WEG CFW100 series User manual

Motors I Automation I Energy I Transmission & Distribution I Coatings
Modbus RTU
CFW100
User’s Manual
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Modbus RTU User’s Manual
Series: CFW100
Language: English
Document Number: 10002909455 / 00
Publication Date: 06/2014
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Contents
CONTENTS
CONTENTS.........................................................................................................................3
ABOUT THIS MANUAL ......................................................................................................5
ABBREVIATIONS AND DEFINITIONS......................................................................................................... 5
NUMERICAL REPRESENTATION ............................................................................................................... 5
DOCUMENTS................................................................................................................................................ 5
1INTRODUCTION TO SERIAL COMMUNICATION ......................................................6
2INTERFACE DESCRIPTION.........................................................................................7
2.1 RS485 COMMUNICATION MODULE (CFW100-CRS485) .............................................................. 7
2.1.1 RS485 module’s connector....................................................................................................... 7
2.1.2 RS485 Interface Characteristics .............................................................................................. 7
2.1.3 Terminating resistor .................................................................................................................. 8
2.1.4 Indications .................................................................................................................................. 8
2.1.5 Connection with the RS485 Network....................................................................................... 8
2.2 USB COMMUNICATION MODULE (CFW100-CUSB) ..................................................................... 8
2.2.1 Indications .................................................................................................................................. 8
3PROGRAMMING ..........................................................................................................9
3.1 SYMBOLS FOR THE PROPERTIES DESCRIPTION........................................................................ 9
P0105 – 1ST/2ND RAMP SELECTION ............................................................................................................ 9
P0220 – LOCAL/REMOTE SELECTION SOURCE...................................................................................... 9
P0221 – SPEED REFERENCE SELECTION – LOCAL SITUATION ........................................................... 9
P0222 – SPEED REFERENCE SELECTION – REMOTE SITUATION ........................................................ 9
P0223 – FORWARD/REVERSE SELECTION – LOCAL SITUATION.......................................................... 9
P0224 – RUN/STOP SELECTION – LOCAL SITUATION............................................................................ 9
P0225 – JOG SELECTION – LOCAL SITUATION ....................................................................................... 9
P0226 – FORWARD/REVERSE SELECTION – REMOTE SITUATION ...................................................... 9
P0227 – RUN/STOP SELECTION – REMOTE SITUATION ........................................................................ 9
P0228 – JOG SELECTION – REMOTE SITUATION.................................................................................... 9
P0308 – SERIAL ADDRESS.......................................................................................................................... 9
P0310 – SERIAL BAUD RATE ...................................................................................................................... 9
P0311 – SERIAL INTERFACE BYTE CONFIGURATION .......................................................................... 10
P0313 – COMMUNICATION ERROR ACTION.......................................................................................... 10
P0314 – SERIAL WATCHDOG ................................................................................................................... 11
P0316 – SERIAL INTERFACE STATUS ..................................................................................................... 11
P0680 – STATUS WORD ............................................................................................................................ 11
P0681 – MOTOR SPEED IN 13 BITS ......................................................................................................... 12
P0682 – SERIAL CONTROL WORD........................................................................................................... 13
P0683 – SERIAL SPEED REFERENCE...................................................................................................... 13
4MODBUS RTU PROTOCOL.......................................................................................15
4.1 TRANSMISSION MODES ................................................................................................................ 15
4.2 MESSAGE STRUCTURE FOR RTU MODE.................................................................................... 15
4.2.1 Address..................................................................................................................................... 15
4.2.2 Function Code .......................................................................................................................... 15
4.2.3 Data Field.................................................................................................................................. 15
4.2.4 CRC ........................................................................................................................................... 15
4.2.5 Time Between Messages........................................................................................................ 15
5OPERATION IN THE MODBUS RTU NETWORK – SLAVE MODE ..........................17
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Contents
5.1 AVAILABLE FUNCTIONS AND RESPONSE TIMES ...................................................................... 17
5.2 MEMORY MAP................................................................................................................................. 17
6DETAILED DESCRIPTION OF THE FUNCTIONS .....................................................19
6.1 FUNCTION 03 – READ HOLDING REGISTER ............................................................................... 19
6.2 FUNCTION 06 – WRITE SINGLE REGISTER ................................................................................. 19
6.3 FUNCTION 16 – WRITE MULTIPLE REGISTERS .......................................................................... 20
6.4 FUNCTION 43 – READ DEVICE IDENTIFICATION........................................................................ 21
6.5 COMMUNICATION ERRORS.......................................................................................................... 21
7FAULTS AND ALARMS RELATED TO THE MODBUS RTU COMMUNICATION....23
A128/F228 – TIMEOUT FOR SERIAL COMMUNICATION....................................................................... 23
I. APPENDICES..............................................................................................................24
APÊNDICE A. ASCII TABLE.................................................................................................................... 24
APÊNDICE B. CRC CALCULATION USING TABLES ........................................................................... 25
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About this Manual
ABOUT THIS MANUAL
This manual supplies the necessary information for the operation of the CFW100 frequency inverter using the
Modbus RTU protocol. This manual must be used together with the CFW100 user manual.
