Version 3.06
| Optidrive Eco User Guide |
59
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10.2. Modbus RTU Communications
10.2.1. Modbus Telegram Structure
The Optidrive Eco supports Master / Slave Modbus RTU communications, using the 03 Read Multiple Holding Registers and 06
Write Single Holding Register commands and 16 Write Multiple Holding Registers (Supported for registers 1 – 4 only). Many Master
devices treat the first Register address as Register 0; therefore it may be necessary to convert the Register Numbers detail in section
11.2.2
by subtracting 1 to obtain the correct Register address.
10.2.2. Modbus Control & Monitoring Registers
The following is a list of accessible Modbus Registers available in the Optidrive Eco.
When Modbus RTU is configured as the Fieldbus option, all of the listed registers can be accessed.
Registers 1 and 2 can be used to control the drive providing that Modbus RTU is selected as the primary command source
(P1-12 = 4) and no Fieldbus Option Module is installed in the drive Option Slot.
Register 4 can be used to control the acceleration and deceleration rate of the drive providing that Fieldbus Ramp Control is
enabled (P5-07 = 1).
Registers 6 to 24 can be read regardless of the setting of P1-12.
Register
Number Upper Byte Lower Byte
Read
Write
Notes
1
Command Control Word
R/W
Command control word used to control the Optidrive when operating with Modbus
RTU. The Control Word bit functions are as follows:
Bit 0 : Run/Stop command. Set to 1 to enable the drive. Set to 0 to stop the drive.
Bit 1 : Fast stop request. Set to 1 to enable drive to stop with 2nd deceleration ramp.
Bit 2 : Reset request. Set to 1 in order to reset any active faults or trips on the drive.
This bit must be reset to zero once the fault has been cleared.
Bit 3 : Coast stop request. Set to 1 to issue a coast stop command.
2
Command Speed Reference
R/W
Setpoint must be sent to the drive in Hz to one decimal place, e.g. 500 = 50.0Hz.
3
Reserved
R/W
No Function.
4
Command Ramp times
R/W
This register specifies the drive acceleration and deceleration ramp times used when
Fieldbus Ramp Control is selected (P5-08 = 1) irrespective of the setting of P1-12. The
input data range is from 0 to 60000 (0.00s to 600.00s).
6
Error code
Drive status
R
This register contains 2 bytes.
The Lower Byte contains an 8 bit drive status word as follows:
Bit 0 : 0 = Drive Disabled (Stopped), 1 = Drive Enabled (Running).
Bit 1 : 0 = Drive Healthy, 1 = Drive Tripped.
Bit 2: 0 = Auto, 1 = Hand.
Bit 3 : Inhibit.
Bit 4 : Service due.
Bit 5 : Standby.
Bit 6 : Drive Ready.
Bit 7 : 0 = Normal condition, 1 = Low or High Load condition detected.
The Upper Byte will contain the relevant fault number in the event of a drive trip. Refer
to section 13.1 for a list of fault codes and diagnostic information.
7
Output Frequency
R
Output frequency of the drive to one decimal place, e.g.123 = 12.3 Hz.
8
Output Current
R
Output current of the drive to one decimal place, e.g.105 = 10.5 Amps.
9
Output Torque
R
Motor output torque level to one decimal place, e.g. 474 = 47.4 %.
10
Output Power
R
Output power of the drive to two decimal places, e.g.1100 = 11.00 kW.
11
Digital Input Status
R
Represents the status of the drive inputs where Bit 0 = Digital Input 1 etc.
20
Analog 1 Level
R
Analog Input 1 Applied Signal level in % to one decimal place, e.g. 1000 = 100.0%.
21
Analog 2 Level
R
Analog Input 2 Applied Signal level in % to one decimal place, e.g. 1000 = 100.0%.
10
Serial Communications
