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schmersal Praxi 100 Manual

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Manual MODBUS
Praxi 100
Safe solutions for your industry

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Summary of Contents for schmersal Praxi 100

  • Page 1 Manual MODBUS Praxi 100 Safe solutions for your industry...

  • Page 2: Table Of Contents

    Table of Contents 1. Safety _______________________________________________________________________ 4 1.1 Danger ___________________________________________________________________ 4 1.2 Warning __________________________________________________________________ 5 1.3 Earthing and earth fault protection ___________________________________________ 5 2. Modbus - General Info ________________________________________________________ 6 3. Modbus Technical Data _______________________________________________________ 8 3.1 Modbus RTU Protocol _____________________________________________________ 8 3.2 Modbus TCP Protocol _____________________________________________________ 8 3.3 Modbus UDP vs TCP ______________________________________________________ 8 3.4 Connections and Wiring ____________________________________________________ 11...
  • Page 3 6.3.2 Clearing Resettable Counters _________________________________________ 31 6.3.3 Discrete inputs ______________________________________________________ 31 6.3.4 Holding registers and input registers ___________________________________ 32 6.3.5 Schmersal Application IDs ____________________________________________ 33 6.3.6 FB Process Data In __________________________________________________ 33 6.3.7 FB Process Data Out _________________________________________________ 34 6.3.8 ID Map _____________________________________________________________ 34 6.3.9 Operation Day Counter _______________________________________________ 36...

  • Page 4: Safety

    1. Safety This manual contains clearly marked cautions and warnings which are intended for your personal safety and to avoid any unintentional damage to the product or connected appliances. Please read the information included in cautions and warnings carefully. The cautions and warnings are marked as follows: = DANGER! Dangerous voltagev = WARNING or CAUTION...

  • Page 5: Warning

    1.2 Warning The AC drive is meant for fixed installations only. Do not perform any measurements when the AC drive is connected to the mains. The earth leakage current of the AC drives exceeds 3.5mA AC. According to standard EN61800-5-1, a reinforced protective ground connection must be ensured.

  • Page 6: Modbus - General Info

    2. Modbus - General Info Modbus is a communication protocol developed by Modicon systems. In simple terms, it is a way of sending information between electronic devices. The device requesting the information is called the Modbus Master (or the Client in Modbus TCP/UDP) and the devices supplying information are Modbus Slaves (in Modbus TCP/UDP servers).
  • Page 7 Your Praxi 100 family AC drive is equipped with Modbus support as standard. If you need to contact Praxi service in problems related to Modbus, send a description of the problem together with the Drive Info File taken with Praxi Live to customer support.

  • Page 8: Modbus Technical Data

    Selectable: Fixed or DHCP (AutoIP) Table 3. 3.3 Modbus UDP vs TCP In addition to TCP, the Praxi 100 family AC drive supports also UDP starting from following firmware versions: ■ Praxi 100 INDUSTRIAL and Praxi 100 X: FW0072V025 ■...
  • Page 9 Modbus TCP Communication Modbus UDP Communication Drive Drive TCP, SYN Modbus Query TCP, SYN, ACK TCP, ACK Modbus Response Modbus Query Modbus Query Modbus Response, TCP, ACK TCP, ACK Modbus Query TCP, ACK TCP, ACK TCP, FIN, ACK TCP, ACK 11716_uk Figure 3.
  • Page 10 Modbus TCP Communication Modbus UDP Communication Drive Drive Modbus Query (1) Modbus Query (1) Modbus Response (1), TCP, ACK Modbus Response (1) TCP, ACK Modbus Query (2) Modbus Query (2) Packet lost, no response Packet lost, no response Modbus Query (3) TCP retransmission, Modbus Query (2) Packet lost, no response Packet lost, no response...

  • Page 11: Connections And Wiring

    3.4 Connections and Wiring The Praxi 100 family AC drive supports 10/100Mb speeds in both Full- and Half-duplex modes. However, real-time process control requires the Full-duplex mode and the 100-megabit speed. Drives must be connected to the Ethernet network with a Shielded Twisted Pair (STP) CAT-5e cable (or better).

