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Related Manuals for rotork Modbus IQ Pro
Summary of Contents for rotork Modbus IQ Pro
- Page 1 Modbus RTU Actuator Control Mk2 Option Card Technical Manual (IQ Pro, IQT Pro, SI Pro, EH Pro, ROMpak and Q) Publication PUB091-003-00_0119...
- Page 2 The card should be kept in an anti-static bag or box while it is not fitted within an actuator. Note 1: The Modbus Modules described in this manual are suitable for inclusion in Rotork IQ Pro, IQT Pro, ROMpak, SI Pro, EH Pro and Q range actuators. The Modbus Modules may also be fitted to earlier versions of the IQ range of actuators.
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Page 3: Table Of Contents
Contents Contents INTRODUCTION ....................7 General ..........................8 MODBUS OPTION CARD PROPERTIES ............9 Mechanical properties ......................9 Electrical Properties ......................11 Operation and Storage ...................... 11 FITTING THE MODBUS MODULE OPTION CARD .......... 12 Inside an IQ Pro or IQT Pro actuator ................12 Inside a Q actuator ...................... - Page 4 Modbus MFU Option Card Installation Manual MODBUS DATA BASE ..................43 Modbus RTU Message Frame ................... 43 Modbus Address ....................... 43 Function Code Support ....................44 Broadcast Commands ...................... 46 Data Location Offsets ....................... 46 Data Locations ........................46 7.6.1 Data Accessed with Function Code 01 - Read Coils .............
- Page 5 Contents 12.1 Introduction ........................69 12.2 Input and Output Signals ....................69 12.2.1 Control Outputs ......................69 12.2.2 Digital Input Status Feedback ..................70 12.2.3 Analogue Input Status Feedback .................. 70 12.3 Modbus Communication ....................71 12.4 Modbus Data Base......................71 12.4.1 Function Code Support ....................
- Page 6 Modbus The communication protocol used for data exchange. Modbus RTU The version of the protocol available from the Rotork module. Node A single device on the fieldbus. RS-485 The electrical properties of the data highway as defined by the IEC standard, copper conductors, 2 wire twisted pair.
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Page 7: Introduction
Introduction 1 INTRODUCTION The Rotork Modbus Module Actuator Control option card (MFU) uses 2-wire (half-duplex) RS-485 and the Modbus RTU protocol to allow for information exchange and control over the data highway between the actuator and a suitable host system with a Modbus capability. -
Page 8: General
Modbus MFU Option Card Installation Manual 1.1 General The Modbus Module has three variants: Single RS-485 highway plus one analogue input channel Dual Independent isolated RS-485 highways Single RS-485 highway with inbuilt isolating repeater Communication Medium RS4-85 2-wire highway (single or dual), half duplex Protocol Modbus RTU Mode... -
Page 9: Modbus Option Card Properties
MFU Properties 2 MODBUS OPTION CARD PROPERTIES 2.1 Mechanical properties The MFU module consists of a network interface card, that either fits directly to the main actuator printed circuit board (ROMpak) or fits to an interface card; where the two board assembly is then fitted inside the actuator electrical housing (IQ Pro, IQT Pro, SI Pro, EH Pro and Q). -
Page 10: Fig 5: The Interface Card (Si Pro And Eh Pro Actuators, Q Is Similar, See Section 3.2)
Modbus MFU Option Card Installation Manual Interface Card (IQ Pro, IQT Pro, SI Pro, EH Pro and Q) The ROMpak does not require an additional interface card. The interface card is profiled and assembled to fit an IQ Pro, IQT Pro, SI Pro, EH Pro or Q actuator. -
Page 11: Electrical Properties
Contents Early assemblies of NIC and Interface Cards were physically joined by their electrical connectors and a push-fit spacing pillar. Later versions use a threaded pillar, which is useful for higher vibration environments. 2.2 Electrical Properties The MFU connects directly to the Interface Card of the actuator. The MFU does not sit in the main control path for the actuator and does not affect the actuator control integrity. -
Page 12: Fitting The Modbus Module Option Card
RS-485 Data Highway, Connections and MFU Setup 3 FITTING THE MODBUS MODULE OPTION CARD 3.1 Inside an IQ Pro or IQT Pro actuator The MFU is suitable for fitting into IQ Pro actuators with 3000 or 5000 series wiring diagrams and IQT Pro with 6000 or 7000 series wiring diagrams. -
