Modbus RTU interface for Electric Actuators

Issue 06.16 Subject to changes without notice!

Instructions

Y070.400/EN

Contents

Page

1

General information

3

1.1 1.2

Safety instructions Notes to the operation instructions

3

2

The Modbus interface for SEVEN

3

2.1 2.2 2.3

General description Modbus interface Modbus RTU – Basic functions

3

2.3.1 2.3.2 2.3.3 2.3.4 2.3.5

Telegram structure Message frame for serial communication via Modbus Three PDU types – communication procedure Data model Function codes – supported services

4 4 5 5 6 6

3

Technical data

7

3.1 3.2 3.3

SEVEN with Modbus RTU interface Communication parameters of the Modbus RTU interface Electric connection

7 11

4

Setting the communication parameters for Modbus RTU

13

4.1 4.2

Communication parameters for Modbus RTU Options / tools for setting

13

5

Using SIPOS 5 Flash actuators with Modbus interface

14

5.1 5.2 5.3

Control via Modbus Inhibiting of the local control unit Fault messages on display

14

6

Broadcast mode and safety functions

15

6.1 6.2

Broadcast messages Modbus safety functions

15

7

Redundancy for Modbus RTU

15

8

Connection status and fault signal

16

8.1 8.2

Connection status Bus communication fault/checksum fault

16

3

4

12

13

14 14

15

16

Attachments     

Page 2

Input Registers Holding Registers Discretes Input Coils Telegrams „Read Exception-Status“, „Report-Slave ID“ and „Read Device Identification“

18-25 26-33 34 35 36

Y070.400/EN

1

General information

1.1

Safety instructions: Used symbols and their meanings Warning marks activities which, if not carried out correctly, can affect the safety of persons or property. Notice marks activities which have major influence on the correct operation. Non-observance of these notes may lead to consequential damage.

1.2

Notes to the operation instructions This manual describes the Modbus interface for SEVEN electric actuators. You can find more detailed information about the electric actuators, including the electrical and mechanical connections, parameterization and commissioning in the Y070.302/EN (PROFITRON/HiMod) and Y070.301/EN (ECOTRON) manuals. This manual is complete only in combination with the instruction manual of the respective actuator. The safety information contained in the instruction manuals must be heeded at all times when working with the actuators. This manual only contains specific information about the Modbus interface!

2

The Modbus interface for SEVEN The Modbus interface is pre-installed and tested in all devices that leave the factory "Modbus-capable"!

2.1

General description ■ General information about Modbus RTU For the interchange of information among automation systems and between automation systems and connected peripheral field devices, serial field buses are mainly used as the communication system today. Thousands of applications have proved impressively that cost savings of up 40 % in wiring, commissioning and maintenance are achieved by using field bus technology. Just two wires are needed to transmit all relevant information for the field devices, such as input and output data, parameters and diagnosis data. While in the past the field buses used were often manufacturer specific and incompatible with other bus systems, the systems employed today are almost exclusively open and standardized. This means that the user is independent of individual suppliers and can choose the best product for the most reasonable price. Modbus RTU is an international, open fieldbus standard. As a fieldbus protocol which is easy to implement, Modbus is successfully used throughout the world. The application range includes automation in the areas of manufacturing, processing and building.

■ Basic characteristics Modbus RTU determines the technical and functional features of a serial fieldbus system with which distributed digital automation devices can be interconnected. It is designed for fast data transmission on the field level. Here central control devices, such as a PLC or PC, communicate via a fast serial connection with peripheral field stations with binary and/or analog inputs and outputs. Modbus RTU is more effective than the ASCII version and meets the requirements of modern field devices. The acyclic communication serves as basis. Modbus distinguishes between master and slave devices.  

Master devices control the data traffic on the Bus. A master is allowed to send messages without an external request. Slave devices such as SEVEN-Actuators for example are peripheral devices. Typical slave devices are input/output devices, valves, actuators and measuring transmitters. They do not have bus access, i.e. they may only acknowledge received messages or, at the request of a master, transmit messages to that master. Slaves are also called “passive stations”.

The following generally applies: 

only 1 master may be active at a bus branch (mono-master bus system)



up to 247 slaves can be connected to a single bus branch



the communication is always initiated by the master; the slaves have to respond to the requests of the master



Protective features: checksum and parity bit

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The master has two options for communication with the field devices (slaves):

2.2



Unicast mode - direct request to a certain field device (slave address not equal to ”0“). "Standard" operation: Master sends a request to a field device, to which the latter has to respond.



Broadcast mode - general request to all field devices (slave address ”0“). The master sends a request (telegram) to all bus stations, to send an emergency command, for example, to which none of the field devices may respond. For further information, refer to chapter 6.1.

Modbus interface ■ In 1- or 2-channel (redundant) version. ■ For ECOTRON, PROFITRON and HiMod. Exception: Not possible in combination with relay PCB.

■ Electric standard connection of all SEVEN actuators for RS485 as well as FO (refer to chapter 3.2). ■ Modbus can be retrofitted at any time. ■ User interface:  

SEVEN can both be parameterized and controlled via Modbus, control mix also possible, e.g.: -

Control via binary/analog inputs and

-

Observe/parameterize via fieldbus.

■ Observe Modbus cable specifications (refer to chapter 3.2)!

2.3

Modbus RTU – Basic functions

2.3.1 Telegram structure Serial data transmission is used as the basis, transmission is done bit per bit. Protocol data unit (PDU) The Modbus PDU (protocol data unit) consists of the function code and the actual data.

Modbus PDU

Function code

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Data

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2.3.2 Message frame for serial communication via Modbus Modbus serial line Slave address

Function code

Data

1 byte

1 byte

0 up to 252 byte(s)

CRC (cyclic redundancy check) 2 bytes CRC Low

CRC High

2.3.3 Three PDU types – communication procedure Three different communication types are used for communication. Request – request from DCS/controls (master) Response – for fault-free processing by the field device (slave) Exception reply: The field device returns the request with a modified function code (highest bit is set); the exception code contains information on the cause of the fault

Communication procedure: ■ Fault-free

■ Fault

Causes for the fault: 

Message (request telegram) is incomplete  Slave does not respond, fault counter is incremented by one



The request in the message is generally not supported by the slave  exception code



Slave is in one of the fault states and cannot execute the request at the moment exception code

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2.3.4 Data model The data model of the Modbus fieldbus is the mapping of the input and output values of a field device (e.g. SEVEN) on a storage structure. Using bus commands, you may access the storage structure and therefore operate the field device. Available data types in the Modbus data model:

■ There are 2 data types differing in size: 1-bit values and 16-bit values. ■ Both data types are available in 2 versions: a Read-Only version and a Read-Write version.  All in all, there are 4 different storage areas: Storage area

Data type

Access rights

Description

Discretes Input Coils Input Registers

Single-Bit Single-Bit 16-Bit-Word

Read-Only Read-Write Read-Only

Holding Registers

16-Bit-Word

Read-Write

Signal end position OPEN/CLOSED, fault, etc. Control OPEN, CLOSE, EMERGENCY (per bit) Signal end position OPEN/CLOSED, fault, etc. as well as actual position value Control OPEN, CLOSE, EMERGENCY, setpoint as well as parameter data

2.3.5 Function codes – supported services The master uses the so-called function code in the Modbus telegram to inform the slave:

■ what it would like to read or write, ■ whether it would like to request diagnostic data. Function codes are therefore commands to access the data model via bus.  The function codes already determine the answer of the slave. There are several predefined function codes. For a detailed description of the function codes, refer to chapter 3.1.

