ACTIVE CUBE

Modbus/TCP
Communication module CM-Modbus/TCP
Frequency inverter 230 V / 400 V
CONTENTS

1 GENERAL INFORMATION ABOUT THE DOCUMENTATION 5

1.1 This document 5

1.2 Warranty and liability 6

1.3 Obligation 6

1.4 Copyright 6

1.5 Storage 6

2 GENERAL SAFETY INSTRUCTIONS AND INFORMATION ON USE 7

2.1 Terminology 7

2.2 Designated use 8

2.3 Misuse 8
2.3.1 Explosion protection 8

2.4 Residual risks 9

2.5 Safety and warning signs on the frequency inverter 9

2.6 Warning information and symbols used in the user manual 10

2.6.1 Hazard classes 10
2.6.2 Hazard symbols 10
2.6.3 Prohibition signs 10
2.6.4 Personal safety equipment 10
2.6.5 Recycling 11
2.6.6 Grounding symbol 11
2.6.7 ESD symbol 11
2.6.8 Information signs 11
2.6.9 Font style in documentation 11

2.7 Directives and guidelines to be adhered to by the operator 11

2.8 Operator's general plant documentation 11

2.9 Operator's/operating staff's responsibilities 12

2.9.1 Selection and qualification of staff 12
2.9.2 General work safety 12

2.10 Organizational measures 12

2.10.1 General 12
2.10.2 Use in combination with third-party products 12
2.10.3 Transport and Storage 13
2.10.4 Handling and installation 13
2.10.5 Electrical connections 13
2.10.6 Safe operation 13
2.10.7 Maintenance and service/troubleshooting 14
2.10.8 Final decommissioning 14

10/13 ACU Modbus/TCP 1

3 INTRODUCTION 15

3.1 Supported configurations 17

3.2 Initialization time 18

4 FIRST COMMISSIONING 18

5 ASSEMBLY/DISASSEMBLY OF COMMUNICATION MODULE 19

5.1 Assembly 19

5.2 Disassembly 20

6 MODBUS/TCP INTERFACE 21

6.1 Communication modules 22

6.1.1 Installation instructions 23

6.2 Setup 23
6.2.1 TCP/IP configuration 23
6.2.2 TCP/IP address & Subnet settings 24
6.2.3 Modbus/TCP Timeout settings 24

6.3 Operating behavior in the case of a communication error 25

7 PROTOCOL 26

7.1 Telegram structure 26

7.2 Supported function codes 27

7.2.1 Function code 3, reading 16-bit or 32-bit parameters 28
7.2.2 Function code 6, write 16-bit parameter 29
7.2.3 Function code 16, write 16-bit parameter 31
7.2.4 Function code 16, write 32-bit parameter 32
7.2.5 Function code 100 (=0x64), read 32-bit parameter 33
7.2.6 Function code 101 (=0x65), write 32-bit parameter 34
7.2.7 Function code 8, diagnosis 36
7.2.8 Exception condition responses 38
7.2.9 Exception condition codes 39
7.2.10 Modbus/TCP mode of transmission 40

7.3 Resetting errors 40

8 PARAMETER ACCESS 41

8.1 Handling of datasets / cyclic writing of parameters 41

8.2 Handling of index parameters / cyclic writing 42

8.2.1 Example: Writing of index parameters 43
8.2.2 Example: Reading of index parameters 43

2 ACU Modbus/TCP 10/13

9 EXAMPLE MESSAGES MODBUS/TCP 44

9.1 16-bit access 44

9.1.1 Function code 3, read 16-bit parameter 44
9.1.2 Function code 6, write 16-bit parameter 45
9.1.3 Function code 16, write 16-bit parameter 46

9.2 32-bit access 47

9.2.1 Function code 3, read 32-bit parameter 47
9.2.2 Function code 16, write 32-bit parameter 48
9.2.3 Function code 100 (=0x64), read 32-bit parameter 49
9.2.4 Function code 101 (=0x65), write 32-bit parameter 50
9.2.5 Function code 8, diagnosis 51

10 MOTION CONTROL INTERFACE (MCI) / MOTION CONTROL OVERRIDE

(MCO) 52

10.1 Motion Control Override 53

10.2 Functions of Motion Control Interface (MCI) 58

10.2.1 Reference system 58
10.2.2 Modes of operation 58
10.2.3 Current position and contouring errors 59
10.2.4 Target window 59
10.2.5 Position Controller 60
10.2.6 Homing 61
10.2.7 Move away from Hardware limit switches 62

11 CONTROL OF FREQUENCY INVERTER 63

11.1 Control via contacts/remote contacts 64

11.1.1 Device state machine 66

11.2 Control via state machine 67

11.2.1 Statemachine diagram 69

11.3 Configurations without Motion Control 72

11.3.1 Behavior in the case of a quick stop 72
11.3.2 Behavior in the case of transition 5 (disable operation) 73
11.3.3 Reference value/actual value 74
11.3.4 Example sequence 75

11.4 Motion control configurations 76

11.4.1 Velocity mode [rpm] 77
11.4.2 Profile Velocity mode [u/s] (pv) 82
11.4.3 Profile position mode 86
11.4.4 Homing mode 94
11.4.5 Table travel record 97
11.4.6 Move away from limit switch mode 105
11.4.7 Electronic gear: Slave 109

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12 ACTUAL VALUES 120

12.1 Actual values Motion Control Interface / Motion Control Override 120

13 PARAMETER LIST 121

13.1 Actual values (Menu “Actual”) 121

13.2 Parameters (Menu “Para”) 122

14 APPENDIX 124

14.1 List of control words 124

14.2 Overview of status words 125

14.3 Warning messages 126

14.4 Application warning messages 127

14.5 Error messages 128

14.6 Conversions 129

14.6.1 Speed [1/min] into frequency [Hz] 129
14.6.2 Frequency [Hz] into speed [1/min] 129
14.6.3 Speed in user units per second [u/s] into frequency[Hz] 129
14.6.4 Frequency [Hz] into speed in user units per second [u/s] 129
14.6.5 Speed in user units per second [u/s] into speed [1/min] 129
14.6.6 Speed [1/min] into speed in user units per second [u/s] 129

INDEX 130

4 ACU Modbus/TCP 10/13

1 General Information about the Documentation
For better clarity, the documentation of the frequency inverter is structured according to the custom-
er-specific requirements.

The present manual was created in the German language. The German manual is the original version.
Other language versions are translations.

Quick Start Guide

The “Quick Start Guide” describes the basic steps required for mechanical and electrical installation of
the frequency inverter. The guided commissioning supports you in the selection of necessary parame-
ters and the configuration of the software of the frequency inverter.

User manual
The user manual documents the complete functionality of the frequency inverter. The parameters
required for special purposes, for adjustment to the application and the numerous additional functions
are described in detail.
Separate user manuals are supplied for optional components for the frequency inverter. These manu-
als complement the operating instructions and the “Quick Start Guide” for the frequency inverter.

Application manual
The application manual complements the documentation to ensure goal-directed installation and
commissioning of the frequency inverter. Information on various topics in connection with the use of
the frequency inverter is described in context with the specific application.

Installation instructions
The installation manual describes the installation and use of devices, complementing the “Quick Start
Guide” and the user manual.

1.1 This document

This document describes the communication via the Modbus/TCP protocol with frequency inverters of
the ACTIVE Cube series of devices. Thanks to the modular hardware and software structure, the fre-
quency inverters can be customized to meet to customer's specific requirements, including applica-
tions requiring high functionality and dynamism.

WARNING
Compliance with the documentation is required to ensure safe operation of the frequen-
cy inverter. BONFIGLIOLI VECTRON GmbH shall not be held liable for any damage
caused by any non-compliance with the documentation.

In case any problems occur which are not covered by the documentation sufficiently,
please contact the manufacturer.

10/13 ACU Modbus/TCP 5

1.2 Warranty and liability
BONFIGLIOLI VECTRON GmbH would like to point out that the contents of this user manual do not
form part of any previous or existing agreement, assurance or legal relationship. Neither are they
intended to supplement or replace such agreements, assurances or legal relationships. Any obligations
of the manufacturer shall solely be based on the relevant purchase agreement which also includes the
complete and solely valid warranty stipulations. These contractual warranty provisions are neither
extended nor limited by the specifications contained in this documentation.
The manufacturer reserves the right to correct or amend the specifications, product information and
omissions in these operating instructions without notice. The manufacturer shall not be liable for any
damage, injuries or costs which may be caused for the aforementioned reasons.

Furthermore, BONFIGLIOLI VECTRON GmbH excludes any warranty/liability claims for any personal
and/or material damage if such damage is due to one or more of the following causes:
• inappropriate use of the frequency inverter,
• non-compliance with the instructions, warnings and prohibitions contained in the documentation,
• unauthorized modifications of the frequency inverter,
• insufficient monitoring of parts of the machine/plant which are subject to wear,
• repair work at the machine/plant not carried out properly or in time,
• catastrophes by external impact and force majeure.

1.3 Obligation
This user manual must be read before commissioning and complied with. Anybody entrusted with
tasks in connection with the
• transport,
• assembly,
• installation of the frequency inverter and
• operation of the frequency inverter
must have read and understood the user manual and, in particular, the safety instructions in order to
prevent personal and material losses.

1.4 Copyright
In accordance with applicable law against unfair competition, this user manual is a certificate. Any
copyrights relating to it shall remain with
BONFIGLIOLI VECTRON GmbH
Europark Fichtenhain B6
47807 Krefeld
Germany
This user manual is intended for the operator of the frequency inverter. Any disclosure or copying of
this document, exploitation and communication of its contents (as hardcopy or electronically) shall be
forbidden, unless permitted expressly.
Any non-compliance will constitute an offense against the copyright law dated 09 September 1965,
the law against unfair competition and the Civil Code and may result in claims for damages. All rights
relating to patent, utility model or design registration reserved.

1.5 Storage
The documentation form an integral part of the frequency inverter. It must be stored such that it is
accessible to operating staff at all times. If the frequency inverter is sold on to other users, then this
user manual must also be handed over.

6 ACU Modbus/TCP 10/13

2 General safety instructions and information on use
The chapter "General safety instructions and information on use" contains general safety instructions
for the Operator and the Operating Staff. At the beginning of certain main chapters, some safety in-
structions are included which apply to all work described in the relevant chapter. Special work-specific
safety instructions are provided before each safety-relevant work step.

2.1 Terminology
According to the documentation, different activities must be performed by certain persons with certain
qualifications.
The groups of persons with the required qualification are defined as follows:
Operator
This is the entrepreneur/company who/which operates the frequency inverter and uses it as per the
specifications or has it operated by qualified and instructed staff.
Operating staff
The term Operating Staff covers persons instructed by the Operator of the frequency inverter and
assigned the task of operating the frequency inverter.
Skilled Personnel
The term Skilled Personnel covers staff that are assigned special tasks by the Operator of the fre-
quency inverter, e.g. installation, maintenance and service/repair and troubleshooting. Based on their
qualification and/or know-how, Skilled Personnel must be capable of identifying defects and as-
sessing functions.
Qualified electrician
The term Qualified Electrician covers qualified and trained staff that have special technical know-how
and experience with electrical installations. In addition, Qualified Electricians must be familiar with the
applicable standards and regulations, they must be able to assess the assigned tasks properly and
identify and eliminate potential hazards.
Instructed person
The term Instructed Person covers staff that are instructed and trained about/in the assigned tasks
and the potential hazards that might result from inappropriate behavior. In addition, instructed per-
sons must have been instructed in the required protection provisions, protective measures, the appli-
cable directives, accident prevention regulations as well as the operating conditions and have their
qualification verified.
Expert
The term Expert covers qualified and trained staff that have special technical know-how and experi-
ence relating to the frequency inverter. Experts must be familiar with the applicable government work
safety directives, accident prevention regulations, guidelines and generally accepted rules of technolo-
gy in order to assess the operationally safe condition of the frequency inverter.

10/13 ACU Modbus/TCP 7

2.2 Designated use
The frequency inverter is designed according to the state of the art and recognized safety regulations.
The frequency inverters are electrical drive components intended for installation in industrial plants or
machines. Commissioning and start of operation is not allowed until it has been verified that the ma-
chine meets the requirements of the EC Machinery Directive 2006/42/EC and DIN EN 60204-1.
The frequency inverters meet the requirements of the low voltage directive 2006/95/EEC and DIN
EN 61800-5-1. CE-labeling is based on these standards. Responsibility for compliance with the EMC
Directive 2004/108/EC lies with the operator. Frequency inverters are only available at specialized
dealers and are exclusively intended for commercial use as per EN 61000-3-2.
No capacitive loads may be connected to the frequency inverter.
The technical data, connection specifications and information on ambient conditions are indicated on
the rating plate and in the documentation and must be complied with at all times.

2.3 Misuse
Any use other than that described in "Designated use" shall not be permissible and shall be consid-
ered as misuse.
For, example, the machine/plant must not be operated
• by uninstructed staff,
• while it is not in perfect condition,
• without protection enclosure (e.g. covers),
• without safety equipment or with safety equipment deactivated.
The manufacturer shall not be held liable for any damage resulting from such misuse. The plant oper-
ator shall bear the sole risk.

2.3.1 Explosion protection

The frequency inverter is an IP 20 protection class device. For this reason, use of the device in explo-
sive atmospheres is not permitted.

8 ACU Modbus/TCP 10/13

2.4 Residual risks
Residual risks are special hazards involved in handling of the frequency inverter which cannot be elim-
inated despite the safety-compliant design of the device. Remaining hazards are not obvious and can
be a source of possible injury or health damage.
Typical residual hazards include:
Electrical hazard
Danger of contact with energized components due to a defect, opened covers or enclosures or im-
proper working on electrical equipment.
Danger of contact with energized components in frequency inverter if no external disconnection de-
vice was installed by the operator.
Electrostatic charging
Touching electronic components bears the risk of electrostatic discharges.
Thermal hazards
Risk of accidents by hot machine/plant surfaces, e.g. heat sink, transformer, fuse or sine filter.
Charged capacitors in DC link
The DC link may have dangerous voltage levels even up to three minutes after shutdown.
Danger of equipment falling down/over, e.g. during transport
Center of gravity is not the middle of the electric cabinet modules.

2.5 Safety and warning signs on the frequency inverter

 Comply with all safety instructions and danger information provided on the frequency inverter.
• Safety information and warnings on the frequency inverter must not be removed.

10/13 ACU Modbus/TCP 9

2.6 Warning information and symbols used in the user manual

2.6.1 Hazard classes

The following hazard identifications and symbols are used to mark particularly important information:

DANGER
Identification of immediate threat holding a high risk of death or serious injury if not
avoided.

WARNING

Identification of immediate threat holding a medium risk of death or serious injury if

not avoided.

CAUTION
Identification of immediate threat holding a low risk of minor or moderate physical
injury if not avoided.

NOTE

Identification of a threat holding a risk of material damage if not avoided.

2.6.2 Hazard symbols

Symbol Meaning Symbol Meaning

General hazard Suspended load

Electrical voltage Hot surfaces

2.6.3 Prohibition signs

Symbol Meaning
No switching; it is forbidden to switch the ma-
chine/plant, assembly on

2.6.4 Personal safety equipment

Symbol Meaning
Wear body protection

10 ACU Modbus/TCP 10/13

2.6.5 Recycling

Symbol Meaning
Recycling, to avoid waste, collect all materials for
reuse

2.6.6 Grounding symbol

Symbol Meaning
Ground connection

2.6.7 ESD symbol

Symbol Meaning
ESD: Electrostatic Discharge (can damage com-
ponents and assemblies)

2.6.8 Information signs

Symbol Meaning
Tips and information making using the frequency
inverter easier.

2.6.9 Font style in documentation

Example Font style Use
1234 bold Representation of parameter numbers
Parameter italic, Font Representation of parameter names
Times New Roman
P.1234 bold Representation of parameter numbers without name, e.g. in
formulas
Q.1234 bold Representation of source numbers

2.7 Directives and guidelines to be adhered to by the operator

The operator must follow the following directives and regulations:
 Ensure that the applicable workplace-related accident prevention regulations as well as other ap-
plicable national regulation are accessible to the staff.
 An authorized person must ensure, before using the frequency inverter, that the device is used in
compliance with its designated use and that all safety requirements are met.
 Additionally, comply with the applicable laws, regulations and directives of the country in which
the frequency inverter is used.
Any additional guidelines and directives that may be required additionally shall be defined by the op-
erator of the machine/plant considering the operating environment.

2.8 Operator's general plant documentation

• In addition to the user manual, the operator should issue separate internal operating instructions
for the frequency inverter. The user manual of the frequency inverter must be included in the user
manual of the whole plant.

10/13 ACU Modbus/TCP 11

2.9 Operator's/operating staff's responsibilities

2.9.1 Selection and qualification of staff

 Any work on the frequency inverter may only be carried out by qualified technical staff. The staff
must not be under the influence of any drugs. Note the minimum age required by law. Define the
staff's responsibility in connection with all work on the frequency inverter clearly.
 Work on the electrical components may only be performed by a qualified electrician according to
the applicable rules of electrical engineering.
• The operating staff must be trained for the relevant work to be performed.

2.9.2 General work safety

 In addition to the user manual of the machine/plant, any applicable legal or other regulations
relating to accident prevention and environmental protection must be complied with. The staff
must be instructed accordingly.
Such regulations and/or requirements may include, for example, handling of hazardous media and
materials or provision/use of personal protective equipment.
 In addition to this user manual, issue any additional directives that may be required to meet spe-
cific operating requirements, including supervision and reporting requirements, e.g. directives re-
lating to work organization, workflow and employed staff.
 Unless approved of expressly by the manufacturer, do not modify the frequency inverter in any
way, including addition of attachments or retrofits.
 Only use the frequency inverter if the rated connection and setup values specified by the manu-
facturer are met.
• Provide appropriate tools as may be required for performing all work on the frequency inverter
properly.

2.10 Organizational measures

2.10.1 General
 Train your staff in the handling and use of the frequency inverter and the machine/plant as well
as the risks involved.
 Use of any individual parts or components of the frequency inverter in other parts of the opera-
tor's machine/plant is prohibited.
• Optional components for the frequency inverter must be used in accordance with their designated
use and in compliance with the relevant documentation.

2.10.2 Use in combination with third-party products

• Please note that BONFIGLIOLI VECTRON GmbH will not accept any responsibility for compatibility
with third-party products (e.g. motors, cables or filters).
• In order to enable optimum system compatibility, BONFIGLIOLI VECTRON GmbH offers compo-
nents facilitating commissioning and providing optimum synchronization of the machine/plant
parts in operation.
• If you use the frequency inverter in combination with third-party products, you do this at your
own risk.

12 ACU Modbus/TCP 10/13

2.10.3 Transport and Storage
• The frequency inverters must be transported and stored in an appropriate way. During transport
and storage the devices must remain in their original packaging.
• The units may only be stored in dry rooms which are protected against dust and moisture and are
exposed to small temperature deviations only. The requirements of DIN EN 60721-3-1 for storage,
DIN EN 60721-3-2 for transport and labeling on the packaging must be met.
• The duration of storage without connection to the permissible nominal voltage may not exceed
one year.

2.10.4 Handling and installation

 Do not commission any damaged or destroyed components.
 Prevent any mechanical overloading of the frequency inverter. Do not bend any components and
never change the isolation distances.
 Do not touch any electronic construction elements and contacts. The frequency inverter is
equipped with components which are sensitive to electrostatic energy and can be damaged if
handled improperly. Any use of damaged or destroyed components will endanger the ma-
chine/plant safety and shall be considered as a non-compliance with the applicable standards.
 Only install the frequency inverter in a suitable operating environment. The frequency inverter is
exclusively designed for installation in industrial environments.
• If seals are removed from the case, this can result in the warranty becoming null and void.

2.10.5 Electrical connections

 The five safety rules must be complied with.
 Never touch live terminals. The DC link may have dangerous voltage levels even up to three
minutes after shutdown.
 When performing any work on/with the frequency inverter, always comply with the applicable
national and international regulations/laws on work on electrical equipment/plants of the country
in which the frequency inverter is used.
 The cables connected to the frequency inverters may not be subjected to high-voltage insulation
tests unless appropriate circuitry measures are taken before.
• Only connect the frequency inverter to suitable supply mains.

2.10.5.1 The five safety rules

When working on/in electrical plants, always follow the five safety rules:
1. Isolate
2. Take appropriate measures to prevent re-connection
3. Check isolation
4. Earth and short-circuit
5. Cover or shield neighboring live parts.

2.10.6 Safe operation

 During operation of the frequency inverter, always comply with the applicable national and inter-
national regulations/laws on work on electrical equipment/plants.
 Before commissioning and the start of the operation, make sure to fix all covers and check the
terminals. Check the additional monitoring and protective devices according to the applicable na-
tional and international safety directives.
 During operation, never open the machine/plant
 Do not connect/disconnect any components/equipment during operation.
 The machine/plant holds high voltage levels during operation, is equipped with rotating parts
(fan) and has hot surfaces. Any unauthorized removal of covers, improper use, wrong installation
or operation may result in serious injuries or material damage.

10/13 ACU Modbus/TCP 13

 Some components, e.g. the heat sink or brake resistor, may be hot even some time after the ma-
chine/plant was shut down. Don't touch any surfaces directly after shutdown. Wear safety gloves
where necessary.
 The frequency inverter may hold dangerous voltage levels until the capacitor in the DC link is dis-
charged. Wait for at least 3 minutes after shutdown before starting electrical or mechanical work
on the frequency inverter. Even after this waiting time, make sure that the equipment is deener-
gized in accordance with the safety rules before starting the work.
 In order to avoid accidents or damage, only qualified staff and electricians may carry out the work
such as installation, commissioning or setup.
 In the case of a defect of terminals and/or cables, immediately disconnect the frequency inverter
from mains supply.
 Persons not familiar with the operation of frequency inverters must not have access to the fre-
quency inverter. Do not bypass nor decommission any protective facilities.
 The frequency inverter may be connected to power supply every 60 s. This must be considered
when operating a mains contactor in jog operation mode. For commissioning or after an emer-
gency stop, a non-recurrent, direct restart is permissible.
 After a failure and restoration of the power supply, the motor may start unexpectedly if the Auto-
Start function is activated.
If staff are endangered, a restart of the motor must be prevented by means of external circuitry.
 Before commissioning and the start of the operation, make sure to fix all covers and check the
terminals. Check the additional monitoring and protective devices according to EN 60204 and ap-
plicable safety directives (e.g. Working Machines Act or Accident Prevention Directives).

2.10.7 Maintenance and service/troubleshooting

 Visually inspect the frequency inverter when carrying out the required maintenance work and
inspections at the machine/plant.
 Perform the maintenance work and inspections prescribed for the machine carefully, including the
specifications on parts/equipment replacement.
 Work on the electrical components may only be performed by a qualified electrician according to
the applicable rules of electrical engineering. Only use original spare parts.
 Unauthorized opening and improper interventions in the machine/plant can lead to personal injury
or material damage. Repairs on the frequency inverters may only be carried out by the manufac-
turer or persons authorized by the manufacturer. Check protective equipment regularly.
• Before performing any maintenance work, the machine/plant must be disconnected from mains
supply and secured against restarting. The five safety rules must be complied with.

2.10.8 Final decommissioning

Unless separate return or disposal agreements were made, recycle the disassembled frequency in-
verter components:
• Scrap metal materials
• Recycle plastic elements
• Sort and dispose of other component materials

Electric scrap, electronic components, lubricants and other utility materials must be
treated as special waste and may only be disposed of by specialized companies.

Always comply with any applicable national disposal regulations as regards environ-
mentally compatible disposal of the frequency inverter. For more details, contact the
competent local authorities.

