Modbus RTU: Instruction Manual

Modbus RTU
TM
VLT6000
Adjustable
Frequency
Drive
Instruction Manual
175R5467
Revision C 06/04
! WARNING ! WARNING
Equipment Hazard! Unintended Start!
Rotating shafts and electrical equipment can In Auto Mode, a start signal via digital inputs may
be hazardous. Therefore, it is strongly cause drive to start at any time. The drive, motor,
recommended that all electrical work and any driven equipment must be in operational
conform to National Electrical Code (NEC) readiness. Failure to be in operational readiness
and all local regulations. Installation, start- in Auto Mode could result in death, serious injury,
up and maintenance should be performed or equipment or property damage.
only by qualified personnel. Failure to follow
the NEC or local regulations could result in
death or serious injury. CAUTION
Electrostatic Discharge!
Motor control equipment and electronic controls are Electronic circuit card components are
connected to hazardous line voltages. When servicing sensitive to electrostatic discharge (ESD).
drives and electronic controls, there will be exposed ESD can reduce performance or destroy
components at or above line potential. Extreme care sensitive electronic components. Follow
should be taken to protect against shock. Stand on an proper ESD procedures during installation
insulating pad and make it a habit to use only one hand or servicing to prevent damage.
when checking components. Always work with another
person in case of an emergency. Disconnect power
whenever possible to check controls or to perform
maintenance. Be sure equipment is properly grounded.
Wear safety glasses whenever working on electric control
or rotating equipment.
! WARNING
Hazardous Voltage!
Touching electrical parts may be fatal, even after equipment has been
disconnected from the AC input line. To be sure that capacitors have fully
discharged, wait 14 minutes for 208 V and 480 V units and 30 minutes for 600 V
units over 25 hp after power has been removed before touching any internal
component. Failure to wait for capacitors to fully discharge before touching
internal components could result in death or serious injury.
Table of Contents
Overview
Introduction ............................................................................................. 4
About This Manual .................................................................................. 4
Assumptions ............................................................................................ 4
What You Should Already Know ............................................................. 4
References ............................................................................................... 4
Modbus RTU Overview ............................................................................ 5
Overview: VLT 6000 with Modbus RTU .................................................. 5
Network Connection
Network Connection ................................................................................ 6
Drive DIP Switch Settings for Network Connection ............................... 6
Drive Parameter Settings for Modbus RTU Communication ................. 6
Network Configuration
Remote Terminal Unit .............................................................................. 7
Modbus RTU Message Structure ............................................................ 7
Memory Mapping: Coils ......................................................................... 9
Memory Mapping: Holding Registers .................................................... 11
Memory Mapping: Numbering ............................................................... 12
Conversion Index and Data Type............................................................. 12
Communication Examples
Standard Modbus Functions .................................................................. 13
Example 1 Start the Drive and Give It a Reference via Modbus RTU ... 14
Example 2 Give the Drive a Reference via Modbus RTU ...................... 15
Example 3 Read Basic Drive Status Information .................................. 16
Example 4 Give the Drive a Ramp to Stop Command .......................... 18
Example 5 Give the Drive a Coast to Stop Command .......................... 19
Example 6 Set How the Drive Stores Parameter Values ....................... 20
Example 7 Write a Parameter Value from a List of Choices ................. 21
Example 8 Write a 16 Bit Parameter ...................................................... 22
Example 9 Write a 32 Bit Parameter ...................................................... 23
Example 10 Read a 32 Bit Parameter .................................................... 24
Example 11 Read Indexed Parameter and Read 8 Bit Parameter ......... 25
Example 12 Write a Text String .............................................................. 27
Example 13 Read a Text String .............................................................. 28
Exception Codes
Exception Codes ..................................................................................... 29
VLT is a registered Danfoss trademark 3

Introduction This manual provides comprehensive For specific information on installation and
instructions on the Modbus RTU option card operation of the adjustable frequency drive,
for the VLT 6000 Adjustable Frequency Drive refer to the VLT 6000 Operating Instructions.
to communicate over a Modbus network.
About This This manual is intended to be used for both experienced Modbus programmer, it is
Manual instruction and reference. It only briefly suggested that you read this manual in its
touches on the basics of the Modbus proto- entirety before you start programming since
col whenever necessary to gain an important information can be found in all
understanding of the Modbus RTU for the VLT sections.
6000.
This manual is also intended to serve as a

guideline when you specify and optimize your
communication system. Even if you are an
Assumptions This manual assumes that you have a VLT 6000 Adjustable Frequency Drive, are
controller that supports the interfaces in this strictly observed, along with all limitations
document and that all the requirements therein.
stipulated in the controller, as well as the
What You The VLT 6000 Modbus RTU protocol is document. It is assumed that you have full
Should designed to communicate with any controller knowledge of the capabilities and limitations of
that supports the interfaces defined in this the controller.
Already Know
References VLT 6000 Installation, Operation and

Maintenance Manual, Danfoss Graham
document number 175R5469.
(Referred to as the VLT 6000 Operating
Instructions in this document.)
4 VLT is a registered Danfoss trademark