Example for a master request to the actuator:

Read access to Input Register 1001: current actual position value

*) hexadecimal presentation of the telegram values

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3

Technical Data

3.1

SEVEN with Modbus RTU interface Electrical connection / Fieldbus connection Supply voltage

Tolerances

Automatic phase sequence correction Optional external power supply of the electronics

Voltage output Electrical connection with Modbus RTU interface

RS 485-interface Fiber optic interface (option) Overvoltage protection (option)

1-ph AC 110 - 115 V 1-ph AC 220 - 230 V 3-ph AC 190 - 200 V 3-ph AC 380 - 460 V Permissible voltage tolerances:

-10 %/+15 %

Frequency range: 40 – 70 Hz The direction of rotation of the output shaft is independent of the phase sequence 24 V DC ± 25 % (protected against polarity reversal) Current consumption of the electronics: Modbus 1 channel: max. 160 mA; Modbus 2 channel: max. 180 mA 24 V DC, max. 125 mA (floating and protected against polarity reversal) Round plug connector with 50-pin screw connections. Modbus connection on integrated bus termination board with switchable bus termination resistors. Max. lead cross section - Modbus: 1.5 mm² - analog / binary signals: 2.5 mm² - mains: 6 mm² EIA-485 (RS 485)  details see “Communication parameters of the Modbus RTU interface” Fiber optic interface for the realization of star and line structures.  details see “Communication parameters of the Modbus RTU interface” Protection of the electronics and motor against over voltage up to 6 kV on the bus terminals, at a guaranteed Modbus communication up to baud rate 115,200 Bit/s

Inputs, outputs / other features Control analog / binary inputs

analog / binary outputs

Galvanic separation Modbus redundancy (option) Local controls

Remote control

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Control and feedback signal via Modbus ECOTRON - 3 binary 24/48 V DC inputs (OPEN, CLOSE, STOP)

 details see “Parameterizing of Modbus” PROFITRON/HiMod - 5 binary 24/48 V DC inputs (OPEN, CLOSE, STOP, EMERGENCY, Mode) - 1 analog 0/4..20 mA input AI1 for e.g. positioner (option at PROFITRON) - 1 analog 0/4..20 mA input AI2 (option) Status transmission possible via Modbus. - 8 binary outputs (programmable) - 1 analog 0/4..20 mA output AO1 - 1 analog 0/4..20 mA output AO2 (option)

Status transmission possible via Modbus. - 5 binary outputs (programmable) - 1 analog output AO1 for actual position value - Binary inputs and outputs - analog inputs and outputs Hardware (separate ASICs and DC/DC-converters)

Standard: - Drive Controller (option: lockable) - 2 indication lights for LOCAL (yellow) and REMOTE (blue) - Indication lights for CLOSE (yellow) and OPEN (green): run and end position indication - 2 indication lights (green and red) for status and fault signals (ECOTRON only) - Plain text status display on color graphics display (PROFITRON/HiMod only) - USB interface (ECOTRON: internally on control PCB; PROFITRON/HiMod: externally at the electronics housing) - Bluetooth interface for parameterizing and controlling (PROFITRON/HiMod only) Control by remote depending on the parameter setting of “Control mode“ and “Alternative control mode “: - Conventional interface (24/48 V binary or 0/4-20 mA analog) - Fieldbus interface

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Parameters / functions actuator - via Modbus - menu based, via illuminated color graphics display with plain text display (operation with password-protection via Drive Controller of the local controls) (PROFITRON/HiMod only) - menu based, via illuminated LC display (ECOTRON only) - via the programming software COM-SIPOS Language settings German, English, Chinese, Polish, Spanish, Russian, Czech, Dutch, Portuguese, Turkish and (PROFITRON/HiMod only) Norwegian → other languages on request Output speed / positioning time - 7 settings, changeable steps - different settings possible for OPEN, CLOSE, EMERGENCY OPEN and EMERGENCY CLOSE (PROFITRON/HiMod only) Soft start Constant torque with reduced speed in to and out of the end positions: - no overtorque - Starting current < rated current Positioner Adaptive three-step controller (option PROFITRON only) Setpoint via Modbus or analog 0/4..20 mA signal, (rising/falling slope) Adjustable automatic adaptation of the dead band based on the quality of the setpoint and (PROFITRON/HiMod only) feedback signals. Speed reduction before reaching the setpoint Process controller Setpoint via analog input AI1 or AI2 (0/4 … 20 mA), via Modbus or fixed setpoint (option) (PROFITRON/HiMod only) Actual process value via analog input AI2 or AI1 (0/4 ... 20 mA) Programmable travel dependent Travel dependent speed setting via up to 10 interpolation points (value pairs): output speed travel [% OPEN] in 1 % steps – speed [rpm] (option) (PROFITRON/HiMod only) External output speed setting Speed setpoint via Modbus or analog 0/4 ... 20 mA signal (option) (PROFITRON/HiMod only) Travel dependent freely adjustable The positioning times between up to 10 intermediate positions can be programmed positioning times independently: travel 0....100 [% OPEN], positioning time 0 ... 60000 [sec] (option) (PROFITRON/HiMod only) For EMERGENCY operation via positioning time curve possible with adjustable factor. Torque-curve recording Recording of up to 3 torque reference curves for pre-emptive valve monitoring: from the valve (not for 2SG7) sampling rate in 1 % travel increments; can be saved and downloaded. The recorded values are reference values and can deviate from the absolute values especially in (PROFITRON/HiMod only) the end positions and when changing output speeds. Retry torque block Automatic retry to get over torque block (max. 5 x programmable) Parameter settings

Diagnostics - switching cycles/hour - number of switching cycles / travel dependent and torque dependent cut-offs - relative operating time - operating hours of electronics unit and motor Maintenance limits /maintenance - switching cycles intervals (regarding valve) - torque dependent cut-offs (only PROFITRON/HiMod) - motor operating hours Fault memory former five faults are displayed Electronic rating-plate - manufacturer - ordering no. - Serial number - original Serial number - tag number actuator Monitoring and safety functions internal diagnosis: - runtime - motor protection - travel sensor Diagnosis data

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Settings / Parameterizing of Modbus RTU interface Baud rate setting Connection monitoring Coils (1 bit, Read / Write) Selected control commands  to the actuator Discretes Input (1 bit, Read-Only) Selected status data from the actuator

Holding Registers (16 bit, Read / Write) Control commands and parameterization data  to the actuator

Input Registers (16 bit, Read-Only) Status data from the actuator

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… as well as parity setting: fixed and identical for all devices can be set from 0.1 s to 25.5 s e.g. - OPEN Full configuration see attachment - CLOSE D ”Coils" - EMERGENCY - fault signal reset - maintenance carried out - etc. e.g. - ready + remote Full configuration see attachment - actuator in end position „OPEN“ / “CLOSE“ C ” Discretes Input” - travel position „OPEN“ / “CLOSE“ active - running indication „OPEN“ / “CLOSE“ - end position OK - actuator parameterization OK - hand wheel / crank operated - local active - remote active - command "EMERGENCY“ active - maintenance necessary - Modbus channel 1 / 2 is active channel - Modbus channel 1 / 2 is present - etc. e.g. - OPEN Full configuration see attachment - CLOSE B ”Holding Registers" - EMERGENCY - setpoint for position, process or output speed - fault signal reset - maintenance carried out Parameterization such as: - tripping torque in end position CLOSE - tripping torque in end position OPEN - output speed in direction CLOSE - output speed in direction OPEN - etc. e.g. - actual position value (0.01 % steps) - ready + remote - actuator in end position „OPEN“ / “CLOSE Full configuration see attachment - intermediate contact ”OPEN“/“CLOSE“ active A ”Input Registers” - running indication „OPEN“ / “CLOSE - output speed / positioning time - end position OK - actuator parameterization OK. - hand wheel / crank operated - local active - remote active - command „EMERGENCY“ active - warning motor temperature (not for 2SG7) - motor temperature (not for 2SG7) - electronics temperature (PROFITRON/HiMod only) - maintenance necessary - diagnosis data (PROFITRON/HiMod only) - maintenance limits (PROFITRON/HiMod only) - Modbus channel 1 / 2 is active channel - Modbus channel 1 / 2 is present fault signals: - sum fault signal - not ready - travel sensor signal fault - blocked in move - open circuit analog input - motor temperature too high - etc.

