Table Of Contents - rotork Modbus IQ Pro Technical Manual

Contents
1 INTRODUCTION .................................................................................................. 7
1.1 General ................................................................................................................................8
2 MODBUS OPTION CARD PROPERTIES ............................................................ 9
2.1 Mechanical properties ........................................................................................................9
2.2 Electrical Properties ......................................................................................................... 11
2.3 Operation and Storage ...................................................................................................... 11
3 FITTING THE MODBUS MODULE OPTION CARD .......................................... 12
3.1 Inside an IQ Pro or IQT Pro actuator ................................................................................ 12
3.2 Inside a Q actuator ............................................................................................................ 13
3.3 Inside ROMpak actuator ................................................................................................... 14
3.4 Inside an SI or EH actuator ............................................................................................... 15
3.5 Replacing or Fitting a Modbus Module Option Card ....................................................... 16
4 RS-485 DATA HIGHWAY, CONNECTIONS AND MFU SETUP........................ 17
4.1 Data Highway .................................................................................................................... 17
4.2 Highway Topology ............................................................................................................ 18
4.3 Cable Types ....................................................................................................................... 19
4.4 Termination Network......................................................................................................... 20
4.5 Inter-connecting the Highway and Setting up the MFU ................................................... 21
4.5.1 Single Highway with Analogue Input ............................................................................. 22
4.5.2 Dual Highway ............................................................................................................... 23
4.5.3 Single Highway with Internal Repeater ......................................................................... 24
5 THE ACTUATOR INPUT AND OUTPUT SIGNALS .......................................... 27
5.1 Control Outputs ................................................................................................................ 27
5.1.1 Controls Priority ........................................................................................................... 30
5.1.2 Modbus Control using Individual Coil commands .......................................................... 31
5.1.3 Modbus Control using the ACTCON Register ............................................................... 31
5.1.4 Modbus Control using the Actuator Position DV register ............................................... 31
5.1.5 The IQ 'S' contacts (Modbus DOs). .............................................................................. 32
5.1.6 IQ Modbus Network Control Disable feature ................................................................. 32
5.2 Actuator Digital Input Status Feedback ........................................................................... 32
5.2.1 Digital Inputs from All Actuator Types ........................................................................... 33
5.2.2 Digital Inputs from IQ and IQT Actuator ........................................................................ 36
5.2.3 Digital Inputs from IQT Actuator.................................................................................... 37
5.3 Actuator Analogue Input Feedback.................................................................................. 37
5.4 IQ Data Logger Information .............................................................................................. 38
6 MODBUS COMMUNICATION............................................................................ 40
6.1 Electrical Specification ..................................................................................................... 40
6.2 Outer Protocol ................................................................................................................... 40
6.3 Repeaters .......................................................................................................................... 40
6.4 Dual Channel Mode ........................................................................................................... 41
Publication PUB091-003-00_0119
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