Modbus RTU The common language used by all Modicon queries). The other devices (slaves) respond
Overview controllers is the Modbus RTU (Remote by supplying the requested data to the
Terminal Unit) protocol. This protocol master, or by taking the action requested in
defines a message structure that controllers the query.
will recognize and use, regardless of the
type of networks over which they The master can address individual slaves,
communicate. It describes the process a or can initiate a broadcast message to all
controller uses to request access to another slaves. Slaves return a message (called a
device, how it will respond to requests from response) to queries that are addressed to
the other devices, and how errors will be them individually. Responses are not returned
detected and reported. It establishes a to broadcast queries from the master.
common format for the layout and contents
of message fields. The Modbus RTU protocol establishes the
format for the masters query by placing into
During communications on a Modbus RTU it the device (or broadcast) address, a
network, the protocol determines how each function code defining the requested action,
controller will know its device address, any data to be sent, and an error-checking
recognize a message addressed to it, field. The slaves response message is also
determine the kind of action to be taken, constructed using Modbus protocol. It
and extract any data or other information contains fields confirming the action taken,
contained in the message. If a reply is any data to be returned, and an error-
required, the controller will construct the checking field. If an error occurred in receipt
reply message and send it. of the message, or if the slave is unable to
perform the requested action, the slave will
Controllers communicate using a master- construct an error message and send it in
slave technique in which only one device response, or a timeout will occur.
(the master) can initiate transactions (called
Overview: The VLT 6000 Adjustable Frequency Drive The Bus Reference is commonly used for
VLT 6000 with communicates in Modbus RTU format over speed control.
an EIA-485 (formerly RS-485) network.
Modbus RTU Modbus RTU allows access to the drive's It is also possible to access the drive
Control Word and Bus Reference. parameters, read their values, and, where
possible, write values to them. This permits
The Control Word allows Modbus to control a range of control possibilities, including
several important functions of the drive: controlling the drive's setpoint when its
internal PID controller is used.
Start
Stop the drive in several ways:
Coast stop
Quick stop
DC Brake stop
Normal (ramp) stop
Reset after a fault trip
Run at a variety of preset speeds
Run in reverse
Change the active setup
Control the drive's two built-in relays

Network Connect the Modbus RTU control wiring to
Connection drive terminals (+)68 and (-)69 on control card
as illustrated. 69 RTxD' (-)
Use 18 - 24 AWG (1.5 mm) shielded, twisted 68 RTxD (+)

pair control wiring. Tighten to 4.5 in-lbs (0.5
Nm). 61 COM
Shielded wiring must be used. Ground shield Pin 1

to drive terminal 61, drive casing, or as
appropriate for the network application.
EIA-485 Connector
DIP switches 2 and 3, located on the main

Drive DIP
control board of the drive directly above the
Switch EIA-485 connector, can be used to terminate
Settings for drives on the Modbus network (see figure). In
Network addition to serial communication, switch 4 is
Connection used to isolate a low voltage, external DC
power supply. The factory default switch
Drive DIP Switches
positions are ON (see table).
SWITCH SETTING
Switch 1 No function
Switches 2 & 3 Used for terminating an EIA-485 interface. When
the drive is the first, last, or only device on a
network, switches 2 and 3 must be ON.
When the drive is in any other location on the
network, switches 2 and 3 must be OFF.
Switch 4 Separates the common potential of the internal 24
VDC supply from the common potential of external
24 VDC supply. When switch 4 is in the OFF
position, the external 24 VDC supply is isolated
from the drive. See the drive operation manual for
more information on switch 4.
Drive DIP Switche Settings
Drive The Modbus RTU interface to the VLT 6000 Parameter 570, Modbus Parity/Frame:
Parameter Series drive requires drive parameter values select from the following, based on
Settings for selected as shown. See the VLT 6000 application.
Operating Instructions for details on selecting Even Parity/1 Stop
Modbus RTU and changing parameter values, if necessary.
Communica- Odd Parity/1 Stop
tion Parameter 500, Protocol: Modbus RTU No Parilty/1 Stop (factory default)
Parameter 501, Address: 001 - 247 Parameter 571, Modbus Communication
Parameter 502, Baud Rate: 300 - 9600 Timeout: 10 - 2000 ms. (Factory default
baud. (Factory default is 9600 baud.) setting is 100 ms.)

Remote The controllers are setup to communicate on a message contains two 4-bit hexadecimal
Terminal the Modbus network using RTU (Remote characters. The format for each byte is shown
Terminal Unit) mode, with each 8-bit byte in below.
Unit
Coding System: 8-bit binary, hexadecimal 0-9, A-F
Two hexadecimal characters contained in each 8-bit
field of the message
Bits Per Byte: 1 start bit

8 data bits, least significant bit sent first
1 bit for even/odd parity; no bit for no parity
1 stop bit if parity is used; 2 bits if no parity
Error Check Field: Cyclical Redundancy Check (CRC)
Modbus RTU A Modbus RTU message is placed by the intervals. When the first field (the address field)
Message transmitting device into a frame with a known is received, each drive or device decodes it
beginning and ending point. This allows to determine whether it is the addressed
Framing receiving devices to begin at the start of the device.
Structure message, read the address portion,
determine which device is addressed (or all Modbus RTU messages addressed to zero
devices, if the message is broadcast), and to are broadcast messages. No response is
know when the message is completed. needed on broadcast messages.
Partial messages are detected and errors set
as a result. To ensure the attribute data returned is the
most current, each attribute access must
The allowable characters transmitted for all include one attribute only.
fields are hexadecimal 0-9, A-F. The
adjustable frequency drives monitor the A typical message frame is shown below.
network bus continuously, including silent
Start Address Function Data CRC Check End

