Vacon 20 Operation & User’s Manual

Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/ Table of Contents Document: DPD01925A Version release date: 30.5.17 1. Safety................................................................................................................2 1.1 Danger.................................................................................................................................2 1.2 Warnings .............................................................................................................................3 1.3 Earthing and earth fault protection....................................................................................4 2. Modbus - general info.......................................................................................5 2.1 Restrictions.........................................................................................................................6 3. Modbus technical data ......................................................................................7 3.1 Modbus RTU protocol .........................................................................................................7 3.2 Connections and wiring ......................................................................................................7 4. Installation........................................................................................................8 4.1 Installation in VACON® 20 family AC drives ......................................................................8 4.1.1 Preparation for use through RS485....................................................................................8 5. Fieldbus parametrization ...............................................................................10 5.1 Fieldbus control and basic reference selection...............................................................10 5.2 Modbus RTU parameters and monitoring values ............................................................10 5.2.1 Fieldbus protocol ..............................................................................................................11 5.2.2 Slave address....................................................................................................................11 5.2.3 Baud rate...........................................................................................................................11 5.2.4 Parity type .........................................................................................................................12 5.2.5 Communication timeout ...................................................................................................12 5.2.6 Reset communication status ............................................................................................12 5.2.7 Communication status......................................................................................................12 6. Communications .............................................................................................13 6.1 Modbus address area .......................................................................................................13 6.2 Supported Modbus Functions...........................................................................................13 6.3 Modbus data mapping.......................................................................................................14 6.3.1 Modbus process data in VACON® 20 Application ACCN1004..........................................14 6.3.2 Modbus process data in VACON® 20X and VACON® CP Application ACIT1075 .............17 6.4 Example messages...........................................................................................................20 6.4.1 Example 1 - Write Process Data.......................................................................................20 6.4.2 Example 2 - Read process data........................................................................................21 7. Fault tracing ...................................................................................................22 7.1 Typical fault conditions .....................................................................................................22 7.2 RS-485 bus biasing ...........................................................................................................22 7.3 Other fault conditions .......................................................................................................23 8. Quick setup .....................................................................................................24 9. APPENDIX 1 - PROCESS DATA ........................................................................25

Safety Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/ 1. SAFETY This manual contains clearly marked cautions and warnings which are intended for your personal safety and to avoid any unintentional damage to the product or connected appliances. Please read the information included in cautions and warnings carefully. The cautions and warnings are marked as follows: 1.1 Danger Table 1. Warning signs = DANGER! Dangerous voltage = WARNING or CAUTION = Caution! Hot surface The components of the power unit are live when the drive is connected to mains potential. Coming into contact with this voltage is extremely dangerous and may cause death or severe injury. The motor terminals U, V, W and the brake resistor terminals are live when the AC drive is connected to mains, even if the motor is not running. After disconnecting the AC drive from the mains, wait until the indicators on the keypad go out (if no keypad is attached see the indicators on the cover). Wait 5 more minutes before doing any work on the connections of the drive. Do not open the cover before this time has expired. After expiration of this time, use a mea- suring equipment to absolutely ensure that no voltage is present. Always ensure absence of voltage before starting any electrical work! The control I/O-terminals are isolated from the mains potential. However, the relay outputs and other I/O-terminals may have a dangerous control voltage present even when the AC drive is disconnected from mains. Before connecting the AC drive to mains make sure that the front and cable cov- ers of the drive are closed. During a ramp stop (see the Application Manual), the motor is still generating voltage to the drive. Therefore, do not touch the components of the AC drive before the motor has completely stopped. Wait until the indicators on the keypad go out (if no keypad is attached see the indicators on the cover). Wait additional 5 minutes before starting any work on the drive. 9000.emf 13006.emf 9001.emf 9000.emf 9000.emf 9000.emf 9000.emf 9000.emf 9000.emf

Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/ 1 1.2 Warnings The AC drive is meant for fixed installations only. Do not perform any measurements when the AC drive is connected to the mains. The earth leakage current of the AC drives exceeds 3.5mA AC. According to stan- dard EN61800-5-1, a reinforced protective ground connection must be ensured. See chapter 1.3. If the AC drive is used as a part of a machine, the machine manufacturer is responsible for providing the machine with a supply disconnecting device (EN 60204-1). Only spare parts delivered by VACON® can be used. At power-up, power break or fault reset the motor will start immediately if the start signal is active, unless the pulse control for Start/Stop logic has been selected. Futhermore, the I/O functionalities (including start inputs) may change if param- eters, applications or software are changed. Disconnect, therefore, the motor if an unexpected start can cause danger. The motor starts automatically after automatic fault reset if the auto restart function is activated. See the Application Manual for more detailed information. Prior to measurements on the motor or the motor cable, disconnect the motor cable from the AC drive. Do not touch the components on the circuit boards. Static voltage discharge may damage the components. Check that the EMC level of the AC drive corresponds to the requirements of your supply network. 13006.emf 13006.emf 13006.emf 13006.emf 13006.emf 13006.emf 13006.emf 13006.emf 13006.emf 13006.emf

Safety Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/ 1.3 Earthing and earth fault protection The AC drive must always be earthed with an earthing conductor connected to the earthing terminal marked with . The earth leakage current of the drive exceeds 3.5mA AC. According to EN61800-5-1, one or more of the following conditions for the associated protective circuit shall be satisfied: b) The protective conductor shall have a cross-sectional area of at least 10 mm2 Cu or 16 mm2 Al, through its total run. c) Where the protective conductor has a cross-sectional area of less than 10 mm2 Cu or 16 mm2 Al, a second protective conductor of at least the same cross-sectional area shall be provided up to a point where the protective conductor has a cross-sectional area not less than 10 mm2 Cu or 16 mm2 Al. d) Automatic disconnection of the supply in case of loss of continuity of the protective conduc- tor. The cross-sectional area of every protective earthing conductor which does not form part of the supply cable or cable enclosure shall, in any case, be not less than: - 2.5mm2 if mechanical protection is provided or - 4mm2 if mechanical protection is not provided. The earth fault protection inside the AC drive protects only the drive itself against earth faults in the motor or the motor cable. It is not intended for personal safety. Due to the high capacitive currents present in the AC drive, fault current protective switches may not function properly. CAUTION! Do not perform any voltage withstand tests on any part of the AC drive. There is a certain procedure according to which the tests shall be performed. Ignoring this procedure may result in damaged product. NOTE! You can download the English and French product manuals with applicable safety, warning and caution information from http://drives.danfoss.com/knowledge-center/technical-documentation/. REMARQUE Vous pouvez télécharger les versions anglaise et française des manuels produit contenant l’ensemble des informations de sécurité, avertissements et mises en garde applicables sur le site http://drives.danfoss.com/knowledge-center/technical-documentation/ . 13006.emf 13006.emf

vacon • 5 Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/ 2 2. MODBUS - GENERAL INFO Modbus is a communication protocol developed by Modicon systems. In simple terms, it is a way of sending information between electronic devices. The device requesting the information is called the Modbus Master and the devices supplying information are Modbus Slaves. The Master can also write information to the Slaves. Modbus is typically used to transmit signals from instrumentation and control devices back to a main controller or data gathering system. Standard Modbus network contains one Master device and up to 247 Slave devices. In ModbusRTU networks it is mandatory to define a unique Slave Address (or Unit identifier number) for the every Slave Device. Slave Address is a number between 1 and 247. Modbus ASCII mode is not supported. The Modbus communication interface is built around messages. The format of these Modbus mes- sages is independent of the type of physical interface used. The same protocol can be used regard- less of the connection type. Because of this, Modbus gives the possibility to easily upgrade the hardware structure of an industrial network, without the need for large changes in the software. A device can also communicate with several Modbus nodes at once, even if they are connected with different interface types, without the need to use a different protocol for every connection. Figure 1.Basic structure of Modbus frame On simple interfaces like RS485, the Modbus messages are sent in plain form over the network. In this case the network is dedicated to Modbus. Each Modbus message has the same structure. Four basic elements are present in each message. The sequence of these elements is the same for all messages, to make it easy to parse the content of the Modbus message. A conversation is always started by a master in the Modbus network. A Modbus master sends a message and—depending of the contents of the message—a slave takes action and responds to it. Addressing in the message header is used to define which device should respond to a message. All other nodes on the Modbus network ignore the message if the address field does not match their own address. Your VACON® 20 family AC drive is equipped with Modbus support as standard. If you need to con- tact VACON® service in problems related to Modbus, send a description of the problem together with the Drive Info File taken with VACON® Live to customer support. If possible, also send a "Wire- shark" log from the situation if applicable. 11608_uk Master´s message Slave response Start Address Function Data CRC End Start Address Function Data CRC End

