YASKAWA GPD 506/P5 Technical Manual
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YASKAWA GPD 506/P5 Technical Manual

Modbus rtu
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  • Page 1 ® GPD 506 / Modbus Technical Manual...

  • Page 2: Technical References / Support

    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: •...

  • Page 3: Table Of Contents

    Contents Technical References / Support Contents Chapter 1 GPD 506/P5 and Serial Communication Introduction to GPD 506 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 Chapter 2 RS-232 C/D Serial Communication RS-232 C/D Serial Communication Figure 2-1.
  • Page 4 Chapter 8 Error Codes and Troubleshooting Communication Error (CE) Modbus Error Codes Figure 8-1. Fault Response Message Chapter 9 Command Priority Command Priority Table 9-1. Set up for Serial Communication Control Table 9-2. Set up for External Terminals Control Table 9-3. Set up for Digital Operator Control Appendix A Product Specifications Appendix B...

  • Page 5: Gpd 506/P5 And Serial Communication

    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 GPD 506/P5 and Serial Communication...

  • Page 6: Introduction To Gpd 506 Modbus Rtu Communication

    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.

  • Page 7: The Rs-232 C/D To Rs-485 Converter Board

    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 GPD 506/P5 and Serial Communication...

  • Page 8: Rs-232 C/D Serial Communication

    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 RS-232 C/D Serial Communication...

  • Page 9: Rs-232 C/D Serial 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.
  • Page 10 -pin out for devices other than a computer (PC), such as a PLC, may vary. RS-232 C/D Serial Communication...
  • Page 11 Chapter 3 Installation of the CM086 Board • Installation Procedure • Figure 3-1. Position of the CM086 Board on the GPD 506 control board Installation of the CM086 Board...

  • Page 12: Installation 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.

  • Page 13: Wiring Of The Cm086 Board

    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 •...

  • Page 14: Connection Of Multiple Drives

    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. S/R (+) RS-485 S/R (-) S/R (+) CM085 S/R ( BOARD Shielded Sheath...

  • Page 15: Wiring Instructions

    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.

  • Page 16: Terminating Resistors

    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 (-). CM085 BOARD 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.

  • Page 17: Setting Gpd 506 Parameters For Communication

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

  • Page 18: Run/Stop And Frequency Selection

    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.

  • Page 19: Communication Set Up Parameters

    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.
  • Page 20 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).

  • Page 21: Enter" Command

    ‘ENTER’ Command The GPD 506 has two types of memory: ‘Volatile’ and ‘Non-Volatile’. Data held in the Volatile memory will be lost when power is removed from the drive. Data held in Non-Volatile memory will be retained when power is removed from the drive. Different types of registers are stored in different areas of memory.

  • Page 22: The Message Format

    Chapter 6 The Message Format • Message Functions • Read Multiple Registers • Loop Back Test • Write Multiple Registers • No Response Message • CRC-16 The Message Format...

  • Page 23: Message Functions

    Message Functions In communicating to the GPD 506 drive via Modbus RTU, there are three message functions available. The master specifies the function to be executed by the slave according to the function code. The following table shows the types of function codes available, and the length (quantity) and contents of the message according to the function.

  • Page 24: Read Multiple Registers - 03H

    Read Multiple Registers - 03h The multiple register read function (03h) allows the master to request information from the slave. The command message of a multiple register read is structured as shown below. Command Message SLAVE ADDRESS FUNCTION CODE START- UPPER REGISTER LOWER...
  • Page 25 Normal Response Message SLAVE ADDRESS FUNCTION CODE NO. OF DATA The starting register, 20h BYTES START- (Status Signal), has a value of UPPER 4. (Drive Ready) REGISTER LOWER CONTENTS The next register, 21h UPPER (Drive Fault Content), has NEXT REGISTER a value of 0 (no drive CONTENTS LOWER...
  • Page 26 Fault Response Message SLAVE ADDRESS 80h + FUNC. CODE ERROR CODE LOWER CRC-16 UPPER The fault response message contains the same slave address as the command message, indicating to the master which slave is responding. The function code of a fault response message is actually a value of 80h plus the original function code of 03h.

