NXG

COMMUNICATIONS MANUAL

FOR
HARMONY SERIES
Adjustable Speed AC Motor Drives
with Next Generation Control

Manual Number: 902399

Version 4.0
September 2005

• NXG I
• Version 2.6 (and later) NXG software

Siemens Energy & Automation, Inc.

Large Drive R
ROBICON

500 Hunt Valley Road, New Kensington, PA, USA, 15068

Phone: 724-339-9500 Customer Support Phone: 724-339-9501 (24-hours)
Fax: 724-339-9562 Customer Support Fax: 724-339-9507
Web: www.siemens.com Customer Support E-mail: support@us.siemens.com
 DECLARATION OF CONFORMITY
Manufacturer’s Name: Siemens Corporation
Manufacturer’s Address: 500 Hunt Valley Road
New Kensington, PA 15068
USA
declares that the product
Product Name:
AC Variable Frequency Drives, Perfect Harmony High Voltage
Product Description: Series, Liquid Cooled (Product models 31000XXX.XX)
Product Options: Adjustable Speed Drive; 50/60 Hz input.
This declaration covers all options of the product described.

Supplementary Information:
The products herewith comply with the requirements of the Low Voltage Directive 73/23/EEC (as amended) and the EMC Directive
89/336/EEC (as amended).
LVD Safety Directive: The products listed above conform to the IEC Standard 61800-5-1. Additional standards used are:
IEC61800-5-1, IEC60529, and IEC60417.
EMC Directive: Siemens certifies that the apparatus to which this Declaration of Conformity relates conforms to the protection
requirements of Council Directive 89/336/EEC on the approximation of the Laws of the Member States relating to electromagnetic
compatibility. Testing performed under generic standards EN50081-2, EN50082-2, and EN61000-4-2 – ESD, EN61000-4-3 Radiated
Immunity; EN61000-4-4 – EFT, EN61000-4-6, Conducted RF Immunity and EN61000-4-5 – Surge Immunity. (Reference to
IEC61800-3).
Competent Body Assessment for EMC by York Services, Ltd. EMC Test Centre, Fleming Building, Donibristle Industrial Park, Dalgerty
Bay, Dunfermline, FIFE KY119HZ. Competent Body Certificate and Report No. 1084-2/CBC/CBR dated August 6, 2001.

Signatures: Technical Documentation Holder:

Name: Tom Bierman, Director of Quality Ray Tomer, Staff Compliance Engineer

This manual applies to all water-cooled HV Harmony adjustable-speed AC motor drives.

This manual applies to NXG software up to and including version 2.6.
For the support representative nearest you, please call Siemens’s main office at (724)-339-9500.

Version History:

Version 1.0 September 2005

© 2005 by Siemens. No portion of this document may be reproduced either mechanically or electronically without the prior consent of Siemens.
NXG Communications Manual Table of Contents

Table of Contents
Chapter 1: Communications Overview ................................................................................ 1-1
Introduction............................................................................................................................ 1
RS232 Debug Port ................................................................................................................. 2
Dual Networks ....................................................................................................................... 3
Chapter 2: Modbus Communications................................................................................... 2-1
Introduction............................................................................................................................ 1
Fast Setup............................................................................................................................... 2
Remote Capabilities ............................................................................................................... 4
Menu Setup Procedures ......................................................................................................... 4
Network Interface .................................................................................................................. 5
Supported Command Set ....................................................................................................... 6
Setup Procedure ................................................................................................................... 14
Drive Control Defaults......................................................................................................... 17
User Programming via the SOP........................................................................................... 19
Net Control Type by Default: .................................................................................. 20
User programmable: ................................................................................................ 20
Modbus Address and Keypad Pick List Tables ................................................................... 22
Menu Parameters Tables...................................................................................................... 24
Display Network Monitor Function (Parameter ID 9950)................................................... 29
Chapter 3: DeviceNet™ DP Communications ..................................................................... 3-1
Introduction............................................................................................................................ 1
Network Termination............................................................................................................. 4
DeviceNet DP Network Address ........................................................................................... 5
Fast Setup............................................................................................................................... 5
Network Communications Setup ........................................................................................... 6
DeviceNet DP EDS File ........................................................................................................ 7
Network Data Transfer Methods ........................................................................................... 9
Networking and the System Program .................................................................................. 16
Power-up Sequence.............................................................................................................. 18
Troubleshooting Network Communications Problems........................................................ 19
Display Network Monitor Function (Menu ID 9950) ......................................................... 20
Chapter 4: Ethernet Modbus Communications................................................................... 4-1
Introduction............................................................................................................................ 1
Fast Setup............................................................................................................................... 3
Remote Capabilities ............................................................................................................... 5
Menu Setup Procedures ......................................................................................................... 5
Network Interface .................................................................................................................. 6
Supported Command Set ....................................................................................................... 8

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Setup Procedure ................................................................................................................... 11

Drive Control Defaults......................................................................................................... 13
User Programming via the SOP........................................................................................... 16
Net Control Type Default: ....................................................................................... 16
User programmable: ................................................................................................ 17
Ethernet Modbus Address and Keypad Pick List Tables .................................................... 19
Menu Parameter Tables ....................................................................................................... 21
Display Network Monitor Function (Parameter ID 9950)................................................... 25
Chapter 5: Modbus Plus Communications .......................................................................... 5-1
Introduction............................................................................................................................ 1
UCS Modbus Plus Module .................................................................................................... 2
AnyBus Modbus Plus Module ............................................................................................... 3
Fast Setup............................................................................................................................... 5
Remote Capabilities ............................................................................................................... 8
Menu Setup Procedures ......................................................................................................... 8
Supported Command Set ..................................................................................................... 10
Setup Procedure ................................................................................................................... 10
Drive Control Defaults......................................................................................................... 11
User Programming via the SOP........................................................................................... 13
Fixed by drive software by default: ......................................................................... 15
User programmable: ................................................................................................ 15
Modbus Plus Address and Keypad Pick List Tables ........................................................... 17
Menu Parameter Tables ....................................................................................................... 20
Display Network Monitor Function (Parameter ID 9950)................................................... 25
Chapter 6: Profibus Communications .................................................................................. 6-1
Introduction............................................................................................................................ 1
UCS Profibus Module............................................................................................................ 1
AnyBus Profibus Module ...................................................................................................... 3
Fast Setup............................................................................................................................... 4
Remote Capabilities ............................................................................................................... 8
Menu Setup Procedures ......................................................................................................... 8
PLC Setup using Profibus GSD Files .................................................................................... 8
Setup Procedure ..................................................................................................................... 9
Drive Control Defaults......................................................................................................... 11
User Programming via the SOP........................................................................................... 13
Net Control Type Default: ....................................................................................... 14
User programmable: ................................................................................................ 14
Profibus Network Data and Keypad Pick List Tables ......................................................... 16
Menu Parameter Tables ....................................................................................................... 18
Display Network Monitor Function (Parameter ID 9950)................................................... 21

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Chapter 7: Data Highway Plus Communications ................................................................ 7-1

Introduction............................................................................................................................ 1
Fast Setup............................................................................................................................... 1
Remote Capabilities ............................................................................................................... 4
Menu Setup Procedures ......................................................................................................... 4
Data Highway PLUS Network Commands ........................................................................... 5
Setup Procedure ..................................................................................................................... 5
Drive Control Defaults........................................................................................................... 7
User Programming via the SOP............................................................................................. 9
Net Control Type Default: ....................................................................................... 10
Data Highway Plus Network Data and Keypad Pick List Tables........................................ 12
Menu Parameter Tables ....................................................................................................... 15
Display Network Monitor Function (Parameter ID 9950)................................................... 18
Chapter 8: ControlNet Communications ............................................................................. 8-1
Overview................................................................................................................................ 1
Connectors ............................................................................................................................. 2
Fast Setup............................................................................................................................... 3
Remote Capabilities ............................................................................................................... 5
Menu Setup Procedures ......................................................................................................... 6
PLC Setup using ControlNet EDS Files ................................................................................ 6
Selecting a Network Protocol ................................................................................................ 6
Drive Control Defaults........................................................................................................... 8
User Programming via the SOP........................................................................................... 10
Net Control Type Default: ....................................................................................... 11
User programmable: ................................................................................................ 11
ControlNet Network Data and Keypad Pick List Tables..................................................... 13
Menu Parameter Tables ....................................................................................................... 16
Display Network Monitor Function (Parameter ID 9950)................................................... 19
Chapter 9: DeviceNet™ (Profile 12) Communications ....................................................... 9-1
Introduction............................................................................................................................ 1
DeviceNet Connector................................................................................................. 3
Network Termination................................................................................................. 3
Configuration Switches.............................................................................................. 3
Fast Setup............................................................................................................................... 5
Remote Capabilities ............................................................................................................... 7
Menu Setup Procedures ......................................................................................................... 7
PLC Setup using DeviceNet (Profile 12) EDS Files ............................................................. 8
Selecting the Network Protocol ............................................................................................. 8
Drive Control Defaults......................................................................................................... 10
User Programming via the SOP........................................................................................... 12

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Net Control Type Default: ....................................................................................... 13

User programmable: ................................................................................................ 13
DeviceNet (Profile 12) Network Data and Keypad Pick List Tables .................................. 15
Menu Parameter Tables ....................................................................................................... 17
Display Network Monitor Function (Parameter ID 9950)................................................... 21
Appendix A: Parameter Read / Write ................................................................................. A-1
Introduction............................................................................................................................ 1
Setting Up the PTD and PFD Registers................................................................................. 1
Defining the PTD Registers ................................................................................................... 1
Defining the PFD Registers ................................................................................................... 2
PLC Handshaking Procedure for Parameter Read/Write .......................................................7
Register Setup ............................................................................................................ 7
Perform Handshake.................................................................................................... 7
Error Testing .............................................................................................................. 7
Read Data................................................................................................................... 7
End the Command ..................................................................................................... 7
Example: Change the Rated Input Voltage (ID 2010)........................................................... 7
Appendix B: Output Data IDs ...............................................................................................B-1
Various Data Tables............................................................................................................. 24
Appendix C: DeviceNet DP EDS File................................................................................... C-1
Appendix D: Profibus GSD Datafile .................................................................................... D-1
Appendix E: ControlNet EDS File ........................................................................................E-1
Appendix F: DeviceNet (Profile 12) EDS File ......................................................................F-1

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NXG Communications Manual Communications Overview

CHAPTER 1
1 Communications Overview
1.1 Introduction
Each Siemens NXG control has a communication board that enables network communication via a variety of
protocols and enables modem connection. The system supports up to two networks. Only the Modbus and Ethernet
Modbus protocols are enabled with the communication board as is; all others require optional controller cards, called
UCS modules or AnyBus modules, which plug into the communication board. Figure 1-1 below, shows an NXG
communication board. Note the locations of the connectors for the UCS modules, AnyBus modules, the Modbus port,
the debug port, the Modbus jumpers, board designator jumper, and the RS232 jumpers.
Figure 1-1. NXG Communication Board
Modbus
Jumpers

Debug
JP3 JP8
Jumpers JP7 JP9
JP6 Board Designator
JP4 JP10
JP2 JP1 JP5 TX485 AnyBus1 AnyBus2 JP13
(Modbus) (Unused)

TX232
(Debug)

Debug Port
RX232 RS232
(Debug)
Modbus Port
RS485

JP11 RX485
(Unused) JP12 (Modbus) UCS1 UCS2
(Unused)

The Modbus and Ethernet Modbus communication protocols are available without the addition of any UCS or
AnyBus modules. The Ethernet Modbus connection is on the microprocessor board. UCS modules, which support the
following protocols, are available from Siemens:
• DeviceNet Drive Profile (DP)
• Modbus Plus
• Profibus
• DH+
AnyBus modules support:
• Profibus
• Ethernet Modbus (as Network 2 only)
• DeviceNet Profile 12
• Modbus Plus
• ControlNet

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1.2 RS232 Debug Port

1 The debug port shown in Figure 1-1 is useful for downloading system program data from a PC, as well as for
uploading parameter dumps, event logs, and historic data logs directly to a PC or through an external modem.
Note: If you are unfamiliar with drive system programming, you will need to refer to the System
* Programming chapter in your drive’s manual.

Figure 1-2 below shows a communications connection between a PC and a drive. Table 1-1 shows RS-232
jumper settings.

TX
2 2
RX
3 3
5 GND 5

Personal Communications
Computer Board-J2

Figure 1-2. Typical RS232 Communications Connection

Table 1-1. RS232 Jumper Settings

Jumper Setting Jumper Diagram
JP1 = 1-2 RD on pin 2
JP2 = 1-2 TD on pin 3 1 2 3

JP1 = 2-3 RD on pin 3

JP2 = 2-3 TD on pin 2 1 2 3

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1.3 Dual Networks

The NXG Control supports dual networks. Dual networks usually require optional hardware. 1
1.3.1 Dual Networks with UCS and AnyBus Modules
The protocols listed below require an additional UCS module:
• DeviceNet DP
• Modbus Plus
• Profibus
• DH+
The protocols listed below require an additional AnyBus module:
• Profibus
• Ethernet Modbus
• DeviceNet Profile 12
• Modbus Plus
• ControlNet
For the modules listed above, network designations follow the numbering of the board connection (e.g., UCS1 is
Network 1).

1.3.2 Dual Networks with Modbus

Two communication boards are required when a Modbus network must be designated as Network 2 (e.g., if you are
using a dual Modbus network, or using Modbus with Ethernet Modbus). The board supplying the Modbus network
must have jumper JP6 set to the BD2 setting. Table 1-2 summarizes the board settings and available connections for
the boards. The debug serial port is always located on board #1 in a dual Modbus system. Figure 1-3 shows the setup
for using

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Table 1-2. Dual Networks with Modbus

1 Board Dual Modbus

JP6 set to BD1
Ehternet/Modbus
JP6 set to BD1
JP6 Jumper Position

Board 1a BD2 1
Debug Port Available Debug Port Available
2
Modbus 1 No communication portb
BD1 3

Board 2 JP6 set to BD2 JP6 set to BD2

BD2 1
No Debug Port No Debug Port
Modbus 2 Modbus 2

BD1 3

a. You can use one board for the Ethernet Modbus/Modbus dual network if you do not require
a debug port. The single board must still be designated as BD2. See Figure 1-3 for the
board setup.
b. The ethernet network is connected to the microprocessor board and must be designated as
Network 1.

JP6 Board Designator

Set to BD2

Debug Port
RS232
NOT
AVAILABLE

Modbus Port
RS485

Figure 1-3. Using One Board for Ethernet Modbus and Modbus Dual Network

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Figures 1-4 and 1-5 show the board settings and connections for an Ethernet Modbus/Modbus dual network with a
debug port.
1
1. Set JP6 to BD1 on the board where the Debug port is available. BD1 will not have a communications port
available.

JP6 Board Designator

Set to BD1

Debug Port
RS232
AVAILABLE

Modbus Port
RS485
NOT
AVAILABLE

Figure 1-4. Using Ethernet Modbus—Board 1 Setup

2. Set JP6 to BD2 on the board where Modbus is available.

JP6 Board Designator

Set to BD2

Debug Port
RS232
NOT
AVAILABLE

Modbus Port
RS485
AVAILABLE

Figure 1-5. Modbus—Board 2 Setup

Note: If the system fails to boot-up, check the firmware on the Communications Board for current Version
* Number.

Menu function Network Module Types (9955) will display the types of UCS or Anybus modules installed in your
system.

∇ ∇ ∇

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CHAPTER

2 Modbus Communications
2.1 Introduction
Every NXG control is shipped with the necessary hardware to support Modbus network protocol connectivity. 2
Connectivity using other network protocols is possible with optional controller cards that plug into the
communication board. This chapter contains instructions on how to control an Siemens VFD using a PLC over a
Modbus network.
This chapter features a fast setup section that will help you to start controlling your Siemens drive with NXG control
via a Modbus PLC as quickly as possible. Section 2.2 is short, procedural, and covers a minimum of detail. Please
refer to the other sections for detailed information.
Note that in this chapter, a four-digit number inside of parentheses, e.g., (9403), indicates a parameter ID number for
the keypad on the front of the drive. Press [SHIFT] + [Æ] in order to enter this number directly. You do not need to
hold down the [SHIFT] key while you press the [Æ] key. A numerical value expressed as 0xnn (e.g., 0x12) is being
represented in hexadecimal format.
The Modbus control interface specification is an open architecture design. Information on Modbus is available from:
Schneider Automation Inc.
One High Street
North Andover, MA 01845
Tel: (978) 794-0800
Fax: (978) 975-0910
Website: www.modicon.com
The Modbus communication interface is a serial interface that operates at standard baud rates up to 19.2 Kbaud. The
10-bit data frame consists of 1 start bit, 8 data bits (no parity), and 1 stop bit. These data parameters are fixed for the
drive.
The drive always acts as a Modbus slave. This means that the drive does not initiate dialogue on the Modbus network.
Rather, it listens to and then responds to the Modbus master (the PLC).
Currently, only register-based read and write functions of the Modbus protocol are supported. These functions are
used to monitor and control analog and digital inputs and outputs of the drive.
Note:
* • Users must already be familiar with Modicon’s Modbus protocol specification and terminology. If
additional information is required, please contact Schneider Automation, Inc. at the address
given above.
• Only the Remote Terminal Unit (RTU) format of the Modbus protocol is supported by the
NXG control.
• Refer to Figure 1-1(found in Chapter 1.0 of this manual) for LED descriptions.

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2.2 Fast Setup

2.2.1 Set up Modbus for motor control using default configuration
(Fixed Reg Bits)
The drive can be controlled from a PLC using the following simple setup procedure. Using the keypad on the front of
the drive, set ‘Network 1 Type’ (9901) to Modbus. Set the correct baud rate (9060) and address (9070). Finally, set
the ‘Status/Control Menu’ (9944) to FIXED. This sets the bits at Modbus address 40065 to have the definitions
2 shown below in Table 2-1. Next, add the following line to the SOP: Network1RunEnable_O = TRUE; (the semicolon
is part of the code). You can now control the drive through the PLC.
Table 2-1. Default meaning of ‘Fixed Reg Bits’
Bit Default Definition
Network1FixedRegBit0_I Run forward
Network1FixedRegBit1_I Run reverse
Network1FixedRegBit2_I Fault reset
Network1FixedRegBit3_I Stop*
Network1FixedRegBit4_I Reserved
Network1FixedRegBit5_I Start stop control from network
Network1FixedRegBit6_I Speed commanded from network
Network1FixedRegBit7_I
Network1FixedRegBit8_I
Network1FixedRegBit9_I
Network1FixedRegBit10_I
Network1FixedRegBit11_I Reserved for Future
Network1FixedRegBit12_I
Network1FixedRegBit13_I
Network1FixedRegBit14_I
Network1FixedRegBit15_I

To run the motor, the PLC must send 0x21 in register 40065. This hexadecimal value sets bit 0 (run) and bit 5 (start/
stop control from network). Likewise, to command the motor to stop, the PLC must send 0x04 or 0x00 in register
40065.

*Network1FixedRegBit3_I functions as a drive stop control bit only if “Start Stop Control” (9945) is set to “Momentary” —
otherwise this bit is Reserved

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2.2.2 To send a motor speed setting to the drive

To send motor speed settings to the drive, first set the desired speed units that you will be sending (RPM,% or HZ) in
menu (9080). To enable speed settings from the network, add the following line to the SOP program file:
RawDemandNetwork1_O = true;. By using Table 2-14, you can see that the PLC needs to send the desired speed
setting to the drive in Modbus register 40066. This is a reserved register only used to hold speed settings. Then, send
0x61 in Modbus register 40065. The motor will accept the PLC commanded speed setting.

2.2.3 To control the motor using user defined bits controlled by the SOP 2
Use the keypad on the front of the drive to set ‘Network 1 Type’ (9901) to Modbus. Set the correct baud rate (9060)
and address (9070). Finally, set the ‘Status/Control’ menu (9944) to SOP. To control the motor this way, the drive
needs to know what bits will be used in the SOP program. Two steps are required to do this:
1. Find the bits you want to use by referring to Table 2-2 below, and locate the keypad pick list variable
associated with the bits. By referring to Table 2-14, you can see that the first available data to drive register
is at Modbus address 40067, which corresponds to keypad parameter ID (9603). Using the keypad on the
drive, go to menu item ‘Data To Drive 03’ (9603).
2. Select the pick list variable (Net Input Flag 1, Net Input Flag 2, …) from the pick list in the keypad or Tool
suite. Now the corresponding bits (Network1Flag0_I, Network1Flag1_I, etc.) from the drctry.ngn file can be
used in the SOP program as shown below:

;Network1Flag0_I Use bit 0 for Stop bit

;Network1Flag1_I Use bit 1 for Run Forward bit
RunRequest_O = /Network1Flag0_I * Network1Flag1_I;Run drive using bit 1,stop using bit 0

You chose ‘Data to Drive 03’ as your write register; by referring to Table 2-14, you can see that the PLC now needs
to send 0x02 in Modbus address 40067 to run the drive, or 0x01 in the same register to stop the drive.

Table 2-2. Sample Programmable Bits1

Pick List Variable Drctry.ngn bits
Network1Flag0_I ~
Net Input Flag 1
Network1Flag15_I
Network1Flag16_I ~
Net Input Flag 2
Network1Flag31_I
Network1Flag32_I ~
Net Input Flag 3
Network1Flag47_I
Network1Flag48_I ~
Net Input Flag 4
Network1Flag63_I

1. A complete listing of SOP-programmable bits is in Section 2.9.3.

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2.2.4 To monitor drive status and speed feedback

In order to read the data from the drive, no SOP flags are needed. Set ‘Network 1 Type’ (9901) to Modbus. Set the
correct Baud Rate (9060) and Address (9070). Set Velocity Units (9080) to desired motor speed units. By referring to
Table 2-14, you can see the Modbus addresses needed to read drive status and speed feedback from the drive by
sending from the PLC Modbus are 40001, and 40002 respectively. The definitions of the status bits, which are always
found in Modbus register 40001, are shown below.

2 Bit number
Table 2-3. General Status output from the drive
Meaning in drive control software Value
0 Fault
1 Alarm
2 RunningForward
3 RunningReverse
4 DriveReady
5 StartStopControlFromNetwork
6 SpeedFromNetwork
7 AtSpeedReference
0 = False; 1 = True
8 SpeedInPercent
9 SpeedInRPM
10 SpeedInHz
11 Not used
12 Not used
13 Not used
14 Not used
15 Not used

See (section 2.7) for details on how to read other drive data.

2.3 Remote Capabilities

The Modbus interface to the drive allows remote control and monitoring capability of the drive. Control of the drive
can be through Modbus telegrams sent to the drive working in conjunction with a SOP program. Control capabilities
include run request, stop request, fault reset, stop, reverse speed demand, and others. There are 128 remote user-
programmable software flags that can be monitored and/or set through the system program.
Note that the discrete controls and the user-defined control/feedback flags are configured via the drive’s built-in
system program (provided with each drive).

2.4 Menu Setup Procedures

The Modbus interface is built in to all Siemens drives with NXG control. It uses a dedicated serial port. In order to
configure the Modbus interface, simply configure the serial port and related operating characteristics of the interface
via the drive’s keypad menu system.
All Modbus setup functions are contained in the Configure Parameters Menu (9902), which is a submenu of the
Communications Menu (9). Access is security controlled at level 7; therefore, you must enter the proper security
code to access these parameters. The menus required for initial setup of the Modbus interface are listed in
Table 2-29. For the correct setup procedure, please refer to section 2.7.
Select menu contents by using pick lists. The Modbus address of each menu item is fixed. For example, for network
1, ‘Data from Drive 01’ (9401) can be read by sending the read register request in address 40001. The menu ‘Data
from Drive 02’ (9402) can be read in address 40002, and so on. The complete address references can be found in
Table 2-30.

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The pick lists in the menus contain the most commonly used data variables. If a variable is not found in the lists, you
need to search Appendix A to locate it. If found, use the corresponding data ID number to enter the variable into the
read registers. The procedure for doing this is described in section 2.7.1.

2.5 Network Interface

The Modbus serial port for the NXG control is located on the communication board. This port is an optically isolated
two-wire (shielded, twisted pair), half-duplex, RS-485 serial interface. Figure 2-1 shows the pin designations used
for the connection.
2
Pin 2-Data A or B
Pin 3-Data A or B
Pin 5-Ground

Figure 2-1. RS-485 Pin Designations

Jumper settings are available for configuring data(+) and data(-) signals. These settings swap the functions of pins 2
and 3 on the output connector. If you are unsure which settings are correct for your interface, try one and then the
other. Nothing will be harmed with an incorrect setting. Jumpers are also provided to enable or disable the 120-ohm
terminator resistor.
Table 2-4. Modbus Related Jumpers on Communications Board
Jumper Setting
JP5 = 1-2 Terminator resistor disabled
JP5 = 2-3 Terminator resistor enabled
JP3 = 1-2 Data (B) on Pin 2
JP4 = 1-2 Data (A) on Pin 3
JP3 = 2-3 Data (B) on Pin 3
JP4 = 2-3 Data (A) on Pin 2
JP7 - JP8 Network Biasing
JP9 - JP10 Network Biasing

If network bias is needed, refer to Table 2-5 for jumper settings.

Table 2-5. Modbus Related Jumpers Settings for Network Bias
Jumper Jumper Setting
JP7= 1-2 JP9= 1-2 Bias Disabled (Default)
JP7= 1-2 JP9= 2-3 Invalid
JP7= 2-3 JP9= 1-2 Invalid
JP7= 2-3 JP9= 2-3 Bias Enabled

If additional bias is needed, refer to Table 2-6 for jumper settings.

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Table 2-6. Modbus Related Jumpers Settings for Network Bias

Jumper Jumper Setting
JP8= 1-2 JP10= 1-2 Bias Disabled (Default)
JP8= 1-2 JP10= 2-3 Invalid
JP8= 2-3 JP10= 1-2 Invalid
JP8= 2-3 JP10= 2-3 Bias Enabled

2
MODBUS Master
Note: Use twisted pair wiring if shielded connect only at one end
A

Note: The ground is located on Pin 5 of each Drive

B A B A B A

Max 32 connections

NXG Controls (MODBUS Slaves)

= Termination Note: A/B definitions are not standard, it may require swapping A and B if the unit d

Figure 2-2. Typical Two-Wire Modbus Communications Connection

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2.6 Supported Command Set

The NXG control implements the following Modbus commands:
• Read Coil Command . . . . . . . . . . . Function code 0x01
• Read Holding Registers . . . . . . . . . Function code 0x03
• Write Single Register. . . . . . . . . . . Function code 0x06
• Loop back Diagnostic Test . . . . . . Function code 0x08 2
• Write Multiple Registers . . . . . . . . Function code 0x10
Each of these supported commands are listed and described in the sections that follow. Each of these commands is
issued by the Modbus master (PLC) and sent over the network (to the Siemens slave[s]).

2.6.1 Read Coil Command (0x01)

This function allows you to obtain the ON/OFF status of logic coils used to control discrete outputs from the
addressed slave. In addition to the slave address and function fields, the message requires that the information field
contain the initial coil address to be read (Starting Address) and the number of locations that will be interrogated to
obtain status data.
The coils are numbered from zero (coil number 1 = zero, coil number 2 = one, etc.). The figure below shows a sample
of read output Status Request to read coils 0020 to 0056 from a slave device number 3.

TX
03 01 00 13 00 25 -- --

Figure 2-3. Sample Read Output Status Request

An example response to Read Output Status is shown below. The data is packed on bit for each coil. The response
includes the slave address, function code, quantity of data characters, the data characters, and error checking. Data
will be packed with one bit for each coil (1 = ON, 0 = OFF). The low order bit of the first character contains the
addressed coil, and the remainder bits follow. For coil quantities that are not even multiples of eight, the last
characters will be filled in with zeros at high order end.
Figure 2-4. Sample Read Output Register of Read Coil Status Message

RX
03 01 CD 6B B2 0E 1B -- --

The status of coils 20-27 is shown as CD (HEX) = 1100 1101 (Binary). Reading left to right, this shows that coils 27,
26, 23, 22, and 20 are all on. The other coil data bytes are decoded similarly. Due to the quantity of coil statuses
requested, the last data field, which is shown as 1B (HEX) = 001 1011 (Binary), contains the status of only five coils
(52-56) instead of eight coils. The three left-most bits are provided as zeros to fill the 8-bit format.

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Table 2-7. Read Coils Transmission to Master

Field Name Value (in Hex) Notes
Slave Address 0x03 0x01 = 1 decimal
Function 0x01 Read coils command
Start address of coils to read 0x00
Start address is coil number 20
Start address of coils to read 0x13

2 Number of coils to read (HIGH)

Number of coils to read (LOW)
0x00
0x25
Read 37 coils starting from coil 20

Error Check (CRC) byte 1 — Byte 1 of CRC for this message

Error Check (CRC) byte 2 — Byte 2 of CRC for this message

Table 2-8. Read Coils Response from Master

Field Name Value (in Hex) Notes
Slave Address 0x01 0x01 = 1 decimal
Function 0x05 Read coils command
Data from coils 0xCD
Decoded data as described above
Data from coils 0x6B
Data from coils 0x02
Decoded data from coils
Data from coils 0x0E
Decoded data, high bits are filled with zeros if no
Data from coils 0x1B
data requested
Error Check (CRC) byte 1 — Byte 1 of CRC for this message
Error Check (CRC) byte 2 — Byte 2 of CRC for this message

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2.6.2 Read Holding Registers Command (0x03)

The read holding registers command allows the Modbus master to read up to 64 consecutive memory registers from
the drive. A sample read holding register command and its associated response are shown (in hexadecimal) in
Figure 2-5. This sample request to read two registers (40005 and 40006) is detailed in Table 2-9. The drive’s read
holding register response is detailed in Table 2-10. Parameter names and their corresponding data ID numbers are
listed in Appendix A of this manual.

2
TX
01 03 00 04 00 02 -- --

RX
01 03 04 04 A5 90 B1 -- --

Figure 2-5. Sample Read Output Registers Command (TX) and Response (RX)

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Table 2-9. Read Output Registers Transmission (TX) from Master

Field Name Value (in Hex) Notes
Slave Address 0x01 0x01 = 1 decimal
Function 0x03 Read output registers command
Starting Address (High) 0x00
Register number 40005
Starting Address (Low) 0x04

2 Number of Registers to Read (High)

Number of Registers to Read (Low)
0x00
0x02
Read 2 (0x0002) registers

Error Check (CRC) byte 1 — Byte 1 of CRC for this message

Error Check (CRC) byte 2 — Byte 2 of CRC for this message

Table 2-10. Read Output Registers Response (RX) from Drive

Field Name Value (in Actual Scaled Notes
Hex) Result Value
Slave Address 0x01 N/A N/A 0x01 = 1 decimal
Read output register
Function 0x03 N/A N/A
command code
Byte Count 0x04 N/A N/A 4 bytes in response
Data Value 1 (MSB) 0x04 This register is user high byte of item 1
0x04A5 programmable. See
Data Value 1 (LSB) 0xA5 Table 2-30. low byte of item 1

Data Value 2 (MSB) 0x90 This register is user high byte of item 2
0x90B1 programmable. See
Data Value 2 (LSB) 0xB1 Table 2-30. low byte of item 2

CRC byte 1 æ N/A N/A byte 1 for this msg

CRC byte 2 æ N/A N/A byte 2 for this msg

Note: For responses received from the drive (such as in Table 2-10), the keypad parameter Velocity
* Units (9080) is set to ‘Percent’ by default. Interpreted values (shown in the Scaled Value column of
Table 2-10) will differ if this parameter is configured differently. See Table A-1 in of Appendix A
for all data scaling.

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2.6.3 Write Input Register Command (0x06)

The write input register command allows the Modbus master to write a value to a specified input register in the drive.
A sample write input register command and its associated response are shown (in hexadecimal) in Figure 2-6. This
sample request to write a value to register 40067 is detailed in Table 2-11. The write input register response from the
drive is an echo of the transmission; therefore only one table is shown below. Parameter names are listed in Appendix
A of this manual.

2
TX
01 06 00 42 00 64 -- --

RX
01 06 00 42 00 64 -- --

Figure 2-6. Sample Write Input Register Command (TX) and Response (RX)

Table 2-11. Write Input Register Transmission (TX) from Master (same as (RX) Echo Response from Drive)
Field Name Value (in Hex) Notes
Slave Address 0x01 0x01 = 1 decimal
Function 0x06 Write input register command
Register Address (High) 0x00
register no. 40067
Register Address (Low) 0x42
Preset Data (High) 0x00
Value = 100
Preset Data (Low) 0x64
Error Check (CRC) byte 1 — byte 1 of CRC for this message
Error Check (CRC) byte 2 — byte 2 of CRC for this message

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2.6.4 Loop Back Test Command (0x08)

The loop back test command allows the Modbus master to test the communication link to the drive. The drive’s
response to a legal Modbus message is an echo of the transmission. A sample loop back test message is shown with
the associated response (in hexadecimal) in Figure 2-7.

2 TX
01 08 00 40 03 E8 -- --

RX
01 08 00 40 03 E8 -- --

Figure 2-7. Loop back Test Command (TX) and Response (RX)

2.6.5 Write Multiple Coils Command

The message forces multiple coils in a consecutive block to a desired ON or OFF state. Any coil that exists within the
controller can be forced to either state (ON or OFF). However, the controller can also alter the state of the coil. The
coils are numbered from zero (coil number 1 = zero, coil number 2 = one, etc.). Figure below shows a sample of
forcing of slave number 1 to write 10 coils starting at address 20 (13 HEX). The two data fields, CD = 1100 and 00 =
000 0000, indicate that coils 27, 26, 23, 22, and 20 are to be forced on.

TX
01 0F 00 13 00 0A 02 CD 00 ----

RX
01 0F 00 13 00 0A -- --

Figure 2-8. Write Multiple Coils Command (TX) and Response (RX)

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Table 2-12: Write Coils Transmission to Master

Field Name Value (in Hex) Notes
Slave Address 0x01
Function 0x0F Write coils command
Start address of coils to write (HIGH) 0x00
Start address is coil number 20
Start address of coils to write (LOW) 0x13
Number of coils to write (HIGH) 0x00
Write 10 coils starting from coil 20
2
Number of coils to write (LOW) 0x0A
Byte count 02
Data to write coils 20 - 27 CD
Data to write coils 28 – 29 00
Error Check (CRC) byte 1 -- Byte 1 of CRC for this message
Error Check (CRC) byte 2 -- Byte 2 of CRC for this message

Table 2-13. Write Coils Response Transmission from Master

Field Name Value (in Hex) Notes
Slave Address 0x01
Function 0x0F Write coils command
Start address of coils to write (HIGH) 0x00
Start address is coil number 20
Start address of coils to write (LOW) 0x13
Number of coils to write (HIGH) 0x00
Write 10 coils starting from coil 20
Number of coils to write (LOW) 0x0A
Error Check (CRC) byte 1 -- Byte 1 of CRC for this message
Error Check (CRC) byte 2 -- Byte 2 of CRC for this message

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2.6.6 Write Multiple Input Registers Command (0x10)

The write multiple input registers command allows the Modbus master to write up to 64 values (in a single command)
to multiple input registers in the drive. A sample request to write to two registers is shown with the associated
response (in hexadecimal) in Figure 2-9. The sample request is detailed in Table 2-14. The associated response is
detailed in Table 2-15. Parameter names and descriptions are listed in Appendix A.

