YASKAWA GPD 506/P5 User manual

GPD 506 / Modbus®RTU
Technical Manual

Technical References / Support i
Technical References
Refer to the following publications for further information about the GPD 506/P5:
•GPD 506/P5 Technical Manual
Publication TM 4506
•RS-232C/485 Interface Card Installation Sheet
Publication 02Y00025-0409
Refer to the following Modicon publication for technical information on Modbus RTU protocol:
•Modicon Modbus Protocol Reference Guide
Publication PI-MBUS-300 Rev. D
Support
Technical Support Center-
Provide telephone assistance related to installation, start-up, programming, and
troubleshooting drives and communication products. For technical phone
support call 1-800-541-0939

Contents 1
Contents
Technical References / Support i
Contents 1
Chapter 1 GPD 506/P5 and Serial Communication 1-1
Introduction to GPD 506 Modbus RTU Communication 1-2
Standard RS-232 C/D Serial Communication 1-2
The RS-232 C/D to RS-485 Converter Board 1-3
Figure 1-1. The CM086 Board 1-3
Chapter 2 RS-232 C/D Serial Communication 2-1
RS-232 C/D Serial Communication 2-2
Figure 2-1. RS-232 C/D Pin-out at 2CN Connector 2-2
Chapter 3 Installation of CM086 Board 3-1
Installation Procedure 3-2
Figure 3-1. Position of the CM086 Board on the GPD 506 3-2
Chapter 4 Wiring of the CM086 Board 4-1
Connection of Multiple Drives 4-2
Figure 4-1. CM086 Connection Diagram 4-2
Wiring Instructions 4-3
Figure 4-2. Shield Termination 4-3
Table 4-1. Functions of Terminal Block TC1 4-3
Table 4-2. Applicable Wire Sizes for Terminal Block TC1 4-3
Terminating Resistors 4-4
Figure 4-3. SW1 Location on the CM086 Board 4-4
Chapter 5 Setting GPD 506 Parameters for Communication 5-1
Run/Stop and Frequency Selection 5-2
Communication Set up Parameters 5-3
“ENTER” Command 5-5
Chapter 6 The Message Format 6-1
Message Functions 6-2
Read Multiple Registers - 03h 6-3
Loop-back Test - 08h 6-6
Write Multiple Registers - 10h 6-8
No Response Message 6-11
CRC-16 6-11
Chapter 7 Registers 7-1
Simultaneous Broadcast Registers 7-2
Command Registers 7-3
Monitor Registers 7-4
Drive Parameter Registers 7-7
Special Registers 7-18

Contents 2
Chapter 8 Error Codes and Troubleshooting 8-1
Communication Error (CE) 8-2
Modbus Error Codes 8-2
Figure 8-1. Fault Response Message 8-2
Chapter 9 Command Priority 9-1
Command Priority 9-2
Table 9-1. Set up for Serial Communication Control 9-3
Table 9-2. Set up for External Terminals Control 9-4
Table 9-3. Set up for Digital Operator Control 9-5
Appendix A Product Specifications A-1
Appendix B Spare Parts List B-1
Appendix C RS232-C/D Comments C-1

GPD 506/P5 and Serial Communication 1-1
Chapter 1
GPD 506/P5 and Serial Communication
•Introduction to GPD 506/P5 Modbus RTU Communication
•Standard RS-232 C/D Serial Communication
•The RS-232 C/D to RS-485 Converter Board
•Figure 1-1. The CM086 Board