  • Page 27: Loop-Back Test - 08H

    Loop-back Test - 08h The loop-back test function (08h) is used for checking signal transmission between master and slaves. The command message format is shown below. Command Message SLAVE ADDRESS FUNCTION CODE UPPER TEST CODE LOWER UPPER DATA LOWER LOWER CRC-16 UPPER Each GPD 506’s slave address is set in advance by the drive parameter n106.
  • Page 28 Normal Response Message SLAVE ADDRESS FUNCTION CODE UPPER TEST CODE LOWER UPPER DATA LOWER LOWER CRC-16 UPPER A normal response message for the loop-back test should be identical to the command message. Fault Response Message SLAVE ADDRESS 80h + FUNC. CODE ERROR CODE LOWER CRC-16...

  • Page 29: Write Multiple Registers - 10H

    Write Multiple Registers - 10h The multiple register write function (10h) allows the master to write data to the drive’s registers. The multiple register write message format is shown below. Command Message SLAVE ADDRESS FUNCTION CODE UPPER START- REGISTER LOWER UPPER QTY.
  • Page 30 The starting register number is the first register to be written to. In the command message above the starting number is 01h, indicating that the first register is the frequency reference. A listing of the GPD 506’s registers is shown in Chapter 7, Registers. The quantity indicates how many consecutive registers are to be written to.
  • Page 31 The quantity indicates how many consecutive registers were written to. A CRC-16 value is generated from a calculation using the values of the address, function code, starting register number, and quantity value of the message. The procedure for calculating a CRC-16 value is described at the end of this chapter.

  • Page 32: No Response Message

    No Response Message The slave disregards the command message and does not return the respond message in the following cases: 1. In simultaneous broadcasting of data (slave address field is 0), all slaves execute but do not respond. 2. When a communication error (overrun, framing, parity, or CRC-16) is detected in the command message.
  • Page 33 Typical CRC-16 Calculation Program in Quick Basic: crcsum# = &HFFFF& crcshift# = &H0& crcconst# = &HA001& PRINT "***************************************************" PRINT PRINT " CRC-16 calculator" PRINT PRINT "***************************************************" PRINT "If entering data in hex, preceed the data with '&H'" PRINT " Example: 32decimal = 20hex = &H20" PRINT "***************************************************"...
  • Page 34 CRC-16 Calculation Example: A two byte message for a read-out of a After calculating the CRC-16 upper and lower specified coil status is as follows. values they are inserted into the message format as shown below. 0000 0010 Slave Address = 2 0000 0010 Slave Address = 2 0000 0111...