T1-T2-T3-T4 8 Bits 8 Bits n x 8 Bits 16 Bits T1-T2-T3-T4
Typical Modbus RTU Message Structure
Modbus RTU Start/Stop Field

Message Messages start with a silent interval of at least occurs before completion of the frame, the
3.5 character times. This is implemented as receiving device flushes the incomplete
Framing a multiple of character times at the selected message and assumes that the next byte will
Structure network baud rate (shown as Start T1-T2-T3- be the address field of a new message.
(continued) T4). The first field then transmitted is the device
address. Following the last transmitted Similarly, if a new message begins earlier that
character, a similar interval of at least 3.5 3.5 character times following a previous
character times marks the end of the message, the receiving device will consider
message. A new message can begin after this it a continuation of the previous message.
interval. This will cause a timeout (no response from
the slave) since the value in the final CRC field
The entire message frame must be is not valid for the combined messages.
transmitted as a continuous stream. If a silent
interval of more than 1.5 character times

Modbus RTU Address Field CRC Check Field
Message The address field of a message frame Messages include an error-checking field that
contains 8 bits. Valid slave device addresses is based on a cyclical redundancy check
Framing are in the range of 0 247 decimal. The (CRC) method. The CRC field checks the
Structure individual slave devices are assigned contents of the entire message. It is applied
(continued) addresses in the range of 1 247. (0 is regardless of any parity check method used
reserved for broadcast mode, which all slaves for the individual characters of the message.
recognize.) A master addresses a slave by The CRC value is calculated by the
placing the slave address in the address field transmitting device, which appends the CRC
of the message. When the slave sends its as the last field in the message. The receiving
response, it places its own address in this device recalculates a CRC during receipt of
address field to let the master know which the message and compares the calculated
slave is responding. value to the actual value received in the CRC
field. If the two values are not equal, a bus
Function Field timeout results.
The function field of a message frame
contains 8 bits. Valid codes are in the range The error checking field contains a 16-bit
of 1 255 decimal. When a message is sent binary value implemented as two 8-bit bytes.
from a master to a slave device, the function When this is done, the low-order byte of the
code field tells the slave what kind of action to field is appended first, followed by the high-
perform. order byte. The CRC high-order byte is the
last byte sent in the message.
When the slave responds to the master, it
uses the function code field to indicate either Coil/Register Addressing
a normal (error-free) response, or that some All data addresses in Modbus messages are
kind of error occurred (called an exception referenced to zero. The first occurrence of a
response). For a normal response, the slave data item is addressed as item number zero.
simply echoes the original function code. For For example:
an exception response, the slave returns a
code that is equivalent to the original function The coil known as coil 1 in a programmable
code with its most-significant bit set to a logic controller is addressed as coil 0000 in the
1. In addition, the slave places a unique code data address field of a Modbus message. Coil
into the data field of the response message. 127 decimal is addressed as coil 007EHEX (126
This tells the master what kind of error decimal).
occurred, or the reason for the exception.
See the Exception Codes section in this Holding register 40001 is addressed as
manual for definitions. register 0000 in the data address field of the
message. The function code field already
Data Field specifies a holding register operation.
The data field is constructed using sets of Therefore, the 4XXXX reference is implicit.
two hexadecimal digits, in the range of 00 to Holding register 40150 is addressed as register
FF hexadecimal. These are made from one 0095HEX (149 decimal).
RTU character. The data field of messages
sent from a master to slave device contains
additional information which the slave must
use to take the action defined by the function
code. This can include items like coil or register
addresses, the quantity of items to be handled,
and the count of actual data bytes in the field.
The data field can have a length of zero.

Memory This is primarily used to control drive operation
Mapping: and to read out basic status information.
Coils Coil 65 determines whether parameter
changes made via Modbus RTU are held in
the temporary memory (RAM) of the drive or
are, in addition, written to permanent memory
(EEPROM).
Coil
Number Description Signal Direction
1 16 Drive Control Word (see table) Master to Drive
17 - 32 Drive Speed or Setpoint Reference Master to Drive
0HEX = 0% Reference, the value set in
parameter 204.
4000HEX = 100% Reference, the value
set in parameter 205.
8000HEX = 200% Reference, the
maximum value that can be
transmitted via Modbus RTU.
In most cases, if references from multiple
sources are supplied to the drive, the drive
will respond to the sum of the references
33 48 Drive Status Word (see table) Drive to Master
49 64 Open Loop Mode: Drive Output Drive to Master
Frequency
0HEX = 0% of the reference value set in
parameter 204.
4000HEX = 100% of the reference value
Closed Loop Mode: Drive Feedback
Signal
0HEX = 0% of the reference value set in
parameter 204.
4000HEX = 100% of the Reference value

65 Parameter Write Control (Master to Drive) Master to Drive
0 Parameter changes are written to
the drives RAM and are lost when

power is removed from the drive.
1 Parameter changes are written to
the drive RAM and to its EEPROM
and are maintained when power is
removed from the drive.
66 - 65536 Reserved