2 TX
01 10 00 43 00 02 04 00 64 24 E3 -- --

RX
01 10 00 43 00 02 -- --

Figure 2-9. Sample Write Multiple Input Registers Command (TX) and Response (RX)

Table 2-14. Write Multiple Input Registers Transmission (TX) from Master
Field Name Value (in Hex) Notes
Slave Address 0x01 0x01 = 1 decimal
Function 0x10 Write multiple input registers command
Starting Address (High) 0x00
Register number 40068
Starting Address (Low) 0x43
No. Registers (High) 0x00
Write to 0x0002 (2) registers
No. Registers (Low) 0x02
Byte Count 0x04 4 bytes total
Preset Data 1 (High) 0x00
Value = 0x0064 (100 decimal)
Preset Data 1 (Low) 0x64
Preset Data 2 (High) 0x24
Value = 0x24E3 (9443 decimal)
Preset Data 2 (Low) 0xE3
Error Check (CRC) byte 1 æ Byte 1 of CRC for this message
Error Check (CRC) byte 2 æ Byte 2 of CRC for this message

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Table 2-15. Write Multiple Input Registers Response (RX) from Drive
Field Name Value (in Hex) Notes
Slave Address 0x01 0x01 = 1 decimal
Function 0x10 Write multiple input registers command
Starting Address (High) 0x00
Register number 40068
Starting Address (Low) 0x43
No. Registers (High) 0x00
Write to 0x0002 (2) registers
2
No. Registers (Low) 0x02
Error Check (CRC) byte 1 æ Byte 1 of CRC for this message
Error Check (CRC) byte 2 æ byte 2 of CRC for this message

2.7 Setup Procedure

Use the keypad on the front of the drive to select a network protocol:
1. Using the keypad, enter Network 1 Type (parameter ID 9901), scroll to Modbus, then press [ENTER]. The
Modbus configuration parameters will be viewable.
2. Set the Modbus Baud Rate (9060) to the desired rate, which must match the PLC controller’s baud rate.
3. Set the Modbus parity to match the PLC controller’s parity.
4. Set the Modbus Address (9070) to the desired Modbus address for the drive.
5. Select the Velocity Units (9080). This sets the units for motor commanded speed, and motor feedback speed
scaling.
6. If needed, set the Demand Scalar (9912) to n*command speed where –125n125
7. Set the Aux Demand Scalar (9913) if used
8. Use Table 2-14 to program the drive to send data to and receive commands from available Modbus
addresses. Each Modbus address from 40001 through 40128 corresponds with a keypad parameter ID,
which will be used to tell the drive what data to send to, or what commands to receive from a particular
Modbus address. Note that four such addresses are already programmed, giving the drive basic send and
receive functionality. The data in these addresses are not changeable.
9. The definition of the bits in the available Modbus addresses may be entered from a choice of pick list
variables in the keypad menus, or custom programmed using the drive’s SOP program. See section 2.9 for
details.
Note: If you are unfamiliar with drive system programming, you will need to refer to the System
* Programming chapter in your drive’s manual.

Please note that your PLC can receive data from the drive without any changes to the SOP program. Only if you need
to control the drive through the Modbus network, will you need to set any flags in the SOP program.
If you need to control the drive through a Modbus network (or any other type of network), then you will need, at an
absolute minimum, the following network control flag to appear in the source code of the SOP program:
Network1RunEnable_O = TRUE;
To control a drive through a network by sending commands to the drive, first ensure that the drive’s SOP file contains
the line of code mentioned above. Note that the semicolon is part of the code. If you would like to control the drive
through a second network, then your SOP program must also contain this line:
Network2RunEnable_O = TRUE;

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After ensuring that the SOP file has the necessary code to enable control of the drive over a network, you will need to
change some of the drive’s control parameters using the keypad on the front of the drive.

2.7.1 A Practical Setup Example

A customer needs to process four drive outputs on his/her PLC. These are status, motor speed, power, and number of
active faults. The customer would like to set Modbus PLC register 40001 to indicate drive general status. To program
a register, refer to Table 2-14 to see if it is programmable. Register 40001 is not changeable; a change is neither
2 necessary nor possible. It is already permanently set to indicate general status. This customer wants to set PLC
register 40002 to indicate motor speed. This register is also not changeable. It is permanently set to indicate motor
speed. Table 2-16 shows some hypothetical desired settings for Modbus addresses.
Table 2-16. Hypothetical Desired Address Settings.
PLC Modbus Register Data Scaling
40001(not changeable) General Status 16 bits
40002 (not changeable) Motor Speed RPM
40003 Output Power kW
40004 Number of faults 0 – 128

The customer wants to set register 40003 to indicate output power. Table 2-14 indicates that this address is
programmable. Use Table 2-30 to determine the necessary parameter ID. Enter parameter ID 9403 (Data from drive
03) using the keypad on the front of the drive. Choose “output power” from the pick list.
The customer wants to set register 40004 to indicate number of active faults. Enter parameter ID 9404 (Data from
drive 04) using the keypad on the front of the drive. Scroll through the pick list to find “number of active faults”. Note
that “number of active faults” is not a choice in the pick list. Therefore, it needs to be specified manually. Refer to
Table 2-30 for a list of data from drive pick list variables. Since “number of active faults” is not a choice in the pick
list, choose “ManId” from the pick list. Find “number of active faults” in Appendix A of this manual and look for its
data ID number. Its data ID number is 3000. Note that the data ID number is not the same as a parameter ID number.
“ManId-0000” will be shown on display. Use arrows or number keys to enter 3000, and press [ENTER]. The display
should show “ManId-3000”. If the data ID number could not be found, the error message “Invalid Id Entered” will be
displayed. Ensure that the data ID is correct. Now the number of active faults will appear at register 40004 on the
PLC.
An example of how the PLC interacts with the drive to read information is given below.

TX
01 03 00 03 00 01 -- --

RX
01 03 02 00 00 -- --

Figure 2-10. Sample Read Output Registers Command (TX) and Response (RX)

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Table 2-17. Read Output Registers Transmission (TX) from Master

Field Name Value (in Hex) Notes
Slave Address 0x01 0x01 = 1 decimal
Function 0x03 Read output registers command
Starting Address (High) 0x00
Register number 40004
Starting Address (Low) 0x03
Number of Registers to Read (High) 0x00
Read 1 (0x0001) register
2
Number of Registers to Read (Low) 0x01
Error Check (CRC) byte 1 — Byte 1 of CRC for this message
Error Check (CRC) byte 2 — Byte 2 of CRC for this message

Table 2-18. Read Output Registers Response (RX) from Drive

Field Name Value (in Actual Scaled Notes
Hex) Result Value
Slave Address 0x01 N/A N/A 0x01 = 1 decimal
Read output register
Function 0x03 N/A N/A
command code
Byte Count 0x02 N/A N/A 2 bytes in response
Data Value 1 (MSB) 0x00 Programmable by user high byte of item 1
0x0000 in this register. See
Data Value 1 (LSB) 0x00 Table 2-30. low byte of item 1

CRC byte 1 — N/A N/A byte 1 for this msg

CRC byte 2 — N/A N/A byte 2 for this msg

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2.8 Drive Control Defaults

To control the drive using its default configuration, you need to send commands to its Fixed Reg Bits location. Refer
to Table 2-19 to see the location of the ‘Fixed Reg Bits’. The drive’s default interpretation of the Fixed Reg Bits is
non-programmable and controlled by the drive’s control software. To ensure that the drive is set to its default setting,
use the keypad on the front of the drive to set parameter (9944) to ‘FIXED’. This is the default configuration. Using
the default configuration, the Fixed Reg Bits are interpreted as shown in Table 2-19. Note that these particular

2 drctry.ngn bits are always located at Modbus address 40065 whether the default configuration is used or not. In order
to redefine the bits at this address, refer to section 2.8.2.
Table 2-19. If Set to FIXED (default command configuration):
Bit Default Definition
Network1FixedRegBit0_I Run forward
Network1FixedRegBit1_I Run reverse
Network1FixedRegBit2_I Fault reset
Network1FixedRegBit3_I Stop*
Network1FixedRegBit4_I Reserved
Network1FixedRegBit5_I Start stop control from network
Network1FixedRegBit6_I Speed commanded from network
Network1FixedRegBit7_I
Network1FixedRegBit8_I
Network1FixedRegBit9_I
Network1FixedRegBit10_I
Network1FixedRegBit11_I Not Used
Network1FixedRegBit12_I
Network1FixedRegBit13_I
Network1FixedRegBit14_I
Network1FixedRegBit15_I

*Network1FixedRegBit3_I functions as a drive stop control bit only if “Start Stop Control” (9945) is set to “Momentary” —
otherwise this bit is Reserved

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2.8.1 Status Output

To read drive status data, you must read the General Status register as listed in Table 2-11. The drive’s status output
bits are always located at Modbus address 40001.
Figure 2-11. General Status Output from the Drive

Bit number Meaning in drive control software Value

0 Fault 2
1 Alarm
2 RunningForward
3 RunningReverse
4 DriveReady
5 StartStopControlFromNetwork
6 SpeedFromNetwork
7 AtSpeedReference
0 = False; 1 = True
8 SpeedInPercent
9 SpeedInRPM
10 SpeedInHz
11 Not used
12 Not used
13 Not used
14 Not used
15 Not used

Note: The default output bit interpretation CANNOT be reprogrammed.

*

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2.8.2 Running the drive using non-default settings

The drive can be run in a non-default manner by reprogramming the ‘Fixed Reg Bits’ register. As seen in Table 2-14,
the location is fixed at 40065. However, the definition of the bits can be reprogrammed. To change the interpretation
of the control bits in Modbus register 40065, use the following procedure:
By setting menu parameter 9944 (Status/Control) to ‘SOP’, each bit from the ‘Fixed Reg Bits’ word can be used in
any desired manner, such as shown below. In order to make the definition of the ‘Fixed Reg Bits’ in Modbus address
2 40065 programmable, use the drive’s keypad to set parameter 9944 (Status/Control) to ‘SOP’. The source code below
shows how to use the SOP program to trip the input medium voltage when ‘1’ is sent to Network1FixedRegBit9 in
Modbus register 40065.

2.9 User Programming via the SOP

2.9.1 Inputs to the drive (64 bits)
There are 64 input bits available for user programming. Use Table 2-14 to find the location of the first ‘Reg to Drive’
register which is programmable. Please note which network 1 keypad parameter ID corresponds to that Modbus
address. The table reveals the first programmable data to drive Modbus address to be 40067, and that its
corresponding keypad parameter ID for network 1 is 9603. Go to the keypad on the front of the drive and enter
parameter 9603. You will see a pick list, the first item of which is ‘None’. See Table 2-5 for a list of possible pick list
choices for input to drive data. Scroll through the pick list until you come to ‘Net Input Flag 1’, and then press
[ENTER]. This setting will use the first 16 bits of the possible 64 bits. To use the second set of 16 bits, select ‘Net
Input Flag 2’, and so on. The corresponding names of the bits related to the menu pick list items are found in
Table 2-22.
This example shows how to use the Modbus network to trip the input medium voltage. In this example, our PLC will
be writing to Modbus register 40067, which we programmed to Net Input Flag 1. We will use the SOP program to set
a flag bit that will use digital output to trip input medium voltage. The PLC will write the contents of ‘Net Input Flag
1’, bit 9 (Network1Flag9_I) to create an input medium voltage trip. The SOP source code is shown below:
;ExternalDigitalOutput01h_O Use digital output to trip input medium Voltage
ExternalDigitalOutput01h_O = Network1FixedRegBit9_I;

2.9.2 Outputs from the drive (64 bits)

There are 64 output bits available for user programming. Use Table 2-30 to find the location of the first ‘Reg From
Drive’ register which is programmable. Please note which network 1 keypad parameter ID corresponds to that
Modbus address. The table reveals the first programmable data from drive Modbus address to be 40003, and that its
corresponding keypad parameter ID for network 1 is 9403. Go to the keypad on the front of the drive and enter
parameter 9403. You will see a pick list, the first item of which is ‘None’. See Table 2-30 for a list of possible pick
list choices for output from drive data. Scroll through the pick list until you come to ‘Net1 Out Reg 1’, and then press
[ENTER]. This setting will use the first 16 bits of the possible 64 bits. To use the second set of 16 bits, select ‘Net1
Out Reg 2’, and so on. The corresponding names of the bits related to the menu pick list items are found in
Table 2-24. This example shows how to use the Modbus network to detect a trip on the input medium voltage. In this
example, our PLC will be reading Modbus register 40003, which we programmed to ‘Net1 Out Reg 1’. We will use
the SOP program to set a flag bit that corresponds to a medium voltage low fault. We will use bit 9 of ‘Net1 Out Reg
1’, which is Network1Flag9_O, to set the network flag true if the medium voltage low fault is active. The PLC will
read the contents of Net 1 Out Reg 1, bit 9 (Network1Flag9_O) to determine if a medium voltage fault occurred. The
SOP source code is shown below:
;ExternalDigitalOutput01h_O Use digital output to trip input medium voltage
ExternalDigitalOutput01h_O = Network1Flag9_I;

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2.9.3 Flags available to the SOP program

Net Control Type by Default:
The drive’s interpretation of the bits in Table 2-20 is fixed by the drive’s control software unless you set parameter
9944 (Status/Control) to ‘SOP’. To change the default interpretation of these bits, see section 2.8.2.
Table 2-20. Relationship of ‘Fixed Reg Bits’ to Keypad Menus drctry.ngn Bits (programmable bits available for

Pick list variable in ‘Data to Drive

use in the SOP)
Related Drctry.ngn bits Modbus Register Address
2
Reg nn’ menus
Network1FixedRegBit0_I ~
Fixed Reg Bits (network 1) 40065
Network1FixedRegBit15_I
Network2FixedRegBit0_I ~
Fixed Reg Bits (network 2) 40065
Network2FixedRegBit15_I

User programmable:
The interpretation of these bits is programmable through the SOP file. These bits can be programmed to set or reset
any other bits used within the SOP.
Table 2-21. Network 1 Programmable Input Bits (keypad parameter ID 9603-9664)
Pick list variable in ‘Data to Drive Reg an’ menus Related Drctry.ngn bits
Network1Flag0_I ~
Net Input Flag 1
Network1Flag15_I
Network1Flag16_I ~
Net Input Flag 2
Network1Flag31_I
Network1Flag32_I ~
Net Input Flag 3
Network1Flag47_I
Network1Flag48_I ~
Net Input Flag 4
Network1Flag63_I

Table 2-22. Network 2 Programmable Input Bits (keypad parameter ID 9703-9764)

Pick list variable in ‘Data to Drive Reg nn’ menus Related Drctry.ngn bits
Network2Flag0_I ~
Net Input Flag 1
Network2Flag15_I
Network2Flag16_I ~
Net Input Flag 2
Network2Flag31_I
Network2Flag32_I ~
Net Input Flag 3
Network2Flag47_I
Network2Flag48_I ~
Net Input Flag 4
Network2Flag63_I

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Table 2-23. Network 1 Programmable Output Bits (keypad parameter ID 9403-9464)

Pick list variable in ‘Data to Drive Reg nn’ menus Related Drctry.ngn bits
Network1Flag0_O ~
Net1 Out Reg 1
Network1Flag15_O
Network1Flag16_O ~
Net1 Out Reg 2
Network1Flag31_O

2
Network1Flag32_O ~
Net1 Out Reg 3
Network1Flag47_O
Network1Flag48_O ~
Net1 Out Reg 4
Network1Flag63_O

Table 2-24. Network 2 Programmable Output Bits (keypad parameter ID 9503-9564)

Pick list variable in ‘Data to Drive Reg nn’ menus Related Drctry.ngn bits
Network2Flag0_O ~
Net2 Out Reg 1
Network2Flag15_O
Network2Flag16_O ~
Net2 Out Reg 2
Network2Flag31_O
Network2Flag32_O ~
Net2 Out Reg 3
Network2Flag47_O
Network2Flag48_O ~
Net2 Out Reg 4
Network2Flag63_O

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2.10 Modbus Address and Keypad Pick List Tables

Table 2-25. Correspondence Between Drive Parameter ID and Modbus Address*
Network Drive Parameter ID Description Default Contents Modbus Addresses
Numbers
General Status
1 9401 Data From Drive 40001
(not changeable)

1 9402 Data From Drive

Motor Speed
(not changeable)
40002 2
1 9403 - 9464 Data From Drive None 40003-40064
Fixed Reg Bits
1 9601 Data To Drive 40065
(not changeable)
Velocity Demand
1 9602 Data To Drive 40066
(not changeable)
1 9603 - 9664 Data To Drive None 40067 - 40128
General Status
2 9501 Data From Drive 40001
(not changeable)
Motor Speed
2 9502 Data From Drive 40002
(not changeable)
2 9503 - 9564 Data From Drive None 40003 - 40064
Fixed Reg Bits
2 9701 Data To Drive 40065
(not changeable)
Velocity Demand
2 9702 Data To Drive 40066
(not changeable)
2 9703 - 9764 Data To Drive None 40067 - 40128

a. Drive Parameter ID Number—the number to enter using the keypad on the front of the drive.
b. Data From Drive—data that the PLC will receive from the drive in order to determine how the drive is
functioning. Each register contains a 16-bit digital representation of the status of a particular aspect of the
drive’s functioning. Some registers are fixed to track certain drive functions; others are programmable to
track any of a number of drive status choices.
c. Data To Drive—data that the PLC will send to the drive in order to control it. Each register contains a 16-
bit digital representation of the PIC’s command for a particular aspect of the drive’s functioning. Some
registers are fixed to control certain functions; others are programmable to control any of a number of drive
function choices.
d. Modbus Addresses—digital locations provided by the Modbus Protocol which store values for use by the
master (PLC) and slave (Siemens drive) devices. In order to establish functional communication between
the PLC and the drive, the control software in the drive needs to know what to use certain addresses for. That
is the key to configuring the drive’s Modbus connection.

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Table 2-26. Data to Drive Pick List Variables Scaling

Name Scaling Name Scaling

None None MUX 3 ID None
Fixed Reg Bits None MUX 4 ID None
Velocity Demand Hz / 10 RPM * 1 % / 10 MUX 5 ID None

2 Auxiliary Demand
Net Input Flag 1
Hz / 10 RPM * 1
None
% / 10 MUX 6 ID
MUX 7 ID
None
None
Net Input Flag 2 None MUX 8 ID None
Net Input Flag 3 None PTD1
Net Input Flag 4 None PTD2
Ratio % / 100 PTD3
Forward Max Lim / 10000 or %/100 PTD4
Reverse Max Lim / 10000 or %/100 Parallel Cmd 1
Forward Acc Time / 10 Torque Demand
Forward Dec Time / 10 PVCL Demand
Reverse Acc Time / 10 Flux Demand
Reverse Dec Time / 10 Node Count
Net Input Pulse In * 1 Node Index
Forward Min Lim / 10000 or %/100 Torque Acc Time
Reverse Min Lim / 10000 or %/100 Torque Dec Time
Torque Limit Torque Offset
MUX 1 ID None Torque Scalar
MUX 2 ID None Vars Command

Figure 2-12. Data to Drive Pick List Variables Range

Name Range Name Range

None None MUX 3 ID 0 ∼ 32767
Fixed Reg Bits 0 – 0xffff MUX 4 ID 0 ∼ 32767
-327.6 Hz ~ -32767 RPM ~
Velocity Demand -327.6 % ~ 327.6 % MUX 5 ID 0 ∼ 32767
327.6 Hz 32767 RPM
-327.6 Hz ~ -32767 RPM ~
Auxiliary Demand -327.6% ~ 327.6% MUX 6 ID 0 ∼ 32767
327.6 Hz 32767 RPM
Net Input Flag 1 0 – 0xffff MUX 7 ID 0 ∼ 32767
Net Input Flag 2 0 – 0xffff MUX 8 ID 0 ∼ 32767
Net Input Flag 3 0 – 0xffff PTD1
Net Input Flag 4 0 – 0xffff PTD2
Ratio -3.2767 % ~ 3.2767 % PTD3
Forward Max Lim 0.00 % ~ 327.67 % PTD4
Reverse Max Lim -327.67 % ~ 0.00 % Parallel Cmd 1
Forward Acc Time 0 - 3276.7 sec Torque Demand
Forward Dec Time 0 - 3276.7 sec PVCL Demand
Reverse Acc Time 0 - 3276.7 sec Flux Demand
Reverse Dec Time 0 – 3276.7 sec Node Count
Net Input Pulse 0 – 65535 Node Index
Forward Min Lim 0.00 % ~ 327.67 % Torque Acc Time
Reverse Min Lim -327.67 % ~ 0.00 % Torque Dec Time

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Torque Limit 0.00% ∼ 327.67% Torque Offset

MUX 1 ID 0 ∼ 32767 Torque Scalar
MUX 2 ID 0 ∼ 32767 Vars Command

Table 2-27. Network Control Menu (9943)

Parameter ID Default Description
Bit definition is fixed or
2
Net Control Type 9944 Sop
defined in Sop program
Start/Stop bit inputs are
Start Stop Control 9945 Maintained treated as maintained or
momentary.

2.1 Menu Parameters Tables

Table 2-28. Network 1 Configure Menu (9900)
Parameter ID Units Default Min Max Description
Designates the type of external network
connected to the drive.
• None
• Modbus
Network 1 • DeviceNet
9901 None
Type • Profibus
• Modbus plus
• Ethernet Modbus
• Data Highway
• ControlNet

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Table 2-29. Configure Parameters Menu (9902)

Parameter ID Units Default Min Max Description
Modbus network baud rate.
• 1200
Modbus Baud Rate 9060 19200 • 2400
• 4800
• 9600

2 •
•
19200
none
Modbus Parity 9047 None • odd
• even
Modbus • one
9048 1 • two
Stop Bits
Modbus Address 9070 1 1 247 Sets address of node on Modbus network.
Designates the units for velocity values
from the drive.
Velocity Units 9080 % • %
• RPM
• Hz
Scalar for input demand reference from
Demand Scalar 9912 1 -125 125
the network.
Aux Demand Auxiliary scalar for input demand
9913 1 -125 125
Scalar reference from the network.
Timeout for network determined to be non-
Network Timeout 9934 0 0 65535
responsive.

Table 2-30. Register Data From Drive Menu (9400)

Parameter ID Units Default Min Max Description
Register data from
Data From General drive parameter 1.
9401
Drive 01 Status This register is not
programmable
Register data from
Data From Motor drive parameter 2.
9402
Drive 02 Speed This register is not
programmable.
Register data from
Data From drive parameters 3-64.
9403-9464 None
Drive 03-64 These registers are
programmable.

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Table 2-31. Register Data to Drive Menu (9600)

Parameter ID Units Default Min Max Description
Register data to drive
Data To Drive Reg Fixed Reg parameter 1. This
9601
01 Bits register is not
programmable.

2
Register data to drive
Data To Drive Reg Velocity parameter 2. This
9602
02 Demand register is not
programmable.
Register data to drive
Data to Drive Reg 9603- parameters 3-64.
None
03-64 9664 These registers are
programmable.

Table 2-32. Network 2 Configure Menu (9914)

Parameter ID Units Default Min Max Description
Designates the type of external
network connected to the drive.
• None
• Modbus
Network 2 Type 9915 None • DeviceNet
• Profibus
• Modbus
• Ethernet Modbus
• Data Higway +
• ControlNet

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Table 2-33. Network 2 Configure Parameters Menu (9916)

Parameter ID Units Default Min Max Description
Modbus network baud rate.
• 1200
Modbus Baud • 2400
9917 19200
Rate • 4800
• 9600

2 •
•
19200
none
Modbus Parity 9947 None • odd
• even
Modbus • one
9948 1 • two
Stop Bits
Modbus
9920 1 1 247 Sets address of node on Modbus network.
Address
Designates the units for velocity values
from the drive.
Velocity Units 9924 • %
• RPM
• Hz
Scalar for input demand reference from
Demand Scalar 9926 1 -125 125
the network.
Aux Demand Auxiliary scalar for input demand
9927 1 -125 125
Scalar reference from the network.
Network Timeout for network determined to be
9935 0 0 65535
Timeout non-responsive.

Table 2-34. Network 2 Register Data From Drive Menu (9500)

Parameter ID Units Default Min Max Description
Register data from drive
Data From Drive General parameter 1. This
9501
01 Status register is not
programmable
Register data from drive
Data From Drive parameter 2. This
9502 Motor Speed
02 register is not
programmable.
Register data from drive
Data From Drive parameters 3-64. These
9503-9564 None
03-64 registers are
programmable.

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Table 2-35. Network 2 Register Data To Drive Menu (9700)

Parameter ID Units Default Min Max Description
Register data to drive
Data To Drive parameter 1. This
9701 Fixed Reg Bits
Reg 01 register is not
programmable.

2
Register data to drive
Data To Drive Velocity parameter 2. This
9702
Reg 02 Demand register is not
programmable.
Register data to drive
Data to Drive Reg parameters 3-64. These
9703-9764 None
03-64 registers are
programmable.

Table 2-36. Network 1 Register Data To Drive Menu (9900)

Parameter ID Units Default Min Max Description
Copies Network 1
Net 1 to 2 reg.
9946 Function registers to Network 2
Copy
registers.

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2.2 Display Network Monitor Function (Parameter ID 9950)

This function allows you to view the values of network registers. It is extremely useful for troubleshooting. As data is
transmitted, and the values of the registers change, the display will automatically and continuously update to reflect
the changes. The direction of data transmission as shown on this screen, is from the drive’s perspective. Therefore,
‘Rx’ is data received into the drive, and ‘Tx’ is data transmitted from the drive.
Figure 2-13. Diagram of Display Network Monitor Function
2 Format of the register
value display (1)
Data direction (3) Register number

D NET1 Tx N-Reg:
01 00257 Line 1 data

H NET2 Rx N-Reg:
02 0F1B Line 2 data

Global or non-global register

Network for this register (2) Register value
(4)

1. ‘D’ means decimal format.

‘H’ means hexadecimal format.
2. The drive may be connected to two separate networks.
3. ‘Rx’ means that this is a “Data to Drive” register.
‘Tx’ means that this is a “Data from Drive” register.
4. ‘G’ means a global register.
‘N’ means a non-global register.
The Modbus protocol does not support global registers. Therefore, when working with a Modbus controller,
this field will contain ‘N’ in all of the registers.
5. This two-digit numeric field indicates the number of the register being shown.
‘Tx’ 01-64 are “Data from Drive 01” (parameter ID 9401) through “Data from Drive 64” (parameter ID
9464).
‘Rx’ 01-64 are “Data to Drive 01” (parameter ID 9601) through “Data to Drive 64” (parameter ID 9664).
6. The value of the register. Since the registers all contain 16-bit digital words, they range in value from 0-
65535 (decimal), or 0-FFFF (hexadecimal).
7. Line 1 contains the following information:
The register value is shown in decimal format; the register is in network 1; the register is non-global; the
data is going to the drive; “to drive” register number 1 is showing; its value is 257.
8. Line 2 contains the following information:
The register value is shown in hexadecimal format; the register is in network 2; the register is non-global; to
data is coming from the drive; “from drive” register number 2 is showing; its value is 0xF1B (decimal
equivalent = 3,867).

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Note: The underscores in the picture of the display show possible cursor movement. To move the
* cursor within the display, use the left and right arrow keys. Alphabetic fields are only edited with
only the up and down arrow keys. Numeric fields are edited with either the up and down arrow keys
or the numeric keys. The cursor will move to the beginning of the second line after it reaches the last
possible position on the first line. Likewise, the cursor will move to the beginning of the first line
after it reaches the last possible position on the second line.
2
below represents a display. If you start with the cursor at position A and use the left arrow [←] key repeatedly, the
cursor will move to A, D, C, B, A, etc. If you start with the cursor at position A and use the right arrow [→] key
repeatedly, the cursor will move to A, B, C, D, A, etc.

Figure 2-14. Cursor Movement Diagram

D D
H H

∇∇∇

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CHAPTER

3 DeviceNet™ DP Communications
3.1 Introduction
This chapter features a fast setup section that will help you to start controlling your Siemens drive with NXG control
using a ControlNet network as quickly as possible. Section 3.4 is short and procedural, and covers a minimum of
detail. Please refer to the other sections of this chapter for detailed information.
Note that in this chapter, a four-digit number inside of parentheses, e.g., (9403), indicates a parameter ID number for
the keypad on the front of the drive. Press [SHIFT] + [→] in order to enter this number directly. You do not need to
hold down the [SHIFT] key while you press the [→] key. A numerical value expressed as 0xnn (e.g.., 0x12) is being
3
represented in hexadecimal format.

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3.1.1 DeviceNet DP Network Topologies

DeviceNet Drive Profile (DP) uses linear bus topology. This topology is configured as a series of clusters. A cluster
is a collection of nodes that are logically connected. A node may belong to one or more clusters. The linear bus
topology is illustrated in Figure 3-1. Three clusters are shown using master/slave or peer-to-peer.
Note:
* • Siemens drives use master/slave connections and do not support DeviceNet DP “strobe” connections.
• The Siemens DeviceNet DP UCS board functions only as a slave device and cannot initiate communi-
cations (it can only respond to quotes).

Legend
M = Master (Active) Station

3 S = Slave (Passive) Station

P = Peer

CLUSTER A CLUSTER B CLUSTER C

M M P

S S S S S S S S P P P P

SUBNET

Cluster A: Master/Slave Point-to-Point Communication (i.e., Poll/Cyclic/Change of State (COS))

Cluster B: Multicast Master/Slave Communication (i.e., Strobe)
Cluster C: Peer-to-Peer Communication (Point-to-Point or Multicast)
Nodes participating in a particular relationship are a cluster.
Figure 3-1. DeviceNet DP Network Topologies

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3.1.2 Configuring the DeviceNet DP UCS Module

The DeviceNet DP UCS module mounts to the communications board of the NXG Control. Figure 3-2 shows the
connectors, jumpers, and status indicators on the DeviceNet DP UCS board.
Note: To properly configure the DeviceNet DP UCS module, jumpers BA1 and BA2 must be removed
* from the board.

Jumpers BA1 and BA2 Connector to NXG Board

(Removed from board)

Status
Indicators

DeviceNet 5-
pin connector

Figure 3-2. DeviceNet DP UCS Communications Board

3.1.3 Connector
The UCS DeviceNet DP interface module uses a DeviceNet DP compatible 5-pin connector.

DeviceNet
Color Code
1 V- (power conductor) Black

2 CANL (signal conductor) Blue

3 SHIELD Bare

4 CANH (signal conductor) White

5 V+ (power conductor) Red

Figure 3-3. DeviceNet DP Network 5-Pin Connector

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The maximum cable length depends on the transmission speed and cable type. The maximum cable length/baud rates
are shown in Table 3-1.
Table 3-1. Maximum Values of DeviceNet DP Cable Length/Baud Rates
Baud Rate Trunk Distance (Thick Cable)
125 K 500 Meters (1640 Feet)
250 K 250 Meters (820 Feet)
500 K 100 Meters (328 Feet)

3.1.4 Status Indicators

Figure 3-4 shows the status indicators. Table 1 describes the LED states. At startup, the UCS module tests the UCS
Status indicator by making it red for 250 msec, green for 250 msec, then off.

3 Figure 3-4. UCS Module Circuit Board Status Indicators (board orientation)

UCS Status 1

Network Status 2
Board Edge

Table 3-2. UCS Module Circuit Board Status Indicator Descriptions

Number from Indication State Description

Figure 8-2
1 UCS Status Off No power or hard/soft reset asserted.
Recoverable configuration fault (invalid firmware, OEM data,
Red, Flashinga or personality data).
Red Hardware error or fatal runtime error.
Green, flashinga No errors, data exchange interface is not open
Green No errors, data exchange interface is active.
Amber (red/green) Configuration mode.
2 Network Status Off DeviceNet DP UCS module offline/no network power.

Red Unrecoverable network fault.

Green DeviceNet DP UCS online with established connections.

I/O connection(s) in timed-out state or other recoverable

Flashing red
fault.

DeviceNet DP UCS module is online, but has no

Flashing green
connections.

DeviceNet DP UCS module is in communication faulted

Flashing green/red state and responding to an “identify communication faulted”
request.

a. Nominal flash rate is 500 msec on, 500 msec off.

3.2 Network Termination

The nodes at the physical ends of the network should each have a terminating resistor installed. The termination
resistor is connected across the data lines. Refer to the recommendations of the Open DeviceNet DP Vendor
Association (ODVA) for values of network termination resistors.

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3.3 DeviceNet DP Network Address

Users can set the drive’s DeviceNet DP network address (Mac Id) to any value by the user via the keypad on the front
of the drive, or the Tool Suite.

3.4 Fast Setup

This example will permit control of the drive from a PLC using the following simple setup procedure:

1. Using the keypad, set Network 1 Type (9901) to DeviceNet DP.

2. Set the DeviceNet DP address (9908) to a value that is not currently in use (1 to 63).
3. Set the DeviceNet DP Baud Rate (9505) to the appropriate rate (125K, 250K, or 500Kbaud) for your

4.
network.
Verify the DeviceNet DP UCS module status as indicated in Tables 3-23 and 3-24.
3
5. The system program will need to be modified if you want to run the drive from the network. The
modification will have to either fix the Network1RunEnable_O = TRUE; or conditionally true
depending on the application requirements.
Note: Setting the Network1RunEnable_O = TRUE; prevents the drive from being started and stopped
* locally from the keypad or panel-mounted start/stop switches.

6. Set the (NetRef) bit true (1) to request that the speed demand input to the drive originate from the DeviceNet
DP network.
7. From the PLC set the VFD Speed Reference to the desired speed.
8. Set the (NetCtrl) bit true (1) to request that the start/stop functionality be controlled from the DeviceNet DP
network.
9. Set the (Run fwd) bit true (1) to request that the drive run in the forward direction. Bit 1 (Run Rev) must be
low (0).
10. The VFD should run at the commanded speed.

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3.5 Network Communications Setup

This section defines the procedures necessary to configure Siemens NXG control parameters for remote control and/
or monitoring purposes using a communications network. Users will need to be familiar with the Siemens NXG
control and its menu system.
Upon completing the following setup procedures, all data entered via the menu system is retained in the NXG
control’s CompactFLASH module. Use the keypad on the front of the drive to complete the procedure below, which
will configure the NXG control’s network parameters. Please refer to Table 3-3 or the drive’s menu and submenu ID
numbers.
Note: In this manual, a “register” consists of one 16-bit data word.
*
1. Start by selecting the pick list item “DeviceNet DP” from the pick list of the ‘Network 1 Type’ menu.
3 2. Set the DeviceNet DP Address to the desired nodeaddress (Mac Id) for the drive. The valid range is 1
through 63.
3. Set up the ‘Register Data From Drive’ (to select the data to be sent by the drive) or ‘Register Data To Drive’
(to select the data to be received by the drive). Register Data From Drive are data that the PLC will receive
from the drive in order to determine how the drive is functioning. Each register contains a 16-bit digital
representation of the status of a particular aspect of the drive’s functioning. Some registers are fixed to track
certain drive functions; others are programmable to track any of a number of drive status choices. Register
Data To Drive are data that the PLC will send to the drive in order to control it. Each register contains a 16-
bit digital representation of the PLC’s command for a particular aspect of the drive’s functioning. Some
registers are fixed to control certain functions; others are programmable to control any of a number of drive
function choices. Continue at step 4 for ‘Register Data From Drive’ or step 5 for “Register Data To Drive”
setup.
4. The ‘Register Data From Drive’ menu provides the user the ability to define up to 32 register-based data
items that can be sent from the drive via keypad parameters 9401–9432 (Data From Drive 01-32). Each of
these items can now be independently defined as desired. Upon selecting any of the send data items, the user
is prompted to enter the data to be transmitted from a predefined pick list. As an alternative, an ID may
reference a specific item if not found in the pick list. Most pick list items simply require scrolling through
the menu to the desired item and pressing the ENTER key. For ID entry, the user is prompted for the 4-digit
ID code of the data item and the desired data type. ID’s are listed in Appendix B of this manual.
5. The ‘Register Data To Drive’ menu’s provides the user the ability to define up to 32 register-based data
items that can be received from the drive via keypad parameters 9601–9632 (Data To Drive Reg 01-32).
Each of these items can now be independently defined as desired. Upon selecting any of the receive data
items, the user is prompted to enter the data to be received from a predefined pick list.

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Table 3-3. Menu IDs

Network Drive Parameter ID Description Default Contents
Numbers
General Status
1 9401 Data From Drive 01
(not changeable)
Motor Speed
1 9402 Data From Drive 02
(not changeable)
1 9403 – 9432 Data From Drive XX None
Fixed Reg Bits
1 9601 Data To Drive Reg 01
(not changeable)
Velocity Demand
1 9602 Data To Drive Reg 02
(not changeable)
1
1
9603 - 9632
9901
Data To Drive Reg XX
Network 1 Type
None
None 3
1 9908 DeviceNet DP Address 1
1 9905 DeviceNet DP Baud Rate 125K
General Status
2 9501 Data From Drive 01
(not changeable)
Motor Speed
2 9502 Data From Drive 02
(not changeable)
2 9503-9532 Data From Drive XX None
Fixed Reg Bits
2 9701 Data To Drive Reg 01
(not changeable)
Velocity Demand
2 9702 Data To Drive Reg 02
(not changeable)
2 9703 – 9732 Data To Drive Reg XX None
2 9915 Network 2 Type None
2 9922 DeviceNet DP Address 1
2 9919 DeviceNet DP Baud Rate 125K

3.6 DeviceNet DP EDS File

The electronic data sheet, or EDS file, is a specifically formatted ASCII file that provides the definition of a device’s
configurable parameters and public interfaces to those parameters. An electronic copy of this file (NXG.eds) is
available with the drive’s documentation, and also from SiemensSiemens’s release software archive. A text version
is included in Appendix C.

