 ms 0Sets the condition in which a communication
timeout occurs in RS-485 communication.
Communication error alarm 1 to 10 times 3
Sets the condition in which a RS-485 communication
error alarm is generated.
A communication error alarm is generated when a
RS-485 communication error has occurred by the
number of times set here.
4.7 Communication mode
Modbus protocol communication is based on the single-master/multiple-slave method.
Under this protocol, messages are sent in one of two methods.
•Unicast mode
The master sends a query to only one slave.
The slave executes the process and returns a response.
Query
Response
Master
Slave
•Broadcast mode
If slave address 0 is specied on the master, the master can send a
query to all slaves. Each slave executes the process, but does not
return a response.
Master
Slave No response
Query

Method of control via Modbus protocol
−13−
4.8 Communication timing
Query
Tb2 C3.5C3.5C3.5
Tb3 (Broadcast)
Tb1
Query
Response
Master
Slave
Character Name Description
Tb1 Communication
timeout
The interval of the received query is monitored. If no query could be received after the
time set with the "Communication timeout" parameter, a communication timeout alarm
is generated (initial setting: not monitored).
Tb2 Transmission
waiting time
This is the time after the slave switches its communication line to the transmission
mode upon receiving a query from the master, until it starts sending a response. The
transmission waiting time is set with the "Transmission waiting time" parameter (initial
setting: 10 ms).
The actual transmission waiting time corresponds to the silent interval (C3.5) plus
transmission waiting time (Tb2).
Tb3 Broadcasting
interval
This is the time until the next query is sent in broadcasting.
A time equivalent to or longer than the silent interval (C3.5) plus 5 ms is required.
C3.5 Silent interval
Be sure to provide an interval of 3.5 characters or more as the transmission waiting time.
If this waiting time is less than 3.5 characters long, the driver cannot respond.
The silent interval should be 5.5 ms or more when the transmission rate is 9600bps. The
silent interval should be 3.5 ms or more when the transmission rate exceeds 19200 bps.
4.9 Message
The message format is shown below.
Slave address
Function code
Data
Error check
Slave address
Function code
Data
Error check
Master Query
Response
Slave
 Query
The query message structure is shown below.
Slave address Function code Data Error check
8 bits 8 bits 4×8 to 37×8 bits 16 bits
•Slave address
Specify the slave address (unicast mode).
If the slave address is set to“0,” the master can send a query to all slaves (broadcast mode).
•Function code
The function codes and message lengths supported by the BLV Series driver are as follows.
Function code Function Message length (byte) Broadcast
Query Response
03h Reading from a holding register(s) 8 7 to 37 Not possible
06h Writing to a holding register 8 8 Possible
08h Diagnosis 8 8 Not possible
10h Writing to multiple holding registers 11 to 41 8 Possible
•Data
Set data associated with the selected function code. The specic data length varies depending on the function code.

Method of control via Modbus protocol
−14−
•Error check
In the Modbus RTU mode, error checks are based on the CRC-16 method. The slave calculates a CRC-16 of each
received message and compares the result against the error check value included in the message. If the calculated
CRC-16 value matches the error check value, the slave determines that the message is normal.
CRC-16 calculation method
1. Calculate an exclusive-OR (XOR) value of the default value of FFFFh and slave address (8 bits).
2. Shift the result of step 1 to the right by 1 bit. Repeat this shift until the overow bit becomes "1."
3. Upon obtaining "1" as the overow bit, calculate an XOR of the result of step 2 and A001h.
4. Repeat steps 2 and 3 until a shift is performed eight times.
5. Calculate an XOR of the result of step 4 and function code (8 bits).
Repeat steps 2 to 4 for all bytes.
The nal result gives the result of CRC-16 calculation.
 Response
Slave-returned responses are classied into three types: normal response, no response, and exception response.
The response message structure is the same as the query message structure.
Slave address Function code Data Error check
8 bits 8 bits 3×8 to 33×8 bits 16 bits
•Normal response
Upon receiving a query from the master, the slave executes the requested process and returns a response.
•No response
The slave may not return a response to a query sent by the master. This condition is referred to as "No response."
The causes of no response are explained below.
