施耐德伺服Lexium05_ModBus手册

Technical Documentation Fieldbus manual Lexium05 Modbus Document: 0198441113238 Edition: V1.03, 09.2005 -2 Modbus Lexium05 01 98 44 11 13 23 8, V 1. 03 , 0 9. 20 05 Important information The drive systems described here are products for general use that con- form to the state of the art in technology and are designed to prevent any dangers. However, drives and drive controllers that are not specifically designed for safety functions are not approved for applications where the functioning of the drive could endanger persons. The possibility of unexpected or unbraked movements can never be totally excluded wit- hout additional safety equipment. For this reason personnel must never be in the danger zone of the drives unless additional suitable safety equipment prevents any personal danger. This applies to operation of the machine during production and also to all service and maintenance work on drives and the machine. The machine design must ensure per- sonal safety. Suitable measures for prevention of property damage are also required. For more information see the chapter on safety. Not all product types are available in all countries. Please see the current catalogue for the availability of products. We reserve the right to make technical changes. All information refers to specifications and not to assured properties. Most product designations are registered trademarks of their proprie- tors, even when not specifically noted. 01 98 44 11 13 23 8, V 1. 03 , 09 .2 00 5 Lexium05 Modbus -3 Table of Contents Important information. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . -2 Table of Contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . -3 Writing conventions and symbols. . . . . . . . . . . . . . . . . . . . . . . -5 1 Introduction 1.1 Modbus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1 1.2 Directives and standards. . . . . . . . . . . . . . . . . . . . . . . 1-1 1.3 Literature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1 2 Safety 2.1 Qualification of personnel . . . . . . . . . . . . . . . . . . . . . . 2-1 2.2 Intended use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1 2.3 Safety instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2 3 Installation 4 Commissioning 4.1 Fieldbus settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2 4.2 Starting network operation . . . . . . . . . . . . . . . . . . . . . 4-4 4.3 Running function test. . . . . . . . . . . . . . . . . . . . . . . . . . 4-4 4.4 Replacing units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-4 5 Operation 5.1 Basics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1 5.1.1 Modbus network . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1 5.1.2 Modbus transmission technology . . . . . . . . . . . . . . 5-1 5.1.3 Modbus RTU protocol . . . . . . . . . . . . . . . . . . . . . . . 5-3 5.2 Function codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-5 5.2.1 FC 3 (Read Multiple Registers) . . . . . . . . . . . . . . . 5-5 5.2.2 FC 8 (Diagnostics) . . . . . . . . . . . . . . . . . . . . . . . . . 5-6 5.2.3 FC 16 (Write Multiple Registers) . . . . . . . . . . . . . . 5-7 5.2.4 FC 23 (ReadWrite Multiple Registers) . . . . . . . . . . 5-8 5.2.5 FC 43 (Read Device Identification). . . . . . . . . . . . . 5-9 5.3 Examples of function codes FC. . . . . . . . . . . . . . . . . 5-10 5.4 Examples for standardised operation modes . . . . . . 5-12 5.4.1 Profile position operation mode . . . . . . . . . . . . . . 5-12 5.4.2 Profile velocity operation mode. . . . . . . . . . . . . . . 5-13 5.4.3 Homing operation mode . . . . . . . . . . . . . . . . . . . . 5-14 5.5 Examples of manufacturer specific operation modes 5-15 5.5.1 Current control operating mode . . . . . . . . . . . . . . 5-15 -4 Modbus Lexium05 01 98 44 11 13 23 8, V 1. 03 , 0 9. 20 05 5.5.2 Speed control operating mode. . . . . . . . . . . . . . . . 5-16 5.5.3 Electronic gear operation mode . . . . . . . . . . . . . . . 5-17 5.5.4 Jog operation mode . . . . . . . . . . . . . . . . . . . . . . . . 5-18 5.6 Connection monitoring . . . . . . . . . . . . . . . . . . . . . . . . 5-19 6 Diagnostics and troubleshooting 6.1 Communication errors . . . . . . . . . . . . . . . . . . . . . . . . . 6-1 6.2 Protocol errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-1 6.3 Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2 6.3.1 Synchronous errors . . . . . . . . . . . . . . . . . . . . . . . . . 6-2 6.3.2 Asynchronous errors . . . . . . . . . . . . . . . . . . . . . . . . 6-2 7 Service, maintenance and disposal 8 Glossary 8.1 Terms and Abbreviations . . . . . . . . . . . . . . . . . . . . . . . 8-1 9 Index 01 98 44 11 13 23 8, V 1. 