14 ACU Modbus/TCP 10/13

3 Introduction
The present document describes the Modbus/TCP protocol for the CM-Modbus/TCP and CM-
Modbus/TCP-2P (switch function integrated) communication modules. After connecting Modbus/TCP
to the PLC, you can use an additional logic connection from CM-Modbus/TCP to the VPlus software
running on a terminal connected via an Ethernet network.
For Modbus/TCP connection, the frequency inverter must be equipped with the CM-Modbus/TCP or
CM-Modbus/TCP-2P communication module.
The CM-Modus/TCP and CM-Modbus/TCP-2P communication modules are separate components and
must be attached to the frequency inverter. This is described in chapter 5.1 “Assembly”.
Modbus/TCP communication (as described in this manual) requires software version 5.3.0 or higher.

This manual only describes the CM-Modbus/TCP and CM-Modbus/TCP-2P communica-

tion modules. This manual is not to be understood as providing general/basic infor-
mation on Ethernet interfaces or frequency inverters.
General/basic knowledge of the methods and function of Modbus/TCP interfaces and
Modbus/TCP protocol are a prerequisite for understanding and implementing the in-
structions provided by this document.

In some chapters of these instructions, setting and display options via the PC software
VPlus are described as an alternative to the control unit. In this case, VPlus can use
− CM-Modbus/TCP or CM-Modbus/TCP-2P module or
− the serial interface
for communication with the frequency inverter.

The module enables using Modbus/TCP and VPlus via the VABus/TCP protocol at the
same time.

WARNING
With CM-Modbus/TCP or CM-Modbus/TCP-2P, controllers can access all parameters of
the frequency inverter.
Changing parameters the function of which is unknown can result in malfunction of the
frequency inverter and dangerous situations in the plant.

Module variants:

There are two Modbus/TCP variants.

CM-Modbus/TCP provides a physical interface for communication via Modbus/TCP. A star-type net-
work topology can be used. An external switch is the star point.
CM-Modbus/TCP-2P provides two physical interfaces for communication via Modbus/TCP. The follow-
ing network topologies are possible:
• Star-type (like in CM-Modbus/TCP)
• Line

10/13 ACU Modbus/TCP 15

[1] PLC
[2] PC for commissioning or diagnosis (connected temporarily or permanently)
[3] ACU with CM-Modbus/TCP or CM-Modbus/TCP-2P (2nd port not connected)
[4] ACU with CM-Modbus/TCP-2P

16 ACU Modbus/TCP 10/13

3.1 Supported configurations
ACTIVE Cube frequency inverters support various types of control and reference point input
• Standard (without positioning functions)
• Positioning via contacts (or remote contacts)
• Positioning via Motion Control Interface (MCI) via Field Bus
A configuration with position control is selected when parameter Configuration 30 = x40 (e.g. 240) is
set. In order to use the full functionality of the Motion Control Interfaces, parameter Lo-
cal/Remote 412 = “1-Control via statemachine” must be set additionally.
The operating behavior of the frequency inverter varies in the configuration groups, considering con-
trol word/status word and modes of operation.
Standard:
Required settings: Configuration 30 ≠ x40
Local/Remote 412 = (remote) contacts
 Control (start, stop, frequency changeover, etc.) is typically performed through
o Digital contacts.
o Remote contacts via field bus.
 Reference values depend on the selected configuration. Typical:
o Reference speed/reference frequency:
 Analog input.
 Fixed values from parameters.
 Override Target Velocity vl [rpm] 1459 (target speed).
o Reference percentage for technology controller or torque control
 Analog input.
 Fixed values from parameters.
See Chapter 11.3 “Configurations without Motion Control” for control without positioning functions.
Positioning via contacts (or remote contacts)
Required settings: Configuration 30 = x40
Local/Remote 412 = (remote) contacts
 Control (start, stop, target position changeover, etc.) is typically performed through
o Digital contacts.
o Remote contacts via field bus.
 Reference values depend on the selected configuration. Typical:
o Reference speed/ reference frequency.
o Reference target position.
Also refer to application manual “Positioning”.
MCI (Motion Control Interface – Positioning via Field Bus):

In Modbus/TCP communication, MCI is not available. You can use Motion Control Over-
ride (MCO) instead.

Required settings: Configuration 30 = x40

Local/Remote 412 = 1 – Statemachine
 Control (start, stop, change of mode, etc.) is performed via Control word 410.
 Reference values result from the selected Override Modes Of Operation 1454.
Typical:
o Speed reference via Override Target Velocity vl [rpm] 1459 (target speed).
o Target position via Override Target Position 1455.

For information on how to use the Motion Control Interface, refer to Chapters 10 “Motion Control In-
terface (MCI) / Motion Control Override (MCO)” and 11.4 “Motion control configurations”.

10/13 ACU Modbus/TCP 17

3.2 Initialization time
When the frequency inverter is turned on, the communication module must be initialized in addition to
the frequency inverter. The initialization can take up to 20 seconds.

Wait until the initialization phase is complete before starting the communication (RUN
LED).

4 First commissioning
For first commissioning, you should be familiar with the followings steps and the de-
scribed functions:
• Installation of module Chapter 5.1
• Selection of device control Local/Remote 412 Chapter 11
• Commissioning of device functions via PLC
o Motion Control Override Chapter 10.1
o Fault Reaction Chapter 6.3
 Fault reset Chapter 7.3
• Setting reference values:
o Reference speed in speed-controlled con- Chapter 11.3
figuration x10, x11, x15, x16, x30, x60
o Reference in position configuration x40 Chapter 10 and 11.4
 Velocity Mode Chapter 11.4.1
 Profile Velocity Mode Chapter 11.4.2
 Profile Position Mode Chapter 11.4.3
 Homing Mode Chapter 11.4.4
 Table Travel record Mode Chapter 11.4.5
 Mode change Chapter 10

• Diagnosis: Chapter 14 and 13.1

18 ACU Modbus/TCP 10/13

5 Assembly/disassembly of communication module

5.1 Assembly
The CM-Modbus/TCP and CM-Modbus/TCP-2P communication modules are pre-
assembled in a case and are ready for installation. In addition, a PE-spring is supplied for
PE-connection (shield).

CAUTION
Danger of destruction of frequency inverter and/or communication module
• Before installation of the communication module, the frequency inverter must
be disconnected from power supply. Installation is not permissible while the
unit is energized.
• Do not touch the PCB visible on the back of the module, otherwise components
may be damaged.
Work steps:
• Disconnect the frequency inverter from mains voltage and protect it against being
energized unintentionally.
• Remove covers (1) and (2) of the frequency inverter. Slot B (4) for the communi-
cation module is now accessible.

Steckplatz B
1

Steckplatz A
3

• Mount the supplied PE spring (5) using the M4 screw (6) in the unit. The spring
must be aligned centrally.
• Insert the communication module in slot B (4) until it engages audibly.
• Fix the communication module and PE spring (5) using the M2-screw provided at
the module.

6
(M4)

• In the upper cover (1), break out the pre-punched cutout (3) for the plug X310
(8).
• Mount the two covers (1) and (2).

10/13 ACU Modbus/TCP 19

5.2 Disassembly

• Disconnect the frequency inverter from power supply and protect it against being
energized unintentionally.
• Remove covers (1) and (2) of the frequency inverter, see Chapter 5.1
“Assembly”.

• Loosen the M2 screw at the communication module.

• Unplug the communication module from Slot B (4) by unlocking the locking
hooks (9) on the right and left side of the module from the case of the frequency
inverter using a small screwdriver.
• The locking hooks (9) are located at the place where the locking hooks (10) for
the upper cover (1) project from the case of the frequency inverter.
• To do this, insert the screwdriver in the gap between the case of the module
and the frequency inverter carefully and push the locking hook inwards in
the direction of the arrow (). As soon as the right side is unlocked, pull
out the module a bit on the right side and hold it.
• Hold the module on the right side while unlocking the locking hook on the
left side in the same way ().
• Pull the module out of the slot by gently pulling on the right and left side al-
ternately.
• Disassemble the PE spring (5), see Chapter 5.1 “Assembly”.
• Mount the two covers (1) and (2), see Chapter 5.1 “Assembly”.

20 ACU Modbus/TCP 10/13

6 Modbus/TCP interface
The frequency inverter can be controlled by a PLC or another master device via an Ethernet interfaces
using the Modbus/TCP protocol.
When a Modbus/TCP or Modbus/TCP-2P communication module is used, you can also access the fre-
quency inverter using the VPlus software via Ethernet. VPlus can be used in parallel with a PLC with
Modbus/TCP communication.

This document does not provide basic information about Ethernet interfaces. Basic
knowledge of the Modbus/TCP protocol and Ethernet interfaces is required.
In some sections, setting and display options via the PC software VPlus are described as
an alternative to the control unit. In this case, VPlus communicates with the frequency
inverter via a serial interface or a direct Ethernet connection.

WARNING
With Modbus/TCP communication, controllers can access all parameters of the fre-
quency inverter.
Changing parameters the function of which is unknown can result in malfunction of the
frequency inverter and dangerous situations in the plant.

CAUTION
When values are to be written cyclically at a high repetition rate, no entries shall be
made in the EEPROM, as this only allows a limited number of write cycles (approx. 1
million cycles). If the number of permissible write cycles is exceeded, the EEPROM will
be damaged. See chapter 8.1 “Handling of datasets / cyclic writing of parameters”.

10/13 ACU Modbus/TCP 21

6.1 Communication modules
CM-Modbus/TCP
The CM-Modbus/TCP communication module features an active RJ45 port.

CM-Modbus/TCP-2P
The CM-Modbus/TCP-2P communication module features two active RJ45 ports with integrated
switching function. This enables easy linking (daisy chain) of frequency inverters which are connected
to a PLC.

22 ACU Modbus/TCP 10/13

6.1.1 Installation instructions
The Modbus/TCP module is connected to the PLC or other devices using standard CAT cables and
RJ45 connectors:
Ethernet standard: IEEE 802.3, 100Base-TX (fast Ethernet)
Cable type: S/FTP (cable with braided shield, (ISO/IEC 11801 or EN 50173, Straight
Through or Cross Over)

6.2 Setup
By default, the parameters of the CM-Modbus/TCP and CM-Modbus/TCP-2P communication modules
are set up as follows:

Parameters Settings
No. Description Factory setting
388 Bus Error Behaviour 1

1432 IP-Address 172.22.1.25

1433 Netmask 255.255.255.0

1434 Gateway 0.0.0.0

1435 DNS Server 0.0.0.0

1436 DHCP Option 0

1437 IP Command -

1440 Email Function 0

1441 Email Text (Body) -

1439 Modbus/TCP Timeout 0

The parameter settings must be adapted to the actual application.

6.2.1 TCP/IP configuration

For the configuration of the IP address, Netmask, etc., refer to the CM-VABus/TCP user manual. For
details refer to the CM-VABus/TCP user manual, Chapter “TCP/IP configuration”.

10/13 ACU Modbus/TCP 23

6.2.2 TCP/IP address & Subnet settings
For proper identification, each frequency inverter is assigned a TCP/IP address which must be unique
in the system.

6.2.2.1 Network without DHCP server:

The address is set via parameter IP-Address 1432. In addition, the subnet mask-Netmask 1433 must
be entered properly for the local network.

Parameters Settings
No. Description Min. Max. Factory setting
1432 IP Address 0.0.0.0 255.255.255.255 172.22.1.25
1433 Netmask 0.0.0.0 255.255.255.255 255.255.255.0

6.2.2.2 Network with DHCP server:

When a DHCP server is used, manual network configuration is not required. Set DHCP Option 1436
to “1-Enabled” if you wish to use the DHCP function.
DHCP Option 1436 Function
Module must be configured manually, no DHCP server is used.
0 - Disabled
(Factory setting).
1 - Enabled The settings are made by a DHCP server.

6.2.3 Modbus/TCP Timeout settings

The communication can be monitored: If communication fails, no data or faulty data will be transmit-
ted. The Modbus/TCP Timeout feature will identify this state.
The timeout feature monitors communication for the time defined by parameter Modbus/TCP
Timeout 1439. The set value represents the time in milliseconds where correct data transfer must
take place.
If no data is transferred correctly within this time, the frequency inverter will signal the fault F2735
Modbus/TCP Timeout.

Parameters Settings
No. Description Min. Max. Factory setting
1439 Modbus/TCP Timeout 0 ms 60000 ms 0 ms

When the parameter is set to 0 (factory setting), the monitoring function is off.

24 ACU Modbus/TCP 10/13

6.3 Operating behavior in the case of a communication error
The operating behavior in the case of errors in Modbus/TCP communication can be parameterized.
The required behavior can be set via parameter Bus Error Behaviour 388.

Bus Error Behaviour 388 Function

0 - no response Operating point is maintained.
1 - Error “Fault” status will be activated immediately. Factory setting.
Control command “Disable voltage” and switch to “switch on disa-
2 - Stop
bled” status.
Control command “Quick stop” and switch to “switch on disabled”
3 - Quick stop
status.
Control command “Disable operation” and switch to “Error” status
4 - Shutdown + Error
once the drive has been shut down.
Control command “Quick stop” and switch to “Error” status once
5 - Quick stop + Error
the drive has been shut down.

The parameter settings Bus Error Behaviour 388 = 2…5 are evaluated depending on
parameter Local/Remote 412.
For evaluation of settings 2…5, parameter Local/Remote 412 must be set to value “1 -
Control via statemachine”.

10/13 ACU Modbus/TCP 25

7 Protocol
The Modbus/TCP communication protocol is a Client/Server based protocol. Modbus/TCP communica-
tion will always be initialized by the client (e.g. PLC). The server nodes (frequency inverters) do not
communicate with one another.
Modbus/TCP communication will be established by the client via the TCP/IP-Port #502 on the side of
the Modbus/TCP server.

CM-Modbus/TCP and CM-Modbus/TCP-2P only support

• Port #502 for establishing Modbus/TCP connection
• one request per transaction only (NumberMaxOfServerTransaction = 1)

7.1 Telegram structure

A Modbus/TCP telegram comprises the following fields:
MBAP Function code Data
(Modbus RTU data contents)

MBAP Modbus Application Header

Field Length Description Client Server
(inverter)
Transaction ID 2 bytes Identification of Mod- Initialized by Written back by the
(transaction identifier) bus request/response client server from the
transaction request received
Protocol ID 2 bytes 0 = Modbus protocol Initialized by Written back by the
(protocol identifier) client server from the
request received
Length 2 bytes Number of subse- Initialized by Initialized by server
quent bytes (includ- client (request) (response)
ing ID of data unit)
ID of data unit 1 byte Identification of seri- Initialized by Initialized by server
(unit identifier) ally connected Re- client (request) (response)
mote Slave

• The data unit identifier will not be processed by the server.

• The function code and data field structure are the same in Modbus/TCP and Modbus-
RTU.
• Modbus/TCP uses byte sequence Big-Endian (Motorola format).

The function code tells the server/frequency inverter which action is to be performed. The function
code is followed by a data field containing the parameters of the request (or the response parameters
in the case of the response by the frequency inverter).
If there are no errors while a request is received via Modbus/TCP, the data field will contain the re-
quired data. If an error occurs, the field contains an exception condition code to tell the master that
the request was not processed successfully. For information on how to handle exception conditions
and the exception condition codes, refer to Chapter 7.2.9 “Exception condition codes”.

26 ACU Modbus/TCP 10/13

7.2 Supported function codes
The Modbus definitions for writing and reading of data are not directly compatible with parameter
access by a frequency inverter (irrespective of the manufacturer of the frequency inverter). Modbus is
designed for reading bits and captures data in a different way. Data access is limited to a bit width of
16.
In order to meet the requirements of Modbus, data access is defined in the frequency inverters by the
following function codes.
16-bit values:
• Function code 3, read ONE data width of 16 bits (reading of hold register)
• Function code 6, write ONE data width of 16 bits (writing of single register)
• Function code 16, read ONE data width of 16 bits (writing of multiple registers)
32-bit values:
For access to 32-bit data, frequency inverters use the following adapted function codes:
• Function code 3, read TWO data widths of 16 bits (=32 bits) (reading of hold register)
• Function code 16, write TWO data widths of 16 bits (=32 bits) (writing of multiple registers)
• Function code 100, read ONE bit width 32
• Function code 101, write ONE bit width 32

The Modbus specification does not describe handling of 32-bit values. The implemented
handlings and function codes are quite common and frequently used. These functions
enable data access to 32-bit “Long” variables in the frequency inverter.

In all data fields containing more than one byte, the highest-value byte will be trans-
ferred firs (Big-Endian, Motorola Format).

10/13 ACU Modbus/TCP 27

7.2.1 Function code 3, reading 16-bit or 32-bit parameters
This function code is used for reading 16-bit or 32-bit values from the frequency inverter.

Request Read 16-bit parameter:

Function code 1 byte 0x03
Start address (dataset / para. no.) 2 bytes 0x0000 – 0x963F
Number of registers 2 bytes 0x0001
Response Read 16-bit parameter:
Function code 1 byte 0x03
Number of bytes 1 byte 0x02
Register value (parameter value) 2 bytes 0 – 0xFFFF
Request Read 32-bit parameter:
Function code 1 byte 0x03
Start address (dataset / para. no.) 2 bytes 0x0000 – 0x963F
Number of registers 2 bytes 0x0002
Response Read 32-bit parameter:
Function code 1 byte 0x03
Number of bytes 1 byte 0x04
Register value (parameter value) 4 bytes 0 – 0xFFFFFFFF
Exception condition response:
Error code 1 byte 0x83
Exception condition code 1 byte 2, 3 or 4

Start address
This field is used for saving the parameter number and dataset number. The parameter number is in
the range between 0 and 1599 and is saved in the 12 least significant bits. The dataset number is in
the range between 0 and 9 and is saved in the 4 most significant bits.
Example:
Parameter 372 (hex. 0x174), dataset 2 (hex. 0x2) is saved as hex. 0x2174.

Start address
Data set Parameter number
Bits 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
For the above example:
Hex. 0 0 1 0 0 0 0 1 0 1 1 1 0 1 0 0
Bin. 2 1 7 4

Number of registers
This field is used for saving the number of parameters to be written. The value must always be 1,
since only one parameter can be written at a time.
Number of bytes
This field is set to
• 2 for 16-bit parameters
• 4 for 32-bit parameters
Register value
This field contains the 16-bit or 32-bit parameter value.

Parameter values with decimal places are transferred without decimal point. Depending
on the number of decimal places, the values are multiplied by 10, 100 or 1000.

28 ACU Modbus/TCP 10/13

Example:
A current value of 10.3 A is transferred. The actually transferred numerical value is 103, i.e. 0x67 in
the hexadecimal system.

Exception condition code

The following exception condition codes are possible:
2 INVALID DATA ADDRESS • Value of register number field is not 1
• Parameter unknown
3 INVALID DATA VALUE • Number of bytes in data field too small or too high
4 SLAVE DEVICE ERROR • Error when reading parameters
For a description of the exception condition codes, refer to Chapter 7.2.9 “Exception condition codes”.

Example Telegrams:
16 Bit 32 Bit
Modbus RTU see chapter 9.1.1 see chapter 9.2.1

7.2.2 Function code 6, write 16-bit parameter

This function code is used for writing integer or unsigned integer values into the frequency inverter.

Request Write 16-bit parameter:

MBAP header 7 bytes
Address 1 byte 1 – 0xF7 (=247)
Function code 1 byte 0x06
Start address (dataset / para. no.) 2 bytes 0x0000 – 0x963F
Register value (parameter value) 2 bytes 0 – 0xFFFF
Response:
MBAP header
Address 1 byte 1 – 0xF7 (=247)
Function code 1 byte 0x06
Start address (dataset / para. no.) 2 bytes 0x0000 – 0x963F
Register value (parameter value) 2 bytes 0 – 0xFFFF
Exception condition response:
MBAP header
Address 1 byte 1 – 0xF7 (=247)
Error code 1 byte 0x86
Exception condition code 1 byte 2, 3 or 4

10/13 ACU Modbus/TCP 29

Start address
This field is used for saving the parameter number and dataset number. The parameter number is in
the range between 0 and 1599 and is saved in the 12 least significant bits. The dataset number is in
the range between 0 and 9 and is saved in the 4 most significant bits.
Example:
Parameter 372 (hex. 0x174), dataset 2 (hex. 0x2) is saved as hex. 0x2174.

Start address
Data set Parameter number
Bits 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
For the above example:
Hex. 0 0 1 0 0 0 0 1 0 1 1 1 0 1 0 0
Bin. 2 1 7 4

Register value
This field is used for saving the 16-bit parameter value.

Parameter values with decimal places are transferred without decimal point. Depending
on the number of decimal places, the values are multiplied by 10, 100 or 1000.

Example:
A current value of 10.3 A is to be transferred. The actually transferred numerical value is 103, i.e.
0x67 in the hexadecimal system.

Exception condition code

The following exception condition codes are possible:
2 INVALID DATA ADDRESS • Parameter unknown
3 INVALID DATA VALUE • Number of bytes in data field too small or too high
4 SLAVE DEVICE ERROR • Error when writing parameters

For a description of the exception condition codes, refer to Chapter 7.2.9 “Exception condition codes”.

For an example of a Modbus RTU telegram, refer to Chapter 9.1.2.

30 ACU Modbus/TCP 10/13

7.2.3 Function code 16, write 16-bit parameter
Function code 16 can be used for writing 16-bit values into the frequency inverter.

Request Write 16-bit parameter:

MBAP header 7 bytes
Address 1 byte 1 – 0xF7 (=247)
Function code 1 byte 0x10
Start address (dataset / para. no.) 2 bytes 0x0000 – 0x963F
Number of registers 2 bytes 0x0001
Number of bytes 1 byte 0x02
Register value (parameter value) 2 bytes 0 – 0xFFFF
Response:
MBAP header
Address 1 byte 1 – 0xF7 (=247)
Function code 1 byte 0x10
Start address (dataset / para. no.) 2 bytes 0x0000 – 0x963F
Number of registers 2 bytes 0x0001
Exception condition response:
MBAP header
Address 1 byte 1 – 0xF7 (=247)
Error code 1 byte 0x90
Exception condition code 1 byte 2, 3 or 4

Start address
This field is used for saving the parameter number and dataset number. The parameter number is in
the range between 0 and 1599 and is saved in the 12 least significant bits. The dataset number is in
the range between 0 and 9 and is saved in the 4 most significant bits.
Example:
Parameter 372 (hex. 0x174), dataset 2 (hex. 0x2) is saved as hex. 0x2174.

Start address
Data set Parameter number
Bits 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
For the above example:
Hex. 0 0 1 0 0 0 0 1 0 1 1 1 0 1 0 0
Bin. 2 1 7 4

Register value
This field is used for saving the 16-bit parameter value.

Parameter values with decimal places are transferred without decimal point. Depending
on the number of decimal places, the values are multiplied by 10, 100 or 1000.

Example:
A current value of 10.3 A is to be transferred. The actually transferred numerical value is 103, i.e.
0x67 in the hexadecimal system.

10/13 ACU Modbus/TCP 31

Exception condition code
The following exception condition codes are possible:
2 INVALID DATA ADDRESS • Parameter unknown
3 INVALID DATA VALUE • Number of bytes in data field too small or too high
4 SLAVE DEVICE ERROR • Error when writing parameters

For a description of the exception condition codes, refer to Chapter 7.2.9 “Exception condition codes”.

For an example of a Modbus RTU telegram, refer to Chapter 9.1.3.

7.2.4 Function code 16, write 32-bit parameter

Function code 16 can be used for writing 32-bit values into the frequency inverter.

Request Write 32-bit parameter:

MBAP header
Address 1 byte 1 – 0xF7 (=247)
Function code 1 byte 0x10
Start address (dataset / para. no.) 2 bytes 0x0000 – 0x963F
Number of registers 2 bytes 0x0002
Number of bytes 1 byte 0x04
Register value (parameter value) 2 bytes 0 – 0xFFFF FFFF
Response:
MBAP header
Address 1 byte 1 – 0xF7 (=247)
Function code 1 byte 0x10
Start address (dataset / para. no.) 2 bytes 0x0000 – 0x963F
Number of registers 2 bytes 0x0002
Exception condition response:
MBAP header
Address 1 byte 1 – 0xF7 (=247)
Error code 1 byte 0x90
Exception condition code 1 byte 2, 3 or 4

Start address
This field is used for saving the parameter number and dataset number. The parameter number is in
the range between 0 and 1599 and is saved in the 12 least significant bits. The dataset number is in
the range between 0 and 9 and is saved in the 4 most significant bits.
Example:
Parameter 372 (hex. 0x174), dataset 2 (hex. 0x2) is saved as hex. 0x2174.