  • Page 12: Installation

    4. Installation 4.1 Installation in PRAXI 100 Family AC Drives ® Open the cover of the AC drive. M4x55 9174.emf The relay outputs and other I/O-terminals may have a dangerous control voltage present even when the AC drive is disconnected from mains. Open the inner cover of the drive 9235.emf...

  • Page 13: Prepare For Use Through Ethernet

    4.1.1 Prepare for use Through Ethernet Connect the Ethernet cable (see specification in Chapter 3.2) to its terminal as shown in figure below. Ethernet cable 9316.emf...
  • Page 14 Protection class IP21: Cut free the opening on the AC drive cover for the Ethernet cable. Protection class IP54: Cut the rubber grommets open to slide the cables through. Should the grommets fold in while inserting the cable, just draw the cable back a bit to straighten the grommets up. Do not cut the grommet openings wider than what is necessary for the cables you are using.

  • Page 15: Prepare For Use Through Rs485

    4.1.2 Prepare for use Through RS485 Strip about 15 mm of the RS485 cable (see specification in Chapter 3.1) and cut off the grey cable shield. Remember to do this for both bus cables (except for the last device). Leave no more than 10 mm of the cable outside the terminal block and strip the cables at about 5 mm to fit in the terminals.
  • Page 16 Then connect the cable to its appropriate terminals on Praxi 100 family AC drive standard terminal block, terminals A and B (A = negative, B = positive). See figure below. Using the cable clamp included in the delivery of the drive, ground the shield of the RS485 cable to the frame of the AC drive.
  • Page 17 If Praxi 100 family AC drive is the last device on the bus, the bus termination must be set. Locate the DIP switches to the right of the control keypad of the drive and turn the switch for the RS485 bus termination resistor to position ON.
  • Page 18 The bus termination must be set for the first and the last device of the fieldbus line. See picture below. See also step 3 on page 16. We recommend that the first device on the bus and, thus, terminated was the Master device. Praxi 100 Praxi 100 Praxi 100 Praxi 100 Praxi 100...

  • Page 19: Installation In Praxi ® 100 X

    4.2 Installation in PRAXI 100 x ® The AC drive can be connected to fieldbus either through RS485 or Ethernet. The connection for RS485 is on the standard I/O terminals (A and B) and the connection for Ethernet is left to the control terminals. RS485 terminals 12 13 14 15 16 17 18 19 30...

  • Page 20: Prepare For Use Through Rs485

    9188.emf Then connect the cable to its appropriate terminals on Praxi 100 X AC drive standard terminal block, terminals A and B (A = negative, B = positive). See Figure 6. Using the cable clamp included in the delivery of the drive, ground the shield of the RS485 cable to the...
  • Page 21 If Praxi 100 X AC drive is the last device on the bus, the bus termination must be set. Locate the DIP switches to the top of the control unit (see figure below). Turn the right most switch to position “1”. Biasing is built in the termination resistor.

  • Page 22: Fieldbus Parametrization

    NOTE! The motor control mode should be selected to support the used process and profile. The navigation path to the fieldbus parameters may differ from application to application. The exemplary paths below apply to the Praxi 100 family AC drive.

  • Page 23: Enabling Modbus Protocol

    Table 6. Parameters related with Modbus used through RTU *This feature is not supported in Praxi 100 HVAC. The default application in the Praxi 100 family AC drives supports only Slave mode. A special application is required for Master functionality.

  • Page 24: Slave Address

    Used to select the operate mode of the Modbus RTU protocol (slave / master). This feature is not supported in Praxi 100 HVAC. The default application in the Praxi 100 family AC drives supports only Slave mode. A special application is required for Master functionality.

  • Page 25: Idmap Ids

    5.2.7 IDMap IDs See Chapter 6.3.8. Panel Tree Parameter Range Description 0 = Init 1 = Stopped P5.8.3.2.1 Fieldbus protocol status 1…3 2381 2 = Operational 3 = Faulted 0-99 Number of messages with errors P5.8.3.2.2 Communication status 0.0…99.999 2382 0-999 Number of messages without communication errors Reset on drive restart...