03 , 09 .2 00 5 Lexium05 Modbus -5 Writing conventions and symbols Work steps If work steps must be carried out in sequence, they are shown as fol- lows: � Special prerequisites for the following work steps � Step 1 � Important response to this work step � Step 2 If a response to a work step is specified, this will inform you that the step has been carried out correctly. Unless otherwise stated, the individual instruction steps must be carried in the given sequence. Lists Lists can be sorted alphanumerically or by priority. Lists are structured as follows: • Point 1 • Point 2 – Subpoint to 2 – Subpoint to 2 • Point 3 Making work easier Information on making work easier can be found at this symbol: This offers supplementary information on making work easier. See the chapter on safety for an explanation of the safety instructions. -6 Modbus Lexium05 01 98 44 11 13 23 8, V 1. 03 , 0 9. 20 05 01 98 44 11 13 23 8, V 1. 03 , 09 .2 00 5 Lexium05 Introduction Modbus 1-1 1 Introduction 1.1 Modbus This manual describes the fieldbus handling for products in the fieldbus network, which are addressed to by the modbus RTU. In order to be able to use a PC as a master in a modbus network, it will need to be equipped with a RS485 interface card. A device for level ad- aptation must be connected between the network connection and the PC interface for a PC with an RS232 port. Fieldbus units by other manufacturers can be operated in the same RS485 network as long as they support the modbus protocol. 1.2 Directives and standards The following guidelines and standards apply to the fieldbus handling of products which are responded to by the modbus: • RS485 standard, • EIA RS485.2-4 serial interface 1.3 Literature Unit • CPD Operating Instructions Modbus • Modicon Modbus Protocol Reference Guide, PI-MBUS-300Rev. J, June 1996, MODICON, Inc., USA • http://www.modicon.com 1-2 Modbus Introduction Lexium05 01 98 44 11 13 23 8, V 1. 03 , 0 9. 20 05 01 98 44 11 13 23 8, V 1. 03 , 09 .2 00 5 Lexium05 Safety Modbus 2-1 2 Safety 2.1 Qualification of personnel Only technicians who are familiar with and understand the contents of this manual and the other relevant manuals are authorised to work on and with this drive system. The technicians must be able to detect po- tential dangers that may be caused by setting parameters, changing pa- rameter values and generally by the mechanical, electrical and electronic equipment. The technicians must have sufficient technical training, knowledge and experience to recognise and avoid dangers. The technicians must be familiar with the relevant standards, regulations and safety regulations that must be observed when working on the drive system. 2.2 Intended use The drive systems described here are products for general use that con- form to the state of the art in technology and are designed to prevent any dangers. However, drives and drive controllers that are not specifically designed for safety functions are not approved for applications where the functioning of the drive could endanger persons. The possibility of unexpected or unbraked movements can never be totally excluded wit- hout additional safety equipment. For this reason personnel must never be in the danger zone of the drives unless additional suitable safety equipment prevents any personal danger. This applies to operation of the machine during production and also to all service and maintenance work on drives and the machine. The machine design must ensure per- sonal safety. Suitable measures for prevention of property damage are also required. In the system configuration described the drive systems must be used in industrial applications only and must have a fixed connection only. In all cases the applicable safety regulations and the specified operating conditions, such as environmental conditions and specified technical data, must be observed. The drive system must not be commissioned and operated until com- pletion of installation in accordance with the EMC regulations and the specifications in this manual. To prevent personal injury and damage to property damaged drive sys- tems must not be installed or operated. Changes and modifications of the drive systems are not permitted and if made all no warranty and liability will be accepted. The drive system must be operated only with the specified wiring and approved accessories. In general, use only original accessories and spare parts. The drive systems must not be operated in an environment subject to explosion hazard (ex area). 2-2 Modbus Safety Lexium05 01 98 44 11 13 23 8, V 1. 03 , 0 9. 