SCHIEBEL ACTUSMART User manual

Extension Board for MODBUS on SMARTCON Control Unit
DS-ENGLISH-MODBUS-V2.01-2019.05.15
SEC-DS-GERMAN-MODBUS-RTU-V2.01-2019.05.15
Extension Board for MODBUS-RTU on SMARTCON Control Unit
1 General Information
For SCHIEBEL ACTUSMART or SMARTCON actuators the standardized fieldbus interface MODBUS-RTU is
available.
This interface is a product option represented in hardware on the device, thus making it beneficial to advertise
intended use upon ordering.
Although enabling MODBUS-RTU a posterior is possible, such upgrades should only be performed by autho-
rized SCHIEBEL engineers or specially trained personnel.
MODBUS-RTU determines technical and functional characteristics of the serial fieldbus system used to con-
nect distributed autonomous devices. MODBUS-RTU distinguishes Master- and Slave-Devices and has been
designed for data-transmission on field-level, hence, the communication of central control units - as SPS or PC
- with decentrale field-devices over a fast serial connection.
Communication functionality is standardized by the MODBUS Organization (modbus.org).
The physical communication layer is based on a RS-485 interface connected through a shielded twisted
two-wire cable.
SCHIEBEL Actuators ACTUSMART or SMARTCON are always slave devices.
Communication settings
The detection of the settings of the Modbus RTU communication is done automatically in the SCHIEBEL
MODBUS-RTU slave module during communication start-up.
The supported baud rates are:
4800 bps, 7200 bps, 9600 bps, 14400 bps, 19200 bps, 28800 bps,
38400 bps, 57600 bps, 76800 bps, 115200 bps
The byte frame has following bits:
1 start bit
8 data bits, LSB first
1 parity bit (even, odd or mark)
1 stop bit
If mark parity is not supported by the MODBUS-RTU master, you can use no parity and 2 stop bits instead.
2 Connection
Depedning on the order there are the following connections possible:
•standard design: connection board
•explosion proof design: terminals
2.1 Standard design
Connecting the actuator to the fieldbus system is accomplished through connecting the bus cable to the con-
nection print in the connection compartment of the actuator. Thus for convinience, the MODBUS-RTU con-
nector is pluggable like every other external connector for signal or power on our actuators. Disconnecting
a device will have no effect on the communication of other devices in the same strand. Meaning, the net-
work maintains full functionality if a device is disconnected while the network is in operation. But beware: At
the end of each strand MODBUS-RTU has to be terminated. This termination can either be performed by
a SMARTCON-Actuator or a separate active bus termination device. Note that the power for the termination
resistors of SMARTCON-Devices comes from the actuator. Hence, disconnecting the terminating SMARTCON
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2 Connection
Extension Board for MODBUS on SMARTCON Control Unit
DS-ENGLISH-MODBUS-V2.01-2019.05.15
renders the bus in this strand inoperational. Therefore, it is advised to use active bus termination through a
dedicated device.
The single-channel version of SMARTCON is connected to MODBUS-RTU via channel I. The dual-channel
version (Option: redundant) is connected via channel I and II.
2.1.1 Connection Board (customer end)
The connection board is situated in the connection compartment under the topmost cover.
Figure 1: Connection Board
2.1.2 Connecting to MODBUS-RTU
Recommended Cable Confectioning
Prior to connection the bus lines are to be confectioned as seen in the figure below:
The clamps on the connection board are designed for a maximum line cross-section of 1.5mm2. The line
diameter has to be in the range of 5 to 8 mm.
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Extension Board for MODBUS on SMARTCON Control Unit
DS-ENGLISH-MODBUS-V2.01-2019.05.15 2 Connection
Connecting to a Strand between Devices
Other devices are connected to the bus in front and behind of the new Slave-Device.
Line configuration:
Figure 2: single channel Figure 3: dual channel
Connecting at the End of a Strand, Bus Termination
There is either no device connected to the bus in front or behind of the new Slave-Device.
Line configuration:
Figure 4: single channel Figure 5: dual channel
Bus termination:
MODBUS-RTU has to be terminated on both ends of every strand. Termination can be accomplished through
the termination resistor implemented in your SMARTCON-Device. Bus termination is activated when the re-
spective switch on the connection board is switched to ”ON” as seen in figure 4.
2.2 explosion proof design
Normaly in explosion proof deisgn there is no termination available in the control unit. That means that the bus
termination must be done seperate outside of the control unit.
Optionaly also a bus termination in the control unit is possible, this must be specified by the order.
In this case you can activate the bus termination by connecting the following terminals:
A with AT and B with BT (single channal version) or
A1 with A1T, B1 with B1T, A2 with A2T and B2 with B2T (dual channel version).