ABBREVIATIONS AND DEFINITIONS
ASCII
American Standard Code for Information Interchange
CRC
Cycling Redundancy Check
EIA
Electronic Industries Alliance
TIA
Telecommunications Industry Association
RTU
Remote Terminal Unit
NUMERICAL REPRESENTATION
Decimal numbers are represented by means of digits without suffix. Hexadecimal numbers are represented with
the letter ‘h’ after the number. Binary numbers are represented with the letter ‘b’ after the number.
DOCUMENTS
The Modbus RTU protocol was developed based on the following specifications and documents:
Document
Version
Source
MODBUS Application Protocol Specification, December
28th 2006.
V1.1b
MODBUS.ORG
MODBUS Protocol Reference Guide, June 1996.
Rev. J
MODICON
MODBUS over Serial Line, December 20th 2006.
V1.02
MODBUS.ORG
In order to obtain this documentation, consult MODBUS.ORG, which is nowadays the organization that keeps,
publishes and updates the information related to the Modbus protocol.
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Introduction to Serial Communication
1INTRODUCTION TO SERIAL COMMUNICATION
In a serial interface the data bits are sent sequentially through a communication channel or bus. Several
technologies use the serial communication for data transfer, including the RS232 and RS485 interfaces.
The directions that specify the RS232 and RS485 standards, however, do neither specify the character format,
nor its sequence for the data transmission and reception. Therefore, besides the interface, it is also necessary to
identify the protocol used for the communication. Among the several existent protocols, one used a lot in the
industry is the Modbus RTU protocol.
In the sequence the characteristics of the RS485 and USB serial interfaces available for the product will be
presented, as well as the Modbus RTU protocol for the use of this interface.
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Interface Description
2INTERFACE DESCRIPTION
The interfaces for serial communication RS485 or USB available for the CFW100 frequency inverter depend on
the selected communication module for the product. Following are presented information about the connection
and installation of the equipment, using different communication modules.
2.1 RS485 COMMUNICATION MODULE (CFW100-CRS485)
Figure 2.1: Module with RS485 interface
This plug-in module for the CFW100 frequency inverter has one RS485 interface. This standard RS485 interface
has two functions:
Point to Point Connection with remote keypad, via mini USB
1
connector.
Connection via RS485 for network operation, via terminals.
NOTE!
Although RS485 communication signal is available on both connectors –
mini USB and control
terminal – these sign
als are the same (internally). For this reason, it is not possible to use RS485
interface as command source or reference source and remote keypad at the same time.
2.1.1 RS485 module’s connector
The RS485 interface connections are available via control terminal using the following pin assignment:
Table 2.1: RS485 connector pinout for the module (CFW100-CRS485)
Pin
Name
Description
7
RS485 - B
RS485 (Terminal B)
6
RS485 - A
RS485 (Terminal A)
8
0 V
Reference 0 V
9
PE
Grounding connection
10
-
---------------------
Table 2.2: Configuration of the switches to configure the RS485
Switch Setting
Option
S1.1 = OFF e S1.2 = OFF
RS485 Termination off
S1.1 = ON e S1.2 = ON
RS485 Termination on
S1.1 = OFF e S1.2 = ON
This combination is not
allowed
S1.1 = ON e S1.2 = OFF
S1.1 = ON e S1.2 = OFF
2.1.2 RS485 Interface Characteristics
The interface follows the EIA/TIA-485 standard.