20 05 2.3 Safety instructions $ DANGER Electric shock, fire or explosion • Only qualified personnel who are familiar with and understand the contents of this manual are authorised to work on and with this drive system. • The system manufacturer is responsible for compliance with all applicable regulations relevant to earthing the drive system. • Many components, including printed wiring boards, operate at mains voltage. Do not touch. Do not touch unshielded com- ponents or screws of the terminals with voltage present. • Install all covers and close the housing doors before applying power. • The motor generates voltage when the shaft is rotated. Lock the shaft of the motor to prevent rotation before starting work on the drive system. • Before working on the drive system: – Switch off power to all terminals. – Place a sign "DO NOT SWITCH ON" on the switch and lock to prevent switching on. – Wait 6 minutes (for discharge of DC bus capacitors). Do not short-circuit DC bus – Measure voltage at DC bus and check for <45V. (The DC bus LED is not a safe indication for absence of the DC bus voltage). Failure to follow these instructions will result in death or se- rious injury. @ WARNING Danger of injury by loss of control! • Observe the accident prevention regulations. (For USA see also NEMA ICS1.1 and NEMA ICS7.1) • The system manufacturer must take the potential error possibi- lities of the signals and the critical functions into account to ensure a safe state during and after errors. Some examples are: emergency stop, final position limitation, power failure and restart. • The assessment of error possibilities must also include unex- pected delays and the failure of signals or functions. • Suitable redundant control paths must be in place for dange- rous functions. • Check that measures taken are effective. Failure to follow these instructions can result in death or se- rious injury. 01 98 44 11 13 23 8, V 1. 03 , 09 .2 00 5 Lexium05 Safety Modbus 2-3 $ DANGER Risk of injury by complex system. When the system is started the drives are generally out of the ope- rator's view and cannot be visually monitored. • Only start the system if there are no persons in the operating zone of the moving components and the system can be opera- ted safely. Failure to follow these instructions will result in death or se- rious injury. @ CAUTION Danger of injury and damage to system components by evaluation of faulty control commands! If a PLC is used as the master unit, the exchange of data can lead to inconsistent transmission data as a result of fieldbus and PLC cycles not operating synchronously. • Please observe the notes concerning the operation using PLC. Failure to follow these instructions can result in injury or equipment damage. 2-4 Modbus Safety Lexium05 01 98 44 11 13 23 8, V 1. 03 , 0 9. 20 05 01 98 44 11 13 23 8, V 1. 03 , 09 .2 00 5 Lexium05 Installation Modbus 3-1 3 Installation The installation should be carried out in accordance with the details gi- ven in the unit manual under the chapter on installation, with special em- phasis on the EMC requirements. @ WARNING Danger of injury by loss of control! • Observe the accident prevention regulations. (For USA see also NEMA ICS1.1 and NEMA ICS7.1) • The system manufacturer must take the potential error possibi- lities of the signals and the critical functions into account to ensure a safe state during and after errors. Some examples are: emergency stop, final position limitation, power failure and restart. • The assessment of error possibilities must also include unex- pected delays and the failure of signals or functions. • Suitable redundant control paths must be in place for dange- rous functions. • Check that measures taken are effective. Failure to follow these instructions can result in death or se- rious injury. @ WARNING Interference with signals and devices may cause injury Distorted signals can cause unexpected device responses. • Install the wiring in accordance with the EMC requirements. • Check compliance with the EMC requirements, particularly in an environment subject to strong interference. Failure to follow these instructions can result in death, se- rious injury or equipment damage. 3-2 Modbus Installation Lexium05 01 98 44 11 13 23 8, V 1. 03 , 0 9. 20 05 01 98 44 11 13 23 8, V 1. 03 , 09 .2 00 5 Lexium05 Commissioning Modbus 4-1 4 Commissioning $ DANGER Risk of injury by complex system. When the system is started the drives are generally out of the ope- rator's view and cannot be visually monitored. • Only start the system if there are no persons in the operating zone of the moving components and the system can be opera- ted safely. Failure to follow these instructions will result in death or se- rious injury. @ WARNING Danger of personal injury and damage to system parts by un- controlled system operation! • Do not write to reserved parameters. • Do not write to parameters before you have understood the function. For more information see the controller manuals. • Run the first tests without coupled loads. • Make sure that the system is free and ready for the movement before changing parameters. • Check the use of the bits during fieldbus communication: Bit 0 is far right (least significant). Bit 15 is far left (most significant). • Check the use of the word sequence during fieldbus communi- cation: • Do not establish a fieldbus connection before you have under- stood the communications principles. Failure to follow these instructions can result in death, se- rious injury or equipment damage. 