ATTENTION: The shield must be connected to the shielding connection clamp (windowcut) -
see Figure 6 or Figure 7
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2 Connection
Extension Board for MODBUS on SMARTCON Control Unit
DS-ENGLISH-MODBUS-V2.01-2019.05.15
2.2.1 Design with bin. In- and Outputs
Figure 6: 1. . . shielding connection clamp, 2. . . additional frame, 3. . . metallic cable glands (closed with blind
screw connections at delivery) 4 xM20x1,5, 4. . . terminal strip
2.2.2 Design without bin. In- and Outputs
Figure 7: 1. . . shielding connection clamp, 2. . . terminal strip
An additional frame with 4xM20 holes is possible on special request.
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Extension Board for MODBUS on SMARTCON Control Unit
DS-ENGLISH-MODBUS-V2.01-2019.05.15 3 Setup
3 Setup
If MODBUS-RTU is activated, the following additional parameters will be visible in the control menu of your
ACTUSMART or SMARTCON-Device.
Each device connected to a MODBUS-RTU-network has to receive a unique address during setup.
Menu Item Subitem Options Explanation/Comments
P15.1 Modbus Modbus 0: not active MODBUS-RTU deactivated.
1: activated MODBUS-RTU activated.
P15.2 Modbus Address
Channel A 0 bis 247 Set the bus address of the first/primary channel.
P15.3 Modbus Address
Channel B 0 bis 247
Set the bus address of the second/secondary
channel. (only for option ”MODBUS-RTU
redundant”)
P15.4 Modbus Watchdogtime 0.0 – 10.0s
{0.0s}
Monitoring period of the togglebit. (Bit 7 in Master’s
command). This bit has to toggle in the specified
time or a buswatchdog error is detected. If
Watchdogtime is set to 0.0s, the watchdog is
deactiveted. Toggling the respective bit can now be
ommited.
P15.5 Modbus Setpoint
Source {0}: Standard Setpoint specified by MODBUS-RTU (effective only if positioner is activated).
1: Analog. Setpoint specified by analogue signal. (effective
only if positioner is activated)
2: Bus/Analog.
Setpoint specified by MODBUS-RTU. In case of
bus error, setpoint specified by analogue signal.
(effective only if positioner is activated)
P15.6 Modbus Status 2 {0} Standard value for Status 2
1 - 2 Reserved for future use.
P15.7 Modbus Status 3 {0} Standard value for Status 3 (current event).
1 - 2 Reserved for future use.
P15.8 Modbus Status 4 {0} Standard value for Status 4
1 - 2 Reserved for future use.
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4 Specification of Input and Output Data
Extension Board for MODBUS on SMARTCON Control Unit
DS-ENGLISH-MODBUS-V2.01-2019.05.15
4 Specification of Input and Output Data
General requirement: Depending on the Master it is possible that the Lowbyte (Bit 0 . . . 7) and the Highbyte
(Bit 8 . . . 15) are to be switched. Generally speaking, the mode of transmission (Big Endian / Little Endian) has
to be set in a way that ensures the correct transmission of the analogue information. Only after this has been
accomplished, the binary data can be transmitted.
4.1 Input Data Modules (Master to Slave Communication)
Input data can be handled with following Modbus functions:
Function:
06 (06 hex) Preset Single Register Writes data to one single register in the
slave.
16 (10 hex) Preset Multiple Registers Writes data to multiple consecutively
registers in the slave.
03 (03 hex) Read Holding Register Reads back one single register from the
slave.
04 (04 hex) Read Input Register Reads back one single register from the
slave.
23 (17 hex) Read/Write Multiple Registers
Writes data to multiple consecutively
registers in the slave and reads multiple
consecutively registers from the slave. If the
reading and writing addresses the same
registers, a read back of the written data is
performed. The write operation is performed
before the read operation.
4.1.1 Setpoint
Register number: 1, address 0000Hex
Data format: 16bit, only the lowest 10 bits (0 . . . 1023) are in use.
Other bits are reserved for future use and have to be set to zero!
Value Function: Description:
0 (0Hex) 0 %
512 (200Hex) 50%
1023 (3ffHex) 100%
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Extension Board for MODBUS on SMARTCON Control Unit
DS-ENGLISH-MODBUS-V2.01-2019.05.15 4 Specification of Input and Output Data
4.1.2 Command
Register number: 2, address 0001Hex
Data format: 16 bit (Bitfield)
Bitno.: Function: Description:
Bit = 0 Bit = 1
0 OPEN - OPEN in REMOTE mode.
1 CLOSE - CLOSE in REMOTE mode.
2 STOP - STOP in REMOTE mode.
3EMERGENCY-
OPEN - EMERGENCY-OPEN in REMOTE & LOCAL mode.
4EMERGENCY-
CLOSE - EMERGENCY-CLOSE in REMOTE & LOCAL mode.