Modbus - general info Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/ Figure 2.Principal example diagram of Modbus 2.1 Restrictions When a fieldbus option board or an OPTBH option board has been installed, Modbus is not working. Ethernet Modbus TCP Modbus RTU Modbus RTU master Switch 11781_uk

vacon • 7 Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/ 3 3. MODBUS TECHNICAL DATA 3.1 Modbus RTU protocol Modbus RTU is the only supported transmission mode. Modbus ASCII mode is not supported. Table 2. 3.2 Connections and wiring The maximum length of an RS-485 cable depends on the bitrate used, the cable (gauge, capacitance or characteristic impedance) and the number of devices in the bus. The Modbus RTU specification states that for a maximum 9600 bits/second bitrate and AWG26 or wider gauge, the maximum length is 1000 meters. The actual cable length used in an installation can be lower than this number depending on the aforementioned parameters. Connections and communications Interface RS-485 Data transfer method RS-485 MS/TP, half-duplex Transfer cable STP (Shielded Twisted Pair) Connector 2.5 mm2 Electrical isolation Functional Modbus RTU As described in “Modicon Modbus Proto- col Reference Guide” Bitrate 300, 600, 1200, 2400, 4800, 9600, 19200, 38400, and 57600 bits/s Addresses 1 to 247

Installation Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/ 4. INSTALLATION 4.1 Installation in VACON® 20 family AC drives The connection for RS485 is on the standard I/O terminals (A and B). See VACON® 20 or VACON® 20 X /CP Installation Manual depending on the drive you are using. 4.1.1 Preparation for use through RS485 1 Strip about 15 mm of the RS485 cable and cut off the grey cable shield. Remem- ber to do this for both bus cables (except for the last device). Leave no more than 10 mm of the cable outside the terminal block and strip the cables at about 5 mm to fit in the terminals. See picture below. Also strip the cable now at such a distance from the terminal that you can fix it to the frame with the grounding clamp. Strip the cable at a maximum length of 15 mm. Do not strip the aluminium cable shield! 2 Then connect the cable to its appropriate terminals on VACON® 20 CP AC drive standard terminal block, terminals A and B (A = negative, B = positive). 3 Using the cable clamp included in the supply of the drive, ground the shield of the RS485 cable to the frame of the AC drive. 10 5

Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/ 4 4 NOTE! This step is valid only for VACON® 20 CP and VACON® 20 X. If VACON® 20 Cold Plate drive is the last device on the bus, the bus termination must be set. Locate the switches to the right of the control terminals and turn the SW4 switch to position “0”. Biasing is built in the termination resistor. 5 NOTE! This step is valid only for VACON® 20. The RS-485 bus is terminated with termination resistors of 120 ohms in both ends. VACON® 20 has a built-in termination resistor which is switched off as a default (presented below). The termination resistor can be switched on and off with the right hand dip switch located above IO-terminals in the front of the drive (see below). Biasing is built in the termination resistor. 6 NOTE: When planning the cable runs, remember to keep the distance between the fieldbus cable and the motor cable at a minimum of 30 cm. 7 The bus termination must be set for the first and the last device of the fieldbus line. We recommend that the first device terminated is the Master device. 4 5 13 14 15 16 20 18 1 2 3 6 7 8 9 10 22 23 26 24 25 AI2 GND DO- DI4 DI5 DI6 AO DO+ R13 R14 * R24 +10VAI1 GND 24V DI-C DI1 DI2 DI3 A B R21 R22 DI Enco Nor AO V mA AI2 V mA RS485 - term ON OFF J500