It allows communication baud rates from 9600 up to 38400 Kbit/s.
The interface is electrically isolated and with differential signal, which grants more robustness against
electromagnetic interference.
It allows the connection of up to 32 devices to the same segment. More devices can be connected by using
repeaters
2
.
A maximum bus length of 1000 meters.
1
For connections that require distances greater than 3 meters, use remote keypad connection via control terminal.
2
The limit of devices that can be connected on the network depends on the protocol used.
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Interface Description
2.1.3 Terminating resistor
It is necessary to enable a terminating resistor at both ends of the main bus for each segment of the RS485
network. If the equipment located at both ends of the bus does not have termination resistors, use active
terminating to enable these resistors.
2.1.4 Indications
Details on the alarms, communications failures and communication states are made through the keypad (HMI)
and product parameters.
2.1.5 Connection with the RS485 Network
The following points must be observed for the connection of the device using the RS485 interface:
It is recommended the use of a shielded cable with a twisted pair of wires.
It is also recommended that the cable has one more wire for the connection of the reference signal (GND).
In case the cable does not have the additional wire, then the GND signal must be left disconnected.
The cable must be laid separately (and far away if possible) from the power cables.
All the network devices must be properly grounded, preferably at the same ground connection. The cable
shield must also be grounded.
Enable the termination resistors only at two points, at the extremes of the main bus, even if there are
derivations from the bus.
2.2 USB COMMUNICATION MODULE (CFW100-CUSB)
Figure 2.2: Module with USB connection
For this module, a USB interface with mini-USB conector is available. When connecting the USB interface, it will
be recognized as a USB to serial converter, and a virtual COM port will be created
3
. Thus communication is
made with the drive via this COM port.
The USB accessory also provides the connection to the remote keypad via standard RS485 interface.
2.2.1 Indications
Details on the alarms, communications failures and communication states are made through the keypad (HMI)
and product parameters.
3
It is necessary to install the USB driver on the CD-ROM supplied with the product. The COM port number created depends on the
availability in the operating system and, once connected, consult the hardware resources of the system to identify this port. .
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Programming
3PROGRAMMING
Next, the CFW100 frequency inverter parameters related to the Modbus RTU communication will be presented.
3.1 SYMBOLS FOR THE PROPERTIES DESCRIPTION
RO
Reading only parameter
CFG
Parameter that can be changed only with a stopped motor.
P0105 – 1ST/2ND RAMP SELECTION
P0220 – LOCAL/REMOTE SELECTION SOURCE
P0221 – SPEED REFERENCE SELECTION – LOCAL SITUATION
P0222 – SPEED REFERENCE SELECTION – REMOTE SITUATION
P0223 – FORWARD/REVERSE SELECTION – LOCAL SITUATION
P0224 – RUN/STOP SELECTION – LOCAL SITUATION
P0225 – JOG SELECTION – LOCAL SITUATION
P0226 – FORWARD/REVERSE SELECTION – REMOTE SITUATION
P0227 – RUN/STOP SELECTION – REMOTE SITUATION
P0228 – JOG SELECTION – REMOTE SITUATION
These parameters are used in the configuration of the command source for the CFW100 frequency inverter local
and remote situations. In order that the device be controlled through the Modbus RTU interface, the options
‘serial’ available in these parameters, must be selected.
The detailed description of these parameters is found in the CFW100 programming manual.
P0308 – SERIAL ADDRESS
Range: 1 to 247 Default: 1
Properties: CFG
Description:
It allows programming the address used for the inverter serial communication. It is necessary that each device in
the network has an address different from all the others.
P0310 – SERIAL BAUD RATE
Range: 0 = 9600 bits/s Default: 0
1 = 19200 bits/s
2 = 38400 bits/s
Properties:CFG
Description:
It allows programming the baud rate for the serial communication interface, in bits per second. This baud rate
must be the same for all the devices connected to the network.
