Eaton PowerXL™ Modbus RTU Communication Owner's manual

Manual

PowerXL

™

Modbus RTU

Communication manual

for Variable Frequency Drives

/

Variable Speed Starters

DA1, DC1, DE1

09/16 MN040018EN

Modbus

All brand and product names are trademarks or registered trademarks of the

owner concerned.

Emergency On Call Service

Please call your local representative:

http://www.eaton.eu/aftersales

or

Hotline of the After Sales Service:

+49 (0) 180 5 223822 (de, en)

AfterSalesEGBo[email protected]

For customers in US/Canada contact:

EatonCare Customer Support Center

Call the EatonCare Support Center if you need assistance with placing an order,

stock availability or proof of shipment, expediting an existing order, emergency

shipments, product price information, returns other than warranty returns, and

information on local distributors or sales offices.

Voice: 877-ETN-CARE (386-2273) (8:00 a.m. – 6:00 p.m. EST)

After-Hours Emergency: 800-543-7038 (6:00 p.m. – 8:00 a.m. EST)

Drives Technical Resource Center

Voice: 877-ETN-CARE (386-2273) option 2, option 6

(8:00 a.m. – 5:00 p.m. Central Time U.S. [UTC-6])

email: [email protected]

www.eaton.com/drives

Original Operating Instructions

The German-language edition of this document is the original operating manual.

Translation of the original operating manual

All editions of this document other than those in German language are translations

of the original German manual.

1

st

edition 2016, edition date 01/2016

2

nd

edition 2016, edition date 09/2016

Production: René Wiegand

Translation: globaldocs GmbH

No part of this manual may be reproduced in any form (printed, photocopy, microfilm

or any other process) or processed, duplicated or distributed by means of electronic

systems without written permission of Eaton Industries GmbH, Bonn.

Subject to alteration without notice.

Rückenbreite festlegen! (1 Blatt = 0,106 mm, gilt nur für XBS)

(1 Blatt = 0,080 mm für Eberwein Digitaldruck bei 80 g/m

2

)

I

Before commencing the installation

• Disconnect the power supply of the device.

• Ensure that devices cannot be accidentally restarted.

• Verify isolation from the supply.

• Earth and short circuit the device.

• Cover or enclose any adjacent live components.

• Follow the engineering instructions (AWA/IL) for the

device concerned.

• Only suitably qualified personnel in accordance with

EN 50110-1/-2 (VDE 0105 Part 100) may work on this

device/system.

• Before installation and before touching the device ensure

that you are free of electrostatic charge.

• The functional earth (FE, PES) must be connected to the

protective earth (PE) or the potential equalisation. The

system installer is responsible for implementing this

connection.

• Connecting cables and signal lines should be installed so

that inductive or capacitive interference does not impair

the automation functions.

• Install automation devices and related operating elements

in such a way that they are well protected against

unintentional operation.

• Suitable safety hardware and software measures should

be implemented for the I/O interface so that an open

circuit on the signal side does not result in undefined

states in the automation devices.

• Ensure a reliable electrical isolation of the extra-low

voltage of the 24 V supply. Only use power supply units

complying with IEC 60364-4-41 (VDE 0100 Part 410) or

HD384.4.41 S2.

• Deviations of the mains voltage from the rated value must

not exceed the tolerance limits given in the specifications,

otherwise this may cause malfunction and dangerous

operation.

• Emergency stop devices complying with IEC/EN 60204-1

must be effective in all operating modes of the automation

devices. Unlatching the emergency-stop devices must not

cause a restart.

• Devices that are designed for mounting in housings or

control cabinets must only be operated and controlled

after they have been installed and with the housing

closed. Desktop or portable units must only be operated

and controlled in enclosed housings.

• Measures should be taken to ensure the proper restart of

programs interrupted after a voltage dip or failure. This

should not cause dangerous operating states even for a

short time. If necessary, emergency-stop devices should

be implemented.