Memory Control Word Coil Description
Mapping:
Coil 0 1
Coils
01 Preset Ref. LSB
(continued)
02 Preset Ref. MSB
03 DC Brake No DC Brake
Stop Commands
04 Coast stop No coast stop
05 Quick stop No quick stop The precedence of the stop
06 Freeze freq. No freeze freq. commands is as follows:
07 Ramp stop Start
08 No reset Reset 1. Coast stop
09 No jog Jog 2. Quick stop
3. DC Brake
10 no function
4. Normal (Ramp) stop
11 Data not valid Data valid
12 Relay 1 OFF Relay 1 ON
13 Relay 2 OFF Relay 2 ON
14 Setup LSB
15 Setup MSB
16 No reversing Reversing
Status Word Coil Description
Coil 0 1
33 Control not ready Control ready
34 Drive not ready Drive ready
35 Coasting Stop Safety closed
36 No alarm Alarm
37 Not in use
38 Not in use
39 Not in use
40 No warning Warning
41 Not at reference At reference
42 Hand mode Auto mode
43 Out of frequency range In frequency range
44 Stopped Running
45 No function No function
46 No voltage warning Voltage warning
47 Not in current limit Current limit
48 No thermal warning Thermal warning

Memory Holding registers are used to read and write For parameters that involve selecting from a
Mapping: drive parameters. They are standard Modbus list, refer to the individual parameter description
4x registers, 40001 through 4000F (see table in the drive instruction manual to determine
Holding below). A number of read-out parameters are the numeric value associated with each
Registers provided in the 500 group of parameters to selection. This value is shown in brackets [ ] in
allow detailed operational information read each parameter selection.
through serial communications. A parameter
value is accessed by using the register number Parameters that involve alphanumeric data can
that is 10 times its parameter number. For store up to 20 ASCII characters. Two
example, parameter 201 is accessed through characters can be transferred in each register.
register 2010. See the drive instruction manual
for valid parameter numbers and their
meanings.
For parameters with numeric data:
Refer to the Data Type table (on the following

page) for each parameter to determine if one
register (for 8 and 16-bit values) or two registers
(for 32-bit values) must be transferred.
Refer to the Conversion Index table (on the

following page) for each parameter, as shown
in the drive instruction manual, to properly
scale numeric values that are sent via
Modbus RTU.
Register
Number Description
00001 00008 Reserved
00009 Used to specify the index number to be used when an indexed parameter is
accessed.
00010 00990 000 Parameter Group (parameters 001 through 099, as available)
Holding Register Parameter Groups

Memory A coil or register number is offset by one from
Mapping: the coil or register address. Coil and register
numbers start at 1 while the coil and register
Numbering addresses for them start at 0. Therefore, to
find a coil or register address from the number,
subtract 1.
Conversion When accessing a parameter value in the

Index and drive, note the Conversion Index and Data Type
of the parameter. These are shown in the Index Factor
Data Type parameter table in the back of the drives
instruction manual. 74 3.6
2 100.0
The conversion index is used to properly scale 1 10.0
the value that is transmitted over the serial 0 1.0
communications. This is necessary because -1 0.1
only integers are passed over the serial -2 0.01
communications. To represent decimal -3 0.001
numbers, a conversion factor is associated with -4 0.0001
each conversion index. To convert a value
passed over the serial communications to the Conversion Index
actual value, simply multiply it by the index.
Example: Parameter 201, Minimum

Frequency, has a conversion index of -1.
The conversion factor is therefore 0.1. A
value of 150 that is transmitted via serial
communications, therefore, represents
150 x 0.1 = 15.0.
The data type indicates the number of bits

Data Type Description
needed to transmit the number via serial
3 Integer 16
communications. 8 or 16 bit data occupy one
Modbus RTU register while 32 bit data requires 4 Integer 32
two registers. 5 Unsigned 8
6 Unsigned 16
Example: Parameter 515, Data Read-out: 7 Unsigned 32
Power kW, has a data type of 7. It is a 32- 9 Text string
bit unsigned number. In order to read the
output power from the drive, it is necessary Data Type
to read two Modbus RTU registers.

Standard The drives Modbus RTU interface supports the following standard Modbus RTU functions.
Modbus 01HEX Read Coil Status 03 HEX Read Holding Registers
(Example 3) (Example 10 & 11)
Functions 05 HEX Force Single Coil 06 HEX Preset Single Register
(Example 6) (Example 7, 8 & 11)
0F HEX Force Multiple Coils 10 HEX Preset Multiple Registers
(Examples 1, 2, 4 & 5) (Example 9 & 12)
Communica- The examples on the following pages demonstrate how to use these functions to control and
monitor drive operation. All communication examples assume that the drives Modbus RTU
tion
address is 1.
Examples
Example 1 Start the Drive and Give It a Reference via ModbusRTU
Setting the Control Word and Serial Reference Coils
Modbus Function 0FHEX Force Multiple Coils
Example 2 Give the Drive a Reference via ModbusRTU
Setting the Control Word and Serial Reference Coils
Example 3 Read Basic Drive Status Information
Reading the Status Word and Output Frequency/Feedback Coils
Modbus Function 01HEX Read Coil Status
Example 4 Give the Drive a Ramp to Stop Command
Setting the Control Word Coils
Example 5 Give the Drive a Coast to Stop Command
Setting the Control Word Coils
Example 6 Set How the Drive Stores Parameter Values
Setting Coil 65
Modbus Function 05HEX Force Single Coil
Example 7 Write a Parameter Value from a List of Choices
Writing a single register
Modbus Function 06HEX Preset Single Register
Example 8 Write a 16 Bit Parameter
Writing a single register
Writing two registers
Modbus Function 10HEX Preset Multiple Registers
Example 10 Read a 32 Bit Parameter
Reading two registers
Modbus Function 03HEX Read Holding Registers
Example 11 Read an Indexed Parameter and Read an 8 Bit Parameter
Setting the value of register 1 and reading a single register
Example 12 Write a Text String
Writing multiple registers
Modbus Function 10HEX Preset Multiple Registers
Example 13 Read a Text String
Reading multiple registers