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3.7 DeviceNet DP Network Overview

Note: This section requires that the reader be familiar with DeviceNet DP terminology and DeviceNet DP
* networks. Information about DeviceNet DP can be obtained by contacting the Open DeviceNet DP Vendor
Association (ODVA). their internet address is http://www.odva.org.
The DeviceNet DP network consists of the UCS DeviceNet DP module, the UCS firmware and NXG Control
software. Siemens configures the DeviceNet DP network as master/slave, point-to-point communication connections.
The master may use explicit messages to control the drive. The UCS DeviceNet DP module acts as a slave on the
DeviceNet DP network. It uses I/O assembly data as the basis for drive control. Only the UCS firmware handles
DeviceNet DP classes 1-3 and 5. The UCS firmware and the NXG Control software work together to handle
DeviceNet DP classes 4 and 40-42. The Siemens UCS DeviceNet DP module supports the DeviceNet DP classes
listed in the table below:

3 Class Number
Table 3-4. DeviceNet DP Classes
Object Class Communication Messages handled by:
1 Identity UCS DeviceNet DP module
2 Message Route UCS DeviceNet DP module
3 DeviceNet DP™ UCS DeviceNet DP module
4 Assembly UCS DeviceNet DP module and NXG
5 Connection UCS DeviceNet DP module
40 Motor UCS DeviceNet DP module and NXG
41 Control Supervisor UCS DeviceNet DP module and NXG
42 AC/DC Drive UCS DeviceNet DP module and NXG

3.7.1 Data Types

DeviceNet DP networks use data types in two different manners. These manners are explained below.

3.7.2 DeviceNet DP Data Types

Each class attribute has a pre-defined data type. The Open DeviceNet DP Vendor Association (ODVA) defines the
data types used. Table 3-5 is an abbreviated list of the DeviceNet DP data types.
Table 3-5. DeviceNet DP Data Types
Data Type Name Data Type Description

BOOL Logical Boolean with values TRUE and FALSE

BYTE Bit string, 8 bits long
WORD Bit string, 16 bits long
DWORD Bit string, 32 bits long
SINT Signed 8-bit integer value
INT Signed 16-bit integer value
DINT Signed 32-bit integer value
USINT Unsigned 8-bit integer value
UINT Unsigned 16-bit integer value
UDINT Unsigned 32-bit integer value

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3.8 Network Data Transfer Methods

DeviceNet DP uses assembly data and explicit messages for data transfer.

3.8.1 DeviceNet DP Assembly Data

The Siemens UCS DeviceNet DP CAB uses assembly data to transfer data to and from the drive. DeviceNet DP
networks have pre-defined assemblies to allow multiple similar devices from different vendors to communicate in the
same manner. The pre-defined assemblies allow substitution of one manufacturer’s device for another without having
to change the communication software.

3.8.2 DeviceNet DP AC Drive Input Assembly Data (Assembly #71)

The Siemens UCS DeviceNet DP module uses the predefined Input Assembly ‘Extended Speed Control Input’ for
AC Drives as the default I/O assembly.
The ‘Extended Speed Control Input’ assembly (assembly #71) uses 4 bytes of data. The assembly data is passed from 3
the drive to the UCS DeviceNet DP module via the NXG Control. The DeviceNet DP master can obtain the
SIEMENS drive data via a master/slave communication. The 4 bytes of assembly input data are defined below. The
first byte of data is broken down into bits used to define the operating status of the drive. The second byte of data is
the drive state. The third and fourth bytes of data are combined together to form a 16-bit signed number representing
the drive speed in RPM. The range is 0 to 32767 RPM. Refer to Tables 3-6, 3-7, and 3-8 for more information on
assembly data bits and bytes.
Table 3-6. DeviceNet DP Assembly Input Data Bytes
Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Ctrl
Ref Running2 Running1
0 At Reference From Ready Warning Faulted
From Net (Rev) (Fwd)
Net
1 Drive State
2 Speed Actual (Low Byte)
3 Speed Actual (High Byte)

Table 3-7. DeviceNet DP I/O Assembly #71 Byte 0 Bit Definitions

Bit Bit Name Bit Function
Set true (1) when the drive speed matches (+/-1.5%) the drive reference speed (not ramping up
7 AtReference
or down).
6 RefFromNet Set true (1) when the speed demand input to the drive originates from the DeviceNet DP network.
5 CtrlFromNet Set true (1) when the start/stop functionality is controlled from the DeviceNet DP network.
4 Ready Set true (1) when the drive is not running and is in a non-faulted state.
3 Running2 (Rev) Set true (1) when the drive is running in the Reverse direction.
2 Running1 (Fwd) Set true (1) when the drive is running in the Forward direction.
1 Warning Always zero. Siemens drives do not support this bit.
0 Faulted Set true (1) when the drive is faulted.

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Table 3-8. DeviceNet DP I/O Assembly #71 Byte 1 Drive States

Drive State Byte Value Drive State
3 Ready (Not Faulted and Not Running)
4 Enabled (Running)
5 Stopping (Running, Run Request Disabled)
7 Faulted (Drive Fault(s) Exist)

Note: The term “Ready” is defined as “Not Faulted” and “Not Running.” The lack of a permissive is not
* considered a fault. The drive will change from the “Ready” state to the “Enabled” (running) state when all
drive permissive signals are “True.”
3 3.8.3 DeviceNet DP AC Drive Output Assembly Data (Assembly #21)
TheSiemens UCS DeviceNet DP module uses the predefined input assembly ‘extended speed control output’ for AC
Drives as the default I/O assembly.
The ‘extended speed control output’ assembly (assembly #21) uses 4 bytes of data. The assembly data is consumed
by the UCS DeviceNet DP module and passed to the drive. The master updates the data to the UCS DeviceNet DP
module. The 4 bytes of assembly output data are defined in Table 3-9. The first byte of data is broken down into bits
used to control the operating mode of the drive. The second byte of data is not used (all bits are 0). The third and
fourth bytes of data are combined together to form a 16-bit signed number representing the DeviceNet DP network
speed reference in RPM. The range is 0 to 32767 RPM. Table 3-10 lists assembly output data bit definitions.
Table 3-9. DeviceNet DP Assembly Output Data
Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
0 Not Used NetRef NetCtrl Not Used Not Used Fault Reset Run Rev Run Fwd
1 Reserved (Not Used)
2 Speed Reference (Low Byte)
3 Speed Reference (High Byte)

Table 3-10. DeviceNet DP Assembly Output Data Bit Definitions

Bit Bit Name Bit Function
7 Not Used (0).
Set true (1) to request that the speed demand input to the drive originate from the DeviceNet DP
6 NetRef
network.
5 NetCtrl Set true (1) to request that the start/stop functionality be controlled from the DeviceNet DP network.
4 Not Used (0).
3 Not Used (0).
2 Fault Reset Set true (1) to request a drive fault reset.
1 Run Rev Set true (1) to request that the drive run in the reverse direction. Bit 0 (Run Fwd) must be low (0).
0 Run Fwd Set true (1) to request that the drive run in the forward direction. Bit 1 (Run Rev) must be low (0).

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3.8.4 DeviceNet DP Explicit Messages

Explicit messages may be used to control (set) or obtain (get) the status of the drive. This section defines the
attributes for the three main DeviceNet DP object classes used with AC drives: motor, control supervisor and AC/DC
drive.
The UCS DeviceNet DP module contains only one instance of the three classes. The supported attributes and the
access type for each of the classes can be found in Tables 3-11, 3-12, 3-13, and 3-14.

Note: The term “Ready” is defined as “Not Faulted” and “Not Running.” The lack of a permissive is not
* considered a fault. The drive will change from the “Ready” state to the “Enabled” (running) state when all
drive permissive signals are “True.”

3
Table 3-11. DeviceNet DP Motor Class Supported Attributes (1 Instance)
Class Attribute Data Data Type Description
(Hex) (Decimal) Access
0x28 3 Set USINT Motor Type (Refer to DeviceNet DP ODVA Specifications)
0x28 6 Set UINT Motor Rated Current (in .1 Amps)
0x28 7 Set UINT Motor Rated Volts (in Volts)
0x28 9 Set UINT Motor Rated Frequency (in Hz)
0x28 12 Set UINT Number of Poles
0x28 15 Get UINT Base Speed (in RPM)

Table 3-12. DeviceNet DP Control Supervisor Class Supported Attributes (1 Instance)

Class Attribute Data Data Type Description
(Hex) (Decimal) Access
0x29 3 Get Bool Run1 (Run Fwd Command)
0x29 4 Get Bool Run2 (Run Rev Command)
NetCtrl (True - request the drive start/stop control to originate from
0x29 5 Get Bool
DeviceNet DP network)
0x29 6 Get USINT State (Drive State - See Table 3-8)
0x29 7 Get Bool Running1 (True - drive is running in Fwd direction)
0x29 8 Get Bool Running2 (True - drive is running in Rev direction)
0x29 9 Get Bool Ready (True - drive is not running and not faulted)
0x29 10 Get Bool Faulted (True - drive fault(s) exist)
0x29 12 Get Bool FaultRst (True - Fault Reset Command is Active)
CtrFromNet (True - start/stop is being controlled from the DeviceNet DP
0x29 15 Get Bool
network)

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Table 3-13. DeviceNet DP AC/DC Drive Class Supported Attributes (1 Instance)

Class (Hex) Attribute (Decimal) Data Access Data Type Description
0x2A 3 Get Bool AtReference
0x2A 4 Get Bool NetRef
0x2A 6 Get USINT DriveMode
0x2A 7 Get INT Speed Actual
0x2A 8 Get INT Speed Reference
0x2A 9 Get INT Current Actual
0x2A 15 Get INT Power Actual
0x2A 17 Get INT Output Voltage
0x2A 18 Get UINT Acceleration Time

3 0x2A
0x2A
19
22
Get
Get
UINT
SINT
Deceleration Time
Speed Scale
0x2A 23 Get SINT Current Scale
0x2A 26 Get SINT Power Scale
0x2A 27 Get SINT Voltage Scale
0x2A 28 Get SINT Time Scale
0x2A 29 Get Bool RefFromNet

Note:
* • Attributes 101-130 are used for Register Data from Drive.
• Attributes 131-160 are used for Register Data to Drive.

Table 3-14. DeviceNet DP AC/DC Drive Class Extension Supported Attributes (1 Instance)

Class (Hex) Attribute (Decimal) Data Access Data Type Description

0x2A 101-132 Get UINT Reg From Drive 03-34
0x2A 133-164 Set UINT Reg To Drive 03-34

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3.8.5 Register Data to Drive

The ‘Register Data To Drive’ menu provides the user the ability to define up to 32 register-based data items that can
be received from the drive via keypad parameters 9601–9632 (Data To Drive Reg 01-32). Each of these items can
now be independently defined as desired. Upon selecting any of the receive data items, the user is prompted to enter
the data to be received from a predefined pick list.

Table 3-15. DeviceNet DP Data to Drive Pick List Variables Scaling

Name Scaling Name Scaling

None None MUX 3 ID None
Fixed Reg Bits None MUX 4 ID None
Velocity Demand Hz / 10 RPM * 1 % / 10 MUX 5 ID None
Auxiliary Demand
Net Input Flag 1
Hz / 10 RPM * 1
None
% / 10 MUX 6 ID
MUX 7 ID
None
None 3
Net Input Flag 2 None MUX 8 ID None
Net Input Flag 3 None PTD1
Net Input Flag 4 None PTD2
Ratio % / 100 PTD3
Forward Max Lim / 10000 or %/100 PTD4
Reverse Max Lim / 10000 or %/100 Parallel Cmd 1
Forward Acc Time / 10 Torque Demand
Forward Dec Time / 10 PVCL Demand
Reverse Acc Time / 10 Flux Demand
Reverse Dec Time / 10 Node Count
Net Input Pulse In * 1 Node Index
Forward Min Lim / 10000 or %/100 Torque Acc Time
Reverse Min Lim / 10000 or %/100 Torque Dec Time
Torque Limit Torque Offset
MUX 1 ID None Torque Scalar
MUX 2 ID None Vars Command

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Table 3-16. DeviceNet DP Data to Drive Pick List Variables Range

Name Range Name Range

None None MUX 3 ID 0 ∼ 32767
Fixed Reg Bits 0 – 0xffff MUX 4 ID 0 ∼ 32767
-327.6 Hz ~ -32767 RPM ~ -327.6 % ~
Velocity Demand MUX 5 ID 0 ∼ 32767
327.6 Hz 32767 RPM 327.6 %
-327.6 Hz ~ -32767 RPM ~ -327.6% ~
Auxiliary Demand MUX 6 ID 0 ∼ 32767
327.6 Hz 32767 RPM 327.6%
Net Input Flag 1 0 – 0xffff MUX 7 ID 0 ∼ 32767
Net Input Flag 2 0 – 0xffff MUX 8 ID 0 ∼ 32767
Net Input Flag 3 0 – 0xffff PTD1

3 Net Input Flag 4

Ratio
0 – 0xffff
-3.2767 % ~ 3.2767 %
PTD2
PTD3
Forward Max Lim 0.00 % ~ 327.67 % PTD4
Reverse Max Lim -327.67 % ~ 0.00 % Parallel Cmd 1
Forward Acc Time 0 - 3276.7 sec Torque Demand
Forward Dec Time 0 - 3276.7 sec PVCL Demand
Reverse Acc Time 0 - 3276.7 sec Flux Demand
Reverse Dec Time 0 – 3276.7 sec Node Count
Net Input Pulse 0 – 65535 Node Index
Forward Min Lim 0.00 % ~ 327.67 % Torque Acc Time
Reverse Min Lim -327.67 % ~ 0.00 % Torque Dec Time
Torque Limit 0.00% ∼ 327.67% Torque Offset
MUX 1 ID 0 ∼ 32767 Torque Scalar
MUX 2 ID 0 ∼ 32767 Vars Command

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3.8.6 Register Data from Drive

The ‘Register Data From Drive’ menu provides the user the ability to define up to 32 register-based data items that
can be sent from the drive via keypad parameters 9401–9432 (Data From Drive 01-32). Each of these items can now
be independently defined as desired. Upon selecting any of the send data items, the user is prompted to enter the data
to be transmitted from a predefined pick list. As an alternative, an ID may reference a specific item if not found in the
pick list. Most pick list items simply require scrolling through the menu to the desired item and pressing the ENTER
key. For ID entry, the user is prompted for the 4-digit ID code of the data item and the desired data type. IDs are listed
in Appendix A of this manual.
Table 3-17. DeviceNet DP Data from Drive Pick List Variables
Drive Pick List Variables

3
None Net1 Out Reg 3 Mux1 Echo Wago Inputs 33-48
Man Id Net1 Out Reg 4 Mux1 Data Wago Inputs 49-64
General Status Net2 Out Reg 1 Mux2 Echo Wago Inputs 65-80
Motor Voltage Net2 Out Reg 2 Mux2 Data Wago Inputs 81-96
Total Current Net2 Out Reg 3 Mux3 Echo Wago Outputs 1-16
Output Power Net2 Out Reg 4 Mux3 Data Wago Outputs 17-32
Motor Speed Torque Current Mux4 Echo Wago Outputs 33-48
Speed Demand Magnetizing Cur Mux4 Data Wago Outputs 49-64
Speed Reference Motor Flux Mux5 Data PFD1
Heartbeat Motor Torque Mux6 Echo PFD2
Drive State Flux Reference Mux6 Data PFD3
Inp RMS Current Input Voltage Mux7 Echo PFD4
Input Frequency Inp Power Factor Mux7 Data Drive Losses
Input Power Avg Input KVars Mux8 Echo Speed Droop Percent
Net1 Out Reg 1 Max Available Output Volts Mux8 Data Sync Motor Field Ref
Net1 Out Reg 2 Hottest Cell Temp Wago Inputs 1-16 Avail reactive Current
Wago Inputs 17-32 Dirve Efficiency

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3.9 Networking and the System Program

3.9.1 Inputs to the drive (64 bits)
There are 64 input bits available for user programming. Using the keypad, go to menu ID 9603. You will see a pick
list, the first item of which is ‘None’. See Table 3-15 for a list of possible pick list choices for input to drive data.
Scroll through the pick list until you come to ‘Net Input Flag 1’, and then press [ENTER]. This setting will use the
first 16 bits of the possible 64 bits. To use the second set of 16 bits, select ‘Net Input Flag 2’, and so on. The
corresponding names of the bits related to the menu pick list items are found in Table 3-19.

3.9.2 Outputs from the drive (64 bits)

There are 64 output bits available for user programming. Using the keypad, go to menu ID 9403. You will see a pick

3 list, the first item of which is ‘None’. See Table 3-18 for a list of possible pick list choices for output from drive data.
Scroll through the pick list until you come to ‘Net1 Out Reg 1’, and then press [ENTER]. This setting will use the
first 16 bits of the possible 64 bits. To use the second set of 16 bits, select ‘Net1 Out Reg 2’, and so on. The
corresponding names of the bits related to the menu pick list items are found in Table 3-21.

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3.9.3 Flags available to the System Program

User programmable:
The interpretation of these bits is programmable through the SOP file. These bits can be programmed to set or reset
any other bits used within the SOP.

Table 3-18. Network 1 Programmable Input Bits (keypad parameter ID 9603-9632)

Pick list variable in ‘Data to Drive Reg nn’ menus Related Drctry.ngn bits
Network1Flag0_I ~
Net Input Flag 1
Network1Flag15_I
Network1Flag16_I ~
Net Input Flag 2

3
Network1Flag31_I
Network1Flag32_I ~
Net Input Flag 3
Network1Flag47_I
Network1Flag48_I ~
Net Input Flag 4
Network1Flag63_I

Table 3-19. Network 2 Programmable Input Bits (keypad parameter ID 9703-9732)

Pick list variable in ‘Data to Drive Reg nn’ menus Related Drctry.ngn bits
Network2Flag0_I ~
Net Input Flag 1
Network2Flag15_I
Network2Flag16_I ~
Net Input Flag 2
Network2Flag31_I
Network2Flag32_I ~
Net Input Flag 3
Network2Flag47_I
Network2Flag48_I ~
Net Input Flag 4
Network2Flag63_I

Table 3-20. Network 1 Programmable Output Bits (keypad parameter ID 9403-9432)

Pick list variable in ‘Data to Drive Reg nn’ menus Related Drctry.ngn bits
Network1Flag0_O ~
Net1 Out Reg 1
Network1Flag15_O
Network1Flag16_O ~
Net1 Out Reg 2
Network1Flag31_O
Network1Flag32_O ~
Net1 Out Reg 3
Network1Flag47_O
Network1Flag48_O ~
Net1 Out Reg 4
Network1Flag63_O

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Table 3-21. Network 2 Programmable Output Bits (keypad parameter ID 9503-9532)

Pick list variable in ‘Data to Drive Reg nn’ menus Related Drctry.ngn bits
Network2Flag0_O ~
Net2 Out Reg 1
Network2Flag15_O
Network2Flag16_O ~
Net2 Out Reg 2
Network2Flag31_O
Network2Flag32_O ~
Net2 Out Reg 3
Network2Flag47_O
Network2Flag48_O ~
Net2 Out Reg 4
Network2Flag63_O

3.9.4 System Program Network Flags

3 Note: Use of status flags in the system program requires a thorough understanding of the system program and
* how it is edited, compiled, and downloaded. Use of system program flags should be limited to only qualified
and experienced individuals.

Table 3-22. Network Run Enable Flags

System Program Variable Description
Network1RunEnable_O This flag must be set TRUE in order for the Drive to be run from network 1.
Network2RunEnable_O This flag must be set TRUE in order for the Drive to be run from network 2.

Table 3-23. Network Status Flags

System Program Variable Description
Network1CommOk_I Indicates that network 1 is active = 1, or inactive/faulted = 0
Network2CommOk_I Indicates that network 2 is active = 1, or inactive/faulted = 0

3.10 Power-up Sequence

The complete power-up sequence is defined below.
1. The NXG Control begins execution by setting up internal processor registers.
2. UCS firmware is downloaded to the DeviceNet DP UCS module.
3. Next, if the DeviceNet DP UCS card is on an active network, the green LED will come on solid green.
(Refer to Table 3-24).
4. At this point, the UCS Network Status LED reflects the state of the DeviceNet DP UCS board on the
DeviceNet DP network.
Note: The Network address must be a non-zero value and a valid DeviceNet DP address (MacId).
* Next, the interface between the DeviceNet DP UCS board and the NXG is opened. The UCS Status LED
turns green.

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3.11 Troubleshooting Network Communications Problems

Table 3-24 lists things to check if network communications seem to be malfunctioning. Checking these items will
solve the majority of problems that may arise.
Table 3-24. Troubleshooting Network Communications Problems
# Things to Check
1 Verify that the UCS module is securely seated onto the Communications board.
Verify that the CAB, UCS/ISA carrier and DeviceNet DP UCS board are properly secured using the mounting
2
hardware.
3 Verify the jumpers BA1 and BA2 have been removed from the DeviceNet DP UCS board.
4 Check for proper wiring connections to the card.

3
5 Check for shorted network wiring.
6 Check for shorted board components.
7 Check network termination resistors.
8 Check LED blink rates (refer to Figure 3-5).
9 Verify Network address is valid (> 0 and < 64) and unique for the network.
10 Verify network wiring and connection.

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3.12 Display Network Monitor Function (Menu ID 9950)

This function allows you to view the values of network registers. It is extremely useful for troubleshooting. As data
is transmitted, and the values of the registers change, the display will automatically and continuously update to reflect
the changes. The direction of data transmission as shown on this screen, is from the drive’s perspective. Therefore,
‘Rx’ is data received into the drive, and ‘Tx’ is data transmitted from the drive.

Format of the register Data direction (3) Register number

value display (1)

3 D NET1 Tx N-Reg:
01 00257 Line 1 data

H NET2 Rx N-Reg:
02 0F1B Line 2 data

Global or non-global register

Network for this register (2) Register value
(4)

Figure 3-5. Diagram of Display Network Monitor Function

1. ‘D’ means decimal format.

‘H’ means hexadecimal format.
2. The drive may be connected to two separate networks.
3. ‘Rx’ means that this is a “Data to Drive” register.
‘Tx’ means that this is a “Data from Drive” register.
4. ‘G’ means a global register.
‘N’ means a non-global register.
The Modbus protocol does not support global registers. Therefore, when working with a Modbus controller,
this field will contain ‘N’ in all of the registers.
5. This two-digit numeric field indicates the number of the register being shown.
‘Tx’ 01-64 are “Data from Drive 01” (parameter ID 9401) through “Data from Drive 64” (parameter ID
9464).
‘Rx’ 01-64 are “Data to Drive 01” (parameter ID 9601) through “Data to Drive 64” (parameter ID 9664).
6. The value of the register. Since the registers all contain 16-bit digital words, they range in value from 0-
65535 (decimal), or 0-FFFF (hexadecimal).
7. Line 1 contains the following information:
The register value is shown in decimal format; the register is in network 1; the register is non-global; the
data is going to the drive; “to drive” register number 1 is showing; its value is 257.
8. Line 2 contains the following information:
The register value is shown in hexadecimal format; the register is in network 2; the register is non-global; to
data is coming from the drive; “from drive” register number 2 is showing; its value is 0xF1B (decimal
equivalent = 3,867).

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Note: The underscores in the picture of the display show possible cursor movement. To move the
* cursor within the display, use the left and right arrow keys. Alphabetic fields are only edited with
only the up and down arrow keys. Numeric fields are edited with either the up and down arrow keys
or the numeric keys. The cursor will move to the beginning of the second line after it reaches the last
possible position on the first line. Likewise, the cursor will move to the beginning of the first line
after it reaches the last possible position on the second line.
Figure 3-6 below represents a display. If you start with the cursor at position A and use the left arrow [←] key
repeatedly, the cursor will move to A, D, C, B, A, etc. If you start with the cursor at position A and use the right
arrow [→] key repeatedly, the cursor will move to A, B, C, D, A, etc.

D D
3
H H

Figure 3-6. Cursor Movement Diagram

∇∇∇

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Ethernet Modbus Communications NXG Communications Manual

CHAPTER

4 Ethernet Modbus Communications

4.1 Introduction
Every Siemens NXG control is shipped with the necessary hardware to support Modbus and Ethernet Modbus
network protocol connectivity. The communications board also supports the AnyBus Ethernet Modbus module.
Connectivity using other network protocols is possible with optional controller cards that plug into the
communication board. This chapter contains instructions of how to control a Siemens VFD over a Ethernet Modbus
network.
This chapter features a fast setup section that will help you to start controlling your Siemens drive with NXG control
via an Ethernet Modbus as quickly as possible. Section 4.2 is short, procedural, and covers a minimum of detail.
Please refer to the other sections for detailed information.
Note that in this chapter, a four-digit number inside of parentheses, i.e. (9403), indicates a parameter ID number for
the keypad on the front of the drive. Press [SHIFT] + [→] to enter this number directly. You do not need to hold down
the [SHIFT] key while you press the [→] key. A numerical value expressed as 0xnn (i.e., 0x12) is being represented
in hexadecimal format. 4
The Modbus control interface specification is an open architecture design. Information on Modbus is available from:
Schneider Automation Inc.
One High Street
North Andover, MA 01845
Tel: (978) 794-0800
Fax: (978) 975-0910
Website: www.modicon.com
The Ethernet Modbus communication interface is based on the TCP/IP protocol. All addressing is based on IP
addresses.
The drive always acts as a Modbus slave. This means that the drive does not initiate dialogue on the Ethernet Modbus
network. Rather, it listens to and then responds to the Ethernet Modbus master.
Currently, only register-based read and write functions of the Modbus protocol are supported by the NXG control.
These functions are used to monitor and control analog and digital inputs and outputs of the drive.
Notes:
* • Users must already be familiar with Modicon’s Modbus protocol specification and terminology. If
additional information is required, please contact Schneider Automation Inc. at the address given
above.
• Only the Remote Terminal Unit (RTU) format of the Modbus protocol is supported by the NXG
control. All requests are sent via register port 502.
NXG control only supports the following function codes:
• Read Holding RegistersFunction code 0x03
• Write Single RegisterFunction code 0x06
• Write Multiple RegistersFunction code 0x10
Each of these supported commands are listed and described in the sections that follow. Each of these commands is
issued by the Modbus master (PLC) and sent over the network (to the Siemens slave[s]).

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4.1.1 AnyBus Ethernet Modbus Module

Notes:
* • AnyBus Ethernet Modbus is for Network 2 only!
• Ethernet Modbus Network 1 utilizes the CPU RJ-45 port.
Figure 4-1 shows the connector and indicators on the AnyBus Ethernet Modbus module. The DIP switches are not
used for the NXG application.

RJ-45
Connector

4
DIP Switches Status
NOT USED Indicators

Figure 4-1. AnyBus Ethernet Modbus Module

4.1.2 Anybus Ethernet Modbus Status Indicators

Figure 4-2 shows the status indicators for run time status and errors. Table 4-1 explains the indications.

Board Edge

Figure 4-2. AnyBus Ethernet Modbus Status Indicators

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Table 4-1. Status Indicator Descriptions

Number from Figure 4-2 Indication State Description

1 Link Present On The module has a link.
Off The module does not sense a link.
2 Network Status Off No power applied to the module.

Green, steady The module is operating correctly.

Green, flashing The module has not been configured.

Red, flashing A minor recoverable fault has been detected.

Red, steady A major internal error has been detected.

Flashing green/red The module is performing a power-on self-test.

The number of established Modbus/TCP connections to the

3 Network status Flashing
module equals the number of flashes.
4 Data Activity Flashing Flash indicates a packet being received or transmitted.

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4.2 Fast Setup

4.2.1 To set up Ethernet Modbus for control using default configuration (Fixed Reg Bits)
The drive can be controlled from a master device using the following simple setup procedure. Using the keypad on
the front of the drive, set ‘Network 1 Type’ (9901) to “Ethernet Modbus”. This setup assumes that there is an existing
working TCP/IP network established. Verify the network settings for Subnet mask, and Gateway address (9320,
9330). The IP address (9310) must be unique for the drive. The default Subnet Mask and Gateway address will work
for most network configurations. Finally, set the ‘Net Control Type’ parameter (9944) to FIXED. This sets the bits at
Modbus address 40065 to have the definitions shown below in 4-24-1. Next, add the following line to the SOP:
Network1RunEnable_O = TRUE; (the semicolon is part of the code). You can now control the drive through the
master device.
Table 4-2. Default meaning of ‘Fixed Reg Bits’
Bit Default Definition
Network1FixedRegBit0_I Run forward
Network1FixedRegBit1_I Run reverse
Network1FixedRegBit2_I Fault reset
Network1FixedRegBit3_I Stop*

4 Network1FixedRegBit4_I
Network1FixedRegBit5_I
Reserved
Start stop control from network
Network1FixedRegBit6_I Speed commanded from network
Network1FixedRegBit7_I
Network1FixedRegBit8_I
Network1FixedRegBit9_I
Network1FixedRegBit10_I
Network1FixedRegBit11_I Reserved for Future
Network1FixedRegBit12_I
Network1FixedRegBit13_I
Network1FixedRegBit14_I
Network1FixedRegBit15_I

To run the motor, the master device must send 0x21 in register 40065. This hexadecimal value sets bit 0 (run) and bit
5 (start/stop control from network). Likewise, to command the motor to stop, the master device must send 0x04 or
0x00 in register 40065.

*Network1FixedRegBit3_I functions as a drive stop control bit only if “Start Stop Control” (9945) is set to “Momentary” —
otherwise this bit is Reserved

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4.2.2 To send a motor speed setting to the drive

To send motor speed settings to the drive, first set the desired speed units that you will be sending (RPM,% or HZ) in
menu (9080). By using Table 4-21 you can see that the master device needs to send the desired speed setting to the
drive in Modbus register 40066. This is a reserved register only used to hold speed settings. Then, send 0x61 in
Modbus register 40065. The motor will accept the master device commanded speed setting.

4.2.3 To control the motor using user defined bits controlled by the SOP
Use the keypad on the front of the drive to set ‘Network 1 Type’ (9901) to “Ethernet Modbus”. This setup assumes
that there is an existing working TCP/IP network established. Verify the network settings for Subnet mask, and
Gateway address (9320, 9330). The IP address (9310) must be unique for the drive. The default Subnet Mask and
Gateway address will work for most network configurations. To enable speed settings from the network, add the
following line to the SOP program file:
RawDemandNetwork1_O = true;
Finally, set the ‘Net Control Type’ parameter (9944) to SOP. To control the motor this way, the drive needs to know
what bits will be used in the SOP program. Two steps are required to do this:
1. Find the bits you want to use by referring to Table 4-3 below, and locate the keypad pick list variable
associated with the bits. By referring to Table 4-21 you can see that the first available data to drive register is
at Modbus address 40067, which corresponds to keypad parameter ID (9603). Using the keypad on the
drive, go to menu item ‘Data To Drive 03’ (9603).
4
2. Select the pick list variable (Net Input Flag 1, Net Input Flag 2, …) from the pick list in the keypad or Tool
suite. Now the corresponding bits (Network1Flag0_I, Network1Flag1_I, etc.) from the drctry.ngn file can be
used in the SOP program as shown below:

;Network1Flag0_I Use bit 0 for Stop bit

;Network1Flag1_I Use bit 1 for Run Forward bit
RunRequest_O = /Network1Flag0_I * Network1Flag1_I;Run drive using bit 1,stop using bit 0

You chose ‘Data to Drive 03’ as your write register; by referring to Table 4-21, you can see that the master device
now needs to send 0x02 in Modbus address 40067 to run the drive, or 0x01 in the same register to stop the drive.
Table 4-3. Sample Programmable Bits*
Pick List Variable Drctry.ngn bits
Network1Flag0_I ~
Net Input Flag 1
Network1Flag15_I
Network1Flag16_I ~
Net Input Flag 2
Network1Flag31_I
Network1Flag32_I ~
Net Input Flag 3
Network1Flag47_I
Network1Flag48_I ~
Net Input Flag 4
Network1Flag63_I

*A complete listing of SOP-programmable bits is found in section 4.9.3.

4.2.4 To monitor drive status and speed feedback

In order to read the data from the drive, no SOP flags are needed. Set ‘Network 1 Type’ (9901) to “Ethernet
Modbus”. This setup assumes that there is an existing working TCP/IP network established. Verify the network
settings for Subnet mask, and Gateway address (9320, 9330). The IP address (9310) must be unique for the drive. The
default Subnet Mask and Gateway address will work for most network configurations. Set Velocity Units (9080) to
desired motor speed units. By referring to Table 4-21, you can see the Modbus addresses needed to read drive status

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and speed feedback from the drive by sending from the master device Modbus are 40001, and 40002 respectively.
The definitions of the status bits, which are always found in Modbus register 40001, are shown below.
Table 4-4. General Status output from the drive
Bit number Meaning in drive control software Value
0 Fault
1 Alarm
2 RunningForward
3 RunningReverse
4 DriveReady
5 StartStopControlFromNetwork
6 SpeedFromNetwork
7 AtSpeedReference
0 = False; 1 = True
8 SpeedInPercent
9 SpeedInRPM
10 SpeedInHz
11 Reserved for future use

4 12
13
Reserved for future use
Reserved for future use
14 Reserved for future use
15 Reserved for future use

See section 4.7 for details on how to read other drive data.

4.3 Remote Capabilities

The Modbus interface to the drive allows remote control and monitoring capability of the drive. Control of the drive
can be through Modbus telegrams sent to the drive working in conjunction with a SOP program. Control capabilities
include run request, stop request, fault reset, stop, reverse speed demand, and others. There are 128 remote user-
programmable software flags that can be monitored and/or set through the system program.
Note that the discrete controls and the user-defined control/feedback flags are configured via the drive’s built-in
system program (provided with each drive).

4.4 Menu Setup Procedures

The Ethernet Modbus interface is built in to all Siemens drives with NXG control. It uses a dedicated Ethernet port
located on the front of the CPU board. In order to configure the Modbus interface, verify the network settings for
Subnet mask, and Gateway address (9320, 9330). The IP address (9310) must be unique for the drive. The default
Subnet Mask and Gateway address will work for most network configurations.
All Modbus setup functions are contained in the Configure Parameters Menu (9902), which is a submenu of the
Communications Menu (9). Access is security controlled at level 7; therefore, you must enter the proper security code
to access these parameters. The menus required for initial setup of the Modbus interface are listed in Section 4.11. For
the correct setup procedure, please refer to section 4.7.
Select menu contents by using pick lists. The Modbus address of each menu item is fixed. For example, for network
1, ‘Data from Drive 01’ (9401) can be read by sending the read register request in address 40001. The menu ‘Data
from Drive 02’ (9402) can be read in address 40002, and so on. The complete address references can be found in
Table 4-21.
The pick lists in the menus contain the most commonly used data variables. If a variable is not found in the lists, you
need to search Appendix B to locate it. If found, use the corresponding data ID number to enter the variable into the
read registers. The procedure for doing this is described in section 4.7.1.

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4.5 Network Interface

The NXG Control is equipped with a high performance 32-bit Ethernet chipset which is fully compliant with IEEE
802.3 100 MBPS CSMA/CD standards. It uses a dedicated standard RJ-45 jack located on the front of the CPU
board. The AnyBus Ethernet Modbus module also uses a standard RJ-45 jack located on the module.

4.5.1 Setting up Ethernet (TCP/IP) communications

The Ethernet communications between a Modbus Ethernet device and the NXG Drive Control Software have two
different configurations. The choice of which configuration to use depends on the site infrastructure. To use the LAN
connection to control one or more drives on an existing network, assign a unique IP address to each drive. Go to each
drive and set the menu items of the “Config Parameters” menu (ID = 9300). The menu items below will need to be
updated based on the settings unique to your network:
Figure 4-3: Net 1 Parameter Configuration Information

Menu item Menu ID Default setting Custom setting

IP Address 9310 172.16.20.16
Subnet mask 9320 255.255.0.0
Gateway mask 9330 172.16.1.1

4
Figure 4-4: Net 2 Parameter Configuration Information

Menu item Menu ID Default setting Custom setting

IP Address 9336 172.16.20.17
Subnet mask 9337 255.255.0.0
Gateway mask 9338 172.17.1.1

4.5.2 Direct connection

The Direct connection is intended for a single Ethernet Modbus device connected to the Drive using a special
Ethernet crossover cable.