Transmission error
The slave discards the query and does not return a response if any of the following transmission errors is detected.
Cause of transmission error Description
Framing error Stop bit 0 was detected.
Parity error A mismatch with the specied parity was detected.
Mismatched CRC The calculated value of CRC-16 was found not matching the error check value.
Invalid message length The message length exceeded 256 bytes.
Other than transmission error
A response may not be returned without any transmission error being detected.
Cause Description
Broadcast If the query was broadcast, the slave executes the requested process but does not return
a response.
Mismatched slave address The slave address in the query was found not matching the slave address of the driver.

Method of control via Modbus protocol
−15−
•Exception response
An exception response is returned if the slave cannot execute the process requested by the query. Appended
to this response is an exception code indicating why the process cannot be executed. The message structure of
exception response is as follows.
Slave address Function code Exception code Error check
8 bits 8 bits 8 bits 16 bits
Function code
The function code in the exception response is a sum of the function code in the query and 80h.
Example) query: 03h →Exception response: 83h
Exception code
This code indicates why the process cannot be executed.
Exception
code
Communication
error code Cause Description
01h
88h
Invalid
function
The process could not be executed because the function code was
invalid.
· The function code is not supported.
· The sub-function code for diagnosis (08h) is other than 00h.
02h Invalid data
address
The process could not be executed because the data address was invalid.
· The register address is not supported (other than 0000h to 1FFFh).
· The register address and the number of registers are 2000h or more in
total.
03h 8Ch Invalid data
The process could not be executed because the data was invalid.
· The number of registers is 0 or more than 17.
· The number of bytes is other than twice the number of registers.
· The data length is outside the specied range.
04h
89h
8Ah
8Ch
8Dh
Slave error
The process could not be executed because an error occurred at the
slave.
•User interface communication in progress (89h)
Download, initialization or teaching operation is in progress using the
MEXE02 or OPX-2A.
•NV memory processing in progress (8Ah)
· Internal processing is in progress (S-BSY is ON).
· An EEPROM error alarm is present.
•Outside the parameter setting range (8Ch)
The value write is outside the setting range.
•Command execute disable (8Dh)
Example of exception response
Slave address 01h
Function code 06h
Register address (upper)
Data
02h
Error check (lower) E9h
Error check (upper) C4h
Slave address 01h
Function code 86h
Data Exception code 04h
Register address (lower) 1Eh
Value write (upper) FFh
Value write (lower) FFh
Error check (lower) 02h
Error check (upper) 61h
Master Query
Response
Slave

Method of control via Modbus protocol
−16−
4.10 Function code
Reading from a holding register(s) (03h)
This function code is used to read a register (16 bits). Up to 16 successive registers (16×16 bits) can be read.
Read the upper and lower data at the same time. If they are not read at the same time, the value may be invalid.
If multiple holding registers are read, they are read in order of register addresses.
Example of read
Read the rotation speed Nos. 0 and 1 in the operation data of slave address 1.
Description Register address Value read Corresponding decimal
Rotation speed No.0 (upper) 0480h 0000h 100
Rotation speed No.0 (lower) 0481h 0064h
Rotation speed No.1 (upper) 0482h 0000h 4000
Rotation speed No.1 (lower) 0483h 0FA0h
•Query
Field name Data Description
Slave address 01h Slave address 1
Function code 03h Reading from a holding register(s).
Data
Register address (upper) 04h Register address to start reading from
Register address (lower) 80h
Number of registers (upper) 00h Number of registers to be read from the starting register address
(4registers=0004h)
Number of registers (lower) 04h
Error check (lower) 44h Calculation result of CRC-16
Error check (upper) D1h
•Response
Field name Data Description
Slave address 01h Same as query
Function code 03h Same as query
Data
Number of data bytes 08h Twice the number of registers in the query
Value read from register address (upper) 00h Value read from register address 0480h
Value read from register address (lower) 00h
Value read from register address+1 (upper) 00h Value read from register address 0481h
Value read from register address+1 (lower) 64h
Value read from register address+2 (upper) 00h Value read from register address 0482h
Value read from register address+2 (lower) 00h
Value read from register address+3 (upper) 0Fh Value read from register address 0483h
Value read from register address+3 (lower) A0h
Error check (lower) E1h Calculation result of CRC-16
Error check (upper) 97h

Method of control via Modbus protocol
−17−
Writing to a holding register (06h)
This function code is used to write data to a specied register address.