Example 1 Start the Drive and Give It a 40% Reference via ModbusRTU
While this example shows both starting the drive and giving it a reference via Modbus RTU, it is
possible to simply give it a start command. To do this, force only coils 1 through 16.
ModbusRTU Function: 0FHEX (Force Multiple Coils)

Overview:
Force coils 110 through 1610 to 047CHEX.
This is a run command. Refer to the description of the Control Word. Other Control
Words could also give a run command, depending on the other functions desired.
Force coils 1710 through 3210 to 1999HEX.
Because a value of 4000HEX represents a 100% reference, the value for a 40%
reference is 1999HEX.
Message from ModbusRTU Master to Drive

Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6
Slave Function Coil Addr., Coil Addr. No. of Coils, No. of Coils, Byte Count
Address High Low High Low
01 0F 00 00 00 20 04
Byte 7 Byte 8 Byte 9 Byte 10 Byte 11 Byte 12

Force Coils Force Coils Force Coils Force Coils CRC Error Check
Addr. 0-7 Addr. 8-15 Addr. 16-23 Addr, 24-31
7C 04 99 19 37 43
ModbusRTU message string:

[01] [0F] [00] [00] [00] [20] [04] [7C] [04] [99] [19] [37] [43]
{
Run Command: 0000 0100 0111 1100 = 047CHEX

(See the Control Word Coil Description)
[01] [0F] [00] [00] [00] [20] [04] [7C] [04] [99] [19] [37] [43]
{
Commanded Reference: 40% of 4000HEX = 1999HEX
Message returned from Drive to ModbusRTU Master

Slave Address Function Coil Addr., Coil Addr. No. of Coils, No. of Coils,
High Low High Low
01 0F 00 00 00 20
Byte 6 Byte 7
CRC Error Check
54 13

Example 2 Give the Drive a 75% Reference via ModbusRTU

Overview:
Because a value of 4000HEX represents a 100% reference, the value for a 75%
reference is 3000HEX.
The value of coil 11 must have previously been set to 1 for the drive to respond to
the changed speed reference.

Slave Address Function Coil Addr., Coil Addr. # of Coils, # of Coils, Byte Count
High Low High Low
01 0F 00 10 00 10 02
Byte 7 Byte 8 Byte 09 Byte 10

Force Coils Force Coils CRC Error Check
Addr. 16-23 Addr, 24-31
00 30 E0 A4

[01] [0F] [00] [10] [00] [10] [02] [00] [30] [E0] [A4]
{
Commanded Reference: 75% of 4000HEX = 3000HEX

High Low High Low
01 0F 00 10 00 10
Byte 6 Byte 7
CRC Error Check
55 C2

Example 3 Read Basic Drive Status Information
(Read the status and the speed of the drive or the value of its feedback
signal.)
While detailed status information can be read by accessing the Data Read-out parameters in the
500 group of parameters and some other locations, it is also possible to read general drive status
by reading coils 33 through 64.
Coils 33 through 48 contain the drive Status Word.
Coils 49 through 64 contain the drive output speed during open loop operation and the
drive feedback value during closed loop operation.
ModbusRTU Function: 01HEX (Read Coil Status)

Overview:
Read the value of coils 3310 through 6410.

High Low High Low
01 01 00 20 00 20
Byte 6 Byte 7
CRC Error Check
3C 18
Modbus RTU message string:

[01] [01] [00] [20] [00] [20] [3C] [18]
{
Starting Coil Address = Coil Number 1 = 33 1 = 3210 = 20HEX
[01] [01] [00] [20] [00] [20] [3C] [18]

{
Number of Coils to Read = 3210 = 20HEX

Slave Function # of Coil Data Coil Data Coil Data Coil Data
Address Bytes 33 - 40 41 - 48 49 - 56 57 - 64
01 01 04 07 0F FF 1F
Byte 7 Byte 8
CRC Error Check
CA 9E
CONTINUED ON NEXT PAGE

Example 3 ModbusRTU message string:
(continued) [01] [01] [04] [07] [0F] [FF] [1F] [CA] [9E]
Status Word = 0F07 = 0000 1111 0000 0111
{
At Reference Control Ready
Remote Mode Drive Ready
In Frequency Range Safety Closed
Running
[01] [01] [04] [07] [0F] [FF] [1F] [CA] [9E]
{
Output Frequency (for Open Loop operation)
4000HEX = 100%, so 1FFFHEX = 50%
If Parameter 204, MIN. REFERENCE = 10Hz
and Parameter 205, MAX. REFERENCE = 60Hz,
then the output frequency is 50% of the way between 10Hz and
60Hz,
or 35Hz.

Example 4 Give the Drive a Ramp to Stop Command

Overview:
Note: It isnt necessary to change the reference value to stop the drive. It also
isnt necessary to give a reference vie ModbusRTU in order to start the
drive.
Force coils 110 through 1610 to 043CHEX.
This is a ramp stop command. Refer to the description of the Control Word. Other
Control Words could also give a ramp stop command, depending on the other
functions desired.