  • Page 26: Illegal Functions

    5.2.10 Illegal Functions This value counts error situations. The function code received in the query refers to a not allowed action for the server (or slave). This corresponds to Modbus fault code 01h. 5.2.11 Illegal Data Address This value counts error situations. The data address received in the query refers to not allowed address for the server (or slave).

  • Page 27: Modbus Tcp/Udp Parameters And Monitoring Values

    5.3 Modbus TCP/UDP Parameters and Monitoring Values 5.3.1 Ethernet Common Settings (M5.9.1) Panel Tree Parameter Range Default Description Fixed (1), P5.9.1.1 IP address mode DHCP (2) 2482 IP Mode DHCP(2) This is setting for enabling ACD (See Chapter 3.4). Duplicate IP Disabled (0), P5.9.1.2 enabled...

  • Page 28: Fixed Subnet Mask

    5.3.4 Fixed Subnet Mask The network mask marks all the bits of an IP address for the identification of the network and the subnetwork. 5.3.5 Fixed Default Gateway Gateway address is the IP address of a network point that acts as an entrance to another network. 5.3.6 Active IP Address, Subnet Mask and Default Gateway This value cannot be changed.

  • Page 29: Connection Limit

    Panel Tree Parameter Range Default Description P5.9.2.2.1.5 Illegal data values 0…65535 2453 See 5.2.12 P5.9.2.2.1.6 Slave device busy 0…65535 2454 See 5.2.13 Memory parity P5.9.2.2.1.7 0…65535 2455 See 5.2.14 error P5.9.2.2.1.8 Slave device failure 0…65535 2456 See 5.2.15 Last fault P5.9.2.2.1.9 2457 See 5.2.16...

  • Page 30: Communications

    6. Communications Features of the Modbus-Praxi interface: ■ Direct control of Praxi drive (e.g. Run, Stop, Direction, Speed reference, Fault reset) ■ Full access to all Praxi parameters ■ Monitor Praxi status (e.g. Output frequency, Output current, Fault code) 6.1 Data Addresses in Modbus Messages All data addresses in Modbus messages are referenced to zero.

  • Page 31: Moldbus Data Mapping

    6.3.1 Coils Registers A “coil” in Modbus is a single-bit binary data item which can be both read and written. In Praxi 100 family AC drives, the coils refer to some bits in the fieldbus control word. See page 34.

  • Page 32: Holding Registers And Input Registers

    Holding and input registers are accessed using different function codes, and the address ranges are different. In Praxi 100 family AC drives, the same information can be accessed as input registers and holding registers, i.e. input register X refers to the same 16-bit value as the holding register X.

  • Page 33: Schmersal Application Ids

    APPENDIX 1 - 2063 = High data PROCESS DATA 2008 FB Process Data In 5 2064 = Low data *. In Praxi 100 family 2065 = High data drives, 2009 FB Process Data In 6 2066 = Low data Control...

  • Page 34: Fb Process Data Out

    Control Word Bits For control word bit descriptions, see Chapter 10. APPENDIX 2 - CONTROL AND STATUS WORD. 6.3.7 FB Process Data Out Process Data Slave > Master (max 22 bytes) Address Name Range/Type 16-bit* 32-bit 2151 = High data 2101 FB Status Word Binary coded...
  • Page 35 If the IDMap table has not been initialized, all data fields are showing the value ‘0’. Once the IDMap table has been initialized, the parameter ID’s are stored in the Praxi 100 family AC drive’s flash memory. Example of 32Bit IDMap...

  • Page 36: Operation Day Counter

    6.3.9 Operation Day Counter Control unit operating time counter (total value). This counter cannot be reset. The values are read only. Operation day counter as seconds This counter in registers 40011d to 40012d holds the value of operation days as seconds in a 32-bit unsigned integer. Address Description 40011 High data...

  • Page 37: Energy Counter

    6.3.11 Energy Counter This counter holds the value of total amount of energy taken from a supply network. This counter cannot be reset. The values are read only. Energy counter as kWh This counter is in registers 40211d to 40212d and is a 32-bit floating point (IEEE 754) value containing the number of kilowatt-hours (kWh) that is in the drive’s energy counter.