However, since the result combining the upper and lower may be outside the data range, write the upper and
lower at the same time using the "Writing to multiple holding registers (10h)."
Example of write
Write 50 (32h) as overload warning level (lower) to slave address 2.
Description Register address Value write Corresponding decimal
Overload warning level (lower) 10ABh 32h 50
•Query
Field name Data Description
Slave address 02h Slave address 2
Function code 06h Writing to a holding register.
Data
Register address (upper) 10h Register address to be written
Register address (lower) ABh
Value write (upper) 00h Value written to the register address
Value write (lower) 32h
Error check (lower) 7Dh Calculation result of CRC-16
Error check (upper) 0Ch
•Response
Field name Data Description
Slave address 02h Same as query
Function code 06h Same as query
Data
Register address (upper) 10h Same as query
Register address (lower) ABh
Value write (upper) 00h Same as query
Value write (lower) 32h
Error check (lower) 7Dh Calculation result of CRC-16
Error check (upper) 0Ch
Diagnosis (08h)
This function code is used to diagnose the communication between the master and slave. Arbitrary data is sent
and the returned data is used to determine whether the communication is normal. 00h (reply to query) is the only
sub-function supported by this function code.
Example of diagnosis
Send arbitrary data (1234h) to the slave address 3.
•Query
Field name Data Description
Slave address 03h Slave address 3
Function code 08h Diagnosis
Data
Sub-function code (upper) 00h Return the query data
Sub-function code (lower) 00h
Data value (upper) 12h Arbitrary data (1234h)
Data value (lower) 34h
Error check (lower) ECh Calculation result of CRC-16
Error check (upper) 9Eh
•Response
Field name Data Description
Slave address 03h Same as query
Function code 08h Same as query
Data
Sub-function code (upper) 00h Same as query
Sub-function code (lower) 00h
Data value (upper) 12h Same as query
Data value (lower) 34h
Error check (lower) ECh Same as query
Error check (upper) 9Eh

Method of control via Modbus protocol
−18−
Writing to multiple holding registers (10h)
This function code is used to write data to multiple successive registers. Up to 16 registers can be written.
Write the data to the upper and lower at the same time. If not, an invalid value may be written.
Registers are written in order of register addresses. Note that even when an exception response is returned
because some data is invalid as being outside the specied range, etc., other data may have been written properly.
Example of write
Set the following data to the acceleration Nos. 0 to 2 in the operation data of slave address 4.
Description Register address Value write Corresponding decimal
Acceleration time No.0 (upper) 0600h 0000h 2
Acceleration time No.0 (lower) 0601h 0002h
Acceleration time No.1 (upper) 0602h 0000h 50
Acceleration time No.1 (lower) 0603h 0032h
Acceleration time No.2 (upper) 0604h 0000h 150
Acceleration time No.2 (lower) 0605h 0096h
•Query
Field name Data Description
Slave address 04h Slave address 4
Function code 10h Writing to multiple holding registers
Data
Register address (upper) 06h Register address to start writing from
Register address (lower) 00h
Number of registers (upper) 00h Number of registers to be written from the starting register
address (6 registers=0006h)
Number of registers (lower) 06h
Number of data bytes 0Ch Twice the number of registers in the query
(6registers × 2 = 12 registers: 0Ch)
Value write to register address (upper) 00h Value written to register address 0600h
Value write to register address (lower) 00h
Value write to register address+1 (upper) 00h Value written to register address 0601h
Value write to register address+1 (lower) 02h
Value write to register address+2 (upper) 00h Value written to register address 0602h
Value write to register address+2 (lower) 00h
Value write to register address+3 (upper) 00h Value written to register address 0603h
Value write to register address+3 (lower) 32h
Value write to register address+4 (upper) 00h Value written to register address 0604h
Value write to register address+4 (lower) 00h
Value write to register address+5 (upper) 00h Value written to register address 0605h
Value write to register address+5 (lower) 96h
Error check (lower) 85h Calculation result of CRC-16
Error check (upper) 70h
•Response
Field name Data Description
Slave address 04h Same as query
Function code 10h Same as query
Data
Register address (upper) 06h Same as query
Register address (lower) 00h
Number of registers (upper) 00h Same as query
Number of registers (lower) 06h
Error check (lower) 40h Calculation result of CRC-16
Error check (upper) D6h

Method of control via Modbus protocol
−19−
4.11 Register address list
All data used by the driver is 32-bit wide. The register for the Modbus protocol is 16-bit wide, and one data is
described by two registers.