Ethernet
NXG Control
Modbus
Device

Crossover cable
and coupler

Figure 4-5. Direct Ethernet Modbus Communications Connection

Items for a single Ethernet direct connection support:

• Crossover patch cable - This allows you to connect directly with the drive without a hub or server. Requires a
coupler (below). Solutions4sure, http://www.solutions4sure.com/, 800.595.9333, supplier no. SOL4

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 NXG Communications Manual Ethernet Modbus Communications

S878311 10/100BT CAT5 XOVER PATCH 3' ORG 88468

S104652 RJ45 MODULAR COUPLER STRT R6G050

NXG Control
Ethernet
HUB
Modbus
Device
NXG Control

Figure 4-6. Network Ethernet Modbus Communications Connection

4 Items for a LAN multiple Drive Ethernet connection support:

• EtherFast 10/100 5 port HUB
GLOBAL COMPUTER SUPPLIES, http://www.globalcomputer.com/eQZ25aqd/, 888.8GL.OBAL
302517Linksys EtherFast 10/100 5pt WKGP Hub EFAH05W
• Ethernet Cat5 Cable
GLOBAL COMPUTER SUPPLIES, http://www.globalcomputer.com/eQZ25aqd/ , 888.8GL.OBAL

ZCC31805XX 25' SNAG-PROOF Ethernet cable Cat5 RJ-45 (xx - choose color)

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4.6 Supported Command Set

The NXG control implements the following Modbus commands:
• Read Holding RegistersFunction code 0x03
• Write Single RegisterFunction code 0x06
• Write Multiple RegistersFunction code 0x10
Each of these supported commands are listed and described in the sections that follow. Each of these commands is
issued by the Modbus master (master device) and sent over the network (to the Siemens slave[s]). The request and
response message prefix for all codes is in Table 4-5.

Table 4-5. Request and Response Message Prefix

Six Byte prefix for messages
Transaction Identifier – copied by server – usually 0
Transaction Identifier – copied by server – usually 0
Protocol Identifier = 0
Protocol Identifier = 0
Length Field (upper byte) = 0 (all messages are less than 256 bytes)
4
Length Field (lower byte) = number of bytes to follow

4.6.1 Read Holding Registers Command (0x03)

The read holding registers command allows the Modbus master to read up to 64 consecutive memory registers from
the drive. A sample read holding register command and its associated response are shown (in hexadecimal) in Figure
4-7. This sample request to read two registers (40005 and 40006) is detailed in Table 4-6. The drive’s read holding
register response is detailed in Table 4-7. Parameter names and their corresponding data ID numbers are listed in
Appendix B.

TX
01 03 00 04 00 02 -- --

RX
01 03 04 04 A5 90 B1 -- --

Figure 4-7. Sample Read Output Registers Command (TX) and Response (RX)

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Table 4-6. Read Output Registers Transmission (TX) from Master

Field Name Value (in Notes
Hex)
Slave Address 0x01 0x01 = 1 decimal
Function 0x03 Read output registers command
Starting Address (High) 0x00
Register number 40005
Starting Address (Low) 0x04
Number of Registers to Read (High) 0x00
Read 2 (0x0002) registers
Number of Registers to Read (Low) 0x02

Table 4-7. Read Output Registers Response (RX) from Drive

Field Name Value (in Actual Scaled Notes
Hex) Result Value
Transaction Identifier 0
Transaction Identifier 0
Protocol Identifier 0
4 Protocol Identifier 0
Length Field (upper byte) 0
#bytes to
Length Field (lower byte)
follow
Slave Address 0x01 N/A N/A 0x01 = 1 decimal
Read output register command
Function 0x03 N/A N/A
code
Byte Count 0x04 N/A N/A 4 bytes in response
Data Value 1 (MSB) 0x04 This register is user high byte of item 1
0x04A5 programmable. See Table
Data Value 1 (LSB) 0xA5 4-21. low byte of item 1

Data Value 2 (MSB) 0x90 This register is user high byte of item 2
0x90B1 programmable. See Table
Data Value 2 (LSB) 0xB1 4-21. low byte of item 2

Note: For responses received from the drive (such as in Table 4-7), the keypad parameter Velocity Units
* (9080) is set to ‘Percent’ by default. Interpreted values (shown in the Scaled Value column of Table 4-7) will
differ if this parameter is configured differently. See Appendix B for all data scaling.

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4.6.2 Write Input Register Command (0x06)

The write input register command allows the Modbus master to write a value to a specified input register in the drive.
A sample write input register command and its associated response are shown (in hexadecimal) in Figure 4-8. This
sample request to write a value to register 40067 is detailed in Table 4-8. The write input register response from the
drive is an echo of the transmission; therefore only one table is shown below. Parameter names are listed in Appendix
B.

TX
01 06 00 42 00 64 -- --

RX
01 06 00 42 00 64 -- --

4
Figure 4-8. Sample Write Input Register Command (TX) and Response (RX)

Table 4-8. Write Input Register Transmission (TX) from Master (same as (RX) Echo Response from Drive)
Field Name Value (in Notes
Hex)
Slave Address 0x01 0x01 = 1 decimal
Function 0x06 Write input register command
Register Address (High) 0x00
register no. 40067
Register Address (Low) 0x42
Preset Data (High) 0x00
Value = 100
Preset Data (Low) 0x64

4.6.3 Write Multiple Input Registers Command (0x10)

The write multiple input registers command allows the Modbus master to write up to 64 values (in a single command)
to multiple input registers in the drive. A sample request to write to two registers is shown with the associated
response (in hexadecimal) in Figure 4-9. The sample request is detailed in Table 4-9. The associated response is
detailed in Table 4-10. Parameter names and descriptions are listed in Appendix B.

TX
01 10 00 43 00 02 04 00 64 24 E3 -- --

RX
01 10 00 43 00 02 -- --

Figure 4-9. Sample Write Multiple Input Registers Command (TX) and Response (RX)

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Table 4-9. Write Multiple Input Registers Transmission (TX) from Master
Field Name Value (in Hex) Notes
Slave Address 0x01 0x01 = 1 decimal
Function 0x10 Write multiple input registers command
Starting Address (High) 0x00
Register number 40068
Starting Address (Low) 0x43
No. Registers (High) 0x00
Write to 0x0002 (2) registers
No. Registers (Low) 0x02
Byte Count 0x04 4 bytes total
Preset Data 1 (High) 0x00
Value = 0x0064 (100 decimal)
Preset Data 1 (Low) 0x64
Preset Data 2 (High) 0x24
Value = 0x24E3 (9443 decimal)
Preset Data 2 (Low) 0xE3

Table 4-10. Write Multiple Input Registers Response (RX) from Drive

4 Slave Address
Field Name Value (in Hex)
0x01 0x01 = 1 decimal
Notes

Function 0x10 Write multiple input registers command

Starting Address (High) 0x00
Register number 40068
Starting Address (Low) 0x43
No. Registers (High) 0x00
Write to 0x0002 (2) registers
No. Registers (Low) 0x02

4.7 Setup Procedure

Use the keypad on the front of the drive to select a network protocol:
1. Using the keypad, enter Network 1 Type (parameter ID 9901), scroll to Ethernet Modbus, then press
[ENTER]. The Modbus configuration parameters will be viewable.
2. Select the Velocity Units (9080). This sets the units for motor commanded speed, and motor feedback speed
scaling.
3. If needed, set the Demand Scalar (9912) to n*command speed where –125n125
4. Set the Aux Demand Scalar (9913) if used
5. Use Table 4-21 to program the drive to send data to and receive commands from available Modbus
addresses. Each Modbus address from 40001 through 40128 corresponds with a keypad parameter ID,
which will be used to tell the drive what data to send to, or what commands to receive from a particular
Modbus address. Note that four such addresses are already programmed, giving the drive basic send and
receive functionality. The data in these addresses are not changeable.
6. The definition of the bits in the available Modbus addresses may be entered from a choice of pick list
variables in the keypad menus, or custom programmed using the drive’s SOP program. See Section 4.9 for
details.

Note: If you are unfamiliar with drive system programming, you will need to refer to the System
* Programming chapter in your drive’s manual.

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Please note that your master device can receive data from the drive without any changes to the SOP program. Only if
you need to control the drive through the Modbus network, will you need to set any flags in the SOP program.
If you need to control the drive through a Modbus network (or any other type of network), then you will need, at an
absolute minimum, the following network control flag to appear in the source code of the SOP program:
Network1RunEnable_O = TRUE;
In order to be able to control a drive through a network, by sending commands to it, first ensure that the drive’s SOP
file contains the line of code mentioned above. Note that the semicolon is part of the code. If you would like to
control the drive through a second network, then your SOP program must also contain this line:
Network2RunEnable_O = TRUE;
After ensuring that the SOP file has the necessary code to enable control of the drive over a network, you will need to
change some of the drive’s control parameters using the keypad on the front of the drive.

4.7.1 A Practical Setup Example

A customer needs to process four drive outputs on his/her master device. These are status, motor speed, power, and
number of active faults. The customer would like to set Modbus master device register 40001 to indicate drive
general status. In order to program a register, refer to Table 4-21 to see if it is programmable. Register 40001 is not
changeable; a change is neither necessary nor possible. It is already permanently set to indicate general status. This
customer wants to set master device register 40002 to indicate motor speed. This register is also not changeable. It is 4
permanently set to indicate motor speed. Table 4-11 shows some hypothetical desired settings for Modbus addresses
Table 4-11. Hypothetical Desired Address Settings
Master device Modbus Register Data Scaling
40001(not changeable) General Status 16 bits
40002 (not changeable) Motor Speed RPM
40003 Output Power kW
40004 Number of faults 0 – 128

The customer wants to set register 40003 to indicate output power. Table 4-21 indicates that this address is
programmable. Use Table 4-21 to determine the necessary parameter ID. Enter parameter ID 9403 (Data from drive
03) using the keypad on the front of the drive. Choose “output power” from the pick list.

The customer wants to set register 40004 to indicate number of active faults. Enter parameter ID 9404 (Data from
drive 04) using the keypad on the front of the drive. Scroll through the pick list to find “number of active faults”. Note
that “number of active faults” is not a choice in the pick list. Therefore, it needs to be specified manually. Refer to
Table 4-23 for a list of data from drive pick list variables. Since “number of active faults” is not a choice in the pick
list, choose “Man Id” from the pick list. Find “number of active faults” in Appendix B, and look for its data ID
number. Its data ID number is 3000. Note that the data ID number is not the same as a parameter ID number. “ManId-
0000” will be shown on display. Use arrows or number keys to enter 3000, and press [ENTER]. The display should
show “Man Id-3000”. If the data ID number could not be found, the error message “Invalid Id Entered” will be
displayed. Ensure that the data ID is correct. Now the number of active faults will appear at register 40004 on the
master device.

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An example of how the master device interacts with the drive to read information is given below.

TX
01 03 00 03 00 01 -- --

RX
01 03 02 00 00 -- --

Figure 4-10. Sample Read Output Registers Command (TX) and Response (RX)

Table 4-12. Read Output Registers Transmission (TX) from Master

Field Name Value (in Hex) Notes
Slave Address 0x01 0x01 = 1 decimal

4
Function 0x03 Read output registers command
Starting Address (High) 0x00
Register number 40004
Starting Address (Low) 0x03
Number of Registers to Read (High) 0x00
Read 1 (0x0001) register
Number of Registers to Read (Low) 0x01

Table 4-13. Read Output Registers Response (RX) from Drive

Field Name Value (in Hex) Actual Result Scaled Notes
Value
Slave Address 0x01 N/A N/A 0x01 = 1 decimal
Read output register command
Function 0x03 N/A N/A
code
Byte Count 0x02 N/A N/A 2 bytes in response
Data Value 1 (MSB) 0x00 Programmable by user in high byte of item 1
0x0000 this register. See Table 4-
Data Value 1 (LSB) 0x00 21. low byte of item 1

4.8 Drive Control Defaults

To control the drive using its default configuration, you need to send commands to its Fixed Reg Bits location. Refer
to Table 4-21 to see the location of the ‘Fixed Reg Bits’. The drive’s default interpretation of the Fixed Reg Bits is
non-programmable and controlled by the drive’s control software. To ensure that the drive is set to its default setting,
use the keypad on the front of the drive to set parameter (9944) to ‘FIXED’. This is the default configuration. Using
the default configuration, the Fixed Reg Bits are interpreted as shown in Table 4-14. Note that these particular
drctry.ngn bits are always located at Modbus address 40065 whether the default configuration is used or not. In order
to redefine the bits at this address, refer to Section 4.8.2.

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Table 4-14. If ‘Net Control Type’ is set to FIXED (default command configuration):
Bit Default Definition
Network1FixedRegBit0_I Run forward
Network1FixedRegBit1_I Run reverse
Network1FixedRegBit2_I Fault reset
Network1FixedRegBit3_I Stop*
Network1FixedRegBit4_I reserved
Network1FixedRegBit5_I Start stop control from network
Network1FixedRegBit6_I Speed commanded from network
Network1FixedRegBit7_I
Network1FixedRegBit8_I
Network1FixedRegBit9_I
Network1FixedRegBit10_I
Network1FixedRegBit11_I Reserved for future use
Network1FixedRegBit12_I
Network1FixedRegBit13_I
Network1FixedRegBit14_I
Network1FixedRegBit15_I
4

*Network1FixedRegBit3_I functions as a drive stop control bit only if “Start Stop Control” (9945) is set to “Momentary” —
otherwise this bit is Reserved

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4.8.1 Status Output

To read drive status data, you need to read the General Status register as found in Table 4-21. The drive’s status
output is shown below in Table 4-15. These status bits are always located at Modbus address 40001.
Table 4-15. General Status output from the drive
Bit number Meaning in drive control software Value
0 Fault
1 Alarm
2 RunningForward
3 RunningReverse
4 DriveReady
5 StartStopControlFromNetwork
6 SpeedFromNetwork
7 AtSpeedReference
0 = False; 1 = True
8 SpeedInPercent
9 SpeedInRPM

4
10 SpeedInHz
11 Not used
12 Not used
13 Not used
14 Not used
15 Not used

Note: The default output bit interpretation can NOT be reprogrammed.

*
4.8.2 Running the drive using non-default settings
The drive can be run in a non-default manner by reprogramming the ‘Fixed Reg Bits’ register. As seen in Table 4-21,
the location is fixed at 40065. However, the definition of the bits can be reprogrammed. To change the interpretation
of the control bits in Modbus register 40065, use the following procedure:
By setting menu parameter 9944 (Net Control Type) to ‘SOP’, each bit from the ‘Fixed Reg Bits’ word can be used in
any desired manner, such as shown below. In order to make the definition of the ‘Fixed Reg Bits’ in Modbus address
40065 programmable, use the drive’s keypad to set parameter 9944 (Net Control Type) to ‘SOP’. The source code
below shows how to use the SOP program to trip the input medium voltage when ‘1’ is sent to
Network1FixedRegBit9 in Modbus register 40065.
;ExternalDigitalOutput01h_O Use digital output to trip input medium Voltage
ExternalDigitalOutput01h_O = Network1FixedRegBit9_I;

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4.9 User Programming via the SOP

4.9.1 Inputs to the drive (64 bits)
There are 64 input bits available for user programming. Use Table 4-21 to find the location of the first ‘Reg to Drive’
register which is programmable. Please note which network 1 keypad parameter ID corresponds to that Modbus
address. The table reveals the first programmable data to drive Modbus address to be 40067, and that its
corresponding keypad parameter ID for network 1 is 9603. Go to the keypad on the front of the drive and enter
parameter 9603. You will see a pick list, the first item of which is ‘None’. See Table 4-22 for a list of possible pick
list choices for input to drive data. Scroll through the pick list until you come to ‘Net Input Flag 1’, and then press
[ENTER]. This setting will use the first 16 bits of the possible 64 bits. To use the second set of 16 bits, select ‘Net
Input Flag 2’, and so on. The corresponding names of the bits related to the menu pick list items are found in
Table 4-17.
This example shows how to use the Modbus network to trip the input medium voltage. In this example, our master
device will be writing to Modbus register 40067, which we programmed to Net Input Flag 1. We will use the SOP
program to set a flag bit that will use digital output to trip input medium voltage. The master device will write the
contents of ‘Net Input Flag 1’, bit 9 (Network1Flag9_I) to create an input medium voltage trip. The SOP source code
is shown below:
;ExternalDigitalOutput01h_O Use digital output to trip input medium voltage
ExternalDigitalOutput01h_O = Network1Flag9_I; 4
4.9.2 Outputs from the drive (64 bits)
There are 64 output bits available for user programming. Use Table 4-21 to find the location of the first ‘Reg From
Drive’ register that is programmable. Please note which network 1 keypad parameter ID corresponds to that Modbus
address. The table reveals the first programmable data from drive Modbus address to be 40003, and that its
corresponding keypad parameter ID for network 1 is 9403. Go to the keypad on the front of the drive and enter
parameter 9403. You will see a pick list, the first item of which is ‘None’. See Table 4-23 for a list of possible pick
list choices for output from drive data. Scroll through the pick list until you come to ‘Net1 Out Reg 1’, and then press
[ENTER]. This setting will use the first 16 bits of the possible 64 bits. To use the second set of 16 bits, select ‘Net1
Out Reg 2’, and so on. The corresponding names of the bits related to the menu pick list items are found in
Table 4-19.
This example shows how to use the Modbus network to detect a trip on the input medium voltage. In this example,
our master device will be reading Modbus register 40003, which we programmed to ‘Net1 Out Reg 1’. We will use
the SOP program to set a flag bit that corresponds to a medium voltage low fault. We will use bit 9 of ‘Net1 Out Reg
1’, which is Network1Flag9_O, to set the network flag true if the medium voltage low fault is active. The master
device will read the contents of Net 1 Out Reg 1, bit 9 (Network1Flag9_O) to determine if a medium voltage fault
occurred. The SOP source code is shown below:
; Monitor medium voltage fault on the Modbus network
Network1Flag9_O = MediumVoltageLowFault_I;

4.9.3 Flags available to the SOP program

Net Control Type Default:

The drive’s interpretation of the bits in Table 4-16 is fixed by the drive’s control software unless you set parameter
9944 (Net Control Type) to ‘SOP’. To change the default interpretation of these bits, see Section 4.8.2.

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Table 4-16. Relationship of ‘Fixed Reg Bits’ to Keypad Menus and drctry.ngn Bits (programmable bits
available for use in the SOP)

Pick list variable in ‘Data to Drive Reg Related Drctry.ngn bits Modbus Register Address
nn’ menus
Network1FixedRegBit0_I ~
Fixed Reg Bits (network 1) 40065 or 41025
Network1FixedRegBit15_I
Network2FixedRegBit0_I ~
Fixed Reg Bits (network 2) 41025
Network2FixedRegBit15_I

User programmable:

The interpretation of these bits is programmable through the SOP file. These bits can be programmed to set or reset
any other bits used within the SOP.

Table 4-17. Network 1 Programmable Input Bits (keypad parameter ID 9603-9664)

4 Pick list variable in ‘Data to Drive Reg nn’ menus

Net Input Flag 1

Network1Flag0_I ~
Related Drctry.ngn bits

Network1Flag15_I
Network1Flag16_I ~
Net Input Flag 2
Network1Flag31_I
Network1Flag32_I ~
Net Input Flag 3
Network1Flag47_I
Network1Flag48_I ~
Net Input Flag 4
Network1Flag63_I

Table 4-18. Network 2 Programmable Input Bits (keypad parameter ID 9703-9764)

Pick list variable in ‘Data to Drive Reg nn’ menus Related Drctry.ngn bits
Network2Flag0_I ~
Net Input Flag 1
Network2Flag15_I
Network2Flag16_I ~
Net Input Flag 2
Network2Flag31_I
Network2Flag32_I ~
Net Input Flag 3
Network2Flag47_I
Network2Flag48_I ~
Net Input Flag 4
Network2Flag63_I

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Table 4-19. Network 1 Programmable Bits (keypad parameter ID 9403-9464)

Pick list variable in ‘Data to Drive Reg nn’ menus Related Drctry.ngn bits
Network1Flag0_O ~
Net1 Out Reg 1
Network1Flag15_O
Network1Flag16_O ~
Net1 Out Reg 2
Network1Flag31_O
Network1Flag32_O ~
Net1 Out Reg 3
Network1Flag47_O
Network1Flag48_O ~
Net1 Out Reg 4
Network1Flag63_O

Table 4-20. Network 2 Programmable Output Bits (keypad parameter ID 9503-9564)

Pick list variable in ‘Data to Drive Reg nn’ menus Related Drctry.ngn bits
Network2Flag0_O ~
Net2 Out Reg 1
Network2Flag15_O
Network2Flag16_O ~
Net2 Out Reg 2
Network2Flag31_O

Net2 Out Reg 3

Network2Flag32_O ~
Network2Flag47_O
4
Network2Flag48_O ~
Net2 Out Reg 4
Network2Flag63_O

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4.10 Ethernet Modbus Address and Keypad Pick List Tables

Table 4-21. Correspondence Between Drive Parameter ID and Ethernet Modbus Address
Network Drive Parameter ID Description Default Contents Modbus Addressesb
Numbersa
General Status
1 9401 Data From Drivec (not changeable)
40001

Motor Speed
1 9402 Data From Drive 40002
(not changeable)
1 9403 - 9464 Data From Drive None 40003-40064
Fixed Reg Bits
1 9601 Data To Drived (not changeable)
40065 or 41025

Velocity Demand
1 9602 Data To Drive 40066 or 41026
(not changeable)
40067 - 40128 or
1 9603 - 9664 Data To Drive None
41027 - 41088
General Status
2 9501 Data From Drive 40001
(not changeable)

4 2 9502 Data From Drive

Motor Speed
(not changeable)
40002

2 9503 - 9564 Data From Drive None 40003 - 40064

Fixed Reg Bits
2 9701 Data To Drive 41025
(not changeable)
Velocity Demand
2 9702 Data To Drive 41026
(not changeable)
2 9703 - 9764 Data To Drive None 41027 - 41088

a. Drive Parameter ID Number—the number to enter using the keypad on the front of the drive.
b. Modbus Addresses—digital locations provided by the Modbus Protocol which store values for use by the
master (master device) and slave (Siemens drive) devices. In order to establish functional communication
between the master device and the drive, the control software in the drive needs to “know” what to use cer-
tain addresses for. That is the key to configuring the drive’s Modbus connection.
c. Data from drive—data that the master device will receive from the drive in order to determine how the
drive is functioning. Each register contains a 16-bit digital representation of the status of a particular aspect
of the drive’s functioning. Some registers are fixed to track certain drive functions; others are programmable
to track any of a number of drive status choices.
d. Data to drive—data that the master device will send to the drive in order to control it. Each register con-
tains a 16-bit digital representation of the master device’s command for a particular aspect of the drive’s
functioning. Some registers are fixed to control certain functions; others are programmable to control any of
a number of drive function choices.
Network 1 Data to drive may use either listed register range. Both ranges are equivalent. Two ranges are
available to be compatible with the AnyBus module on Network 2 and remain backward compatible with
the older Ethernet Modbus implementation.

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Table 4-22. Ethernet Modbus Communications Data To Drive Pick List Variables

Name Name
None MUX 3 ID
Fixed Reg Bits MUX 4 ID
Velocity Demand MUX 5 ID
Auxiliary Demand MUX 6 ID
Net Input Flag 1 MUX 7 ID
Net Input Flag 2 MUX 8 ID
Net Input Flag 3 PTD1
Net Input Flag 4 PTD2
Ratio PTD3
Forward Max Lim PTD4
Reverse Max Lim Parallel Cmd 1
Forward Acc Time Torque Demand
Forward Dec Time PVCL Demand
Reverse Acc Time Flux Demand
Reverse Dec Time
Net Input Pulse
Node Count
Node Index
4
Forward Min Lim Torque Acc Time
Reverse Min Lim Torque Dec Time
Torque Limit Torque Offset
MUX 1 ID Torque Scalar
MUX 2 ID Vars Command

Table 4-23. Ethernet Modbus Communications Data From Drive Pick List Variables

Drive Pick List Variables

None Net1 Out Reg 3 Mux1 Echo Wago Inputs 33-48
Man Id Net1 Out Reg 4 Mux1 Data Wago Inputs 49-64
General Status Net2 Out Reg 1 Mux2 Echo Wago Inputs 65-80
Motor Voltage Net2 Out Reg 2 Mux2 Data Wago Inputs 81-96
Total Current Net2 Out Reg 3 Mux3 Echo Wago Outputs 1-16
Output Power Net2 Out Reg 4 Mux3 Data Wago Outputs 17-32
Motor Speed Torque Current Mux4 Echo Wago Outputs 33-48
Speed Demand Magnetizing Cur Mux4 Data Wago Outputs 49-64
Speed Reference Motor Flux Mux5 Data PFD1
Heartbeat Motor Torque Mux6 Echo PFD2
Drive State Flux Reference Mux6 Data PFD3
Inp RMS Current Input Voltage Mux7 Echo PFD4
Input Frequency Inp Power Factor Mux7 Data Drive Losses
Input Power Avg Input KVars Mux8 Echo Speed Droop Percent
Net1 Out Reg 1 Max Available Output Volts Mux8 Data Sync Motor Field Ref
Net1 Out Reg 2 Hottest Cell Temp Wago Inputs 1-16 Avail reactive Current
Wago Inputs 17-32 Drive Efficiency

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4.11 Menu Parameter Tables

Table 4-24. Network 1 Configure Menu (9900)
Parameter ID Units Default Min Max Description
Designates the type of external network
connected to the drive.
• None
• Modbus
Network 1 • DeviceNet
9901 None
Type • Profibus
• Modbus Plus
• Ethernet Modbus
• Data Highway +
• ControlNet

Table 4-25. Network 1 Configure Parameters Menu (9902)

Parameter ID Units Default Min Max Description
4 Designates the units for velocity values
from the drive.

Velocity Units 9080 %

RPM
Hz
Scalar for input demand reference from
Demand Scalar 9912 1 -125 125
the network.
Aux Demand Auxiliary scalar for input demand
9913 1 -125 125
Scalar reference from the network.
Network Timeout for network to be determined
9934 0
Timeout non-responsive.
IP Address 9936 172.16.20.17 TCP/IP address on Ethernet
Subnet mask 9937 255.255.0.0 TCP/IP subnet mask
Gateway
9938 172.16.1.1 TCP/IP gateway address
Address

Table 4-26. Register Data To Drive Menu (9600)

Parameter ID Units Default Min Max Description
Register data to drive
Data To Drive Reg Fixed Reg parameter 1. This
9601
01 Bits register is not
programmable.
Register data to drive
Data To Drive Reg Velocity parameter 2. This
9602
02 Demand register is not
programmable.
Register data to drive
Data to Drive Reg 9603- parameters 3-64. These
None
03-64 9664 registers are
programmable.

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Table 4-27. Register Data From Drive Menu (9400)

Parameter ID Units Default Min Max Description
Register data from drive
Data From Drive General parameter 1. This
9401
01 Status register is not
programmable
Register data from drive
Data From Drive parameter 2. This
9402 Motor Speed
02 register is not
programmable.
Register data from drive
Data From Drive parameters 3-64. These
9403-9464 None
03-64 registers are
programmable.

Table 4-28. TCP/IP Setup Menu (9300)

Parameter ID Units Default Min Max Description
IP Address 9310 172.16.20.16 System TCP/IP Address

Subnet Mask 9320 255.255.0.0

System TCP/IP Subnet
Mask
4
Gateway System TCP/IP
9330 172.16.1.1
Address Gateway Address

Table 4-29. Register Data To Drive Menu (9600)

Parameter ID Units Default Min Max Description
Register data to drive
Data To Drive Reg Fixed Reg parameter 1. This
9601
01 Bits register is not
programmable.
Register data to drive
Data To Drive Reg Velocity parameter 2. This
9602
02 Demand register is not
programmable.
Register data to drive
Data to Drive Reg 9603- parameters 3-64. These
None
03-64 9664 registers are
programmable.

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Table 4-30. Network 2 Configure Menu (9914)

Parameter ID Units Default Min Max Description
Designates the type of external network
connected to the drive.
• None
• Modbus
• DeviceNet
Network 2 Type 9915 None
• Profibus
• Modbus Plus
• Ethernet Modbus
• Data Highway +
• ControlNet

Table 4-31. Network 2 Configure Parameters Menu (9916)

Parameter ID Units Default Min Max Description
Designates the units for velocity values

4
from the drive.

Velocity Units 9924 %

RPM
Hz
Scalar for input demand reference from
Demand Scalar 9926 1 -125 125
the network.
Aux Demand Auxiliary scalar for input demand
9927 1 -125 125
Scalar reference from the network.
Network Timeout for network to be determined
9935 0
Timeout non-responsive.
IP Address 9936 172.16.20.17 TCP/IP address on Ethernet
Subnet mask 9937 255.255.0.0 TCP/IP subnet mask
Gateway
9938 172.16.1.1 TCP/IP gateway address
Address

Table 4-32. Network 2 Register Data From Drive Menu (9500)

Parameter ID Units Default Min Max Description
Register data from drive
Data From Drive General parameter 1. This
9501
01 Status register is not
programmable
Register data from drive
Data From Drive parameter 2. This
9502 Motor Speed
02 register is not
programmable.
Register data from drive
Data From Drive parameters 3-64. These
9503-9564 None
03-64 registers are
programmable.

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Table 4-33. Network 2 Register Data To Drive Menu (9700)

Parameter ID Units Default Min Max Description
Register data to drive
Data To Drive Fixed Reg parameter 1. This
9701
Reg 01 Bits register is not
programmable.
Register data to drive
Data To Drive Velocity parameter 2. This
9702
Reg 02 Demand register is not
programmable.
Register data to drive
Data to Drive parameters 3-64. These
9703-9764 None
Reg 03-64 registers are
programmable.

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4.12 Display Network Monitor Function (Parameter ID 9950)

This function allows you to view the values of network registers. It is extremely useful for troubleshooting. As data is
transmitted, and the values of the registers change, the display will automatically and continuously update to reflect
the changes. The direction of data transmission as shown on this screen, is from the drive’s perspective. Therefore,
‘Rx’ is data received into the drive, and ‘Tx’ is data transmitted from the drive.

Format of the register Data direction (3) Register number

value display (1)

D NET1 Tx N-Reg:
01 00257 Line 1 data

H NET2 Rx N-Reg:
02 0F1B Line 2 data

4 Global or non-global register

Network for this register (2) Register value
(4)

Figure 4-11. Diagram of Display Network Monitor Function

1. ‘D’ means decimal format.

‘H’ means hexadecimal format.
2. The drive may be connected to two separate networks.
3. ‘Rx’ means that this is a “Data to Drive” register.
‘Tx’ means that this is a “Data from Drive” register.
4. ‘G’ means a global register.
‘N’ means a non-global register.
The Modbus protocol does not support global registers. Therefore, when working with a Modbus controller,
this field will contain ‘N’ in all of the registers.
5. This two-digit numeric field indicates the number of the register being shown.
‘Tx’ 01-64 are “Data from Drive 01” (parameter ID 9401) through “Data from Drive 64” (parameter ID
9464).
‘Rx’ 01-64 are “Data to Drive 01” (parameter ID 9601) through “Data to Drive 64” (parameter ID 9664).
6. The value of the register. Since the registers all contain 16-bit digital words, they range in value from 0-
65535 (decimal), or 0-FFFF (hexadecimal).
7. Line 1 contains the following information:
The register value is shown in decimal format; the register is in network 1; the register is non-global; the
data is going to the drive; “to drive” register number 1 is showing; its value is 257.
8. Line 2 contains the following information:
The register value is shown in hexadecimal format; the register is in network 2; the register is non-global; to
data is coming from the drive; “from drive” register number 2 is showing; its value is 0xF1B (decimal
equivalent = 3,867).

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Note: The underscores in the picture of the display show possible cursor movement. To move the
* cursor within the display, use the left and right arrow keys. Alphabetic fields are only edited with
only the up and down arrow keys. Numeric fields are edited with either the up and down arrow keys
or the numeric keys. The cursor will move to the beginning of the second line after it reaches the last
possible position on the first line. Likewise, the cursor will move to the beginning of the first line
after it reaches the last possible position on the second line.

below represents a display. If you start with the cursor at position A and use the left arrow [←] key repeatedly, the
cursor will move to A, D, C, B, A, etc. If you start with the cursor at position A and use the right arrow [→] key
repeatedly, the cursor will move to A, B, C, D, A, etc.

D D
H H
4
Figure 4-12. Cursor Movement Diagram

∇∇∇

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CHAPTER

5 Modbus Plus Communications

5.1 Introduction
Modbus Plus is a local area network system that provides programmable controllers, host computers and other devices the
ability to communicate with each other. Up to 64 addressable nodes are possible communicating at a data transfer rate of
1 million bits per second. The interface cable is a multidrop shielded twisted pair with terminating connectors at each end.
Each node connects to the cable using a special 9 pin D type connector. Each section of cable can be up to 1500 feet long
and can support 32 nodes. Repeaters are available to connect multiple cables to extend the LAN to a maximum distance
between any two nodes to 6000 feet. A device called a Modbus Plus Bridge can be used to interconnect local networks.
The protocol permits communications across 5 bridges although using a host device such as the SA85 lowers this to 4
bridges. The electrical interface uses magnetic coupling to eliminate ground loops between nodes.
The LAN uses a token passing scheme to schedule data transactions. The current holder of an imaginary "token" is the
current bus master, being able to perform his bus work while he retains the "token". Once his work is complete, he will
"pass the token" to the next known higher address device on the bus. An active node table is maintained by each device on
the bus. Point to point transactions are acknowledged by the cooperating nodes. One complete cycle of the token to all
nodes is termed "token rotation time". Each node can place up to 32 words of global data onto the bus during its token
pass. This data is "listened to" and immediately captured by each of the other nodes as global data. The update rate for
global data from each node is a single token rotation time. Global data transactions are limited to the local network and are
not passed through Modbus Plus Bridges. The token rotation time is a function of several factors. An equation to
approximate the token rotation time is as follows:
TR = (2.08 + 0.016 * DMW) * DMP + (0.19 + 0.016 * GDW) * GDN + 0.53 * N
5
where:
TR = Token Rotation time in milliseconds
DMW = average number of Words per Data Master Path used in the network
DMP = Number of Data Master Paths continuously used in the network
GDW = Average number of Global Data Words per message used
in the network
GDN = Number of Nodes with Global Data transmitted in the network
N = Number of Nodes in the network

Note that in this chapter, a four-digit number inside of parentheses, i.e. (9403), indicates a parameter ID number for
the keypad on the front of the drive. Press [SHIFT] + [→] to enter this number directly. You do not need to hold
down the [SHIFT] key while you press the [→] key. A numerical value expressed as 0xnn (i.e., 0x12) is being
represented in hexadecimal format.

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Refer to the following publications for further information about the Modbus Plus network and other network related
products.
840 USE 100 00 Modicon Quantum Automation Series Hardware Reference Guide
840 USE 101 00 Modicon Ladder Logic Block Library User Guide
840 USE 104 00 Modicon Modbus Plus Network I/O Servicing Guide
890 USE 102 00 Modicon IBM Host Based devices User’s Guide
890 USE 103 00 Modicon Modbus Plus Network BM85 Bridge Multiplexer User’s Guide
GM-HBDS-002 Modicon DEC Host Based Devices User’s Guide
PI-MBUS-300 Modicon Modbus Protocol Reference Guide
More information on Modbus Plus is available from:
Schneider Automation Inc.
One High Street
North Andover, MA 01845
Tel: (978) 794-0800
Fax: (978) 975-0910
Website: www.modicon.com
The network bus consists of twisted-pair shielded cable that is run in a direct pat between successive nodes. The two
data lines in the cable are no sensitive to polarity. For more detailed wiring diagram see Modicon manual
890USE10000.

5
The drive always acts as a Modbus Plus slave in master-slave configurations. If you want to have drive to drive
communications, utilize the global data transfer methods as described in this document.
The communication board supports both UCS Modbus Plus modules and Anybus Modbus Plus modules.

5.2 UCS Modbus Plus Module

Figure 5-1 shows the connector and status indicators on the UCS Modbus Plus module

Status
Indicators

Modbus Plus
D-Sub Connector

Figure 5-1. UCS Modbus Plus Module

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5.2.1 UCS and AnyBus Modbus Plus Connector

The connector is a D-Sub Female connector. The pin assignments are shown in Figure 5-2.

Pin 1-Cable Shield

Pin 2-MBP Line B
Pin 3-MBP Line A
Housing-PE

Figure 5-2. Pin Assignments for Modbus Plus Connector.

5.2.2 UCS Modbus Plus Status Indicators

Figure 5-3 shows the status indicators. Table 5-1 describes the LED states.