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Reads the contents of the Coils information (bit values) from the actuator 02 Read Input Discrete Reads the contents of the Discretes Input information (bit values) from the actuator 03 Read Holding Registers Reads the contents of the Holding Registers information (16 bit-words) from the actuator 04 Read Input Registers Reads the contents of the Input Registers information (16 bit-words) from the actuator 05 Force Single Coil Writes data to a Coil (bit value) within the actuator to ON or OFF 06 Preset Single Register Writes data to a single Holding Register (16 bit-word) of the actuator 07 Read Exception Status see attachment E “Telegrams“ 08 Diagnose Sub-function: 00 Loopback 10 Clear Counters and Diagnostic Register 11 Return Bus Message Count 12 Return Bus Communication Error Count 13 Return Bus Exception Error Count 14 Return Slave Message Count 15 Return Slave No Response Count 16 Return Slave NAK Count 15 Force Multiple Coils Writes data to several sequential Coils within the actuator to ON or OFF 16 Preset Multiple Registers Writes data to several sequential Holding Registers within the actuator 17 Report Slave ID see attachment E “Telegrams“ 43 Read Device Identification see attachment E “Telegrams“ Behavior in case of communication the reaction of the actuator is programmable: breakdown - keep position - EMERGENCY position approach (PROFITRON/HiMod only) - keep actual process value (PROFITRON/HiMod with process controller only) - approach fixed process setpoint (PROFITRON/HiMod with process controller only) Supported function codes

01

Read Coil Status

Ambient conditions Ambient temperature Enclosure protection according to EN 60529 Vibration resistance

-20 °C to +60 °C standard: IP68

Germanischer Lloyd

acceleration

frequency range

0.7 g

5 ... 200 Hz , in the resonance frequencies 5 ... 500 Hz octave/min

duration

min. 1.5 h in 3 directions EN 60068-2-6 2 g 20 sweeps (10 cycles) in 3 directions Loads according to EN 60068-2-6 up to 5 g for separate mounting of electronics and gear unit on request. The actuators can withstand a continuous load caused by plant-generated vibrations within a frequency range of 5 … 200 Hz at up to 0.5 g.

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3.2

Communication parameters of the Modbus RTU interface ■ Connection via copper cable – 1 and 2 channel (redundant) Communication log

Network topology

Transmission medium Interface Transmission speed Max. cable length Station types

Number of stations Bus access

Modbus RTU according to: - Modbus application protocol specification V1.1a - Specification & Implementation Guide ”Modbus over Serial line“ V 1.0 Line (BUS) structure. Tree structures can also be realized. Coupling and uncoupling of stations during operation without affecting other stations is possible. twisted, screened 2-wire copper cable according to EIA-485 EIA-485 (RS 485) 300; 600; 1,200; 2,400; 9,600; 19,200; 38,400; 57,600; 115,200 bit/s. without repeater: 1,200 m with repeater: approx. 10 km - Modbus-Master, e.g. central controllers such as PLC, PC etc. - Modbus-Slave, e.g. SEVEN actuators, devices with binary and/or analog inputs/outputs, sensors. 32 stations without repeater; with repeaters expandable up to 247 stations Mono-Master systems: Access to the slaves via polling.

■ Connection via fiber optics (FO) Fiber optic interface for the realization of star and line structures.  Details see supplement to operation instructions: „Fieldbus connection with fiber optics (FO) in line/star topology“ Y070.134/GB.

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3.3

Electric connection Connection via copper cable – 1 and 2 channel (redundant) To comply with the RFI regulations, the shield has to be connected flatly with the housing by means of the screen strap. This applies analogously to both channels of the version with a redundant Modbus interface. Correct pole-connection of the data-wire on terminal strip 1 is necessary for Modbus data exchange. Please make sure that .A or .B connections are always done with the same lead.

Device n

terminal strip 2

terminal strip 1

Device n-1

Device n+1

Channel 1 - 1A/1B Channel 1 - 2A/2B Channel 2 - 3A/3B Channel 2 - 4A/4B

Input Modbus-connection channel 1 Output Modbus- connection channel 1 Input Modbus-connection channel 2 Output Modbus-connection channel 2

The 24 V DC external supply can be realized via the terminal strip 2. By doing this, the bus data exchange can be continued even if the main power supply (110-115V, 190-200V, 220-230V resp. 380-460V) is disconnected. The 24 V is internally connected with the pins 38 and 39 of the round plug.

Adjustment of the DIP-switches Termination:

OFF

no bus termination resistor

ON

bus termination resistor switched on and 2A/2B or 4A/4B separated from 1A/1B or 3A/3B

Bus cable Only bus cables meeting the requirements of the cable specification for RS-485 (Modbus RTU) may be used. Impedance Cable capacity Cable diameter Core diameter Loop resistance Screening

135 to 165 Ohm, at a frequency of 3 to 20 MHz < 30 pF per meter > 0.64 mm > 0.34 mm² (corresponds to AWG 22), max. 1.5 mm² < 110 Ohm per km Cu shielding braid or shielding braid and shielding foil

The bus cable must be laid at a distance of at least 20 cm from other cables. It should be laid in a separate, conductive and earthed cable trunking. It must be ensured that there are no potential differences between the individual stations on the Modbus. There is no defined color coding for RS-485. The usual code is: .A → brown and .B → white.

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4

Setting the communication parameters for Modbus RTU Each device on the bus is handled via the bus address. This address must be unique on one bus line. SIPOS 5 Flash electric actuators are delivered with the default bus address 247. If the actuators are ordered with customer specific parameterization (order code „Y11”), the bus address is set to the specified value. In case of SIPOS 5 Flash actuators with redundant Modbus interface, both channels are set to the default address 247.

4.1

Communication parameters for Modbus RTU ■ Bus addresses: ■ Baud rates:

1 to 247

■ Parities:

even parity or odd parity with 1 stop bit no parity with 2 stop bits

300; 600; 1,200; 2,400; 4,800; 9,600; 19,200; 38,400; 57,600; 115,200 bit/s

■ Connection control time: Structure per byte:

0.1 to 25.5 s. 1 start bit + 8 data bits + 1 parity bit + 1 stop bit or 1 start bit + 8 data bits + 2 stop bits,

The communication parameter can be set separately for both channels and are stored fail-safe in the EEPROM. Modbus has no automatic adaptation of the communication parameters. I.e. the settings of the communication parameters within the field device have to match the communication parameters in the DCS/controls (master).

■ Default values:

4.2

Address 247, 19,200 bit/s, even parity, 1 stop bit, connection control time 3s.

Options / tools for setting The Modbus communication parameters for SEVEN can be set via:

■ via the local control unit (PROFITRON/HiMod only).  Changes will be effective immediately! channel 1: 1 ... 247

default: 247

channel 2: 1 ... 247

default: 247

 MODBUS baudrate

300...38,400 Baud

default: 19,200 Baud

 MODBUS par/stop

even 1 stopbit odd 1 stopbit none 2 stopbits

default: even 1 stopbit

 MODBUS moni.time

channel 1: 0.1 ... 25.5 s

default: 3 s

channel 1: 0.1 ... 25.5 s

default: 3 s

MODBUS address

For setting the parameters via the local control unit, see the operation instructions Y070.302/EN.

■ with the PC-parameterization program COM-SIPOS (connection via USB interface or Bluetooth (PROFITRON/HiMod only)).  Changes will be effective immediately! COM-SIPOS is available as accessory including software, data cable and description, Order-no.: 2SX7100-3PC02. The latest COM-SIPOS version can be downloaded from our website www.sipos.de.

■ Modbus telegram. For that, the SIPOS 5 Flash actuator must be connected to the bus. Please take care, that only one single actuator with default address 247 is connected to the bus at a time. The Holding Registers can be used to assign a new bus address to the actuator. The active channel can be selected in Coil 36/37 and in Holding Register 1002.

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5

Using SIPOS 5 Flash actuators with Modbus interface

5.1

Control via Modbus ■ Permanent contact via Modbus – "Permanent contact fieldbus“ For the “Permanent contact fieldbus“ setting, the actuator is controlled via permanent contact via Modbus, using OPEN and CLOSE commands: 

Coils:

OPEN, CLOSE, EMERGENCY



Holding Registers:

OPEN, CLOSE, EMERGENCY bit in register ”0“ or in register ”1000“ (compatible to AUMA Modbus)

■ Positioner with setpoint via Modbus – „Positioner fieldbus“ For the “Positioner fieldbus“ setting and in position “REMOTE”, the actuator is controlled with the setpoint value via Modbus: 

Setting the setpoint via Holding Register "1" or within the register “1001” (compatible to AUMA Modbus) Actuator will only implement the new set value, if the " setpoint is valid " bit is set to the value "1". Set in Holding Register "0" or within the register “1000” (compatible to AUMA Modbus) If the “setpoint is valid“ bit is set to “0”, the actuator remains in the current position  Changes of the setpoint are therefore ignored.

■ Process controller with setpoint via Modbus – ”Process controller fieldbus“ For the “Process controller fieldbus“ setting and in position “REMOTE”, the actuator is controlled with the setpoint value as input variable for the integral process controller via Modbus: 

Setting the setpoint for the process controller via Holding Register "1" or within the register “1001” (compatible to AUMA Modbus) Actuator will only implement the new set value, if the " setpoint is valid " bit is set to the value "1". Set in Holding Register "0" or within the register “1000” (compatible to AUMA Modbus) If the “setpoint is valid“ bit is set to “0”, the actuator remains in the current position  Changes of the setpoint are therefore ignored.