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Programming
P0311 – SERIAL INTERFACE BYTE CONFIGURATION
Range: 0 = 8 data bits, no parity, 1 stop bit Default: 1
1 = 8 data bits, even parity, 1 stop bit
2 = 8 data bits, odd parity, 1 stop bit
3 = 8 data bits, no parity, 2 stop bits
4 = 8 data bits, even parity, 2 stop bits
5 = 8 data bits, odd parity, 2 stop bits
Properties:CFG
Description:
It allows programming the number of data bits, parity and stop bits of the serial interface bytes. This
configuration must be identical for all the devices connected to the network.
P0313 – COMMUNICATION ERROR ACTION
Range: 0 = Inactive Default: 1
1 = Disable via Run/Stop
2 = Disable via General Enable
3 = Change to Local
4 = Change to Local keeping commands and reference
5 = Causes a Fault
Properties: CFG
Description:
It allows the selection of the action to be executed by the device, if it is controlled via network and a
communication error is detected.
Table 3.1: P0313 options
Options
Description
0 = Inactive
No action is taken and the drive remains in the existing status.
1 = Disable via Run/Stop
A stop command with deceleration ramp is executed and the
motor stops according to the programmed deceleration ramp.
2 = Disable via General Enable
The drive is disabled by removing the General Enabling and the
motor coasts to stop.
3 = Change to Local
The drive commands change to Local.
4 = Change to Local keeping
commands and reference
The drive commands change to Local, but the status of the
enabling a
nd speed reference commands received via network
are kept, providing that the drive has been programmed to use in
Local mode the commands via HMI.
5 = Causes a Fault
Instead of an alarm, the communication error causes a drive fault,
so that a drive fault
reset becomes necessary in order to restore
normal operation.
The following events are considered communication errors:
Serial communication (RS485):
A128 alarm/F228 fault: Serial communication timeout
The actions described in this parameter are executed by means of the automatic writing of the selected actions
in the respective bits of the interface control words. Therefore, in order that the commands written in this
parameter be effective, it is necessary that the device be programmed to be controlled via the used network
interface (with exception of option “Causes a Fault”, which blocks the equipment even if it is not controlled by
network). This programming is achieved by means of parameters P0220 to P0228.
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Programming
P0314 – SERIAL WATCHDOG
Range: 0.0 to 999.0s Default: 0.0
Properties: CFG
Description:
It allows programming a time limit for the detection of serial interface communication error. If the frequency
inverter remains without receiving valid telegrams longer than the time programmed in this parameter, it will be
considered that a communication error has occurred, the alarm A128 will be showed on the HMI and the option
programmed in P0313 will be executed.
After being powered up, the frequency inverter starts counting this time from the first received valid telegram.
The value 0.0 disables this function.
P0316 – SERIAL INTERFACE STATUS
Range: 0 = Inactive Default: -
1 = Active
2 = Watchdog error
Properties: RO
Description:
It allows identifying whether the RS232 or RS485 serial interface board is properly installed, and whether the
serial communication presents errors.
Table 3.2: P0316 options
Options
Description
0 = Inactive
Inactive serial interface. It occurs when the device does not have the RS232
or RS485 board installed
1 = Active
Installed and acknowledged RS232 or RS485 interface board.
2 = Watchdog error
The serial interface is active, but a serial communication error has been
detected - A128 alarm/F228 fault.
P0680 – STATUS WORD
Range: 0000h to FFFFh Default: -
Properties: RO
Description:
It allows the device status monitoring. Each bit represents a specific status:
Bits
15
14
13
12
11
10
9
8
7
6
5
4 to 0
Function
Fault condition
Reserved
Undervoltage
LOC/REM
JOG
Speed direction
Active General
Enable
Motor Running
Alarm condition
In configuration
mode
Second ramp
Reserved
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Programming
Table 3.3: P0680 parameter bit functions
Bits
Values
Bits 0 to 4
Reserved.
Bit 5
Second ramp
0: The drive is configured to use the first ramp values, programmed in P0100 and P0101, as the motor
acceleration and deceleration ramp times.
1: The drive is configured to use the second ramp values, programmed in P0102 and P0103, as the motor
acceleration and deceleration ramp times.
Bit 6
In configuration mode
0: The drive is operating normally.