Page 13: Inside A Q Actuator
RS-485 Data Highway, Connections and MFU Setup 3.2 Inside a Q actuator The MFU is fitted in the option board position in this actuator. Only one option board may be fitted at any one time. The necessary internal components must also be present; in this case a potentiometer and auxiliary limit switches at end of travel must be fitted to the actuator. -
Page 14: Inside Rompak Actuator
Modbus MFU Option Card Installation Manual 3.3 Inside ROMpak actuator The MFU is suitable for fitting into ROMpak actuators, wiring diagram RX0X-4X0 (where X can be any value) details the option card connections on the terminal strip. The MFU module is fitted in the only option board slot inside the ROMpak electrical housing. -
Page 15: Inside An Si Or Eh Actuator
RS-485 Data Highway, Connections and MFU Setup 3.4 Inside an SI or EH actuator The MFU is suitable for fitting into SI Pro and EH Pro actuators, wiring diagram SWM SI-001. The MFU is normally located in the first option board slot inside the electrical housing using connection SK1 to the Main pcb. -
Page 16: Replacing Or Fitting A Modbus Module Option Card
Modbus MFU Option Card Installation Manual 3.5 Replacing or Fitting a Modbus Module Option Card The MFU should be replaced or fitted only in a suitable environment. The actuator must be made electrically safe before opening any covers. The Modbus card described in this manual contains static-sensitive devices. Suitable precautions, such as wearing an earthed anti-static wrist strap, should be taken before handling the card. -
Page 17: Rs-485 Data Highway, Connections And Mfu Setup
7 volt limit. If the equipment is distributed over a wide area, or an area with poor ground conductivity, it may be necessary to connect a third wire between all the nodes. Most successful installations use 3 wires and Rotork provides a ‘common’ terminal on the actuator. -
Page 18: Highway Topology
Modbus MFU Option Card Installation Manual 4.2 Highway Topology Two different connection topologies can be used for RS-485. The first system is to use a trunk line with various spurs or drop lines from it. This system will require the location of the taps in junction boxes near to the actuators. -
Page 19: Cable Types
The network must be connected using a suitable cable. Two conductors plus a shield and drain wire are required as a minimum, though Rotork recommends the use of a 3 wire cable to ensure the common mode voltage between all the actuators and the PLC is kept within the RS-485 specified limits. -
Page 20: Termination Network
Modbus MFU Option Card Installation Manual 4.4 Termination Network In order to operate correctly all RS-485 highways must be terminated at each end of the main trunk line using a suitable resistor (120 ohms nominal). These will usually be near the scanner PLC and near the furthest actuator. -
Page 21: Inter-Connecting The Highway And Setting Up The Mfu
RS-485 Data Highway, Connections and MFU Setup In the ROMpak, there are moveable links, LK1 & LK2, next to SK23. These should connect pins 1 and 2 for termination, or remain at pins 2 and 3 for no termination: VDR4 VDR5 CH 2 CH 1 SK 23... -
Page 22: Single Highway With Analogue Input
Modbus MFU Option Card Installation Manual 4.5.1 Single Highway with Analogue Input PLC/ Host Actuator Terminator Common RS485 Highway Actuator Terminator Common 4-20 mA I/P A Analogue I/P B Input Common Tx Power Supply Fig 16: Single Highway + Analogue Input Connections With the single channel option the actuator is connected to only one highway. -
Page 23: Dual Highway
RS-485 Data Highway, Connections and MFU Setup 4.5.2 Dual Highway PLC/ Host RS485 Channel Highway Channel 1 Actuator Terminator 1 Channel Common 1 Terminator 2 Common 2 RS485 Highway Actuator Channel 2 Terminator 1 Common 1 Terminator 2 Common 2 Fig 17: Dual Highway Connections LK10 EPROM... -
Page 24: Single Highway With Internal Repeater
Modbus MFU Option Card Installation Manual The actuator can be connected to two highways when redundant communication links are required. The connection of the actuator to the highways uses terminals 1A and 1B for highway 1 and 2A and 2B for highway 2, the terminal numbers depend on the actuator type and are indicated on the actuator wiring diagram. -
Page 25: Fig 19: Single Highway With Internal Repeater Connections
RS-485 Data Highway, Connections and MFU Setup Jumper Settings: Speed (Baud) LK10 2,400 Left Left Left Left Left Left Left Left 4,800 / 9,600 Left Left Left Left Left Right Left Right 19,200 / 38,400 Left Left Left Left Right Left Right Left... -