5.2

Inhibiting of the local control unit The switch function for changing between remote control and local control by pressing the button on the local control unit can be disabled by means of a Modbus command. The appropriate bit has to be set in Holding Register 21. The blockage is automatically reset if the communication via Modbus is interrupted (“No communication” connection status, refer also to chapter 8).

5.3

Fault messages on display Error messages concerning the Modbus interface and communication via the Modbus are output in plain text on the PROFITRON/HiMod display of the local control unit. These error messages must either be dealt with by the owner of the plant (parameters and settings, ambient temperature too high, electrical connections not made properly, etc.), or they are due to circumstances outside his control (voltage fluctuations, power failures, etc.).

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6.1

Broadcast mode and safety functions

Broadcast messages In the Broadcast mode, the DCS may, e.g., address all actuators uniformly and with a single command. The master has to send a “Write Holding Registers" message to slave address 0.

■ The following commands are important: 

emergency signal



reset



change of active channel (channel 1 or channel 2)

■ Further commands:

6.2



OPEN



CLOSE



setpoint

Modbus safety functions SEVEN supports all standard Modbus safety functions:

■ parity check for each message byte ■ CRC (“cyclic redundancy check“, checksum for all sent bytes) for each message ■ Watchdog for communication monitoring with adjustable safety behavior. This is a cyclic monitoring at the actuator with adjustable connection control time (refer also to chapter 8).

7

Redundancy for Modbus RTU The SEVEN actuator can be connected to the DCS via two fieldbus cables (option) to increase plant safety. The Modbus sub-assembly is designed as 2-channel (redundant) version. In this case, the ASIC, the driver devices, the opto isolator and the DC/DC converter are separately provided on the Modbus board for each channel. The channel which is the first to enter the cyclic user data communication („Data Exchange”) when the actuator is switched on is the active channel. Via this channel, read and write access to the actuator is possible. This includes process mode, i.e. the drive is moved via this channel. The second channel is the passive channel, via which only data is sent from the actuator to the digital control system. The digital control system therefore can only observe the actuator via this passive channel but cannot move it.

■ The telegrams can be received simultaneously by both channels. They are evaluated separately within the firmware. ■ Simultaneous reading/writing via both channels is possible. ■ The operation commands OPEN, CLOSE and setpoint are executed by the active channel only. The operation commands of the passive channel are stored and will be used if the active channel fails. By means of Input Register 32, the digital DCS control system is able to determine which channel is the active one. The active channel can also be read via the display (PROFITRON/HiMod) and via COM-SIPOS. Use Holding Register 1002 to explicitly select the active channel. Changeover criteria A changeover to the other channel is necessary whenever data is no longer being exchanged over the active channel. The changeover criteria are as follows:

■ connection control time exceeded (e.g. master failure) ■ loss of bus connection (cable break) ■ change-over command from the active channel

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8

Connection status and fault signal

8.1

Connection status Each bus station receives all telegrams sent during data exchange between DCS/controls (master) and the field devices (slaves) within the query-response cycle (polling procedure). Status transition overview no communication

Baudrate OK

data exchange

No valid telegram received within the connection control time No valid telegram sent to the own address received within the connection control time, however, a valid telegram for another bus station was recorded Valid telegram sent to own address within the connection control time The connection status is displayed separately for each channel and has always one of the following three values:

■ no communication “no communication“ indication is set if 

there is no communication (telegram) between DCS/controls and one of the field devices,



no valid telegram was received within the connection check time  fault,

■ “Baudrate OK“ communication parameter ok “Baudrate OK“ indication is set if 

communication with a valid telegram between DCS/controls and another field device is established. A valid telegram sent to another field device is recorded:  The communication parameters of the own address are correctly set.

“Baudrate OK“ signals the fault, that the slave does not receive the usual telegram within the connection control time.

■ “Data Exchange“ cyclic data transmission “Data Exchange“ indication is set if 

a communication with valid telegrams between DCS/controls and the own fieldbus address is established (Unicast mode),



communication with valid telegrams between DCS/controls and all field devices is established (Broadcast-Modus).

Usually all bus stations are addressed via a telegram during the connection control time, i.e. in fault free operation, one of the slaves is in the “Data Exchange” state. When leaving the “Data Exchange“ state, the control commands “OPEN“, “CLOSE“ as well as „setpoint is valid“ are deleted internally and have to be reset if required. The connection status can be read out via the:

■ Display (PROFITRON/HiMod) – Main menu  Observe  Inputs and outputs  Modbus RTU ■ Modbus telegram ■ COM-SIPOS – C+M (Control + Monitoring) tab

8.2

Bus communication fault/checksum fault The bus communication fault is set, if no Modbus channel is in the ”Data Exchange“ state. The prerequisite is that one of the slave addresses is not equal to the default address 247. The bus communication fault can be read out via the:

■ Display (PROFITRON/HiMod) - „33 Fault fieldbus“ is displayed ■ Modbus telegram - Input Register 81 ■ COM-SIPOS - State of unit tab, „33 Fault fieldbus“. The bus communication fault sets the "sum fault signal". This is signaled in the Input Register 81 and the Discretes Input, address 7 or 1017. The bus communication fault sets the “Ready + REMOTE“ message to 0, if the “Control mode“ parameter is set to bus control (Permanent contact fieldbus, Positioner fieldbus or Process controller fieldbus).

Page 16

Y070.400/EN

Y070.400/EN

Page 17

Input Registers - Modbus RTU RegNo

Value

0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26

27

28 29 1)

r = read

Y070.400/EN

SEVEN

Name of parameters Rotary actuator 2SA7 manufacturer

serial number

ordering no.

firmware version

0. – 1. digit 2. – 3. digit 4. – 5. digit 6. – 7. digit 8. – 9. digit 0. – 1. digit 2. – 3. digit 4. – 5. digit 6. – 7. digit 8. – 9. digit 10. – 11. digit 12. – 13. digit 0. – 1. digit 2. – 3. digit 4. – 5. digit 6. – 7. digit 8. – 9. digit 10. – 11. digit 12. – 13. digit 14. – 15. digit 0. – 1. digit 2. – 3. digit 4. – 5. digit 6. – 7. digit 8. – 9. digit

Part-turn actuator 2SG7

Issue 06/16

Type

ECOTRON 1)

HiMod PROFITRON 1)

2S.70 2S.73

2S.75

2S.70 2S.73

2S.75 2S.78

(high-byte = 0.digit)

ASCII

r

r

r

r

(high-byte = 0.digit)

ASCII

r

r

r

r

ASCII

r

r

r

r

ASCII

r

r

r

r

unsigned16

r

r

r

r

unsigned16

r

r

r

r

unsigned16

r

r

r

r

unsigned8

r

r

r

r

unsigned8

r

r

r

r

(high-byte = 0.digit)

(high-byte = 0.digit)

max. tripping torque (Tc max. [Nm]) 0 … 6000 (1 = 1 Nm) move in revolutions/stroke (for non-intrusive position encoder) 2) (high word) 0 … 4294967295 (1 = 0.1 rev/stroke) 0 = no non-intrusive position encoder or no end position available or set revolutions/stroke < 0.1 move in revolutions/stroke (for non-intrusive position encoder) 2) (low word) 0 … 4294967295 (1 = 0.1 rev/stroke) 0 = no non-intrusive position encoder or no end position available or set revolutions/stroke < 0.1 lowest adjustable tripping torque 30 … 100 (1 = 1% max. tripping torque) highest adjustable tripping torque 30 … 100 (1 = 1% max. tripping torque) 2) not for 2SG7