1: The drive is in the configuration mode. It indicates a special condition during which the drive cannot be
enabled:
Executing the self-tuning routine
Executing the oriented start-up routine
Executing the HMI copy function
Executing the flash memory card self-guided routine
There is a parameter setting incompatibility
There is no power at the drive power section
Bit 7
Alarm condition
0: The drive is not in alarm condition.
1: The drive is in alarm condition.
Note: The alarm number can be read by means of the parameter P0048 – Present Alarm.
Bit 8
Motor Running
0: The motor is stopped.
1: The drive is running the motor at the set point speed, or executing either the acceleration or the
deceleration ramp.
Bit 9
Active General Enable
0: General Enable is not active.
1: General Enable is active and the drive is ready to run the motor.
Bit 10
Speed direction
0: The motor is running in the reverse direction.
1: The motor is running in the forward direction.
Bit 11
JOG
0: Inactive JOG function.
1: Active JOG function.
Bit 12
LOC/REM
0: Drive in Local mode.
1: Drive in Remote mode.
Bit 13
Undervoltage
0: No Undervoltage.
1: With Undervoltage.
Bit 14
Reserved.
Bit 15
Fault condition
0: The drive is not in a fault condition.
1: The drive has detected a fault.
Note: The fault number can be read by means of the parameter P0049 – Present Fault.
P0681 – MOTOR SPEED IN 13 BITS
Range: - 32768 to 32767 Default: -
Properties: RO
Description:
It allows monitoring the motor speed. This word uses 13-bit resolution with signal to represent the motor rated
frequency (P0403):
P0681 = 0000h (0 decimal) →motor speed = 0
P0681 = 2000h (8192 decimal) →motor speed = rated frequency
Intermediate or higher speed values in rpm can be obtained by using this scale. E.g.60Hz rated frequency if the
value read is 2048 (0800h), then, to obtain the speed in Hz one must calculate:
8192 => 60 Hz
2048 => Frequency in Hz
Frequency in Hz = 60 ×2048
8192
Frequency in Hz = 15 Hz
Negative values in this parameter indicate that the motor is running in the reverse direction.
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Programming
P0682 – SERIAL CONTROL WORD
Range: 0000h to FFFFh Default: 0000h
Properties:-
Description:
It is the device Modbus RTU interface control word. This parameter can only be changed via serial interface. For
the other sources (HMI, etc.) it behaves like a read-only parameter.
In order to have those commands executed, it is necessary to program the equipment to be controlled via
serial. This programming is achieved by means of parameters P0105 and P0220 to P0228.
Each bit of this word represents a command that can be executed.
Bits
15 to 8
7
6
5
4
3
2
1
0
Function
Reserved
Fault reset
Reserved
Second ramp
LOC/REM
JOG
Speed direction
General enable
Run/Stop
Table 3.4: P0682 parameter bit functions
Bits
Values
Bit 0
Run/Stop
0: It stops the motor with deceleration ramp.
1: The motor runs according to the acceleration ramp until reaching the speed reference value.
Bit 1
General enable
0: It disables the drive, interrupting the supply for the motor.
1: It enables the drive allowing the motor operation.
Bit 2
Speed direction
0: To run the motor in a direction opposed to the speed reference.
1: To run the motor in the direction indicated by the speed reference.
Bit 3
JOG
0: It disables the JOG function.
1: It enables the JOG function.
Bit 4
LOC/REM
0: The drive goes to the Local mode.
1: The drive goes to the Remote mode.
Bit 5
Second ramp
0: The drive uses the first ramp values, programmed in P0100 and P0101, as the motor acceleration and
deceleration ramp times.
1: The drive is configured to use the second ramp values, programmed in P0102 and P0103, as the motor
acceleration and deceleration ramp times.
Bit 6
Reserved.
Bit 7
Fault reset
0: No function.
1: If in a fault condition, then it executes the reset.
Bits 8 to 15
Reserved.
P0683 – SERIAL SPEED REFERENCE
Range: -32768 to 32767 Default: 0
Properties:-
Description:
It allows programming the motor speed reference via the Modbus RTU interface. This parameter can only be
changed via serial interface. For the other sources (HMI, etc.) it behaves like a read-only parameter.
In order that the reference written in this parameter be used, it is necessary that the drive be programmed to
use the speed reference via serial. This programming is achieved by means of parameters P0221 and P0222.
