INVERTEK DRIVES LTD - OPTIDRIVE E2 APPLICATION NOTE

Application Note AN – ODE – 01

E2 Modbus RTU Register Map

Author: Peter Evans, Invertek Drives Ltd

Revision: 1.02 11 June 2008

Software Version: 1.02

General
This document details the Modbus RTU memory mapping that is implemented in the Optidrive E2
drives, detailing which addresses are used to read and write data to / from Optidrive E2 in a
Modbus RTU network.

Note that for E2 drive, once the Modbus control/monitor is enabled (P-36>0), the Optibus network
function will be disabled, therefore disabling the Optiport E2 remote keypad and Optistick.

:
For control & monitoring of the drives the following parameters should be set correctly:
P-12 : (set to 3 for Modbus without ramp control or 4 for Modbus with ramp control )
P-36 : (communication address, baud rate and comms loss trip time)
P-15 (Analog and Digital input configuration)

For monitoring of the drives the following parameters should be set correctly:
P-36 : (communication address, baud rate and comms loss trip time)
P-15 (Analog and Digital input configuration)

Please see User Guide for more information on these parameter settings

The Fieldbus Gateways (Profibus, DeviceNet & Ethernet) also use the Modbus interface. In this
case, the baud rate must be set to 57.6kbps. For more information regarding the fieldbus gateway,
please contact your local distributor, or visit our web site: www.invertek.co.uk

Invertek Drives Ltd adopts a policy of continuous improvement and whilst every effort has been
made to provide accurate and up to date information, the information contained in this document
should be used for guidance purposes only and does not form the part of any contract.

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 INVERTEK DRIVES LTD - OPTIDRIVE E2 APPLICATION NOTE

MODBUS RTU Protocol Specification

The following table highlights the specification for the Modbus RTU implementation in E2

Protocol Modbus RTU

Error check CRC
Baud rate (P-36) 9600bps, 19200bps, 38400bps, 57600bps, 115200bps (default)
Data format 1 start bit, 8 data bits, 1 stop bits, no parity.
Physical signal RS 485 (2-wire)

RJ45 Data Connection Pin Configuration

For drives with software V1.00 & V1.01 For drives with software V1.02 & later

Typical MODBUS configuration

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Memory Map
Table 1: Control and status registers
Register Upper byte Lower Byte Command Type

1* Command 03,06 Read/Write

2* Speed reference 03,06 Read/Write

3* Reserved 03,06 Read/Write

4* Modbus ramp control time 03,06 Read/Write

5 Reserved 03 Read Only

6* Error code Drive status 03 Read Only

7* Motor speed 03 Read Only

8* Motor current 03 Read Only

9* Reserved 03 Read Only

10 Reserved 03 Read Only

11 Digital input status 03 Read Only

12 Rating ID 03 Read Only

13 Power rating 03 Read Only

14 Voltage rating 03 Read Only

15 IO processor software version 03 Read Only

16 Motor control processor software version 03 Read Only

17 Drive type 03 Read Only

18 Reserved 03 Read Only

19 Reserved 03 Read Only

20 Analog 1 input result 03 Read Only

21 Analog 2 input result 03 Read Only

22 Speed reference value 03 Read Only

23 DC bus voltages 03 Read Only

24 Drive temperature 03 Read Only

25 to 30 Reserved 03 Read Only

* When using the external fieldbus gateways (PROFIBUS, DEVICENET, ETHERNET) these
registers are available.

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 INVERTEK DRIVES LTD - OPTIDRIVE E2 APPLICATION NOTE

Control and Status Register Descriptions

Read and write registers

Register 1: Drive command

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
High byte Low byte

Bit 0: Run/Stop command: Set to 1 to enable the drive. Set to 0 to stop the drive.
Bit 1: Fast stop request. Set to 1 to enable drive to stop with 2nd deceleration ramp.
Bit 2: Reset request. Set to 1 in order to reset the drive if drive is under trip condition.
User must clear this bit when drive is under normal condition to prevent un-expected reset.
Bit 3: Coast stop request. Set to 1 to issue a coast stop command.