  • Page 35: Registers

    Chapter 7 Registers • Simultaneous Broadcast Registers • Command Registers • Monitor Registers • Drive Parameter Registers • Special Registers Registers...
  • Page 36 Simultaneous Broadcast Registers (Write only) REGISTER FUNCTION DATA DESCRIPTION (in hex) Operational Signals Stop Forward Run Reverse Run not used not used External Fault Fault Reset not used not used Frequency Reference Reference unit determined by n103 (1) Notes: 1. Frequency Reference unit (n103) default setting is ‘0’ (0.1Hz / 1). Registers...
  • Page 37 Command Registers (Read / Write) REGISTER FUNCTION DATA DESCRIPTION (in hex) Operational Signals Stop Forward Run Reverse Run External Fault Fault Reset Multi-function Input 1 is selected (closed terminal S3) Multi-function Input 2 is selected (closed terminal S4) Multi-function Input 3 is selected (closed terminal S5) Multi-function Input 4 is selected (closed terminal S6) Frequency Reference Reference unit determined by n103 (1)
  • Page 38 Monitor Registers (Read only) REGISTER FUNCTION DATA DESCRIPTION (in hex) 020h Status Signal Stop Command Run Command Forward Command Reverse Command Drive Ready Drive Faulted Data Setting Error Multi-function Output Set 1 (MA-MC) Multi-function Output Set 2 (M1-M2) not used 8-15 will return zeros 021h...
  • Page 39 Monitor Registers (continued) REGISTER FUNCTION DATA DESCRIPTION (in hex) 022h Communication Data Link Status Write in Progress .not used not used Upper/Lower Fault Consistency Fault not used not used not used not used 9-15 will return zeros 023h Frequency Reference 0-15 units depend on constant n105 (1) 024h...
  • Page 40 Monitor Registers (continued) REGISTER FUNCTION DATA DESCRIPTION (in hex) 02Ch Drive Status Run Command Received During Zero Speed During Frequency Coincidence Arbitrary Frequency Coincidence Output Frequency < n075 (1) Output Frequency > n075 (1) Drive Ready Undervoltage Detected During Baseblock Frequency Reference Mode (Communication selected) Frequency Reference Mode (External Terminals, Digital Operator selected) Run Command Mode (Communication selected)
  • Page 41 Monitor Registers (continued) REGISTER FUNCTION DATA DESCRIPTION (in hex) 032h Heatsink Temperature 1 C/1 033h KWh Meter, Lower 4 Digits n115 < 30 – 0.1 kWh/1 034h KWh Meter, Upper 4 Digits n115 > 30 – 1.0 kWh/1 035h Elapsed Timer, Lower 4 Digits 1 Hr/1 036h Elapsed Timer, Upper 4 Digits...
  • Page 42 Drive Parameter Registers (Read/Write) REGISTER PARAMETER PARAMETER PARAMETER LIMITS / DESCRIPTION INITIAL (in hex) FUNCTION SETTING VALUE 101h n001 Parameter Selection / n001 read & set; n002-n116 read only Initialization n001-n035 read & set; n036-n116 read only n001-n053 read & set; n054-n116 read only n001-n116 read &...
  • Page 43 Drive Parameter Registers continued (Read/Write) REGISTER PARAMETER PARAMETER PARAMETER LIMITS / DESCRIPTION INITIAL (in hex) FUNCTION SETTING VALUE 106h n006 Reverse Prohibit Reverse Run Enabled Reverse Run Disabled 107h n007 LOCAL/REMOTE Disabled key function Enabled 108h n008 STOP STOP key enabled when n002 set for key function Digital Operator STOP key enabled regardless of...
  • Page 44 Drive Parameter Registers continued (Read/Write) REGISTER PARAMETER PARAMETER PARAMETER LIMITS / DESCRIPTION INITIAL (in hex) FUNCTION SETTING VALUE 112h n018 Acceleration Time 1 0.0 to 3600 seconds 10.0 113h n019 Deceleration Time 1 0.0 to 3600 seconds 10.0 114h n020 Acceleration Time 2 0 to 255 seconds 10.0...
  • Page 45 Drive Parameter Registers continued (Read/Write) REGISTER PARAMETER PARAMETER PARAMETER LIMITS / DESCRIPTION INITIAL (in hex) FUNCTION SETTING VALUE 122h n034 Electronic Thermal Overload No Protection Protection Standard Motor (8 min.) (for OL1 fault) Standard Motor (5 min.) Blower-cooled Motor (8 min.) Blower-cooled Motor (5 min.) 123h n035...
  • Page 46 Drive Parameter Registers continued (Read/Write) (Continued from previous page) 124h n036 Multi-function Input Selection Reverse Run (2-wire sequence) (Terminal S2) Forward/Reverse (3-wire sequence) External Fault (N.O.) External Fault (N.C.) Fault Reset Remote / Local Selection Serial Comm/Digital Operator (Freq. Ref. & run/stop command) Fast Stop Command -Decel 2 (N.O.) Fast Stop Command -Decel 2 (N.C.) Auto Frequency Ref.
  • Page 47 Up/ Down Command (1) 7-13 Registers...
  • Page 48 Drive Parameter Registers continued (Read/Write) (Continued from previous page) REGISTER PARAMETER PARAMETER PARAMETER LIMITS / DESCRIPTION INITIAL (in hex) FUNCTION SETTING VALUE 125h n037 Multi-function Input Selection 2-24 When n036 is set to ‘1’; ‘—‘ will be (Terminal S3) same as n036 displayed &...
  • Page 49 Closed by Serial Communications PID Feedback Loss 7-15 Registers...
  • Page 50 Drive Parameter Registers continued (Read/Write) (Continued from previous page) REGISTER PARAMETER PARAMETER PARAMETER LIMITS / DESCRIPTION INITIAL (in hex) FUNCTION SETTING VALUE 0H1 Alarm (only if n035 set to ‘3’) 12Bh n043 Auto Analog Input Selection FV – Master; FI –Auxiliary Auto/ Manual switch enable - Yes FV –...
  • Page 51 7 to 9 asynchronous 7-17 Registers...
  • Page 52 Drive Parameter Registers continued (Read/Write) (Continued from previous page) REGISTER PARAMETER PARAMETER PARAMETER LIMITS / DESCRIPTION INITIAL (in hex) FUNCTION SETTING VALUE 137h n055 Momentary Power Loss Not Provided Ridethrough Continuous Operation (power recovery Method Selection within 2 seconds) Continuous Operation (after power recovery within control logic time) 138h n056...
  • Page 53 Drive Parameter Registers continued (Read/Write) REGISTER PARAMETER PARAMETER PARAMETER LIMITS / DESCRIPTION INITIAL (in hex) FUNCTION SETTING VALUE 13Dh n061 Fault Contact Selection Closed during auto. restart at Auto Restart Open during auto. restart 13Eh n062 Prohibit Frequency 1 0.0 to 400.0 Hz 13Fh n063 Prohibit Frequency 2...
  • Page 54 Drive Parameter Registers continued (Read/Write) (Continued from previous page) (in hex) FUNCTION Overtorque detect during all frequency VALUE frequency conditions; coast to stop Undertorque detect only at a set frequency; operation continues Undertorque detect during all frequency conditions; operation continues Undertorque detect only at set frequency;...
  • Page 55 Drive Parameter Registers continued (Read/Write) REGISTER PARAMETER PARAMETER PARAMETER LIMITS / DESCRIPTION INITIAL (in hex) FUNCTION SETTING VALUE 159h n089 Limit of Integral Value (PID) 0 to 109% 15Ah n090 Feedback Loss Detection (PID) Detection disabled Detection enabled Detection enabled w/ fault condition 15Bh n091 Feedback Loss Det.
  • Page 56 Drive Parameter Registers continued (Read/Write) 167h n103 Modbus Frequency Reference 0.1 Hz/ 1 Unit 0.01 Hz/ 1 100%/ 30000 0.01%/ 1 168h n104 Modbus Slave Address 0 to 31 169h n105 Modbus Baud Rate Selection 2400 bps 4800 bps 9600 bps 16Ah n106 Modbus Parity Selection...
  • Page 57 Special Registers (Read / Write) REGISTER FUNCTION DATA DESCRIPTION 900h Enter Command Writes data into non-volatile memory 7-23 Registers...