This word uses a 13-bit resolution with signal to represent the motor rated frequency (P0403).
P0683 = 0000h (0 decimal) →speed reference =0
P0683 = 2000h (8192 decimal) →speed reference = rated frequency (P0403)
Intermediate or higher reference values can be programmed by using this scale. E.g.60Hz rated frequency, to
obtain a speed reference of 30 Hz one must calculate:
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Programming
60 Hz => 8192
30 Hz => 13 bit reference
13 bit reference = 30 ×8192
60
13 bit reference = 4096
This parameter also accepts negative values to revert the motor speed direction. The reference speed direction,
however, depends also on the control word - P0682 - bit 2 setting:
Bit 2 = 1 and P0683 > 0: reference for forward direction
Bit 2 = 1 and P0683 < 0: reference for reverse direction
Bit 2 = 0 and P0683 > 0: reference for reverse direction
Bit 2 = 0 and P0683 < 0: reference for forward direction
=> Value corresponding to 30 Hz in a 13 bit scale
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Modbus RTU Protocol
4MODBUS RTU PROTOCOL
The Modbus RTU protocol was initially developed in 1979. Nowadays, it is a widely spread open protocol, used
by several manufactures in many equipments.
4.1 TRANSMISSION MODES
Two transmission modes are defined in the protocol specification: ASCII and RTU. The modes define the way
the message bytes are transmitted. It is not possible to use the two transmission modes in the same network.
The CFW100 frequency inverter uses only the RTU mode for the telegram transmission. The bytes are
transmitted in hexadecimal format and its configuration depends on the programming done by means of P0311.
4.2 MESSAGE STRUCTURE FOR RTU MODE
The Modbus RTU structure uses a master-slave system for message exchange. It allows up to 247 slaves, but
only one master. Every communication begins with the master making a request to a slave, which answers to
the master what has been asked. In both telegrams (request and answer), the used structure is the same:
Address, Function Code, Data and CRC. Only the data field can have a variable size, depending on what is
being requested.
Master (request telegram):
Address
(1 byte)
Function
(1 byte)
Request Data
(n bytes)
CRC
(2 bytes)
Slave (response telegram):
Address
(1 byte)
Function
(1 byte)
Response Data
(n bytes)
CRC
(2 bytes)
4.2.1 Address
The master initiates the communication sending a byte with the address of the slave to which the message is
destined. When sending the answer, the slave also initiates the telegram with its own address. The master can
also send a message to the address 0 (zero), which means that the message is destined to all the slaves in the
network (broadcast). In that case, no slave will answer to the master.
4.2.2 Function Code
This field also contains a single byte, where the master specifies the kind of service or function requested to the
slave (reading, writing, etc.). According to the protocol, each function is used to access a specific type of data.
For the available list of supported functions, refer to item 5.
4.2.3 Data Field
It is a variable size field. The format and contents of this field depend on the used function and the transmitted
value. This field is described together with the function description (refer to item 5).
4.2.4 CRC
The last part of the telegram is the field for checking the transmission errors. The used method is the CRC-16
(Cycling Redundancy Check). This field is formed by two bytes; where first the least significant byte is
transmitted (CRC-), and then the most significant (CRC+). The CRC calculation form is described in the protocol
specification; however, information for its implementation is also supplied in the Apêndice B.
4.2.5 Time Between Messages
In the RTU mode there is no specific character that indicates the beginning or the end of a telegram. The
indication of when a new message begins or when it ends is done by the absence of data transmission in the
network, for a minimum period of 3.5 times the transmission time of a data byte (11 bits). Thus, in case a
telegram has initiated after the elapsing of this minimum time, the network elements will assume that the first
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Modbus RTU Protocol
received character represents the beginning of a new telegram. And in the same manner, the network elements
will assume that the telegram has reached its end when after receiving the telegram elements, this time has
elapsed again.
If during the transmission of a telegram the time between the bytes is longer than this minimum time, the
telegram will be considered invalid because the frequency inverter will discard the bytes already received and
will mount a new telegram with the bytes that were being transmitted.