UCS Status 1

Network Status 2
Board Edge

Figure 5-3. Status Indicators

5
Table 5-1. Status Indicator Descriptions

Number from Indication State Description

Figure 5-3
1 UCS Status Off No power or hard/soft reset asserted.
Recoverable configuration fault (invalid firmware, OEM data,
Red, Flashing
or personality data).
Red Hardware error or fatal runtime error.
Green, flashing No errors, data exchange interface is not open
Green No errors, data exchange interface is active.
Amber (red/green) Configuration mode.
2 Network Status The LED is controlled by the Modicon firmware running on
the peer processor according to Modicon Modbus Plus
Network Developer’s Manual, © 1991 Modicon, Inc.

5.3 AnyBus Modbus Plus Module

The AnyBus-S module for Modbus Plus is a host device. This host device can be read and written to from another
Modbus Plus host device or controller. The AnyBus-S module for Modbus Plus will not initiate any point-to-point
communication to other nodes, it will only respond to commands. However, it can broadcast global data to all nodes
on the network.
Figure 5-4 shows the AnyBus Modbus Plus module.

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 Modbus Plus Communications

Status
Modbus Plus Switches
Indicators
D-Sub Connector NOT USED

Figure 5-4. AnyBus Modbus Plus Module

5.3.1 AnyBus Modbus Plus Connector

See Figure 5-2.

5.3.2 AnyBus Modbus Plus Status Indicators

Figure 5-5 shows the status indicators for run time status and errors. Table 5-1 explains the indications.

5
Not Used 1 2 Error

MBP Init 4 3 MBP Active

Board Edge

Figure 5-5. AnyBus Modbus Plus Indicators

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Table 5-2. Status Indicator Descriptions

Number from Indication State Description

Figure 5-5
1 Not Used — —
2 Error Red, steady Error in communication.

Flash on 80 ms, off

Operation is normal.
80 ms

Flash every 1 s MONITOR_OFFLINE state.

2 flashes; on 160
MAC_IDLE never-getting-token state.
ms, off 480 ms
3 MBP Active
3 flashes; on 160
ms, off 240 ms, Not sensing an other nodes.
then off 1.6 s

4 flashes; on 160
ms, off 240 ms, Detecting duplicate node addresses
then off 1.2 s

4 MBP Init Green, steady Peer interface is initialized.

5.3.3 AnyBus Modbus Plus Protocol and Supported Functions

The AnyBus-S Modbus Plus has two ways of exchanging data. The first method is Global Data that uses a fast cyclic
I/O. The second method is a somewhat slower protocol for point-to-point parameter data transfer.
The maximum Global Data is 32 16-bit words on the bus, with the ability to set an offset within the Source node 5
Global Data. The point-to-point data transfer is handled by using one of the following Modbus functions: Read
holding Registers, Preset Single Register, or Preset multiple Registers (40,000 registers).

5.4 Fast Setup

5.4.1 Select default control registers to be global or non-global type
If you are using global data, you must set the ‘Global Receive Address’ which is the address of the node that is to
control the drive. Use menu (9909) for network #1, (9923) for network #2. The drive will be using the global data that
originated from this address. If you are not using global data, you do not need to input a global receive address.
To use global registers for your application, you must set the Modbus Plus mode to ‘Reg / Glob data’, as is described
below. None of the global registers will be displayed until this menu (9942) for network #1 and (9941) for network #2
is set.
There are two sets of registers: global and non-global type. Both the global and non-global sets have two fixed
registers for command and speed control of the drive as well as two fixed registers to monitor control and speed of the
drive as described in more detail below and can be found in Table 5-14. To set the source of these registers, go to
‘Modbus Plus Mode’ menu (9942) for network #1, (9941) for network #2. Select ‘Reg / Glob data’ if you want the
control to come from the global registers. Select ‘Reg data only’ if you want the control to be read out of the non-
global registers. If ‘Reg / Glob’ is selected, the global register menus will appear. The full description of the control
registers can be found in Table 5-3 for the inputs and Table 5-8 for the outputs.
Note: You must do this step whether you use global data or not. You must set whether the default control and
* speed command registers will be used from the global or non-global registers.

For inputs to the drive, these are menu (9601, 9602) labeled as ‘Fixed Reg Bits’ and ‘Velocity Demand’ in Table 5-14
and outputs from the drive are menus (9401, 9402), labeled as ‘General Status’, and ‘Motor Speed’ in the same table.
These registers will referred to control registers here after and are interpreted as both input and output registers.

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If you selected ‘Reg data only’ in the above menu, The ‘Modbus Plus Reg Control’ menu will not be displayed. This
means that the non-global command and speed control registers will be used. If you selected ‘Global data’ the
‘Modbus Plus Reg Control’ menu will appear as well as all global register menus. This menu in network #1 (9910),
and network #2 (9940), selects which register set, global or non-global the control is using. Set the menu to ‘Reg
data’ for non-global registers and ‘Global data’ to use global registers as appropriate for your application.
To summarize, setting the menus as described above gives you the option of using global data in your application.
You can also select to use global data control registers while using all other global data registers. You also have the
option of using global registers for all data except the control can be selected to use the non-global registers.

5.4.2 Non-global registers: To set up Modbus Plus for motor control

using default configuration (Fixed Reg Bits)
The drive can be controlled from a PLC using the following simple setup procedure:
1. Using the keypad on the front of the drive, set ‘Network 1 Type’ (9901) to Modbus Plus.
2. Set the correct address (9907).
3. Set the ‘) to FIXED. This sets the bits at Modbus Plus address 40065 to have the definitions shown below in
Table 5-3.
4. Add the following line to the SOP:
Network1RunEnable_O = TRUE; (the semicolon is part of the code).
You can now control the drive through the PLC.
Table 5-3:. Default meaning of ‘Fixed Reg Bits’

5 Bit
Network1FixedRegBit0_I
Default Definition
Run forward
Network1FixedRegBit1_I Run reverse
Network1FixedRegBit2_I Fault reset 0
Network1FixedRegBit3_I Stop*
Network1FixedRegBit4_I reserved
Network1FixedRegBit5_I Start stop control from network
Network1FixedRegBit6_I Speed commanded from network
Network1FixedRegBit7_I
Network1FixedRegBit8_I
Network1FixedRegBit9_I
Network1FixedRegBit10_I
Network1FixedRegBit11_I Reserved for Future
Network1FixedRegBit12_I
Network1FixedRegBit13_I
Network1FixedRegBit14_I
Network1FixedRegBit15_I

To run the motor, the PLC must send 0x21 in register 40065. This hexadecimal value sets bit 0 (run) and bit 5 (start/
stop control from network). Likewise, to command the motor to stop, the PLC must send 0x04 or 0x00 in register
40065.

*Network1FixedRegBit3_I functions as a drive stop control bit only if “Start Stop Control” (9945) is set to “Momentary” —
otherwise this bit is Reserved

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5.4.3 Non-global registers: To send a motor speed setting to the drive

To send motor speed settings to the drive, first set the desired speed units that you will be sending (RPM,% or HZ) in
menu (9080). To enable speed settings from the network, add the following line to the SOP program file:
RawDemandNetwork1_O = true;
From Table 5-14, you can see that the PLC needs to send the desired speed setting to the drive in Modbus Plus
register 40066 for UCS modules or 41058 for AnyBus modules. This is a reserved register only used to hold speed
settings. Then, send 0x61 in Modbus Plus register 40065 for UCS modules or 41057 for AnyBus modules. The motor
will accept the PLC commanded speed setting.

5.4.4 Non-global registers: To control the motor

using user defined bits controlled by the SOP
The drive can be controlled from a PLC using the following simple setup procedure.
1. Using the keypad on the front of the drive, set ‘Network 1 Type’ (9901) to Modbus Plus.
2. Set the correct address (9907).
3. Set the ‘Net Control Type (9944) to SOP.
To control the motor this way, the drive needs to know what bits will be used in the SOP program. Two steps are
required to do this:
1. Find the bits you want to use by referring to Table 5-4 below, and locate the keypad pick list variable
associated with the bits. By referring to Table 5-14, you can see that the first available data to drive register
is at Modbus Plus address 40067 for UCS modules or 41059 for AnyBus modules, which corresponds to
keypad parameter ID (9603). Using the keypad on the drive, go to menu item ‘Data To Drive 03’ (9603).
2. Select the pick list variable (Net Input Flag 1, Net Input Flag 2, …) from the pick list in the keypad or Tool 5
suite. Now the corresponding bits (Network1Flag0_I, Network1Flag1_I, etc.) from the drctry.ngn file can be
used in the SOP program as shown below:

;Network1Flag0_I Use bit 0 for Stop bit

;Network1Flag1_I Use bit 1 for Run Forward bit
RunRequest_O = /Network1Flag0_I * Network1Flag1_I;Run drive using bit 1,stop
using bit 0

For example, if you chose ‘Data to Drive 03’ as your write register; by referring to Table 5-14, you can see that the
PLC now needs to send 0x02 in Modbus Plus address 40067 to run the drive, or 0x01 in the same register to stop the
drive.
Table 5-4. Sample Programmable Bits*
Pick List Variable Drctry.ngn bits
Network1Flag0_I ~
Net Input Flag 1
Network1Flag15_I
Network1Flag16_I ~
Net Input Flag 2
Network1Flag31_I
Network1Flag32_I ~
Net Input Flag 3
Network1Flag47_I
Network1Flag48_I ~
Net Input Flag 4
Network1Flag63_I

*A complete listing of SOP-programmable bits is found in Section 5.10.3.

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5.4.5 Non-global registers: To monitor drive status and speed feedback

To read the data from the drive, no SOP flags are needed.
1. Set ‘Network 1 Type’ (9901) to Modbus Plus.
2. Set the correct Address (9907).
3. Set Velocity Units (9080) to the desired motor speed units. By referring to Table 5-14, you can see the
Modbus Plus addresses needed to read drive status and speed feedback from the drive by sending from the
PLC Modbus Plus are 40001, and 40002 respectively. The definitions of the status bits, which are always
found in Modbus Plus register 40001, are shown below.
Table 5-5. General Status output from the drive
Bit number Meaning in drive control software Value
0 Fault
1 Alarm
2 RunningForward
3 RunningReverse
4 DriveReady
5 StartStopControlFromNetwork
6 SpeedFromNetwork
7 AtSpeedReference
0 = False; 1 = True
8 SpeedInPercent
9 SpeedInRPM

5 10
11
SpeedInHz
Not used
12 Not used
13 Not used
14 Not used
15 Not used

See Section 5.8 for details on how to read other drive data.

5.5 Remote Capabilities

The Modbus Plus interface to the drive allows remote control and monitoring capability of the drive. Control of the
drive can be through Modbus Plus telegrams sent to the drive working in conjunction with a SOP program. Control
capabilities include run request, stop request, fault reset, stop, reverse speed demand, and others. There are 128
remote user-programmable software flags that can be monitored and/or set through the system program.
Note that the discrete controls and the user-defined control/feedback flags are configured via the drive’s built-in
system program (provided with each drive).

5.6 Menu Setup Procedures

All Modbus Plus setup functions are contained in the Configure Parameters Menu (9902), which is a submenu of the
Communications Menu (9). Access is security controlled at level 7; therefore, you must enter the proper security code
to access these parameters. The menus required for initial setup of the Modbus Plus interface are listed in Table 5-18.
For the correct setup procedure, please refer to Section 5.8.
Select menu contents by using pick lists. The Modbus Plus address of each menu item is fixed. For example, for
network 1, ‘Data from Drive 01’ (9401) can be read by sending the read register request in address 40001. The menu
‘Data from Drive 02’ (9402) can be read in address 40002, and so on. The complete address references can be found
in Table 5-14.

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The pick lists in the menus contain the most commonly used data variables. If a variable is not found in the lists, you
need to search Appendix B to locate it. If found, use the corresponding data ID number to enter the variable into the
read registers. The procedure for doing this is described in Section 5.8.1.

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5.7 Supported Command Set

The NXG control supports the following Modbus commands:
• Read Holding RegistersFunction code 0x03
• Write Single RegisterFunction code 0x06
• Write Multiple RegistersFunction code 0x10
Each of these supported commands are listed and described in the Modbus chapter of the communication manual.

5.8 Setup Procedure

Use the keypad on the front of the drive to select a network protocol:
1. Using the keypad, enter Network 1 Type (9901), scroll to Modbus Plus, then press [ENTER]. The Modbus
Plus configuration parameters will be viewable.
2. Set the Modbus Plus Address (9907) to the desired Modbus Plus address for the drive.
3. Select the Velocity Units (9080)This sets the units for motor commanded speed, and motor feedback speed
scaling.
4. If needed, set the Demand Scalar (9912) to n*command speed where –125n125
5. Set the Aux Demand Scalar (9913) if used
6. Use Table 5-14 to program the drive to send data to and receive commands from available Modbus Plus
addresses. Each Modbus Plus address from 40001 through 40128 for UCS modules or 40033 through 40096

5
for AnyBus modules corresponds with a keypad parameter ID, which will be used to tell the drive what data
to send to, or what commands to receive from a particular Modbus Plus address. Note that four such
addresses are already programmed, giving the drive basic send and receive functionality. The data in these
addresses are not changeable.

7. The definition of the bits in the available Modbus Plus addresses may be entered from a choice of pick list
variables in the keypad menus, or custom programmed using the drive’s SOP program. See Section 5.10 for
details.
Note: If you are unfamiliar with drive system programming, you will need to refer to the System
* Programming chapter in your drive’s manual.

Please note that your PLC can receive data from the drive without any changes to the SOP program. Only if you need
to control the drive through the Modbus Plus network, will you need to set any flags in the SOP program. If you need
to control the drive through a Modbus Plus network (or any other type of network), then you will need, at an absolute
minimum, the following network control flag to appear in the source code of the SOP program:
Network1RunEnable_O = TRUE;
To be able to control a drive through a network, by sending commands to it, first ensure that the drive’s SOP file
contains the line of code mentioned above. Note that the semicolon is part of the code. If you would like to control the
drive through a second network, then your SOP program must also contain this line:
Network2RunEnable_O = TRUE;
After ensuring that the SOP file has the necessary code to enable control of the drive over a network, you will need to
change some of the drive’s control parameters using the keypad on the front of the drive.

5.8.1 A Practical Setup Example

A customer needs to process four drive outputs on a PLC. These are status, motor speed, power, and number of active
faults. The customer would like to set Modbus Plus PLC register 40001 to indicate drive general status. In order to

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program a register, refer to Table 5-14 to see if it is programmable. Register 40001 is not changeable; a change is
neither necessary nor possible. It is already permanently set to indicate general status. This customer wants to set PLC
register 40002 to indicate motor speed. This register is also not changeable. It is permanently set to indicate motor
speed. Table 5-6 shows some hypothetical desired settings for Modbus Plus addresses.
Table 5-6. Hypothetical Desired Address Settings
PLC Modbus Plus Register Data Scaling
40001(read only) General Status 16 bits
40002 (read only) Motor Speed RPM
40003 Output Power kW
40004 Number of faults 0 – 128

The customer wants to set register 40003 to indicate output power. Table 5-14 indicates that this address is
programmable. Use Table 5-14 to determine the necessary parameter ID. Enter parameter ID 9403 (Data from drive
03) using the keypad on the front of the drive. Choose “output power” from the pick list.
The customer wants to set register 40004 to indicate number of active faults. Enter parameter ID 9404 (Data from
drive 04) using the keypad on the front of the drive. Scroll through the pick list to find “number of active faults.” Note
that “number of active faults” is not a choice in the pick list. Therefore, it needs to be specified manually. Refer to
Table 5-6 for a list of data from drive pick list variables. Since “number of active faults” is not a choice in the pick
list, choose “Man Id” from the pick list. Find “number of active faults” in Appendix B, and look for its data ID
number. Its data ID number is 3000Note that the data ID number is not the same as a parameter ID number. “ManId-
0000” will be shown on display. Use arrows or number keys to enter 3000, and press [ENTER]. The display should
show “Man Id-3000.” If the data ID number could not be found, the error message “Invalid Id Entered” will be
displayed. Ensure that the data ID is correct. Now the number of active faults will appear at register 40004 on the
PLC.
5
5.9 Drive Control Defaults
To control the drive using its default configuration, you need to send commands to its Fixed Reg Bits location. Refer
to Table 5-14 to see the location of the ‘Fixed Reg Bits.’ The drive’s default interpretation of the Fixed Reg Bits is
non-programmable and controlled by the drive’s control software. To ensure that the drive is set to its default setting,
use the keypad on the front of the drive to set parameter (9928) to ‘FIXED.’ This is the default configuration. Using
the default configuration, the Fixed Reg Bits are interpreted as shown in Table 5-7. Note that these particular
drctry.ngn bits are always located at Modbus Plus address 40065 for UCS modules or 41057 for AnyBus modules,
whether the default configuration is used or not. To redefine the bits at this address, refer to Section 5.9.2.

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 Modbus Plus Communications

Table 5-7. If set to FIXED (default command configuration):

Bit Default Definition
Network1FixedRegBit0_I Run forward
Network1FixedRegBit1_I Run reverse
Network1FixedRegBit2_I Fault reset 0
Network1FixedRegBit3_I Stop*
Network1FixedRegBit4_I Reserved
Network1FixedRegBit5_I Start stop control from network
Network1FixedRegBit6_I Speed commanded from network
Network1FixedRegBit7_I
Network1FixedRegBit8_I
Network1FixedRegBit9_I
Network1FixedRegBit10_I
Network1FixedRegBit11_I Not Used
Network1FixedRegBit12_I
Network1FixedRegBit13_I
Network1FixedRegBit14_I
Network1FixedRegBit15_I

*Network1FixedRegBit3_I functions as a drive stop control bit only if “Start Stop Control” (9945) is set to “Momentary” —

5
otherwise this bit is Reserved

5.9.1 Status Output

To read drive status data, you need to read the General Status register as found in Table 5-14. The drive’s status
output is shown below in Table 5-8. These status bits are always located at Modbus Plus address 40001.

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NXG Communications Manual Modbus Plus Communications

Table 5-8. General Status Output from the Drive

Bit number Meaning in drive control software Value
0 Fault
1 Alarm
2 RunningForward
3 RunningReverse
4 DriveReady
5 StartStopControlFromNetwork
6 SpeedFromNetwork
7 AtSpeedReference
0 = False; 1 = True
8 SpeedInPercent
9 SpeedInRPM
10 SpeedInHz
11 Not used
12 Not used
13 Not used
14 Not used
15 Not used

Note: If you are unfamiliar with drive system programming, you will need to refer to the System
* Programming chapter in your drive’s manual.
5
5.9.2 Running the drive using non-default settings
The drive can be run in a non-default manner by reprogramming the ‘Fixed Reg Bits’ register. As seen in Table 5-14,
the location is fixed at 40065 (UCS) or 41057 (AnyBus). However, the definition of the bits can be reprogrammed.
To change the interpretation of the control bits in Modbus Plus register 40065 (UCS) or 41057 (AnyBus), use the
following procedure:
By setting menu parameter 9944 (Net Control Type) to ‘SOP’, each bit from the ‘Fixed Reg Bits’ word can be used in
any desired manner, such as shown below.To make the definition of the ‘Fixed Reg Bits’ in Modbus Plus address
40065 programmable, use the drive’s keypad to set parameter 9944 (Net Control Type) to ‘SOP’. The source code
below shows how to use the SOP program to trip the input medium voltage when ‘1’ is sent to
Network1FixedRegBit9 in Modbus Plus register 40065 (UCS) or 41057 (AnyBus).
;ExternalDigitalOutput01h_O Use digital output to trip input medium Voltage
ExternalDigitalOutput01h_O = Network1FixedRegBit9_I;

5.10 User Programming via the SOP

5.10.1 Inputs to the drive (64 bits)
There are 64 input bits available for user programming. Use Table 5-14 to find the location of the first ‘Reg to Drive’
register which is programmable. Please note which network 1 keypad parameter ID corresponds to that Modbus Plus
address. The table reveals the first programmable data to drive Modbus Plus address to be 40067 (UCS) or 41059
(AnyBus), and that its corresponding keypad parameter ID for network 1 is 9603. Go to the keypad on the front of the
drive and enter parameter 9603. You will see a pick list, the first item of which is ‘None’. See Table 5-15 for a list of
possible pick list choices for input to drive data. Scroll through the pick list until you come to ‘Net Input Flag 1’, and
then press [ENTER]. This setting will use the first 16 bits of the possible 64 bits. To use the second set of 16 bits,
select ‘Net Input Flag 2’, and so on. The corresponding names of the bits related to the menu pick list items are found
in Table 5-10.

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 Modbus Plus Communications

This example shows how to use the Modbus Plus network to trip the input medium voltage. In this example, our PLC
will be writing to Modbus Plus register 40067 (UCS) or 41059 (AnyBus), which we programmed to Net Input Flag 1.
We will use the SOP program to set a flag bit that will use digital output to trip input medium voltage. The PLC will
write the contents of ‘Net Input Flag 1’, bit 9 (Network1Flag9_I) to create an input medium voltage trip. The SOP
source code is shown below:
;ExternalDigitalOutput01h_O Use digital output to trip input medium voltage
ExternalDigitalOutput01h_O = Network1Flag9_I;

5.10.2 Outputs from the drive (64 bits)

There are 64 output bits available for user programming. Use Table 5-14 to find the location of the first ‘Reg From
Drive’ register which is programmable. Please note which network 1 keypad parameter ID corresponds to that
Modbus Plus address. The table reveals the first programmable data from drive Modbus Plus address to be 40003,
and that its corresponding keypad parameter ID for network 1 is 9403. Go to the keypad on the front of the drive and
enter parameter 9403. You will see a pick list, the first item of which is ‘None’. See Table 5-16 for a list of possible
pick list choices for output from drive data. Scroll through the pick list until you come to ‘Net1 Out Reg 1’, and then
press [ENTER]. This setting will use the first 16 bits of the possible 64 bits. To use the second set of 16 bits, select
‘Net1 Out Reg 2’, and so on. The corresponding names of the bits related to the menu pick list items are found in
Table 5-12.

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NXG Communications Manual Modbus Plus Communications

This example shows how to use the Modbus Plus network to detect a trip on the input medium voltage. In this
example, our PLC will be reading Modbus Plus register 40003, which we programmed to ‘Net1 Out Reg 1’. We will
use the SOP program to set a flag bit that corresponds to a medium voltage low fault. We will use bit 9 of ‘Net1 Out
Reg 1’, which is Network1Flag9_O, to set the network flag true if the medium voltage low fault is active. The PLC
will read the contents of Net 1 Out Reg 1, bit 9 (Network1Flag9_O) to determine if a medium voltage fault occurred.
The SOP source code is shown below:
; Monitor medium voltage fault on the Modbus Plus network
Network1Flag9_O = MediumVoltageLowFault_I;

5.10.3 Flags available to the SOP program

Fixed by drive software by default:

The drive’s interpretation of the bits in Table 5-9 is fixed by the drive’s control software unless you set parameter
9928 (Status/Control) to ‘SOP.’ To change the default interpretation of these bits, see Section 5.9.2.
Table 5-9. Relationship of ‘Fixed Reg Bits’ to Keypad Menus and drctry.ngn Bits (programmable bits available
for use in the SOP)
Pick list variable in ‘Data to Drive Related Drctry.ngn bits Modbus Plus Register Address
Reg nn’ menus
Network1FixedRegBit0_I ~
Fixed Reg Bits (network 1) 40065
Network1FixedRegBit15_I
Network2FixedRegBit0_I ~
Fixed Reg Bits (network 2) 40065
Network2FixedRegBit15_I

User programmable: 5
The interpretation of these bits is programmable through the SOP fileThese bits can be programmed to set or reset
any other bits used within the SOP.
Table 5-10. Network 1 Programmable Input Bits (keypad parameter ID 9603-9664
Pick list variable in ‘Data to Drive Reg nn’ menus Related Drctry.ngn bits
Network1Flag0_I ~
Net Input Flag 1
Network1Flag15_I
Network1Flag16_I ~
Net Input Flag 2
Network1Flag31_I
Network1Flag32_I ~
Net Input Flag 3
Network1Flag47_I
Network1Flag48_I ~
Net Input Flag 4
Network1Flag63_I

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 Modbus Plus Communications

Table 5-11. Network 2 Programmable Input Bits (keypad parameter ID 9703-9764)

Pick list variable in ‘Data to Drive Reg nn’ menus Related Drctry.ngn bits
Network2Flag0_I ~
Net Input Flag 1
Network2Flag15_I
Network2Flag16_I ~
Net Input Flag 2
Network2Flag31_I
Network2Flag32_I ~
Net Input Flag 3
Network2Flag47_I
Network2Flag48_I ~
Net Input Flag 4
Network2Flag63_I

Table 5-12. Network 1 Programmable Output Bits (keypad parameter ID 9403-9464)

Pick list variable in ‘Data to Drive Reg nn’ menus Related Drctry.ngn bits
Network1Flag0_O ~
Net1 Out Reg 1
Network1Flag15_O
Network1Flag16_O ~
Net1 Out Reg 2
Network1Flag31_O
Network1Flag32_O ~
Net1 Out Reg 3
Network1Flag47_O
Network1Flag48_O ~
Net1 Out Reg 4
Network1Flag63_O

5 Table 5-13. Network 2 Programmable Output Bits (keypad parameter ID 9503-9564)

Pick list variable in ‘Data to Drive Reg nn’ menus Related Drctry.ngn bits
Network2Flag0_O ~
Net2 Out Reg 1
Network2Flag15_O
Network2Flag16_O ~
Net2 Out Reg 2
Network2Flag31_O
Network2Flag32_O ~
Net2 Out Reg 3
Network2Flag47_O
Network2Flag48_O ~
Net2 Out Reg 4
Network2Flag63_O

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 NXG Communications Manual Modbus Plus Communications

5.11 Modbus Plus Address and Keypad Pick List Tables

Table 5-14. Correspondence between drive parameter ID and Modbus Plus address
Network Drive Parameter ID Description Default Contents Modbus Plus Addressesb
Numbersa

General Status 40001 (UCS)

1 9401 Data From Drivec (not changeable) 40033 (AnyBus)

Motor Speed 40002 (UCS)

1 9402 Data From Drive
(not changeable) 40034 (AnyBus)
40003-40064 (UCS)
1 9403 - 9464 Data From Drive None
40035 - 40096 (AnyBus)
General Status
1 9801 (Global) Data From Drive N/A
(not changeable)
Motor Speed
1 9802 (Global) Data From Drive N/A
(not changeable)
1 9803 - 9832 (Global) Data From Drive None N/A
Fixed Reg Bits 40065 (UCS)
1 9601 Data To Drived (not changeable) 41057 (AnyBus)
Velocity Demand 40066 (UCS)
1 9602 Data To Drive
(not changeable) 41058 (AnyBus)
40067-40128 (UCS)
1 9603 – 9664 Data To Drive None
41059-41120 (AnyBus)
Fixed Reg Bits
1 9201 (Global) Data To Drive N/A

5
(not changeable)
Velocity Demand
1 9202 (Global) Data To Drive N/A
(not changeable)
1 9203 – 9232 (Global) Data To Drive None N/A

General Status 40001(UCS)

2 9501 Data From Drive
(not changeable) 40033 (AnyBus)

Motor Speed 40002 (UCS)

2 9502 Data From Drive
(not changeable) 40034 (AnyBus)
40003-40064 (UCS)
2 9503 – 9564 Data From Drive None
40035 - 40096 (AnyBus)
General Status
2 9834 (Global) Data From Drive N/A
(not changeable)
Motor Speed
2 9835 (Global) Data From Drive N/A
(not changeable)
2 9836 – 9865 (Global) Data From Drive None N/A
Fixed Reg Bits 40065 (UCS)
2 9701 Data To Drive
(not changeable) 41057 (AnyBus)
Velocity Demand 40066 (UCS)
2 9702 Data To Drive
(not changeable) 41058 (AnyBus)
40067-40128 (UCS)
2 9703 – 9764 Data To Drive None
41059-41120 (AnyBus)
Fixed Reg Bits
2 9234 (Global) Data To Drive N/A
(not changeable)
Velocity Demand
2 9235 (Global) Data To Drive N/A
(not changeable)
2 9236 – 9265 (Global) Data To Drive None N/A

a. Drive Parameter ID Number—the number to enter using the keypad on the front of the drive.

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 Modbus Plus Communications

b. Modbus Plus Address—digital locations provided by the Modbus Plus Protocol which store values for use by
the master (PLC) and slave (Siemens drive) devices. To establish functional communication between the PLC
and the drive, the control software in the drive needs to “know” what to use certain addresses for. That is the key
to configuring the drive’s Modbus Plus connection.
c. Data from drive—data that the PLC will receive from the drive in order to determine how the drive is
functioning. Each register contains a 16-bit digital representation of the status of a particular aspect of the
drive’s functioning. Some registers are fixed to track certain drive functions; others are programmable to track
any of a number of drive status choices.
d. Data to drive—data that the PLC will send to the drive in order to control it. Each register contains a 16-bit
digital representation of the PLC’s command for a particular aspect of the drive’s functioning. Some registers
are fixed to control certain functions; others are programmable to control any number of drive function choices.

Table 5-15. Modbus Plus Data To Drive Pick List Variables

Name Name
None MUX 3 ID
Fixed Reg Bits MUX 4 ID
Velocity Demand MUX 5 ID
Auxiliary Demand MUX 6 ID
Net Input Flag 1 MUX 7 ID
Net Input Flag 2 MUX 8 ID
Net Input Flag 3 PTD1
Net Input Flag 4 PTD2

5 Ratio
Forward Max Lim
PTD3
PTD4
Reverse Max Lim Parallel Cmd 1
Forward Acc Time Torque Demand
Forward Dec Time PVCL Demand
Reverse Acc Time Flux Demand
Reverse Dec Time Node Count
Net Input Pulse Node Index
Forward Min Lim Torque Acc Time
Reverse Min Lim Torque Dec Time
Torque Limit Torque Offset
MUX 1 ID Torque Scalar
MUX 2 ID Vars Command

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NXG Communications Manual Modbus Plus Communications

Table 5-16: Modbus Plus Data From Drive Pick List Variables

Drive Pick List Variables

None Net1 Out Reg 3 Mux1 Echo Wago Inputs 33-48
Man Id Net1 Out Reg 4 Mux1 Data Wago Inputs 49-64
General Status Net2 Out Reg 1 Mux2 Echo Wago Inputs 65-80
Motor Voltage Net2 Out Reg 2 Mux2 Data Wago Inputs 81-96
Total Current Net2 Out Reg 3 Mux3 Echo Wago Outputs 1-16
Output Power Net2 Out Reg 4 Mux3 Data Wago Outputs 17-32
Motor Speed Torque Current Mux4 Echo Wago Outputs 33-48
Speed Demand Magnetizing Cur Mux4 Data Wago Outputs 49-64
Speed Reference Motor Flux Mux5 Data PFD1
Heartbeat Motor Torque Mux6 Echo PFD2
Drive State Flux Reference Mux6 Data PFD3
Inp RMS Current Input Voltage Mux7 Echo PFD4
Input Frequency Inp Power Factor Mux7 Data Drive Losses
Input Power Avg Input KVars Mux8 Echo Speed Droop Percent
Net1 Out Reg 1 Max Available Output Volts Mux8 Data Sync Motor Field Ref
Net1 Out Reg 2 Hottest Cell Temp Wago Inputs 1-16 Avail reactive Current
Wago Inputs 17-32 Drive Efficiency

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 Modbus Plus Communications

5.12 Menu Parameter Tables

Table 5-17. Network 1 Configure Menu (9900)

Parameter ID Units Default Min Max Description

Designates the type of external net-
work connected to the drive.
• None
• Modbus
Network 1
9901 None • DeviceNet
Type
• Modbus Plus
• Ethernet Modbus
• Data Highway +
• ControlNet

Table 5-18. Configure Parameters Menu (9902)

Parameter ID Units Default Min Max Description
Modbus Plus Sets address of node on Modbus Plus
9907 1 1 64
Address network.
Sets use of global or non-global fixed
Modbus Plus registers to be used.
9910 Reg data
Reg Control Reg data
Global data
Sets if any global registers are used
Modbus Plus Reg data
9942 Reg data only
Mode only
Reg/Glob data

5 Global
Receive 9909 0 0 64
Address where drive receives its
global data from.
Address
Designates the units for velocity
values from the drive.
Velocity Units 9080 % • %
• RPM
• Hz
Demand Scalar for input demand reference
9912 1 -125 125
Scalar from the network.
Aux Demand Auxiliary scalar for input demand
9913 1 -125 125
Scalar reference from the network.
Network Timeout for network to be determined
9934 0 0 65535
Timeout non-responsive.

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NXG Communications Manual Modbus Plus Communications

Table 5-19. Register Data From Drive Menu (9400)

Parameter ID Units Default Min Max Description
Register data from drive
Data From Drive General parameter 1. This
9401
01 Status register is not
programmable
Register data from drive
Data From Drive parameter 2. This
9402 Motor Speed
02 register is not
programmable.
Register data from drive
Data From Drive parameters 3-64These
9403-9464 None
03-64 registers are
programmable.

Table 5-20. Global Data From Drive Menu (9800)

Parameter ID Units Default Min Max Description
Register data from drive
Data From Drive General parameter 1. This
9801
01 Status register is not
programmable
Register data from drive
Data From Drive parameter 2. This
9802 Motor Speed
02 register is not

5
programmable.
Register data from drive
Data From Drive parameters 3-32These
9803-9832 None
03-64 registers are
programmable.

Table 5-21. Register Data To Drive Menu (9600)

Parameter ID Units Default Min Max Description
Register data to drive
Data To Drive Reg parameter 1This
9601 Fixed Reg Bits
01 register is not
programmable.
Register data to drive
Data To Drive Reg Velocity parameter 2This
9602
02 Demand register is not
programmable.
Register data to drive
Data to Drive Reg 9603- parameters 3-64These
None
03-64 9664 registers are
programmable.

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 Modbus Plus Communications

Table 5-22. Global Data To Drive Menu (9200)

Parameter ID Units Default Min Max Description
Register data to drive
Data To Drive Reg parameter 1This
9201 Fixed Reg Bits
01 register is not
programmable.
Register data to drive
Data To Drive Reg Velocity parameter 2This
9202
02 Demand register is not
programmable.
Register data to drive
Data to Drive Reg 9203- parameters 3-32These
None
03-32 9232 registers are
programmable.

Table 5-23. Network 2 Configure Menu (9914)

Parameter ID Units Default Min Max Description
Designates the type of external network
connected to the drive.
• None
• Modbus
Network 2 Type 9915 None • DeviceNet
• Profibus
• Modbus Plus
• Ethernet Modbus

5 •
•
Data Highway +
ControlNet

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NXG Communications Manual Modbus Plus Communications

Table 5-24. Network 2 Configure Parameters Menu (9916)

Parameter ID Units Default Min Max Description
Modbus Plus Sets address of node on Modbus Plus
9921 1 1 64
Address network.
Sets use of global or non-global fixed
Modbus Plus registers to be used.
9940 Reg data
Reg Control Reg data
Global data
Sets if any global registers are used
Modbus Plus Reg data
9941 Reg data only
Mode only
Reg/Glob data
Global Receive Address where drive receives its global
9923 0 0 64
Address data from.
Designates the units for velocity values
from the drive.
Velocity Units % • %
• RPM
• Hz
Scalar for input demand reference from
Demand Scalar 9926 1 -125 125
the network.
Aux Demand Auxiliary scalar for input demand
9927 1 -125 125
Scalar reference from the network.
Network Timeout for network to be determined
9935 0 0 65535
Timeout non-responsive.

5
Table 5-25. Network 2 Register Data From Drive Menu (9500)
Parameter ID Units Default Min Max Description
Register data from drive
Data From Drive General parameter 1. This
9501
01 Status register is not
programmable
Register data from drive
Data From Drive parameter 2. This
9502 Motor Speed
02 register is not
programmable.
Register data from drive
Data From Drive parameters 3-64. These
9503-9564 None
03-64 registers are
programmable.

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 Modbus Plus Communications

Table 5-26. Global Data From Drive Menu (9833)

Parameter ID Units Default Min Max Description
Register data from drive
Data From Drive General parameter 1. This
9834
01 Status register is not
programmable
Register data from drive
Data From Drive parameter 2. This
9835 Motor Speed
02 register is not
programmable.
Register data from drive
Data From Drive parameters 3-32These
9836-9865 None
03-32 registers are
programmable.

Table 5-27. Network 2 Register Data To Drive Menu (9700)

Parameter ID Units Default Min Max Description
Register data to drive
Data To Drive parameter 1. This
9701 Fixed Reg Bits
Reg 01 register is not
programmable.
Register data to drive
Data To Drive Velocity parameter 2. This
9702
Reg 02 Demand register is not

5
programmable.
Register data to drive
Data to Drive parameters 3-64. These
9703-9764 None
Reg 03-64 registers are
programmable.