Attachment „Input Registers - Modbus RTU“

Remark

Page 18

Input Registers - Modbus RTU RegNo

Value

30 bit 0 bit 1 bit 2 bit 4 bit 5 bit 6 bit 7 bit 8 bit 9 bit 10 bit 11 bit 12 bit 13 bit 14 bit 15 31 bit 0 bit 1 bit 2 bit 5 bit 6 bit 7 bit 8 bit 11 bit 12 bit 13 bit 14 bit 15 32 bit 0 bit 1 bit 2 bit 3 bit 4 bit 5 bit 6 bit 7 bit 8 bit 9 bit 10 bit 11 bit 12 bit 13 bit 14 bit 15 1)

r = read

Y070.400/EN

SEVEN

Name of parameters Rotary actuator 2SA7

Issue 06/16

Part-turn actuator 2SG7

status word 1 ready + remote EMERGENCY operation possible sum fault signal factory setting OK end positions OK actuator parameterization OK commissioning local OK hand wheel/crank operated 2) remote active actuator in end position CLOSE actuator in end position OPEN tripping torque CLOSE reached tripping torque OPEN reached actuator running in CLOSE direction actuator running in OPEN direction status word 2 command „EMERGENCY“ active intermediate contact CLOSE active intermediate contact OPEN active warning motor temperature 2) motor protection active motor warranty valid maintenance necessary positioner with split-range functionality enabled travel dependent output speed adjustment (speed curve) enabled analog output speed setpoint enabled positioner enabled process controller enabled status word 3 Modbus channel 1 available Modbus channel 2 available Modbus channel 1 is active channel Modbus channel 2 is active channel travel dependent freely adjustable positioning times (travel-positioning time-curve) enabled Bluetooth available customer variant subject to charges customer variant subject to charges enabled electronic temperature sensor available non-intrusive position encoder available 2) travel dependent freely adjustable positioning times (stroke-time curve) valid add-on PCB AI2/AO2 enabled add-on PCB AI2/AO2 with HART interface enabled Error remote source keep actual process value (if the "process setpoint“ control source has failed) approach fixed setpoint value (if the "process setpoint“ control source has failed)

Type

ECOTRON 1)

HiMod PROFITRON 1)

2S.70 2S.73

2S.75

2S.70 2S.73

2S.75 2S.78

r

r

r

r

r

r

r

r

r

r

r

r

Remark

unsigned16 1 = yes; 0 = no 1 = yes; 0 = no 1 = yes; 0 = no 1 = yes; 0 = no 1 = yes; 0 = no 1 = yes; 0 = no 1 = yes; 0 = no 1 = yes; 0 = no 1 = yes; 0 = local active 1 = yes; 0 = no 1 = yes; 0 = no 1 = yes; 0 = no 1 = yes; 0 = no 1 = yes; 0 = no 1 = yes; 0 = no unsigned16 1 = yes; 0 = no 1 = yes; 0 = no 1 = yes; 0 = no 1 = yes; 0 = no 1 = yes; 0 = no 1 = yes; 0 = no 1 = yes; 0 = no 1 = yes; 0 = no 1 = yes; 0 = no 1 = yes; 0 = no 1 = yes; 0 = no 1 = yes; 0 = no unsigned16 1 = yes; 0 = no 1 = yes; 0 = no 1 = yes; 0 = no 1 = yes; 0 = no 1 = yes; 0 = no 1 = yes; 0 = no 1 = yes; 0 = no 1 = yes; 0 = no 1 = yes; 0 = no 1 = yes; 0 = no 1 = yes; 0 = no 1 = yes; 0 = no 1 = yes; 0 = no 1 = yes; 0 = no 1 = yes; 0 = no 1 = yes; 0 = no 2)

only with process controller

not for 2SG7

Attachment „Input Registers - Modbus RTU“

Page 19

Input Registers - Modbus RTU RegNo

Value

33 0 ... 9 34 35 36 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 37 38 39 0 1 2 40 0 ... 2 41 0 1 2 3 4 42 43 1)

r = read

Y070.400/EN

SEVEN

Name of parameters Rotary actuator 2SA7

Issue 06/16

Part-turn actuator 2SG7

Type

ECOTRON 1)

HiMod PROFITRON 1)

2S.70 2S.73

2S.75

2S.70 2S.73

2S.75 2S.78

r r

r r

r r

r r

Remark

unsigned8

actual duty (see Holding Register RegNo 22) actual position value 0.01% OPEN actual process value (0.01%) actual output speed 1.25 rpm 1.75 rpm 2.50 rpm 3.50 rpm 5.00 rpm 7.00 rpm 10.0 rpm 14.0 rpm 20.0 rpm 28.0 rpm 40.0 rpm 56.0 rpm 80.0 rpm 112 rpm 160 rpm 0 rpm motor temperature 2) 0.01°C DC-link voltage converter [V] status channel 1 no communication Baudrate Ok data exchange status channel 2 (as RegNo. 39) binary inputs , independent of parameterization high/low active binary input CLOSE binary input OPEN binary input STOP binary input EMERGENCY binary input Mode analog input AI1 0-10000 scaling, 0=0mA, 10000=20mA, independent of parameterization analog input AI2 0-10000 scaling, 0=0mA, 10000=20mA, independent of parameterization

integer16 integer16 actual positioning time [sec/90°] 80 56 40 28 20 14 10

r

unsigned8

r

r

r

r

integer16

r

r

r

r

unsigned16 unsigned8

r r

r r

r r

r r

r

r

r

r

r r r

r r r

unsigned16

r r r r r r

r r r r r r

unsigned16

r

r

only with enabled process controller

1 = yes; 0 = no 1 = yes; 0 = no 1 = yes; 0 = no unsigned8 unsigned16

2)

not for 2SG7

Attachment „Input Registers - Modbus RTU“

Page 20

Input Registers - Modbus RTU RegNo

Value

44 0 1 2 3 4 5 6 45 46 47 48 49 50 51 52 53 54 55 56 57 58 65 66 67 68 75

bit 0 bit 1 bit 2 bit 3

76 77 78 1)

r = read

Y070.400/EN

SEVEN

Name of parameters Rotary actuator 2SA7

Issue 06/16

Part-turn actuator 2SG7

Type

ECOTRON 1) 2S.70 2S.73

2S.75

r r r

r r r

HiMod PROFITRON 1) 2S.70 2S.73

2S.75 2S.78

unsigned16

r r r r r r r r

r r r r r r r r

unsigned16

r

r

signed16

r

r

Remark

unsigned16

binary inputs , according parameterization high/low active binary input CLOSE binary input OPEN binary input STOP binary input EMERGENCY binary input Mode no signal analog input AI1 no signal analog input AI2 analog input AI1 0-10000 scaling, according parameterization analog input AI2 0-10000 scaling, according parameterization electronics temperature (1 = 0-1°C) setpoint from DCS (setpoint before adaptation to valve curve) 0-10000 scaling (1 = 0.01% OPEN) actual valve to DCS (actual value after adaptation to valve curve: in controlled state = flow rate) 0-10000 scaling (1 = 0.01% OPEN) switching cycles per hour relative operational time number of switching cycles number of switching cycles number of travel dependence cut-offs number of torque dependence cut-offs electronics unit operating hours electronics unit operating hours motor/gear unit operating hours valve maintenance limits switching cycles switching cycles torque cut-offs motor operating hours torque curves recording possible 2) curve recording curve 1 active curve recording curve 2 active curve recording curve 3 active number of recorded curves (first curve) 2) number of recorded curves (second curve) 2) number of recorded curves (third curve) 2)

0 = temperature sensor not available

(high word) (low word)

(high word) (low word) (high word) (low word)

1 = yes; 0 = no 1 = yes; 0 = no 1 = yes; 0 = no 1 = yes; 0 = no

signed16

r

r

r

r

signed16

r

r

r

r

unsigned16 unsigned8 unsigned16 unsigned16 unsigned16 unsigned16 unsigned16 unsigned16 unsigned16 unsigned16 unsigned16 unsigned16 unsigned16 unsigned16

r r r r r r r r r r r r r

r r r r r r r r r r r r r

r r r r r r r r r r r r r r

r r r r r r r r r r r r r r

r r r

r r r

unsigned16 unsigned16 unsigned16 2)

only with activated valve curve adaptation

not for 2SG7

Attachment „Input Registers - Modbus RTU“

Page 21

Input Registers - Modbus RTU RegNo

Value

80 bit 1 bit 2 bit 3 bit 4 bit 5 bit 6 bit 7 bit 8 bit 9 bit 10 bit 11 bit 12 bit 13 81 bit 0 bit 1 bit 2 bit 4 bit 5 bit 6 bit 7 bit 8 bit 9 bit 10 bit 11 bit 12 bit 14 1)

r = read

Y070.400/EN

SEVEN

Name of parameters Rotary actuator 2SA7

Issue 06/16

Part-turn actuator 2SG7

fault signal 1 Flash Memory defect RAM defect EEPROM defect internal voltage faulty Watchdog active high current converter overload converter main supply voltage fault high voltage low voltage moved too far no signal potentiometer no signal motor temperature 2) fault signal 2 analog input AI2 I > 21 mA or I < 3.6 mA (live zero) analog input AI1 I > 21 mA or I < 3.6 mA (live zero) analog output AO1 defect no bus communication channel 1 and 2 Blocked in move Run time error motor temperature too high no signal fiber optics fault Bluetooth fault electronic temperature no signal non-intrusive position encoder 2) no communication non-intrusive position encoder 2) no signal standstill sensor 2)