For communication rates higher than 19200 bits/s, the used times are the same as for that rate. The next table
shows us the times for different communication transmission rates:
Table 4.1: Communication rates and the time periods involved in the telegram transmission
Baud rate
T11 bits
T3,5x
1200 bits/s
9.167 ms
32.083 ms
2400 bits/s
4.583 ms
16.042 ms
4800 bits/s
2.292 ms
8.021 ms
9600 bits/s
1.146 ms
4.010 ms
19200 bits/s
573 µs
2.005 ms
38400 bits/s
573 µs
2.005 ms
57600 bits/s
573 µs
2.005 ms
T11 bits = Time for transmitting one byte of the telegram.
Tbetween bytes = Time between bytes.
T3,5x = Minimum interval to indicated beginning and end of a telegram (3.5 x T11bits).
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Operation in the Modbus RTU Network – Slave Mode
5OPERATION IN THE MODBUS RTU NETWORK – SLAVE MODE
The CFW100 frequency inverter has the following characteristics when operated in Modbus RTU network:
Network connection via RS485 serial interface.
Address, communication rate and byte format defined by means of parameters.
It allows the device programming and control via the access to parameters.
5.1 AVAILABLE FUNCTIONS AND RESPONSE TIMES
In the Modbus RTU specification are defined the functions used to access different types of data. In the
CFW100 the parameters have been defined as being holding type registers. In order to access those data the
following services (or functions) have been made available:
Read Holding Registers
Description: reading of register blocks of the holding register type.
Function code: 03.
Read Input RegistersErro! Indicador não definido.
Description: reading of register blocks of the input register type.
Function code: 04.
Write Single Register
Description: writing in a single register of the holding type.
Function code: 06.
Write Multiple Registers
Description: writing in register blocks of the holding register type.
Function code: 16.
Read Device Identification
Description: identification of the device model.
Function code: 43.
The response time, from the end of transmission of the master until the response of the slave, ranges from 2 to
10 ms for any of the functions above.
5.2 MEMORY MAP
The CFW100 Modbus communication is based on the reading/writing of the equipment parameters. All the
drive parameters list is made available as holding type 16-bit registers. The data addressing is done with the
offset equal to zero, which means that the parameter number corresponds to the register number. The following
table illustrates the parameters addressing, which can be accessed as holding type register.
Table 5.1: Modbus RTU Memory Map
Parameter number
Modbus data address
Decimal
Hexadecimal
P0000
0
0000h
P0001
1
0001h
... ... ...
P0100
100
0064h
... ... ...
It is necessary to know the inverter list of parameters to be able to operate the equipment. Thus, it is possible to
identify what data are needed for the status monitoring and the control of the functions. The main parameters
are:
Monitoring (reading):
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Operation in the Modbus RTU Network – Slave Mode
P0680 (holding register 680): Status word
P0681 (holding register 681): Motor speed
Command (writing):
P0682 (holding register 682): Command Word
P0683 (holding register 683): Speed Reference
Refer to the Programming Manual for a complete parameter list of the equipment.
NOTE!
All the parameters are treated as holding type registers. D
epending on the master that is used,
those registers are referenced starting from the base address 40000 or 4x. In this case, the
address that must be programme
d in the master for a parameter is the address showed in the
table above added to the base address. Refer to the master documentation to find out how to
access holding type registers.
It should be noted that read-only parameters can only be read from the e
quipment, while other
parameters can be read and written through the network.
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Detailed Description of the Functions
6DETAILED DESCRIPTION OF THE FUNCTIONS
A detailed description of the functions available in the CFW100 frequency inverter for the Modbus RTU is
provided in this section. In order to elaborate the telegrams it is important to observe the following:
The values are always transmitted in hexadecimal.
The address of a datum, the number of data and the value of registers are always represented in 16 bits.
Therefore, it is necessary to transmit those fields using two bytes – superior (high) and inferior (low).
The telegrams for request, as well as for response, cannot exceed 64 bytes.
The transmitted values are always integer, regardless of having a representation with decimal point. Thus,
the value 9.5 would be transmitted via serial as being 95 (5Fh). Refer to the CFW100 parameter list to
obtain the resolution used for each parameter.