• Wherever faults in the automation system may cause

injury or material damage, external measures must be

implemented to ensure a safe operating state in the event

of a fault or malfunction (for example, by means of

separate limit switches, mechanical interlocks etc.).

• Depending on their degree of protection, frequency

inverters may contain live bright metal parts, moving or

rotating components or hot surfaces during and

immediately after operation.

• Removal of the required covers, improper installation or

incorrect operation of motor or frequency inverter may

cause the failure of the device and may lead to serious

injury or damage.

• The applicable national accident prevention and safety

regulations apply to all work carried on live frequency

inverters.

• The electrical installation must be carried out in

accordance with the relevant regulations (e. g. with

regard to cable cross sections, fuses, PE).

• Transport, installation, commissioning and maintenance

work must be carried out only by qualified personnel

(IEC 60364, HD 384 and national occupational safety

regulations).

• Installations containing frequency inverters must be

provided with additional monitoring and protective

devices in accordance with the applicable safety

regulations. Modifications to the frequency inverters

using the operating software are permitted.

• All covers and doors must be kept closed during

operation.

• To reduce the hazards for people or equipment, the user

must include in the machine design measures that restrict

the consequences of a malfunction or failure of the drive

(increased motor speed or sudden standstill of motor).

These measures include:

– Other independent devices for monitoring safety-

related variables (speed, travel, end positions etc.).

– Electrical or non-electrical system-wide measures

(electrical or mechanical interlocks).

– Never touch live parts or cable connections of the

frequency inverter after it has been disconnected from

the power supply. Due to the charge in the capacitors,

these parts may still be live after disconnection. Fit

appropriate warning signs.

Eaton Industries GmbH

Safety instructions

Danger!

Dangerous electrical voltage!

II

Modbus RTU for variable frequency drive DA1, DC1, DE1 09/16 MN040018EN www.eaton.com 1

Table of contents

0 About this manual ..................................................................... 3

0.1 Target group................................................................................. 3

0.2 List of revisions ............................................................................ 3

0.2.1 Writing conventions ..................................................................... 4

0.2.2 Hazard warnings of material damages ......................................... 4

0.2.3 Hazard warnings of personal injury .............................................. 4

1 Engineering................................................................................. 7

2 Modbus RTU............................................................................... 9

2.1 General......................................................................................... 9

2.2 Communications .......................................................................... 9

2.3 RJ 45 interface ............................................................................. 11

2.3.1 Enable .......................................................................................... 12

2.3.2 Data format .................................................................................. 12

2.4 Communication parameters......................................................... 13

2.4.1 Communication parameters for DA1 variable frequency drives... 14

2.4.2 Communication parameters for DC1 variable frequency drives... 16

2.4.3 Communication parameters for DE1 variable speed starters ...... 17

2.5 Configuration of the control signal terminals ............................... 18

2.5.1 Control signal terminal configuration for DA1

variable frequency drives ............................................................. 20

2.5.2 Control signal terminal configuration for DC1

variable frequency drives ............................................................. 21

2.5.3 Control signal terminal configuration for DC1…E1

variable frequency drives ............................................................. 22

2.5.4 Control signal terminal configuration for DE1

variable speed starters ................................................................. 23

2.6 Operating mode Modbus RTU ..................................................... 25

2.6.1 Structure of the master request................................................... 26

2.6.2 Structure of the slave response ................................................... 27

2.6.3 Modbus: Register mapping.......................................................... 28

2.6.4 Input process data........................................................................ 29

2.6.5 Output process data..................................................................... 31

2.6.6 Explanation of function code........................................................ 40

3 Parameter ................................................................................... 43

3.1 Parameters for DA1 variable frequency drives............................. 43

3.2 Parameters for DC1 variable frequency drives............................. 52

3.3 Parameters for DC1…E1 variable speed starters ........................ 54

3.4 Parameters for DE1 variable speed starters ................................ 57

Alphabetical index ..................................................................... 59

2 Modbus RTU for variable frequency drive DA1, DC1, DE1 09/16 MN040018EN www.eaton.com

0 About this manual

0.1 Target group

Modbus RTU for variable frequency drive DA1, DC1, DE1 09/16 MN040018EN www.eaton.com 3

0 About this manual

0.1 Target group

This manual describes the Modbus RTU connection for DA1 and DC1

variable frequency drives and DE1 variable speed starters.