Start address
Data set Parameter number
Bits 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
For the above example:
Hex. 0 0 1 0 0 0 0 1 0 1 1 1 0 1 0 0
Bin. 2 1 7 4

32 ACU Modbus/TCP 10/13

Register value
This field is used for saving the 32-bit parameter value.

Parameter values with decimal places are transferred without decimal point. Depending
on the number of decimal places, the values are multiplied by 10, 100 or 1000.

Example:
A frequency value of 123.45 Hz is to be transferred. The actually transferred numerical value is 12345,
i.e. 0x3039 in the hexadecimal system.

Exception condition code

The following exception condition codes are possible:
2 INVALID DATA ADDRESS • Parameter unknown
3 INVALID DATA VALUE • Number of bytes in data field too small or too high
4 SLAVE DEVICE ERROR • Error when writing parameters

For a description of the exception condition codes, refer to Chapter 7.2.9 “Exception condition codes”.

For an example of a Modbus RTU telegram, refer to Chapter 9.2.2.

7.2.5 Function code 100 (=0x64), read 32-bit parameter

Request:
MBAP header
Address 1 byte 1 – 0xF7 (=247)
Function code 1 byte 0x64
Start address (dataset / para. no.) 2 bytes 0x0000 – 0x963F
Response:
MBAP header
Address 1 byte 1 – 0xF7 (=247)
Function code 1 byte 0x64
Register value (parameter value) 4 bytes 0 – 0x FFFF FFFF
Exception condition response:
MBAP header
Address 1 byte 1 – 0xF7 (=247)
Error code 1 byte 0xE4
Exception condition code 1 byte 2, 3 or 4

Start address
This field is used for saving the parameter number and dataset number. The parameter number is in
the range between 0 and 1599 and is saved in the 12 least significant bits. The dataset number is in
the range between 0 and 9 and is saved in the 4 most significant bits.
Example:
Parameter 372 (hex. 0x174), dataset 2 (hex. 0x2) is saved as hex. 0x2174.

Start address
Data set Parameter number
Bits 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
For the above example:
Hex. 0 0 1 0 0 0 0 1 0 1 1 1 0 1 0 0
Bin. 2 1 7 4

10/13 ACU Modbus/TCP 33

Number of registers
This field is used for saving the 32-bit parameter values.

Parameter values with decimal places are transferred without decimal point. Depending
on the number of decimal places, the values are multiplied by 10, 100 or 1000.

Example:
A frequency value of 100.25 Hz is to be transferred. The actually transferred numerical value is 10025,
i.e. 0x2729in the hexadecimal system.

Exception condition code

The following exception condition codes are possible:

2 INVALID DATA ADDRESS • Parameter unknown

3 INVALID DATA VALUE • Number of bytes in data field too small or too high
4 SLAVE DEVICE ERROR • Error when reading parameters

For a description of the exception condition codes, refer to Chapter 7.2.9 “Exception condition codes”.

For an example of a Modbus RTU telegram, refer to Chapter 9.2.3.

7.2.6 Function code 101 (=0x65), write 32-bit parameter

Request:
MBAP header
Address 1 byte 1 – 0xF7 (=247)
Function code 1 byte 0x65
Start address (dataset / para. no.) 2 bytes 0x0000 – 0x963F
Register value (parameter value) 4 bytes 0 – 0xFFFF FFFF
Response:
MBAP header
Address 1 byte 1 – 0xF7 (=247)
Function code 1 byte 0x65
Start address (dataset / para. no.) 2 bytes 0x0000 – 0x963F
Register value (parameter value) 4 bytes 0 – 0xFFFF FFFF
Exception condition response:
MBAP header
Address 1 byte 1 – 0xF7 (=247)
Error code 1 byte 0xE5
Exception condition code 1 byte 2, 3 or 4

Start address
This field is used for saving the parameter number and dataset number. The parameter number is in
the range between 0 and 1599 and is saved in the 12 least significant bits. The dataset number is in
the range between 0 and 9 and is saved in the 4 most significant bits.

34 ACU Modbus/TCP 10/13

Example:
Parameter 372 (hex. 0x174), dataset 2 (hex. 0x2) is saved as hex. 0x2174.

Start address
Data set Parameter number
Bits 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
For the above example:
Hex. 0 0 1 0 0 0 0 1 0 1 1 1 0 1 0 0
Bin. 2 1 7 4

Register value
This field is used for saving the 32-bit parameter value.

Parameter values with decimal places are transferred without decimal point. Depending
on the number of decimal places, the values are multiplied by 10, 100 or 1000.

Example: Frequency value

A frequency value of 100.25 Hz is to be transferred. The actually transferred numerical value is 10025,
i.e. 0x2729in the hexadecimal system.

Exception condition code

The following exception condition codes are possible:

2 INVALID DATA ADDRESS • Parameter unknown

3 INVALID DATA VALUE • Number of bytes in data field too small or too high
4 SLAVE DEVICE ERROR • Error when reading parameters

For a description of the exception condition codes, refer to Chapter 7.2.9 “Exception condition codes”.

For an example of a Modbus RTU telegram, refer to Chapter 9.2.4.

10/13 ACU Modbus/TCP 35

7.2.7 Function code 8, diagnosis
This function code is used for accessing the Modbus diagnosis counter of the frequency inverter. Each
counter can be accessed via a sub-function code and a counter number. Each counter can be deleted
by entering the hexadecimal sub-function code 0x0A.
The following sub-function codes are supported.

Sub-function Name Description

0x0A Delete all counters Resets all counters to 0
0x0B Return number of bus messages Number of valid messages received
(including all addresses)
0x0C Return number of bus transfer errors Number of messages with CRC or pari-
ty/block check/data loss errors
0x0D Return number of bus exceptions Number of exception responses sent
0x0E Return number of slave messages Number of messages received (including
slave address)
0x0F Return number of “Slave – no response”
Number of broadcast messages received
messages
0x10 Return number of slave NAK (negative
Not used, return value will always be 0
receipt acknowledgment)
0x11 Return number of “Slave busy” messag-
Not used, return value will always be 0
es
0x12 Return number of bus character data Number of messages with data loss
loss error errors

Request (sub-function 0x0A, Delete all counters):

MBAP Header
Address 1 byte 1 – 0xF7 (=247)
Function code 1 byte 0x08
Sub-function 2 bytes 0x000A
Data 2 bytes 0x0000

Response:
MBAP Header
Address 1 byte 1 – 0xF7 (=247)
Function code 1 byte 0x08
Sub-function 2 bytes 0x000A
Data 2 bytes 0x0000

Exception condition response:

MBAP Header
Address 1 byte 1 – 0xF7 (=247)
Error code 1 byte 0x88
Exception condition code 1 byte 1, 3 or 4

Data
This field will always be 0x0000.

36 ACU Modbus/TCP 10/13

Exception condition code

1 INVALID FUNCTION CODE • Sub-function is not supported

3 INVALID DATA VALUE • Number of bytes in data field too small or too high
• “Data field” not 0x0000
4 SLAVE DEVICE ERROR • Error while executing the function.

For a description of the exception condition codes, refer to Chapter 7.2.9 “Exception condition codes”.

Request (sub-function 0x0B – 0x12, return counter value):

Address 1 byte 1 – 0xF7 (=247)
Function code 1 byte 0x08
Sub-function 2 bytes 0x000B – 0x0012
Data 2 bytes 0x0000

Response:
Address 1 byte 1 – 0xF7 (=247)
Function code 1 byte 0x08
Sub-function 2 bytes 0x000B – 0x0012
Data (counter value) 2 bytes 0 – 0xFFFF

Exception condition response:

Address 1 byte 1 – 0xF7 (=247)
Error code 1 byte 0x88
Exception condition code 1 byte 1, 3 or 4

Data
In the request, this field will always be set to 0x0000, in the response, it will show the current counter
value.

Exception condition code

The following exception condition codes are possible:

1 INVALID FUNCTION CODE • Sub-function is not supported

• Number of bytes in data field too small or too high
3 INVALID DATA VALUE
• “Data field” not 0x0000
4 SLAVE DEVICE ERROR • Error when reading diagnosis counter

For a description of the exception condition codes, refer to Chapter 7.2.9 “Exception condition codes”.

10/13 ACU Modbus/TCP 37

7.2.8 Exception condition responses
The master device expects a normal response when it sends a request to the frequency inverter. A
request by the master can result in one of four reactions:
• If the frequency inverter receives the request without any transmission errors, it can process it and
send a normal response.
• If the frequency inverter does not receive the request due to a transmission error, it will not send a
response. The master will check the conditions for time monitoring of the request.
• If the frequency inverter receives the request and identifies a transmission error (parity, LCR, CRC,
…), it will not send a response. The master will check the conditions for time monitoring of the re-
quest.
• If the frequency inverter receives the request without any transmission error, but cannot process
it, e.g. because an unknown parameter is to the read, it will send an exception response containing
information about the type of error.

The exception condition response contains two fields which are different from normal responses:

Function code field:

In a normal response, the frequency inverter will return the function code of the original request. All
function codes have 0 as the most significant bit (MSB); their values are less than the hexadecimal
value of 0x80. In an exception condition response, the frequency inverter will set the most significant
bit of the function code to 1. This will increase the hexadecimal value of the function code in an ex-
ception condition response by 0x80 compared to the value of a normal response. With the most signif-
icant bit in the function code set to the new value, the master can identify the exception response and
analyze the exception condition code in the data field.

Data field:
In a normal response, the frequency inverter will send data or statistical values in the data field (re-
quested information) . In an exception condition response, the frequency inverter will send an excep-
tion condition code in the data field. This code indicates the cause of the exception condition.
The exception condition codes generated by the frequency inverter are listed in Chapter 7.2.9
“Exception condition codes”.

38 ACU Modbus/TCP 10/13

7.2.9 Exception condition codes
The frequency inverter generates the following exception condition codes:

Code Modbus name Reason of generation by frequency inverter

1 INVALID FUNCTION • Function code unknown
• Sub-function code unknown (diagnosis function)
2 INVALID DATA AD- • Wrong number of registers (must always be 0x01)
DRESS
• Unknown parameter or data type of parameter unknown
3 INVALID DATA VALUE • Block check error
• Number of bytes in too small or too high
• Certain fields not set to typical values
4 SLAVE DEVICE ERROR • Unsuccessful reading or writing of parameters
The cause of the error can be analyzed by reading parameter
VABusSST Error Register 11.

VABusSST Error Register 11

Error number Meaning
0 No error
1 Non-permissible parameter value.
2 Non-permissible dataset
3 Parameter not readable (write-only)
4 Parameter not writable (read-only)
5 EEPROM read error
6 EEPROM write error
7 EEPROM checksum error
8 Parameter cannot be written while the drive is running
9 Values of data sets are different
10 Wrong parameter type
11 Unknown parameter
12 Checksum error in received telegram
13 Syntax error in received telegram
14 Data type of parameter does not match the number of bytes in the telegram
15 Unknown error

When parameter VABusSST Error Register 11 is read, it is deleted automatically at the same time.

10/13 ACU Modbus/TCP 39

7.2.10 Modbus/TCP mode of transmission
The usable contents of Modbus/TCP is basically structured like Modbus RTU.

7.2.10.1 Modbus RTU message telegram

Modbus messages are added by a sending device into a telegram which has a defined start and end
point. The TCP/IP frame enables receiving devices to identify the beginning and end of the message.
Incomplete messages must be detected and result in an error.
Modbus RTU messages
Address Function Data
8 bits 8 bits N x 8 bits

The whole message telegram must be transmitted as a coherent flow of characters.

7.3 Resetting errors
Depending on the settings and operating state of the device, errors can be reset in various ways:

• When using control via parameter Local/Remote 412 = Statemachine:

Set bit 7 of control word Control word 410= 0x8000.
• By pressing the stop button of the control panel.
Resetting by pressing the STOP button is only possible if Parameter Local/Remote 412 permits
control via the control panel.
• Via parameter Error acknowledgment 103 which is assigned a logic signal or a digital input.
A reset via a digital signal can only be carried out when parameter Local/Remote 412 permits this
or when an input with the addition (hardware) is selected in the case of physical inputs.

Some errors will occur again after an error reset. In such cases, it may be neces-
sary to take certain measures (e.g. moving from a limit switch in the non-disabled
direction).

40 ACU Modbus/TCP 10/13

8 Parameter access

8.1 Handling of datasets / cyclic writing of parameters

The parameter values are accessed based on the parameter number and the required dataset. There
are parameters the values of which are present once (dataset 0) as well as parameters the values of
which are present four times (dataset 1...4). These are used for dataset switching.
If parameters which are present four times in the datasets are set to Dataset = 0, the four datasets
are set to the same transmitted value. A read access with data set = 0 to such parameters is only
successful if all four data sets are set to the same value. If this is not the case, an error will be sig-
naled.

NOTE
The values are entered automatically in the EEPROM of the controller. When values
are to be written cyclically, no entries shall be made in the EEPROM, as this only al-
lows a limited number of write cycles (approx. 1 million cycles). When the number of
permissible write cycles is exceeded, the EEPROM will be destroyed.

In order to avoid this, data which is written cyclically can be entered in the RAM ex-
clusively without a writing cycle on the EEPROM. Such data will be lost in the case of
a power failure and have to be written again after Power off/on.
This mechanism is started when the target dataset is increased by five when specify-
ing the dataset.

Writing on virtual dataset in RAM

Parameters EEPROM RAM
Dataset 0 0 5
Dataset 1 1 6
Dataset 2 2 7
Dataset 3 3 8
Dataset 4 4 9

10/13 ACU Modbus/TCP 41

8.2 Handling of index parameters / cyclic writing
Index parameters are used for various ACU functions. Here, 16 or 32 indexes are used instead of the
4 data sets. For each function, the individual indexes are addressed separately via an index access
parameter. Via the indexing parameter, you can select if the data is to be written to EEPROM or RAM.

Function Parameters Index range Indexing

parameter
Write Write
EEPROM RAM
and read
Positioning 1202 Target position / distance
1203 Speed
1204 Acceleration
1205 Ramp Rise time
1206 Deceleration
1207 Ramp Fall time
1208 Motion mode
1209 Touch-Probe Window
1210 Touch-Probe-Error: Next Mo-
tion Block
1211 No. of Repetitions
1212 Delay
1213 Delay: Next Motion Block
1214 Event 1 01); 331); 1200 Write
1215 Event 1: Next Motion Block 1…32 34…65 1201 Read
1216 Event 2
1217 Event 2: Next motion block
1218 Digital signal 1
1219 Digital signal 2
1247 Digital signal 3
1248 Digital signal 4
1260 Interrupt-Event 1
1261 Int.-Event 1: Eval.-Mode
1262 Int. event 1: Next motion block
1263 Interrupt-Event 2
1264 Int.-Event 2: Eval.-Mode
1265 Int. event 2: Next motion block
PLC function 1343 FT-Instruction
1344 FT-Input 1
(Function 1345 FT-Input 2
Table) 1346 FT-Input 3
1347 FT-Input 4 01); 331); 1341 Write
1348 FT-Parameter 1 1…32 34…65 1342 Read
1349 FT-Parameter 2
1350 FT-Target Output 1
1351 FT-Target Output 2
1352 FT-Commentary
Multiplexer 1252 Mux Input 01); 171); 1250 Write
1…16 18…33 1251 Read
CANopen® 1422 CANopen Mux Input 01); 171); 1420 Write
multiplexer 1…16 18…33 1421 Read

1) When the indexing parameter = 0, all indexes will be written upon parameter
access in EEPROM. 17 (for 16 indexes) or 33 (for 32 indexes) will write all indexes in
RAM.

42 ACU Modbus/TCP 10/13

 The values are entered automatically in the EEPROM of the controller. However, only
a limited number of write cycles is permissible for the EEPROM (approx. 1 million
cycles). When this number is exceeded, the EEPROM will be destroyed.
 Values which are written cyclically at a high repetition rate should be written to
the RAM and not the EEPROM.

In the RAM, the data is not protected against loss of power. Once power supply is
disrupted, the data must be written again.
NOTE

8.2.1 Example: Writing of index parameters

Typically, index parameters are written regularly during commissioning or in simple

positioning applications.

Writing of Parameter Target position/distance 1202 (Type double word), in Index 1

in RAM ( Index 34 for write access) with parameter value 30000.

Index = 1200 + 0x2000 = 0x24B0, Wert (int) = 34 = 0x0022

Index = 1202 + 0x2000 = 0x24B2, Wert (long) = 30000 = 0x0000 7530

If various parameters of an index are to be edited, it will be sufficient to set index

access via parameter 1200 once at the beginning.

8.2.2 Example: Reading of index parameters

In order to read an index parameter, you will have to set the indexing parameter to
the relevant index first, then you can read the parameter.

Reading of Parameter Target position/distance 1202 (type long), in Index 1 with

parameter value 123000.
Index = 1201 + 0x2000 = 0x24B1, Wert (int) = 1 = 0x0001
Index = 1202 + 0x2000 = 0x24B2, Wert (long) = 123000 = 0x0001 E078

If various parameters of an index are to be read, it will be sufficient to set index

access via 1201 once at the beginning.

10/13 ACU Modbus/TCP 43

9 Example messages Modbus/TCP
This chapter describes some examples of telegrams for Modbus/TCP.

9.1 16-bit access

9.1.1 Function code 3, read 16-bit parameter

Example 1:
Reading of parameter Rated speed 372 (0x0174) in data set 2 from the frequency inverter with ad-
dress 1.
Request: Master  frequency inverter
MBAP Unit Func. DSet/ParNo. Number of
Field:
Transaction ID Protocol ID Length ID registers
Hex nn nn nn nn 00 06 01 03 21 74 00 01

Response: Frequency inverter  Master

MBAP Unit Func. No. Par.value
Field:
Transaction ID Protocol ID Length ID Bytes
Hex nn nn nn nn nn nn 01 03 02 05 6E

The sent hexadecimal value is 0x056E = Decimal 1390. Parameter Rated speed 372 has no decimal
places. Thus, the rated speed is 1390 min-1.

Example 2:
Reading of parameters Rated speed 372 (0x0174) in dataset 0 of frequency inverter with address set
to 1 and number of registers set to 2 (non-permissible value).
Request: Master  frequency inverter
MBAP Unit Func. DSet/ParNo. Number of
Field:
Transaction ID Protocol ID Length ID registers
Hex nn nn nn nn 00 06 01 03 01 74 00 02

Error response: Frequency inverter  Master

MBAP Unit Func. Excep.
Field:
Transaction ID Protocol ID Length ID
Hex nn nn nn nn 00 03 01 83 04

The sent exception condition code is the hexadecimal value 0x04 = ERROR SLAVE DEVICE.

44 ACU Modbus/TCP 10/13

9.1.2 Function code 6, write 16-bit parameter
Example 1:
Writing of parameter Rated Mech. Power 376 (0x0178) in dataset 4 of frequency inverter with ad-
dress 3.
The rated mechanical power is to be set to 1.5 kW. Parameter Rated Mech. Power 376 has one dec-
imal place. Thus the value to be sent is 15 = 0x000F.
Request: Master  frequency inverter
MBAP Unit Func. DSet/ParNo. Par.value
Field:
Transaction ID Protocol ID Length ID
Hex nn nn nn nn 00 06 01 06 41 78 00 0F

Response: Frequency inverter  Master

MBAP Unit Func. DSet/ParNo. Par.value
Field:
Transaction ID Protocol ID Length ID
Hex nn nn nn nn 00 06 01 06 41 78 00 0F

The response is the reflected signal of the request message.

Example 2:
Writing of non-permissible value 0 in parameter Rated Mech. Power 376 (0x0178) in dataset 2 of
frequency inverter with address 3.
Request: Master  frequency inverter
MBAP Unit Func. DSet/ParNo. Par.value
Field:
Transaction ID Protocol ID Length ID
Hex nn nn nn nn 00 06 03 06 21 78 00 00

Error response: Frequency inverter  Master

MBAP Unit Func. Excep.
Field:
Transaction ID Protocol ID Length ID
Hex nn nn nn nn 00 03 03 86 04

The sent exception condition code is the hexadecimal value 0x04 = Error SLAVE device.

10/13 ACU Modbus/TCP 45

9.1.3 Function code 16, write 16-bit parameter
Example 1:
Writing of parameter Rated Mech. Power 376 (0x0178) in dataset 4 of frequency inverter with ad-
dress 1.
The rated mechanical power is to be set to 1.5 kW. Parameter Rated Mech. Power 376 has one dec-
imal place. Thus the value to be sent is 15 = 0x000F.
Request: Master  frequency inverter
Field MBAP Unit Func. DSet/ No. reg- No. Par.
: Transaction ID Protocol ID Length ID ParNo. isters Byte value
nn nn nn nn 00 09 01 10 41 78 00 01 02 00 0F

Response: Frequency inverter  Master

Field MBAP Unit Func. DSet/ No. reg-
: Transaction ID Protocol ID Length ID Par.No. isters
nn nn nn nn 00 09 01 10 41 78 00 01

The response contains the number of written registers

Example 2:
Writing of non-permissible value 0 in parameter Rated Mech. Power 376 0x0178) in dataset 2 of fre-
quency inverter with address 3.
Request: Master  frequency inverter
Field MBAP Unit Func. DSet/ No. reg- No. Par.
: Transaction ID Protocol ID Length ID ParNo. isters Byte value
nn nn nn nn 00 09 03 10 41 78 00 01 02 00 00

Error response: Frequency inverter  Master

MBAP Unit Func. Excep.
Field:
Transaction ID Protocol ID Length ID
Hex nn nn nn nn 00 03 03 90 04

The sent exception condition code is the hexadecimal value 0x04 = ERROR SLAVE DEVICE.

46 ACU Modbus/TCP 10/13

9.2 32-bit access

9.2.1 Function code 3, read 32-bit parameter

Example 1:
Reading of parameter Fixed Frequency 2 481 (0x01E1) in dataset 1 of frequency inverter with ad-
dress 1.
Request: Master  frequency inverter
MBAP Unit Func. DSet/ No. regis-
Field:
Transaction ID Protocol ID Length ID ParNo. ters
nn nn nn nn 00 06 01 03 11 E1 00 02

Response: Frequency inverter  Master

MBAP Addi. Func. No. Par.value
Field:
Transaction ID Protocol ID Length Bytes
Hex nn nn nn nn 00 07 01 03 04 00 00 03 E8

The sent hexadecimal value is 0x03E8 = Decimal 1000. Parameter Fixed Frequency 2 481 has two
decimal places. Thus, the frequency is 10.00 Hz.

Example 2:
Reading of parameters Fixed Frequency 2 481 (0x01E1) in dataset 0 of frequency inverter with ad-
dress set to 1 and number of registers set to 1 (non-permissible value).
Request: Master  frequency inverter
MBAP Unit Func. DSet/ No. regis-
Field:
Transaction ID Protocol ID Length ID Par.No. ters
nn nn nn nn 00 06 01 03 01 E0 00 01

Error response: Frequency inverter  Master

MBAP Unit Func. Excep.
Field:
Transaction ID Protocol ID Length ID
Hex nn nn nn nn 00 03 01 83 04

The sent exception condition code is the hexadecimal value 0x04 = ERROR SLAVE DEVICE.