01 0F 00 00 00 10 02

Addr. 0-7 Addr. 8-15
3C 04 F2 E3

[01] [0F] [00] [00] [00] [10] [02] [3C] [04] [F2] [E3]
{
Ramp Stop Command: 0000 0100 0011 1100 = 043CHEX


High Low High Low
01 0F 00 00 00 10
Byte 6 Byte 7
CRC Error Check
54 07

Example 5 Give the Drive a Coast to Stop Command
A ModbusRTU coasting stop command, when drive parameter 503 is set to allow coasting
stop commands via the serial bus, acts much like a safety interlock. The drive cannot run
in any mode until the coasting stop command is removed. The lower right corner of the
drives normal display will show UN.READY when a coasting stop command is active.

Overview:
Note: It isnt necessary to change the reference value to stop the drive. It also
isnt necessary to give a reference via ModbusRTU in order to start the
drive.
This is a coast stop command. Refer to the description of the Control Word. Other
Control Words could also give a coast stop command, depending on the other
functions desired.
Message sent from the ModbusRTU Master to the Drive

01 0F 00 00 00 10 02

Addr. 0-7 Addr. 8-15
74 04 C4 E3

[01] [0F] [00] [00] [00] [10] [02] [74] [04] [C4] [E3]
{
Coast Stop Command: 0000 0100 0111 0100 = 0474 HEX


High Low High Low
01 0F 00 00 00 10
Byte 6 Byte 7
CRC Error Check
54 07

Example 6 Set How the Drive Stores Parameter Values
(Set the drive to store parameter changes in EEPROM)
By default, parameter changes made via ModbusRTU are only written to Random Access
Memory (RAM). When power to the drive is cycled, these changes are lost. Because it is
possible to write to parameters a large number of times using ModbusRTU, writing values
by default to RAM avoids subjecting the Electronically Erasable Programmable Read Only
Memory (EEPROM) to an excessive number of write operations. To write a parameter
change to the drives EEPROM, first write the value 1 to coil number 65. Then make the
parameter change. Afterwards, to keep future parameter changes from being permanent,
write the value 0 to coil number65.
ModbusRTU Function: 05HEX (Force Single Coil)

Overview:
Force coil number 6510 to 1.

High Low High Low
01 05 00 40 FF 00
Byte 6 Byte 7
CRC Error Check
8D EE

[01] [05] [00] [40] [FF] [00] [8D] [EE]
{
Coil Address: Coil Number 1 = 65 1 = 6410 = 0040HEX.

High Low High Low
01 05 00 40 FF 00
Byte 6 Byte 7
CRC Error Check
8D EE

Example 7 Write a Parameter Value from a List of Choices
(Set Parameter 301, DIGITAL INPUT 17, to RUN PERMISSIVE)
From the tables in the back of the drives instruction manual:

Data Type = 5 Unsigned 8 bit number
Conversion Index = 0 Conversion Factor = 1 (no conversion needed)
From the description of Parameter 301 in the drives instruction manual:

RUN PERMISSIVE is choice number [8]
ModbusRTU Function: 06HEX (Preset Single Register)

Overview:
Preset Register 301010 to 08HEX.
Because this is an 8 bit number, only a single register needs to be accessed.

Slave Address Function Register Addr., Register Addr. Preset Data Preset Data
High Low High Low
01 06 0B C1 00 08
Byte 6 Byte 7
CRC Error Check
DB D4

[01] [06] [0B] [C1] [00] [08] [DB] [D4]
{
Register Address = (Parameter Number x 10) 1 = 300910 = 0BC1HEX
[01] [06] [0B] [C1] [00] [08] [DB] [D4]

{
Set the parameter value to 8
Message returned from the Drive to the ModbusRTU Master:

High Low High Low
01 06 0B C1 00 08
Byte 6 Byte 7
CRC Error Check
DB D4

(Write the value 60Hz to Parameter 104.)
From the tables in the back of the drive instruction manual:


Overview:
Preset Register 104010 to 3CHEX.
Because this is a 16 bit number, only a single register needs to be accessed.
There is no conversion needed to send the value, except to convert 6010 to 3CHEX.

High Low High Low
01 06 04 0F 00 3C
Byte 6 Byte 7
CRC Error Check
B8 E8

[01] [06] [04] [0F] [00] [3C] [B8] [E8]
{
Register Address = (Parameter Number x 10) 1 = 103910 = 040FHEX
[01] [06] [04] [0F] [00] [3C] [B8] [E8]

{
6010 = 003CHEX

High Low High Low
01 06 04 0F 00 3C
Byte 6 Byte 7
CRC Error Check
B8 E8

(Write the value 10.2A to Parameter 105)

Conversion Index = -2 Conversion Factor = 0.01
ModbusRTU Function: 10HEX (Preset Multiple Registers)

Overview:
Preset two Registers, starting at 105010, 03FCHEX.
Because the Conversion Factor is 0.01, the number 1020 must be sent via
ModbusRTU to represent 10.20A. 102010 = 0000 03FCHEX.