Fieldbus parametrization Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/ 5. FIELDBUS PARAMETRIZATION The following chapter describes briefly how to parametrise the AC drive in order for the motor to be controllable via fieldbus. These instructions are written for basic applications. For more information, consult the application-specific manual. In order for the AC drive to accept commands from the fieldbus network, the control place of the AC drive has to be set to fieldbus. The default value of the parameter "Control Place" is usually I/O. Note that if the control unit firmware is updated, the default settings are restored. In addition, some applications may have the remote speed reference selection set by default to other than fieldbus. In these cases, the speed reference selection must be set to fieldbus, in order for the speed reference to be controlled via fieldbus. NOTE! The motor control mode should be selected to support the used process and profile. The navigation path to the fieldbus parameters may differ from application to application. The exemplary paths below apply to the VACON® 20 family AC drive. 5.1 Fieldbus control and basic reference selection The following tables list some of the parameters related to fieldbus control. See the application specific manuals for more detailed information. Parameters can be read and written by using the drive panel, PC Tool or fieldbus protocol. Notice that some of connection parameters for fieldbus may need to be set (depending on your configuration) via panel or PC tool, before you can connect over fieldbus and write application parameters. 5.2 Modbus RTU parameters and monitoring values Table 3. Parametrization for VACON® 20 family AC drive (Standard application) Parameter name Value Control mode Frequency Speed Remote control place Fieldbus CTRL Local / remote Remote Fieldbus ref. sel. Fieldbus Table 4. Code Parameter Min Max Unit Default ID Description When no fieldbus board or no OPTBH board has been installed, the following values are visible: V2.1 Communication status 808 Status of Modbus communication. Format: xx.yyy where xx = 0 - 64 (Number of error messages) This counter saturates when 64 error messages are detected yyy = 0 - 999 (Number of good messages) This counter restarts counting from 0 when 999 good messages are detected

Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/ 5 (*) Only on VACON® 20CP/X. 5.2.1 Fieldbus protocol Use this parameter to activate the Modbus protocol. 5.2.2 Slave address Each slave must have a unique address (from 1 to 247) so that it can be addressed independently from other nodes. 5.2.3 Baud rate Select the communication speed for the network. The default value is 9600 baud. V2.9 * Last communication fault 816 The fault code related to the last counted bad messages is shown: 1 = Illegal function 2 = Illegal address 3 = Illegal data value 4 = Illegal slave device 53 = USART receive fault (parity error/ frame error/USART buffer overflow) 90 = Receive buffer overflow 100 = Frame CRC Error 101 = Ring buffer overflow P2.2 Fieldbus protocol 0 1 0 809 0 = Not used 1 = Modbus used P2.3 Slave address 1 247 1 810 P2.4 Baud rate 0 8 5 811 0 = 300 1 = 600 2 = 1200 3 = 2400 4 = 4800 5 = 9600 6 = 19200 7 = 38400 8 = 57800 P2.6 Parity type 0 2 0 813 Parity type: 0 = None 1 = Even 2 = Odd Stop bit: - 2-bits with parity type “None”; - 1-bit with parity type “Even” and “Odd”. P2.7 Communication time out 0 255 s 10 814 P2.8 Reset communication status 0 1 0 815 Table 4. Code Parameter Min Max Unit Default ID Description

Fieldbus parametrization Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/ 5.2.4 Parity type You can select the parity type for the network. Modbus RTU specifies the stop bit configuration shown in table below. You can modify this stop bit configuration manually using parameter. 5.2.5 Communication timeout Modbus initiates a communication error for a time defined with this parameter. '0' means that no fault is generated. 5.2.6 Reset communication status Used to reset the communication status shown in monitor value V2.1. 5.2.7 Communication status The Communication status shows how many good and bad messages the drive has received. The Communication status includes a common error counter that counts CRC and parity errors and a counter for good messages. Only messages to the current slave in use are counted in the good messages. Table 5. Parity type and stop bits Parity Stopbits Even 1 Odd 1 None 2 Table 6. Communication status description Good messages 0…999 Number of messages received without errors Bad messages 0…64 Number of messages received with errors

Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/ 6 6. COMMUNICATIONS Features of the Modbus-Vacon interface: • Direct control of VACON® drive (e.g. Run, Stop, Direction, Speed reference, Fault reset) • Full access to all VACON® parameters • Monitor VACON® status (e.g. Output frequency, Output current, Fault code) 6.1 Modbus address area The Modbus interface of VACON® 20/X uses the ID numbers of the application parameters as addresses. The ID numbers can be found in the parameter tables described in specific Application Manual. When several parameters / monitoring values are read at a time, they must be consecutive. 11 addresses can be read and the addresses can be parameters or monitoring values. NOTE: With some PLC manufacturers, the interface driver for Modbus RTU communicationmay contain an offset of 1 (the ID number to be used would then subtract 1). 6.2 Supported Modbus Functions The VACON® variables and fault codes as well as the parameters can be read and written from Modbus. The parameter addresses are determined in the application. Every parameter and actual value have been given an ID number in the application. The ID numbering of the parameter as well as the parameter ranges and steps can be found in the application manual in question. The parameter value must be given without decimals. If several parameters/actual values are read with one message, the addresses of the parameters/actual values must be consecutive. Table 7. Modbus RTU Function (dec) Function Name Address Broadcast messages 3 Read Holding Registers All ID numbers No 4 Read Input Registers All ID numbers No 6 Write Single Register All ID numbers Yes 16 Write Multiple Registers All ID numbers Yes

Communications Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/ 6.3 Modbus data mapping 6.3.1 Modbus process data in VACON® 20 Application ACCN1004 Process data is an address area for fieldbus control. Fieldbus control is active when the value of parameter 2.1 (Control place) is 1 (= fieldbus). The content of the process data can be programmed in the application.The following tables present the process data contents in VACON® 20 Application. Please refer to VACON® 20 Complete Manual for details. Table 8. Output process data ID Modbus register Name Scale Type 2101 32101, 42101 FB Status Word - Binary coded 2102 32102, 42102 FB General Status Word - Binary coded 2103 32103, 42103 Actual speed 0.01 % 2104 32104, 42104 Programmable by P10.1 (Default: Frequency reference) - - 2105 32105, 42105 Programmable by P10.2 (Default: Output frequency) 0.01 +/- Hz 2106 32106, 42106 Programmable by P10.3 (Default: Motor speed) 1 +/- Rpm 2107 32107, 42107 Programmable by P10.4 (Default: Motor voltage) 0.1 V 2108 32108, 42108 Programmable by P10.5 (Default: Motor torque) 0.1 +/- % (of nominal) 2109 32109, 42109 Programmable by P10.6 (Default: Motor current) 0.01 A 2110 32110, 42110 Programmable by P10.7 (Default: Motor power) 0.1 +/- % (of nominal) 2111 32111, 42111 Programmable by P10.8 (Default: DC link voltage) 1 V

Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/ 6 NOTE! 2004 - 2007 can set as PID Control Reference by setting P15.1(Setpoint selection) or PID Actual value by setting P15.4 (Feedback value selection)! 2004 - 2007 can be set as the Analogue Output by P9.1, P9.5, P9.9. 2004 - 2008 can set as Aux Control Word with P10.9: b0: Run enable b1: acc / dec ramp 2 selection b2: freq reference 2 selection NOTE! • AUX CW is active when configured, even if control place is not the fieldbus • b0 Run enable is computed in AND with a possible Run enable signal from digital input. Fall of enable will cause coasting stop. Status word (output process data) Information about the status of the device and messages is indicated in the Status word. The Status word is composed of 16 bits the meanings of which are described in the table below: Table 9. Input process data ID Modbus register Name Scale Type 2001 32001, 42001 FB Control Word Binary coded 2002 32002, 42002 FB General Control Word Binary coded 2003 32003, 42003 Actual speed 0.01 % 2004 32004, 42004 Programmable by P10.9 2005 32005, 42005 Programmable by P10.9 2006 32006, 42006 Programmable by P10.9 2007 32007, 42007 Programmable by P10.9 2008 32008, 42008 Programmable by P10.9 2009 32009, 42009 - - - 2010 32010, 42010 - - - 2011 32011, 42011 - - - Table 10. Status word (output process data) Bit Description Value = 0 Value = 1 B0, RDY Drive not ready Drive ready B1, RUN Stop Run B2, DIR Clockwise Counter-clockwise B3, FLT No fault Fault active B4, W No alarm Alarm active B5, AREF Ramping Speed reference reached B6, Z - Drive is running at zero speed B7 - B15 - -