1-2 GPD 506/P5 and Serial Communications
Introduction to GPD 506/P5 Modbus RTU Communication
This manual describes the set-up and protocol for Modbus Communication. The GPD 506 offers
RS-232 C/D serial communication as standard, and RS-485 as an option.
The Modbus RTU protocol requires that the controller communicates using a master-slave
technique, in which only one device (the master) can initiate transactions. The other devices (the
slaves) respond by supplying the requested data to the master, or by taking the action requested.
The GPD 506 drive must act in the slave mode.
A complete understanding of drive programming and operation is required before attempting
serial communication operation. A full discussion of programming and operation is covered in the
GPD 506 technical manual - TM 4506.
GPD 506 / Modbus RTU Specifications
The data that may be sent or received from the drive consists of:
-Run Command
-Frequency Reference
-Fault Contents
-Drive Status
-Drive Parameter Settings
The following table illustrates whether the serial communication specifications are fixed or user
selectable. If the specification is fixed, the fixed value is shown in the last column. If the
specification is selectable, the range of allowed values is shown in the last column.
Communication Specification Fixed or Selectable Range
Baud Rate Selectable 2400, 4800, or 9600 bps
Data Bit Fixed 8
Parity Selectable None, Even, or Odd
Stop Bit Fixed 1
Nodes RS-232 C/D point-to-point only
Nodes Selectable for RS-485 maximum of 31 nodes
Standard RS-232 C/D Serial Communication
The GPD506 drive offers RS-232 C/D serial communications as a standard feature of the drive.
RS-232 C/D has a maximum transmission distance of 50 feet. RS-232 C/D allows point-to-point
communications only. The specifications for wiring and pin outs for RS-232 C/D are presented
in Chapter 2.

GPD 506/P5 and Serial Communication 1-3
The RS-232 C/D to RS-485 Converter Board
The GPD 506 offers RS-485 serial communications as an option. RS-485 allows a maximum
transmission distance of 4000 feet and is capable of multi-drop (multiple devices) communication.
To obtain RS-485 communications an optional converter board must be purchased. This
RS-232 C/D to RS-485 Converter Board is represented by MagneTek part number CM086.
Read this manual thoroughly before installation, operation, maintenance, and inspection of the
CM086 Option Board.
CAUTION
The CM086 option board employs CMOS technology. Use proper electrostatic discharge (ESD)
procedures when handling this board to avoid possible damage due to static electricity.
The CM086 board is used to convert the drive’s RS-232 C/D standard function to offer RS-485
interface. The following diagram illustrates the CM086 board. (The figure is not actual size.)
Figure 1-1. The CM086 Board
12
1

RS-232 C/D Serial Communication 2-1
Chapter 2
RS-232 C/D Serial Communication
•RS-232 C/D Serial Communication
•Figure 2-1. RS-232 C/D Pin out at the 2CN Connector

2-2RS-232 C/D Communication
RS-232 C/D Serial Communication
RS-232 C/D Serial Communication is accessed through connector 2CN on the GPD 506 control
board. Pin 1 on the 2CN connector is for the transmission of data, Pin 2 is for the receipt of data,
and pins 6 and 7 are for the ground connection. The RS-232 C/D pin out is shown in the diagram
below.
Figure 2-1. RS-232 C/D Pin-out at 2CN Connector
Cable Specifications:
-cable should be a shielded, thin twisted wire 22-28 AWG
-cable pin out is as follows:
Computer - 9 Pin Female
D shell GPD 506 – 12 Pin Female
Connector for 2CN
3 - Tx 2 - Rx
2 - Rx 1 - Tx
5 - GND 5, 6 and 7 - GND

RS-232 C/D Serial Communication 2-3
-pin out for devices other than a computer (PC), such as a PLC, may vary.

Installation of the CM086 Board 3-1
Chapter 3
Installation of the CM086 Board
•Installation Procedure
•Figure 3-1. Position of the CM086 Board on the
GPD 506 control board

3-2Installation of CM086 Board
Installation Procedure
These procedures should be followed when installing the CM086 board into the GPD 506 drive.
1. Turn the main power OFF to the drive, and wait the specified length of time shown on the front
cover. Remove the front cover of the drive to verify that the CHARGE lamp is off.
2. Position the CM086 board onto the control board of the drive, lining up the four (4) spacer holes
on the board with the four (4) plastic stand-offs on the drive. Snap the CM086 board onto the
stand-offs tightly.
3. Plug the connector from the CM086 board into location 2CN on the control board. Be sure to
correctly align the connection locking tab with its mating part on 2CN.
4. Connect the green wire (labeled ‘E’) from the CM086 board to the ground wire post or ground
terminal (also labeled ‘E’) on the drive.
5. After installing the CM086 board onto the drive, connect with peripheral devices and replace the
cover of the drive.
Figure 3-1. Position of the CM086 Board on the GPD 506 Drive