Type

ECOTRON 1)

HiMod PROFITRON 1)

2S.70 2S.73

2S.75

2S.70 2S.73

2S.75 2S.78

r

r

r

r

r

r

r

r

Remark

unsigned16 1 = yes; 0 = no 1 = yes; 0 = no 1 = yes; 0 = no 1 = yes; 0 = no 1 = yes; 0 = no 1 = yes; 0 = no 1 = yes; 0 = no 1 = yes; 0 = no 1 = yes; 0 = no 1 = yes; 0 = no 1 = yes; 0 = no 1 = yes; 0 = no 1 = yes; 0 = no unsigned16 1 = yes; 0 = no 1 = yes; 0 = no 1 = yes; 0 = no 1 = yes; 0 = no 1 = yes; 0 = no 1 = yes; 0 = no 1 = yes; 0 = no 1 = yes; 0 = no 1 = yes; 0 = no 1 = yes; 0 = no 1 = yes; 0 = no 1 = yes; 0 = no 1 = yes; 0 = no 2)

not for 2SG7

Attachment „Input Registers - Modbus RTU“

Page 22

Input Registers - Modbus RTU RegNo 82…91 82, 84, 86, 88 and 90

83, 85, 87, 89 and 91

Value

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

92 93 95 bit 0 bit 1 bit 2 96 bit 0 1)

r = read

Y070.400/EN

SEVEN

Name of parameters Rotary actuator 2SA7

Issue 06/16

Part-turn actuator 2SG7

last faults (5x 2 registers) analog input AI2 I > 21 mA or I < 3.6 mA (live zero) analog input AI1 I > 21 mA or I < 3.6 mA (live zero) analog output AO1 defect no bus communication channel 1 and 2 Blocked in move Run time error motor temperature too high Flash Memory defect RAM defect EEPROM defect internal voltage faulty Watchdog active high current converter Flash Memory defect main supply voltage fault high voltage low voltage moved too far no signal potentiometer no signal motor temperature 2) no signal fiber optics fault Bluetooth fault electronic temperature no signal non-intrusive position encoder 2) no communication non-intrusive position encoder 2) no signal standstill sensor 2) run time determined by the actuator in direction CLOSE from 100 % OPEN to 0 % OPEN 0 … 65535 (1= 0.1s) run time determined by the actuator in direction OPEN from 0% OPEN to 100% OPEN 0 … 65535 (1= 0.1s) fault signal 3 fault analog PCB AI2/AO2 failure HART communication fault analog output AO2 fault signal 4 no signal analog output AO2

Type

ECOTRON 1)

HiMod PROFITRON 1)

2S.70 2S.73

2S.75

2S.70 2S.73

2S.75 2S.78

r

r

r

r

unsigned16

r

r

r

r

unsigned16

r

r

r

r

r

r

r

r

r

r

r

r

Remark

unsigned16 1 = yes; 0 = no 1 = yes; 0 = no 1 = yes; 0 = no 1 = yes; 0 = no 1 = yes; 0 = no 1 = yes; 0 = no 1 = yes; 0 = no 1 = yes; 0 = no 1 = yes; 0 = no 1 = yes; 0 = no 1 = yes; 0 = no 1 = yes; 0 = no 1 = yes; 0 = no 1 = yes; 0 = no 1 = yes; 0 = no 1 = yes; 0 = no 1 = yes; 0 = no 1 = yes; 0 = no 1 = yes; 0 = no 1 = yes; 0 = no 1 = yes; 0 = no 1 = yes; 0 = no 1 = yes; 0 = no 1 = yes; 0 = no 1 = yes; 0 = no 1 = yes; 0 = no 0 = run time not yet determined 0 = run time not yet determined unsigned16 1 = yes; 0 = no 1 = yes; 0 = no 1 = yes; 0 = no unsigned16 1 = yes; 0 = no 2)

not for 2SG7

Attachment „Input Registers - Modbus RTU“

Page 23

Input Registers - Modbus RTU RegNo

Value

1000 bit 0 bit 1 bit 2 bit 3 bit 4 bit 5 bit 6 bit 7 bit 8 bit 9 bit 11 bit 12 bit 13 bit 15 1001 1002 bit 4 bit 5 bit 6 bit 7 bit 8 bit 9 bit 10 bit 11 bit 12 bit 14 bit 15 1003 bit 8 bit 9 bit 12 bit 13 bit 14 bit 15 1004 1)

r = read

Y070.400/EN

SEVEN

Name of parameters Rotary actuator 2SA7

Issue 06/16

Part-turn actuator 2SG7

compatible to AUMA-MODBUS from register 1000 upwards messages – actuator logics no signal motor temperature 2) end positions OK remote active local active intermediate contact OPEN intermediate contact CLOSE tripping torque OPEN reached tripping torque CLOSE reached actuator in end position OPEN actuator in end position CLOSE not ready + remote actuator running in OPEN direction actuator running in CLOSE direction sum fault signal actual position value 1 = 0.1% OPEN messages traveling actuator running in OPEN or CLOSE direction hand wheel/crank operated 2) remote active and actuator running in OPEN or CLOSE direction local active and actuator running in OPEN or CLOSE direction actuator in end position CLOSE actuator in end position OPEN remote active blocked in move and torque dependent cut-off “CLOSE” blocked in move and torque dependent cut-off “OPEN not ready + remote sum fault signal option (binary inputs) intermediate contact CLOSE intermediate contact OPEN binary input Close binary input Open binary input STOP binary input EMERGENCY analog input AI1 0-1000 scaling, according parameterization

Type

ECOTRON 1)

HiMod PROFITRON 1)

2S.70 2S.73

2S.75

2S.70 2S.73

2S.75 2S.78

r

r

r

r

r

r

r

r

r

r

r

r

r

r

r

r

r

r

Remark

unsigned16 1 = yes; 0 = no 1 = yes; 0 = no 1 = yes; 0 = local active 1 = yes; 0 = remote active 1 = yes; 0 = no 1 = yes; 0 = no 1 = yes; 0 = no 1 = yes; 0 = no 1 = yes; 0 = no 1 = yes; 0 = no 1 = yes; 0 = no 1 = yes; 0 = no 1 = yes; 0 = no 1 = yes; 0 = no integer16 unsigned16 1 = yes; 0 = no 1 = yes; 0 = no 1 = yes; 0 = no 1 = yes; 0 = no 1 = yes; 0 = no 1 = yes; 0 = no 1 = yes; 0 = no 1 = yes; 0 = no 1 = yes; 0 = no 1 = yes; 0 = no 1 = yes; 0 = no unsigned16 1 = yes; 0 = no 1 = yes; 0 = no 1 = yes; 0 = no 1 = yes; 0 = no 1 = yes; 0 = no 1 = yes; 0 = no unsigned16 2)

not for 2SG7

Attachment „Input Registers - Modbus RTU“

Page 24

Input Registers - Modbus RTU RegNo

Value

1007 bit 2 bit 6 bit 7 bit 9 bit 13 1008 1)

Name of parameters Rotary actuator 2SA7 warnings no signal potentiometer no signal analog input AI2 no signal analog input AI1 Modbus channel 2 is active channel adjustment end positions necessary analog input AI2 0-1000 scaling, according parameterization

SEVEN

Issue 06/16

Part-turn actuator 2SG7

Type

ECOTRON 1)

HiMod PROFITRON 1)

2S.70 2S.73

2S.75

2S.70 2S.73

2S.75 2S.78

r

r

r

r

r

r

Remark

unsigned16 1 = yes; 0 = no 1 = yes; 0 = no 1 = yes; 0 = no 1 = yes; 0 = no 1 = yes; 0 = no unsigned16

r = read

Y070.400/EN

Attachment „Input Registers - Modbus RTU“

Page 25

Holding Registers - Modbus RTU RegNo

Value

0 bit 0 bit 1 bit 2 bit 3 bit 4 bit 5 1 2 3 4 - 11 12 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 13 0 … 14 14 0 … 14 15 0 … 14 1)