Table 5-28. Global Data To Drive Menu (9233)

Parameter ID Units Default Min Max Description
Register data to drive
Data To Drive Reg parameter 1. This
9234 Fixed Reg Bits
01 register is not
programmable.
Register data to drive
Data To Drive Reg Velocity parameter 2. This
9235
02 Demand register is not
programmable.
Register data to drive
Data to Drive Reg 9236- parameters 3-32. These
None
03-32 9265 registers are
programmable.

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NXG Communications Manual Modbus Plus Communications

5.13 Display Network Monitor Function (Parameter ID 9950)

This function allows you to view the values of network registers. It is extremely useful for troubleshooting. As data is
transmitted, and the values of the registers change, the display will automatically and continuously update to reflect
the changes. The direction of data transmission as shown on this screen, is from the drive’s perspective. Therefore,
‘Rx’ is data received into the drive, and ‘Tx’ is data transmitted from the drive.

Format of the register Data direction (3) Register number

value display (1)

D NET1 Tx N-Reg:
01 00257 Line 1 data

H NET2 Rx N-Reg:
02 0F1B Line 2 data

Global or non-global register

Network for this register (2) Register value
(4)

Figure 5-6. Diagram of Display Network Monitor Function

1. ‘D’ means decimal format.

‘H’ means hexadecimal format.
5
2. The drive may be connected to two separate networks.
3. ‘Rx’ means that this is a “Data to Drive” register.
‘Tx’ means that this is a “Data from Drive” register.
4. ‘G’ means a global register.
‘N’ means a non-global register.
The Modbus protocol does not support global registers. Therefore, when working with a Modbus controller,
this field will contain ‘N’ in all of the registers.
5. This two-digit numeric field indicates the number of the register being shown.
‘Tx’ 01-64 are “Data from Drive 01” (parameter ID 9401) through “Data from Drive 64”
(parameter ID 9464).
‘Rx’ 01-64 are “Data to Drive 01” (parameter ID 9601) through “Data to Drive 64” (parameter ID 9664).
6. The value of the register. Since the registers all contain 16-bit digital words, they range in value from 0-
65535 (decimal), or 0-FFFF (hexadecimal).
7. Line 1 contains the following information:
The register value is shown in decimal format; the register is in network 1; the register is non-global; the
data is going to the drive; “to drive” register number 1 is showing; its value is 257.
8. Line 2 contains the following information:
The register value is shown in hexadecimal format; the register is in network 2; the register is non-global; to
data is coming from the drive; “from drive” register number 2 is showing; its value is 0xF1B (decimal
equivalent = 3,867).

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 Modbus Plus Communications

Note: The underscores in the picture of the display show possible cursor movement. To move the
* cursor within the display, use the left and right arrow keys. Alphabetic fields are only edited with
only the up and down arrow keys. Numeric fields are edited with either the up and down arrow keys
or the numeric keys. The cursor will move to the beginning of the second line after it reaches the last
possible position on the first line. Likewise, the cursor will move to the beginning of the first line
after it reaches the last possible position on the second line.

Figure 5-7 below represents a display. If you start with the cursor at position A and use the left arrow [←] key
repeatedly, the cursor will move to A, D, C, B, A, etc. If you start with the cursor at position A and use the right arrow
[→] key repeatedly, the cursor will move to A, B, C, D, A, etc.

D D
H H

Figure 5-7. Cursor Movement Diagram

5 ∇∇∇

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NXG Communications Manual Profibus Communications

CHAPTER

6 Profibus Communications
6.1 Introduction
Profibus is a token ring network. Master devices (or active stations) are those devices that initiate communication. When a
master receives the “‘token,” it may then perform master-slave communications with its slaves (or passive stations)
The Robicon NXG drive acts as a slave (passive station) on the Profibus network. The Drive auto detects the baud rate
from the network, and is capable of baud rates of up to 12 Mbit/sec.
The UCS Profibus module supports the following baud rates: 9.6 kbit/sec, 19.2 kbit/sec, 93.75 kbit/sec, 187.5 kbit/sec,
187.5 kbit/sec, 500 kbit/sec, 750 kbit/sec, 1 Mbit/sec, 3 Mbit/sec, 6 Mbit/sec, and 12 Mbit/sec.
The Profibus UCS module has a nine pin DB-9F connector. Pin 3 is the positive data pin (RxD/TxD-P) and pin 8 is the
negative connection. (RxD/TxD-N)
This chapter features a fast setup section that will help you to start controlling your ROBICON drive with NXG
control via a Profibus network as quickly as possible. Section 6.4 is short, procedural, and covers a minimum of
detail. Please refer to the other sections for detailed information.
Note that in this chapter, a four-digit number inside of parentheses, i.e. (9403), indicates a parameter ID number for
the keypad on the front of the drive. Press [SHIFT] + [→] to enter this number directly. You do not need to hold
down the [SHIFT] key while you press the [→] key. A numerical value expressed as 0xnn (i.e., 0x12) is being
represented in hexadecimal format.
Profibus (Process Field Bus) is registered trademark of the Profibus Trade Organization.
Profibus DP (Decentralized Periphery) is a product line of protocols and is a registered trademark of the Profibus
Trade Organization (PTO).

6.2 UCS Profibus Module

Figure 6-1 shows the connector and status indicators on the UCS Profibus module.
6

Status
Indicators

Profibus
Connector

Figure 6-1. UCS Profibus Module

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6.2.1 UCS / AnyBus Profibus Connector

The connector is a D-Sub Female connector. The pin assignments are shown in Figure 6-2.

Pin 3-Data (RxD/TxD) Positive

Pin 5-Data Ground
Pin 8-Data (RxD/TxD) Negative

Figure 6-2. Pin Assignments for Profibus Connector.

6.2.2 UCS Profibus Status Indicators

Figure 6-3 shows the status indicators. Table 6-1 describes the LED states.

UCS Status 1

Network Status 2
Board Edge

Figure 6-3. Status Indicators

Table 6-1. Status Indicator Descriptions

Number from Indication State Description

6 Figure 6-3
1 UCS Status Off No power or hard/soft reset asserted.
Recoverable configuration fault (invalid firmware, OEM data,
Red, flashing
or personality data).
Red Hardware error or fatal runtime error.
Green, flashing No errors, data exchange interface is not open
Green No errors, data exchange interface is active.
Amber (red/green) Configuration mode.
2 Network Status Network interface disabled due to closed interface or client
Off
I/O fault.

Baud rate detected, not configured, or configuration error

Red, flashing
with master.

Red, solid Network offline, no bus, no baud rate.

Green/Red flash Online, network clear mode.

Green, solid Online, data exchange mode.

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6.3 AnyBus Profibus Module

Figure 6-4 shows the connectors, switches, and indicators on the AnyBus board that are relevant to Siemens
operation.

Profibus
Connector

Termination Rotary
Status
Switch Switches
Indicators
(must be
set to 0)

Figure 6-4. AnyBus Profibus Module

6.3.1 Connector
The network connector is a nine-pin DB-9F connector. See Figure 6-2 for the pin assignments.

6.3.2 Rotary Switches

6
The rotary switches must both be set to 0, as shown in Figure 6-5.

90 90
1

1
23 4

23 4
78

78
6

5 5

Note: Ensure that both rotary switches are set to zero!

*
Figure 6-5. Rotary Switch Settings

6.3.3 AnyBus Profibus Status Indicators

Figure 6-6 shows the status indicators. Table 6-2 describes the indications.
.

Not Used 1 2 On-Line Status

Fieldbus
4 3 Off-line Status
Diagnostics
Board Edge

Figure 6-6. AnyBus Profibus Status Indicators

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Table 6-2. Status Indicator Descriptions

Number from Indication State Description

Figure 6-6
1 — — —
2 On-line status Off Module is not on line.
Green Module is on line on the fieldbus.
3 Off-line status Off Module is not off line.
Red Module is off line from the fieldbus.
4 Fieldbus Off No diagnostics present
diagnostics Error in configuration: IN and/or OUT length set during
Red, flashing at
initialization of the module is not equal to the length set
1 Hz
during configuration of the network.
Error in User Parameter data: the length/contents of the
Red, flashing at User Parameter data set during initialization of the module is
2 Hz not equal to the length/contents set during configuration of
the network.
Red, flashing at
Error in initialization of the Profibus communication ASIC.
4 Hz

6.3.4 Termination Switch

The end nodes in a Profibus-DP network must be terminated to avoid reflections on the bus line. The AnyBus-S
Profibus-DP module is equipped with a termination switch (see Figure 6-4) to easily accomplish the termination. If
the module is used at either of the physical ends in a network, the termination switch has to be in the ON (down)
position. In any other case, the switch must be in the OFF (up) position. See Figure 6-7 for the switch settings.

6 ON

Figure 6-7. AnyBus Profibus Termination Switch Shown in the Off Position

6.4 Fast Setup

6.4.1 Configuring ControlNet with Default Settings
To set up ControlNet for motor control using the default configuration (Fixed Reg Bits).
The drive can be controlled from the PLC, using the following setup procedure.
1. Using the keypad on the front of the drive, set Network 1 Type (9901) to ControlNet.
2. Set the ControlNet network address (9904).
3. Set the Net Control Type parameter (9944) to FIXED. This sets Data To Drive Reg 01 to have the
definitions shown in Table 6-3.
4. Add the following line to the SOP: Network1RunEnable_O = TRUE; (the semicolon is part of the
code).

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You can now control the drive through the PLC.

Table 6-3. Default meaning of ‘Fixed Reg Bits’
Bit Default Definition
Network1FixedRegBit0_I Run forward
Network1FixedRegBit1_I Run reverse
Network1FixedRegBit2_I Fault reset
Network1FixedRegBit3_I Stop*
Network1FixedRegBit4_I Reserved
Network1FixedRegBit5_I Start stop control from network
Network1FixedRegBit6_I Speed commanded from network
Network1FixedRegBit7_I
Network1FixedRegBit8_I
Network1FixedRegBit9_I
Network1FixedRegBit10_I
Network1FixedRegBit11_I Reserved for Future
Network1FixedRegBit12_I
Network1FixedRegBit13_I
Network1FixedRegBit14_I
Network1FixedRegBit15_I

To run the motor, the PLC must send 0x21 to Data To Drive Reg 01. This hexadecimal value sets bit 0 (run) and
bit 5 (start/stop control from network). Likewise, to command the motor to stop, the PLC must send 0x04 or 0x00 to
register Data To Drive Reg 01.

*Network1FixedRegBit3_I functions as a drive stop control bit only if “Start Stop Control” (9945) is set to “Momentary” —
otherwise this bit is Reserved

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6.4.2 To send a motor speed setting to the drive

To send motor speed settings to the drive, first set the desired speed units that you will be sending (RPM,% or HZ) in
menu (9080). To enable speed settings from the network, add the following line to the SOP program file:
RawDemandNetwork1_O = true;. By using Table 6-14, you can see that the PLC needs to send the desired speed
setting to the drive to Data To Drive Reg 02. This is a reserved register only used to hold speed settings. Then, send
0x61 to Data To Drive Reg 01. The motor will accept the PLC commanded speed setting.

6.4.3 To control the motor using user defined bits controlled by the SOP
Use the keypad on the front of the drive to set Network 1 Type (9901) to Profibus. Set the Profibus network address
(9904). Finally, set the parameter Net Control Type (9944) to SOP. To control the motor this way, the drive needs to
know what bits will be used in the SOP program. Two steps are required to do this:
1. Find the bits you want to use by referring to Table 6-4 below, and locate the keypad pick list variable
associated with the bits. By referring to Table 6-14, you can see that the first available data to drive register
is Data to Drive Reg 03, which corresponds to keypad parameter (9603). Using the keypad on the drive, go
to menu item Data To Drive Reg 03 (9603).
2. Select the pick list variable (Net Input Flag 1, Net Input Flag 2, …) from the pick list in the keypad or Tool
suite. Now the corresponding bits (Network1Flag0_I, Network1Flag1_I, etc.) from the drctry.ngn file can be
used in the SOP program as shown below:

;Network1Flag0_I Use bit 0 for Stop bit

;Network1Flag1_I Use bit 1 for Run Forward bit
RunRequest_O = /Network1Flag0_I * Network1Flag1_I;Run drive using bit
1,stop using bit 0
You chose Data to Drive Reg 03 as your write register; by referring to Table 6-14, you can see that the PLC now
needs to send 0x02 in Data To Drive Reg 03 to run the drive, or 0x01 in the same register to stop the drive.
Table 6-4. Sample Programmable Bits*
Pick List Variable Drctry.ngn bits

6
Network1Flag0_I ~
Net Input Flag 1
Network1Flag15_I
Network1Flag16_I ~
Net Input Flag 2
Network1Flag31_I
Network1Flag32_I ~
Net Input Flag 3
Network1Flag47_I
Network1Flag48_I ~
Net Input Flag 4
Network1Flag63_I

*A complete listing of SOP-programmable bits is found in Section 6.10.3.

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6.4.4 To monitor drive status and speed feedback

In order to read the data from the drive, no SOP flags are needed. Set Network 1 Type (9901) to Profibus. Set the
Profibus network Address (9904). Set Velocity Units (9080) to desired motor speed units. By referring to Table 6-14,
you can see the registers needed to read drive status and speed feedback from the drive are Data From Drive 01 and
Data From Drive 02 respectively. The definitions of the status bits, which are always found in Data From Drive 01
register, are shown below.
Table 6-5. General Status output from the drive
Bit number Meaning in drive control software Value
0 Fault
1 Alarm
2 RunningForward
3 RunningReverse
4 DriveReady
5 StartStopControlFromNetwork
6 SpeedFromNetwork
7 AtSpeedReference
0 = False; 1 = True
8 SpeedInPercent
9 SpeedInRPM
10 SpeedInHz
11 Not used
12 Not used
13 Not used
14 Not used
15 Not used

Refer to Section 6.6 for details on how to read other drive data.

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6.5 Remote Capabilities

The Profibus interface to the drive allows remote control and monitoring capability of the drive. Control of the drive
can be through Profibus registers sent to the drive working in conjunction with a SOP program. Control capabilities
include run request, stop request, fault reset, stop, reverse speed demand, and others. There are 128 remote user-
programmable software flags that can be monitored and/or set through the system program.
Note that the discrete controls and the user-defined control/feedback flags are configured via the drive’s built-in
system program (provided with each drive).

6.6 Menu Setup Procedures

All Profibus setup functions are contained in the Configure Parameters Menu (9902), which is a submenu of the
Communications Menu (9). Access is security controlled at level 7; therefore, you must enter the proper security code
to access these parameters. The menus required for initial setup of the Profibus interface are listed in
Table 6-18. For the correct setup procedure, please refer to Section 6.8.
Select menu contents by using pick lists. The Profibus data mapping is done via the Data To Drive Registers and Data
From Drive Registers as described in Table 6-14.
The pick lists in the menus contain the most commonly used data variables. If a variable is not found in the lists, you
need to search Appendix A of this manual to locate it. If found, use the corresponding data ID number to enter the
variable into the read registers. The procedure for doing this is described in Section 6.8.1.

6.7 PLC Setup using Profibus GSD Files

A GSD file is a device description file in a specified format. The format must conform to the Profibus Trade
Organization’s guidelines. Each device on the Profibus network must have a GSD file. The GSD file provided all
relevant data associated with the Profibus device for configuration tools. A GSD file can be thought of as an
electronic data sheet for a specific device on the Profibus network.
The Robicon GSD provides an option for 136 bytes of input and output; however, if your configuration tool cannot
accommodate 136 bytes, the GSD file allows the choice of adding 8 or 16 bytes at a time, until 136 bytes of input and
136 bytes of output are selected.
6
Note: The Profibus master must be configured for 136 bytes of input and 136 bytes of output to
* communicate to the Siemens NXG drive.

The manufacturer of the Profibus device normally supplies GSD files. The PTO maintains a home page on the
Internet, which contains libraries of approved GSD files (http:/www.profibus.com). The Robicon GSD file is
documented in Appendix C.

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6.8 Setup Procedure

Use the keypad on the front of the drive to select a network protocol:
1. Using the keypad, enter Network 1 Type (9901), scroll to Profibus, then press [ENTER]. The Profibus
configuration parameters will be viewable.
2. Set the Profibus Address (9904) to the desired Profibus network address for the drive.
3. Select the Velocity Units (9080). This sets the units for motor commanded speed, and motor feedback speed
scaling.
4. If needed, set the Demand Scalar (9912) to n*command speed where –125n125
5. Set the Aux Demand Scalar (9913) if used
6. Use Table 6-14 to program the drive to send data to and receive data from Profibus network. Each Profibus
Register corresponds with a keypad parameter ID, which will be used to tell the drive what data to send to,
or what commands to receive from a particular Profibus Register. Note that four such registers are already
programmed, giving the drive basic send and receive functionality. The data in these registers are not
changeable.
7. The definition of the bits in the available Profibus registers may be entered from a choice of pick list
variables in the keypad menus, or custom programmed using the drive’s SOP program. See Section 6.10 for
details.

Note: If you are unfamiliar with drive system programming, refer to the System Programming chapter in
* your drive’s manual.

Please note that your PLC can receive data from the drive without any changes to the SOP program. Only if you need
to control the drive through the Profibus network, will you need to set any flags in the SOP program.
If you need to control the drive through a Profibus Plus network (or any other type of network), then you will need, at
an absolute minimum, the following network control flag to appear in the source code of the SOP program:
Network1RunEnable_O = TRUE; .
6
In order to be able to control a drive through a network, by sending commands to it, first ensure that the drive’s SOP
file contains the line of code mentioned above. Note that the semicolon is part of the code. If you would like to
control the drive through a second network, then your SOP program must also contain this line:
Network2RunEnable_O = TRUE;
After ensuring that the SOP file has the necessary code to enable control of the drive over a network, you will need to
change some of the drive’s control parameters using the keypad on the front of the drive.

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6.8.1 A Practical Setup Example

A customer needs to process four drive outputs on his/her PLC. These are status, motor speed, power, and number of
active faults. In order to program a register, refer to Table 6-14 to see if it is programmable. Data From Drive 01 is
not changeable; a change is neither necessary nor possible. It is already permanently set to indicate general status.
Data From Drive 02 is used to indicate motor speed. This register is also not changeable. It is permanently set to
indicate motor speed. Table 6-6 shows the data setup for the hypothetical example.
Table 6-6. Hypothetical Desired Data
PLC Profibus Data Data Scaling
Data From Drive 01 General Status 16 bits
Data From Drive 02 Motor Speed RPM
Data From Drive 03 Output Power kW
Data From Drive 04 Number of faults 0 – 128

Use Table 6-14 to determine the necessary parameter ID. Enter parameter 9403 (Data From Drive 03) using the
keypad on the front of the drive. Choose “output power” from the pick list. Enter parameter 9404 (Data From Drive
04) using the keypad on the front of the drive. Scroll through the pick list to find “number of active faults”.
Note that “number of active faults” is not a choice in the pick list. Therefore, it needs to be specified manually. Refer
to Table 6-16 for a list of ‘Data From Drive’ pick list variables. Since “number of active faults” is not a choice in the
pick list, choose “Man Id” from the pick list. Find “number of active faults” in Appendix B, and look for its data ID
number. Its data ID number is 3000. Note that the data ID number is not the same as a parameter ID number. “ManId-
0000” will be shown on display. Use arrows or number keys to enter 3000, and press [ENTER]. The display should
show “Man Id-3000”. If the data ID number could not be found, the error message “Invalid Id Entered” will be
displayed. Ensure that the data ID is correct. Now the number of active faults will be sent to the PLC using the Data
From Drive 04 register.

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6.9 Drive Control Defaults

To control the drive using its default configuration, you need to send commands to its Fixed Reg Bits location. Refer
to Table 6-14 to see the location of the ‘Fixed Reg Bits’. The drive’s default interpretation of the Fixed Reg Bits is
non-programmable and controlled by the drive’s control software. To ensure that the drive is set to its default setting,
use the keypad on the front of the drive to set parameter (9944) to “FIXED.” This is the default configuration. Using
the default configuration, the Fixed Reg Bits are interpreted as shown in Table 6-7. Note that these particular
drctry.ngn bits are always defined by register Data To Drive Reg 01 whether the default configuration is used or not.
To redefine the bits at this address, refer to Section 6.9.2.
Table 6-7. If ‘Net Control Type’ set to FIXED (default command configuration):
Bit Default Definition
Network1FixedRegBit0_I Run forward
Network1FixedRegBit1_I Run reverse
Network1FixedRegBit2_I Fault reset
Network1FixedRegBit3_I Stop*
Network1FixedRegBit4_I Reserved
Network1FixedRegBit5_I Start stop control from network
Network1FixedRegBit6_I Speed commanded from network
Network1FixedRegBit7_I
Network1FixedRegBit8_I
Network1FixedRegBit9_I
Network1FixedRegBit10_I
Network1FixedRegBit11_I Not Used
Network1FixedRegBit12_I
Network1FixedRegBit13_I
Network1FixedRegBit14_I
Network1FixedRegBit15_I

*Network1FixedRegBit3_I functions as a drive stop control bit only if “Start Stop Control” (9945) is set to “Momentary” —
otherwise this bit is Reserved

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6.9.1 Status Output

To read drive status data, you need to read the General Status register as found in Table 6-14. The drive’s status
output is shown below in Table 6-8. These status bits are always located at Data From Drive 01 (bytes 01 & 02 of the
profibus data to the network).
Table 6-8. General Status output from the drive
Bit number Meaning in drive control software Value
0 Fault
1 Alarm
2 RunningForward
3 RunningReverse
4 DriveReady
5 StartStopControlFromNetwork
6 SpeedFromNetwork
7 AtSpeedReference
0 = False; 1 = True
8 SpeedInPercent
9 SpeedInRPM
10 SpeedInHz
11 Not used
12 Not used
13 Not used
14 Not used
15 Not used

Note: The default output bit interpretation can NOT be reprogrammed.

*
6 6.9.2 Running the drive using non-default settings
The drive can be run in a non-default manner by reprogramming the ‘Fixed Reg Bits’ register. As seen in Table 6-14,
the location is fixed at ‘Data To Drive Reg 01’ (bytes 01 & 02 of the Profibus data from the network). However, the
definition of the bits can be reprogrammed. To change the interpretation of the control bits (‘Data To Drive Reg 01’),
use the following procedure:
By setting menu parameter 9944 (Net Control Type) to “SOP”, each bit from the ‘Fixed Reg Bits’ word can be used
in any desired manner, such as shown below. In order to make the definition of the ‘Fixed Reg Bits’ in the ‘Data To
Drive Reg 01’ programmable, use the drive’s keypad to set parameter 9944 (Net Control Type) to ‘SOP’. The source
code below shows how to use the SOP program to trip the input medium voltage when ‘1’ is sent to
Network1FixedRegBit9 in Profibus ‘Data To Drive Reg 01’ (bytes 01 & 02 of the Profibus data from the network).
;ExternalDigitalOutput01h_O Use digital output to trip input medium Voltage
ExternalDigitalOutput01h_O = Network1FixedRegBit9_I;

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6.10 User Programming via the SOP

6.10.1 Inputs to the drive (64 bits)
There are 64 input bits available for user programming. Use Table 6-14 to find the location of the first ‘Data To Drive
Reg’ register which is programmable. Please note which network 1 keypad parameter ID corresponds to that ‘Data
To Drive Register’. The table reveals the first programmable data item for the Profibus network is ‘Data From Drive
03’, and that its corresponding keypad parameter ID for network 1 is 9603. Go to the keypad on the front of the drive
and enter parameter 9603. You will see a pick list, the first item of which is ‘None’. See Table 6-15 for a list of
possible pick list choices for ‘Data to Drive Registers’. Scroll through the pick list until you come to ‘Net Input Flag
1’, and then press [ENTER]. This setting will use the first 16 bits of the possible 64 bits. To use the second set of 16
bits, select ‘Net Input Flag 2’, and so on. The corresponding names of the bits related to the menu pick list items are
found in Section 6.10.
This example shows how to use the Profibus network to trip the input medium voltage. In this example, our PLC will
be writing data to ‘Data To Drive Reg 03’, which we programmed to Net Input Flag 1. We will use the SOP program
to set a flag bit that will use digital output to trip input medium voltage. The PLC will write the contents of ‘Net Input
Flag 1’, bit 9 (Network1Flag9_I) to create an input medium voltage trip. The SOP source code is shown below:
;ExternalDigitalOutput01h_O Use digital output to trip input medium voltage
ExternalDigitalOutput01h_O = Network1Flag9_I;

6.10.2 Outputs from the drive (64 bits)

There are 64 output bits available for user programming. Use Table 6-14 to find the location of the first ‘Data From
From Drive’ register which is programmable. Please note which network 1 keypad parameter ID corresponds to that
‘Data From Drive’ register’. The table reveals the first programmable data item for the Profibus network is ‘Data To
Drive Reg 03’, and that its corresponding keypad parameter ID for network 1 is 9403. Go to the keypad on the front
of the drive and enter parameter 9403. You will see a pick list, the first item of which is ‘None’. See Table 6-16 for a
list of possible pick list choices for ‘Data From Drive Registers’. Scroll through the pick list until you come to ‘Net1
Out Reg 1’, and then press [ENTER]. This setting will use the first 16 bits of the possible 64 bits. To use the second
set of 16 bits, select ‘Net1 Out Reg 2’, and so on. The corresponding names of the bits related to the menu pick list
items are found in Table 6-12.
This example shows how to use the Profibus network to detect a trip on the input medium voltage. In this example,
our PLC will be reading ‘Data From Drive 03’, which we programmed to ‘Net1 Out Reg 1’. We will use the SOP
6
program to set a flag bit that corresponds to a medium voltage low fault. We will use bit 9 of ‘Net1 Out Reg 1’, which
is Network1Flag9_O, to set the network flag true if the medium voltage low fault is active. The PLC will read the
contents of Net 1 Out Reg 1, bit 9 (Network1Flag9_O) to determine if a medium voltage fault occurred. The SOP
source code is shown below:
; Monitor medium voltage fault on the Profibus network
Network1Flag9_O = MediumVoltageLowFault_I;

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6.10.3 Flags available to the SOP program

Net Control Type Default:
The drive’s interpretation of the bits in Table 6-9 is fixed by the drive’s control software unless you set parameter
9944 (Net Control Type) to ‘SOP’. To change the default interpretation of these bits, see Section 6.9.2.

Table 6-9. Relationship of ‘Fixed Reg Bits’ to Keypad Menus and drctry.ngn Bits (programmable bits available
for use in the SOP)
Pick list variable in ‘Data to Drive Related Drctry.ngn bits Profibus Network Data
Reg nn’ menus
Network1FixedRegBit0_I ~
Fixed Reg Bits (network 1) Bytes 01 & 02 from network
Network1FixedRegBit15_I
Network2FixedRegBit0_I ~
Fixed Reg Bits (network 2) Bytes 01 & 02 from network
Network2FixedRegBit15_I

User programmable:

The interpretation of these bits is programmable through the SOP file. These bits can be programmed to set or reset
any other bits used within the SOP.
Table 6-10. Network 1 Programmable Input Bits (keypad parameter ID 9603-9664)
Pick list variable in ‘Data to Drive Reg nn’ menus Related Drctry.ngn bits
Network1Flag0_I ~
Net Input Flag 1
Network1Flag15_I
Network1Flag16_I ~
Net Input Flag 2
Network1Flag31_I
Network1Flag32_I ~
Net Input Flag 3
Network1Flag47_I

6
Network1Flag48_I ~
Net Input Flag 4
Network1Flag63_I

Table 6-11. Network 2 Programmable Input Bits (keypad parameter ID 9703-9764)

Pick list variable in ‘Data to Drive Reg nn’ menus Related Drctry.ngn bits
Network2Flag0_I ~
Net Input Flag 1
Network2Flag15_I
Network2Flag16_I ~
Net Input Flag 2
Network2Flag31_I
Network2Flag32_I ~
Net Input Flag 3
Network2Flag47_I
Network2Flag48_I ~
Net Input Flag 4
Network2Flag63_I

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Table 6-12. Network 1 Programmable Output Bits (keypad parameter ID 9403-9464)

Pick list variable in ‘Data to Drive Reg nn’ menus Related Drctry.ngn bits
Network1Flag0_O ~
Net1 Out Reg 1
Network1Flag15_O
Network1Flag16_O ~
Net1 Out Reg 2
Network1Flag31_O
Network1Flag32_O ~
Net1 Out Reg 3
Network1Flag47_O
Network1Flag48_O ~
Net1 Out Reg 4
Network1Flag63_O

Table 6-13. Network 2 Programmable Output Bits (keypad parameter ID 9503-9564)

Pick list variable in ‘Data to Drive Reg nn’ menus Related Drctry.ngn bits
Network2Flag0_O ~
Net2 Out Reg 1
Network2Flag15_O
Network2Flag16_O ~
Net2 Out Reg 2
Network2Flag31_O
Network2Flag32_O ~
Net2 Out Reg 3
Network2Flag47_O
Network2Flag48_O ~
Net2 Out Reg 4
Network2Flag63_O

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6.11 Profibus Network Data and Keypad Pick List Tables

Table 6-14. Correspondence between drive parameter ID and Profibus network data
Network Drive Parameter ID Description Default Contents Profibus Network
Numbersa Datab
General Status Bytes 01 & 02 to
1 9401 Data From Drivec 01 (not changeable) network
Motor Speed Bytes 03 & 04 to
1 9402 Data From Drive 02
(not changeable) network
Bytes 05 – 128 to
1 9403 - 9464 Data From Drive 03-64 None
network
(Global) Data From Drive General Status
1 9801 N/A
01 (not changeable)
(Global) Data From Drive Motor Speed
1 9802 N/A
02 (not changeable)
(Global) Data From Drive
1 9803 - 9832 None N/A
03-32
Fixed Reg Bits Bytes 01 & 02 from
1 9601 Data To Drived Reg 01 (not changeable) network
Velocity Demand Bytes 03 & 04 from
1 9602 Data To Drive Reg 02
(not changeable) network
Bytes 05 – 128 from
1 9603 – 9664 Data To Drive Reg 03-64 None
network
(Global) Data To Drive Reg Fixed Reg Bits
1 9201 N/A
01 (not changeable)
(Global) Data To Drive Reg Velocity Demand
1 9202 N/A
02 (not changeable)
(Global) Data To Drive 03 –
1 9203 – 9232 None N/A
64
General Status Bytes 01 & 02 to
2 9501 Data From Drive 01
(not changeable) network
Motor Speed Bytes 03 & 04 to
2 9502 Data From Drive 02
(not changeable) network

6 2 9503 – 9564 Data From Drive 03- 64 None

Bytes 05 – 128 to
network
(Global) Data From Drive General Status
2 9834 N/A
01 (not changeable)
(Global) Data From Drive Motor Speed
2 9835 N/A
02 (not changeable)
(Global) Data From Drive
2 9836 – 9865 None N/A
03 –32
Fixed Reg Bits Bytes 01 & 02 from
2 9701 Data To Drive Reg 01
(not changeable) network
Velocity Demand Bytes 03 & 04 from
2 9702 Data To Drive Reg 02
(not changeable) network
Bytes 05 – 128 from
2 9703 – 9764 Data To Drive Reg 03-64 None
network
(Global) Data To Drive Reg Fixed Reg Bits
2 9234 N/A
01 (not changeable)
(Global) Data To Drive Reg Velocity Demand
2 9235 N/A
02 (not changeable)
(Global) Data To Drive Reg
2 9236 – 9265 None N/A
03 - 64

a. Drive Parameter ID Number—the number to enter using the keypad on the front of the drive

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b. Profibus Network Data—Profibus uses a predefined byte count to communicate between the
master and the drive. The Siemens NXG drive uses up to 136 bytes for input and output. 128 bytes
are used to form the 64 16-bit registers (2 bytes per register) and 8 bytes are ‘reserved’ for future
used. The data received (128 bytes) is mapped to the 64 Data To Drive Registers and the data sent
to the PLC is defined using the 64 Data From Drive Registers.
Network data size may be limited to 16, 32, 64, 96, 128, or 136 bytes in and out using menu items
9951 and 9952. At 136 bytes, only 128 are available to the user. The master must be set up to
match the number of bytes in and out.
Each Network Register is 16 bits (2 bytes). The order of the bytes can be swapped to match the
your network data format (9953, 9954).
c. Data from drive—data that the PLC will receive from the drive in order to determine how the
drive is functioning. Each register contains a 16-bit digital representation of the status of a particu-
lar aspect of the drive’s functioning. Some registers are fixed to track certain drive functions; oth-
ers are programmable to track any of a number of drive status choices.
d. Data to drive—data that the PLC will send to the drive in order to control it. Each register contains
a 16-bit digital representation of the PLC’s command for a particular aspect of the drive’s function-
ing. Some registers are fixed to control certain functions; others are programmable to control any
of a number of drive function choices.

Table 6-15. Modbus Plus Data To Drive Pick List Variables

Name Name
None MUX 3 ID
Fixed Reg Bits MUX 4 ID
Velocity Demand MUX 5 ID
Auxiliary Demand MUX 6 ID
Net Input Flag 1 MUX 7 ID
Net Input Flag 2 MUX 8 ID
Net Input Flag 3 PTD1
Net Input Flag 4
Ratio
PTD2
PTD3
6
Forward Max Lim PTD4
Reverse Max Lim Parallel Cmd 1
Forward Acc Time Torque Demand
Forward Dec Time PVCL Demand
Reverse Acc Time Flux Demand
Reverse Dec Time Node Count
Net Input Pulse Node Index
Forward Min Lim Torque Acc Time
Reverse Min Lim Torque Dec Time
Torque Limit Torque Offset
MUX 1 ID Torque Scalar
MUX 2 ID Vars Command

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Table 6-16: Modbus Plus Data From Drive Pick List Variables

Drive Pick List Variables

None Net1 Out Reg 3 Mux1 Echo Wago Inputs 33-48
Man Id Net1 Out Reg 4 Mux1 Data Wago Inputs 49-64
General Status Net2 Out Reg 1 Mux2 Echo Wago Inputs 65-80
Motor Voltage Net2 Out Reg 2 Mux2 Data Wago Inputs 81-96
Total Current Net2 Out Reg 3 Mux3 Echo Wago Outputs 1-16
Output Power Net2 Out Reg 4 Mux3 Data Wago Outputs 17-32
Motor Speed Torque Current Mux4 Echo Wago Outputs 33-48
Speed Demand Magnetizing Cur Mux4 Data Wago Outputs 49-64
Speed Reference Motor Flux Mux5 Data PFD1
Heartbeat Motor Torque Mux6 Echo PFD2
Drive State Flux Reference Mux6 Data PFD3
Inp RMS Current Input Voltage Mux7 Echo PFD4
Input Frequency Inp Power Factor Mux7 Data Drive Losses
Input Power Avg Input KVars Mux8 Echo Speed Droop Percent
Net1 Out Reg 1 Max Available Output Volts Mux8 Data Sync Motor Field Ref
Net1 Out Reg 2 Hottest Cell Temp Wago Inputs 1-16 Avail reactive Current
Wago Inputs 17-32 Drive Efficiency

6.12 Menu Parameter Tables

Table 6-17: Network 1 Configure Menu (9900)
Parameter ID Units Default Min Max Description
Network 1 9901 None Designates the type of external

6
Type network connected to the drive.
• None
• Modbus
• DeviceNet
• Profibus
• Modbus Plus
• Ethernet Modbus
• Data Highway +
• ControlNet

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Table 6-18. Configure Parameters Menu (9902)

Parameter ID Units Default Min Max Description
Profibus Sets address of node on Profibus
9904 2 2 124
Address network.
Designates the units for velocity
values from the drive.
Velocity Units 9080 % • %
• RPM
• Hz
Demand Scalar for input demand reference
9912 1 -125 125
Scalar from the network.
Aux Demand Auxiliary scalar for input demand
9913 1 -125 125
Scalar reference from the network.
Network I/O
9951 136 bytes Number of bytes in and out.
Size
Net1 Swap
9953 Off Swap register byte order.
Bytes

Table 6-19. Register Data From Drive Menu (9400)

Parameter ID Units Default Min Max Description
Register data from
Data From General drive parameter 1.
9401
Drive 01 Status This register is not
programmable
Register data from
Data From drive parameter 2.
9402 Motor Speed
Drive 02 This register is not
programmable.
Register data from
Data From drive parameters 3-64.
Drive 03 -64
9403-9464 None
These registers are
programmable.
6
Table 6-20. Register Data To Drive Menu (9600)
Parameter ID Units Default Min Max Description
Register data to drive
Data To Drive Reg Fixed Reg parameter 1. This
9601
01 Bits register is not
programmable.
Register data to drive
Data To Drive Reg Velocity parameter 2. This
9602
02 Demand register is not
programmable.
Register data to drive
Data to Drive Reg 9603- parameters 3-64.
None
03-64 9664 These registers are
programmable.