Page 26: Fig 20: Jumper Settings For Single Highway With Internal Repeater Option
Modbus MFU Option Card Installation Manual Fig 20: Jumper Settings for Single Highway with Internal Repeater Option 26 of 76 Publication PUB091-003-00_0119... -
Page 27: The Actuator Input And Output Signals
Input and Output Signals 5 THE ACTUATOR INPUT AND OUTPUT SIGNALS The Modbus Module allows the actuator to be controlled by, and to report data to, a suitable host device using Modbus RTU protocol. This section explains the data signals that are available for exchange and their meaning in relation to the actuator functionality. - Page 28 Modbus MFU Option Card Installation Manual ROMpak / Q Command IQ / IQT actuator SI / EH actuator actuator Modbus over the network Open Close Stop Emergency Shut Down ...
- Page 29 Input and Output Signals the torque exceeds the value set and the close limit switch has been reached, or a new command is sent over the network. Note: Many IQ multi-turn actuators are set to open until the open limit switch is reached and, close until the closing on torque switch trips, but it is dependent on the type of valve.
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Page 30: Controls Priority
Modbus MFU Option Card Installation Manual 5.1.1 Controls Priority Since there are three potential sources for control inputs the actuator and Modbus Module assign a priority for those occasions when two or more commands are applied simultaneously. In addition, for the IQ / IQT and SI / EH actuators, the remote control hard wired inputs can be used as discrete input signals, to report the status of other devices or as control inputs. -
Page 31: Modbus Control Using Individual Coil Commands
Input and Output Signals 5.1.2 Modbus Control using Individual Coil commands The open, close, stop, ESD and DO-1 to DO-4 controls can be written using function code 05 or 15 to write to single or multiple coils. Writing the value FF00 turns a coil on and 0000 turns it off. The MFU provides a degree of intelligence in operating the coils for the open, close, stop and ESD functions. -
Page 32: The Iq 'S' Contacts (Modbus Dos)
Modbus MFU Option Card Installation Manual Note that when limited range positioning is used and the actuator is in the fully closed position a DV value of 0%, or when the actuator is in the fully open position a DV value of 100%, are not acted upon. 5.1.5 The IQ ‘S’... -
Page 33: Digital Inputs From All Actuator Types
Input and Output Signals Status Feedback IQ / IQT actuator SI / EH actuator ROMpak / Q actuator Thermostat Tripped Monitor Relay Valve Obstructed Valve Jammed ... - Page 34 Modbus MFU Option Card Installation Manual Running Open Whenever the actuator motor contactor used to drive the actuator in the opening direction is energised this bit will be true (1). Remote Selected This bit is true (1) when the actuator three position remote/local stop/local selector is in the Remote position.
- Page 35 Input and Output Signals The bit will remain true (1) until the actuator position changes by 2% or more. Note: Attempting to restart the actuator to move towards the obstruction (even if the obstruction no longer exists) is not possible, the actuator will not restart. The actuator must be electrically reversed away from the obstruction before attempting to continue in the original direction.
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Page 36: Digital Inputs From Iq And Iqt Actuator
Modbus MFU Option Card Installation Manual 5.2.2 Digital Inputs from IQ and IQT Actuator Battery Low Applicable to IQ and IQT actuators only. The status of the internal battery is monitored and should it fall below a critical level this signal will become true (1). -
Page 37: Digital Inputs From Iqt Actuator
Input and Output Signals Digital Input DI-4 Applicable to IQ and IQT actuators only. This bit reports the status of the contact connected to the actuator hard wired ESD terminals. The input can be used to control the actuator or simply to report the status of a plant feedback signal. -
Page 38: Iq Data Logger Information
Modbus MFU Option Card Installation Manual scaled. This scaling is retained in EEPROM when the actuator power is removed. If Limited Range Positioning is invoked by setting the appropriate parameters, then the reported valve position 0 to 100% follows the limited range of valve travel. - Page 39 Input and Output Signals operated. The first register contains the low order 16 bits. The counter cannot be reset to zero. Publication PUB091-003-00_0119 39 of 76...