Since the address assignment is big endian, the even number addresses become the upper and the odd number
addresses become the lower.
Operation commands
These are commands related to motor operation. Operation commands are not saved in the non-volatile memory.
Register address READ/WRITE Name Description
Dec Hex
48 0030h R/W Group (upper) Sets the address number for the group send.
49 0031h Group (lower)
124 007Ch R/W Driver input command (upper) Sets the input command to the driver.
125 007Dh Driver input command (lower)
126 007Eh RDriver output command (upper) Reads the output status of the driver.
127 007Fh Driver output command (lower)
•Group (0030h, 0031h)
Multiple slaves are made into a group and a query is sent to all slaves in the group at once.
Refer to p.32 for details on group.
•Driver input command (007Ch, 007Dh)
These are the driver input signals that can be accessed via RS-485 communication. Assignments of the remote I/O
(NET-IN0 to NET-IN15) are as follows.
( ): Initial value (2-wire input mode)
Address (Hex) bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0
007Ch Upper − − − − − − − −
Lower −− − −−−−−
007Dh
Upper NET-IN15
(Not used)
NET-IN14
(Not used)
NET-IN13
(Not used)
NET-IN12
(Not used)
NET-IN11
(Not used)
NET-IN10
(Not used)
NET-IN9
(Not used)
NET-IN8
(Not used)
Lower NET-IN7
(MB-FREE)
NET-IN6
(Not used)
NET-IN5
(STOP-MODE)*
NET-IN4
(REV)*
NET-IN3
(FWD)*
NET-IN2
(M2)
NET-IN1
(M1)
NET-IN0
(M0)
*When the "3-wire input mode" is set with the "Operation input mode selection" parameter, the following signals are applied.
FWD →START/STOP, REV →RUN/BRAKE, STOP-MODE →FWD/REV
Input signals shown below can be assigned to the NET-IN0 to NET-IN15 of the remote I/O by setting parameters.
Refer to "Parameter R/W commands [I/O function (Remote I/O)]" on p.30 for details on parameters.
Signal name Function Setting range
Not used Set when the input terminal is not used. −
FWD [2-wire input mode]
The motor rotates in the forward direction when the bit of the FWD
input is set to "1." The motor stops when it is set to "0."
The motor rotates in the reverse direction when the bit of the REV input
is set to "1." The motor stops when it is set to "0."
Select how the motor should stop with the bit of the STOP-MODE input.
0: Stop
1: Rotate in forward direction
REV 0: Stop
1: Rotate in reverse direction
STOP-MODE 0: Instantaneous stop
1: Deceleration stop
START/STOP [3-wire input mode]
The motor rotates when both the bits of the START/STOP input and RUN/
BRAKE input are set to "1."
The motor decelerates and stops when the bit of the START/STOP input
is set to "0," while the motor stops instantaneously when the bit of the
RUN/BRAKE input is set to "0."
Select the motor rotation direction with the bit of the FWD/REV input.
0: Deceleration stop
1: Operation
RUN/BRAKE 0: Instantaneous stop
1: Operation
FWD/REV 0: Forward direction
1: Reverse direction
MB-FREE Select how the electromagnetic brake would operate when the motor
stops.
0: Hold when it stops
1: Release when it stops
HMI Release the function limitation of the support software MEXE02 or data
setter OPX-2A.
0: Function limitation
1: Function limitation release
M0 to M2 Select the operation data number using these three bits. 0 to 7: Operation data number
Note
•Do not assign the same input signal to multiple input terminals. When the same input signal is
assigned to multiple input terminals, the function will be executed if any of the terminals becomes
active.