Name of parameters Rotary actuator 2SA7 control commands control command CLOSE control command OPEN control command EMERGENCY reset fault message maintenance done setpoint is valid setpoint (dependent of duty mode) 0 … 10000 ( 1= 0.01% OPEN) tag number 2)

Issue 06/16

Part-turn actuator 2SG7

Type

ECOTRON 1)

HiMod PROFITRON 1)

2S.70 2S.73

2S.75

2S.70 2S.73

2S.75 2S.78

unsigned8

w

w

w

integer16

r+w

r+w

r+w

r+w

ASCII

r+w

r+w

r+w

r+w

unsigned8

r+w

r+w

r+w

r+w

positioning time in direction OPEN

unsigned8

r

r

r+w

r+w

positioning time in direction CLOSE by EMERGENCY

unsigned8

r

r

r+w

r+w

positioning time in direction OPEN by EMERGENCY

unsigned8

r

r

r+w

r+w

Remark

w

1 = yes; 0 = no 1 = yes; 0 = no 1 = yes; 0 = no 1 = yes; 0 = no 1 = yes; 0 = no 1 = yes; 0 = no

0. – 1. digit 2. – 3. digit 4. – 5. digit (see RegNo 3)

output speed in direction CLOSE 2) 1.25 rpm 1.75 rpm 2.50 rpm 3.5 rpm 5.00 rpm 7.00 rpm 10.0 rpm 14.0 rpm 20.0 rpm 28.0 rpm 40.0 rpm 56.0 rpm 80.0 rpm 112 rpm 160 rpm output speed in direction OPEN 2) (see RegNo 12) EMERGENCY output speed in direction CLOSE 2) (see RegNo 12) EMERGENCY output speed in direction OPEN 2) (see RegNo 12)

r = read; w = write; r+w = read+write

Y070.400/EN

SEVEN

2)

(high-byte = 0. digit)) to 18. – 19. digit positioning time in direction CLOSE [sec/90°]

80 56 40 28 20 14 10

changeable, if not commissioning locally. Actuator is “not ready” during changing!

Attachment „Holding Registers - Modbus RTU“

Page 26

Holding Registers - Modbus RTU RegNo

Value

16 0 1 2 3 4 5 6 7 17 0…7 18 19 20 bit 0 bit 1 bit 2 bit 3 bit 4-5 0 1 2 3 bit 6 bit 7 bit 9 bit 10 bit 11 bit 12 bit 13 bit 14 bit 15 1)

Name of parameters Rotary actuator 2SA7

Issue 06/16

Part-turn actuator 2SG7

tripping torque in end position CLOSE in % of Input-RegNo 25 2) 100% Tc max. 90% Tc max. 80% Tc max. 70% Tc max. 60% Tc max. 50% Tc max. 40% Tc max. (only 2S.70.. and 2S.73..) 30% Tc max. (only 2S.70.. and 2S.73..) tripping torque in end position OPEN in % of Input-RegNo 25 2) (see RegNo 16) end position range CLOSE from 0% to register value 2) 200 ... 2000 (0.01% OPEN) end position range OPEN from 100% to register value 2) 8000 ... 9800 (0.01% OPEN) structure code 1 2) clockwise rotation CLOSE travel dependence cut-off in end position CLOSE travel dependence cut-off in end position OPEN close tightly control source fault keep position EMERGENCY position approach keep actual process value approach fixed process setpoint „NC“ on binary input EMERGENCY „NC“ on binary inputs (OPEN, CLOSE, STOP, Mode) analog input AI1 setpoint input with live zero 4 to 20 mA analog input AI1 setpoint with slope rising analog input AI2 with live zero 4 to 20 mA analog input AI2 with rising slope analog output AO1 with actual process value analog output AO1 with live zero 4 to 20 mA analog output AO1 with rising slope

r = read; r+w = read+write

Y070.400/EN

SEVEN

2)

Type

ECOTRON 1) 2S.70 2S.73

2S.75

HiMod PROFITRON 1) 2S.70 2S.73

2S.75 2S.78

r+w 3) r+w r+w r+w r+w r+w

Remark

unsigned8 r+w 3) r+w r+w r+w r+w r+w

unsigned8

r+w 3) r+w r+w r+w r+w r+w r+w r+w r+w 3)

r+w 3)

r+w 3) r+w r+w r+w r+w r+w r+w r+w r+w 3)

unsigned16

r

r

r+w

r+w

unsigned16

r

r

r+w

r+w

r+w r+w r+w r r+w

r+w r+w r+w r r+w

r+w r+w r+w r+w r+w

r+w r+w r+w r+w r+w

100 Tc

r+w 3)

unsigned16 1 = yes; 0 = anti-clockwise 1 = yes; 0 = torque dependence cut-off 1 = yes; 0 = torque dependence cut-off 1 = yes; 0 = no

if changed, new commissioning necessary for 2SG7 fixed at 0

only with process controller, 1 = yes; 0 = “NO” 1 = yes; 0 = “NO” 1 = yes; 0 = with dead zero 0 to 20 mA 1 = yes; 0 = with slope falling 1 = yes; 0 = with dead zero 0 to 20 mA 1 = yes; 0 = with slope falling 1 = yes; 0 = with actual position value 1 = yes; 0 = with dead zero 0 to 20 mA 1 = yes; 0 = with slope falling

changeable, if not commissioning locally. Actuator is “not ready” during changing!

Attachment „Holding Registers - Modbus RTU“

r r r r r r r r r

r r r r r r r r r 3)

r+w r+w r+w r+w r+w r+w r+w r+w r+w

r+w r+w r+w r+w r+w r+w r+w r+w r+w

for 2SG7 read only

Page 27

Holding Registers - Modbus RTU RegNo

Value

21 bit 0 bit 1 bit 2 bit 3 bit 4 bit 5 bit 6 bit 8-11

bit 12 22 0 1 2 3 4 6 7 8 10 11 12 13 23 255 24 25 26 27 28 29 1)

Name of parameters Rotary actuator 2SA7

Issue 06/16

Part-turn actuator 2SG7

structure code 2 2) motor heating ON always “0” local blocked analog output AO2 active analog output AO2 with actual process value analog output AO2 with live zero 4 to 20 mA analog output AO2 with rising slope valve curve adaptation 0 = without 1 = equal percentage 2 = quick opening feedback remote control 2) analog: process controller AI1 fieldbus: process controller internal: process controller with fixed setpoint value analog: positioner AI1 fieldbus: positioner binary: permanent contact signal fieldbus: permanent contact signal binary: pulse contact signal binary: proportional operation fieldbus: proportional operation analog: process controller AI2 analog: positioner AI2 alternative control mode 2) not active (else, see Register 22) EMERGENCY position 2) 0 … 10000 (0.01% OPEN) intermediate contact CLOSE 2) 0 … 10000 (0.01% OPEN) intermediate contact OPEN 2) 0 … 10000 (0.01% OPEN) rise time 2) 1 … 100 (0.1 sec), for 2S.75.. and 2S.78.. 1 … 200 dc-brake 2) 0 … 250 % retry to get over torque block when out of travel limit areas 2) 0 … 5 (0 = no repeated start)

r = read; r+w = read+write

Y070.400/EN

SEVEN

2)

Type

ECOTRON 1)

HiMod PROFITRON 1)

2S.70 2S.73

2S.75

2S.70 2S.73

2S.75 2S.78

r+w

r+w

r+w

r+w

r

r

r+w

r+w

r+w

r+w

r+w

r+w r+w r+w r+w r+w r+w r+w r+w r+w r+w r+w r+w r+w r+w r+w r+w

Remark

unsigned16 1 = yes; 0 = no 1 = yes; 0 = no 1 = yes; 0 = no 1 = yes; 0 = with actual position value 1 = yes; 0 = with dead zero 0 to 20 mA 1 = yes; 0 = with slope falling

in position “remote”

4 bit

1 = flow rate; 0 = valve position

bit unsigned8

r

r

unsigned8

r

r

unsigned16

r

r

r+w r+w r+w r+w r+w r+w r+w r+w r+w r+w r+w r+w r+w r+w r+w

unsigned16

r

r

r+w

r+w

unsigned16

r

r

r+w

r+w

unsigned8

r

r

r+w

r+w

unsigned8

r

r

r+w

r+w

unsigned8

r+w

r+w

r+w

r+w

r+w r+w r+w

r+w r+w r+w

only with process controller

only with positioner

only with positioner only with process controller only with positioner

changeable, if not commissioning locally. Actuator is “not ready” during changing!