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Page 40: Modbus Communication
Modbus Communication 6 MODBUS COMMUNICATION 6.1 Electrical Specification Line Electrical Specification: RS-485, two-wire, half duplex 6.2 Outer Protocol Modbus Transmission Mode RTU (8 bit Binary data) Supported Baud Rates 300, 600, 1k2, 2k4, 4k8, 9k6, 19k2, 38k4, 57k6, 115k2 (2k4, 4k8, 9k6, 19k2, 38k4, 57k6, 115k2 when using the internal repeater option) Number of bits per character Start bits... -
Page 41: Dual Channel Mode
Input and Output Signals 6.4 Dual Channel Mode The dual channel version of the Modbus Module has two ports and allows two data highways to be used for communication from the host system to the module. These highways operate independently with a limit of 32 devices per segment and the ports on the module communicate with their associated highway. -
Page 43: Modbus Data Base
Modbus Data Base 7 MODBUS DATA BASE The data in the Modbus Module may be collected using a number of different Modbus function codes. Similarly the commands to the MFU can be either register or discrete based. This inbuilt flexibility is designed to allow for any host device to be able to access the actuator over a Modbus network in the simplest way. -
Page 44: Function Code Support
Modbus MFU Option Card Installation Manual 7.3 Function Code Support Details of the Request and Reply formats for messages can be found in the Modbus Application Protocol Specification V1.1b3, found at http://www.modbus.org. The following table lists the function codes supported by the Modbus Module. Function Modbus Name Addressing... - Page 45 Modbus Data Base Code 05 and 15 - Force Single Coil or Multiple Coils The output coils are the discrete outputs from the actuator or its digital control commands. Code 05 writes one coil per message whilst code 15 can write values to several at once. ...
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Page 46: Broadcast Commands
Modbus MFU Option Card Installation Manual 7.4 Broadcast Commands Broadcast commands are only supported for specific registers, coils and commands. Stop and ESD Code 05 writes to coils 0 (Stop) and 3 (ESD) are supported for address 0 broadcast. Code 06 writes to register 5 (Actuator Digital Control) with values 0 (Stop) and 3 (ESD) are supported for address 0 broadcast. -
Page 47: Data Accessed With Function Code 01 - Read Coils
Modbus Data Base 7.6.1 Data Accessed with Function Code 01 - Read Coils Location Data Range (Bit) Stop command output coil status Close command output coil status Open command output coil status ESD command output coil status DO-1 output coil status DO-2 output coil status DO-3 output coil status DO-4 output coil status... -
Page 48: Data Accessed With Function Code 03 - Read Holding Registers
Modbus MFU Option Card Installation Manual 7.6.3 Data Accessed with Function Code 03 - Read Holding Registers The accessible registers that can be read with this function code also include the Input registers. Location Data Range (Reg/Bit) Actuator moving Closed limit Open limit Running closed Running open... - Page 49 Modbus Data Base Location Data Range (Reg/Bit) Actuator Digital Control 0 = stop, 1 = close 2 = open 3 = ESD Actuator Position DV (desired value) 0-3E8 hex (0.0 – 100.0%) Actuator Tag name 12 bytes ASCII char Note: ① Pressure instead of Torque in SI Pro and EH Pro . The following Data Logger information is also accessed by function code 03.