10/13 ACU Modbus/TCP 47

9.2.2 Function code 16, write 32-bit parameter
Example 1:
Writing of parameter Fixed Frequency 3 482 (0x01E2) in dataset 9 (= RAM for dataset 4) of frequen-
cy inverter with address 1.
The fixed frequency is to be set to 44.50 Hz. Parameter Fixed Frequency 3 482 has two decimal
places. Thus the value to be sent is 4450 = 0x00001162.
Request: Master  frequency inverter
MBAP Unit Func. DSet/ No. No. Par. value
Field: Transaction ID Protocol ID Length ID Par.No. regis- Byte
ters
Hex nn nn nn nn 00 0B 01 10 91 E2 00 02 04 00 00 11 62

Response: Frequency inverter  Master

MBAP Unit Func. DSet/ No.
Field: Transaction ID Protocol ID Length ID Par.No. regis-
ters
Hex nn nn nn nn 00 0B 01 10 91 E2 00 02

The response contains the number of written registers

Example 2:
Writing of parameter Fixed Frequency 3 482 (0x01E2) in dataset 9 (= RAM for dataset 4) of frequen-
cy inverter with address 1.
The frequency is to be set to 2000.00 Hz (non-permissible value). Parameter Fixed Frequency 3 482
has two decimal places. Thus the value to be sent is 20000 = 0x00030D40.
Request: Master  frequency inverter
MBAP Unit Func. DSet/ No. No. Par. value
Field: Transaction ID Protocol ID Length ID Par.No. regis- Byte
ters
Hex nn nn nn nn 00 0B 01 10 91 E2 00 02 04 00 03 0D 40

Error response: Frequency inverter  Master

MBAP Unit Func. Ex-
Field:
Transaction ID Protocol ID Length ID cep.
Hex nn nn nn nn 00 03 01 90 04

The sent exception condition code is the hexadecimal value 0x04 = ERROR SLAVE DEVICE.

48 ACU Modbus/TCP 10/13

9.2.3 Function code 100 (=0x64), read 32-bit parameter
Example 1:
Reading of parameter Fixed Frequency 2 481 in dataset 0 of frequency inverter with address 1.
Request: Master  frequency inverter
Field MBAP Unit ID Func. DSet/
: Transaction ID Protocol ID Length Par.No.
Hex nn nn nn nn 00 04 01 64 01 E1

Response: Frequency inverter  Master

MBAP Unit ID Func. Par. value
Field:
Transaction ID Protocol ID Length
Hex nn nn nn nn 00 06 01 64 00 00 03 E8

The sent hexadecimal value is 0x000003E8 = 1000. Parameter Fixed Frequency 2 481 has two deci-
mal places. Thus, Fixed Frequency 2 = 10.00 Hz.

Example 2:
Reading of unknown parameter 1600 (0x0640) in dataset 2 of frequency inverter with address 1.
Request: Master  frequency inverter
MBAP Unit ID Func. DSet/
Field:
Transaction ID Protocol ID Length Par.No.
Hex nn nn nn nn 00 04 01 64 26 40

Error response: Frequency inverter  Master

MBAP Unit ID Func. Excep.
Field:
Transaction ID Protocol ID Length
Hex nn nn nn nn 00 03 01 E4 04

The exception condition code is the hexadecimal value 0x04 = ERROR SLAVE DEVICE.

10/13 ACU Modbus/TCP 49

9.2.4 Function code 101 (=0x65), write 32-bit parameter
Example 1:
Writing of parameter Rated Frequency 375 (0x0177) in dataset 2 of frequency inverter with address
1.
The Rated Frequency is to be set to 10.00 Hz. Parameter Rated Frequency 375 has two decimal plac-
es. Thus the value to be sent is 1000 = 0x03E8.
Request: Master  frequency inverter
MBAP Unit Func. DSet/ Par. value
Field: Protocol ID Par.No.
Transaction ID Length
ID
Hex nn nn nn nn 00 08 01 65 21 77 00 00 03 E8

Response: Frequency inverter  Master

MBAP Unit Func. DSet/ Par. value
Field: Protocol ID Par.No.
Transaction ID Length
ID
Hex nn nn nn nn 00 08 01 65 21 77 00 00 03 E8

The response is the reflected signal of the request message.

Example 2:
Writing of non-permissible value 9.00 Hz in parameter Rated Frequency 375 in dataset 2 of frequency
inverter with address 1.
Parameter Rated Frequency 375 has 2 decimal places. Thus the value to be sent is 900 = 0x0384.
Request: Master  frequency inverter
MBAP Unit Func. DSet/ Par. value
Field: Protocol ID Par.No.
Transaction ID Length
ID
Hex nn nn nn nn 00 08 01 65 21 77 00 00 03 84

Error response: Frequency inverter  Master

MBAP Unit ID Func. Excep.
Field:
Transaction ID Protocol ID Length
Hex nn nn nn nn 00 03 01 E5 04

The sent exception condition code is the hexadecimal value 0x04 = ERROR SLAVE DEVICE.

50 ACU Modbus/TCP 10/13

9.2.5 Function code 8, diagnosis
Example 1a:
Deleting of all diagnosis counters (sub-function 0x0A) in frequency inverter with address 1.

Request: Master  frequency inverter

MBAP
Field: Unit ID Func. Sub-function Data
Transaction ID Protocol ID Length
Hex nn nn nn nn 00 06 01 08 00 0A 00 00

Response: Frequency inverter  Master

MBAP
Field: Unit ID Func. Sub-function Data
Transaction ID Protocol ID Length
Hex nn nn nn nn 00 06 01 08 00 0A 00 00

The response is the reflected signal of the request message. All counters are set to zero.

Example 1b:
With all counters set to zero, reading of diagnosis counter 4 “Slave Messages Counter” (sub-function
0x0E) of frequency inverter with address 1.
Request: Master  frequency inverter
MBAP
Field: Unit ID Func. Sub-function Data
Transaction ID Protocol ID Length
Hex nn nn nn nn 00 06 01 08 00 0E 00 00
Response: Frequency inverter  Master

MBAP
Field: Unit ID Func. Sub-function Data
Transaction ID Protocol ID Length
Hex nn nn nn nn 00 06 01 08 00 0E 00 01

Counter value is 1 because this is the first message received after resetting of all counters to zero.

Example 2:
Reading of unknown diagnosis counter 8 (sub-function 0x13) of frequency inverter with address 1.
Request: Master  frequency inverter
MBAP
Field: Unit ID Func. Sub-function Data
Transaction ID Protocol ID Length
Hex nn nn nn nn 00 06 01 08 00 13 00 00

Error response: Frequency inverter  Master

MBAP
Field: Unit ID Func. Excep.
Transaction ID Protocol ID Length
Hex nn nn nn nn 00 03 01 88 01

The sent exception condition code is the hexadecimal value 0x01 = INVALID FUNCTION CODE.

10/13 ACU Modbus/TCP 51

10 Motion Control Interface (MCI) / Motion Control Override (MCO)

The Motion Control Interface (MCI) is a defined interface of the ACU device for position-
ing control via Field Bus. Typically, this interface is used by field bus systems such as
CANopen®. With the Motion Control Interface, the user can carry out a positioning op-
eration via a field bus using a positioning profile typically including the target position,
speed, acceleration, deceleration, quick stop and mode-specific information.

In the case of Modbus/TCP communication, MCI cannot be used directly. Instead, posi-
tioning is performed via MCO (Motion Control Override), see Chapter 10.1 “Motion Con-
trol Override”.

The Motion Control Interface uses parameter Override Modes Of Operation 1454 for
switching between the different modes.

The supported modes as per CANopen® Standard DS402 are:

• 1 – Profile Position mode
• 2 – Velocity mode [rpm]
• 3 – Profile Velocity mode [u/s]
• 6 – Homing
• 7 – Interpolated mode (not available when MCO is used)
• 8 – Cyclic sync position mode (not available when MCO is used)
• 9 – Cyclic sync velocity mode (not available when MCO is used)

Bonfiglioli Vectron specific mode

• -1 (or 0xFF) – Table Travel record mode
• -2 (or 0xFE) – Move Away from Limit Switch
• -3 (or 0xFD) – Electronic Gear: Slave (electronic gear as slave)

The mode of operation can be switched in any operating state.

It is recommended that running movements be stopped by the PLC first, then, switch
the mode of operation using Override Modes Of Operation 1454 and restart in the
new mode.

In order to use the Motion Control Interface, Local/Remote 412 = “1 - Control via
statemachine” must be set. In configurations without positioning control (Configuration
30 ≠ x40), only velocity mode is available.

For a description of the positioning parameters, please refer to the “Application manual
- Positioning”.

52 ACU Modbus/TCP 10/13

10.1 Motion Control Override

The Motion Control Override feature can be used for specifying a travel profile via serial
communication (VABus or Modbus as well as VABus/TCP or Modbus/TCP). This enables
testing a travel profile in the VPlus user software for Windows when the controller has
not been programmed completely yet. This function can also be used as a simulation
mode.

The Function Motion Control Override does not support the following modes:
• Interpolated Mode.
• Cyclic Synchronous Position Mode
• Cyclic Synchronous Velocity Mode

Parameters Settings
No. Description Min. Max. Factory setting
1454 Override Modes Of Operation Selection 0
1455 Override Target Position -231-1…231-1 u -1 u
1456 Override Profile Velocity -1…231-1 u/s -1 u/s
1457 Override Acceleration -1…231-1 u/s² -1 u/s²
1458 Override Deceleration -1…231-1 u/s² -1 u/s²
1459 Override Target Velocity vl [rpm] -32768…32767 rpm -1 rpm
31 31
1460 Override Target Velocity pv [u/s] -2 -1…2 -1 u/s -1 u/s

Based on the default settings of the Motion Control Interface (parameters P.1292…
P.1297), the override parameters and CANopen® objects are used as follows:

1454 Override Modes Of Operation or 0x6060 Modes of Operation

1455 Override Target Position or 0x607A Target Position
1456 Override Profile Velocity or 0x6081 Profile Velocity
1457 Override Acceleration or 0x6083 Profile Acceleration
1458 Override Deceleration or 0x6084 Profile Deceleration
1459 Override Target Velocity vl [rpm] or 0x6042 Target Velocity
1460 Override Target Velocity pv [u/s] or 0x60FF Target Velocity

With the default settings “-1” in parameters P.1455… P.1460 and “0” in parameter
Override Modes Of Operation 1454 the values of the Motion Control from the links of
parameters P.1292… P.1297 are used. If the parameter settings deviate from the
factory settings, the value of the relevant parameter will be used. It is possible to de-
fine certain ranges of the trajectory via the override function and other values via the
Motion Control Interface.

Target position “-1 u” cannot be approached because Override Target Position 1455 =
-1 deactivates the override feature.

10/13 ACU Modbus/TCP 53

 Depending on the selected mode of operation, various objects and parameters are
used. The various objects and parameters must be set specifically for the different
modes of operation.
Use of “Deceleration” and “Quick Stop” depends on the modes of operation, control
commands and behavior in the case of communication errors (see Bus Error Behav-
iour 388).

The following tables provide an overview of the different objects and parameters. The
object / parameter mentioned first in a cell will typically be used. If an object is related
to a parameter, the parameter will be specified.
The following tables show the available modes of Operation using the Motion Control
Override.

Mode Homing Velocity Mode Profile Velocity Mode

1454 Over- 6 2 3
ride Modes
Of Operation
Target posi-
tion
Speed 1132 & 1133 1459 Override Target 1460 Override Target Ve-
Fast speed / Creep speed Velocity vl [rpm] locity pv [u/s]
Limitation3) 418 Minimum frequency 418 Minimum frequency 418 Minimum frequency
419 Maximum Frequen- 419 Maximum Frequen- 419 Maximum Frequency
cy cy
Acceleration 1134 Acceleration 420 Acceleration 1457 Override Accelera-
(clockwise) tion
422 Acceleration anti-
clockwise
Deceleration 1134 Acceleration 421 Deceleration 1458 Override Decelera-
(clockwise) tion
423 Deceleration anti-
clockwise
Emergency 1179 Emergency stop 424 Emergency stop 1179 Emergency stop ramp
stop 2) ramp clockwise
Quick Stop 425 Emergency stop
anticlockwise
Homing 1130 Homing type
Method

1) The limitation results from Minimum frequency 418 and Maximum Frequency 419. Through Limi-
tation 1118 of the position controller in Configuration x40, an increase above the Maximum Fre-
quency can occur, because the output of the position controller is added to the Maximum Frequen-
cy.
2) Emergency stop or Deceleration is used depending on the stopping behavior Mode of opera-
tion 630 or the behavior in the case of communication errors Bus Error Behaviour 388.

54 ACU Modbus/TCP 10/13

 Mode Profile Positioning mode
1454 Override Modes 1
Of Operation
Target position 1455 Override Target Position

Speed 1456 Override Profile Velocity

Limitation3) 418 Minimum frequency
419 Maximum Frequency
Acceleration 1456 Override Acceleration

Deceleration 1458 Override Deceleration

4)
Emergency stop 1179 Emergency stop ramp
Quick Stop

1) The limitation results from Minimum frequency 418 and Maximum Frequency 419. Through Limi-
tation 1118 of the position controller in Configuration x40, an increase above the Maximum Fre-
quency can occur, because the output of the position controller is added to the Maximum Frequen-
cy.
2) Emergency stop or Deceleration is used depending on the stopping behavior Mode of opera-
tion 630 or the behavior in the case of communication errors Bus Error Behaviour 388.

10/13 ACU Modbus/TCP 55

 Mode Table travel record Move away from limit Electronic gear - Slave
mode switch
1454 Over- 255 254 253
ride Modes
Of Operation
Target posi- 1202 Target position
tion

Speed 1203 Speed 1132 Fast speed 1460 Override Target Ve-
1133 Creep speed locity pv [u/s]
Limitation3) 418 Minimum frequency 418 Minimum frequency 418 Minimum frequency
419 Maximum Frequen- 419 Maximum Frequen- 419 Maximum Frequency
cy cy
Acceleration 1204 Acceleration 1134 Acceleration 1457 Override Accelera-
tion
Deceleration 1205 Deceleration 1134 Acceleration 1458 Override Decelera-
tion
Emergency 1179 Emergency stop 1179 Emergency stop 1179 Emergency stop ramp
stop 4) ramp ramp
Quick Stop
Motion block Selected via control word

Gear factor 1123 Gear factor Numera-

tor
1124 Gear factor denomi-
nator
5)
Phasing 1125 Phasing: Offset
1126 Phasing: Speed
1127 Phasing: Accelera-
tion
1) The limitation results from Minimum frequency 418 and Maximum Frequency 419. Through Limi-
tation 1118 of the position controller in Configuration x40, an increase above the Maximum Fre-
quency can occur, because the output of the position controller is added to the Maximum Frequen-
cy.
2) Emergency stop or Deceleration is used depending on the stopping behavior Mode of opera-
tion 630 or the behavior in the case of communication errors Bus Error Behaviour 388.

56 ACU Modbus/TCP 10/13

 Relationships between objects, parameters and conversions

Velocity [vl]  Velocity mode [rpm]

Velocity [pv]  Profile Velocity mode [u/s]

The graphical overview shows the most important objects which are used. Other ob-
jects are available in the different modes; for additional information, refer to the de-
scriptions of the objects and modes.

10/13 ACU Modbus/TCP 57

10.2 Functions of Motion Control Interface (MCI)

Via the Motion Control Interface, numerous positioning functions can be addressed by
a PLC directly.

10.2.1 Reference system

In many modes, the Motion Control Interface uses user units [u]. These user units [u]
result from the conversion of the gear factor parameters and the No. of pole pairs 373.

Conversion between “user units” [u] and frequencies [Hz]

No.of pole pairs 373 ⋅ Gear Box : Driving shaft revolutions 1116
[Hz] = v  us  ⋅
  Feed Constant 1115 [u ] ⋅ Gear Box : Motor shaft revolutions 1117
f

Feed Constant 1115

[u ] ⋅ Gear Box : Motor shaft revolutions 1117
v
 u  = f [Hz ] ⋅ U
 s  No.of pole pairs 373 ⋅ Gear Box : Driving shaft revolutions 1116 ⋅

Feed Constant 1115

Gear Box: Shaft revolutions 1116
Gear Box: Motor revolutions 1117

The same formulas can be used for converting acceleration values from a[Hz/s] to
a[u/s²] and vice versa. In the formulas, replace speeds f[Hz] and f[u/s] by accelera-
tions a[Hz/s] and a[u/s²].

For more details about the reference system, refer to the “Positioning” application man-
ual.

10.2.2 Modes of operation

In Override Modes Of Operation 1454, you can define the operation mode of the fre-
quency inverter.
The available options depend on the set frequency inverter configuration.

Available values for Override Modes Of Operation 1454 in configurations of the fre-
quency inverter with position control (Parameter Configuration 30 = x40):

Modes of operation
1 – Profile position mode
2 – Velocity mode [rpm](factory setting)
3 – Profile velocity mode [u/s]
6 – Homing mode
255
– Table travel record mode (manufacturer-specific mode of operation)
(-1)
254
– Move away from limit switch (manufacturer-specific mode of operation)
(-2)
253
– Electronic Gear: Slave (manufacturer-specific mode of operation)
(-3)

Usable values for Modes of operation in frequency inverter configurations without posi-
tioning control (Parameter Configuration 30 ≠ x40):
Modes of operation
2 – Velocity mode [rpm]

58 ACU Modbus/TCP 10/13

10.2.3 Current position and contouring errors

Parameter Act. Position 1108 returns the actual position in user units.

Parameter Act. Contouring Error 1109 returns the actual contouring error.

The contouring error can be monitored internally in order to trigger a device error once
a threshold is reached. For details on parameters Fault Reaction 1120, Warning
Threshold 1105, Error Threshold 1106 and Contouring Error Time 1119, refer to
application manual “Positioning”.

10.2.4 Target window

The target window monitors the current position after completion of a positioning
operation. A positioning operation is complete as soon as the current position is in
the target window. Via parameter Target Window 1165, you can define as from
which distance from the target position the signal "Target Reached" is set. This set-
ting is valid both for the positive and negative direction.
If the parameter value is set to 0, the operation will be complete as soon as the
Position reference value reaches the target position. For the Position reference value
an internal value is used, that is calculated anew depending on the profile data for
each internal cycle step.
Via parameter Target Window Time 1166, you can define how long the axis must
be in the target window before "Target Reached" is signaled.

Parameter Setting
No. Description Min. Max. Fact. sett.
1165 Target Window 0u 220 u 182 u
1166 Target Window Time 1 ms 65 535 ms 1 ms

The size of the target window affects the automatic sequence of motion blocks be-
cause the positioning operation requires a higher precision in the case of a small
target window (small tolerance). The following motion block is started when the
target window is reached.

10/13 ACU Modbus/TCP 59

10.2.5 Position Controller
The position controller evaluates the positioning operation (target/actual position)
and tries to control the drive such that it comes as close as possible to the specifica-
tions. For this purpose, an additional frequency is calculated for compensation of
position deviations. By setting the corresponding parameter, this frequency can be
limited. The parameter settings of the position controller determine how quick and
to what extent position deviations are to be compensated.
Via Time Constant 1104, you can define the maximum time in which the position
deviation is to be compensated.
Via parameter Limitation 1118, you can define to which value the speed is limited
for compensation of the position deviation.

Parameters Settings
No. Description Min. Max. Factory setting
10.00 ms 1)
1104 Time Constant 0.00 ms 300.00 ms
100.00 ms 2)
1118 Limitation 0 u/s 231-1 u/s 327 680 u/s
1)
Factory parameter setting Configuration 30 = 240 or 540
2)
Factory parameter setting Configuration 30 = 440
Example:
Position deviates by 1 motor shaft revolution, time constant is set to 1 ms. The posi-
tion controller will increase the motor frequency by 1000 Hz in order to compensate
the position deviation. Parameter Limitation 1118 must be set accordingly.

Controller block diagram

In order to avoid oscillations of the drive while it is at standstill, amplification is re-

duced to 50 % of the parameterized value for small position deviations.

Amplification [%]

100

50

Control deviation
-0.50 -0.25 0.00 0.25 0.50 of position [°]

60 ACU Modbus/TCP 10/13

 The following behavior may indicate that the controller parameters are not config-
ured properly:
 drive is very loud
 drive vibrates
 frequent contouring errors
 inexact control

For the setting options of other control parameters, e.g. speed controller and accel-
eration pilot control, refer to the operating instructions of the frequency inverter.

Optimize the settings in actual operating conditions, as control parameters for speed
controller and acceleration pilot control depend on actual load. Optimize with differ-
ent load types to obtain a good control behavior in all situations.

10.2.6 Homing
When the drive is started, a defined starting position must be identified for absolute-
value positioning. In a homing operation, the point of reference of the positioning
operation is determined. All positioning data relates to this point of reference. Once
the homing operation is started, the drive moves until it reaches a home switch or
limit switch and stops there. The limit switches limit the motion path. The direction of
movement (search direction) at the start of the homing operation is defined by the
homing mode. Once the limit switches are reached, the direction of rotation of the
drive will be reversed, depending on the selected homing mode. The Limit switches
can also be used as a reference for homing. For a list of homing modes, refer to chap-
ter "List of Homing Modes".

Relative positioning and moving in velocity mode is possible without homing.

Homing can be started:

• via a digital input

• by a control word via system bus or field bus 1)
• automatically before the start of a motion block positioning operation
1)
Extension module with system bus or field bus interface required

If an absolute value encoder with an absolute value encoder module (e.g. EM-ABS-01)
is used, homing is not required when power supply is turned on. This is defined by
parameter Operation Mode 1220.

For more details about the homing function, refer to the “Positioning” application
manual.

10.2.6.1 Start position after homing

After homing:
Initial Position 1185 = -1  Drive stops at “stopped” position.
Initial Position 1185 ≠ -1  Drive will be moved actively to the set position.

10.2.6.2 Flying homing

Flying homing can be used in order to update the home position during positioning
operations. For a description of this function, refer to the application manual “Posi-
tioning”.

10/13 ACU Modbus/TCP 61

10.2.7 Move away from Hardware limit switches
When a hardware limit switch is triggered, an error message will be triggered depend-
ing on the settings of parameter Fault reaction 1143 and the relevant direction of
rotation will be disabled.

After an error reset, it is possible to move in the direction that is still enabled. General-
ly, any mode of operation can be used for clearing, as long as the travel command has
the enabled direction.
As long as the limit switch is triggered, the limit switch warning in the status word and
actual value parameters Warnings 269, Warnings Application 273 and Controller
status 275 will remain. Once the limit switch is cleared, the warning will be deleted in
the status word and actual value parameters.

For simple clearing of the limit switches, you can use mode “-2 Clear limit switch” (see
Chapter 11.4.6 “Move away from limit switch mode”).

62 ACU Modbus/TCP 10/13

11 Control of frequency inverter
The frequency inverter can generally be controlled via three operation modes. The
operation modes can be selected via the data set switchable parameter Local/Remote
412.

Parameters Settings
No. Description Min. Max. Factory set-
ting
412 Local/Remote 0 44 44

For operation with CANopen®, only operation modes 0, 1 and 2 are relevant. The other
settings refer to the control option via the control unit.

Operation mode Function

Control via The Start and Stop commands as well as the direction of
0 -contacts rotation are controlled via digital signals.
(Chapter 11.1)
Control via The frequency inverter is controlled via the control word.
state machine Only this setup supports positioning functions via
1-
(Chapters 11.1.1,11.3, the control word and modes of operation.
11.4)
Control via The Start and Stop commands as well as the direction of
2 -remote contacts rotation are controlled via virtual digital signals of the
(Chapter 11.1) control word.

Parameter Local/Remote 412 is dataset switchable, i.e. you can switch between the
different operation modes by selecting another data set. For example, a frequency
inverter can be controlled via the bus, and emergency mode can be activated locally
when the bus master fails. This switch-over is also identified by the status word (re-
mote bit).

Data set switching can be effected locally via control contacts at the digital inputs of
the frequency inverter or via the bus. For data set switching via the bus, parameter
Data set selection 414 is used.

Parameters Settings
No. Description Min. Max. Factory set-
ting
414 Data set selection 0 4 0

With Data set selection 414 = 0, data set switching via contact inputs will be active. If
Data set selection 414 is set to 1, 2, 3 or 4, the selected data set is activated and data
set switching via the contact inputs is deactivated.
If Data set selection 414 is set to 5, data set switching via contact inputs will be active
if the frequency inverter is not enabled.

Via parameter Active Data Set 249, the currently selected data set can be read. Ac-
tive Data Set 249, indicates the Active Data Set (value 1, 2, 3 or 4). This is independ-
ent of whether the data set switching was done via contact inputs or Data set selec-
tion 414.