  • Page 38: Fault History

    Resettable energy counter These registers hold three values for the energy counter, amount of energy used, format of the energy value and unit of the energy value. Example: If energy = 1200, format = 52, unit = 1, then actual energy is 12.00 kWh Holding register Input register Purpose...

  • Page 39: Modbus Tcp/Udp Communication And Connection Timeout

    6.4 Modbus TCP/UDP Communication and Connection Timeout It is possible to open up to three Modbus TCP/UDP connections to the Praxi 100 family AC drive. One of the connections could be used for process data and other just for reading monitoring data. In most cases it is desirable that if “monitor”...

  • Page 40: Example Messages

    6.5 Example Messages 6.5.1 Example 1 - Write Process Data Write the process data 42001…42003 with command 16 (Preset Multiple Registers). Command Master - Slave: Address 01 hex Slave address 1 hex (= 1) Function 10 hex Function 10 hex (= 16) Starting address HI 07 hex Starting address 07D0 hex (= 2000)

  • Page 41: Example 2 - Read Process Data

    Reply Frame: Table 39. 6.5.2 Example 2 - Read Process Data Read the Process Data 42103…42104 with command 4 (Read Input Registers). Command Master - Slave: Address 01 hex Slave address 1 hex (= 1) Function 04 hex Function 4 hex (= 4) Starting address HI 08 hex Starting address 0836 hex (= 2102)

  • Page 42: Example 3 - Exception Response

    Reply Frame: Table 43. 6.5.3 Example 3 - Exception Response In an exception response, the Slave sets the most-significant bit (MSB) of the function code to 1. The Slave returns an exception code in the data field. Command Master - Slave: Address 01 hex Slave address 1 hex (= 1)

  • Page 43: Fault Tracing

    7. Fault Tracing When an unusual operating condition is detected by the AC drive control diagnostics, the drive initiates a notification visible, for example, on the keypad. The keypad will show the ordinal number of the fault, the fault code and a short fault description.

  • Page 44: Other Fault Conditions

    7.3 Other Fault Conditions The following fault tracing diagram will help you to locate and fix some of the most usual problems. If the problem persists contact your local distributor. 9330.emf Figure 9. Fault tracing diagram for Modbus RTU...
  • Page 45 9329.emf Figure 10. Fault tracing diagram for Modbus TCP...

  • Page 46: Quick Setup

    8. Quick Setup Following these instructions, you can easily and fast set up your Modbus for use: Choose control place. A. Press LOC/REM button on keypad to select Remote Control Place B. Select Fieldbus as remote control place: Main Menu > Quick Setup (M1) > Rem. Ctrl. Place (P1.15) > FieldbusCTRL Make these settings in the master software A.

  • Page 47: Appendix 1 - Process Data

    NOTE 2! In Praxi 100 HVAC, the default ID is 45 meaning “Motor Current 1 Decimal”. In Praxi 100 family AC drives, the default ID is 3 for Motor Current. The ID 45 can be mapped by the user to this variable also in Praxi 100 family AC drives.

  • Page 48: Appendix 2 - Control And Status Word

    FBGeneralControlWord is totally application specific and can vary even in the Praxi standard applications. The meanings of FBFixedControlWord bits are described below. Unused bits have to be set to zero. NOTE! This table is valid for Praxi standard applications. Praxi 100 HVAC may not support all functions. See Table 52.
  • Page 49 Stop mode 1 Stop mode 2 Quick ramp time Freeze setpoint Setpoint to Zero Request Fieldbus Control Request Fieldbus Reference Jogging 1 Jogging 2 Quick stop 13-15 Reserved Table 52. Control word bit support in Praxi 100 family AC drives...

  • Page 50: Status Word Descriptions

    Motor is running at zero speed. Motor is not magnetized. Flux ready Motor is magnetized. B8-B12 Reserved Table 53. Status Word The following table is valid for most of Praxi 100 applications. Description Control place Control place Control place Fieldbus Keypad...
  • Page 52 Established in 1945 and represented by seven factories on three continents, with sales partners and companies in over 60 countries. The Schmersal Group is also a leader in the international market, as well as in expertise in the demanding area of machine safety. With several product lines, around 2,000 company employees develop and create end-to-end solutions for the safety of people and machinery.

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