Byte 0 B yte 1 B yte 2 B yte 3 Byte 4 Byte 5 B yte 6
Slave Function S tart Register S tart Register No. of No. of No. of B ytes
A ddress A ddr., High Addr. Low Registers Registers
High Low
01 10 04 19 00 02 04
B yte 7 Byte 8 B yte 9 B yte 10 Byte 11 B yte 12

Register 1 Register 1 Register 2 Register 2 CRC E rror Check
Data, High Data, Low Data, High Data, Low
00 00 03 FC 00 B8

[01] [10] [04] [19] [00] [02] [04] [00] [00] [03] [FC] [00] [B8]
{
Register Address = (Parameter Number x 10) 1 = 104910 = 0419HEX
[01] [10] [04] [19] [00] [02] [04] [00] [00] [03] [FC] [00] [B8]
{{
{
10.2 x 100 = 102010= 0000 03FCHEX

Slave Address Function Start Register Start Register No. of No. of
Addr., High Addr., Low Registers Registers
High Low
01 10 04 19 00 02
Byte 6 Byte 7
CRC Error Check
91 3F

Example 10 Read a 32 Bit Parameter
(Read the value of Parameter 514, Motor Current)

Conversion Index = -2 Conversion Factor = 0.01 (multiply the value from
ModbusRTU by 0.01)
ModbusRTU Function: 03HEX (Read Holding Registers)

Overview:
Read Two Registers, Starting at 5140HEX.
Because this is a 32 bit number, two registers need to be read.
It will be necessary to multiply the value returned by 0.01.

Slave Address Function Register Addr., Register Addr. No. of No. of
High Low Registers Registers
High Low
01 03 14 13 00 02
Byte 6 Byte 7
CRC Error Check
30 3E

[01] [03] [14] [13] [00] [02] [30] [3E]
{

Byte 0 B yte 1 B yte 2 B yte 3 B yte 4 B yte 5 Byte 6
Slave Function Byte Count Data High Data Low Data High Data Low
A ddress (Register (Register (Register (Register
5140) 5140) 5141) 5141)
01 03 04 00 00 02 59
B yte 7 Byte 8
CRC E rror Check
3B 69

[01] [03] [04] [00] [00] [02] [59] [3B] [69]
{{
{
00000259HEX = 60110
601 x 0.01 = 6.01 A

Example 11 Read an Indexed Parameter and Read an 8 Bit Parameter
(Read the value of Parameter 615, Index 4, Fault Log: Error Code)

Conversion Index = 0 Conversion Factor = 0.01 (no conversion needed)
This is a 2-step process.

First select the index value to use.
Next, read the value of the parameter.
Step 1
Overview:
Set register 910 to 4, the index value.

High Low High Low
01 06 00 08 00 04
Byte 6 Byte 7
CRC Error Check
09 CB

[01] [06] [00] [08] [00] [04] [09] [CB]
{
Register Address = Register Number 1 = 9 1 = 8
[01] [06] [00] [08] [00] [04] [09] [CB]

{
Index Number = 4
Step 2
Overview:
Read Register 615010
Because the value is an 8 bit number, only one register needs to be read.
No conversion factor will be needed.

High Low
01 03 18 05 00 01
Byte 6 Byte 7
CRC Error Check
92 AB
CONTINUED ON NEXT PAGE

Example 11 ModbusRTU message string:
(continued) [01] [03] [18] [05] [00] [01] [92] [AB]
{
Recall that in ModbusRTU Register Address = Register Number -1

Slave Function Byte Count Data Data CRC Error Check
Address High Low
01 03 02 00 3C B8 55

[01] [03] [02] [00] [3C] [B8] [55]
{
003CHEX = 6010
The Alarm Table in the drive Instruction Manual shows that this is a Safety
Interlock alarm.

Example 12 Write a Text String
(Write the text string Drive to Parameter 534)
Some parameters are designed to hold text strings. The maximum length of a text string is
20characters. Text is transferred in ASCII format. Each register can hold two ASCII
characters.

Data Type = 9 Text string
ModbusRTU Function: 10HEX (Preset Multiple Registers)

Overview:
Preset three Registers, starting as 534010, to the value 44 72 69 76 65 20 HEX.

Slave Function Start Register Start Register No. of No. of No. of Bytes
Address Addr., High Addr. Low Registers Registers
High Low
01 10 14 DB 00 03 06

Register 1 Register 1 Register 2 Register 2 Register 2 Register 2
Data, High Data, Low Data, High Data, Low Data, High Data, Low
44 72 69 76 65 20
Byte 13 Byte 14
CRC Error Check
33 BD

[01] [10] [14] [DB] [00] [03] [06] [44] [72] [69] [76] [65] [20] [33] [BD]
{
Register Address = (Parameter Number x 10) 1 = 533910 = 14DBHEX
[01] [10] [14] [DB] [00] [03] [06] [44] [72] [69] [76] [65] [20] [33] [BD]
{
{
{
D r i v e [space]

Slave Address Function Start Register Start Register No. of No. of
Addr., High Addr., Low Registers Registers
High Low
01 10 14 DB 00 03
Byte 6 Byte 7
CRC Error Check
F5 C3

Example 13 Read a Text String
(Read the value of Parameter 622, Power Section)
A text field in the drive can contain up to 20 characters. If too few characters are read, the
string that is transferred will be truncated. Text is transferred in ASCII format. Each
register can hold two ASCII characters.

Data Type = 9 Text string

Overview:
Read ten registers, starting at 622010.