10/13 ACU Modbus/TCP 63

11.1 Control via contacts/remote contacts

In operation mode “Control via contacts" or “Control via remote contacts” (Parameter
Local/Remote 412 = 0 or 2), the frequency inverter is controlled directly via digital
inputs S1IND (STOA and STOB), S2IND through EM-S3IND or via the individual bits of
the virtual digital signals in the control word. The function of these inputs is described
in the frequency inverter user manual.
Control word (Local/ R em ote 412 = 2)
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Bit
0
S1IND (=STOA and STOB)
1
S2IND
2
S3IND
3
S4IND

4
S5IND
5
S6IND
6
MFI1D
7
EM-S1IND

8
EM-S2IND
9
EM-S3IND
10
-
11
-

12
-
13
-
14
-
15
-

The digital inputs set via the control word can be monitored using parameter Digital
Inputs 250. Digital input S1IND will only be displayed if controller release is switched
on at STOA and STOB and the control word (Bit 0) was set. If the data set switching
function is used, please ensure that Parameter Local/Remote 412 is set to “2 – Con-
trol via remote contacts” is set in all data sets used.

64 ACU Modbus/TCP 10/13

 Status word
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Bit
0
Ready to switch on
1
Switched on
2
Operation enabled
3
Fault

4
Voltage enabled
5
Quick stop (Low active)
6
Switch on disabled
7
Warning

8
-
9
Remote
10
Target reached
11
Internal limit active

12
-
13
-
14
-
15
Warning 2

If operation mode “Control via remote contacts” is used, controller release must be
turned on at STOA (Terminal X210A.3) and STOB (Terminal X210B.2) and Bit 0 of the
control word must be set in order to be able to start the drive.
Operation modes “Control via contracts” and “Control via remote contacts” only sup-
port modes of operation = “velocity mode”.

ACTIVE CUBE frequency inverters support an external 24 V power supply for the fre-
quency inverter control electronics. Even when mains voltage is disconnected, com-
munication between the controller (PLC) and the frequency inverter is still possible.
Bit 4 “Power supply – enabled” of the status word shows the current mains power
supply status:
Bit 4 “Power supply – enabled” = 0 signals “No mains voltage”, starting of drive not
possible.
Bit 4 “Power supply – enabled” = 1 signals “Mains voltage on”, drive ready for start-
ing.

10/13 ACU Modbus/TCP 65

11.1.1 Device state machine
State machine:
not ready to
1 switch on
0x00

switched on quitt fault fault

4 8
0x23 0x08

start drive stop drive

operation
5 enabled
0x37

Status word Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

Switched on 1 0 0 0 1 1
Operation enabled 1 1 0 1 1 1
Fault x x 1 x x x

“x” means any value.

Bit 7 “Warning” can display a device-internal warning message at any time. The cur-
rent warning is evaluated by reading the warning status with parameter Warn-
ings 270.
Bit 10 “Target reached” is set when the specified reference value is reached. In the
special case of power failure regulation, the bit is also set when the power failure reg-
ulation reaches the frequency 0 Hz (see frequency inverter Operating Instructions).
For "Target reached“, there is a hysteresis (tolerance range) which can be set via the
parameter Max. control deviation 549 see frequency inverter operating instructions).
Bit 11 “Internal limit value active” indicates that an internal limit is active. This
may be the current limit, the torque limit or the overvoltage control. All functions will
result in the reference value being left or not reached.
Bit 15 “Warning 2” signals a critical operating state which will result in a fault switch-
off of the frequency inverter within a short time. This bit is set if there is a delayed
warning relating to the motor temperature, heat sink/inside temperature, Ixt monitor-
ing or mains phase failure.

66 ACU Modbus/TCP 10/13

11.2 Control via state machine

In the operation mode “Control via state machine (Local/Remote 412 = 1), the fre-
quency inverter is addressed via the control word of the state machine.

Transition 4 to status “Operation enabled” is only possible:

− If, in a configuration for positioning control (parameter Configuration 30 = x40),
the controller release is set via STOA and STOB,
− If, in other configurations (parameter Configuration 30 ≠ x40) the controller
release is set via STOA and STOB and if one of the digital inputs S2IND or S3IND
is set. (Typically: S2IND = Start clockwise/S3IND = Start anticlockwise)

Parameter Control word 410 is applicable to the frequency inverter if parameter Lo-
cal/Remote 412 is set to “1 – Control via statemachine”.

Control word
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Bit
0
Switch on
1
Enable voltage
2
Quick stop (Low active)
3
Enable operation

4
Operation mode specific
5
Operation mode specific
6
Operation mode specific
7
Fault reset

8
Halt
9
Operation mode specific
10
-
11
Manufacturer specific

12 Manufacturer specific

13 Manufacturer specific

14 Manufacturer specific

15 Manufacturer specific

Bits 9 … 15 are used depending on the configuration and on Mode of Operation.

Control word bits 4, 5, 6 operation mode specific and bit 8 halt are used in motion
control configurations (Parameter Configuration 30 = x40) only.

The actual value parameter Status word 411 shows the current operating status.

10/13 ACU Modbus/TCP 67

 Status word
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Bit
0
Ready to switch on
1
Switched on
2
Operation enabled
3
Fault

4
Voltage enabled
5
Quick stop (Low active)
6
Switch on disabled
7
Warning

8
Manufacturer specific
9
Remote
10
Target reached
11
Internal limit active

12
Operation mode specific
13
Operation mode specific
14
Manufacturer specific
15 Manufacturer specific
Warning 2

Bit 14 is not used.

Status word bits 12 and 13 “Operation mode specific” are only used in positioning con-
trol configurations (Parameter Configuration 30 = x40).

ACTIVE CUBE frequency inverters support an external 24 V power supply for the in-
verter control electronics. Even when mains voltage is disconnected, communication
between the controller (PLC) and the frequency inverter is still possible.
Bit 4 “Voltage enabled” of the status word shows the current mains power supply sta-
tus:
Bit 4 Voltage enabled” = 0 signals “No mains voltage”, starting of drive not possible.
Bit 4 “Voltage enabled” = 1 signals “Mains voltage on”, drive ready for start.

68 ACU Modbus/TCP 10/13

11.2.1 Statemachine diagram
State machine:

10/13 ACU Modbus/TCP 69

 Control word:
The device control commands are triggered by the following bit patterns in the status
word.
Control word
Bit 7 Bit 3 Bit 2 Bit 1 Bit 0
Fault reset Enable Quick Enable Switch
operation stop voltage on Transitions
(Low
Command active
Shutdown X X 1 1 0 2, 6, 8
Switch on X 0 1 1 1 3
Enable operation X 1 1 1 1 4
Disable voltage X X X 0 X 7, 9, 10, 12
Quick stop X X 0 1 X 7, 10, 11
(Low active)
Disable operation X 0 1 1 1 5
Fault reset 01 x x x x 15
“X” means any value.

Transition 3 (command “Switch On” [0x07]) will only be processed if Bit 4 “Voltage
enabled” of the Status word is set.

Transition 4 (Command “Enable operation” [0xF]) will only be processed if the release
is set via the hardware contacts STO.
If the hardware release via STO is not set, the frequency inverter will remain in status
“Switched On” [0x33] until the hardware release via STO is present.
In status “Operation enabled” [0x37], the device will switch to status “Switched On”
[0x33] internally once the hardware release via STO is reset.

In configurations with Motion Control (parameter Configuration 30 = x40), the fol-

lowing must be noted:
• Transition 4’ is not available.
• In status “5-Operation enabled [0x37]” an additional start signal must be provided
via bits from the “High Byte” of the control word in order to start a movement of
the motor. For a description of the start signal for this “Motion Control Interface”
(MCI), refer to Chapter 11.4. Parameter Override Modes Of Operation 1454 is
available for switching to other MCI modes.
• Digital inputs (STOA and STOB) must be set. Start clockwise and Start anticlock-
wise have no function in these configurations.

In configurations without Motion Control (parameter Configuration 30 ≠ x40), the

following must be noted:
• Transition 4’ will only be processed if Bit 4 “Voltage enabled” of the status
word is set. This feature is downward-compatible with older software ver-
sions.
• The frequency inverter can only be controlled if the logic operation is true.
The logic inputs for Start Clockwise and Start anticlockwise can be connected
directly with “On” or “Off” (parameter Start Clockwise 68 and Start Anti-
clockwise 69).
Digital inputs (STOA and STOB) must be set.
This results in:
Release: (= STOA and STOB) AND (Start clockwise OR Start Anticlockwise)

70 ACU Modbus/TCP 10/13

 Status word:
The status word indicates the current operating state.
Status word
Bit 6 Bit 5 Bit 3 Bit 2 Bit 1 Bit 0
Switch on Quick Fault Operation Switched Ready to
disabled stop (Low enabled on switch on
State active)
Switch on disabled 1 X 0 0 0 0
Ready to switch on 0 1 0 0 0 1
Switched on 0 1 0 0 1 1
Operation enabled 0 1 0 1 1 1
Quick stop active 0 0 0 1 1 1
Fault reaction active 0 X 1 1 1 1
Fault 0 X 1 0 0 0
“X” means any value.

Bit 7 “Warning” can be set at any time. It reports a device-internal warning. The
cause of the warning is evaluated by reading the warning status with parameter
Warnings 270.

Bit 9 “Remote” is set if the operation mode is set to “Control via state machine” (Lo-
cal/Remote 412 = 1) and controller release is turned on.
Bit 10 “Target reached” is set when the specified reference value is reached.
In configurations without Motion Control (parameter Configuration 30 ≠ x40) “Target
reached” refers to the reference speed from OUT-PZD2. In the special case of power
failure regulation, the bit is also set when the power failure regulation reaches the
frequency 0 Hz (see frequency inverter operating instructions).
For "Target reached“, there is a hysteresis (tolerance range) which can be set via the
parameter Max. control deviation 549 see frequency inverter Operating Instructions).
Bit 11 “Internal limit value active” indicates that an internal limit is active. This
may be the current limit, the torque limit or the overvoltage control. All functions will
result in the reference value being left or not reached.
Bit 15 “Warning 2” signals a critical operating state which will result in a fault switch-
off of the frequency inverter within a short time. This bit is set if there is a delayed
warning relating to the motor temperature, heat sink/inside temperature, Ixt monitor-
ing or mains phase failure.

10/13 ACU Modbus/TCP 71

11.3 Configurations without Motion Control
In configurations without positioning control (Configuration 30 ≠ x40) Override
Modes Of Operation 1454 is set permanently to “2 - velocity mode”. This setting
cannot be changed.

Relevant parameters:
410 Control word
411 Status word
1459 Override Target velocity vl [rpm]
240 Actual speed
418 Minimum Frequency
419 Maximum Frequency
420 Acceleration (Clockwise)
422 Acceleration Anticlockwise
421 Deceleration (Clockwise)
423 Deceleration Anticlockwise
424 Emergency Stop Clockwise
425 Emergency Stop Anticlockwise
The ramp times are specified via parameters 430…433.

11.3.1 Behavior in the case of a quick stop

In quick stop, the parameters Switch-Off Threshold 637 (percent of parameter Max-
imum Frequency 419) and Holding time 638 (holding time after falling short of the
Switch-Off Threshold) are relevant. Maximum Frequency. In the case of a quick stop,
the drive is stopped via emergency stop ramps.
The emergency stop ramps are set via parameters Emergency Stop Clockwise 424
and Emergency Stop Anticlockwise 425 .

fs

Start Quick Stop

Emergency Stop Clockwise 424

Emergency Stop Anticlockwise 425

Holdig Time Stop Function 638

Switch-off Threshold Stop Fct. 637

t
OFF
change of state

If frequency/speed reaches the value zero during the switch-off time, the drive con-
tinues to be supplied with current until the switch-off time has elapsed. This ensures
that the drive is at a standstill when the state changes.

The quick stop behavior is only relevant for configurations without Motion Control
(parameter Configuration 30 ≠ x40).

72 ACU Modbus/TCP 10/13

11.3.2 Behavior in the case of transition 5 (disable operation)
The behavior in transition 5 from “Operation enabled” to “Switched On” can be con-
figured via parameter State transition 5 392.

Parameters Settings
No. Description Min. Max. Factory set-
ting
392 State transition 5 0 2 2

Operation mode Function

Immediate transition from “Operation enabled” to
0 -Coast to stop
“Switched On”, drive coasts to a standstill
Activation of DC brake, at the end of DC deceleration,
1 -DC brake there is the change from “Operation enabled” to
“Switched On”
Transition with normal ramp, when the drive has come to
2 -Ramp a standstill, there is the change from “Operation enabled”
to "Switched On"

Setting 1 “Direct current brake” is only possible with applications with U/f characteris-
tic control (e.g. configuration 110). Other configurations do not support this operation
mode.
If the frequency inverter is operated with a configuration which does not support the
operation mode Direct Current Brake (e.g. configuration 210, field-oriented control),
value "1" cannot be used.
In this case, the operation mode is not offered in the selection menus of the control
unit KP500 and the control software VPlus.

By default, State-transition 5 392 is set to operation mode “2 - Ramp” For configura-

tions with torque control, the default value is “0 – coast to stop”.
If the configuration is changed, the value set for State-transition 5 392 is also
changed, if necessary.

The behavior in transition 5 is only relevant for configurations without Motion Control
(parameter Configuration 30 ≠ x40).

If State-transition 5 392 was triggered with “1 - DC brake”, a new control word will
only be accepted after completion of the transition process. The change of state from
“Operation enabled” to “Started” is done after the Braking time 632 parameterized
for the DC brake has elapsed.

If parameter State-transition 5 392 = “2 - Ramp” is set, the control word can be set
to “Operation enabled” again, while the drive is decelerating. In this way, the drive
accelerates to its set reference value again and remains in the state “operation ena-
bled”.

The change of state from “Operation enabled” to “Switched On” is done after the val-
ue has dropped below the set Switch-Off Threshold and the set holding time has
elapsed (equivalent to the behavior in the case of a quick stop). In this context, pa-
rameters Switch-Off Threshold stop function 637 (percentage of parameter Maxi-
mum Frequency 419) and Holding time 638 (Holding time after passing of threshold)
are relevant.

10/13 ACU Modbus/TCP 73

11.3.3 Reference value/actual value
Depending on the settings of Local/Remote as well as Modes of Operations, the con-
troller (PLC) can define the reference frequency for the frequency inverter via param-
eter Reference frequency RAM [Hz] 484 or Override Target Velocity vl [rpm] 1459
and receive the actual value via parameter Actual speed 240.

The use of the reference/actual value channel depends on the set configuration (con-
trol method). The actual value is generated according to the control method use.

The reference value in parameter Override Target Velocity vl [rpm] 1459 and the
actual value in parameter Actual speed 240 are interpreted as values with unit [min-
1]
. Conversion into a frequency value (reference value) or from a frequency value (ac-
tual value) is performed in the frequency inverter.
The entry for parameter Reference frequency RAM [Hz] 484 is done in [Hz] directly.

The reference value for the frequency inverter from parameter Reference frequency
RAM [Hz] 484 or Override Target Velocity vl [rpm] 1459 is connected to the refer-
ence line value. This reference value will be combined with the internal reference val-
ue from the reference frequency channel and directed to the ramp. For information on
the reference frequency channel, refer to the operating instructions of the frequency
inverter.

ramp set point

operation mode 434

refer to note
internal 0
set point
1 frequency
fmin
ramp
line
set point fmax
+

Reference percentage 524 can be used for regular changing of reference percent-
ages, e.g. as a reference value for technology controllers or as a reference torque.

Parameters Settings
No. Description Min. Max. Factory set-
ting
434 Ramp Setpoint 1 3 3
484 Reference frequency RAM [Hz] -999.99 999.99 0.00
524 Reference percentage RAM [%] -300.00 300.00 0.00

Operation mode 434 Function

Internal reference fre- The internal reference frequency is determined from
1-
quency the reference frequency channel.
2 -Reference line value The reference value is supplied externally via the bus
3 -Internal reference fre-
Addition (considering the sign) of internal reference
quency + reference line
frequency and reference line value
value

This function is only relevant in the case of configurations without positioning control
(parameter Configuration 30 ≠ x40).

74 ACU Modbus/TCP 10/13

 If Ramp Setpoint 434 = 2 (reference line value only), this reference line value is lim-
ited to fmin.
The sign in front of fmin with reference value = 0 is derived from the sign in front of
the last reference line value which was not 0.
After Mains On, the reference line value is limited to +fmin.

For Ramp Setpoint 434 = 3, the sign of the total reference value results from the
total of internal reference frequency and reference line value.

The reference values can be controlled at the frequency inverter via the control unit or
the control software VPlus via the following parameters:
Actual values
Parameters Contents Format
Internal Reference Fre- Internal reference value from the reference xxx.xx Hz
quency 228 frequency channel
Reference Bus Frequency Reference line value from Field bus xxx.xx Hz
282
Reference Ramp Frequen- = sum of internal reference frequency + xxx.xx Hz
cy 283 reference line value

11.3.4 Example sequence

In configurations without Motion Control (Configuration 30 ≠ x40), the PLC must

send the correct sequence:

1 Control word = 0x0000 Disable voltage

2 Control word = 0x0006 Shut down
3 Control word = 0x0007 Switch On
4 Control word = 0x000F Enable operation

OR

1 Control word = 0x0000 Disable voltage

2 Control word = 0x000F Enable operation

In configurations without positioning control (Configuration 30 ≠ x40), the second

(shortened) sequence can be used, because transition 4‘ is available in these configu-
rations.

10/13 ACU Modbus/TCP 75

11.4 Motion control configurations

WARNING
Dangerous state due to new mode!
If Override Modes Of Operation 1454 is changed during operation (control word =
0xnnnF), a dangerous state may occur in the new mode.
• Before changing Override Modes Of Operation 1454, check the status word
(e.g. for status 0xnn33).

Definition Motion Control

For the full function of the Motion Control Interfaces/Motion Control Override, you will
have to set Local/Remote 412 = “1-Control via state machine”. In all other operation
modes of parameter Local/Remote 412, there are major restrictions. The descriptions
in this chapter and of all objects used are based on the setting Local/Remote 412 =
“1-Control via state machine”.

The usage of Positioning for setting Local/Remote 412 ≠ 1 is described in the “Posi-
tioning” application manual.

The function of the state machine describes the basic operating behavior of the fre-
quency inverter in configurations with position control (Configuration 30 = x40). The
parameters described in 11.2 “Control via state machine”, i.e. Control word 410 and
Status word 411 support the bits marked as operation mode specific.
These bits and bit “Target reached” have different meanings in the different position
control operation modes – defined by Override Modes Of Operation 1454. The fol-
lowing chapters describe the application of the operation mode specific bits in the
control word and status word, depending on the different position control operation
modes. Default value of Override Modes Of Operation 1454: “2 – velocity mode”.

Basic functions:
The state machine must be set to “operation enabled”, before the position command
can be issued via the operation mode specific bits of the control word.

The bits in the control word and status word marked as operation mode specific are
only supported in configurations with position control (Configuration 30 = x40).

76 ACU Modbus/TCP 10/13

11.4.1 Velocity mode [rpm]

“Velocity mode” can be selected via parameter Override Modes Of Opera-

tion 1454 = 2.
In velocity mode, the mode-specific bits of the control word control the ramp generator
(RFG – Ramp Function Generator). The block diagram illustrates the function.
Relevant parameters:
410 Control word
411 Status word
1459 Override Target velocity vl [rpm]
240 Actual speed
418 Minimum Frequency
419 Maximum Frequency
420 Acceleration (Clockwise)
422 Acceleration Anticlockwise
421 Deceleration (Clockwise)
1454 Override Modes Of Operation

The ramp times are specified via parameters 430…433.

Control word
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Bit
0
Switch on
1
Enable voltage
2
Quick stop (Low active)
3
Enable operation

4
Rfg enable
5
Rfg unlock
6
Rfg use ref
7
Fault reset

8
Halt
9
-
10
-
11
-

12
-
13
-
14
-
15
-

10/13 ACU Modbus/TCP 77

 Status word
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Bit
0
Ready to switch on
1
Switched on
2
Operation enabled
3
Fault

4
Voltage enabled
5
Quick stop (low active)
6
Switch on disabled
7
Warning

8
-

9
Remote
10
Target reached (not used)
11
Internal limit value active

12
-

13
-

14
-

15
Warning2

Block diagram
Bit 5 / rfg unlock

1
Run_RFG

Lock_Output
Bit 6 / rfg use ref 0
Bit 4 / rfg enable
1
1
Ramp_Reference RFG
0
Ramp Function Generator

0
0
Special
Function
Generator

78 ACU Modbus/TCP 10/13

 Bit 4:rfg enable
Rfg enable = 0 The reference speed comes from a manufacturer-specific special
function.
Rfg enable = 1 The reference speed corresponds to the ramp output.

The special function will only be evaluated if 1299 S. Special Function Generator is
not “9-zero”.
If 1299 S. Special Function Generator = “9-Zero”, the value of the ramp output will
always be used.

Bit 5:rfg unlock

Rfg unlock = 0 The last speed will be maintained and used.
Rfg unlock = 1 The ramp function is active and changes according to the reference
value and the ramp.

Bit 6/rfg use ref

Rfg use ref = 0 Reference value “0” is used.
Rfg use ref = 1 The reference value from Override Target Velocity vl [rpm] 1459 is
used.

Bit 8 HALT
HALT = 0  Execute positioning.
HALT = 1  Stop axis. (The frequency inverter remains enabled in “Operation
enabled” state.)

If 1299 S. Special Function Generator ≠ “9-Zero”, the reference value from the ramp
output will also be used if bit 4 “rfg enable” = 1, and if bit 4 “rfg enable” = 0, the
reference value from the source specified in 1299 S. Special Function Generator.

Reference value source

1299 S. Special Function Gen- 1299 S. Special Function
erator ≠ “9-Zero” Generator = “9-Zero”
Bit 4 rfg enable = 0 Reference value from special
function Reference value from ramp
Bit 4 rfg enable = 1 Reference value from ramp output
output

10/13 ACU Modbus/TCP 79

11.4.1.1 Example sequence
In order to start “velocity mode”, the correct sequence must be sent by the PLC.
1 Control word = 0x0000 Disable voltage
1 Status word = 0x0050 Switch On Disabled
2 Modes of operation = 2 (Velocity mode)

3 Control word = 0x0006 Shutdown

Status word = 0x0031 Ready to switch on
4 Control word = 0x0007 Switch On
Status word = 0x0033 Switched On
5 Control word = 0x000F Enable operation, no change of previous status
if already enabled.
Status word = 0xnn37 Operation enabled
6a Control word = 0x007F Starts “Velocity mode” with reference value
from parameter Override Target Velocity vl
[rpm] 1459.
Status word = 0xnn37 Operation enabled
6b Control word = 0x006F 1299 S. Special Function Generator:
= “9-Zero”
 Starts “Velocity mode” with reference val-
ue from parameter Override Target Veloc-
ity vl [rpm] 1459.
1299 S. Special Function Generator:
≠ “9-Zero”
 Starts with reference value with source
from 1299 S. Special Function Generator
Status word = 0xnn37 Operation enabled
6c Control word = 0x003F Starts “Velocity mode” with reference value “0”
Status word = 0xnn37 Operation enabled
6d Control word = 0x002F 1299 S. Special Function Generator:
= “9-Zero”
 Starts “Velocity mode” with reference val-
ue “0”
1299 S. Special Function Generator:
≠ “9-Zero”
 Starts with reference value with source
from 1299 S. Special Function Generator
Status word = 0xnn37 Operation enabled
6e Control word = 0x005F Starts “Velocity mode” at current speed – cur-
rent ramps will be canceled.
Status word = 0xnn37 Disable voltage
6f Control word = 0x004F 1299 S. Special Function Generator:
= “9-Zero”
 Starts “Velocity mode” at current speed –
current ramps will be canceled.
1299 S. Special Function Generator:
≠ “9-Zero”
 Starts with reference value from source
from 1299 S. Special Function Generator
Status word = 0xnn37 Disable voltage
7 Control word = 0x01xx HALT: The drive is decelerated at the ramp
Deceleration (Clockwise) 421 or Deceleration
Anticlockwise 423.
Status word = 0xnn37 Operation enabled

80 ACU Modbus/TCP 10/13

 WARNING
Dangerous state due to new mode!
If Override Modes Of Operation 1454 is changed during operation (control word =
0xnnnF), a dangerous state may occur in the new mode.
• Before changing Override Modes Of Operation 1454, check the status word
(e.g. for status 0xnn33).