5 BLOCK -
Blocking the actuator in REMOTE & LOCAL mode.
Actuator can neither be controlled through the switch on the
device nor through commands over REMOTE nor
MODBUS-RTU.
6 POSITIONER OFF - Deactivating the positioner in REMOTE mode.
7 WATCHDOG Togglebit for buswatchdog. Bit has to toggle before specified time-out or
a buswatchdog error will be detected.
8 OPEN-SH - Latched OPEN in REMOTE mode.
Release with STOP.
9 CLOSE-SH - Latched CLOSE in REMOTE mode.
Release with STOP.
10 LOCK-OPEN -
Locks OPEN (in REMOTE and LOCAL mode)
Actuator carries out a latched OPEN command with highest
priority which can only be released with LOCK-OFF, power-off or
mode OFF.
11 LOCK-CLOSE -
Locks CLOSE (in REMOTE and LOCAL mode)
Actuator carries out a latched CLOSE command with highest
priority which can only be released with LOCK-OFF, power-off or
mode OFF.
12 LOCK-OFF - Releases the lock.
13 BLOCK LOCAL - Blocking the actuator in mode LOCAL.
Actuator can’t be moved with selection switch.
14 FAILSAFE - Trigger FAILSAFE-Unit (if available).
15 OVERRIDE - Binary inputs will not be processed.
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4 Specification of Input and Output Data
Extension Board for MODBUS on SMARTCON Control Unit
DS-ENGLISH-MODBUS-V2.01-2019.05.15
4.1.3 Command 2
Register number: 3, address 0002Hex
Data format: 16 bit (Bitfield)
Bitno.: Function: Description:
Bit = 0 Bit = 1
0 Bus Bit 1 - These binary outputs can be assigned to the bus.
1 Bus Bit 2 - The assignement can be done arbitrarily,
2 Bus Bit 3 - including the assignement of a single bit to mulitple outputs.
3 Bus Bit 4 - (Available with Firmware 1.323)
4 Bus Bit 5 -
5 Bus Bit 6 -
6 Bus Bit 7 -
7 Bus Bit 8 -
8Intermediate
position - Intermediate position, defined by Bit9, Bit10 and Bit11
9
Definition
intermediate
position
- Bit-setting for intermediate position see table 2, page 8.
10
Definition
intermediate
position
- Bit-setting for intermediate position see table 2, page 8.
11
Definition
intermediate
position
- Bit-setting for intermediate position see table 2, page 8.
12 PVST-Start - start PVST
13 reserved -
14 reserved -
15 reserved -
Bit11 Bit10 Bit9 Function
0 0 0 move to intermediate position: Position 1
0 0 1 move to intermediate position: Position 2
0 1 0 move to intermediate position: Position 3
0 1 1 move to intermediate position: Position 4
1 0 0 move to intermediate position: Position 5
1 0 1 move to intermediate position: Position 6
1 1 0 move to intermediate position: Position 7
1 1 1 move to intermediate position: Position 8
Table 2: Bit-setting for intermediate position (Bit8)
4.1.4 Setpoint Revolution Speed
Only with ACTUSMART!
Register number: 4, address 0003Hex
Data format: 16 bit, only the lowest 8 bits (Bit 7: Direction OPEN; Bits 6 . . . 0: 0 . . . 100 corresponding to 0
. . . 100%) are in use.
Other bits are reserved for future use and have to be set to zero!
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Extension Board for MODBUS on SMARTCON Control Unit
DS-ENGLISH-MODBUS-V2.01-2019.05.15 4 Specification of Input and Output Data
4.2 Output Data Modules (Slave to Master communication)
Output data can be handled with following Modbus functions:
Function:
03 (03 hex) Read Holding Register Reads one single register from the slave.
04 (04 hex) Read Input Register Reads one single register from the slave.
23 (17 hex) Read/Write Multiple Registers
Writes data to multiple consecutively
registers in the slave and reads multiple
consecutively registers from the slave. The
write operation is performed before the read
operation.
4.2.1 Actual position value
Register number: 257, address 0100Hex
Data format: 16bit, only the lowest 10 bits (0 . . . 1023) are in use.
Other bits are reserved for future use and have to be set to zero!
Value Function: Description:
0 (0Hex) 0%
512 (200Hex) 50%
1023 (3ffHex) 100%
4.2.2 Status
Register number: 258, address 0101Hex
Data format: 16 bit (Bitfield)
Bitno.: Function: Description:
Bit = 0 Bit = 1
0 READY - Actuator is ready.
1END POSITION
OPEN -End position OPEN reached (under consideration of switch-off mode (torque or travel dependent)).
2END POSITION
CLOSE -End position CLOSE reached (under consideration switch-off mode (torque or travel dependent)).