It is intended for experienced drive specialists and automation engineers and

technicians. It also assumes that readers are thoroughly familiar with the

Modbus RTU fieldbus and with how to program a Modbus master. Likewise,

it assumes that readers are familiar with how to operate DA1/DC1 variable

frequency drives and/or DE1 variable speed starters as applicable.

Please read this manual carefully before commissioning a Modbus RTU

connection.

We assume that you have a good knowledge of engineering fundamentals,

and that you are familiar with handling electrical systems and machines, as

well as with reading technical drawings.

0.2 List of revisions

The following significant amendments have been introduced since previous

issues:

Publication

date

Page Keyword new modified deleted

09/16 22 „Control signal terminal configuration for

DC1…E1 variable frequency drives“

✓

31 „Output process data“ ✓

54 „Parameters for DC1…E1 variable speed

starters“

✓

01/16 Initial issue

0 About this manual

0.2 List of revisions

4 Modbus RTU for variable frequency drive DA1, DC1, DE1 09/16 MN040018EN www.eaton.com

0.2.1 Writing conventions

Symbols used in this manual have the following meanings:

▶ Indicates instructions to be followed.

0.2.2 Hazard warnings of material damages

0.2.3 Hazard warnings of personal injury

￫

Indicates useful tips and

More Info

NOTICE

Warns about the possibility of material damage.



CAUTION

Warns of the possibility of hazardous situations that may

possibly cause slight injury.



DANGER

Warns of hazardous situations that result in serious injury or

death.

0 About this manual

0.2 List of revisions

Modbus RTU for variable frequency drive DA1, DC1, DE1 09/16 MN040018EN www.eaton.com 5



DANGER – CONTROL FAILURE

When engineering your control diagram, make sure to take all

potential control path faults into account.

When it comes to critical control functions, make sure that a

safe state can be reached after a control path fails. –

Critical control function examples include:

• Emergency shutdown (emergency stop),

• Overtravel stop

• Power supply failure

• Restart.

Provide separate or redundant control paths.

Make sure that system control paths include communication

connections.

Take the effect of unforeseen transmission delays and

connection problems into account.

Carefully and individually test every implementation of a product

before putting it into operation.

Observe all general accident prevention and local safety

regulations.

Information for the USA:

For more information, please refer to the latest issue of

NEMA ICS 1.1, “Safety Guidelines for the Application, Installation,

and Maintenance of Solid State Control,” and the latest issue of

NEMA ICS 7.1, “Safety Standards for Construction and Guide for

Selection, Installation, and Operation of Adjustable-Speed Drive

Systems.”

In addition to property damage, failure to observe the

above instructions may result in serious bodily injury or

even death.

0 About this manual

0.2 List of revisions

6 Modbus RTU for variable frequency drive DA1, DC1, DE1 09/16 MN040018EN www.eaton.com

For greater clarity, the name of the current chapter and the name of the

current section are shown in the page header.

￫

To make it easier to understand some of the images included in

this manual, the housing and other safety-relevant parts have

been left out.

The components described here must be used only with a

properly fitted housing and all necessary safety-relevant parts.

￫

Please follow the installation instructions in the relevant

instruction leaflets.

￫

All the specifications in this manual refer to the hardware and

software versions documented in it.

￫

More information on the devices described here can be found

on the Internet under: www.eaton.eu/powerxl

as well as: www.eaton.eu/documentation

1 Engineering

Modbus RTU for variable frequency drive DA1, DC1, DE1 09/16 MN040018EN www.eaton.com 7

1 Engineering

The following diagram shows an example illustrating how to set up the

connection for a variable frequency drive (a DA1 in this specific case).