Once the sequence of the first four status words has been processed correctly, the ACU
is ready for operation (dark table area).
In state “operation enabled” (0xnnnF), the state of the Motion Control can be changed
(white table area).
With control word transition from 0xnnF to 0x000F, “Velocity mode” will be stopped.
Then, the mode can be restarted via 0xnnF.
As long as 0x0007 is active, the “Modes of Operation” can also be changed safely. Once
Override Modes Of Operation 1454 has been set to another value, operation can be
started with a corresponding sequence.

10/13 ACU Modbus/TCP 81

11.4.2 Profile Velocity mode [u/s] (pv)
“Profile velocity mode” (pv) can be selected via Override Modes Of Operation 1454
= 3. In “Profile velocity mode” (pv), the frequency inverter receives a target speed in
user units per second [u/s].

Relevant parameters:
410 Control word 1279 Threshold Window Time
411 Status word 1457 Override Profile Acceleration
418 Minimum Frequency 1458 Override Profile Deceleration
419 Maximum Frequency 1179 Emergency ramp
1454 Override Modes Of Operation 1176 Ramp time Accel.
1107 Act. Speed 1178 Ramp time Decel.
1276 Velocity Window 1275 Max Slippage
1277 Velocity Window Time 1460 Override Target Velocity pv [u/s]
1278 Threshold Window

The ramp times are specified via parameters 1176…1178.

In “Profile velocity mode” (pv), the mode-specific bits of the control word and the
status word are used as follows:

Control word
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Bit
0
Switch on
1
Enable voltage
2 Quick stop (Low
active)
3
Enable operation

4
-
5
-
6
-
7
Fault reset

8
Halt
9
-
1
0
-
1
1
-

1
2
-
1
3
-
1
4
-
1
5
-

82 ACU Modbus/TCP 10/13

 Status word
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Bit
0
Ready to switch on
1
Switched on
2
Operation enabled
3
Fault

4
Voltage enabled
5
Quick stop (low active)
6
Switch on disabled
7
Warning

8
-
9
Remote
10
Target reached
11
Internal limit active

12
Velocity
13
Max Slippage
14
-

15
Warning 2

Profile velocity mode enables setting of a reference speed in units per second [u/s].
The reference speed Override Target Velocity pv [u/s] 1460 will be applied immedi-
ately in status “Operation enabled” (0xnn37). The acceleration and deceleration ramps
are set via parameters Override Profile Acceleration 1457 and Override Profile De-
celeration 1458.
If bit 8 “Halt” of the control word is set, the drive will be decelerated and kept at a
standstill at the ramp set in parameter Override Profile Deceleration 1458. If bit 8 is
reset, the drive will be accelerated to the current reference speed at the ramp set in
parameter Override Profile Acceleration 1457.

Control word Bit 8: Halt

HALT = 0  Execute Profile Velocity Mode.
HALT = 1  Halt Axis. (The Frequency inverter remains in state “Operation
enabled”.)

The current speed in user units per second [u/s] can be displayed in a controller via
parameter Velocity Window 1276.

10/13 ACU Modbus/TCP 83

 Via parameter Velocity Window 1276 and Velocity Window Time 1277 Bit 10 “Target
reached” of the status word is set.
Via parameter Threshold Window 1278 and Threshold Window Time 1279 Bit 12 “Ve-
locity” of the status word is set.
Via parameter Max Slippage 1275 a slip monitoring via Bit 13 “Max Slippage” of the
status word can be set up.

Status word bit 10: Target reached

Target reached =0  The actual velocity doesn’t match the reference velocity.
Target reached =1  The actual velocity matches the reference velocity.
The actual velocity differs at least from the defined time period
in Velocity Window Time 1277 up to the defined amount [us]
in Velocity Window 1276.

Status word Bit 12: Velocity

Velocity  The Actual Velocity matches the comparison speed.
=0 The Actual Velocity has exceeded for a defined time (Threshold
Window Time 1279) a defined Velocity in user units per sec-
onds [u/s] (Threshold Window 1278).
Velocity  The Actual Velocity doesn’t match the Comparison Velocity.
=1

Status word Bit 13: Maximum Slippage

Maximum Slippage  The actual Slippage speed is smaller than defined. The
=0 comparison value of the slippage speed is defined Object Max
Slippage 1275.
Maximum Slippage  The actual Slippage speed is bigger than defined. The
=1 comparison value of the slippage speed is defined Max Slip-
page 1275.

84 ACU Modbus/TCP 10/13

11.4.2.1 Example sequence

In order to start “Profile velocity mode”, the correct sequence must be sent by the
PLC.

1 Control word = 0x0000 Disable voltage

1 Status word = 0x0050 Switch On Disabled
2 Modes of 3 Profile Velocity mode
Operation =

3 Control word = 0x0006 Shutdown

Status word = 0x0031 Ready to switch on
4 Control word = 0x0007 Switch On
Status word = 0x0033 Switched On
5 Control word = 0x0007 Enable operation. Profile velocity mode is
started at the target speed Override Tar-
0x000F get Velocity pv [u/s] 1460 and the ramps
Override Profile Acceleration 1457 and
Override Profile Deceleration 1458.
Target speed and ramp values are applied
immediately.
Status word = 0xnn37 Operation enabled

1) A profile comprises the following entries. If a value is not changed, the old value
will remain active.
• 1456 Override Profile Velocity
• 1457 Override Profile Acceleration
• 1458 Override Profile Deceleration
• 1460 Override Target Velocity pv [u/v]

WARNING
Dangerous state due to new mode!
If Override Modes Of Operation 1454 is changed during operation (control word =
0xnnnF), a dangerous state may occur in the new mode.
• Before changing Override Modes Of Operation 1454, check the status word
(e.g. for status 0xnn33).

Once the sequence of the first four status words has been processed correctly, the
ACU is ready for operation (dark table area).
In state “operation enabled” (0xnnnF), the state of the Motion Control can be changed
(white table area).
As long as 0x0007 is active, the “Modes of Operation” can also be changed safely.
Once Override Modes Of Operation 1454 has been set to another value, operation
can be started with a corresponding sequence.

10/13 ACU Modbus/TCP 85

11.4.3 Profile position mode
“Profile position mode” can be selected via Override Modes Of Operation 1454 = 1.
In profile position mode, the frequency inverter receives a target position, followed by
the command to travel to this target.

Relevant parameters:
410 Control word 1455 Override Target Position
411 Status word 1456 Override Profile Velocity
418 Minimum Frequency 1457 Override Profile Acceleration
419 Maximum Frequency 1458 Override Profile Deceleration
1454 Override Modes Of Operation 1179 Emergency ramp

The ramp times are specified via parameters 1176 and 1178.
In “Profile position mode”, the mode-specific bits of the control word and the status
word are used as follows:

Control word
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Bit
0
Switch on
1
Enable voltage
2
Quick stop (Low active)
3
Enable operation

4
New set-point
5
Change set immediately
6
Abs/rel
7
Fault reset

8
Halt
9
Change on set-point
10
-
11
-

12
-
13
-
14
-
15
-

86 ACU Modbus/TCP 10/13

 Status word
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Bit
0
Ready to switch on
1
Switched on
2
Operation enabled
3
Fault

4
Voltage enabled
5
Quick stop (Low active)
6
Switch on disabled
7
Warning

8
-

9
Remote
10
Target reached
11
Internal limit active

12
Set-point acknowledge
13
Following error
14
-

15
Warning 2

10/13 ACU Modbus/TCP 87

 Control word

Change on Change set-point New set- Description

set-point immediately point
Bit 9 Bit 5
Bit 4
0 0 01 Positioning operation to be com-
pleted (target reached) before
the next one is started.
X 1 01 Next positioning operation to be
started immediately.
1 0 01 Positioning operation to be
started with the current speed
profile until the current refer-
ence value is reached, then, the
next positioning operation is to
be processed.

Identification Value Description

Abs/rel 0 Override Target Position 1455 is an absolute value.
Bit 6 1 Override Target Position 1455 is a relative value.
Halt 0 Execute positioning operation.
Bit 8 1 Stop axis with Override Profile Deceleration 1458 (if
not supported with Override Profile Acceleration
1457), the frequency inverter will remain in status
“Operation enabled”.

Status word

Identification Value Description

Target reached 0 Halt (control bit 8) = 0: Override Target Position
Bit 10 1455 not reached (yet). See
also chapter 10.2.4 “Target
window”.
Halt (control bit 8) = 1: Axis decelerated
1 Halt (control bit 8) = 0: Override Target Position
1455 reached. See also
chapter 10.2.4 “Target win-
dow”.
Halt (control bit 8) = 1: Speed of axis is 0
Set-point 0 The travel profile calculation has not applied the posi-
acknowledge tion value (yet).
Bit 12 1 The travel profile calculation has applied the position
value.
Following error 0 No following error.
Bit 13 1 Following error.

88 ACU Modbus/TCP 10/13

 Example:
Individual reference value
Control bit “Switch at reference value” = 0
Control bit “Change reference value immediately” = 0

Once a reference value has been transmitted to the drive, the controller signals a per-
missible value in the control work by a rising signal edge for the bit “New reference
value” The drive responds by setting the bit “Reference value confirmed” and starts
moving to the new target position. After that, the controller resets the bit “New refer-
ence value”, and the drive resets the bit “Reference value confirmed”. Once the bit
“Reference value confirmed” has been reset, the drive is ready for receiving a new tar-
get position.

new set point

(control bit 4) PLC

t
target position
(set point)

current target Drive

position
processed

set point
acknowledge
(status bit 12)

target reached
status bit 10

actual
speed

10/13 ACU Modbus/TCP 89

 Example:
single set-point
control bit change on set-point =0
control bit change set immediately =1

A new reference value is confirmed by the control bit “New reference value” (rising
edge) while a reference value is being processed. The new reference value is pro-
cessed immediately.

new set point

(control bit 4) PLC

t
target position
(set point)

current target Drive

position
processed

set point
acknowledge
(status bit 12)

target reached
status bit 10

actual
speed

90 ACU Modbus/TCP 10/13

 Example: set of set-points
control bit change on set-point = 0/1
control bit change set immediately =0

The travel profile is changed during an active positioning operation.

Change on set point = 0 The current target position is approached with a Stop. Once
the position has been reached, the new reference value is
set.
Change on set point = 1 The current target position is approached at the active
speed. Once the current target position has been reached,
the new reference value is applied without reducing the
speed to zero.

new set point

(control bit 4) PLC

t
target position
(set point)

current target Drive

position
processed

set point
acknowledge
(status bit 12)

target reached
status bit 10

actual
speed

change on set point = 0 change on set point = 1

10/13 ACU Modbus/TCP 91

11.4.3.1 Example sequence
In order to start “Profile position mode”, the correct sequence must be sent by the PLC.

1 Control word = 0x0000 Disable voltage

1 Status word = 0x0050 Switch On Disabled
2 Modes of 1 (Profile Position mode)
Operation =

3 Control word = 0x0006 Shutdown

Status word = 0x0031 Ready to switch on
4 Control word = 0x0007 Switch On
Status word = 0x0033 Switched On
5 Control word = 0x0007 Enable operation. Positioning operation is
not started.
0x000F
Status word = 0xnn37 Operation enabled
6a Control word = 0x0007 or 0x000F Operation enabled, start absolute posi-
tioning with profile1).
0x001F If a positioning operation is already in pro-
cess, this operation will be completed.
Then, the new profile will be used.
Status word = 0xnn37 Operation enabled
6b Control word = 0x0007 or 0x000F Operation enabled, start relative position-
ing with profile1).
0x005F If a positioning operation is already in pro-
cess, this operation will be completed.
Then, the new profile will be used.
Status word = 0xnn37 Operation enabled
6C Control word = 0x0007 or 0x000F Operation enabled, start absolute posi-
tioning with profile1).
0x003F Running positioning operations will
changed and apply the new profile
Status word = 0xnn37 Operation enabled
6d Control word = 0x0007 or 0x000F Operation enabled, start relative position-
ing with profile1).
0x007F Running positioning operations will
changed and apply the new profile
Status word = 0xnn37 Operation enabled
7 Control word = 0x01nF HALT: The drive is decelerated at the ramp
set in Deceleration (clockwise) 421 or
Deceleration anticlockwise 423.
Status word = 0xnn37 Operation enabled

1) A profile comprises the following entries. If a value is not changed, the old value will
remain active.
• 1455 Override Target Position
• 1456 Override Profile Velocity
• 1457 Override Profile Acceleration
• 1458 Override Profile Deceleration

92 ACU Modbus/TCP 10/13

 WARNING
Dangerous state due to new mode!
If Override Modes Of Operation 1454 is changed during operation (control word =
0xnnnF), a dangerous state may occur in the new mode.
• Before changing Override Modes Of Operation 1454, check the status word
(e.g. for status 0xnn33).

Once the sequence of the first four status words has been processed correctly, the ACU
is ready for operation (dark table area).
In state “operation enabled” (0xnnnF), the state of the Motion Control can be changed
(white table area).
With control word transition from 0xnnF to 0x000F, “Profile position mode” will be
stopped. Then, the mode can be restarted via 0xnnF.
As long as 0x0007 is active, the “Modes of Operation” can also be changed safely. Once
Override Modes Of Operation 1454 has been set to another value, operation can be
started with a corresponding sequence.

In order to start a profile, you don't have to set the control word to 0x0007 first.
Once a profile has been processed, a new profile can be started with the bit “New ref-
erence value” (bit 4) in control word 0xnnnF.
While a profile is being processed, you can start a new profile without stopping by us-
ing the bits “Change reference value immediately” (bit 5) and “New reference value”
(bit 4).

10/13 ACU Modbus/TCP 93

11.4.4 Homing mode

“Homing mode” can be selected via parameter Override Modes Of Operation 1454.
In homing mode, the frequency inverter moves the drive to a reference position. The
method used for this movement is defined by parameter Homing mode 1130.

Relevant parameters:
410 Control word 1130 Homing mode
411 Status word 1132 Fast speed
418 Minimum Frequency 1133 Creep speed
419 Maximum Frequency 1134 Acceleration
1454 Override Modes Of Operation

The ramp times are specified via parameter 1135.

In homing mode, the mode-specific bits of the control word and the status word are
used as follows:

Control word
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Bit
0
Switch on
1
Enable voltage
2 Quick stop (Low ac-
tive)
3
Enable operation

4 Homing operation
start
5
-
6
-
7
Fault reset

8
Halt
9
-
1
0
-
1
1
-

1
2
-
1
3
-
1
4
-
1
5
-

94 ACU Modbus/TCP 10/13

 Status word
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Bit
0
Ready to switch on
1
Switched on
2
Operation enabled
3
Fault

4
Voltage enabled
5 Quick stop (Low Ac-
tive)
6
Switch on disabled
7
Warning

8
-
9
Remote
1
0
Target reached
1
1
Internal limit active

1
2
Homing attained
1
3
Homing error
1
4
-
1
5
Warning 2

Control word

Identification Value Description

Homing operation 0 Homing not active.
start 01 Start homing with Acceleration 1134 and Fast Speed
Bit 4 1132 and Creep Speed 1133.
1 Homing active.
10 Stop homing.
Halt 0 Execute command from bit 4 “Start homing”.
Bit 8 1 Stop axis with acceleration value (as deceleration) for
homing. (The frequency inverter remains enabled in
“Operation enabled” status.)

10/13 ACU Modbus/TCP 95

 Status word

Identification Value Description

Target reached 0 Halt = 0: Home position (still) not reached.
Bit 10 Halt = 1: Axis decelerated.
1 Halt = 0: Home position reached.
Halt = 1: Axis has speed 0.
Homing attained 0 Homing not completed yet.
Bit 12 1 Homing completed successfully.
Homing error 0 No homing error.
Bit 13 1 Homing error occurred,
homing not completed successfully.

For a description of homing operations, refer to the Application manual “Positioning”.

11.4.4.1 Example sequence

In order to start “homing mode”, the correct sequence must be sent by the PLC.

1 Control word = 0x0000 Disable voltage

1 Status word = 0x0050 Switch On Disabled
2 Modes of operation = 6 (Homing)

3 Control word = 0x0006 Shutdown

Status word = 0x0031 Ready to switch on
4 Control word = 0x0007 Switch On
Status word = 0x0033 Switched On
5 Control word = 0x000F Enable operation.
Status word = 0xnn37 Operation enabled
6a Control word = 0x001F Enable operation and start homing.
Status word = 0x1n37 Operation enabled and homing attained.

WARNING
Dangerous state due to new mode!
If Override Modes Of Operation 1454 is changed during operation (control word =
0xnnnF), a dangerous state may occur in the new mode.
• Before changing Override Modes Of Operation 1454, check the status word
(e.g. for status 0xnn33).

Once the sequence of the first four status words has been processed correctly, the ACU
is ready for operation (dark table area).
In state “operation enabled” (0xnnnF), the state of the Motion Control can be changed
(white table area).
With control word transition from 0x0007 (or 0x000F) to 0x001F the homing operation
is started. “Home position set” - Bit 12 returns the status in the status word.
As long as 0x0007 is active, the “Modes of Operation” can also be changed safely. Once
Override Modes Of Operation 1454 has been set to another value, operation can be
started with a corresponding sequence.

96 ACU Modbus/TCP 10/13

11.4.5 Table travel record
“Table travel record mode” can be selected via parameter Override Modes Of Opera-
tion 1454. In “Table travel record mode”, the drive moves to successive positions
automatically. “Table travel record mode” uses pre-defined positions. Each target posi-
tion is defined by a motion block. Several motion blocks can be defined.
For a description of motion blocks, refer to the Application manual “Positioning”.

Relevant parameters:
410 Control word 1108 Act. Position
411 Status word 1106 Error Threshold
418 Minimum Frequency 1119 Contouring Error Time
419 Maximum Frequency 1165 Target Window
1454 Override Modes Of Operation 1166 Target Window time
1246 Actual Motion Block 1179 Emergency ramp
1249 Motion Block to Resume

In “Table travel record mode” the mode-specific bits of the control word and the sta-
tus word are used as follows:
Control word
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Bit
0
Switch on
1
Enable voltage
2 Quick stop (Low
active)
3
Enable operation

4
Sequence mode
5
-
6
Resume
7
Fault reset

8
Halt
9
Start motion block
1
0
-
Motion block select
1
1

Motion block select

1
2

1
Motion block select
1
3

2
Motion block select
1
4

3
Motion block select
1
5

10/13 ACU Modbus/TCP 97

 Status word
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Bit
0
Ready to switch on
1
Switched on
2
Operation enabled
3
Fault

4
Voltage enabled
5
Quick stop (Low Active)
6
Switch on disabled
7
Warning

8
Motion block in progress
9
Remote
10
Target reached
11
Internal limit active

12
In gear
13
Following error
14
-
15
Warning 2

Control word

Identification Value Description

Sequence mode 0 Single motion
Bit 4 1 Automatic sequence
Resume 0 Start motion block = motion block switching
Bit 6 1 Start motion block = last Actual Motion Block
The motion block which is resumed can be read via ob-
ject 1249.
Halt 0 Execute command from bit 4 “Automatic sequence”
Bit 8 1 Stop axis at ramp of current motion block The frequency
inverter remains in “Operation – enabled” status.
Start motion 0 Stop axis at ramp of current motion block
block 01 Execute motion block(s)
Bit 9
Motion block se- n Start motion block = n + 1
lect 0…4
Bit 11…15

98 ACU Modbus/TCP 10/13

 Motion block select

Control word
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
Motion block select Sta Halt Res Seq
4 3 2 1 0

Start motion block = motion block select +1

Motion block select Resulting start mo-

4 3 2 1 0 tion block
0 0 0 0 0 1
0 0 0 1 1 4
1 0 0 0 0 17
1 1 1 1 1 32

Status word

Identification Value Description

Motion block in Single motion: Motion block complete.
0
progress Automatic sequence: Sequence complete.
Bit 8 1 Single motion/automatic sequence active.
Target reached Halt (control bit 8) = 0: Target position not reached
Bit 10 yet (only motion blocks with
0 positioning). See also chapter
10.2.4 “Target window”.
Halt (control bit 8) = 1: Axis decelerated.
Halt (control bit 8) = 0: Target position reached (only
motion blocks with position-
1 ing). See also chapter 10.2.4
“Target window”.
Halt (control bit 8) = 1: Axis has speed 0.
In gear 0 Electronic gear not in gear.
Bit 12 1 Electronic gear in gear.
Following error 0 No contouring error.
Bit 13 1 Contouring error.

10/13 ACU Modbus/TCP 99

 Basic functions
The control bit “Automatic sequence” defines if a single motion (Automatic sequence
= 0) or and automatic motion block sequence (Automatic sequence = 1) is to be exe-
cuted.
In both cases, the selection of the required motion block (motion block number of
single motion or start motion block number of automatic sequence) is calculated by
the motion block switching feature with the rising edge of “Start motion block”.
“Motion block is being processed” is set to “1” while a selected motion block or an
automatic sequence is being executed. “Motion block is being processed” will remain
set until the motion block sequence is complete. When a single motion block is exe-
cuted, “Motion block is being processed” will be set to “0” once the single motion
block is complete. When an automatic sequence is executed, “Motion block is being
processed” will be set to “0” once a motion block with setting 0 for Next motion block
(end of motion block), -1 (error stop), -2 (Stop, error ) or -3 (emergency stop, error)
is reached.

During the automatic processing of motion blocks, the currently processed motion
block is indicated by parameter Actual Motion Block 1246.

If the execution of motion blocks is interrupted by setting “Start motion block” to “0”,
the drive will stop with the ramp set in the current motion block. The interrupted mo-
tion block or automatic motion block sequence can be continued by setting “Resume”
and a rising signal edge for “Start motion block”. If “Resume” is set to “1” and no valid
motion block is available, the motion block selected by the motion block switching
function will be used. A valid motion block is indicated by parameter Motion block to
Resume 1249. Motion block to Resume 1249 reads -1, if no valid motion block is
present or if the last motion block or motion block sequence was not interrupted.

“Target reached” is set if the actual position of motion blocks with absolute or relative
positioning reaches the position window.
“In Gear” is set when the electronic gear function is used and the electronic gear is
coupled (synchronous running).

Setting Halt to “1” will stop a currently executed motion block. The axle is stopped
with the ramp set in the current motion block. “Target reached” is set to “1” when the
speed reaches value 0. The drive remains in “Operation enabled” status. To continue
the interrupted motion block, reset Halt to “0”.

100 ACU Modbus/TCP 10/13

 Examples:

“single motion block” sequence mode (control bit 4) = 0

2 motion blocks 7 + 10

start motion block

(control bit 9) PLC

Drive

motion block
in progress
(status bit 8)

target reached
(status bit 10)

position

active
motion block 0 7 0 10 0

10/13 ACU Modbus/TCP 101

 “ motion block sequence” sequence mode (control bit 4) = 1
sequence = motion block 4, 5, 6

start motion block

(control bit 9) PLC

Drive

motion block
in progress
(status bit 8)

target reached
(status bit 10)

position

active
motion block 0 4 5 6 0

102 ACU Modbus/TCP 10/13

 Interrupted motion blocks sequence
Automatic sequence (control bit 4) = 1,
Sequence = Motion block 4, 5, 6
Motion block 5 interrupted

start motion block

(control bit 9) PLC

resume
(controlbit 6)

Drive

motion block
in progress
(status bit 8)

target reached
(status bit 10)

position

active
motion block 0 4 5 0 5 6 0

motion block
to resume -1 4 5 6 -1

10/13 ACU Modbus/TCP 103

11.4.5.1 Example sequence

In order to start “Table travel record mode”, the correct sequence must be sent by the
PLC.