Attachment „Holding Registers - Modbus RTU“

Page 28

Holding Registers - Modbus RTU RegNo

Value

Name of parameters Rotary actuator 2SA7

Issue 06/16

Part-turn actuator 2SG7

output (message) 1 2)

30 bit 0-6 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 bit 7 31 32 33 34 35 36 37 38 1)

SEVEN

Y070.400/EN

ECOTRON 1)

HiMod PROFITRON 1)

2S.70 2S.73

2S.75

2S.70 2S.73

2S.75 2S.78

r

r

r+w

r+w

unsigned8

r

r

r+w

r+w

unsigned8

r

r

r+w

r+w

unsigned8

r

r

r+w

r+w

unsigned8

r

r

r+w

r+w

unsigned8

r+w

r+w

unsigned8

r+w

r+w

unsigned8

r+w

r+w

r+w

r+w

Remark

unsigned8

not used End position CLOSED End position OPEN Torque CLOSE reached Torque OPEN reached Torque CL/OP reached Fault Blinker Ready Ready+Remote Local Intermediate contact CL Intermediate contact OP Fault motor temperature Warning motor temp. 3) Fault external voltage Maintenance Run indication CLOSE Run indication OPEN NC (low-active) output 2 2) (see RegNo 30) output 3 2) (see RegNo 30) output 4 2) (see RegNo 30) output 5 2) (see RegNo 30) output 6 2) (see RegNo 30) output 7 2) (see RegNo 30) output 8 2) (see RegNo 30) warning motor temperature at … °C 2) 3) -20°C … 155°C (0.01°C)

r = read; r+w = read+write

Type

1 = yes; 0 = NO (high active)

integer16 2)

changeable, if not commissioning locally. Actuator is “not ready” during changing!

Attachment „Holding Registers - Modbus RTU“

r+w

r+w 3)

not for 2SG7

Page 29

Holding Registers - Modbus RTU RegNo

Value

39 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 40

41

42

43 44 45 46 1 1)

Name of parameters Rotary actuator 2SA7

Issue 06/16

Part-turn actuator 2SG7

language on the Display 2) German English French Spanish Italian Polish Czech Swedish Netherlands Portuguese Finnish Chinese American Russian Danish Turkish Romanian Arabic Solvakian Greek Brazilian Japanese Egyptian Bulgarian Indian Korean Croatian Norwegian Slovene Hungarian Thai Franconian interval value switching cycles 2) 0 ... 30 Mio. (for 2S.75.. and 2S.78..) 0 ... 100000 (for 2S.70.. and 2S.73..) interval value switching cycles 2) 0 ... 30 Mio. (for 2S.75.. and 2S.78..) 0 ... 100000 (for 2S.70.. and 2S.73..) interval value torque dependent cut-offs 2) 0 ... 20000 (for 2S.75.. and 2S.78..) 0 ... 10000 (for 2S.70.. and 2S.73..) interval value motor operating hours 2) 0 … 2500 process controller: amplification Kp 2) -100 … 100 (1 = 0.01%) process controller: reset time Tn 2) 0 … 30000 (1 = 0.1 s) function control delete former errors

r = read; w = write; r+w = read+write

Y070.400/EN

SEVEN Type

2S.70 2S.73

HiMod PROFITRON 1) 2S.70 2S.73

2S.75 2S.78

unsigned8

r+w

r+w

(high word)

unsigned16

r+w

r+w

(low word)

unsigned16

r+w

r+w

unsigned16

r+w

r+w

unsigned16

r+w

r+w

signed16

r+w

r+w

unsigned16

r+w

r+w

w

w

unsigned8 2)

ECOTRON 1)

w

2S.75

w

Remark

changeable, if not commissioning locally. Actuator is “not ready” during changing!

Attachment „Holding Registers - Modbus RTU“

Page 30

Holding Registers - Modbus RTU RegNo

Value

47 48 -56 57 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 58 -66 67 bit 0 bit 1 bit 2 bit 3 bit 4 bit 7 68 69 70 71 72 bit 0 bit 1 bit 2 bit 7 73 1)

Name of parameters Rotary actuator 2SA7

Issue 06/16

Part-turn actuator 2SG7

speed curve – position 1 2) 0 … 100 (% OPEN; 0 = end position CLOSE) speed curve – position 2-10 2) (see RegNo 47) speed curve – speed 1 2) 1.25 rpm 1.75 rpm 2.50 rpm 3.5 rpm 5.00 rpm 7.00 rpm 10.0 rpm 14.0 rpm 20.0 rpm 28.0 rpm 40.0 rpm 56.0 rpm 80.0 rpm 112 rpm 160 rpm speed curve - speed 2-10 2) (see RegNo 57) speed – function selection 2) speed curve setting: local via speed curve speed curve setting: remote via speed curve speed curve setting: local via external speed setpoint speed curve setting: remote via external speed setpoint external speed setpoint via analog input AI1 activate curve position / curve speed split range function: current value 1 0 … 200 (1 = 0.1mA) split range function: position value 1 0 … 100 (1 = 1% OPEN) split range function: current value 2 0 … 200 (1 = 0.1mA) split range function: position value 2 0 … 100 (1 = 1% OPEN) travel-positioning time-curve 2) active at “local operation” active at “remote operation” active at “EMERGENCY operation” position values/ -positioning times activate travel-positioning time-curve: position 1 0 … 100 (% OPEN, 0 = end position CLOSE)

r = read; r+w = read+write

Y070.400/EN

SEVEN

2)

positioning time [sec/90°]

Type

ECOTRON 1) 2S.70 2S.73

HiMod PROFITRON 1)

Remark

2S.70 2S.73

2S.75 2S.78

unsigned8

r+w

r+w

unsigned8

r+w

r+w

unsigned8

r+w

r+w

unsigned8

r+w

r+w

unsigned8

r+w

r+w

unsigned8

r+w

r+w

smaller than current value 2

unsigned8

r+w

r+w

unequal position 2

unsigned8

r+w

r+w

larger than current value 1

unsigned8

r+w

r+w

unequal position 1

unsigned8

r+w

r+w

unsigned8

r+w

r+w

2S.75

80 56 40 28 20 14

1 = yes; 0 = parameterized OPEN/CLOSE speeds 1 = yes; 0 = parameterized OPEN/CLOSE speeds 1 = yes; 0 = parameterized OPEN/CLOSE speeds 1 = yes; 0 = parameterized OPEN/CLOSE speeds 1 = yes; 0 = via analog input AI2 1 = yes

1 = yes; 0 = no 1 = yes; 0 = no 1 = yes; 0 = no 1 = yes; 0 = no

changeable, if not commissioning locally. Actuator is “not ready” during changing!

Attachment „Holding Registers - Modbus RTU“

Page 31

Holding Registers - Modbus RTU RegNo

Value

74 - 77 78 79 - 82 83 - 87 88 - 92 93 94 95 96 97 98 99

bit 0

100 101 102 103 104 105 106

1)

SEVEN

Name of parameters Rotary actuator 2SA7

Issue 06/16

Part-turn actuator 2SG7

travel-positioning time-curve: position 2 up to position 5 (see RegNo 73) travel-positioning time-curve: positioning time 1 0 … 60000 (1 = 1 sec) travel-positioning time-curve: positioning time 2 up to positioning time 5 (see RegNo 78) travel-positioning time-curve: position 6 up to position 10 (see RegNo 73) travel-positioning time-curve: positioning time 6 up to positioning time 10 (see RegNo 78) travel-positioning time-curve: EMERGENCY factor 1-100 (1=0.1) minimum dead zone positioner 0,2 … 5% 20 … 500 (1 = 0.01%) maximum dead zone positioner 0,2 … 5% 20 … 500 (1 = 0.01%) delay time undervoltage signal 0 … 25 sec 0 … 250 ( 1 = 0.1 sec) separate mounting customer variant 0 … 127 run time in direction CLOSE for control via proportional operation 0 or 50 … 32760 (1=0.1s) run time in direction OPEN for control via proportional operation 0 or 50 … 32760 (1=0.1s) process controller: fixed setpoint value 2) 0 ... 200 (1 = 0.5 %) customer parameter 1 for customer variant 2) 0 ... 65534 customer parameter 2 for customer variant 2) 0 ... 65534 customer parameter 3 for customer variant 2) 0 ... 65534 customer parameter 4 for customer variant 2) 0 ... 65534 Output signal sets Output 1 Output 2

1 = >10m with LC filter; 0 = none or