YASKAWA GPD 315/V7 Technical Manual
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YASKAWA GPD 315/V7 Technical Manual

Modbus rtu
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GPD 315/V7 Modbus RTU
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  • Page 1 GPD 315/V7 Modbus RTU Technical Manual...

  • Page 2: Technical Support Center

    Technical References Refer to the following publications for further information about the GPD315/V7: • GPD315/V7 Technical Manual • Publication TM4315 Refer to the following Modicon publication for technical information on Modbus RTU: • Modicon Modbus Protocol Reference Guide • Publication PI-MBUS-300 Rev. D Technical Support Center: Provide telephone assistance related to installation, start-up, programming, and troubleshooting For technical phone support call 1-800-541-0939.

  • Page 3: Table Of Contents

    Contents Technical References ........................ii Technical Support Center: ......................ii Field Service/Support: ........................ii Chapter 1............................1 GPD315 and Serial Communication ..................... 1 Introduction........................... 1 GPD315 Modbus RTU Specifications ................... 1 Chapter 2............................2 GPD315 Modbus RTU Connections ..................... 2 Wiring ............................2 Connecting Multiple Drives ......................
  • Page 4 Tables Table 1-1 Serial Setup ......................... 1 Table 2-1. Functions of Terminals ....................3 Table 2-2. Applicable Wire Size for Terminal Connections ............3 Table 3-1. Run/Stop Selection....................... 5 Table 3-2. Frequency Reference Selection ................... 5 Table 3-3. Modbus Time out Detection..................6 Table 3-4.

  • Page 5: Chapter 1

    Chapter 1 GPD315/V7 and Serial Communication Introduction This manual describes the set-up and protocol for Modbus Communication. The GPD315/V7 offers RS-485 and RS-422 serial communication as a standard. 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 6: Chapter 2

    Chapter 2 GPD315 Modbus RTU Connections Wiring Locate terminals S+, S-, R+, and R- on the control terminal block. R+ R- S+ S- Figure 2-1 Location of Terminals and Dip switches Twisted pair, shielded wire should be used for all RS-485 connections. The shielded wire should be separated and connected per the drawing below to eliminate interference due to noise.

  • Page 7: Table 2-1. Functions Of Terminals

    The function of terminals R+, R-, S+, and S- are described below. Table 2-1. Functions of Terminals Terminal Symbol Functions Remarks RS-485 output (+) Use as output at RS-485 output (-) parallel connection RS-485 input (+) Us as input at RS-485 input (-) parallel connection It is important to select an appropriate wire size to prevent voltage drop.

  • Page 8: Connecting Multiple Drives

    Connecting Multiple Drives Multiple drives may be connected together. A terminating resistor must be enabled at the start and end of the network. Set SW2 switch 1 to “on” to enable the terminating resistor. SW2 is found just above the upper row of control terminals and consists of two switches. The switch towards the top (labeled “1”) controls the terminating resistor.

  • Page 9: Chapter 3

    Chapter 3 GPD315 Communication Parameters Run/Stop and Frequency Selection The run/stop and frequency reference commands can originate from 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 of the frequency reference command. Parameter n003 (Operation Method Selection) allows you to set up the origin of the run/stop commands.

  • Page 10: Serial Communication Set Up Parameters

    Serial Communication Set up Parameters The GPD315 has parameters used for setting up serial communications. These communication set up parameters are n151 through n155. Parameter n151 - Modbus Time Out Detection Parameter n151 is used to determine how the drive will respond to a time out error. A time out is detected if the length of time between Modbus messages exceeds two seconds.

  • Page 11: Table 3.5 Modbus Baud Rate Selection

    Parameter n154 - Modbus Baud Rate Parameter n154 selects the baud rate, as indicated by the following table: Table 3.5 Modbus Baud Rate Selection Parameter n154 Setting Baud Rate(bps) 2400 4800 9600 19200 The default setting of parameter n154 is ‘2’. Parameter n155 - Modbus Parity Selection Parameter n155 selects the parity, as indicated by the following table: Table 3.6 Modbus Parity Selection...

  • Page 12: Warning

    “ENTER” Command The GPD315 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 the Non-volatile memory will be retained when power is removed from the drive. It is necessary to follow each block of parameters with the ENTER command in order to transfer data form Volatile to Non-volatile memory.

  • Page 13: Chapter 4

    Chapter 4 Modbus RTU Message For Message Functions In communicating to the GPD315 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 14: Read Multiple Registers - Function 03H

    Read Multiple Registers – Function 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. Table 4-2 Read Command Message Slave Address Function Code Upper Starting Register...