1 Control word = 0x0000 Disable voltage

1 Status word = 0x0050 Switch On Disabled
2 Modes of operation = -1 (Table travel record mode)

3 Control word = 0x0006 Shutdown

Status word = 0x0031 Ready to switch on
4 Control word = 0x0007 Switch On
Status word = 0x0033 Switched On
5a Control word = 0x000F Enable operation
Status word = 0xnn37 Operation enabled
5b Control word = 0x020F Start motion block 1 as single motion block
Status word = 0xn337 Operation enabled and Positioning active.
Status word = 0xn637 Operation enabled and Target reached.
5c Control word = 0x0A0F Start motion block 2 as single motion block
Status word = 0xn337 Operation enabled and Positioning active.
Status word = 0xn637 Operation enabled and Target reached.
5d Control word = 0x120F Start motion block 3 as single motion block
Status word = 0xn337 Operation enabled and Positioning active.
Status word = 0xn637 Operation enabled and Target reached.
5E Control word = 0x021F Start motion block 1 as sequence motion
block
Status word = 0xn337 Operation enabled and Positioning active.
Status word = 0xn637 Operation enabled and Target reached.
5f Control word = 0x004F Resume previous motion block as single mo-
tion block
Status word = 0xn337 Operation enabled and positioning active.
Status word = 0xn637 Operation enabled and target reached.
5g Control word = 0x005F Resume previous motion block as sequence
motion block
Status word = 0xn337 Operation enabled and positioning active.
Status word = 0xn637 Operation enabled and target reached.

WARNING
Dangerous state due to new mode!
If Override Modes Of Operation 1454 is changed during operation (control word =
0xnnnF), a dangerous state may occur in the new mode.
• Before changing Override Modes Of Operation 1454, check the status word
(e.g. for status 0xnn33).

Once the sequence of the first four status words has been processed correctly, the
ACU is ready for operation (dark table area).
In state “operation enabled” (0xnnnF), the state of the Motion Control can be changed
(white table area).
Bit 9 “Start motion block” must be active during positioning. If bit 9 is reset to “0”, the
positioning operation is interrupted.
As long as 0x0007 is active, the “Modes of Operation” can also be changed safely.
Once Override Modes Of Operation 1454 has been set to another value, operation
can be started with a corresponding sequence.

104 ACU Modbus/TCP 10/13

11.4.6 Move away from limit switch mode
“Move away from limit switch mode” can be selected via Override Modes Of Opera-
tion 1454 = -2.
In “Move away from limit switch mode”, the drive moves back from a triggered limit
switch to the permissible travel range.

Relevant parameters:
410 Control word 1454 Override Modes Of Operation
411 Status word 1179 Emergency ramp
418 Minimum Frequency 1133 Creep speed
419 Maximum Frequency 1134 Acceleration

In “Move away from limit switch mode”, the mode-specific bits of the control word
and the status word are used as follows:

Control word
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Bit
0
Switch on
1
Enable voltage
2 Quick stop (Low ac-
tive)
3
Enable operation

4 Move away from limit

switch
5
-
6
-
7
Fault reset

8
Halt
9

1
0
-
1
1
-

1
2
-
1
3
-
1
4
-
1
5
-

10/13 ACU Modbus/TCP 105

 Status word
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Bit
0
Ready to switch on
1
Switched on
2
Operation enabled
3
Fault

4
Voltage enabled
5 Quick stop (Low ac-
tive)
6
Switch on disabled
7
Warning

8
-
9
Remote
1
0
Target reached
1
1
Internal limit active

1
2
-
1
3
-
1
4
-
1
5
Warning 2

NOTE

“Move away from limit switch mode” will always work with hardware limit switches. In
the case of software limit switches, the mode will only work if a software limit switch
Fault reaction 1144 with error stop was selected. If a setting with warning (e.g. “10-
Warning”) was selected, the software limit switch will not trigger an error, thus “Move
away from limit switch mode” will not clear the software limit switch.

NOTE
“Move away from limit switch mode” must not be used when one of the following
error messages occurs:
• F1444 Pos. limit switch < Neg. limit switch
• F1445 Both limit switches at the same time
• F1446 Wrong limit switch wiring
If one of these errors has occurred, the wiring and parameter settings must be
checked first before resuming operation.

106 ACU Modbus/TCP 10/13

 Control word

Identification Value Description

Move away from 0 Do not start or stop movement.
limit switch mode 1 Start (or resume) movement from limit switch to travel
Bit 4 range.
Halt 0 Execute command from bit 4 “Move away from limit
Bit 8 switch”.
1 Stop axis with ramp of current motion block (The fre-
quency inverter remains enabled in “Operation enabled”
status).

Status word

Identification Value Description

Target reached Halt = 0: Limit switch still active
0
Bit 10 Halt = 1: Axis decelerated
Halt = 0: Limit switch cleared
1
Halt = 1: Axis has speed 0

Basic functions
In mode -2 “Move away from limit switch”, the drive is cleared from a triggered hard-
ware limit switch or software limit switch. The direction of rotation depends on the
active limit switch: If the positive limit switch is active, the drive moves to negative
direction and vice versa.

“Move away from limit switch” mode is started in status “Operation enabled” by con-
trol word bit 4 “Move away from limit switch”. The drive is accelerated with the ramp
from parameter Acceleration 1134 to the speed set in parameter Creep speed 1133.
Once the active limit switch has been cleared, the drive is stopped. Once speed 0 has
been reached, status word bit 10 “Target reached” will be set.

When both directions of rotation are blocked, e.g. due to simultaneous triggering of
positive and negative limit switch, error message “F1449 Both directions locked”. In
this case, the function “Move away from limit switch” cannot be used.

NOTE

In the clearing phase of a hardware limit switch, the hysteresis defined in parameter
Hysteresis 1149 will be active. After detection of the limit switch edge, the axis will
be moved on, at least by the defined hysteresis distance.

Setting Halt to “1” will stop the started clearing operation. The axis will be stopped.
Status bit “Target reached” is set to “1” when the speed reaches value 0. The drive
remains in “Operation enabled” status. By resetting Halt to “0”, the interrupted clear-
ing operation will be continued, and “Target reached” will be reset to “0”.

10/13 ACU Modbus/TCP 107

11.4.6.1 Example sequence

In order to clear the limit switches, the correct sequence must be sent by the PLC.

1 Control word = 0x0000 Disable voltage

1 Status word = 0x0050 Switch On Disabled
2 Modes of operation = -2 (Move away from limit switch)

3 Control word = 0x0006 Shutdown

Status word = 0x0031 Ready to switch on
4 Control word = 0x0007 Switch On
Status word = 0x0033 Switched On
5 Control word = 0x000F Enable Operation.
Status word = 0xnn37 Operation enabled
6 Control word = 0x001F Move away from limit switch mode
Status word = 0xn2B7 Operation enabled, limit switch active, clear-
ing active
Status word = 0xn637 Operation enabled and limit switch cleared
(target reached).

WARNING
Dangerous state due to new mode!
If Override Modes Of Operation 1454 is changed during operation (control word =
0xnnnF), a dangerous state may occur in the new mode.
• Before changing Override Modes Of Operation 1454, check the status word
(e.g. for status 0xnn33).

Once the sequence of the first four status words has been processed correctly, the
ACU is ready for operation (dark table area).
In state “operation enabled” (0xnnnF), the state of the Motion Control can be changed
(white table area).
Bit 4 “Move away from limit switch” must be active in the clearing phase. If bit 4 is
reset to “0”, the clearing operation is interrupted.
As long as 0x0007 is active, the “Modes of Operation” can also be changed safely.
Once Override Modes Of Operation 1454 has been set to another value, operation
can be started with a corresponding sequence.

108 ACU Modbus/TCP 10/13

11.4.7 Electronic gear: Slave
The mode “Electronic gear: Slave” can be selected via parameter Override Modes Of
Operation 1454 =-3.
In operation mode “Electronic gear: Slave”, the drive follows a master drive as a slave
drive.

Relevant parameters:
410 Control word 1126 Phasing: Speed
411 Status word 1127 Phasing: Acceleration
418 Minimum Frequency 1108 Act. Position
419 Maximum Frequency 1106 Error Threshold
1454 Override Modes Of Operation 1119 Contouring Error Time
1123 Gear Factor: Numerator 1165 Target window
1124 Gear Factor: Denominator 1166 Target window time
1142 Resync. on Change of Gear- 1179 Emergency ramp
Factor
1125 Phasing: Offset
In operation mode “Electronic gear: Slave”, the mode-specific bits of the control word
and the status word are used as follows:

Control word
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Bit
0
Switch on
1
Enable voltage
2
Quick stop (low active)
3
Enable operation

4
Start Gearing
5
Start M/S Correction
6
Direct Sync
7
Fault reset

8
Halt
9
Start phasing
1
0
-
1
1
-

1
2
Phasing switching 0
1
3
Phasing switching 1
1
4
-
1
5
-

10/13 ACU Modbus/TCP 109

 Status word
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Bit
0
Ready to switch on
1
Switched on
2
Operation enabled
3
Fault

4
Voltage enabled
5
Quick stop (low active)
6
Switch on disabled
7
Warning

8 Phasing Done or
M/S Correction Done
9
Remote
10
Target reached / In gear
11
Internal limit active

12 M/S Position Correction

successful
13
Following error
14
-
15
Warning 2

WARNING
Dangerous state due to faulty parameterization
• The function Master/Slave Position Correction is only allowed to be used after
complete setup of this function. Check for parameter setup chapter 11.4.7.1
“Master/Slave Position Correction”.

110 ACU Modbus/TCP 10/13

 Control word

Identification Value Description

Start electronic 0 Stop drive at ramp Override Profile Deceleration
gear 1458
Bit 4 1 Start electronic gear at reference master speed at
ramp Override Profile Acceleration 1457
Start 0 M/S Correction not started.
M/S Correction 1 Start Master/Slave Position correction.
Bit 5 See chapter 11.4.7.1 “Master/Slave Position Correc-
tion”.
Direct Sync 0 Direct Synchronisation enabled.
Bit 6 1 Direct Synchronisation disabled.
Halt 0 Execute command from bit 4 “Start el. gear”.
Bit 8 1 Stop axis with ramp of current motion block The fre-
quency inverter remains in “Operation enabled” sta-
tus.
Start Phasing 0 Phasing disabled / aborted.
Bit 9 1 Start Phasing with profile defined by Bits 12 & 13.
Phasing select 0...1 n Phasing Profile = n + 1
Bit 12…13

Phasing switching:

Control word
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
Ph. sw. Pha Halt DS MS SG
1 0

Phasing profile = Phasing switch over +1

Phasing select Phasing profile

Bit 13 Bit 12
0 0 1
0 1 2
1 0 3
1 1 4

Status word

Identification Value Description

Phasing done Phasing (or M/S Correction) in process or not started
0
(or M/S Correc- yet.
tion done) 1 Phasing (or M/S Correction) done.
Bit 8
Target reached/ Halt = 0: Electronic gear (still) not in gear
0
In gear Halt = 1: Axis decelerated.
Bit 10 Halt = 0: Electronic gear in gear.
1
Halt = 1 Axis has speed 0.
M/S Position Cor- 0 M/S Correction is running or wasn’t started yet.
rection successful 1 M/S Correction finished.
Bit 12 See chapter 11.4.7.1 “Master/Slave Position Correction”.
Following error 0 No following error.
Bit 13 1 Following error.

10/13 ACU Modbus/TCP 111

 Basic functions
Mode “-3 Electronic gear: Slave” implements a mode for a slave drive in the electronic
gear to a master drive. The master of the electronic gear must be connected to the
slave via signal cables or System Bus (recommended). The master input is selected in
the Slave via parameter Master position source 1122.

Operation mode 1122 Function

0 - Off No source selected.
The current speed and position of the master drive is
1 - Encoder 1
taken over from encoder input 1.
Encoder The current speed and position of the master drive is
2-
2/resolver taken over from encoder input 2 or resolver.
The current position of the master drive is taken over
by the process data channel RxPDO1.Long1 of the sys-
tem bus. Additionally, the data received are extrapolat-
ed, even for slow settings of TxPDO Time of the mas-
ter.
Depending on the application, select a setting of the
corresponding TxPDO.Long of the master:
• “606 – Internal act. Position (16/16)”, mechanical
position of master drive. Value will not change
abruptly when a homing operation of the master
drive is completed.
• “607 – Act. Position (16/16)”, mechanical position of
master drive. Value will jump when the master drive
RxPDO1.Long1
11 - carries out a homing operation.
extrapolated
• “620 – motion profile gen.: internal reference posi-
tion”, reference position of master drive; advantage:
Improved controller properties. Value will not
change abruptly when a homing operation of the
master drive is completed.
• “627 - Motion profile gen.: reference position”, ref-
erence position of master drive; advantage: Im-
proved controller properties. Value will jump when
the master drive carries out a homing operation.

Settings 607 and 627 are only to be used in exceptional

situations. In most applications, source 606 or 620 is
the better setting.

In setting “11 - RxPDO1.Long1 extrapolated” of parameter Master position

source 1122, the Operation mode 1180 of the system bus synchronization must be
set to 1 or 10 to ensure reliable functional operation.
Operation mode 1180
0 - Off 1)
2)
1 - RxPDO1
3)
2 - RxPDO2
3)
3 - RxPDO3
10 - SYNC
1)
If the error message "F1453 System Bus synchronization not activated" is displayed
when the slave drive is started, operation mode 1, 2, 3 or 10 must be selected.
2)
Synchronization of processing with data telegram or cyclic sending of SYNC tele-
gram.
3)
Not recommended for el. gear because no extrapolation done.

112 ACU Modbus/TCP 10/13

 Synchronization between several drives must be performed at high updating rates in
order to guarantee optimum results. In the transmitter of the TxPDO object, set a low
value for the time (e.g. TxPDO1 Time 931). If you use the SYNC function of System
Bus, set parameter SYNC time 919 to a lower value.
Note that, due to these settings, the bus load of the system bus must provide for
sufficient reserves for proper operation.

System Bus is described in the manuals of the extension modules with System Bus
interface.

Block diagram: electronic gear and phasing function

The master position and speed are multiplied by the gear factor. When phasing is start-
ed, the phasing profile is added to the master speed until the phasing offset is reached.

The Gear factor is defined via the following parameters:

Parameters
1123 Gear Factor Numerator
1124 Gear Factor Denominator
1142 Resync. on Change of Gear-Factor

Phasing is defined via the following parameters:

Parameters
1125.1 Phasing: Offset
1125.2
1125.3
1125.4
1126.1 Phasing: Speed
1126.2
1126.3
1126.4
1127.1 Phasing: Acceleration
1127.2
1127.3
1127.4

Start electronic gear and phasing function

The electronic gear is started by control word bit 4 “Start electronic gear”. The drive
accelerates according to parameter Override Profile Acceleration 1457. Once the
slave speed is coupled into the master, status word bit 10 “Target reached/In Gear” is
set. The conditions for “In Gear” status are set via parameters In Gear'-Threshold
1168 and In Gear'-Time 1169.

10/13 ACU Modbus/TCP 113

 “Target reached/In Gear” is set when the electronic gear function is used and electronic
gear synchronous running is reached.
Setting Halt “1” will stop a currently executed movement. The axis is stopped at ramp
Override Profile Deceleration 1458. “Target reached” is set to “0” to start the decel-
eration and to “1” when the speed reaches value 0. The drive remains in “Operation –
enabled” status. To continue the interrupted movement, reset Halt to “0”. Bit “Target
reached” is set to “0” to start the acceleration and to “1” when the conditions for “Gear
in” of parameters In Gear'-Threshold 1168 and In Gear’-Time 1169 are reached.
Phasing
With the phasing function, the slave position is offset from the master position received
by the value of Phasing: Offset 1125.
Phasing is described above in this chapter.
Function without direct synchronization
(“Standard Synchronization“)
The drive accelerates the master speed at the ramps parameterized in the motion
block. As soon as the master speed is reached for the first time, the drive is synchro-
nized with the master drive. The slave is engaged at the current position and operates
at a synchronous angle with the master. In the case of a relative positioning operation,
this engaging position is used as the start position.
The acceleration and deceleration for synchronizations follow an S-curve.
The relative position change due to acceleration is not compensated.

114 ACU Modbus/TCP 10/13

 Function with direct synchronization
The drive accelerates the master speed with the ramps parameterized in the motion
block. When the motion block is started, the drive is synchronized with the master drive
directly. The master position is processed directly by the position controller.
The acceleration and deceleration for synchronizations follow an S-curve.
The relative position change due to acceleration is compensated by the posi-
tion controller.

10/13 ACU Modbus/TCP 115

11.4.7.1 Master/Slave Position Correction

NOTE
When using this functionality master drive and slave drive have to use the same
mechanical characteristics (i.e. gear transmission ratios) and use the same reference
system.

The Master/Slave Position Correction offers as part of the Electronic Gear the possibil-
ity to synchronize the absolute Position of the Slave to the absolute Position of the
master.
This function is helpful in example in applications, in which drives often work inde-
pendently from each other and have to work together for certain activities. In example
this could be the case in crane applications, where normal loads are operated intently
from each other and which are switched together for heavy loads. To speed up the
switching together process, the Master/Slave Position correction can be used to syn-
chronize the absolute position of the Slave with the absolute position of the Master.
Additionally by using an Offset a relative reference can be set up in the target posi-
tion.

Preparations Master drive

The Master drive must be set up as follows:
TxPDO2 Identifier 927 = 640 (or a different not used Identifier)
TxPDO2 Function 932 = 1 – controlled by time or 2 – controlled by SYNC
TxPDO2.Long1 964 = 743 – Act. Position [User Units]

Additionally the following parameters must be set according to the electronic gear:
TxPDO1.Long1 954 corresponding to the description of Master Position Source
1122
TxPDO1 Identifier 925 = 384 (or a different not used Identifier)
TxPDO1 Function 930 = 1 – controlled by time or 2 – controlled by SYNC

Preparations Slave drive

The Slave drive must be set up as follows:
RxPDO2 Function 926 = 640 (or the Identifier defined in the Master drive)

Additionally the following parameters must be set according to the electronic gear:
RxPDO1 Function 924 = 384 (or the Identifier defined in the Master drive)
Source Master position 1122 = 11 – RxPDO1.Long

The function Master/Slave Position Correction expects the Target Position [u] always
in RxPD2.Long. When using this function RxPDO2.Long1 and also RxPDO2.Word1,
RxPDO2.Word2, RxPDO2.Boolean1 and RxPDO2.Boolean2 are not allowed to be
used for any other purpose.

116 ACU Modbus/TCP 10/13

 Starting of Master/Slave Position Correction in Slave drive
To start the Master/Slave Position correction at first Bit 4 and then Bit 5 have to be set
in the Control word. Bit 5 is only allowed to be set when Bit 10 In Gear is shown in the
Status word.
By setting Bit 5 in the Control word the Slave drive is started to position to the Master
position + Offset.
The acceleration is done with Parameter Acceleration 1134. The used velocity can be
set up via Parameter Fast Speed 1132.

As long as the Master/Slave Position correction is executed, Bit 12 is deactivated in the

Status word. When the Master/Slave Position correction is finished successfully Bit 12
is set.
During the Correction sequence the Status word bit 8 “Master/Slave Position correc-
tion” is set to “Low”. As soon as the Master/Slave Position correction is finished or
cancelled, the Bit is set to “High”. After first switch-on (or after a device reset) the
“Phasing Done” bit is also “Low”.
Since Bit 8 is also used for Phasing, always the last started function is signaled by this
bit.

Offset Reference
The Offset for the M/S Synchronization can be set via M/S Synchronization offset
1284.

Parameters Settings
No. Description Min. Max. Factory setting
M/S Synchronization -2147483647
1284 2147483647 u 0u
offset u

Application limitations
The function can be used in most of all applications without any limitations. In appli-
cations with very long travelling distances the following must be checked:
• The position difference to be compensated must not be greater than 215-1
motor revolutions.
• The position difference to be compensated must not be greater than 231-1
user units.
Depending on the used reference system it can vary, which limit is decisive. Always
the smaller limit must be complied with.

A motor with a reference speed of 6000 rpm would have to travel for around 5.5
minutes into one direction to exceed this limit.

10/13 ACU Modbus/TCP 117

11.4.7.2 Example sequence

In order to start “Electronic Gear: Slave mode”, the correct sequence must be sent by
the PLC.

1 Control word = 0x0000 Disable voltage

1 Status word = 0x0050 Switch On Disabled
2 Modes of operation = -3 (Electronic Gear: Slave mode)

3 Control word = 0x0006 Shutdown

Status word = 0x0031 Ready to switch on
4 Control word = 0x0007 Switch On
Status word = 0x0033 Switched On
5 Control word = 0x000F Operation enabled, reference speed “0”
Status word = 0xnn37 Operation enabled
6a Control word = 0x001F Start electronic gear without direct synchroni-
zation
Status word = 0xn327 Operation enabled, Slave not coupled (yet),
Phasing not finished.
Status word = 0xn337 Operation enabled, Slave not coupled (yet),
Phasing finished.
Status word = 0xn727 Operation enabled, Slave coupled, Phasing
not (yet) finished.
Status word = 0xn737 Operation enabled, Slave coupled, Phasing
finished.
6b Control word = 0x005F Start Electronic Gear with Direct Synchronisa-
tion
Status word = See 6a See 6a
7a Control word = 0x021F Start Electronic Gear without Direct Syn-
chronisation and Phasing Profile 1
Status word = See 6a See 6a
7b Control word = 0x121F Start Electronic Gear without Direct Synchro-
nisation and Phasing Profile 2
Status word = See 6a See 6a
7c Control word = 0x221F Start Electronic Gear without Direct Synchro-
nisation and Phasing Profile 3
Status word = See 6a See 6a
7d Control word = 0x321F Start Electronic Gear without Direct Synchro-
nisation and Phasing Profile 4
Status word = See 6a See 6a
8a Control word = 0x025F Start Electronic Gear with Direct Synchroni-
sation and Phasing Profile 1
Status word = See 6a See 6a
8b Control word = 0x125F Start Electronic Gear with Direct Synchroni-
sation and Phasing Profile 2
Status word = See 6a See 6a
8c Control word = 0x225F Start Electronic Gear with Direct Synchroni-
sation and Phasing Profile 3
Status word = See 6a See 6a
8d Control word = 0x325F Start Electronic Gear with Direct Synchroni-
sation and Phasing Profile 4
Status word = See 6a See 6a
9 Control word = 0x001F Enable Operation, the Slave drive synchroniz-
0x003F es to the Master position.
Status word = 0xnn37 Operation enabled
0x1n37 M/S Position Correction finished.

118 ACU Modbus/TCP 10/13

 WARNING
Dangerous state due to new mode!
If Override Modes Of Operation 1454 is changed during operation (control word =
0xnnnF), a dangerous state may occur in the new mode.
• Before changing Override Modes Of Operation 1454, check the status word
(e.g. for status 0xnn33).

Once the sequence of the first four status words has been processed correctly, the ACU
is ready for operation (dark table area).
In state “operation enabled” (0xnnnF), the state of the Motion Control can be changed
(white table area).
Bit 4 “Start electronic gear” must be active during the movement. If bit 4 is reset to “0”,
the movement is interrupted.
As long as 0x0007 is active, the “Modes of Operation” can also be changed safely. Once
Override Modes Of Operation 1454 has been set to another value, operation can be
started with a corresponding sequence.

Bit 5 “Start Position Correction” is only allowed to be used when the Slave is in gear
(Status word Bit 10).
Bit 5 “Start Position Correction” should be used for optimum results when the master
drive doesn’t move.
When Bit 5 of the Control word is reset to “0” the movement is interrupted.

10/13 ACU Modbus/TCP 119

12 Actual values

Actual values
No. Description Function
Modbus or VABus error register.
11 VABus SST error register
See chapter 7.2.9 “Exception condition codes”.
282 Bus reference frequency Reference value from serial interface / Modbus TCP.
283 Ramp reference frequency Reference value from reference frequency channel.
Status word. See chapter 11.1 “Control via contacts/remote
411 Status word
contacts”.