Figure 1: Engineering

a PC (with configuration tool)

b Head-end controller

c Variable frequency drive

d Motor

L

1

/

L

L2

/N

L

3

D

C-

U

DC+

BR

1

2

3

4

5

6

7

8

9

1

0

1

2

1

3

1

4

1

5

1

6

1

7

1

8

COM

V

W



①

②

③

④

1 Engineering

8 Modbus RTU for variable frequency drive DA1, DC1, DE1 09/16 MN040018EN www.eaton.com

2 Modbus RTU

2.1 General

Modbus RTU for variable frequency drive DA1, DC1, DE1 09/16 MN040018EN www.eaton.com 9

2 Modbus RTU

2.1 General

Modbus is a centrally polled bus system in which a so-called master (PLC)

controls the entire data transfer on the bus. Internode communication

between the individual modules (slaves) is not possible.

Every single data transfer operation is initiated by the master with a request.

Only one request can be sent on the cable at a time.

Slaves are not able to initiate transfers, and are only able to respond to

requests.

Two types of dialog are possible between master and slave:

• The master sends a request to a slave and waits for a response.

• The master sends a request to all slaves and does not wait for a

response (broadcast).

2.2 Communications

Figure 2: Modbus line with variable frequency drives/variable speed starters

a Splitter DX-SPL-RJ45… (T-plug connector)

b DX-CBL-RJ45… connection cable

c DX-SPL-RJ45… splitter with bus termination resistor

￫

More information on Modbus can be found under

www.modbus.org.

L1/L

L2/N

L3

U

V

W

1

2

3

4

5

6

7

8

9

10

11

DC1



DE1 DA1

HMI-PLC

②②

③①①

RJ45



L1/L

L2/

N

L

3



U

V

W

0

V +

1

0

V

1

2

3

4

1

3

14



L1

/L

L2/N

L3

DC-



U

DC+

BR

1 2 3 4 5 6 7 8 9 10 11 12 13

14 15 16 17 18

COM

V

W

RS485

Modbus RTU

2 Modbus RTU

2.2 Communications

10 Modbus RTU for variable frequency drive DA1, DC1, DE1 09/16 MN040018EN www.eaton.com

Figure 2 shows a typical setup with a host computer (master) and any

number (a maximum of 63 nodes) of variable frequency drives (slaves).

Each variable frequency drive has a unique address on the network.

Addresses are assigned

to

each

variable frequency drive individually with the

use of a system parameter and are independent of the drive's physical

connection (position) within the network.

The aforementioned system parameter used to assign addresses is:

• P5-01 for DA1 variable frequency drive,

• P-36 for DC1 variable frequency drive,

• P-34 for DE1 variable speed starter.

A DX-CBL-RJ45… connection cable with an RJ45 connector needs to be

used in order to establish communications between the master and slave

②.

If multiple slaves are being used, they need to be connected in parallel using

DX-SPL-RJ45… splitters ①.

A bus termination resistor is required at the last module on the Modbus line

③.

2 Modbus RTU

2.3 RJ 45 interface

Modbus RTU for variable frequency drive DA1, DC1, DE1 09/16 MN040018EN www.eaton.com 11

2.3 RJ 45 interface

The master and slave communicate with each other via RJ45 cables.

If multiple slaves are being used, they need to be connected in parallel using

RJ45 cables and splitters.

The integrated RJ45 port (COM port) in DA1 and DC1 variable frequency

drives and DE1 variable speed starters supports the Modbus RTU protocol,

allowing for a direct network connection without the need for an additional

interface module.

A bus termination resistor with a resistance of 120 Ω needs to be connected

at each physical end (last node) of the network cable in order to prevent

signal reflection and the associated transmission errors.

EASY-NT-R resistors can be plugged into the corresponding splitter.

Figure 3: RJ45 socket wiring

PIN Significance

1 CAN-

Note:

Not used in DE1 variable speed starters (with the exception of DE11).