Communications Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/ General status word (output process data) Information about the status of the device and messages is indicated in the General status word. The General status word is composed of 16 bits the meanings of which are described in the table below: Actual speed (output process data) This is actual speed of the AC drive. The scaling is -10000...10000. The value is scaled in percentage of the frequency area between set minimum and maximum frequency. Control word (input process data) The three first bits of the control word are used to control the AC drive. By using control word it is possible to control the operation of the drive. The meanings of the bits of control word are explained in the table below: Speed reference (input process data) This is the Reference 1 to the AC drive. Used normally as Speed reference. The allowed scaling is 0...10000. The value is scaled in percentage of the frequency area between the set minimum and maximum frequencies. Table 11. General status word (output process data) Bit Description Value = 0 Value = 1 B0, RDY Drive not ready Drive ready B1, RUN Stop Run B2, DIR Clockwise Counter-clockwise B3, FLT No fault Fault active B4, W No alarm Alarm active B5, AREF Ramping Speed reference reached B6, Z - Drive is running at zero speed B7, F - Fieldbus control active B8 - B12 - - Bit Control Place I/O PC tool Keypad Fieldbus B13 1 0 0 0 B14 0 1 1 0 B15 0 1 0 1 Table 12. Control word (input process data) Bit Description Value = 0 Value = 1 B0, RUN Stop Run B1, DIR Clockwise Counter-clockwise B2, RST Rising edge of this bit will reset active fault B5 Not used

Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/ 6 6.3.2 Modbus process data in VACON® 20X and VACON® CP Application ACIT1075 Process data is an address area for fieldbus control. Fieldbus control is active when the value of parameter 1.11 (Control place) is 2 (= fieldbus). The content of the process data can be programmed in the application.The following tables present the process data contents in VACON® ACIT1075 Application. Please refer to VACON® 20 CP X Multipurpose Application Manual for details. 6.3.2.1 Fieldbus Data IN: Master -> Slave NOTE! • CW b0 Run is acquired on edge, only if the drive is in Ready state (see Status Word b0) and actual control place is Fieldbus. • CW b2 Fault Reset is active even if control place is not the Fieldbus. Table 13. Modbus register Name Description Range 2001 Control word Drive control Binary coded: b0: Run b1: Reverse b2: Fault Reset(on edge) b8: forces control place to field- bus b9: forces reference source to fieldbus 2002 General control word Not used 2003 Speed reference Reference 0...10000 as 0,00...100,00% of Min freq. - Max freq. range 2004 Fieldbus Data IN 1 Programmable 0...10000 2005 Fieldbus Data IN 2 Programmable 0...10000 2006 Fieldbus Data IN 3 Programmable 0...10000 2007 Fieldbus Data IN 4 Programmable 0...10000 2008 Fieldbus Data IN 5 Programmable 0...10000 2009 Fieldbus Data IN 6 Not used - 2010 Fieldbus Data IN 7 Not used - 2011 Fieldbus Data IN 8 Not used -

Communications Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/ Fieldbus data input mapping Fieldbus Data inputs from 1 to 5 can be configured, with parameters P11.9 - P11.12, as: Table 14. Process Data IN Description Note Aux Control Word b0: enable b1: acc/dec ramp 2 selection b2: freq reference 2 selection b3: digital output 1 control b4: digital output 2 control • b0 Enable is considered only when control place is the Fieldbus. It is computed in AND with a possible enable from digital input. Fall of enable will cause coasting stop. • b2 FreqRef2 Sel is considered only when control place is the Fieldbus. • functions related to bit1, b3 and b4 are available also when control place is not the Fieldbus. Aux CW must anyway be mapped onto a PDI, by means of parameter P11.9. PID Setpoint active if P12.1 = 3, range 0 - 10000 as 0 - 100.00% of regula- tion. PID Actual value active if P12.4 = 2, range 0 - 10000 as 0 - 100.00% of regula- tion. Analogue Out Cntrl active if P5.1 = 8, range 0 - 10000 as 0 - 100.00% of output.

Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/ 6 6.3.2.2 Fieldbus Data OUT: Slave -> Master Table 15. Modbus Register Name Description Range 2101 Status word Drive state Binary coded: b0: Ready b1: Run b2: Reverse b3: Fault b4: Warning b5: Freq. reference reached b6: Zero speed 2102 General Status word Drive state As Status word and: b7: Control place is fieldbus 2103 Actual speed Actual speed 0...10000 as 0.00...100.00% of Min freq. - Max freq. range 2104 Fieldbus Data OUT 1 Programmable See P11.1 2105 Fieldbus Data OUT 2 Programmable See P11.2 2106 Fieldbus Data OUT 3 Programmable See P11.3 2107 Fieldbus Data OUT 4 Programmable See P11.4 2108 Fieldbus Data OUT 5 Programmable See P11.5 2109 Fieldbus Data OUT 6 Programmable See P11.6 2110 Fieldbus Data OUT 7 Programmable See P11.7 2111 Fieldbus Data OUT 8 Programmable See P11.8

Communications Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/ 6.4 Example messages 6.4.1 Example 1 - Write Process Data Write the process data 42001…42003 with command 16 (Preset Multiple Registers). Command Master - Slave: Message frame: The reply to Preset Multiple Registers message is the echo of 6 first bytes. Answer Slave - Master: Table 16. ADDRESS 01 hex Slave address 1 hex (= 1) FUNCTION 10 hex Function 10 hex (= 16) DATA Starting address HI 07 hex Starting address 07D0 hex (= 2000) Starting address LO D0 hex No. of registers HI 00 hex Number of registers 0003 hex (= 3) No. of registers LO 03 hex Byte count 06 hex Byte count 06 hex (= 6) Data HI 00 hex Data 1 = 0001 hex (= 1). Setting control word run bit to 1. Data LO 01 hex Data HI 00 hex Data 2 = 0000 hex (= 0). Data LO 00 hex Data HI 13 hex Data 3 = 1388 hex (= 5000), Speed Reference to 50.00% Data LO 88 hex ERROR CHECK CRC HI C8 hex CRC field C8CB hex (= 51403) CRC LO CB hex Table 17. 01 10 07 D0 00 03 06 00 01 00 00 13 88 C8 CB Table 18. ADDRESS 01 hex Slave address 1 hex (= 1) FUNCTION 10 hex Function 10 hex (= 16) DATA Starting address HI 07 hex Starting address 07D0 hex (= 2000) Starting address LO D0 hex No. of registers HI 00 hex Number of registers 0003 hex (= 3) No. of registers LO 03 hex ERROR CHECK CRC HI 80 hex CRC 8085 hex (= 32901) CRC LO 85 hex

Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/ 6 Reply frame: 6.4.2 Example 2 - Read process data Read the Process Data 42103…42104 with command 4 (Read Input Registers): for this example when using ACCN1004 set P10.1=1, when using ACIT1075 set P11.1=0. Command Master - Slave: Message frame: The reply to the Read Input Registers message contains the values of the read registers. Answer Slave - Master: Reply frame: Table 19. 01 10 07 D0 00 03 80 85 Table 20. ADDRESS 01 hex Slave address 1 hex (= 1) FUNCTION 04 hex Function 4 hex (= 4) DATA Starting address HI 08 hex Starting address 0836 hex (= 2102) Starting address LO 36 hex No. of registers HI 00 hex Number of registers 0002 hex (= 2) No. of registers LO 02 hex ERROR CHECK CRC HI 93 hex CRC field 93A5 hex (= 37797) CRC LO A5 hex Table 21. 01 04 08 36 00 02 93 A5 Table 22. ADDRESS 01 hex Slave address 1 hex (= 1) FUNCTION 04 hex Function 4 hex (= 4) DATA Byte count 04 hex Byte count 4 hex (= 4) Data HI 13 hex Actual Speed = 1388 hex (=5000 => 50.00%) Data LO 88 hex Data HI 09 hex Output Frequency = 09C4 hex (=2500 =>25.00Hz) Data LO C4 hex ERROR CHECK CRC HI 78 hex CRC field 78E9 hex (=30953) CRC LO E9 hex Table 23. 01 04 04 13 88 09 C4 78 E9