12.1 Actual values Motion Control Interface / Motion Control Override

Actual values MCI/MCO

No. Description Function
1107 Act. Speed Actual Speed in user units/Seconds [u/s]
1108 Actual Position Actual Position in user units [u]
1109 Act. Contouring Error Actual Contouring error in user units [u]
1129 Actual Master Speed Actual Master Speed in user units/Seconds [u/s]

120 ACU Modbus/TCP 10/13

13 Parameter List
The parameter list is sorted numerically. For better overview, the parameters are marked
with pictograms:

The parameter is available in the four data sets.

The parameter value is set by the SET-UP routine

This parameter cannot be written when the frequency inverter is in operation.

13.1 Actual values (Menu “Actual”)

Actual value parameter

No. Description Unit Indication range Chapter
RS485/RS232
11 VABusSST-Error-Register - 0 ... 15 7.2.9
Actual values of frequency inverter
228 Internal reference frequency Hz -1000,00 ... 1000.00 11.3.3
-1
240 Actual speed min -60000 … 60000 11.3
249 Active dataset - 0…4 11
260 Current error - 0 ... 0xFFFF 14.5
270 Warnings - 0 ... 0xFFFF 14.3
274 Warning application - 0 ... 0xFFFF 14.4
282 Bus reference frequency Hz -999.99 … 999.99 12
283 Ramp reference frequency Hz -999.99 … 999.99 12
Bus control
411 Status word - 0 ... 0xFFFF 11.2
Actual values of Motion Control Interface (MCI)
1107 Act. Speed u/s -231 … 231-1
-2147483647 …
1108 Actual Position u
2147483647
12.1
-2147483647 …
1109 Act. Contouring Error u
2147483647
1129 Act. Master Speed u/s -231 … 231-1
1246 Actual Motion Block - -101), -3 … 32
11.4.5
1249 Motion Block to Resume - -1 … 32
VABus/TCP
VABus/TCP
1431 Module Info String
manual

Parameters Current error 260, Warnings 270 and Application warnings 274 are only
accessible via Field Bus. They cannot be addressed via the VPlus control software or the
control unit.

10/13 ACU Modbus/TCP 121

13.2 Parameters (Menu “Para”)

Parameters
No. Description Unit Setting range Chapter
Modbus/TCP
388 Bus Error Behaviour - 0…5 6.3
Bus control
392 State Transition 5 - Selection 11.3.2
410 Control word - 0 … 0xFFFF 11.2
412 Local/Remote - Selection 11
Data set switching
414 Data set selection - 0…4 11
Frequency ramps
420 Acceleration (Clockwise) Hz/s 0.00 … 9999.99
421 Deceleration (Clockwise) Hz/s 0.01 … 9999.99
422 Acceleration Anticlockwise Hz/s -0.01 … 9999.99
11.3
423 Deceleration Anticlockwise Hz/s -0.01 … 9999.99
424 Emergency Stop Clockwise Hz/s 0.01 … 9999.99
425 Emergency Stop Anticlockwise Hz/s 0.01 … 9999.99
434 Ramp Setpoint - Selection 11.3.3
Fixed frequency values
484 Reference frequency RAM Hz -999.99 … 999.99 11.3.3
Fixed percentages
524 Reference percentage RAM % -300.00 ... 300.00 11.3.3
Max. Control deviation
549 Max. control deviation % 0.01 … 20.00 11
Stop behaviour
637 Switch-Off Threshold % 0.0 … 100.0
11.3.1
638 Holding Time s 0.0 … 200.0
Motion Control Interface (MCI): Position Controller
1104 Time constant ms 0 … 300 10.2.4
MCI: Contouring error monitoring
1105 Warning Threshold u 0 … 231-1
10.2.3
1106 Error Threshold u 0 … 231-1
MCI: Reference system
1115 Feed Constant - 1 … 2147483647
Gear Box: Driving Shaft Revolu-
1116 - 1 … 65535 10.2.1
tions
1117 Gear Box: Motor Shaft Revolutions - 1 … 65535
MCI: Position Controller
1118 Limit u/s 0 … 231-1 10.2.5
MCI: Contouring error monitoring
1119 Contouring error time ms 0 … 65535
10.2.3
1120 Fault reaction - Selection
MCI: Electronic gear
1122 Master Position Source - Selection
1123 Gear Factor Numerator - -32767 ... 32767
1124 Gear Factor Denominator - 1 ... 65535 11.4.7
1125 Phasing: Offset u -(231-1) ... 231-1 11.4.5
1126 Phasing: Speed u/s 1 ... 231-1
1127 Phasing: Acceleration u/s2 1 ... 231-1

122 ACU Modbus/TCP 10/13

 MCI: Homing
No. Description Unit Setting range Chapter
1130 Homing Mode - 0 … 35
1132 Fast Speed - 1 … 2147483647
10.2.6
1133 Creep Speed - 1 … 2147483647
11.4.4
1134 Acceleration - 1 … 2147483647
1135 Ramp Rise Time - 0 … 2000
MCI: Electronic gear
1142 Resync. on Change of Gear-Factor - Selection 11.4.7
MCI: Limit switch fault reaction
1143 Fault reaction - Selection 10.2.7
MCI: Target window
1165 Target Window u 0 … 220-1
10.2.4
1166 Target Window Time ms 1 … 65535
MCI: Electronic gear
1168 In Gear'-Threshold u 1 ... 231-1 11.4.7
1169 In Gear'-Time ms 1 … 65535 11.4.5
MCI: Profile Velocity mode [u/s]
1176 Ramp Rise Time. ms 0 … 2000
11.4.2
1178 Ramp Fall Time. ms 0 … 2000
MCI: Emergency Ramp
1179 Emergency Ramp u/s2 1 … 2147483647 10.1
System Bus
1180 Operation mode - Selection 11.4.7
MCI: Profile Velocity mode [u/s]
1275 Max. Slippage ms 0 … 2147483647
1276 Velocity Window u/s 0 … 65535
1277 Velocity Window Time ms 0 … 65535 11.4.2
1278 Threshold Window u/s 0 … 65535
1279 Threshold Window Time ms 0 … 65535
Modbus/TCP
1299 S. Special Function Generator - Selection 11.4.1
Modbus/TCP
1432 IP address - -
1433 Netmask - -
1434 Gateway - -
1435 DNS Server - -
6.2
1436 DHCP Option - Selection
1437 IP command - Selection
1440 Email Function - Selection
1441 Email Text (Body) - Text
1439 Modbus/TCP Timeout ms 0 … 60000 6.2.3
Motion Control Override
1454 Override Modes Of Operation - Selection
1455 Override Target Position u -231-1…231-1 u
1456 Override Profile Velocity u/s -1…231-1 u/s
1457 Override Profile Acceleration u/s 2
-1…231-1 u/s² 10.1
1458 Override Profile Deceleration u/s2 -1…231-1 u/s²
1459 Override Target velocity vl [rpm] rpm -32768…32767 rpm
1460 Override Target velocity pv [u/s] u/s -231-1…231-1 u/s

10/13 ACU Modbus/TCP 123

14 Appendix

14.1 List of control words

The tables on this page provide an overview of the functions of the control word bits.

Bit Standard (no posi- Positioning without MCI: MCI: Profile Veloci- MCI: Profile Posi-
tioning) MCI Velocity Mode ty Mode tion Mode
0 Switch On Switch On Switch On Switch On Switch On
1 Enable Voltage Enable Voltage Enable Voltage Enable Voltage Enable Voltage
Quick Stop Quick Stop Quick Stop Quick Stop Quick Stop
2
(low active) (low active) (low active) (low active) (low active)
3 Enable Operation Enable Operation Enable Operation Enable Operation Enable Operation
4 Rfg enable New setpoint
Change set immedi-
5 Rfg unlock
ately
6 Rfg use ref Abs/rel
7 Fault reset Fault reset Fault reset Fault reset Fault reset
8 Halt Halt Halt Halt Halt
9 Change on setpoint
10
11
12
13
14
15

Bit MCI: Homing MCI: Table Travel MCI: Move away MCI: Electronic
Mode record Mode from Limit Sw. Gear: Slave
0 Switch On Switch On Switch On Switch On
1 Enable Voltage Enable Voltage Enable Voltage Enable Voltage
Quick Stop Quick Stop Quick Stop Quick Stop
2
(low active) (low active) (low active) (low active)
3 Enable Operation Enable Operation Enable Operation Enable Operation
4 Homing operat.start Sequence mode Move away from LS Start Gearing
5
6 Resume Direct Sync
7 Fault reset Fault reset Fault reset Fault reset
8 Halt Halt Halt Halt
9 Start motion block Start Phasing
10
11 Motion Block Select 0

12 Motion Block Select 1 Phasing Profile Sel. 1

13 Motion Block Select 2 Phasing Profile Sel. 2

14 Motion Block Select 3

15 Motion Block Select 4

124 ACU Modbus/TCP 10/13

14.2 Overview of status words
The tables on this page provide an overview of the functions of the status word bits.

Bit Standard (no posi- Positioning without MCI: MCI: Profile Ve- MCI: Profile Posi-
tioning) MCI Velocity Mode locity Mode tion Mode
0 Ready to Switch On Ready to Switch On Ready to Switch On Ready to Switch On Ready to Switch On
1 Switched On Switched On Switched On Switched On Switched On
2 Operation enabled Operation enabled Operation enabled Operation enabled Operation enabled
3 Fault Fault Fault Fault Fault
4 Voltage enabled Voltage enabled Voltage enabled Voltage enabled Voltage enabled
Quick Stop Quick Stop Quick Stop Quick Stop Quick Stop
5
(low active) (low active) (low active) (low active) (low active)
Switch On Disa-
6 Switch On Disabled Switch On Disabled Switch On Disabled Switch On Disabled
bled
7 Warning Warning Warning Warning Warning
8 Homing done
9 Remote Remote Remote Remote Remote
10 Target reached Target reached Target reached Target reached Target reached
11 Internal limit active Internal limit active Internal limit active Internal limit active Internal limit active
12 Speed Set-point acknowl.
13 Max slippage error Following error
14 Target Pos. reached
15 Warning 2 Warning 2 Warning 2 Warning 2 Warning 2

Bit MCI: Homing MCI: Table Travel MCI: Move away MCI: Electronic
Mode record Mode from Limit Sw. Gear: Slave
0 Ready to Switch On Ready to Switch On Ready to Switch On Ready to Switch On
1 Switched On Switched On Switched On Switched On
2 Operation enabled Operation enabled Operation enabled Operation enabled
3 Fault Fault Fault Fault
4 Voltage enabled Voltage enabled Voltage enabled Voltage enabled
Quick Stop Quick Stop Quick Stop Quick Stop
5
(low active) (low active) (low active) (low active)
6 Switch On Disabled Switch On Disabled Switch On Disabled Switch On Disabled
7 Warning Warning Warning Warning
Motion Block in
8 Phasing Done
Progress
9 Remote Remote Remote Remote
10 Target reached Target reached Target reached Target reached
11 Internal limit active Internal limit active Internal limit active Internal limit active
12 Homing attained In gear
13 Homing error Following error Following error
14
15 Warning 2 Warning 2 Warning 2 Warning 2

10/13 ACU Modbus/TCP 125

14.3 Warning messages
The different control methods and the hardware of the frequency inverter include functions for con-
tinuous monitoring of the application. In addition to the messages documented in the frequency in-
verter user manual, further warning messages are activated by the Field Bus module. The bit-coded
warning reports are issued via parameter Warnings 270 according to the following pattern: Parame-
ter Warnings 270 is provided for read-out via a PLC, Parameter Warnings 269 provides the infor-
mation, including a brief description in VPlus and the control panel.

Warning messages
Bit no. Warning Description
code
0 0x0001 Warning Ixt
1 0x0002 Warning short-time Ixt
2 0x0004 Warning long-time Ixt
3 0x0008 Warning heat sink temperature Tk
4 0x0010 Warning inside temperature Ti
5 0x0020 Warning Limit
6 0x0040 Warning Init
7 0x0080 Motor temperature warning
8 0x0100 Warning mains failure
9 0x0200 Warning motor circuit breaker
10 0x0400 Warning Fmax
11 0x0800 Warning analog input MFI1A
12 0x1000 Warning analog input A2
13 0x2000 Warning System Bus
14 0x4000 Warning Udc
15 0x8000 Warning Application warning status 367

The meanings of the individual warnings are described in detail in the frequency in-
verter Operating Instructions.

126 ACU Modbus/TCP 10/13

14.4 Application warning messages

When the highest bit of the warning message is set, an “Application warning message” is present.
The application warning messages are bit-encoded as per the following pattern via parameter Appli-
cation warnings 274. Parameter Application warnings 273 indicates the warnings as plain text in
the control panel and the VPlus PC control software.
Use parameter Application warnings 274 in order to read the warning messages via Field Bus.

Application warning messages

Bit no. Warning Description
code
0 0x0001 BELT - V-belt
1 0x0002 SW-LIM CW – SW limit switch clockwise
2 0x0004 SW-LIM CCW – SW limit switch anticlockwise
3 0x0008 HW-LIM CW – HW limit switch clockwise
4 0x0010 HW-LIM CCW – HW limit switch anticlockwise
5 0x0020 CONT – contouring error
6 0x0040 ENC – Warning Absolute encoder
7 0x0080 User 1 – User Warning 1
8 0x0100 User 2 – User Warning 2
9 0x0200 (reserved)
10 0x0400 (reserved)
11 0x0800 (reserved)
12 0x1000 (reserved)
13 0x2000 (reserved)
14 0x4000 (reserved)
15 0x8000 (reserved)

For details on the warnings, refer to the frequency inverter Operating Instructions and
the “Positioning” application manual.
The Warning Bit 6 “Absolute encoder” can be read out via Parameter 1274 in VPlus or
1273 via field bus. The Absolute encoder warnings are described in detail in the Ex-
tension manual EM-ABS-01.

10/13 ACU Modbus/TCP 127

14.5 Error messages
The error code stored following a fault comprises the error group FXX (high-byte,
hexadecimal) and the code YY (low-byte, hexadecimal).

Communication error
Key Meaning
Motion F04 04 Control deviation position controller
Control F14 42 Pos. SW limit switch
Interface 43 Neg. SW limit switch
44 Pos. SW limit sw. < Neg. SW limit sw.
45 Pos. and Neg. HW-Lim Switch Simultaneously
46 Limit Switch Incorrect Wired
47 Pos. HW Limit Switch
48 Neg. HW Limit Switch
51 Switch: Pos. Dir. Blocked
52 Switch: Neg. Dir. Blocked
53 System bus-Synchronization not activated
60 Pos. HW Limit Sw.: Non-permissible signal source
61 Pos. HW Limit Sw.: Input deactivated by PWM /FF input
62 Pos. HW Limit Sw.: Input deactivated of index controller
63 Pos. HW Limit Sw.: wrong mode for MFI1
64 Pos. HW Limit Sw.: Input deactivated by encoder 1
65 Pos. HW Limit Sw.: Input deactivated by encoder 2
66 Pos. HW Limit Sw.: wrong mode for EM-S1IOD
70 Neg. HW Limit Sw.: Non-permissible signal source
71 Neg. HW Limit Sw.: Input deactivated by PWM /FF input
72 Neg. HW Limit Sw.: Input deactivated of index controller
73 Neg. HW Limit Sw.: wrong mode for MFI1
74 Neg. HW Limit Sw.: Input deactivated by encoder 1
75 Neg. HW Limit Sw.: Input deactivated by encoder 2
76 Neg. HW Limit Sw.: wrong mode for EM-S1IOD
F15 xx User-Defined Error in Motion Block xx (1 £ xx £ 32)
70 No Homing Done
71 Homing Encoder-Mode w.o. Z-Impulse
72 Both Directions Locked
73 No Touch Probe Signal Detected
Ethernet F27 14 Communication loss to PLC

The current error can be read via parameter Current error 260.
Parameter Current error 259 indicates the current error as plain text in the control
panel and the VPlus PC control software.
In addition to the error messages mentioned, there are other error messages speci-
fied in the Operating Instructions. The errors of the Motion Control Interface (F14xx,
F15xx) are described in detail in the “Positioning” application manual.

128 ACU Modbus/TCP 10/13

14.6 Conversions
The speeds/frequencies can be converted to other speed formats using the formulas in this chapter:

Frequency [Hz] into speed [1/min] See Chapter 14.6.2

Speed into user units per second See Chapter 14.6.4
[u/s]
Speed [1/min] in Frequency [Hz] See Chapter 14.6.1
Speed into user units per second See Chapter 14.6.6
[u/s]
Speed into user units per second Speed [1/min] See Chapter 14.6.5
[u/s] into
Frequency [Hz] See Chapter 14.6.3

14.6.1 Speed [1/min] into frequency [Hz]

𝑛[min-1 ] × 𝑁𝑜. 𝑜𝑓 𝑝𝑜𝑙𝑒 𝑝𝑎𝑖𝑟𝑠 (𝑃. 373)

𝑓 [Hz] =
60

14.6.2 Frequency [Hz] into speed [1/min]

𝑓 [Hz] × 60
𝑛[rpm] =
𝑁𝑜. 𝑜𝑓 𝑝𝑜𝑙𝑒 𝑝𝑎𝑖𝑟𝑠 (𝑃. 373)

14.6.3 Speed in user units per second [u/s] into frequency[Hz]

u 𝑁𝑜. 𝑜𝑓 𝑝𝑜𝑙𝑒 𝑝𝑎𝑖𝑟𝑠 (𝑃. 373) 𝐺𝑒𝑎𝑟 𝐵𝑜𝑥: 𝑀𝑜𝑡𝑜𝑟 𝑆ℎ𝑎𝑓𝑡 𝑅𝑒𝑣𝑜𝑙𝑢𝑡𝑖𝑜𝑛𝑠 (𝑃. 1117)
𝑓 [Hz] = 𝑣 [ ] × ×
s 𝐹𝑒𝑒𝑑 𝐶𝑜𝑛𝑠𝑡𝑎𝑛𝑡 (𝑃. 1115) 𝐺𝑒𝑎𝑟 𝐵𝑜𝑥: 𝐷𝑟𝑖𝑣𝑖𝑛𝑔 𝑆ℎ𝑎𝑓𝑡 𝑅𝑒𝑣𝑜𝑙𝑢𝑡𝑖𝑜𝑛𝑠(𝑃. 1116)

14.6.4 Frequency [Hz] into speed in user units per second [u/s]

u 𝐹𝑒𝑒𝑑 𝐶𝑜𝑛𝑠𝑡𝑎𝑛𝑡 (𝑃. 1115) 𝐺𝑒𝑎𝑟 𝐵𝑜𝑥: 𝐷𝑟𝑖𝑣𝑖𝑛𝑔 𝑆ℎ𝑎𝑓𝑡 𝑅𝑒𝑣𝑜𝑙𝑢𝑡𝑖𝑜𝑛𝑠(𝑃. 1116)
𝑣 [ ] = 𝑓 [Hz] × ×
s 𝑁𝑜. 𝑜𝑓 𝑝𝑜𝑙𝑒 𝑝𝑎𝑖𝑟𝑠 (𝑃. 373) 𝐺𝑒𝑎𝑟 𝐵𝑜𝑥: 𝑀𝑜𝑡𝑜𝑟 𝑆ℎ𝑎𝑓𝑡 𝑅𝑒𝑣𝑜𝑙𝑢𝑡𝑖𝑜𝑛𝑠 (𝑃. 1117)

14.6.5 Speed in user units per second [u/s] into speed [1/min]

u 𝐹𝑒𝑒𝑑 𝐶𝑜𝑛𝑠𝑡𝑎𝑛𝑡 (𝑃. 1115) 𝐺𝑒𝑎𝑟 𝐵𝑜𝑥: 𝐷𝑟𝑖𝑣𝑖𝑛𝑔 𝑆ℎ𝑎𝑓𝑡 𝑅𝑒𝑣𝑜𝑙𝑢𝑡𝑖𝑜𝑛𝑠(𝑃. 1116)
𝑣 [ ] = 𝑓 [Hz] × ×
s 𝑁𝑜. 𝑜𝑓 𝑝𝑜𝑙𝑒 𝑝𝑎𝑖𝑟𝑠 (𝑃. 373) 𝐺𝑒𝑎𝑟 𝐵𝑜𝑥: 𝑀𝑜𝑡𝑜𝑟 𝑆ℎ𝑎𝑓𝑡 𝑅𝑒𝑣𝑜𝑙𝑢𝑡𝑖𝑜𝑛𝑠 (𝑃. 1117)

14.6.6 Speed [1/min] into speed in user units per second [u/s]

u 𝐹𝑒𝑒𝑑 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡 (𝑃. 1115) 𝐺𝑒𝑎𝑟 𝐵𝑜𝑥: 𝐷𝑟𝑖𝑣𝑖𝑛𝑔 𝑆ℎ𝑎𝑓𝑡 𝑅𝑒𝑣𝑜𝑙𝑢𝑡𝑖𝑜𝑛𝑠 (𝑃. 1116)
𝑣 [ ] = 𝑛 [rpm] × ×
s 60 𝐺𝑒𝑎𝑟 𝐵𝑜𝑥: 𝑀𝑜𝑡𝑜𝑟 𝑆ℎ𝑎𝑓𝑡 𝑅𝑒𝑣𝑜𝑙𝑢𝑡𝑖𝑜𝑛𝑠 (𝑃. 1117)

10/13 ACU Modbus/TCP 129

Index

A Write ..................................................... 43
Acknowledging error messages ................... 40 Index parameters
Act. Position ............................................... 59 Read...................................................... 43
Actual values............................................ 120 Installation ................................................ 13
Application warning messages ................... 127 L
Application warnings................................. 127 Local/Remote ............................................ 63
Assembly M
Communication module ........................... 19 Maintenance .............................................. 14
B Master/Slave Position Correction ................ 116
Bus Error behavior...................................... 25 Motion Control Interface (MCI) ................... 52
Bus reference frequency ........................... 120 Motion Control Override ............................. 53
C Move away from limit switch mode ............ 105
Client/Server .............................................. 26 P
Contouring errors ....................................... 59 Parameter access
Control Read index parameters ........................... 43
Contacts ................................................. 64 Write index parameter ............................ 43
Remote contacts ..................................... 64 Parameter List .......................................... 121
Copyright ..................................................... 6 Position Controller...................................... 60
Current position ......................................... 59 Position deviation....................................... 60
D Profile Position mode ................................. 86
Decommissioning ....................................... 14 Profile Velocity mode [u/s] ......................... 81
Designated use ............................................ 8 Protocol .................................................... 26
Disassembly R
Communication module ........................... 20 Ramp reference frequency ........................ 120
E Reference system ...................................... 58
Electrical connections ................................. 13 S
Electronic Gear Slave mode ....................... 109 Safety
Error messages ........................................ 128 General .................................................... 7
Example sequence Sequence example
Electronic Gear Homing mode ........................................ 96
Slave mode (Electronic gear Velocity mode ........................................ 80
Slave) ............................................ 118 State machine
Move away from limit switch .................. 108 Device control ........................................ 67
Profile Velocity mode [u/s] ...................... 85 Storage ..................................................... 13
Table travel mode ................................. 104 T
Without Motion control ............................ 75 Table travel record mode ........................... 97
Example telegrams ..................................... 44 Target window .......................................... 59
Exception condition code ............................ 39 TCP/IP address .......................................... 24
F Telegram
Function code ............................................ 27 structure ................................................ 26
G Transition 5 of state machine ..................... 73
General Information about the Documentation Transport .................................................. 13
................................................................ 5 V
H VABusSST Error Register ............................ 39
Homing................................................ 59, 61 Velocity mode [rpm] .................................. 77
Homing mode ............................................ 94 W
I Warning messages .................................... 126
Index Parameter Warranty and liability ................................... 6

130 ACU Modbus/TCP 10/13

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Bonfiglioli has been designing and developing innovative
and reliable power transmission and control solutions
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applicacations since 1956.

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