6.1 FUNCTION 03 – READ HOLDING REGISTER
It reads the content of a group of registers that must be necessarily in a numerical sequence. This function has
the following structure for the request and response telegrams (each field represents a byte):
Request (Master)
Response (Slave)
Slave Address
Slave Address
Function
Function
Address of the initial register (high byte)
Byte count
Address of the initial register (low byte)
Datum 1 (high)
Number of registers (high byte)
Datum 1 (low)
Number of registers (low byte)
Datum 2 (high)
CRC-
Datum 2 (low)
CRC+
etc...
CRC-
CRC+
Example: reading of the motor speed (P0002) and the motor current (P0003) of slave at address 1 (assuming
that P0002 = 30 Hz and P0003 = 1.5 A).
Address: 1 = 01h (1 byte)
Initial register address: 2 = 0002h (2 bytes)
Value of the fist parameter: 30 = 001Eh (2 bytes)
Value of the second parameter: 15 = 000Fh (2 bytes)
Request (Master)
Response (Slave)
Field
Value
Field
Value
Slave Address
01h
Slave Address
01h
Function
03h
Function
03h
Initial register (high)
00h
Byte count
04h
Initial register (low)
02h
P0002 (high)
00h
Number of registers (high)
00h
P0002 (low)
1Eh
Number of registers (low)
02h
P0003 (high)
00h
CRC-
65h
P0003 (low)
0Fh
CRC+
CBh
CRC-
DAh
CRC+
31h
6.2 FUNCTION 06 – WRITE SINGLE REGISTER
This function is used to write a value for a single register. It has the following structure (each field represents a
byte):
Request (Master)
Response (Slave)
Slave Address
Slave Address
Function
Function
Register address (high byte)
Register address (high byte)
Register address (low byte)
Register address (low byte)
Value for the register (high byte)
Value for the register (high byte)
Value for the register (low byte)
Value for the register (low byte)
CRC-
CRC-
CRC+
CRC+
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Detailed Description of the Functions
Example: writing of 30 Hz as the speed reference (P0683) (assuming a motor frequency of 60 Hz) for the slave
at address 3.
Address: 3 = 03h (1 byte)
Initial register address: 683 = 02ABh (2 bytes)
Value for parameter: 1000h (2 bytes)
Request (Master)
Response (Slave)
Field
Value
Field
Value
Slave Address
03h
Slave Address
03h
Function
06h
Function
06h
Register (high)
02h
Register (high)
02h
Register (low)
ABh
Register (low)
ABh
Value (high)
10h
Value (high)
10h
Value (low)
00h
Value (low)
00h
CRC-
F5h
CRC-
F5h
CRC+
B0h
CRC+
B0h
Note that for this function the slave response is an identical copy of the request made by the master.
6.3 FUNCTION 16 – WRITE MULTIPLE REGISTERS
This function allows writing values for a group of registers, which must be in a numerical sequence. It can also
be used to write in a single register (each field represents a byte):
Request (Master)
Response (Slave)
Slave Address
Slave Address
Function
Function
Initial register address (high byte)
Initial register address (high byte)
Initial register address (low byte)
Initial register address (low byte)
Number of registers (high byte)
Number of registers (high byte)
Number of registers (low byte)
Number of registers (low byte)
Byte count (number of data bytes)
CRC-
Datum 1 (high)
CRC+
Datum 1 (low)
Datum 2 (high)
Datum 2 (low)
etc...
CRC-
CRC+
Example: writing of the acceleration time (P0100) equal to 1.0 s and the deceleration time (P0101) equal to 2.0
s, of a slave at address 15.
Address: 15 = 0Fh (1 byte)
Initial register address: 100 = 0064h (2 bytes)
Value for the fist parameter: 10 = 000Ah (2 bytes)
Value for the second parameter: 20 = 0014h (2 bytes)
Request (Master)
Response (Slave)
Field
Value
Field
Value
Slave Address
0Fh
Slave Address
0Fh
Function
10h
Function
10h
Initial register (high)
00h
Initial register (high)
00h
Initial register (low)
64h
Initial register (low)
64h
Number of registers (high)
00h
Number of registers (high)
00h
Number of registers (low)
02h
Number of registers (low)
02h
Byte count
04h
CRC-
01h
P0100 (high)
00h
CRC+
39h
P0100 (low)
0Ah
P0101 (high)
00h
P0101 (low)
14h
CRC-
E0h
CRC+
91h
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