  • Page 15: Table 4-3 Read Normal Response Message

    Normal Response Message Table 4-3 Read Normal Response Message Slave Address Function Code Number of Data Bytes Upper Starting Register Lower Upper Next Register Lower Upper Next Register Lower Upper Last Register Lower Lower CRC-16 Upper The normal response message contains the same slave address and function code as the command message, indicating to the master which slave is responding and to what type of function it is responding.

  • Page 16: Loop-Back Test - 08H

    Fault Response Table 4-4 Read Fault Response Message Slave Address Function 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 17: Table 4-6 Loop Back Normal Response Message

    The function code of this message is 08h (loop-back test). The test code must be set to ‘0000’. This function specifies that the data passed in the command message is to be returned (looped back) in the response message. The data section contains arbitrary data values. These data values are used to verify that the slave receives the correct data.

  • Page 18: Write Multiple Registers - 10H

    A CRC-16 value is generated from a calculation using the values of the address, function code, and data sections of the message. The procedure for calculating a CRC-16 value is described at the end of this chapter. When the master receives the fault response message it calculates a CRC-16 value and compares it to the one in the CRC-16 field of the fault response message.

  • Page 19: Table 4-9 Write Registers Normal Response Message

    The data section of the response message contains 8 upper and 8 lower bits of data for each register that is being written to. A CRC-16 value is generated from a calculation using the values of the address, function code, starting register number, quantity, number of data bytes, and data sections of the message.

  • Page 20: Table 4-10 Write Registers Fault Response Message

    Write Registers Fault Response Table 4-10 Write Registers Fault Response Message Slave Address Function 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 10h.

  • Page 21: No Response Message

    No Response Message The slave disregards the command message and does not return the respond message in the following cases: In simultaneous broadcasting of data (slave address field is 0), all slaves execute but do not respond. When a communication error (overrun, framing, parity, or CRC-16) is detected in the command message.

  • Page 22: Crc-16

    CRC-16 Calculation Example: 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 23: Figure 4-2 Crc Calculation In C

    // *buf pointer to character array that contains the characters to used calculate CRC // bufLen number of characters to calculate CRC for // *crc pointer to the array that contains the calculated CRC void getMBCRC(char *buf, int bufLen, char *crc) { unsigned long crc_0 = 0xffff;...

  • Page 24: Chapter 5

    Chapter 5 Parameter Tables Simultaneous Broadcast Registers (Write Only) Table 5-1 Simultaneous Broadcast Registers Register Name Description Run Command 1: Run 0: Stop Direction Command 1: Reverse 0: Forward Not Used Not Used Operation 0001h External Fault 1: Fault (EF0) Signals Fault Reset 1: Fault Reset...

  • Page 25: Monitor Registers (Read Only)

    Monitor Registers (Read Only) Table 5-3 Monitor Registers Register Name Description During Run 1: Run 0: Stop Direction 1: Reverse 0: Forward Inverter Ready 1: Ready Fault 1: Fault Status 0020h Data Set Error 1: Error Signals Multi-function output 1 1: Contact ON Multi-function output 2 1: Photo coupler ON...
  • Page 26 Table 5-3 Monitor Registers (continued) During Run 1: Running During Zero Speed 1: @ Zero Speed Speed Agree 1: @ Speed Minor Fault 1: Minor Fault 1: Output Freq ≤ n095 Frequency Detection 1 1: Output Freq ≥ n095 Frequency Detection 2 Ready 1: Inverter Ready Undervoltage Detection...

  • Page 27: Drive Parameter Registers (Read/Write)