For normal operation, Bit 3 has the highest priority, bit 0 has the lowest priority (bit 3>bit 1>bit 0).
For example if user set command as 0x0009, drive will do a coast stop rather than run. For normal
run/start, just set this register to 1.

Note that stat/stop(bit 0), fast stop(bit 1) and coast stop(bit 3) only works if P-31= 0 or 1. Otherwise,
start/stop function is controlled by drive control terminals. Reset function(bit 2) works all the time
as long as drive is operated under Modbus control mode (P-12=3 or 4).

Register 2: speed reference setup

This register holds the speed reference value. The input data is 16bits integer and it also includes
one decimal place. For example, value 500 represents the 50.0Hz, value 123 gives 12.3Hz. To get
negative speed reference, user needs put negative value into this register. For example, -1(0xFFFF)
gives -0.1Hz. -234(0xFF16) gives -23.4Hz.

The input value range from -5000 (0 for single phase output drive) to +5000, however the drive
output speed will be limited by the maximum speed set by P-01.

Register 4: Modbus ramp control time

This register specifies the drive acceleration and deceleration ramp time. User can only write to this
register when P-12 is set to 4. The input data range is from 0 to 60000 (0.00s to 600.00s)

Read only registers

Register 6: Drive status and error code

High byte gives drive error code. (Valid when drive tripped, see appendix for details)
Low byte gives drive status (0: drive stopped, 1: drive running, 2: drive tipped)

Register 7: Motor speed information

This register gives motor speed information.

The data is 16bits integer with one decimal place. E.g. value 123 gives 12.3Hz. Value -234
(0xFF16) gives -23.4Hz.

Register 8: Motor current

This register gives motor current information.

The data is 16bits integer with one decimal place. E.g. 156 = 15.6A, 12 = 1.2A.

Register 11: Digital input status

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 INVERTEK DRIVES LTD - OPTIDRIVE E2 APPLICATION NOTE

The value in this register represents the drive terminal digital input status (Digital input 1 to 4).
Lowest bit indicates digital input 1 status.

Register 12: Rating ID

The value in this parameter includes specific drive ID information, and is not recommended to be
used by customer. For more information regarding this parameter, please contact Invertek Drives
Ltd directly.

Register 13: Power rating

This gives the drive power rating information, value includes two decimal places. The unit of this
register depends on the drive type (KW/HP)

Register 14: Voltage level

This register gives the rated input voltage for the drive.
i.e. 230 : 230V 400: 400V 460: 460V

Register 15: IO software version

This register contains the drive IO software version info. Value includes two decimal places.
i.e. 100 means version 1.00
Register 16: Motor control processor software version

This register contains the software version info of the motor control processor. Value includes two
decimal places. E.g. 100 means version 1.00

Register 17: Drive type

This register gives drive internal type code.

Register 20: Analog input 1 value

This register gives drive analog input 1 value after scaling and offset control. Value 4096 = 100%.

Register 21: Analog input 2 value

This register gives drive analog input 2 value after scaling and offset control. Value 4096 = 100%.

Register 22: Speed reference value

This register contains the reference speed information that being used by the drive for motor speed
control. The data is in Hz and with one decimal place ( i.e. 234 = 23.4Hz)

Register 23: DC bus voltage

This register contains drive internal DC bus voltage information. Data unit is Volt.

Register 23: Drive temperature

This register contains drive temperature information. Data is in Celsius with no decimal place.

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Table 2: Parameter registers

(Support command 03 and 06)