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Page 50: Data Accessed With Function Code 04 - Read Input Registers
Modbus MFU Option Card Installation Manual 7.6.4 Data Accessed with Function Code 04 - Read Input Registers Location Data Range (Reg/Bit) Actuator moving Closed limit Open limit Running closed Running open Remote selected Local Stop selected Local selected Thermostat tripped Monitor relay Valve obstructed Valve jammed... -
Page 51: Data Accessed With Function Code 05 And 15 - Force Single And Multiple Coils
Modbus Data Base 7.6.5 Data Accessed with Function Code 05 and 15 – Force Single and Multiple Coils Location Data Range (Bit) Stop command output coil status 0-FF00 hex Close command output coil status 0-FF00 hex Open command output coil status 0-FF00 hex ESD command output coil status 0-FF00 hex... -
Page 52: Data Accessed With Function Code 07 - Read Exception Status
The Slave ID data response includes 20 registers, (40 bytes) of ASCII data to give the device name, software version and service tag number. Byte Data 1 – 23 ‘Null Null Rotork MODBUS MODULE.’ 24 – 28 Software version: ‘Mxxx ‘ (where xxx is the revision number) 29 – 40 Tag Number (12 bytes) -
Page 53: Data Base Summary
Modbus Data Base 7.7 Data Base Summary: Accessed by MODBUS function code Location Data Function (Reg / Bit) Other Stop Digital Output Close Digital Output Open Digital Output Digital Output Output DO-1 (extra relay S5) Digital Output Output DO-2 (extra relay S6) Digital Output Output DO-3 (extra relay S7) Digital Output... - Page 54 Modbus MFU Option Card Installation Manual Accessed by MODBUS function code Location Data Function (Reg / Bit) Other Database format 25 / - Parameter reg Actuator Tag number 26 – 31 / - Parameter reg Data logger data 32 – 59 / - Input register Memory status OK/Fault - / 0...
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Page 55: Configuration Registers
Configuration Registers 8 CONFIGURATION REGISTERS In order to make the best use of the MFU, the module has a number of configurable parameter registers that may be adjusted to optimise the performance of the actuator. All the parameter registers have factory default setting designed to meet the most common requirements for the actuator. If these are not suitable for a particular application then by using a Modbus communication tool the values can be changed. - Page 56 Modbus MFU Option Card Installation Manual Default Location Description Value/Range R/W Access Value (Register) Valve Jammed Time 0 – 255 sec 5 sec 0000 – 00FF hex 0005 hex Manual Movement Travel 0 – 100% 0000 – 0064 hex 000A hex Watchdog Timeout 0 –...
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Page 57: Actuator Related Configurable Parameter Registers
Configuration Registers 8.1 Actuator Related Configurable Parameter Registers These parameter registers set up the response of the actuator will take to various control and network actions. 8.1.1 Action on Loss of Communications (Register 7) This register is used in conjunction with register 13 (Communications Lost Position) and 21 (Communications Fault Timer). -
Page 58: Deadband And Hysteresis (Registers 10 And 14)
Modbus MFU Option Card Installation Manual 8.1.3 Deadband and Hysteresis (Registers 10 and 14) When using position control by sending a value to the Actuator Position DV setpoint there are a number of parameter registers used to tune the position controller and reduce the possibility of damage to the actuator. -
Page 59: Motion Inhibit Timer (Register11)
Configuration Registers 8.1.4 Motion Inhibit Timer (Register11) The Motion Inhibit Timer setting is the period that must elapse between consecutive starts of the actuator motor when in positioning mode. The idle period will prevent the actuator motor from exceeding its rated number of starts per hour. In addition, when tuning the valve positioner the setting can be used to allow the plant dynamics to stabilise between valve movements. -
Page 60: Communications Lost Position (Register 13)
Modbus MFU Option Card Installation Manual The following examples show how the Auxiliary Input Mask settings can be applied. Most Significant Bit Least Significant Bit Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Enable Enable Enable... -
Page 61: Manual Movement Travel (Register 17)
Configuration Registers 8.1.9 Manual Movement Travel (Register 17) Manual Movement Travel sets the amount of valve travel not under motor action that is permitted before being considered 'Manual Movement'. The setting must be sufficiently large to cover over run of position control due to valve inertia. -
Page 62: Baud Rate (Register 23)
Modbus MFU Option Card Installation Manual With a dual channel unit both channels user the same address. Changes to the register altering the address will become effective only after the actuator power is cycled. 8.2.2 Baud Rate (Register 23) Register 23 sets the communication baud rate. Note that the new setting for this register will not become active until the actuator power is cycled. -
Page 63: Setting Up And Maintaining The Modbus Module
Setting Up the MFU 9 SETTING UP AND MAINTAINING THE MODBUS MODULE In most applications the majority of the default settings in the Modbus Module will be suitable for the operation of the valve and need not be altered. However, in every case it will be necessary to alter the address since the default should never be used within a live system (the default value is 247). -
Page 64: Fig 28: Setting Tool Menu Structure And Mfu Settable Parameters
Modbus MFU Option Card Installation Manual Position Display Position Display + Torque Password Maintained 2-wire External Conditional action contact t/stat override override local control interlocks control type... - Page 65 Setting Up the MFU Position Display Pressure Display Password Remote control source (must be set to OP) Remote Priority ESD action ESD Local ESD Temp Partial Set-up Stop...