•When the same input signal is assigned to both remote I/O and direct I/O (X0 to X5), the function will
be executed if any of the terminals becomes active.
•If the HMI input is not assigned to the input terminal, the HMI input will always become "1" (function
limitation release). If the HMI input is assigned to both remote I/O and direct I/O (X0 to X5), the
function limitation will be released when both of them become "1."

Method of control via Modbus protocol
−20−
•Driver output command (007Eh, 007Fh)
These are the driver output signals that can be received via RS-485 communication. Assignments of the remote
I/O (NET-OUT0 to NET-OUT15) are as follows.
( ): Initial value (2-wire input mode)
Address (Hex) bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0
007Eh Upper − − − − − − − −
Lower − − − − − − − −
007Fh
Upper NET-OUT15
(TLC)
NET-OUT14
(VA)
NET-OUT13
(MOVE)
NET-OUT12
(ALARM-OUT2)
NET-OUT11
(Not used)
NET-OUT10
(Not used)
NET-OUT9
(Not used)
NET-OUT8
(S-BSY)
Lower NET-OUT7
(ALARM-OUT1)
NET-OUT6
(WNG)
NET-OUT5
(STOP-MODE_R)*
NET-OUT4
(REV_R)*
NET-OUT3
(FWD_R)*
NET-OUT2
(M2_R)
NET-OUT1
(M1_R)
NET-OUT0
(M0_R)
* When the "3-wire input mode" is set with the "Operation input mode selection" parameter, the following signals are applied.
FWD_R →START/STOP_R, REV_R →RUN/BRAKE_R, STOP-MODE_R →FWD/REV_R
Output signals shown below can be assigned to the output terminals NET-OUT0 to NET-OUT15 of the remote I/O
by setting parameters.
Refer to "Parameter R/W commands [I/O function (Remote I/O)]" on p.30 for details on parameters.
Signal name Function Setting range
Not used Set when the output terminal is not used. −
FWD_R
2-wire input
mode
Output in response to the FWD input. 0: FWD=OFF
1: FWD=ON
REV_R Output in response to the REV input. 0: REV=OFF
1: REV=ON
STOP-MODE_R Output in response to the STOP-MODE input. 0: STOP-MODE=OFF
1: STOP-MODE=ON
START/STOP_R
3-wire input
mode
Output in response to the START/STOP input. 0: START/STOP=OFF
1: START/STOP=ON
RUN/BRAKE_R Output in response to the RUN/BRAKE input. 0: RUN/BRAKE=OFF
1: RUN/BRAKE=ON
FWD/REV_R Output in response to the FWD/REV input. 0: FWD/REV=OFF
1: FWD/REV=ON
MB-FREE_R Output in response to the MB-FREE input. 0: MB-FREE=OFF
1: MB-FREE=ON
M0_R Output in response to the M0 input. 0: M0=OFF
1: M0=ON
M1_R Output in response to the M1 input. 0: M1=OFF
1: M1=ON
M2_R Output in response to the M2 input. 0: M2=OFF
1: M2=ON
ALARM-OUT1 Output the alarm of the BLV Series driver. 0: Normal operation
1: Alarm present
WNG Output the warning of the BLV Series driver. 0: Normal operation
1: Warning present
MOVE Output when the motor operates. 0: Motor standstill
1: Motor in operation
TLC Output when a load exceeds the torque limiting value. 0: Within the torque limiting value
1: Outside the torque limiting value
VA
Output when the speed dierence between the set rotation
speed and actual motor rotation speed becomes equal to
or less than the value set in the “Rotation speed attainment
band” parameter.
0: Within the speed attainment band
1: Outside the speed attainment band
S-BSY Output when the BLV Series driver is in an internal processing
state.
0: No internal processing
1: During internal processing
ALARM-OUT2 Output when the load torque of the motor exceeded the
overload warning level.
0: Normal operation
1: In overload operation
MPS Output the power-on status of the main power supply. 0: Main power supply OFF
1: Main power supply ON
DIR Output a state of the rotation direction of the motor shaft. 0: Reverse direction
1: Forward direction