  • Page 58: Error Codes And Troubleshooting

    Chapter 8 Error Codes and Troubleshooting • Communication Error (CE) • Modbus Error Codes • Figure 8-1. Fault Response Message Error Codes and Troubleshooting...

  • Page 59: Communication Error (Ce)

    Communication Error Once the data sent from the PLC is received by the drive, the received data is checked for CRC, parity, overrun, framing, and receiving buffer overflow. If all checked items pass, the data has been received normally. A communication error (CE) is declared if any data item cannot be received within 2 seconds.
  • Page 60 Error Codes and Troubleshooting...

  • Page 61: Command Priority

    Chapter 9 Command Priority • Command Priority • Table 9-1. Set up for Serial Communication Control • Table 9-2. Set up for External Terminal Control • Table 9-3. Set up for Digital Operator Control Command Priority...

  • Page 62: Command Priority

    Command Priority The setting of parameter n002 determines the origin of frequency reference and operation commands. This was discussed in detail in chapter 5, Setting GPD 506 Parameters for Communication. Some commands may be accessed by a source other than the one set up by parameter n002, as illustrated in the tables 1, 2, and 3 on the following pages.

  • Page 63: Table 9-1. Set Up For Serial Communication Control

    Table 9-1: Set up for Serial Communication Control The first table indicates the functions or commands that can be accessed via serial communication, external terminals, or the digital operator when drive parameter n002 is set up for serial communication (n002 = 6, 7, or 8). The ‘O’ indicates that the function is Operable from that source, n/a’...

  • Page 64: Table 9-2. Set Up For External Terminals Control

    Table 9-2: Set up for External Terminals Control Table two indicates the functions or commands that can be accessed via serial communication, external terminals, or the digital operator when drive parameter n002 is set up for external terminal control (n002 = 1,3, or 5). The ‘O’ indicates that the function is Operable from that source, and ‘ indicates that the function is not available from that source.

  • Page 65: Table 9-3. Set Up For Digital Operator Control

    Table 9-3: Set up for Digital Operator Control Table three indicates the functions or commands that can be accessed via serial communication, external terminals, or the digital operator when drive parameter n002 is set up for digital operator control (n002 = 0, 2, or 4). The ‘O’ indicates that the function is Operable from that source, and n/a’...
  • Page 66 Please phone us at 1-800-541-0939 for technical support. Additional technical information is available at www.drives.com. Data subject to change without notice. NCL, GPD, and VCD are trademarks of Yaskawa, Inc. Modicon, ModConnect, Modbus, Modbus Plus and 984 are trademarks of Modicon, Inc.

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