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Page 66: Maintenance And Repair
Modbus MFU Option Card Installation Manual 10 MAINTENANCE AND REPAIR There is no periodic service requirement for the MFU. Repairs should not be attempted on the module. The Network Interface Card and Interface Card are a pair and should never be separated. Replacing the complete MFU assembly with a new replacement device should rectify any failure. -
Page 67: Troubleshooting
If this diagram has been lost, then a new one can be found on the Rotork web site. The wiring diagram number is usually given on the actuator name plate. -
Page 69: Appendix A - Modbus Module Mk1 Data Base
Appendix A - Mk1 Data Base 12 APPENDIX A – MODBUS MODULE MK1 DATA BASE 12.1 Introduction The Modbus Module Mk2 has the ability to replicate the data base used in the Mk1 design. This permits the use of the Mk2 card as a spare part to replace Mk1 cards in most applications. For exact compatibility please check the original system configuration. -
Page 70: Digital Input Status Feedback
Modbus MFU Option Card Installation Manual 12.2.2 Digital Input Status Feedback Status Feedback Definition Actuator Moving Centre column moving for any reason Close Limit End of travel position, closed position achieved Open Limit End of travel position, open position achieved ... -
Page 71: Modbus Communication
Appendix A - Mk1 Data Base 12.3 Modbus Communication The electrical properties of the MFU in Mk1 mode are the same as in Mk2 mode: Line Electrical Specification: RS-485, two-wire, half duplex (4 wire not supported) Modbus Transmission Mode RTU (8 bit Binary data) Supported Baud Rates 300, 600, 1k2, 2k4, 4k8, 9k6, 19k2, 38k4, 57k6, 115k2 (2k4, 4k8, 9k6, 19k2, 38k4, 57k6, 115k2 when using the... -
Page 72: Data Locations
Modbus MFU Option Card Installation Manual 12.4.3 Data Locations Note: All data locations listed start from 0, it may be necessary to add an offset to match the number required for the PLC. Read Output Status – Function code 01 Write Output Coil –... - Page 73 Appendix A - Mk1 Data Base Read Output Registers – Function code 03 Write Output Registers – Function code 06 and 16 Location Data Range (Register) Actuator Digital Control 0 = stop, 1 = close 2 = open 3 = ESD Analogue Position Demand (DV) 0-FFFFhex (0.0 –...
- Page 74 Modbus MFU Option Card Installation Manual Loopback Test – Function code 08 Supported Diagnostic Codes Diagnostic Function Code Return query data Restart communications Return diagnostic register Force slave listen only Clear diagnostic counts Return bus message count Return slave busy count Diagnostic Register contents Location Description...
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Page 75: Configuration
Appendix A - Mk1 Data Base Exception Reporting – Supported codes Exception Response Meaning Code Illegal function code or incorrect message length Illegal data address (Register or discrete address invalid) Illegal data value Busy 12.5 Configuration The module should be placed into Mk2 mode to set up all the configurable registers. Once these are set the mode can be returned to Mk1 for use on the Mk1 network. - Page 76 Modbus MFU Option Card Installation Manual http://www.rotork.com Rotork PLC Rotork Controls Inc. Rotork reserves the right to Tel: +44 (0) 1225 733 200 Tel: +1 (585) 247 2304 amend and change Fax: +44 (0) 1225 333 467 Fax: +1 (585) 247 2308 specifications without prior e-mail: mail@rotork.com...
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