Wiring of the CM086 Board 4-1
Chapter 4
Wiring of the CM086 Board
•Connection of Multiple Drives
•Figure 4-1. CM086 Connection Diagram
•Wiring Instructions
•Figure 4-2. Shielded Wire Termination
•Table 4-1. Functions on Terminal Block TC1
•Table 4-2. Applicable Wire Size for TC1
•Terminating Resistor
•Figure 4-3. SW1 Location on the CM086 Board

4-2Wiring of the CM086 Board
Connection of Multiple Drives
With the RS-485 Conversion Board (CM086), multiple drives may be connected together for a
multiple drive communication system. The following diagram illustrates the connection between
multiple CM086 boards.
Figure 4-1. CM086 Connection Diagram
TC1
CM085
BOARD
CM085
BOARD
TC2
TC2
Shielded Sheath
Connection
Ground
Connection
1
2
3
4
2CN
RS-485
S/R (+)
S/R (-)
S/R (+)
S/R (-)
Shielded Sheath
Connection
Ground
Connection
1
2
3
4
TC1 2CN S/R (+)
S/R (-)
(+)
(-)
6CN
6CN
SW1
SW1

Wiring of the CM086 Board 4-3
Wiring Instructions
1. Locate terminal block at TC1 on the CM086 board. (See Figure 1-1 in this manual.)
TC1 should have 4 terminal locations (1, 2, 3 and 4) on it.
2. A twisted shielded wire should be used for connection to TC1. The shielded wire should
be separated and connected per the drawing below to eliminate interference due to
noise.
TO TC1
TERMINALS
TO TC2
(E) WRAP BOTH ENDS
OF SHEATH WITH
INSULATING TAPE
CRIMP
CONNECTION
SHIELD SHEATH
OUTER JACKET
DO NOT
CONNECT
TO
EXTERNAL
CIRCUIT
Figure 4-2. Shielded Wire Termination
3. The TC1 terminal block functions are described in the table below.
Terminal Block
Symbol Pin No. Functions Remarks
1S/R (+) RS-485 input/output (+) Use as input at
TC1 2S/R (-) RS-485 input/output (-) parallel connection
3S/R (+) RS-485 input/output (+) Use as output at
4S/R (-) RS-485 input/output (-) parallel connection
TC2 Shield connection terminal -
Table 4-1. Functions of Terminal Block TC1
4. It is important that an appropriate wire size is selected. When the wire gauge is too thick,
it may apply pressure to the CM086 board and cause failure. When the wire gauge is too
thin, it may lead to incomplete contact or a break in the wire. The table below indicates
the suggested wire size to be used at TC1.
[mm2]AWG I [A] VAC [V]
Twisted wire 1.0 16 12 125
Single wire 1.5 16 12 125
UL -22-16 10 300
CSA -28-16 10 300
CSA -28-16 10 150
Table 4-2. Applicable Wire Sizes for Terminal Block TC1
5. When stripping the wire end to be connected at TC1, approximately 5.5 mm of wire should be
exposed to make a good connection.

4-4Wiring of the CM086 Board
Terminating Resistors
Dip Switch SW1 is located on the lower right hand corner of the CM086 board. (See below) When
SW1 is on, a termination resistor (100 Ohms) is connected between S/R (+) and
S/R (-).
Figure 4-3. SW1 Location on the CM086 Board
For one-to-one connections of the CM086 card and a master device set SW1 to ON as shown
below.
If multiple CM086 cards are connected to a master device, set SW1 on the last CM086 board to ON
as shown below.
Master Device
RS-485
CM085 Board
Master Device
ON
RS-485
CM085 Board
OFF
CM085 Board
OFF
CM085 Board
ON
on SW1
TC2
1
2
3
4
CM085
BOARD
2CN
TC1
CM085 Board
OFF