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Table 6-21. Network 2 Configure Menu (9914)

Parameter ID Units Default Min Max Description
Network 2 Type 9915 None Designates the type of external
network connected to the drive.
• None
• Modbus
• DeviceNet
• Profibus
• Modbus Plus
• Ethernet Modbus
• Data Highway +
• ControlNet

Table 6-22. Network 2 Configure Parameters Menu (9916)

Parameter ID Units Default Min Max Description
Profibus Sets address of node on Profibus
9918 2 2 124
Address network.
Designates the units for velocity
values from the drive.
Velocity Units 9924 % • %
• RPM
• Hz
Demand Scalar for input demand reference
9926 1 -125 125
Scalar from the network.
Aux Demand Auxiliary scalar for input demand
9927 1 -125 125
Scalar reference from the network.
Network2 I/O
9952 136 bytes Number of bytes in and out.
Size
Net2 Swap
9954 Off Swap register byte order.
Bytes

6
Table 6-23. Network 2 Register Data From Drive Menu (9500)
Parameter ID Units Default Min Max Description
Register data from
Data From General drive parameter 1.
9501
Drive 01 Status This register is not
programmable
Register data from
Data From drive parameter 2.
9502 Motor Speed
Drive 02 This register is not
programmable.
Register data from
Data From drive parameters 3-64.
9503-9564 None
Drive 03 -64 These registers are
programmable.

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Table 6-24. Network 2 Register Data To Drive Menu (9700)

Parameter ID Units Default Min Max Description
Register data to drive
Data To Drive Reg Fixed Reg parameter 1. This
9701
01 Bits register is not
programmable.
Register data to drive
Data To Drive Reg Velocity parameter 2. This
9702
02 Demand register is not
programmable.
Register data to drive
Data To Drive Reg 9703- parameters 3-64.
None
03-64 9764 These registers are
programmable.

6.13 Display Network Monitor Function (Parameter ID 9950)

This function allows you to view the values of network registers. It is extremely useful for troubleshooting. As data is
transmitted, and the values of the registers change, the display will automatically and continuously update to reflect
the changes. The direction of data transmission as shown on this screen, is from the drive’s perspective. Therefore,
‘Rx’ is data received into the drive, and ‘Tx’ is data transmitted from the drive.

Format of the register Data direction (3) Register number

value display (1)

6
D NET1 Tx N-Reg:
01 00257 Line 1 data

H NET2 Rx N-Reg:
02 0F1B Line 2 data

Global or non-global register

Network for this register (2) Register value
(4)

Figure 6-8. Diagram of Display Network Monitor Function

1. ‘D’ means decimal format.

‘H’ means hexadecimal format.
2. The drive may be connected to two separate networks.
3. ‘Rx’ means that this is a “Data to Drive” register.
‘Tx’ means that this is a “Data from Drive” register.
4. ‘G’ means a global register.
‘N’ means a non-global register.
The Modbus protocol does not support global registers. Therefore, when working with a Modbus controller,
this field will contain ‘N’ in all of the registers.

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5. This two-digit numeric field indicates the number of the register being shown.
‘Tx’ 01-64 are Data from Drive 01 (9401) through “Data from Drive 64”
(parameter ID 9464).
‘Rx’ 01-64 are Data to Drive 01 (9601) through Data to Drive 64 (9664).
6. The value of the register. Since the registers all contain 16-bit digital words, they range in value from 0-
65535 (decimal), or 0-FFFF (hexadecimal).
7. Line 1 contains the following information:
The register value is shown in decimal format; the register is in network 1; the register is non-global; the
data is going to the drive; “to drive” register number 1 is showing; its value is 257.
8. Line 2 contains the following information:
The register value is shown in hexadecimal format; the register is in network 2; the register is non-global; to
data is coming from the drive; “from drive” register number 2 is showing; its value is 0xF1B (decimal
equivalent = 3,867).

Note: The underscores in the picture of the display show possible cursor movement. To move the
* cursor within the display, use the left and right arrow keys. Alphabetic fields are only edited with
only the up and down arrow keys. Numeric fields are edited with either the up and down arrow keys
or the numeric keys. The cursor will move to the beginning of the second line after it reaches the last
possible position on the first line. Likewise, the cursor will move to the beginning of the first line
after it reaches the last possible position on the second line.

Figure 6-9 represents a display. If you start with the cursor at position A and use the left arrow [←] key repeatedly,
the cursor will move to A, D, C, B, A, etc. If you start with the cursor at position A and use the right arrow [→] key
repeatedly, the cursor will move to A, B, C, D, A, etc.

6 D D
H H

Figure 6-9. Cursor Movement Diagram

∇∇∇

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CHAPTER

7 Data Highway Plus Communications

7.1 Introduction
Data Highway Plus uses a token ring network topology. This protocol allows any node to initiate communications or
respond to quires from other nodes. However, in the NXG implementation the drive functions only as a slave device
and cannot initiate communications (it can only respond to requests)
The term token passing refers to the changing of mastership from one node to another. In the token passing
configurations (that is, configurations that have more that one potential master), the node that has control (i.e.,
network mastership) is said to “have the token” at that time. Devices on such networks can only “hold the token” for
a maximum amount of time, then they must pass the token to another node.
In a token ring configuration, bus mastership is passed to all nodes in a repeated sequence that is generally based on
the node address. Generally, all devices on a token ring network monitor network activity and know “who else” is on
the network. When a device “holds the token”, it owns the network and can send data at will. This process permits
deterministic bus timing.
The UCS Data Highway Plus module supports the following baud rates: 57.7K, 115.2K and 230.4K
The Data Highway Plus UCS module uses a 3 pole Phoenix connector. Pin 1 is the “Line2” connection, pin 2 is the
shield and pin 3 is the “Line 1” connection.
This chapter features a fast setup section that will help you to start controlling your ROBICON drive with NXG
control via a Data Highway Plus network as quickly as possible. Section 7.2 is short, procedural, and covers a
minimum of detail. Please refer to the other sections for detailed information.
Note that in this chapter, a four-digit number inside of parentheses, i.e. (9403), indicates a parameter ID number for
the keypad on the front of the drive. Press [SHIFT] + [→] in order to enter this number directly. You do not need to
hold down the [SHIFT] key while you press the [→] key. A numerical value expressed as 0xnn (i.e., 0x12) is being
represented in hexadecimal format.
Data Highway Plus and DH+ are registered trademarks of Allen-Bradley Company Inc.

7.2 Fast Setup

7.2.1 To Set up Data Highway Plus for motor control using default configuration (Fixed Reg Bits)
The drive can be controlled from the PLC, using the following simple setup procedure. Using the keypad on the front 7
of the drive, set ‘Network 1 Type’ (9901) to Data Highway Plus. Set the Data Highway Plus network address (9931)
and baud rate (9930). Finally set the ‘Net Control Type’ (9944) to FIXED. This sets ‘Data To Drive Reg 01’ to have
the definitions shown in Table 7-1. Next, add the following line to the SOP:
Network1RunEnable_O = TRUE; (the semicolon is part of the code)
You can now control the drive through the PLC.

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Table 7-1: Default meaning of ‘Fixed Reg Bits’

Bit Default Definition

Network1FixedRegBit0_I Run forward
Network1FixedRegBit1_I Run reverse
Network1FixedRegBit2_I Fault reset
Network1FixedRegBit3_I Stop*
Network1FixedRegBit4_I Reserved
Network1FixedRegBit5_I Start stop control from network
Network1FixedRegBit6_I Speed commanded from network
Network1FixedRegBit7_I
Network1FixedRegBit8_I
Network1FixedRegBit9_I
Network1FixedRegBit10_I
Network1FixedRegBit11_I Reserved for Future
Network1FixedRegBit12_I
Network1FixedRegBit13_I
Network1FixedRegBit14_I
Network1FixedRegBit15_I

To run the motor, the PLC must send 0x21 to ‘Data To Drive Reg 01’. This hexadecimal value sets bit 0 (run) and bit
5 (start/stop control from network). Likewise, to command the motor to stop, the PLC must send 0x04 or 0x00 to
register ‘Data To Drive Reg 01’.

*Network1FixedRegBit3_I functions as a drive stop control bit only if “Start Stop Control” (9945) is set to “Momentary” —
otherwise this bit is Reserved

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7.2.2 To send a motor speed setting to the drive

To send motor speed settings to the drive, first set the desired speed units that you will be sending (RPM, % or HZ) in
menu (9080). To enable speed settings from the network, add the following line to the SOP program file:
RawDemandNetwork1_O = true;
By using Table 7-13, you can see that the PLC needs to send the desired speed setting to the drive to ‘Data To Drive
Reg 02’. This is a reserved register only used to hold speed settings. Then, send 0x61 to ‘Data To Drive Reg 01’. The
motor will accept the PLC commanded speed setting.

7.2.3 To control the motor using user defined bits controlled by the SOP
Use the keypad on the front of the drive to set ‘Network 1 Type’ (9901) to Data Highway Plus. Set the Data Highway
Plus network address (9931) and baud rate (9930). Finally, set the ‘Net Control Type’ parameter menu (9944) to
SOP. To control the motor this way, the drive needs to know what bits will be used in the SOP program. Two steps
are required to do this:
1. Find the bits you want to use by referring to Table 7-2 below, and locate the keypad pick list variable
associated with the bits. By referring to Table 7-13, you can see that the first available data to drive register
is ‘Data to Drive Reg 03’, which corresponds to keypad parameter ID (9603). Using the keypad on the drive,
go to menu item ‘Data To Drive Reg 03’ (9603).
2. Select the pick list variable (Net Input Flag 1, Net Input Flag 2, …) from the pick list in the keypad or Tool
suite. Now the corresponding bits (Network1Flag0_I, Network1Flag1_I, etc.) from the drctry.ngn file can be
used in the SOP program as shown below:
;Network1Flag0_I Use bit 0 for Stop bit
;Network1Flag1_I Use bit 1 for Run Forward bit
RunRequest_O = /Network1Flag0_I * Network1Flag1_I;Run drive using bit 1,stop
using bit 0

You chose ‘Data to Drive Reg 03’ as your write register; by referring to Table 7-13, you can see that the PLC now
needs to send 0x02 in ‘Data To Drive Reg 03’ to run the drive, or 0x01 in the same register to stop the drive.
Table 7-2: Sample Programmable Bits*

Pick List Variable Drctry.ngn bits

Network1Flag0_I ~
Net Input Flag 1
Network1Flag15_I

Net Input Flag 2

Network1Flag16_I ~ 7
Network1Flag31_I
Network1Flag32_I ~
Net Input Flag 3
Network1Flag47_I
Network1Flag48_I ~
Net Input Flag 4
Network1Flag63_I

*A complete listing of SOP-programmable bits is found in Section 7.8.3.

7.2.4 To monitor drive status and speed feedback

In order to read the data from the drive, no SOP flags are needed. Set ‘Network 1 Type’ (9901) to Data Highway Plus.
Set the Data Highway Plus network Address (9931) and baud rate (9930). Set Velocity Units (9080) to desired motor
speed units. By referring toTable 7-13, you can see the registers needed to read drive status and speed feedback from
the drive are ‘Data From Drive 01’ and ‘Data From Drive 02’ respectively. The definitions of the status bits, which
are always found in ‘Data From Drive 01’ register, are shown below.

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Table 7-3: General Status output from the drive

Bit number Meaning in drive control software Value

0 Fault
1 Alarm
2 RunningForward
3 RunningReverse
4 DriveReady
5 StartStopControlFromNetwork
6 SpeedFromNetwork
7 AtSpeedReference
0 = False; 1 = True
8 SpeedInPercent
9 SpeedInRPM
10 SpeedInHz
11 Not used
12 Not used
13 Not used
14 Not used
15 Not used

See Section 7.6 for details on how to read other drive data.

7.3 Remote Capabilities

The Data Highway Plus interface to the drive allows remote control and monitoring capability of the drive. Control of
the drive can be through Data Highway Plus registers sent to the drive working in conjunction with a SOP program.
Control capabilities include run request, stop request, fault reset, stop, reverse speed demand, and others. There are
128 remote user-programmable software flags that can be monitored and/or set through the system program.
Note that the discrete controls and the user-defined control/feedback flags are configured via the drive’s built-in
system program (provided with each drive).

7.4 Menu Setup Procedures

7 All Data Highway Plus setup functions are contained in the Configure Parameters Menu (9902), which is a submenu
of the Communications Menu (9). Access is security controlled at level 7; therefore, you must enter the proper
security code to access these parameters. The menus required for initial setup of the Data Highway Plus interface are
listed in Table 7-17. For the correct setup procedure, please refer to Section 7.6.
Select menu contents by using pick lists. The Data Highway Plus data mapping is done via the ‘Data To Drive
Registers’ and ‘Data From Drive Registers’ as described in Table 7-13.
The pick lists in the menus contain the most commonly used data variables. If a variable is not found in the lists, you
need to search Appendix A of this manual to locate it. If found, use the corresponding data ID number to enter the
variable into the read registers. The procedure for doing this is described in Section 7.6.1.

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7.5 Data Highway PLUS Network Commands

Table 7-4: Data Highway Plus - Supported PLC-5 Commands

Command Function Description

0x0F 0x00 Word Range Write
0x0F 0x01 Word Range Read
0x0F 0x26 Word / Read / Modify / Write
0x0F 0x67 Typed Write
0x0F 0x68 Typed Read

7.6 Setup Procedure

Use the keypad on the front of the drive to select a network protocol:
1. Using the keypad, enter Network 1 Type (parameter ID 9901), scroll to Data Highway Plus, then press
[ENTER]. The Data Highway Plus configuration parameters will be viewable.
2. Next, set the Data Highway Plus baud Rate (9930) to the desired baud rate, which must match the PLC
controller’s baud rate.
3. Set the Data Highway Plus Address (9931) to the desired Data Highway Plus network address for the drive.
4. Select the Velocity Units (9080). This sets the units for motor commanded speed, and motor feedback speed
scaling.
5. If needed, set the Demand Scalar (9912) to uncommonly speed where –125n125
6. Set the Aux Demand Scalar (9913) if used
7. Use Table 7-13 to program the drive to send data to and receive data from Data Highway Plus network. Each
Data Highway Plus Register corresponds with a keypad parameter ID, which will be used to tell the drive
what data to send to, or what commands to receive from a particular Data Highway Plus Register. Note that
four such registers are already programmed, giving the drive basic send and receive functionality. The data
in these registers are not changeable.
8. The definition of the bits in the available Data Highway Plus registers may be entered from a choice of pick
list variables in the keypad menus, or custom programmed using the drive’s SOP program. See Section 7.8
for details.

*
Note: If you are unfamiliar with drive system programming, you will need to refer to the System
Programming chapter, which can be found in your drive’s manual. 7
Note: Please note that your PLC can receive data from the drive without any changes to the SOP program.
* Only if you need to control the drive through the Data Highway Plus network, will you need to set any
flags in the SOP program.
If you need to control the drive through a Data Highway Plus network (or any other type of network), then you will
need, at an absolute minimum, the following network control flag to appear in the source code of the SOP program:
Network1RunEnable_O = TRUE;.
In order to be able to control a drive through a network, by sending commands to it, first ensure that the drive’s SOP
file contains the line of code mentioned above. Note that the semicolon is part of the code. If you would like to
control the drive through a second network, then your SOP program must also contain this line:
Network2RunEnable_O = TRUE;

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After ensuring that the SOP file has the necessary code to enable control of the drive over a network, you will need to
change some of the drive’s control parameters using the keypad on the front of the drive.

7.6.1 A Practical Setup Example

A customer needs to process four drive outputs on his/her PLC. These are status, motor speed, power, and number of
active faults. In order to program a register, refer to Table 7-13 to see if it is programmable. ‘Data From Drive 01’ is
not changeable; a change is neither necessary nor possible. It is already permanently set to indicate general status.
‘Data From Drive 02’ is used to indicate motor speed. This register is also not changeable. It is permanently set to
indicate motor speed. Table 7-5 shows the data setup for the hypothetical example.
Table 7-5: Hypothetical Desired Data

PLC Data Highway Plus Data Data Scaling

Data From Drive 01 General Status 16 bits
Data From Drive 02 Motor Speed RPM
Data From Drive 03 Output Power kwh
Data From Drive 04 Number of faults 0 – 128

Use Table 7-13 to determine the necessary parameter ID. Enter parameter ID 9403 (Data From Drive 03) using the
keypad on the front of the drive. Choose “output power” from the pick list. Enter parameter ID 9404 (Data From
Drive 04) using the keypad on the front of the drive. Scroll through the pick list to find “number of active faults”.

Note that “number of active faults” is not a choice in the pick list. Therefore, it needs to be specified manually. Refer
to Table 7-15 for a list of ‘Data From Drive’ pick list variables. Since “number of active faults” is not a choice in the
pick list, choose “Man Id” from the pick list. Find “number of active faults” in Appendix A and look for its data ID
number. Its data ID number is 3000. Note that the data ID number is not the same as a parameter ID number. “ManId-
0000” will be shown on display. Use arrows or number keys to enter 3000, and press [ENTER]. The display should
show “Man Id-3000”. If the data ID number could not be found, the error message “Invalid Id Entered” will be
displayed. Ensure that the data ID is correct. Now the number of active faults will be sent to the PLC using the ‘Data
From Drive 04’ register.

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7.7 Drive Control Defaults

To control the drive using its default configuration, you need to send commands to its Fixed Reg Bits location. Refer
to Table 7-13 to see the location of the ‘Fixed Reg Bits’. The drive’s default interpretation of the Fixed Reg Bits is
non-programmable and controlled by the drive’s control software. To ensure that the drive is set to its default setting,
use the keypad on the front of the drive to set parameter (9944) to ‘FIXED’. This is the default configuration. Using
the default configuration, the Fixed Reg Bits are interpreted as shown in Table 7-6. Note that these particular
drctry.ngn bits are always defined by register ‘Data To Drive Reg 01’ whether the default configuration is used or
not. To redefine the bits at this address, refer to Section 7.7.2.
Table 7-6: If Net Control Type set to FIXED (default command configuration):

Bit Default Definition

Network1FixedRegBit0_I Run forward
Network1FixedRegBit1_I Run reverse
Network1FixedRegBit2_I Fault reset
Network1FixedRegBit3_I Stop*
Network1FixedRegBit4_I Reserved
Network1FixedRegBit5_I Start stop control from network
Network1FixedRegBit6_I Speed commanded from network
Network1FixedRegBit7_I
Network1FixedRegBit8_I
Network1FixedRegBit9_I
Network1FixedRegBit10_I
Network1FixedRegBit11_I Not Used
Network1FixedRegBit12_I
Network1FixedRegBit13_I
Network1FixedRegBit14_I
Network1FixedRegBit15_I

7
*Network1FixedRegBit3_I functions as a drive stop control bit only if “Start Stop Control” (9945) is set to “Momentary” —
otherwise this bit is Reserved

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7.7.1 Status Output

To read drive status data, you need to read the General Status register as found in Table 7-13. The drive’s status
output is shown below in Table 7-7. These status bits are always located at ‘Data From Drive 01’.
Table 7-7: General Status Output From the Drive

Bit number Meaning in drive control software Value

0 Fault
1 Alarm
2 RunningForward
3 RunningReverse
4 DriveReady
5 StartStopControlFromNetwork
6 SpeedFromNetwork
7 AtSpeedReference
0 = False; 1 = True
8 SpeedInPercent
9 SpeedInRPM
10 SpeedInHz
11 Not used
12 Not used
13 Not used
14 Not used
15 Not used

Note: The default output bit interpretation can NOT be reprogrammed.

*
7.7.2 Running the drive using non-default settings
The drive can be run in a non-default manner by reprogramming the ‘Fixed Reg Bits’ register. As seen in
Table 7-13, the location is fixed at ‘Data To Drive Reg 01’. However, the definition of the bits can be reprogrammed.

7 To change the interpretation of the control bits (‘Data To Drive Reg 01’), use the following procedure:
By setting menu parameter 9944 (Net Control Type) to ‘SOP’, each bit from the ‘Fixed Reg Bits’ word can be used in
any desired manner, such as shown below. In order to make the definition of the ‘Fixed Reg Bits’ in the ‘Data To
Drive Reg 01’ programmable, use the drive’s keypad to set parameter (9944) (Net Control Type) to ‘SOP’. The
source code below shows how to use the SOP program to trip the input medium voltage when ‘1’ is sent to
Network1FixedRegBit9 in Data Highway Plus ‘Data To Drive Reg 01’.
;ExternalDigitalOutput01h_O Use digital output to trip input medium Voltage
ExternalDigitalOutput01h_O = Network1FixedRegBit9_I;

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7.8 User Programming via the SOP

7.8.1 Inputs to the drive (64 bits)
There are 64 input bits available for user programming. Use Table 7-13 to find the location of the first ‘Data To Drive
Reg’ register which is programmable. Please note which network 1 keypad parameter ID corresponds to that ‘Data
To Drive Register’. The table reveals the first programmable data item for the Data Highway Plus network is ‘Data
From Drive 03’, and that its corresponding keypad parameter ID for network 1 is 9603. Go to the keypad on the front
of the drive and enter parameter 9603. You will see a pick list, the first item of which is ‘None’. See
Table 7-14 for a list of possible pick list choices for ‘Data to Drive Registers’. Scroll through the pick list until you
come to ‘Net Input Flag 1’, and then press [ENTER]. This setting will use the first 16 bits of the possible 64 bits. To
use the second set of 16 bits, select ‘Net Input Flag 2’, and so on. The corresponding names of the bits related to the
menu pick list items are found in Table 7-9.
This example shows how to use the Data Highway Plus network to trip the input medium voltage. In this example,
our PLC will be writing data to ‘Data To Drive Reg 03’, which we programmed to Net Input Flag 1. We will use the
SOP program to set a flag bit that will use digital output to trip input medium voltage. The PLC will write the
contents of ‘Net Input Flag 1’, bit 9 (Network1Flag9_I) to create an input medium voltage trip. The SOP source code
is shown below:
;ExternalDigitalOutput01h_O Use digital output to trip input medium voltage
ExternalDigitalOutput01h_O = Network1Flag9_I;

7.8.2 Outputs from the drive (64 bits)

There are 64 output bits available for user programming. Use Table 7-13 to find the location of the first ‘Data From
From Drive’ register which is programmable. Please note which network 1 keypad parameter ID corresponds to that
‘Data From Drive’ register’. The table reveals the first programmable data item for the Data Highway Plus network is
‘Data To Drive Reg 03’, and that its corresponding keypad parameter ID for network 1 is 9403. Go to the keypad on
the front of the drive and enter parameter 9403. You will see a pick list, the first item of which is ‘None’. See
Table 7-15 for a list of possible pick list choices for ‘Data From Drive Registers’. Scroll through the pick list until
you come to ‘Net1 Out Reg 1’, and then press [ENTER]. This setting will use the first 16 bits of the possible 64 bits.
To use the second set of 16 bits, select ‘Net1 Out Reg 2’, and so on. The corresponding names of the bits related to
the menu pick list items are found in Table 7-11.
This example shows how to use the Data Highway Plus network to detect a trip on the input medium voltage. In this
example, our PLC will be reading ‘Data From Drive 03’, which we programmed to ‘Net1 Out Reg 1’. We will use the
SOP program to set a flag bit that corresponds to a medium voltage low fault. We will use bit 9 of ‘Net1 Out Reg 1’,
which is Network1Flag9_O, to set the network flag true if the medium voltage low fault is active. The PLC will read
the contents of Net 1 Out Reg 1, bit 9 (Network1Flag9_O) to determine if a medium voltage fault occurred. The
SOP source code is shown below: 7
; Monitor medium voltage fault on the Data Highway Plus network
Network1Flag9_O = MediumVoltageLowFault_I;

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7.8.3 Flags available to the SOP program

Net Control Type Default:
The drive’s interpretation of the bits in Table 7-8 is fixed by the drive’s control software unless you set parameter
9944 (Net Control Type) to ‘SOP’. To change the default interpretation of these bits, see Section 7.7.2.
Table 7-8: Relationship of ‘Fixed Reg Bits’ to Keypad Menus and drctry.ngn Bits (programmable bits available
for use in the SOP)

Pick list variable in ‘Data to Related Drctry.ngn bits Data Highway Plus Network Data
Drive Reg nn’ menus
Network1FixedRegBit0_I ~
Fixed Reg Bits (network 1) Word 1 from network
Network1FixedRegBit15_I
Network2FixedRegBit0_I ~
Fixed Reg Bits (network 2) Word1 from network
Network2FixedRegBit15_I

User programmable:
The interpretation of these bits is programmable through the SOP file. These bits can be programmed to set or reset
any other bits used within the SOP.
Table 7-9: Network 1 Programmable Input Bits (keypad parameter ID 9603-9664)

Pick list variable in ‘Data to Drive Reg nn’ menus Related Drctry.ngn bits
Network1Flag0_I ~
Net Input Flag 1
Network1Flag15_I
Network1Flag16_I ~
Net Input Flag 2
Network1Flag31_I
Network1Flag32_I ~
Net Input Flag 3
Network1Flag47_I
Network1Flag48_I ~
Net Input Flag 4
Network1Flag63_I

Table 7-10: Network 2 Programmable Input Bits (keypad parameter ID 9703-9764)

Pick list variable in ‘Data to Drive Reg nn’ menus Related Drctry.ngn bits
7 Net Input Flag 1
Network2Flag0_I ~
Network2Flag15_I
Network2Flag16_I ~
Net Input Flag 2
Network2Flag31_I
Network2Flag32_I ~
Net Input Flag 3
Network2Flag47_I
Network2Flag48_I ~
Net Input Flag 4
Network2Flag63_I

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Table 7-11: Network 1 Programmable Output Bits (keypad parameter ID 9403-9464)

Pick list variable in ‘Data to Drive Reg nn’ menus Related Drctry.ngn bits
Network1Flag0_O ~
Net1 Out Reg 1
Network1Flag15_O
Network1Flag16_O ~
Net1 Out Reg 2
Network1Flag31_O
Network1Flag32_O ~
Net1 Out Reg 3
Network1Flag47_O
Network1Flag48_O ~
Net1 Out Reg 4
Network1Flag63_O

Table 7-12: Network 2 Programmable Output Bits (keypad parameter ID 9503-9564)

Pick list variable in ‘Data to Drive Reg nn’ menus Related Drctry.ngn bits
Network2Flag0_O ~
Net2 Out Reg 1
Network2Flag15_O
Network2Flag16_O ~
Net2 Out Reg 2
Network2Flag31_O
Network2Flag32_O ~
Net2 Out Reg 3
Network2Flag47_O
Network2Flag48_O ~
Net2 Out Reg 4
Network2Flag63_O

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7.9 Data Highway Plus Network Data and Keypad Pick List Tables
Table 7-13: Correspondence between Drive Parameter ID and Data Highway Plus Network Data*

Network Drive Description Default Contents Data Highway Plus

Parameter ID Network Data
General Status
1 9401 Data From Drive 01 Word 1 to network
(not changeable)
Motor Speed
1 9402 Data From Drive 02 Word 2 to network
(not changeable)
Words 3- 64 to
1 9403 - 9464 Data From Drive 03-64 None
network
(Global) Data From Drive General Status
1 9801 N/A
01 (not changeable)
(Global) Data From Drive Motor Speed
1 9802 N/A
02 (not changeable)
(Global) Data From Drive
1 9803 – 9832 None N/A
03-32
Fixed Reg Bits
1 9601 Data To Drive Reg 01 Word 1 from network
(not changeable)
Velocity Demand
1 9602 Data To Drive Reg 02 Word 2 from network
(not changeable)
Words 3- 64 from
1 9603 – 9664 Data To Drive Reg 03-64 None
network
(Global) Data To Drive Fixed Reg Bits
1 9201 N/A
Reg 01 (not changeable)
(Global) Data To Drive Velocity Demand
1 9202 N/A
Reg 02 (not changeable)
(Global) Data To Drive 03
1 9203 – 9232 None N/A
– 64
General Status
2 9501 Data From Drive 01 Word 1 to network
(not changeable)
Motor Speed
7
2 9502 Data From Drive 02 Word 2 to network
(not changeable)
Words 3- 64 to
2 9503 – 9564 Data From Drive 03- 64 None
network
(Global) Data From Drive General Status
2 9834 N/A
01 (not changeable)
(Global) Data From Drive Motor Speed
2 9835 N/A
02 (not changeable)
(Global) Data From Drive
2 9836 – 9865 None N/A
03 –32
Fixed Reg Bits
2 9701 Data To Drive Reg 01 Word 1 from network
(not changeable)
Velocity Demand
2 9702 Data To Drive Reg 02 Word 2 from network
(not changeable)

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Network Drive Description Default Contents Data Highway Plus

Parameter ID Network Data
Words 3- 64 from
2 9703 – 9764 Data To Drive Reg 03-64 None
network
(Global) Data To Drive Fixed Reg Bits
2 9234 N/A
Reg 01 (not changeable)
(Global) Data To Drive Velocity Demand
2 9235 N/A
Reg 02 (not changeable)
(Global) Data To Drive
2 9236 – 9265 None N/A
Reg 03 - 64

a. Drive Parameter ID Number—the number to enter using the keypad on the front of the drive
b. Data from Drive—data that the PLC will receive from the drive in order to determine how the drive is
functioning. Each register contains a 16-bit digital representation of the status of a particular aspect of the
drive’s functioning. Some registers are fixed to track certain drive functions; others are programmable to
track any of a number of drive status choices.
c. Data to Drive—data that the PLC will send to the drive in order to control it. Each register contains a 16-bit
digital representation of the PIC’s command for a particular aspect of the drive’s functioning. Some registers
are fixed to control certain functions; others are programmable to control any of a number of drive function
choices.
d. Data Highway Plus Network Data—Data Highway Plus uses input and output “files”. This column
defines the offset from the beginning of the file. The Robicon NXG drive uses 64 words for input (data to
drive). The input data is mapped to the 64 ‘Data To Drive Registers’. The drive has 64 words for output
(data from drive) this data is mapped from the ‘Data from Drive’ registers.

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Table 7-14: Data To Drive Pick List Variables

Name Name
None MUX 3 ID
Fixed Reg Bits MUX 4 ID
Velocity Demand MUX 5 ID
Auxiliary Demand MUX 6 ID
Net Input Flag 1 MUX 7 ID
Net Input Flag 2 MUX 8 ID
Net Input Flag 3 PTD1
Net Input Flag 4 PTD2
Ratio PTD3
Forward Max Lim PTD4
Reverse Max Lim Parallel Cmd 1
Forward Acc Time Torque Demand
Forward Dec Time PVCL Demand
Reverse Acc Time Flux Demand
Reverse Dec Time Node Count
Net Input Pulse Node Index
Forward Min Lim Torque Acc Time
Reverse Min Lim Torque Dec Time
Torque Limit Torque Offset
MUX 1 ID Torque Scalar
MUX 2 ID Vars Command

Table 7-15: Data From Drive Pick List Variables

Drive Pick List Variables

None Net1 Out Reg 3 Mux1 Echo Wago Inputs 33-48
Man Id Net1 Out Reg 4 Mux1 Data Wago Inputs 49-64
General Status Net2 Out Reg 1 Mux2 Echo Wago Inputs 65-80
Motor Voltage Net2 Out Reg 2 Mux2 Data Wago Inputs 81-96
Total Current Net2 Out Reg 3 Mux3 Echo Wago Outputs 1-16

7 Output Power
Motor Speed
Net2 Out Reg 4
Torque Current
Mux3 Data
Mux4 Echo
Wago Outputs 17-32
Wago Outputs 33-48
Speed Demand Magnetizing Cur Mux4 Data Wago Outputs 49-64
Speed Reference Motor Flux Mux5 Data PFD1
Heartbeat Motor Torque Mux6 Echo PFD2
Drive State Flux Reference Mux6 Data PFD3
Inp RMS Current Input Voltage Mux7 Echo PFD4
Input Frequency Inp Power Factor Mux7 Data Drive Losses
Input Power Avg Input KVars Mux8 Echo Speed Droop Percent
Net1 Out Reg 1 Max Available Output Volts Mux8 Data Sync Motor Field Ref
Net1 Out Reg 2 Hottest Cell Temp Wago Inputs 1-16 Avail reactive Current
Wago Inputs 17-32 Drive Efficiency

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7.11 Menu Parameter Tables

Table 7-16: Network 1 Configure Menu (9900)

Parameter ID Units Default Min Max Description

Designates the type of external
network connected to the drive.
• None
• Modbus
Network 1 • DeviceNet
9901 None
Type • Data Highway Plus
• Modbus Plus
• Ethernet Modbus
• Data Highway +
• ControlNet

Table 7-17: Configure Parameters Menu (9902)

Parameter ID Units Default Min Max Description

• 57.6K
Data Highway
9930 57.6K 57.6K 230.4K • 115.2K
Plus Baud Rate
• 230.4K
Data Highway Sets address of node on Data
9933 2 2 124
Plus Address Highway Plus network.
Designates the units for velocity
values from the drive.
Velocity Units 9080 % • %
• RPM
• Hz
Scalar for input demand reference
Demand Scalar 9912 1 -125 125
from the network.
Aux Demand Auxiliary scalar for input demand
9913 1 -125 125
Scalar reference from the network.

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Table 7-18: Register Data From Drive Menu (9400)

Parameter ID Units Default Min Max Description

Register data from
Data From General drive parameter 1.
9401
Drive 01 Status This register is not
programmable
Register data from
Data From drive parameter 2.
9402 Motor Speed
Drive 02 This register is not
programmable.
Register data from
Data From drive parameters 3-64.
9403-9464 None
Drive 03 –64 These registers are
programmable.

Table 7-19: Register Data To Drive Menu (9600)

Parameter ID Units Default Min Max Description

Register data to drive
Data To Drive Fixed Reg parameter 1. This
9601
Reg 01 Bits register is not
programmable.
Register data to drive
Data To Drive Velocity parameter 2. This
9602
Reg 02 Demand register is not
programmable.
Register data to drive
Data to Drive Reg 9603- parameters 3-64.
None
03-64 9664 These registers are
programmable.

Table 7-20: Network 2 Configure Menu (9914)

7 Parameter ID Units Default Min Max Description

Designates the type of external
network connected to the drive.
• None
• Modbus
Network 2 Type 9915 None • DeviceNet
• Data Highway Plus
• Modbus Plus
• Ethernet Modbus
• Data Highway +
• ControlNet

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Table 7-21: Network 2 Configure Parameters Menu (9916)

Parameter ID Units Default Min Max Description

Data • 57.6K
Highway Plus 9932 57.6K 57.6K 230.4K • 115.2K
Baud Rate • 230.4K
Data
Sets address of node on Data
Highway Plus 9933 2 2 124
Highway Plus network.
Address
Designates the units for velocity
values from the drive.
Velocity
9924 % • %
Units
• RPM
• Hz
Demand Scalar for input demand reference
9926 1 -125 125
Scalar from the network.
Aux Demand Auxiliary scalar for input demand
9927 1 -125 125
Scalar reference from the network.

Table 7-22: Network 2 Register Data From Drive Menu (9500)

Parameter ID Units Default Min Max Description

Register data from
Data From General drive parameter 1.
9501
Drive 01 Status This register is not
programmable
Register data from
Data From drive parameter 2.
9502 Motor Speed
Drive 02 This register is not
programmable.
Register data from
Data From drive parameters 3-64.
9503-9564 None
Drive 03 –64 These registers are
programmable.
7

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Table 7-23: Network 2 Register Data To Drive Menu (9700)

Parameter ID Units Default Min Max Description

Register data to drive
Data To Drive Fixed Reg parameter 1. This
9701
Reg 01 Bits register is not
programmable.
Register data to drive
Data To Drive Velocity parameter 2. This
9702
Reg 02 Demand register is not
programmable.
Register data to drive
Data To Drive 9703- parameters 3-64.
None
Reg 03-64 9764 These registers are
programmable.

7.12 Display Network Monitor Function (Parameter ID 9950)

This function allows you to view the values of network registers. It is extremely useful for troubleshooting. As data is
transmitted, and the values of the registers change, the display will automatically and continuously update to reflect
the changes. The direction of data transmission as shown on this screen, is from the drive’s perspective. Therefore,
‘Rx’ is data received into the drive, and ‘Tx’ is data transmitted from the drive.

