rotork Modbus IQ Pro Technical Manual page 5

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 ................................................................................................ 71
12.4.2 Broadcast Messages .................................................................................................... 71
12.4.3 Data Locations ............................................................................................................. 72
12.5 Configuration ................................................................................................................. 75
12.6 Records .......................................................................................................................... 75
Table of Figures
Fig 1: The Modbus Module Option Card Actuator Compatibility....................................................7
Fig 2: The Types of Modbus Module Mk2 Option Card ................................................................8
Fig 3: The Modbus single channel NIC, showing the network connector. .....................................9
Fig 5: The Interface Card (SI Pro and EH Pro actuators, Q is similar, see Section 3.2) ............... 10
Fig 6: The Interface Card (IQ Pro and IQT Pro actuators) .......................................................... 10
Fig 8: The MFU module profiled for the Q actuator .................................................................... 13
Fig 9: The MFU located in a ROMpak actuator .......................................................................... 14
Fig 11: Typical RS-485 Data Highway ......................................................................................... 17
Fig 12: RS-485 Data Highway Topology ...................................................................................... 18
Fig 13: Typical RS-485 cable ....................................................................................................... 19
Fig 14: Termination for RS-485 highway ...................................................................................... 20
Fig 15: Termination for RS-485 highway in ROMpak actuators. The links are shown in the non-
terminated position. ......................................................................................................... 21
Fig 16: Single Highway + Analogue Input Connections ................................................................ 22
Fig 18: Jumper Settings for Dual Highway Option ........................................................................ 23
Fig 17: Dual Highway Connections .............................................................................................. 23
Fig 19: Single Highway with Internal Repeater Connections......................................................... 25
Fig 20: Jumper Settings for Single Highway with Internal Repeater Option................................... 26
Fig 21: Input and Output Data Direction ....................................................................................... 27
Fig 24: IQ and IQT relay outputs DO-1 to DO-4 ........................................................................... 32
Fig 25: Modbus transaction format............................................................................................... 43
Fig 26: Limited Range Position Control and Reporting ................................................................. 57
Fig 27: Deadband and Hysteresis settings ................................................................................... 58
Fig 28: Setting tool menu structure and MFU settable parameters ............................................... 64
Publication PUB091-003-00_0119
Contents
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