    Drive Parameter Registers (Read/Write) Table 5-4 Drive Parameters Parameter ADDR Name Description Default N001 Can Be Read And Set; N002-N179 Others Read Only N001-N039 Can Be Read And Set N001-N067 Can Be Read And Set N001-N113 Can Be Read And Set N001-N179 Can Be Read And Set Not Used Clear Fault Record Only...
  • Page 28 Table 5-4 Drive Parameters (continued) Parameter ADDR Name Default Description Mid. Output n014 010Eh 0.1 - 399.9hz Frequency Voltage @ 0.1 - 255.0 (230v Drive) 12.0 n015 010Fh Mid. Frequency 0.2 - 510.0 (460 V Drive) 24.0 Min. Output n016 0110h 0.1 - 10.0hz Frequency...
  • Page 29 Table 5-4 Drive Parameters (continued) Parameter ADDR Name Default Description Motor Overload n038 0126h Protection Time 1 - 60 Minutes Constant Cooling Fan Operates Only When Drive Is Running n039 0127h Operation Operates With Power Is ON n040-n049 0128h - Reserved 0131h Run Forward...
  • Page 30 Table 5-4 Drive Parameters (continued) Parameter ADDR Name Default Description @ Fault @ Running @ Speed Agree @ Zero Speed Frequency Detection ≤n095 Frequency Detection ≥n095 Overtorque Detection (N.O. Contact) Overtorque Detection (N.C. Contact) Reserved Multi-Function 0132 Reserved n057 Output 1 Minor Fault (MA-MB-MC) @ Baseblock...
  • Page 31 Table 5-4 Drive Parameters (continued) Parameter ADDR Name Default Description Analog n069 0145h Frequency Ref. ±100% (Operator Voltage Input) Bias Analog 0.00 To 2.00 Seconds (Operator Voltage Input) n070 0146h Freq. Ref. Filter 0.10 0.00 = Filter Disabled Time Constant Analog n071 0147h...
  • Page 32 Table 5-4 Drive Parameters (continued) Parameter ADDR Name Default Description DC Injection n090 015Ah 0.0 - 25.5 Seconds (0.0 = Disabled) Time @ Stop DC Injection n091 015Bh 0.0 - 25.5 Seconds (0.0 = Disabled) Time @ Start Stall Prevention Enabled n092 015Ch...
  • Page 33 Table 5-4 Drive Parameters (continued) Parameter ADDR Name Default Description Stall Prevention Disabled (Follows Accel/Decel Time 1) n116 0174h Accel/Decel Enabled (Follows Accel/Decel Time 2) 0175- n117-119 Reserved 0177h Frequency n120 0178h 0.00 .- 9.99Hz or 100.0 - 400.0Hz 0.00 Reference 1 Frequency n121...
  • Page 34 Table 5-4 Drive Parameters (continued) Parameter ADDR Name Default Description Energy-Saving Disabled n139 018Bh Control Enabled (Must Be In V/F Control Mode) Energy-Saving n140 018Ch 0.0 - 999.9 or 1000 - 6550 Coefficient K2 Energy-Saving n141 018Dh Voltage Low 0 - 120% Limiter @60hz Energy-Saving n142...
  • Page 35 Table 5-4 Drive Parameters (continued) Parameter ADDR Name Default Description Energy-Saving n159 019Fh Voltage Upper 0 - 120% Limit @60Hz Energy-Saving n160 01A0h Voltage Upper 0 - 25% Limit @6Hz Search Power n161 01A1h Supply Detect 0 - 100% Hold Width Power n162 01A2h...
  • Page 36 Table 5-4 Drive Parameters (continued) Parameter ADDR Name Default Description Q-Axis Hunting n188 01BCh 0.00 - 2.55 (Vector Control Mode Only) Prevent Gain Power Factor n189 01BDh Angle Detect 1 - 255 (1 = 4ms) (@ Accel/Decel) Filter Time Power Factor n190 01BEh Angle Detect...

  • Page 37: Notes

    Notes: Not Used registers and bits must be programmed with 0 Frequency reference depends on the setting of n152 Reserved registers cannot be accessed Available in 10020 software or later Range dependant on n018 setting Value differs according to inverter capacity Set to 0, Forward/Reverse command is set to terminal S3.

  • Page 38: Error Codes And Troubleshooting

    Chapter 6 Error Codes and Troubleshooting Communication Error Once the data sent from the PLC is received 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.

  • Page 39: Chapter 7

    Chapter 7 Command Priority Command Priority The setting of parameter n003 determines the origin of operation commands. This was discussed in detail in chapter 3, Setting GPD315 Parameters for Communication. Some commands may be accessed by a source other than the one set up by parameter n003, as illustrated in the tables 1, 2, and 3 on the following pages.

  • Page 40: Set Up For Serial Communication Control

    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 the drive’s parameter n003 is set up for serial communication (n003 = 3). The “O” indicates that the function is Operable from that source, and “n/a”...

  • Page 41: Set Up For External Terminals Control

    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 the drive’s parameter n003 is set up for external terminal control (n003 = 1). The “O” indicates that the function is Operable from that source, and “n/a”...

  • Page 42: Set Up For Digital Operator Control

    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 the drive’s parameter n003 is set up for digital operator control (n003 = 0). The “O” indicates that the function is Operable from that source, and “n/a”...

  • Page 43: Product Specifications

    Appendix A Product Specifications The following table indicates the environmental specifications for the GPD315 drive. Table A-1 Product Specifications Environmental Conditions Ambient Temperature -10 to +50 degrees C (+14 to +122 degrees F) Storage Temperature (1) -20 to +60 degrees C (-4 to +140 degrees F) Relative Humidity 95% RH or less (non-condensing) Altitude...
  • Page 44 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. GPD is a trademark of Yaskawa, Inc. All trademarks are the property of their respective owners. Yaskawa Electric America, Inc.

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