Adr Par Description Data range Data format

129 01 Max speed limit 0 to 50 * P-09 Internal value (3000 = 50.0Hz)
130 02 Min speed limit 0 to P-01 Internal value (3000 = 50.0Hz)
131 03 Accel ramp time 0 to 60000 One decimal place 300=3.00s
132 04 Decel ramp time 0 to 60000 One decimal place 300=3.00s
0: Ramp to stop 1: Coast to stop
133 05 Stop mode select 0 to 2
2: Ramp to stop
134 06 Energy save 0 ,1 0: Disable 1: Enable
0, 20 to 250 V
135 07 Motor rated voltage
0, 20 to 500 V
136 08 Motor rated current Drive dependent One decimal place 300=30.0A
137 09 Motor rated frequency 25 to 500 Data unit is in Hz
Maximum value equals to the sync
138 10 Motor rated speed 0 to Sync speed
speed of a typical 2-pole motor
Size 1 - 0 to 200
139 11 Boost voltage value Size 2 - 0 to 150 100 = 10.0%
Size 3 - 0 to 100
0: Terminal
1: Keypad forward only
2: Keypad forward and reverse
3: Modbus control mode
140 12 Control mode 0 to 6
4: Modbus control with ramp control
5 : PID control
6 : PID control with analog speed
sum
Last four trips
141 13 Trip log
(See Appendix for details )
142 14 Access code 0 to 9999
143 15 Digital input function 0 to 12 See user guide for function details
0: 0…10V 1: b 0…10V
2: 0…20mA 3: t 4…20mA
144 16 Analog input format 0 to 6
4: r 4…20mA 5: t 20…4mA
6: r 20…4mA
0 to 5 and it is 0 = 4KHz, 1 = 8KHz, 2 = 12Khz
145 17 Effective switching frequency
drive dependent 3 =16KHz, 4 = 24KHz, 5 = 32KHz
146 18 Relay output function 0 to 7 See user guide for function details
147 19 Digital output limit 0…1000 100 = 10.0%
148 20 Preset speed 1 -P-01 to P-01 Internal value (3000 = 50.0Hz)
149 21 Preset speed 2 -P-01 to P-01 Internal value (3000 = 50.0Hz)
150 22 Preset speed 3 -P-01 to P-01 Internal value (3000 = 50.0Hz)
151 23 Preset speed 4 -P-01 to P-01 Internal value (3000 = 50.0Hz)
152 24 2nd deceleration ramp 0 to 2500 250 = 25.0s
153 25 Analog output function 0 to 9 See user guide for function details
154 26 Skip frequency 0 to P-01 Internal value (3000 = 50.0Hz)
155 27 Skip freq band 0 to P-01 Internal value (3000 = 50.0Hz)
156 28 V/F adjust voltage 0 to P-07 100 = 100V
157 29 V/F adjust frequency 0 to P-09 50 = 50Hz
0: Edgr-r 1: Auto_0
158 30 Start mode select 0 to 6
2…6: Auto_1 to Auto_5

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Adr Par Description Data range Data format

159 31 Keypad restart mode 0 to 3 See user guide for details
160 32 DC injection enable 0 to 250 250= 25.0s
161 33 Spin start enable 0 or 1
162 34 Brake circuit enable 0 to 2 See user guide for function details
163 35 Analog input scaling 0 to 5000 100 = 10%
Drive address (Low byte) 0 to 63 Drive comms address
1 = Optibus fixed baudrate
2 = 9K6 3 = 19K2
164 36 Baudrate select 1 to 6
4 = 38K4 5 = 57K6
6 = 115K2
Trip time setup 0 to 8 See user guide for more information
165 37 Access code definition 0 to 9999
166 38 Parameter lock 0 or 1 0: Unlock 1: Locked
167 39 Analog input offset -5000 to 5000 One decimal place 300=30.0%
168 40 Display scaling factor 0 to 6000 100 = 0.100
169 41 User PI P gain 1 to 300 10 = 1.0
170 42 User PI I time constant 0 to 300 10 = 1.0s
171 43 User PI mode select 0 or 1 See user guide for more information
172 44 User PI reference select 0 or 1 See user guide for more information
173 45 User PI digital reference 0 to 1000 100 =10.0%
174 46 User PI feedback select 0 to 3 See user guide for more information
0: 0...10V 1: 0…20mA
175 47 2nd an input format 0 to 5 2: t 4...20mA 3: r 4...20mA
4: t 20...4mA 5: r 20...4mA

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 INVERTEK DRIVES LTD - OPTIDRIVE E2 APPLICATION NOTE

Appendix
Drive error code information in Register 6:

Drive Error Drive Display

Description
Code Fault Code
Drive healthy no fault present
0x00 stop When the drive is disabled the display will STOP.
The display will change if drive is running.
0x01 OI-b Brake channel over current
0x02 OL-br Brake resistor overload
Over current on drive output.
0x03
O-I Excess load on the motor.
Over temperature on the drive heatsink
Drive has tripped on overload after delivering
0x04 I. t-trP >100% of value in P-08 for a period of time.
0x05 PS-Trp Internal power stage fault
0x06 O.Uo1t Over voltage on DC bus
0x07 U.Uo1t Under voltage on DC bus
0x08 O-t Heatsink over temperature
0x09 U-t Under temperature
0x0A P-def Factory Default parameters have been loaded
External trip
0X0B E-triP (on digital Input 3)
0X0C SC-trP Serial communications loss trip
0X0D RESERVED
0X0E P-LOSS Input phase loss trip
0X0F SPIN-F Spin start failed
0x10 th-Flt Faulty thermistor on heatsink.
0X11 data-F Internal memory fault.
0X12 4-20 F Analog input current out of range (4-20mA)

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Dataflow example:

1) Read data from register 6:

Request: [01] [03] [00] [05] [00] [01] [94] [0B]

(Drive Addr) (Command) (Reg start addr) (No. of Registers) (Checksum)

Reply: [01] [03] [02] [00] [00] [B8] [44]

(Drive Addr) (Command) (No of data bytes) (Data) (Checksum)

Note: The actual start address of register 6 is 5. All data in [ ] is in 8bits Hex format.

2) Write start command to the register 1 (suppose P-12 = 3, P-15 =0 and digital input 1 is closed):

Request: [01] [06] [00] [00] [00] [01] [48] [0A]

(Drive Addr) (Command) (Reg addr) (Data value) (Checksum)

Reply: [01] [06] [00] [00] [00] [01] [48] [0A]

(Drive Addr) (Command) (Reg addr) (Data value) (Checksum)

Note: The actual address of register 1 on the data link is 0. All data in [ ] is in 8bits Hex format.
Reply can be error message depending on drive parameter settings and digital input status.

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 INVERTEK DRIVES LTD - OPTIDRIVE E2 APPLICATION NOTE

Analog and Digital Input Configurations when in MODBUS control

mode (P12 = 3 or 4)
By changing the value in P-15 adjusts the functionality of the control terminals as below:

P-15 Digital input 1 (T2) Digital input 2 (T3) Digital input 3 (T4) Analog input (T6) Comments
Run and stop commands
0..2,
Open: Stop (disable) given via the RS485 link
4..5, No effect No effect No effect
Closed: Run (enable) and Digital input 1 must be
8..12
closed for the drive to run.
Connect external
1) Open: Stop (disable) Open : Master speed ref External trip input :
3 No effect thermistor type PT100 or
Closed: Run (enable) Closed : Preset speed 1 Open: Trip, Closed: Run
similar to digital input 3
1) Open: Stop (disable) Open : Master speed ref External trip input : Master Speed Ref - start
6 Analog input reference
Closed: Run (enable) Closed : Analog input Open: Trip, Closed: Run and stop controlled via
RS485. Keypad Speed Ref
Open : Master speed ref
1) Open: Stop (disable) External trip input : - drive auto runs if digital
7 Closed : keypad speed No effect
Closed: Run (enable) Open: Trip, Closed: Run input 1 closed, depending
ref
on P-31 setting

Example Wiring

AUTO – MODBUS Speed AUTO – MODBUS Speed AUTO – MODBUS Speed

HAND – Preset Speed 1 HAND – Analog Speed ref HAND – Keypad Speed ref (UP &
(potentiometer) DOWN keys on drive)

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Register Changes for E2 Single Phase Output Drives

The Optidrive E2 Single Phase Output drive has some registers that are different to the stand
Optidrive E2, for this reason the Registers/Parameters are listed below:

Adr Par Description Data range Data format

134 06 Reserved
148 20 Preset speed 1 0 to P-01 Internal value (3000 = 50.0Hz)
149 21 Preset speed 2 0 to P-01 Internal value (3000 = 50.0Hz)
150 22 Preset speed 3 0 to P-01 Internal value (3000 = 50.0Hz)
151 23 Preset speed 4 0 to P-01 Internal value (3000 = 50.0Hz)
160 32 Boost Frequency 0 to P09 50 = 50Hz
161 33 Boost Period Duration 0 to 150s 100 = 10.0 seconds

--- End ---

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