Fault tracing Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/ 7. FAULT TRACING When an unusual operating condition is detected by the AC drive control diagnostics, the drive ini- tiates a notification visible, for example, on the keypad. The keypad will show the ordinal number of the fault, the fault code. The fault can be reset with the Reset button on the control keypad or via the I/O terminal. The faults are stored in the Fault history menu which can be browsed. The different fault codes you will find in the table below. This fault table presents only the faults related to the fieldbus in use. NOTE! When contacting distributor or factory because of a fault condition, always write down all texts and codes on the keypad display and send a description of the problem together with the Drive Info File to your local support. 7.1 Typical fault conditions 7.2 RS-485 bus biasing When none of the devices on the RS-485 bus is sending data, all devices are in idle status. This being the case, the bus voltage is in indefinite state, usually near 0 V due to the termination resistors. This may cause problems in character reception because the single characters in serial communication begin with start bit referring to bus status '0' with voltage of less than -200mV whereas the bus sta- tus '1' corresponds to bus voltage of more than +200mV. The RS-485 standard considers the voltage interval -200mV...+200mV as undefined state. Bus biasing is therefore needed to maintain the volt- age in status ‘1’ (above +200mV) also between the messages. By activating the line termination using the dedicated dip switch described in Chapter 4.1.1, also a 560 Ohm resistor for line polarization is activated. Table 24. Typical fault conditions Fault condition Possible cause Remedy Termination resistor Missing or excessive termination resistor. Install termination resis- tors at both ends of the fieldbus line. Cabling • Supply or motor cables are located too close to the fieldbus cable • Wrong type of fieldbus cable • Too long cabling Grounding Inadequate grounding. Ensure grounding in all points on the net Connections Faulty connections. • Excessive stripping of cables • Conductors in wrong terminals • Too loose connections of conductors Parameter • Faulty address • Overlapping slave addresses • Wrong baud rate • Wrong control place selected

Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/ 7 7.3 Other fault conditions The following fault tracing diagram will help you to locate and fix some of the most usual problems. If the problem persists contact your local distributor. Figure 3. Fault tracing diagram for Modbus RTU . Check cabling Check grounding 9330A.emf No communication Counter OK Poor communication Check communi- cation status (par. Counter does not run Counter for bad frames increases Check fieldbus parameters bus parameters in menu Check other field- Check selected protocol Check termination resistors Check that both ends of the fieldbus line hav termi- nation resistors (chapter 4) Check parameters e Is the device in READY state? Check Master’s parameters Is fieldbus selected as control place? Does Master give RUN command? Check cabling Check termination resistors Other bus devices Check connections Check the led on keypad Check external interlockings (I/O) Check configura- tions (Sla e add- ress, baudrate etc.) v Check distances between cables, see chapter 4. Check cable types, see chapter 3. Check grounding, see chapter 4. Re- member to make grounding for each device! Check terminalsfor loose connections Check stripping of cables and conductors, see chapter 4. Use keypad to monitor variable Check that both ends of th fieldbus line have t rmina- tion resistors (chapter 4) e e Check cable for cuts Checkcorrectplace- mentof conductors in terminals Check other necessary devices Drive does not start from the bus Check control place parameter setting V2.1)

Quick setup Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/ 8. QUICK SETUP Following these instructions, you can easily and fast set up your Modbus for use: 1 Choose control place. A. Press LOC/REM button on keypad to select Remote Control Place B. Select Fieldbus as remote control place. The parameter depends on the appli- cation used: • P2.1 in VACON® 20 • P1.11 in VACON® 20 X and VACON® 20 CP 2 Make these settings in the master software A. Set Control Word to '0' by writing the data 0000h to the register 2001d. B. Set Control Word to '1' by writing the data 0001h to the register 2001d. C. AC drive status is RUN D. Set Speed Reference value to '5000' (=50.00%) by writing the data 1388h to the register 2003d. E. Actual speed is 5000 (25.00 Hz if MinFreq is 0.00 Hz and MaxFreq is 50.00 Hz) F. Set Control Word to '0' by writing the data 0000h to the register 2001d. G. AC drive status is STOP.

vacon • 25 Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/ 9 9. APPENDIX 1 - PROCESS DATA Process Data IN (Master to Slave) Use of Process Data In variables depends on the used application. The configuration of the data is free. Process Data OUT (Slave to Master) Use of Process Data Out variables depends on the used application. The Fieldbus Master can read the AC drive’s actual values using process data variables.

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