Setting Parameters for Communication 5-1
Chapter 5
Setting GPD 506 Parameters for
Communication
•Run/Stop and Frequency Selection
•Communication Set up Parameters
•‘ENTER’ Command

5-2Setting Parameters for Communication
Run/Stop and Frequency Selection
The run/stop command and frequency reference command can be accessed through serial
communication, the digital operator, or the external terminals. The origin of the run/stop command
does not have to be the same as the origin for the frequency reference command. Parameter n002
allows you to set up the origin of the run/stop and frequency reference. Parameter n002 is Modbus
register number 102h. The chart shown below illustrates the possible run/stop and frequency
reference selections.
Setting Value of
n002 (in hex) Run/Stop Command Frequency Reference Command
0Digital Operator Digital Operator
1External Terminals Digital Operator
2Digital Operator External Terminals
3External Terminals External Terminals
4Digital Operator Serial Communication
5External Terminals Serial Communication
6Serial Communication Serial Communication
7Serial Communication Digital Operator
8Serial Communication External Terminals
9-F unused unused
The default setting of parameter n002 is ‘3’.

Setting Parameters for Communication 5-3
Communication Set up Parameters
The GPD 506 has parameters used to set up for serial communication rather than dip switches.
These communication set up parameters are numbers n101 through n106.
Parameter n101 and n102 determine how the drive will respond to a communication error (CE). A
communication error can occur only after communication has been established between the master
and the drive. The drive waits for the master to initiate communication.
The message data is always checked for CRC, parity, overrun, framing, and overflow. If the data
has discrepancies in any of these areas a communication error will occur. If the drive does not
receive a message (addressed to its appropriate slave address set up in parameter n104) within a
period of 2 seconds, a time-out occurs. A time-out can also cause a communication error if it is
enabled (via parameter n101).
Parameter n101 - Modbus Time-out Detection Selection
A time-out is a loss of communications for 2 seconds. Parameter n101 (or Modbus Register 165h)
is used to enable or disable the Time-out Detection.
0 = Time-out Detection is disabled.
1 = Time-out Detection is enabled.
The default setting of parameter n101 is a ‘1’.
Parameter n102 - Modbus Communication Error Stop Method Selection
Parameter n102 (or Modbus Register 166h) is used to determine the method of stopping the motor if
there is a communication error. The table below indicates the stopping methods that can be used
when a communication error occurs.
Setting Value (in
hex) Stopping Method
0Decelerate to stop (at decel time 1)
1Coast to stop
2Decelerate to stop (at decel time 2)
3Continue Operation (Alarm display)
The default setting of parameter n102 is a ‘1’.
Parameter n103 - Modbus Frequency Unit Selection
Parameter n103 (or Modbus Register 167h) is used to select the units that the frequency should be
given in. The table below indicates the units that may be used to represent frequency.
Setting Value (in
hex) Units for Frequency
00.1 Hz
10.01 Hz
2100% / 30000
30.01%

5-4Setting Parameters for Communication
The default setting of parameter n103 is a ‘0’.
Parameter n104 - Modbus Slave Address
Parameter n104 (or Modbus Register 168h) is used to set the Modbus slave address of the that
particular GPD 506 drive. The slave address can be any number from 1 to 31 (dec.) or 1 to 1F
(hex). However, two nodes may not have the same address. The default setting for parameter n104
is a ‘1’.
Parameter n105 - Modbus Baud Rate Selection
Parameter n105 (or Modbus Register 169h) is used to select the baud rate. The table below
indicates the baud rates that may be selected.
Setting Value (in
hex) Baud Rate Selection
02400 bps
14800 bps
29600 bps
The default setting of parameter n105 is a ‘2’.
Parameter n106 - Modbus Parity Selection
Parameter n106 (or Modbus Register 16Ah) is used to select the parity. The table below indicates
the parity that may be selected.
Setting Value (in
hex) Parity Selection
0No parity
1Even parity
2Odd parity
The default setting of parameter n106 is a ‘0’.
Note: Power must be cycled to the drive,
to make the serial communication set up parameters effective.