2 CAN+

Note:

Not used in DE1 variable speed starters (with the exception of DE11).

3 0 V

4 OP bus (operation bus) / External keypad / PC connection -

5 OP bus (operation bus) / External keypad / PC connection +

6 24 V DC power supply

7 RS485- Modbus RTU

8 RS485+ Modbus RTU

1

2

3

4

5

6

7

8

2 Modbus RTU

2.3 RJ 45 interface

12 Modbus RTU for variable frequency drive DA1, DC1, DE1 09/16 MN040018EN www.eaton.com

2.3.1 Enable

DA1

The start signal is sent via the bus.

DC1

If using Modbus, there must always be a high signal at DI1.

Figure 4: Enable signal for bus mode in DC1 variable frequency drives

DE1

If using Modbus, there must always be a high signal at DI1.

Figure 5: Enable signal for bus mode in DE1 variable speed starters

2.3.2 Data format

DA1

When using DA1 variable frequency drives, the data format can be selected

using parameter P5-04.

The default setting is as follows:

• No parity

• 1 start bit

• 1 stop bit

• 8 data bits

DC1, DE1

The data format is fixed for DC1 variable frequency drives and DE1 variable

speed starters and cannot be changed.

• No parity

• 1 start bit

• 1 stop bit

• 8 data bits

DI1

2

FWD

+24 V

1

+10 V

DI1

1

+10 V

DI1

1

+24 V

DI1

0 V

2 Modbus RTU

2.4 Communication parameters

Modbus RTU for variable frequency drive DA1, DC1, DE1 09/16 MN040018EN www.eaton.com 13

2.4 Communication parameters

The following tables list the communication parameters (sent to the PLC) for

DA1 and DC1 variable frequency drives and DE1 variable speed starters.

Abbreviation Significance

ID The parameter's identification number in Modbus (identification number)

RUN The parameter can be accessed during operation (Run signal)

ro/rw

Parameter read and write permissions:

ro = read only

rw = read and write

DS

Default setting (the parameter's value when using the device's factory settings)

2 Modbus RTU

2.4 Communication parameters

14 Modbus RTU for variable frequency drive DA1, DC1, DE1 09/16 MN040018EN www.eaton.com

2.4.1 Communication parameters for DA1 variable frequency drives

Table 1: Communication parameters for DA1

Display

ID Access right Designation Value

range

Description DS

RUN ro/rw

P1-12 – rw Control level 0, …, 6,

9, 10, 11,

13

Local Configuration of Command and Reference

Sources

Possible values:

• 0: Terminal Control. The drive responds directly to

signals applied to the control terminals.

• 1: Uni-directional digital reference. The drive can

be controlled in the forward direction only using a

digital reference (via internal or remote Keypad or

terminals)

• 2: Bi-directional digital reference. The drive can be

controlled in the forward and reverse directions

using a digital reference (via internal or remote

Keypad or terminals). Pressing the keypad START

button toggles between forward and reverse.

• 3: PID controller. The output frequency will be

controlled by the internal PID controller

• 4: Fieldbus Control. Control via Modbus RTU if no

fieldbus option is present, otherwise control from

the fieldbus option module

• 5: Slave Mode. The Variable Frequency Drive acts

as a slave to a connected drive operating in Master

Mode.

• 6: CANopen Control. Control via the CANopen bus

connected to the RJ45 serial interface connector.

• 7: Reserved

• 8: Reserved

• 9: SmartWire Device Control and speed ref.

• 10: SmartWire Device Control and terminal speed

ref.

• 11: Terminal Control and SmartWire Device speed

ref.

• 12: not permissible

• 13: SmartWire Device Control and speed ref.

Digital input sets enable.