High Low
01 03 18 4B 00 0A
Byte 6 Byte 7
CRC Error Check
B3 7B

[01] [03] [18] [4B] [00] [0A] [B3] [7B]
{
Register Address = (Parameter Number x 10) 1 = 621910 = 184BHEX

Slave Address Function Byte Count Data High Data Low Data High Data Low
(Register 6220) (Register 6220) (Register 6221) (Register 6221)
01 03 14 53 54 41 4E
Byte 7 Byte 8 Byte 9 Byte 10 Byte 11 Byte 12 Byte 13 Byte 13

Data High Data Low Data High Data Low Data High Data Low Data High Data Low
(Register 6222) (Register 6222) (Register 6223) (Register 6223) (Register 6224) (Register 6224) (Register 6225) (Register 6225)
44 41 52 44 20 20 20 20
Byte 7 Byte 8 Byte 9 Byte 10 Byte 11 Byte 12 Byte 13 Byte 13

Data High Data Low Data High Data Low Data High Data Low Data High Data Low
(Register 6226) (Register 6226) (Register 6227) (Register 6227) (Register 6228) (Register 6228) (Register 6229) (Register 6229)
20 20 20 20 20 20 20 20
Byte 7 Byte 8
CRC Error Check
0E C5

[01] [03] [14] [53] [54] [41] [4E] [44] [41] [52] [44] [20] [20] [20] [20] [20] [20] [20] [20] [20] [20] [20] [20] [0E] [C5]
{{
{
S TAN DAR D [filled with spaces]

Exception When the drive responds to the master via code with its most-significant bit set to a logic
Codes the Modbus serial network, it uses the function 1. In addition, the drive places a unique code
code field to indicate either a normal (error- into the data field of the response message.
free) response or an error (called an exception This tells the master what kind of error
response). In an error-free response, the drive occurred, or the reason for the exception. The
simply echoes the original function code. For tables below identify the codes and describe
an exception response, the drive will return a their meaning.
code that is equivalent to the original function
Modbus Code
(hexadecimal) Meaning
00 The parameter number does not exist.
01 There is no write access to the parameter.
02 The data value exceeds the parameter limits.
03 The used sub-index does not exist.
17 Data change in the parameter called is not possible in the present
mode of the drive. Some parameters can only be changed when
the motor has stopped.
40 Invalid data address
41 Invalid message length
42 Invalid data length
43 Invalid function code
82 There is no bus access to the parameter called
Exception Codes

Danfoss Graham
Division of Danfoss Inc.
8800 West Bradley Road

P.O. Box 245041
Milwaukee, Wisconsin 53224-9541
Phone: (414) 355-8800 Fax: (414) 355-6117
Toll free: (800) 621-8806
E-mail: graham@grahamdrives.com
http://www.namc.danfoss.com
23-6130-00

Modbus RTU: Instruction Manual

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Modbus RTU

VLT is a registered Danfoss trademark 3

This manual is also intended to serve as a

References VLT 6000 Installation, Operation and

4 VLT is a registered Danfoss trademark

VLT is a registered Danfoss trademark 5

Use 18 - 24 AWG (1.5 mm) shielded, twisted 68 RTxD (+)

Shielded wiring must be used. Ground shield Pin 1

DIP switches 2 and 3, located on the main

Drive DIP Switche Settings

6 VLT is a registered Danfoss trademark

Bits Per Byte: 1 start bit

Error Check Field: Cyclical Redundancy Check (CRC)

Start Address Function Data CRC Check End

Modbus RTU Start/Stop Field

VLT is a registered Danfoss trademark 7

8 VLT is a registered Danfoss trademark

VLT is a registered Danfoss trademark 9

Status Word Coil Description

10 VLT is a registered Danfoss trademark

For parameters with numeric data:

Refer to the Data Type table (on the following

Refer to the Conversion Index table (on the

Holding Register Parameter Groups

VLT is a registered Danfoss trademark 11

Conversion When accessing a parameter value in the

Example: Parameter 201, Minimum

The data type indicates the number of bits

12 VLT is a registered Danfoss trademark

VLT is a registered Danfoss trademark 13

ModbusRTU Function: 0FHEX (Force Multiple Coils)

Message from ModbusRTU Master to Drive

Byte 7 Byte 8 Byte 9 Byte 10 Byte 11 Byte 12

ModbusRTU message string:

Run Command: 0000 0100 0111 1100 = 047CHEX

Commanded Reference: 40% of 4000HEX = 1999HEX

Message returned from Drive to ModbusRTU Master

14 VLT is a registered Danfoss trademark

ModbusRTU Function: 0FHEX (Force Multiple Coils)

Message from ModbusRTU Master to Drive

Byte 7 Byte 8 Byte 09 Byte 10

ModbusRTU message string:

Commanded Reference: 75% of 4000HEX = 3000HEX

Message returned from Drive to ModbusRTU Master

VLT is a registered Danfoss trademark 15

ModbusRTU Function: 01HEX (Read Coil Status)

Message from ModbusRTU Master to Drive

Modbus RTU message string:

Starting Coil Address = Coil Number 1 = 33 1 = 3210 = 20HEX

[01] [01] [00] [20] [00] [20] [3C] [18]

Number of Coils to Read = 3210 = 20HEX

Message returned from Drive to ModbusRTU Master

CONTINUED ON NEXT PAGE

16 VLT is a registered Danfoss trademark

Status Word = 0F07 = 0000 1111 0000 0111

[01] [01] [04] [07] [0F] [FF] [1F] [CA] [9E]

VLT is a registered Danfoss trademark 17

ModbusRTU Function: 0FHEX (Force Multiple Coils)

Message from ModbusRTU Master to Drive