4-2 Modbus Commissioning Lexium05 01 98 44 11 13 23 8, V 1. 03 , 0 9. 20 05 4.1 Fieldbus settings Transmission format The data transmission format is set in the factory to: • Modbus RTU • 19200 baud • 8 data bits (LSB is transmitted first) • Even parity • 1 stop bit The communication between master and slave takes place in semi-du- plex mode Node address Up to 31 fieldbus participants can be connected to the bus. Each field- bus participant must have its own node address, which can be assigned only once in the network. The node address is set in the factory to 1. The node address 0 is a broadcast address, which all fieldbus participants in the network receive data from, but do not answer. Baud rate The baud rate must be set to the same value for all fieldbus participants. Data bits;stop bits and parity The following combinations of data bits, stop bits and parity can be set. Parameter Name Code HMI menu, Code Description Unit Minimum value Default value Maximum value Data type R/W persistent Expert Parameter address via fieldbus MBadr MBAD COM-MBAD Modbus address() valid addresses : 1 to 247 - 1 1 247 UINT16 R/W per. - CANopen 3016:4h Modbus 5640 Profibus 5640 Parameter Name Code HMI menu, Code Description Unit Minimum value Default value Maximum value Data type R/W persistent Expert Parameter address via fieldbus MBbaud MBBD COM-MBBD Modbus baud rate() Allowed baud rates: 9600 19200 38400 CAUTION: A change of the setting is not activated until the unit is switched on again. - 9600 19200 38400 UINT16 R/W per. - CANopen 3016:3h Modbus 5638 Profibus 5638 01 98 44 11 13 23 8, V 1. 03 , 09 .2 00 5 Lexium05 Commissioning Modbus 4-3 Node guarding A monitoring time can be set for the node guarding. Word sequence This setting specifies how the parameter data (2 words) are sent. Example: parameter value = 1234 5678h • HighWord-LowWord = 1234h , 5678h • LowWord-HighWord = 5678h , 1234h Detailed description A detailed description of the settings is given in the "Installation" chapter of the unit documentation. Parameter Name Code HMI menu, Code Description Unit Minimum value Default value Maximum value Data type R/W persistent Expert Parameter address via fieldbus MBformat MBFO COM-MBFo Modbus data format() 1 / 8Bit NoParity 1Stop / 8n1: 8 bit, no parity bit, 1 stop bit 2 / 8Bit EvenParity 1Stop / 8e1: 8 bit, even parity bit, 1 stop bit (default) 3 / 8Bit OddParity 1Stop / 8o1: 8 bit, odd parity bit, 1 stop bit 4 / 8Bit NoParity 2Stop / 8n2: 8 bit, no parity bit, 2 stop bits CAUTION: A change of the setting is not activated until the unit is switched on again. - 1 2 4 UINT16 R/W per. - CANopen 3016:5h Modbus 5642 Profibus 5642 Parameter Name Code HMI menu, Code Description Unit Minimum value Default value Maximum value Data type R/W persistent Expert Parameter address via fieldbus MBnode_guard - Modbus Node Guard() Connection monitoring 0 : inactive (default) >0 : monitoring time ms 0 0 10000 UINT16 R/W - - CANopen 3016:6h Modbus 5644 Profibus 5644 Parameter Name Code HMI menu, Code Description Unit Minimum value Default value Maximum value Data type R/W persistent Expert Parameter address via fieldbus MBdword_order MBWO COM-MBWo Modbus word sequence for double words (32 bit values)() Send High Word first or Low Word first 0 / HighLow / HiLo: HighWord-LowWord, High Word first -> Modicon Quantum (default) 1 / LowHigh / LoHi : LowWord-HighWord Low Word first -> Premium, HMI (Telemeca- nique) - 0 0 1 UINT16 R/W per. - CANopen 3016:7h Modbus 5646 Profibus 5646 4-4 Modbus Commissioning Lexium05 01 98 44 11 13 23 8, V 1. 03 , 0 9. 20 05 4.2 Starting network operation Network operation can be started from a master unit. This can be a PLC or a PC which uses the corresponding user software to send fieldbus commands and to read reception data. 4.3 Running function test If the slave does not send a response, check the following settings: • Voltage supply switched on and master for network operation star- ted? • Cable connections mechanically sound? • Correct address set? • Same settings for baud rate and interface parameters (data bits, parity, stop bits)? Information concerning fault finding and trouble shooting can be found in the chapter 6 “Diagnostics and troubleshooting“ or in the unit manual. 4.4 Replacing units The unit behaviour should remain the same after a slave unit has been replaced. This means that the same parameters must be set on the new unit as were set on