0

P5-01

501 ✓ rw Variable frequency drive

slave address

0 - 63 The drive‘s unique address on a communication

network

1

P5-03

503 ✓ rw Modbus RTU Baud rate 0, 1, …, 4 RS485 Baudrate

Possible values:

• 0: 9.6 kBit/s

• 1: 19.2 kBit/s

• 2: 38.4 kBit/s

• 3: 57.6 kBit/s

• 4: 115.2 kBit/s

4

P5-04

504 ✓ rw Modbus RTU data

format – Parity type

0, 1, 2, 3 RS485 0 Parity Type

Possible values:

• 0: No parity, 1 stop bit (N-1)

• 1: No parity, 2 stop bits (N-2)

• 2: Odd parity, 1 stop bit (0-1)

• 3: Even parity, 1 stop bit (E-1)

n-1

2 Modbus RTU

2.4 Communication parameters

Modbus RTU for variable frequency drive DA1, DC1, DE1 09/16 MN040018EN www.eaton.com 15

P5-05 505 ✓ rw Timeout –

Communications

dropout

Timeout

With an active communication link, if a valid telegram

is not received by the drive within the period set with

this parameter, the drive will react as set in P5-06.

2

P5-06

506 ✓ rw Response in the event of

a communications

dropout

0, 1, 2, 3 Modbus communication loss error

Possible values:

• 0: Switch off

• 1: Ramps down to a full stop and is switched off.

• 2: Ramps down to a full stop; no fault message.

• 3: Ramps to fixed frequency 8 (P2-08).

0

P5-07

507 ✓ rw Ramp via fieldbus 0, 1 Fieldbus Ramp Control

Possible values:

• 0: OFF. Ramps are controlled from internal drives

parameters

• 1: ON. Ramps are controlled by the fieldbus.

0

Display

ID Access right Designation Value

range

Description DS

RUN ro/rw

2 Modbus RTU

2.4 Communication parameters

16 Modbus RTU for variable frequency drive DA1, DC1, DE1 09/16 MN040018EN www.eaton.com

2.4.2 Communication parameters for DC1 variable frequency drives

Table 2: Communication parameters for DC1

PNU

ID Access right Designation Value

range

Description DS

RUN ro/rw

P-12 140 – rw Local Process Data

Source

0, 1, …, 11,

13

Local Configuration of Command and Reference Sources

Possible values:

• 0: Terminal Control. The drive responds directly to

signals applied to the control terminals.

•

1: Uni-directional Keypad Control. The drive can be

controlled in the forward direction only using an internal/

external or remote Keypad

• 2: Bi-directional Keypad Control. The drive can be

controlled in the forward and reverse directions using an

internal/external or remote Keypad. Pressing the keypad

START button toggles between forward and reverse.

• 3: Modbus Control.Control via Modbus RTU

communication.

• 4: Modbus Control. Ramp times via Modbus

• 5: PI controller with external actual value

• 6: PI controller with external actual value and totalized

value of AI1

• 7: CANOpen (internal ramp times)

• 8: CANOpen (CANOpen ramp times)

• 9: SmartWire Device Control and speed ref.

• 10: SmartWire Device Control and terminal speed ref.

• 11: Terminal Control and SmartWire Device speed ref.

• 12: not permissible

• 13: SmartWire Device Control and speed ref. Digital

input sets enable

0

P-36

164 – rw variable frequency

drive slave address

1 - 63 Unique drive address in a communication network. 1

rw Baud Rate 2, 3, 4, 5, 6 RS485 Baudrate

•2: 9.6 kbit/s

• 3: 19.2 kbit/s

• 4: 38.4 kbit/s

• 5: 57.6 kbit/s

• 6: 115.2 kbit/s

2

rw Time Out 0, 1, …, 8 Modbus RTU0 COM Timeout

Time between a communication loss and the resulting

action.

Setting 0 disables the action after communications trip.

t: indicates the drive will trip if time exceeded.

r: indicates the drive will ramp to stop if time exceeded.

Possible values:

• 0: no action

• 1: t 30 ms

• 2: t 100 ms

• 3: t 1000 ms

• 4: t 3000 ms

• 5: r 30 ms

• 6: r 100 ms

• 7: r 1000 ms

• 8: r 3000 ms

3000

ms

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