3 TRAVEL OPEN - End travel OPEN reached (under consideration of switch-off
mode (torque or travel dependent)).
4 TRAVEL CLOSE - End travel CLOSE reached (travel dependent).
5 TORQUE OPEN - Power-off torque in opening direction exceeded.
6 TORQUE CLOSE - Power-off torque in closing direction exceeded.
7 MOTORTEMP. - Motor temperature sensor signal (overheat).
8 OPENING - Actuator moving in OPEN direction.
9 CLOSING - Actuator moving in CLOSE direction.
10 LOCAL - Switch in LOCAL mode position.
11 REMOTE - Switch in REMOTE mode position.
12 LOCK OPEN - Latched OPEN command with highest priority. (Refer to
Command bit 10 und 12)
13 LOCK CLOSE - Latched CLOSE command with highest priority. (Refer to
Command bit 10 und 12)
14 LIVEBIT 1 Livebit1 toggles with 1 Hz.
15 LIVEBIT 2 Livebit2 is a copy of the watchdog toggle-bit. (Refer to command Bit 7)
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4 Specification of Input and Output Data
Extension Board for MODBUS on SMARTCON Control Unit
DS-ENGLISH-MODBUS-V2.01-2019.05.15
4.2.3 Actual torque value
Register number: 259, address 0102Hex
Data format: 16 bit, only the lowest 8 bit (Bit 7: Direction OPEN; Bit 6 . . . 0: 0 . . . 100 corresponding to 0
. . . 100%) are in use.
Other bits are reserved for future use and have to be set to zero!
4.2.4 Actual speed value
Only with ACTUSMART!
Register number: 260, address 0103Hex
Data format: 16 bit, only the lowest 8 bit (Bit 7: Direction OPEN; Bit 6 . . . 0: 0 . . . 100 corresponding to 0
. . . 100%) are in use.
Other bits are reserved for future use and have to be set to zero!
4.2.5 External actual value
Only with Option PID-Controller!
Register number: 261, address 0104Hex
Data format: 16 bit, only the lowest 10 bits (0 . . . 1023) are in use.
Other bits are reserved for future use and have to be set to zero!
4.2.6 Status 2
Register number: 262, address 0105Hex
Datenformat: 16 bit (Bitfield)
Structure:
Bitno.: Function: Description
Bit = 0 Bit 0 = 1
0 Dig. Output 1 - Corresponding binary output enabled.
1 Dig. Output 2 -
2 Dig. Output 3 -
3 Dig. Output 4 -
4 Dig. Output 5 -
5 Dig. Output 6 -
6 Dig. Output 7 -
7 Dig. Output 8 -
8 Dig. Input 1 - Corresponding binary input enabled.
9 Dig. Input 2 -
10 Dig. Input 3 -
11 Dig. Input 4 -
12 Dig. Input 5 -
13 PHASE SEQUENCE - Phase Sequence Error: wrong phase order, phase failure,
total failure, asymmetry.
14 FC ERROR - FC Error: Error in power supply or frequency converter (if
present).
15 FAILSAFE ERROR - Failsafe-Unit not ready (if present).
Using parameter P15.6 it is possible to assign alternative output-functions to ”Status 2”.
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Extension Board for MODBUS on SMARTCON Control Unit
DS-ENGLISH-MODBUS-V2.01-2019.05.15 4 Specification of Input and Output Data
4.2.7 Status 3
Register number: 263, address 0106Hex
Data format: 16 bit, error codes
Error Code: Corresponds:
3 Motor temperature warning (only with ACTUSMART).
4 Motor temperature power-off.
5 Phase order error or phase failure.
9 Power supply error or frequency converter error.
11 Failsafe-Unit error (if available).
17 Travel sensor error.
22 Torque sensor error.
Using parameter P15.7 it is possible to assign alternative output-functions to ”Status 3”.
4.2.8 Status 4
Register number: 264, address 0107Hex
Data format: 16 bit (Bitfield)
Structure:
Bitno.: Function: Description
0 and 1 Channel activity
Bit1 Bit0 Signal
0 0 Bus: Channel A active.
0 1 Bus: Channel B active.
1 0 Bus: Channel A and B active, main channel for
inputs is channel A.
1 1 Bus: Channel A and B active, main channel for
inputs is channel B.
2 reserved
3 reserved
4 reserved
5 reserved
6 reserved
7 reserved
8 and 9 PVST Status
Bit9 Bit8 Signal
0 0 PVST functionality not activated or no PVST
realised yet.
0 1 PVST active: There is a PVST active currently.
1 0 PVST OK: The last PVST was successful.
1 1 PVST Error: The last PVST was not successful.
10 reserved
11 reserved
12 reserved
13 reserved
14 reserved
15 reserved
Using parameter P15.8 it is possible to assign alternative output-functions to ”Status 4”.
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