Format of the register Data direction (3) Register number

value display (1)

D NET1 Tx N-Reg:
01 00257 Line 1 data

H NET2 Rx N-Reg:
02 0F1B Line 2 data

7
Global or non-global register
Network for this register (2) Register value
(4)

Figure 7-1. Diagram of Display Network Monitor Function

1. ‘D’ means decimal format.

‘H’ means hexadecimal format.
2. The drive may be connected to two separate networks.
3. ‘Rx’ means that this is a “Data to Drive” register.
‘Tx’ means that this is a “Data from Drive” register.
4. ‘G’ means a global register.
‘N’ means a non-global register.
The Modbus protocol does not support global registers. Therefore, when working with a Modbus controller,
this field will contain ‘N’ in all of the registers.

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5. This two-digit numeric field indicates the number of the register being shown.
‘Tx’ 01-64 are “Data from Drive 01” (parameter ID 9401) through “Data from Drive 64”
(parameter ID 9464).
‘Rx’ 01-64 are “Data to Drive 01” (parameter ID 9601) through “Data to Drive 64” (parameter ID 9664).
6. The value of the register. Since the registers all contain 16-bit digital words, they range in value from 0-
65535 (decimal), or 0-FFFF (hexadecimal).
7. Line 1 contains the following information:
The register value is shown in decimal format; the register is in network 1; the register is non-global; the
data is going to the drive; “to drive” register number 1 is showing; its value is 257.
8. Line 2 contains the following information:
The register value is shown in hexadecimal format; the register is in network 2; the register is non-global; to
data is coming from the drive; “from drive” register number 2 is showing; its value is 0xF1B (decimal
equivalent = 3,867).

Note: The underscores in the picture of the display show possible cursor movement. To move the
* cursor within the display, use the left and right arrow keys. Alphabetic fields are only edited with
only the up and down arrow keys. Numeric fields are edited with either the up and down arrow keys
or the numeric keys. The cursor will move to the beginning of the second line after it reaches the last
possible position on the first line. Likewise, the cursor will move to the beginning of the first line
after it reaches the last possible position on the second line.

Figure 7-2 below represents a display. If you start with the cursor at position A and use the left arrow [←] key
repeatedly, the cursor will move to A, D, C, B, A, etc. If you start with the cursor at position A and use the right arrow
[→] key repeatedly, the cursor will move to A, B, C, D, A, etc.

D D
H H

Figure 7-2. Cursor Movement Diagram

7
∇∇∇

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CHAPTER

8 ControlNet Communications
8.1 Overview
The AnyBus-S ControlNet module is classified as a ControlNet adapter, i.e., it cannot originate connections on its own,
but a scanner node can open a connection to it. The module is implemented according to the ControlNet International
specification for a communication adapter (profile no. 12). Refer to HMS Fieldbus Appendix Anybus-S ControlNet.
The ControlNet Anybus module has two BNC contacts for connection to the ControlNet network. These two contacts are
for redundant connection to the network.
This chapter features a fast setup section that will help you to start controlling your Robicon drive with NXG control
using a ControlNet network as quickly as possible. Section 8.3 is short and procedural, and covers a minimum of
detail. Please refer to the other sections of this chapter for detailed information.
Note that in this chapter, a four-digit number inside of parentheses, e.g., (9403), indicates a parameter ID number for
the keypad on the front of the drive. Press [SHIFT] + [→] to enter this number directly. You do not need to hold
down the [SHIFT] key while you press the [→] key. A numerical value expressed as 0xnn (e.g., 0x12) is being
represented in hexadecimal format.
For more information, visit the ControlNet International web site at www.controlnet.org.
Figure 8-1 shows the connectors, switches, and indicators on the AnyBus board that are relevant to Robicon operation
Anybus-S ControlNet Communications Board.
Figure 8-1 AnyBus-S ControlNet

1 8

2 7
3 4 5 6

8
FIGURE 8-1 NUMBER KEY DESCRIPTION
1 Connector
2 Network Access Port (NAP)
3 ControlNet Channel A
4 ControlNet Channel B
5 MacID switch (x10)
6 MacID switch (x1)
7 ControlNet status indicators
8 AnyBus-S Watchdog

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8.2 Connectors
8.2.1 ControlNet Channels A & B
The module is equipped with two BNC contacts for connection to ControlNet. If redundant operation is desired, both
connectors are used. Otherwise, connector A or B is used.

8.2.2 MacID Switches

The MacID switches must ALWAYS be set to zero to allow the control software to set the MacID from the menu.
Note: The MacID switches must ALWAYS be set to zero.
*
8.2.3 ControlNet Status Indicators
Figure 8-2 depicts the ControlNet Status Indicators. These LEDs indicate run time status and errors to the user.

Module Status 1 2 Channel A

Module Owned 4 3 Channel B

Board Edge

Figure 8-2. ControlNet Status Indicators

Table 8-1. Status Indicator Descriptions

Number from Indication State Description
Figure 8-2
1 Module Status Green Connection in Run State
Green, flashing Connecting Connection Idle
Red Major fault
Red, flashing Minor fault
2 and 3 Channel A and Off Module not initialized
Channel B Red Major fault
Alternating red/
Self-test
green
Red, flashing Node configuration error; duplicate MAC ID, etc.
2 or 3 Channel A Off Channel disabled
or Green Normal operation of channel
Channel B
Green, flashing Temporary error (node will self correct) or not configured
Red, flashing No other nodes, or media fault
Red & green,
Network configuration error
flashing
4 Module Owned Off No connection has been opened
Green A connection has been opened towards the module

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8.3 Fast Setup

8.3.1 Configuring ControlNet for Motor Control with Default Settings (Fixed Reg Bits)
The drive can be controlled from the PLC, using the following setup procedure.
1. Using the keypad on the front of the drive, set Network 1 Type (9901) to ControlNet.
2. Set the ControlNet network address (9903).
3. Set the Net Control Type parameter (9944) to FIXED. This sets Data To Drive Reg 01 to have the
definitions shown in Table 8-2.
4. Add the following line to the SOP: Network1RunEnable_O = TRUE; (the semicolon is part of the
code).
You can now control the drive through the PLC.
Table 8-2. Default meaning of ‘Fixed Reg Bits’
Bit Default Definition
Network1FixedRegBit0_I Run forward
Network1FixedRegBit1_I Run reverse
Network1FixedRegBit2_I Fault reset
Network1FixedRegBit3_I Stop*
Network1FixedRegBit4_I Reserved
Network1FixedRegBit5_I Start stop control from network
Network1FixedRegBit6_I Speed commanded from network
Network1FixedRegBit7_I
Network1FixedRegBit8_I
Network1FixedRegBit9_I
Network1FixedRegBit10_I
Network1FixedRegBit11_I Reserved for Future
Network1FixedRegBit12_I
Network1FixedRegBit13_I
Network1FixedRegBit14_I
Network1FixedRegBit15_I

To run the motor, the PLC must send 0x21 to Data To Drive Reg 01. This hexadecimal value sets bit 0 (run) and
bit 5 (start/stop control from network). Likewise, to command the motor to stop, the PLC must send 0x04 or 0x00 to
register Data To Drive Reg 01.

*Network1FixedRegBit3_I functions as a drive stop control bit only if “Start Stop Control” (9945) is set to “Momentary” —
otherwise this bit is Reserved

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8.3.2 Sending Motor Speed Settings to the Drive

To send motor speed settings to the drive:
1. Set the desired speed units that you will be sending (RPM,% or HZ) in menu (9080).
2. Enable speed settings from the network by adding the following line to the SOP program file:
RawDemandNetwork1_O = true;
3. The PLC must send the desired speed setting to the drive to Data To Drive Reg 02. This is a reserved
register used ONLY to hold speed settings.
4. Send 0x61 to Data To Drive Reg 01. The motor will accept the PLC-commanded speed setting.

8.3.3 Controlling the Motor with User Defined Bits in the SOP
1. Use the keypad on the front of the drive to set Network 1 Type (9901) to ControlNet.
2. Set the ControlNet network address (9903).
3. Set the Net Control Type parameter (9944) to SOP.
To control the motor with the SOP, the drive needs to know what bits will be used in the SOP program. Two steps are
required to do this:
1. Find the bits you want to use by referring to Table 8-3 below, and locate the keypad pick list variable
associated with the bits. By referring to Table 8-14, you can see that the first available data to drive register
is Data to Drive Reg 03, which corresponds to keypad parameter ID (9603). Using the keypad on the drive,
go to menu item Data To Drive Reg 03 (9603).
2. Select the pick list variable (Net Input Flag 1, Net Input Flag 2, …) from the pick list in the keypad or Tool
suite. Now the corresponding bits (Network1Flag0_I, Network1Flag1_I, etc.) from the drctry.ngn file can be
used in the SOP program as shown below:

;Network1Flag0_I Use bit 0 for Stop bit

;Network1Flag1_I Use bit 1 for Run Forward bit
RunRequest_O = /Network1Flag0_I * Network1Flag1_I;Run drive using bit
1,stop using bit 0
You chose Data to Drive Reg 03 as your write register; by referring to Table 8-14, you can see that the PLC now
needs to send 0x02 in Data To Drive Reg 03 to run the drive, or 0x01 in the same register to stop the drive.
Table 8-3 Sample Programmable Bits*
Pick List Variable Drctry.ngn bits
Network1Flag0_I ~
Net Input Flag 1
Network1Flag15_I
Network1Flag16_I ~
Net Input Flag 2
Network1Flag31_I
Network1Flag32_I ~
Net Input Flag 3
Network1Flag47_I

8 Net Input Flag 4

Network1Flag48_I ~
Network1Flag63_I

Note: A complete listing of SOP-programmable bits is found in Section 8.9.3.

*

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8.3.4 To monitor drive status and speed feedback

To read the data from the drive, no SOP flags are needed.
1. Set Network 1 Type (9901) to ControlNet.
2. Set the ControlNet network Address (9903).
3. Set Velocity Units (9080) to desired motor speed units. The registers needed to read drive status and speed
feedback from the drive are Data From Drive 01 and Data From Drive 02, respectively. The definitions of
the status bits, which are always found in Data From Drive 01 register, are shown in Table 8-4.
Table 8-4. General Status Output From the Drive
Bit number Meaning in drive control software Value
0 Fault
1 Alarm
2 RunningForward
3 RunningReverse
4 DriveReady
5 StartStopControlFromNetwork
6 SpeedFromNetwork
7 AtSpeedReference
0 = False; 1 = True
8 SpeedInPercent
9 SpeedInRPM
10 SpeedInHz
11 Not used
12 Not used
13 Not used
14 Not used
15 Not used

See Section 8.7 for details on how to read other drive data.

8.4 Remote Capabilities

The ControlNet interface to the drive allows remote control and monitoring capability of the drive. Control of the
drive can be through ControlNet registers sent to the drive working in conjunction with a SOP program. Control
capabilities include run request, stop request, fault reset, stop, reverse speed demand, and others. There are 128
remote user-programmable software flags that can be monitored and/or set through the system program.
Note that the discrete controls and the user-defined control/feedback flags are configured via the drive’s built-in
system program (provided with each drive).

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8.5 Menu Setup Procedures

All ControlNet setup functions are contained in the Configure Parameters Menu (9902), which is a submenu of the
Communications Menu (9). Access is security controlled at level 7; therefore, you must enter the proper security
code to access these parameters. The menus required for initial setup of the ControlNet interface are listed in
Table 8-17. For the correct setup procedure, please refer to Section 8.7.
Select menu contents by using pick lists. The ControlNet data mapping is done via the Data To Drive Registers and
Data From Drive Registers as described in Table 8-14.
The pick lists in the menus contain the most commonly used data variables. If a variable is not found in the lists, you
must search Appendix B to locate it. Once found, use the corresponding data ID number to enter the variable into the
read registers. The procedure for doing this is described in Section 8.7.2.

8.6 PLC Setup using ControlNet EDS Files

An EDS file is a device description file in a specified format. The format must conform to the ControlNet Trade
Organization’s guidelines. Each device on the ControlNet network must have an EDS file. The EDS file provided all
relevant data associated with the ControlNet device for configuration tools. An EDS file can be thought of as an
electronic data sheet for a specific device on the ControlNet network.

*
Note: The ControlNet master must be configured for 136 bytes of input and 136 bytes of output to
communicate to the Siemens NXG drive.

The manufacturer of the ControlNet device normally supplies EDS files. The Anybus EDS file is documented in
Appendix E.

8.7 Selecting a Network Protocol

8.7.1 Procedure
Use the keypad on the front of the drive to select a network protocol:
1. Using the keypad, enter Network 1 Type (9901), scroll to ControlNet, then press [ENTER]. The ControlNet
configuration parameters will be viewable.
2. Set the ControlNet Address (9903) to the desired ControlNet network address for the drive.
3. Some networks require a 4-byte header in the data from the drive. To use this, set ControlNet Header
(9936) to On.
4. Select the Velocity Units (9080). This sets the units for motor commanded speed, and motor feedback speed
scaling.
5. If needed, set the Demand Scalar (9912) to n*command speed where –125n125
6. Set the Aux Demand Scalar (9913) if used
7. Use Table 8-13 to program the drive to send data to and receive data from ControlNet network. Each

8 ControlNet Register corresponds with a keypad parameter ID, which will be used to tell the drive what data
to send to, or what commands to receive from a particular ControlNet Register. Note that four such registers
are already programmed, giving the drive basic send and receive functionality. The data in these registers are
not changeable.

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8. The definition of the bits in the available ControlNet registers may be entered from a choice of pick list
variables in the keypad menus, or custom programmed using the drive’s SOP program. See Section 8.9 for
details.
Note: If you are unfamiliar with drive system programming, refer to the Chapter 8: System Programming
* chapter in your drive’s manual. If you are using a water-cooled drive, your manual will be the Water
Cooled Perfect Harmony User’s Manual (Siemens part #902295) If you are using an air-cooled
drive, refer to the Startup and advanced Topics Manual (Siemens part #902232).
Please note that your PLC can receive data from the drive without any changes to the SOP program. Only if you need
to control the drive through the ControlNet network, will you need to set any flags in the SOP program.
If you need to control the drive through a ControlNet Plus network (or any other type of network), then you will need,
at an absolute minimum, the following network control flag to appear in the source code of the SOP program:
Network1RunEnable_O = TRUE; .
To be able to control a drive through a network by sending commands to it, first ensure that the drive’s SOP file
contains the line of code mentioned above. Note that the semicolon is part of the code. If you would like to control the
drive through a second network, then your SOP program must also contain this line:
Network2RunEnable_O = TRUE;
After ensuring that the SOP file has the necessary code to enable control of the drive over a network, you will need to
change some of the drive’s control parameters using the keypad on the front of the drive.

8.7.2 A Practical Setup Example

A customer needs to process four drive outputs on his/her PLC. These are status, motor speed, power, and number of
active faults. To program a register, refer to Table 8-13 to see if it is programmable. Data From Drive 01 is not
changeable; that is, a change is neither necessary nor possible. It is already permanently set to indicate general status.
Data From Drive 02 is used to indicate motor speed. This register is also not changeable. It is permanently set to
indicate motor speed. Table 8-5 shows the data setup for the hypothetical example.
Table 8-5. Hypothetical Desired Data
PLC ControlNet Data Data Scaling
Data From Drive 01 General Status 16 bits
Data From Drive 02 Motor Speed RPM
Data From Drive 03 Output Power kW
Data From Drive 04 Number of faults 0 – 128

Use Table 8-13 to determine the necessary parameter ID. Enter parameter ID 9403 (Data From Drive 03) using the
keypad on the front of the drive. Choose “output power” from the pick list. Enter parameter Data From Drive (9404)
using the keypad on the front of the drive. Scroll through the pick list to find “number of active faults”.
Note that “number of active faults” is not a choice in the pick list. Therefore, it needs to be specified manually. Refer
to Table 8-15 for a list of ‘Data From Drive’ pick list variables. Since “number of active faults” is not a choice in the
pick list, choose Man Id from the pick list. Find “number of active faults” in Appendix A-3, and look for its data ID
number. Its data ID number is 3000. Note that the data ID number is not the same as a parameter ID number.
“ManId-0000” will be shown on display. Use arrows or number keys to enter 3000, and press [ENTER]. The display 8
should show “Man Id-3000”. If the data ID number could not be found, the error message “Invalid Id Entered” will be
displayed. Ensure that the data ID is correct. Now the number of active faults will be sent to the PLC using the ‘Data
From Drive 04’ register.

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8.8 Drive Control Defaults

To control the drive using its default configuration, you must send commands to its Fixed Reg Bits location. Refer to
Table 8-13 to see the location of the ‘Fixed Reg Bits’. The drive’s default interpretation of the Fixed Reg Bits is non-
programmable and controlled by the drive’s control software. To ensure that the drive is set to its default setting, use
the keypad on the front of the drive to set parameter (9944) to FIXED. This is the default configuration. Using the
default configuration, the Fixed Reg Bits are interpreted as shown in Table 8-6. Note that these particular drctry.ngn
bits are always defined by register Data To Drive Reg 01 whether the default configuration is used or not. To
redefine the bits at this address, refer to Section 8.8.2.
Table 8-6. If ‘Net Control Type’ set to FIXED (default command configuration):
Bit Default Definition
Network1FixedRegBit0_I Run forward
Network1FixedRegBit1_I Run reverse
Network1FixedRegBit2_I Fault reset
Network1FixedRegBit3_I Stop*
Network1FixedRegBit4_I Reserved
Network1FixedRegBit5_I Start stop control from network
Network1FixedRegBit6_I Speed commanded from network
Network1FixedRegBit7_I
Network1FixedRegBit8_I
Network1FixedRegBit9_I
Network1FixedRegBit10_I
Network1FixedRegBit11_I Not Used
Network1FixedRegBit12_I
Network1FixedRegBit13_I
Network1FixedRegBit14_I
Network1FixedRegBit15_I

*Network1FixedRegBit3_I functions as a drive stop control bit only if “Start Stop Control” (9945) is set to “Momentary” —
otherwise this bit is Reserved

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8.8.1 Status Output

To read drive status data, read the General Status register as found in Table 8-13. The drive’s status output is shown
below in Table 8-7. These status bits are always located at Data From Drive 01 (bytes 01 & 02 of the profibus data
to the network).
Table 8-7. General Status output from the drive
Bit number Meaning in drive control software Value
0 Fault
1 Alarm
2 RunningForward
3 RunningReverse
4 DriveReady
5 StartStopControlFromNetwork
6 SpeedFromNetwork
7 AtSpeedReference
0 = False; 1 = True
8 SpeedInPercent
9 SpeedInRPM
10 SpeedInHz
11 Not used
12 Not used
13 Not used
14 Not used
15 Not used

Note: The default output bit interpretation can NOT be reprogrammed.

*
8.8.2 Running the drive using non-default settings
The drive can be run in a non-default manner by reprogramming the Fixed Reg Bits register. As seen in Table 8-13,
the location is fixed at Data To Drive Reg 01 (bytes 01 & 02 of the ControlNet data from the network). However, the
definition of the bits can be reprogrammed. To change the interpretation of the control bits (Data To Drive Reg 01),
use the following procedure:
By setting menu parameter Net Control Type (9944) to ‘SOP’, each bit from the ‘Fixed Reg Bits’ word can be used
in any desired manner, such as shown below. In order to make the definition of the ‘Fixed Reg Bits’ in the Data To
Drive Reg 01 programmable, use the drive’s keypad to set parameter Net Control Type (9944) to ‘SOP’. The source
code below shows how to use the SOP program to trip the input medium voltage when ‘1’ is sent to
Network1FixedRegBit9 in ControlNet Data To Drive Reg 01 (bytes 01 & 02 of the ControlNet data from the
network).
;ExternalDigitalOutput01h_O Use digital output to trip input medium Voltage
ExternalDigitalOutput01h_O = Network1FixedRegBit9_I;

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8.9 User Programming via the SOP

8.9.1 Inputs to the drive (64 bits)
There are 64 input bits available for user programming. Use Table 8-13 to find the location of the first Data To Drive
Reg register which is programmable. Please note which network 1 keypad parameter ID corresponds to that ‘Data To
Drive Register’. The table reveals the first programmable data item for the ControlNet network is Data From Drive
03, and that its corresponding keypad parameter ID for network 1 is 9603. Go to the keypad on the front of the drive
and enter parameter 9603. You will see a pick list, the first item of which is ‘None’. See Table 8-14 for a list of
possible pick list choices for ‘Data to Drive Registers’. Scroll through the pick list until you come to Net Input Flag
1, and then press [ENTER]. This setting will use the first 16 bits of the possible 64 bits. To use the second set of 16
bits, select Net Input Flag 2, and so on. The corresponding names of the bits related to the menu pick list items are
found in Section 8.9.
This example shows how to use the ControlNet network to trip the input medium voltage. In this example, our PLC
will be writing data to Data To Drive Reg 03, which we programmed to Net Input Flag 1. We will use the SOP
program to set a flag bit that will use digital output to trip input medium voltage. The PLC will write the contents of
Net Input Flag 1, bit 9 (Network1Flag9_I) to create an input medium voltage trip. The SOP source code is shown
below:
;ExternalDigitalOutput01h_O Use digital output to trip input medium voltage
ExternalDigitalOutput01h_O = Network1Flag9_I;

8.9.2 Outputs from the drive (64 bits)

There are 64 output bits available for user programming. Use Table 8-13 to find the location of the first Data From
From Drive register which is programmable. Please note which network 1 keypad parameter ID corresponds to that
Data From Drive register. The table reveals the first programmable data item for the ControlNet network is Data To
Drive Reg 03, and that its corresponding keypad parameter ID for network 1 is 9403. Go to the keypad on the front of
the drive and enter parameter 9403. You will see a pick list, the first item of which is ‘None’. See Table 8-15 for a list
of possible pick list choices for Data From Drive Registers. Scroll through the pick list until you come to Net1 Out
Reg 1, and then press [ENTER]. This setting will use the first 16 bits of the possible 64 bits. To use the second set of
16 bits, select Net1 Out Reg 2, and so on. The corresponding names of the bits related to the menu pick list items are
found in Table 8-11.
This example shows how to use the ControlNet network to detect a trip on the input medium voltage. In this example,
our PLC will be reading Data From Drive 03, which we programmed to Net1 Out Reg 1. We will use the SOP
program to set a flag bit that corresponds to a medium voltage low fault. We will use bit 9 of Net1 Out Reg 1, which
is Network1Flag9_O, to set the network flag true if the medium voltage low fault is active. The PLC will read the
contents of Net 1 Out Reg 1, bit 9 (Network1Flag9_O) to determine if a medium voltage fault occurred. The SOP
source code is shown below:
; Monitor medium voltage fault on the ControlNet network
Network1Flag9_O = MediumVoltageLowFault_I;

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8.9.3 Flags available to the SOP program

Net Control Type Default:
The drive’s interpretation of the bits in Table 8-8 is fixed by the drive’s control software unless you set parameter Net
Control Type (9944) to ‘SOP’. To change the default interpretation of these bits, see Section 8.8.2.
Table 8-8. Relationship of ‘Fixed Reg Bits’ to Keypad Menus and drctry.ngn Bits (programmable bits available
for use in the SOP)
Pick list variable in ‘Data to Drive Related Drctry.ngn bits ControlNet Network Data
Reg nn’ menus
Network1FixedRegBit0_I ~
Fixed Reg Bits (network 1) Bytes 01 & 02 from network
Network1FixedRegBit15_I
Network2FixedRegBit0_I ~
Fixed Reg Bits (network 2) Bytes 01 & 02 from network
Network2FixedRegBit15_I

User programmable:

The interpretation of these bits is programmable through the SOP file. These bits can be programmed to set or reset
any other bits used within the SOP.
Table 8-9. Network 1 Programmable Input Bits (keypad parameter ID 9603-9664)
Pick list variable in ‘Data to Drive Reg nn’ menus Related Drctry.ngn bits
Network1Flag0_I ~
Net Input Flag 1
Network1Flag15_I
Network1Flag16_I ~
Net Input Flag 2
Network1Flag31_I
Network1Flag32_I ~
Net Input Flag 3
Network1Flag47_I
Network1Flag48_I ~
Net Input Flag 4
Network1Flag63_I

Table 8-10. Network 2 Programmable Input Bits (keypad parameter ID 9703-9764)

Pick list variable in ‘Data to Drive Reg nn’ menus Related Drctry.ngn bits
Network2Flag0_I ~
Net Input Flag 1
Network2Flag15_I
Network2Flag16_I ~
Net Input Flag 2
Network2Flag31_I
Network2Flag32_I ~
Net Input Flag 3
Network2Flag47_I
Network2Flag48_I ~
Net Input Flag 4
Network2Flag63_I

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Table 8-11. Network 1 Programmable Output Bits (keypad parameter ID 9403-9464)

Pick list variable in ‘Data to Drive Reg nn’ menus Related Drctry.ngn bits
Network1Flag0_O ~
Net1 Out Reg 1
Network1Flag15_O
Network1Flag16_O ~
Net1 Out Reg 2
Network1Flag31_O
Network1Flag32_O ~
Net1 Out Reg 3
Network1Flag47_O
Network1Flag48_O ~
Net1 Out Reg 4
Network1Flag63_O

Table 8-12. Network 2 Programmable Output Bits (keypad parameter ID 9503-9564)

Pick list variable in ‘Data to Drive Reg nn’ menus Related Drctry.ngn bits
Network2Flag0_O ~
Net2 Out Reg 1
Network2Flag15_O
Network2Flag16_O ~
Net2 Out Reg 2
Network2Flag31_O
Network2Flag32_O ~
Net2 Out Reg 3
Network2Flag47_O
Network2Flag48_O ~
Net2 Out Reg 4
Network2Flag63_O

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8.10 ControlNet Network Data and Keypad Pick List Tables

Table 8-13. Correspondence between drive parameter ID and ControlNet network data*
Network Drive Parameter ID Description Default Contents ControlNet Network
Numbers Data
General Status Bytes 01 & 02 to
1 9401 Data From Drive 01
(not changeable) network
Motor Speed Bytes 03 & 04 to
1 9402 Data From Drive 02
(not changeable) network
Bytes 05 – 128 to
1 9403 - 9464 Data From Drive 03-64 None
network
(Global) Data From Drive General Status
1 9801 N/A
01 (not changeable)
(Global) Data From Drive Motor Speed
1 9802 N/A
02 (not changeable)
(Global) Data From Drive
1 9803 - 9832 None N/A
03-32
Fixed Reg Bits Bytes 01 & 02 from
1 9601 Data To Drive Reg 01
(not changeable) network
Velocity Demand Bytes 03 & 04 from
1 9602 Data To Drive Reg 02
(not changeable) network
Bytes 05 – 128 from
1 9603 – 9664 Data To Drive Reg 03-64 None
network
(Global) Data To Drive Reg Fixed Reg Bits
1 9201 N/A
01 (not changeable)
(Global) Data To Drive Reg Velocity Demand
1 9202 N/A
02 (not changeable)
(Global) Data To Drive 03 –
1 9203 – 9232 None N/A
64
General Status Bytes 01 & 02 to
2 9501 Data From Drive 01
(not changeable) network
Motor Speed Bytes 03 & 04 to
2 9502 Data From Drive 02
(not changeable) network
Bytes 05 – 128 to
2 9503 – 9564 Data From Drive 03- 64 None
network
(Global) Data From Drive General Status
2 9834 N/A
01 (not changeable)
(Global) Data From Drive Motor Speed
2 9835 N/A
02 (not changeable)
(Global) Data From Drive
2 9836 – 9865 None N/A
03 –32
Fixed Reg Bits Bytes 01 & 02 from
2 9701 Data To Drive Reg 01
(not changeable) network
Velocity Demand Bytes 03 & 04 from
2 9702 Data To Drive Reg 02
(not changeable) network
Bytes 05 – 128 from
2 9703 – 9764 Data To Drive Reg 03-64 None

2 9234
(Global) Data To Drive Reg
01
Fixed Reg Bits
(not changeable)
network

N/A
8
(Global) Data To Drive Reg Velocity Demand
2 9235 N/A
02 (not changeable)
(Global) Data To Drive Reg
2 9236 – 9265 None N/A
03 - 64

a. Parameter ID Number—the number to enter using the keypad on the front of the drive

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b. Data from drive—data that the PLC will receive from the drive in order to determine how the drive is
functioning. Each register contains a 16-bit digital representation of the status of a particular aspect of the
drive’s functioning. Some registers are fixed to track certain drive functions; others are programmable to
track any of a number of drive status choices.

c. Data to drive—data that the PLC will send to the drive in order to control it. Each register contains a 16-
bit digital representation of the PLC’s command for a particular aspect of the drive’s functioning. Some
registers are fixed to control certain functions; others are programmable to control any of a number of
drive function choices.

d. ControlNet Network Data—ControlNet uses a predefined byte count to communicate between the
master and the drive. The Siemens NXG drive uses 136 bytes for input and output. 128 bytes are used to
form the 64 16-bit registers (2 bytes per register) and 8 bytes are ‘reserved’ for future used. The master
must be set up to communicate using 136 bytes of input data and 136 bytes of output data. The data
received (128 bytes) is mapped to the 64 Data To Drive Registers and the data sent to the PLC is defined
using the 64 Data From Drive Registers.

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Table 8-14: Data To Drive Pick List Variables

Name Name
None MUX 3 ID
Fixed Reg Bits MUX 4 ID
Velocity Demand MUX 5 ID
Auxiliary Demand MUX 6 ID
Net Input Flag 1 MUX 7 ID
Net Input Flag 2 MUX 8 ID
Net Input Flag 3 PTD1
Net Input Flag 4 PTD2
Ratio PTD3
Forward Max Lim PTD4
Reverse Max Lim Parallel Cmd 1
Forward Acc Time Torque Demand
Forward Dec Time PVCL Demand
Reverse Acc Time Flux Demand
Reverse Dec Time Node Count
Net Input Pulse Node Index
Forward Min Lim Torque Acc Time
Reverse Min Lim Torque Dec Time
Torque Limit Torque Offset
MUX 1 ID Torque Scalar
MUX 2 ID Vars Command

Table 8-15. Data From Drive Pick List Variables

Drive Pick List Variables
None Net1 Out Reg 3 Mux1 Echo Wago Inputs 33-48
Man Id Net1 Out Reg 4 Mux1 Data Wago Inputs 49-64
General Status Net2 Out Reg 1 Mux2 Echo Wago Inputs 65-80
Motor Voltage Net2 Out Reg 2 Mux2 Data Wago Inputs 81-96
Total Current Net2 Out Reg 3 Mux3 Echo Wago Outputs 1-16
Output Power Net2 Out Reg 4 Mux3 Data Wago Outputs 17-32
Motor Speed Torque Current Mux4 Echo Wago Outputs 33-48
Speed Demand Magnetizing Cur Mux4 Data Wago Outputs 49-64
Speed Reference Motor Flux Mux5 Data PFD1
Heartbeat Motor Torque Mux6 Echo PFD2
Drive State Flux Reference Mux6 Data PFD3
Inp RMS Current Input Voltage Mux7 Echo PFD4 8
Input Frequency Inp Power Factor Mux7 Data Drive Losses
Input Power Avg Input KVars Mux8 Echo Speed Droop Percent
Net1 Out Reg 1 Max Available Output Volts Mux8 Data Sync Motor Field Ref
Net1 Out Reg 2 Hottest Cell Temp Wago Inputs 1-16 Avail reactive Current
Wago Inputs 17-32 Dirve Efficiency

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8.11 Menu Parameter Tables

Table 8-16. Network 1 Configure Menu (9900)
Parameter ID Units Default Min Max Description
Network 1 9901 None Designates the type of external
Type network connected to the drive.
• None
• Modbus
• DeviceNet
• ControlNet
• Modbus Plus
• Ethernet Modbus
• Data Highway +
• ControlNet

Table 8-17. Configure Parameters Menu (9902)

Parameter ID Units Default Min Max Description
ControlNet Sets address of node on ControlNet
9903 9 1 99
Address network.
ControNet
9956 Off Turns the ControlNet Header off or on.
Header
Designates the units for velocity
values from the drive.
Velocity Units 9080 % • %
• RPM
• Hz
Demand Scalar for input demand reference
9912 1 -125 125
Scalar from the network.
Aux Demand Auxiliary scalar for input demand
9913 1 -125 125
Scalar reference from the network.

Table 8-18. Register Data From Drive Menu (9400)

Parameter ID Units Default Min Max Description
Register data from
Data From General drive parameter 1.
9401
Drive 01 Status This register is not
programmable
Register data from
Data From drive parameter 2.
9402 Motor Speed
Drive 02 This register is not
programmable.
Register data from

8 Data From
Drive 03 -64
9403-9464 None
drive parameters 3-64.
These registers are
programmable.

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Table 8-19. Register Data To Drive Menu (9600)

Parameter ID Units Default Min Max Description
Data To Drive Reg 9601 Fixed Reg Register data to drive
01 Bits parameter 1. This
register is not
programmable.
Data To Drive Reg 9602 Velocity Register data to drive
02 Demand parameter 2. This
register is not
programmable.
Data to Drive Reg 9603- None Register data to drive
03-64 9664 parameters 3-64.
These registers are
programmable.

Table 8-20. Network 2 Configure Menu (9914)

Parameter ID Units Default Min Max Description
Network 2 Type 9915 None Designates the type of external
network connected to the drive.
• None
• Modbus
• DeviceNet
• ControlNet
• Modbus Plus
• Ethernet Modbus
• Data Highway +
• ControlNet

Table 8-21. Network 2 Configure Parameters Menu (9916)

Parameter ID Units Default Min Max Description
ControlNet Sets address of node on ControlNet
9934 9 1 99
Address network.
ControlNet Turns the 4-byte ControlNet Header
9957 Off
Header on or off.
Designates the units for velocity
values from the drive.
Velocity Units 9924 % • %
• RPM
• Hz
Demand Scalar for input demand reference
9926 1 -125 125
Scalar from the network.
Aux Demand Auxiliary scalar for input demand
9927 1 -125 125
Scalar reference from the network.
8

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Table 8-22. Network 2 Register Data From Drive Menu (9500)

Parameter ID Units Default Min Max Description
Register data from
Data From General drive parameter 1.
9501
Drive 01 Status This register is not
programmable
Register data from
Data From drive parameter 2.
9502 Motor Speed
Drive 02 This register is not
programmable.
Register data from
Data From drive parameters 3-64.
9503-9564 None
Drive 03 -64 These registers are
programmable.

Table 8-23. Network 2 Register Data To Drive Menu (9700)

Parameter ID Units Default Min Max Description
Register data to drive
Data To Fixed Reg parameter 1. This
9701
Drive Reg 01 Bits register is not
programmable.
Register data to drive
Data To Velocity parameter 2. This
9702
Drive Reg 02 Demand register is not
programmable.
Register data to drive
Data To
9703- parameters 3-64.
Drive Reg None
9764 These registers are
03-64
programmable.

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8.12 Display Network Monitor Function (Parameter ID 9950)

This function allows you to view the values of network registers. It is extremely useful for troubleshooting. As data is
transmitted, and the values of the registers change, the display will automatically and continuously update to reflect
the changes. The direction of data transmission as shown on this screen, is from the drive’s perspective. Therefore,
‘Rx’ is data received into the drive, and ‘Tx’ is data transmitted from the drive.

Format of the register Data direction (3) Register number (5)

value display (1)

D NET1 Tx N-Reg:01 00257 Line 1 data (7)

H NET2 Rx N-Reg:02 0F1B Line 2 data (8)

Global or non-global register

Network for this register (2) Register value (6)
(4)

Figure 8-3. Diagram of Display Network Monitor Function

1. ‘D’ means decimal format.

‘H’ means hexadecimal format.
2. The drive may be connected to two separate networks.
3. ‘Rx’ means that this is a “Data to Drive” register.
‘Tx’ means that this is a “Data from Drive” register.
4. ‘G’ means a global register.
‘N’ means a non-global register.
The Modbus protocol does not support global registers. Therefore, when working with a Modbus controller,
this field will contain ‘N’ in all of the registers.
5. This two-digit numeric field indicates the number of the register being shown.
‘Tx’ 01-64 are “Data from Drive 01” (parameter ID 9401) through “Data from Drive 64”
(parameter ID 9464).
‘Rx’ 01-64 are “Data to Drive 01” (parameter ID 9601) through “Data to Drive 64” (parameter ID 9664).
6. The value of the register. Since the registers all contain 16-bit digital words, they range in value from 0-

7.
65535 (decimal), or 0-FFFF (hexadecimal).
Line 1 contains the following information:
8
The register value is shown in decimal format; the register is in network 1; the register is non-global; the
data is going to the drive; “to drive” register number 1 is showing; its value is 257.
8. Line 2 contains the following information:
The register value is shown in hexadecimal format; the register is in network 2; the register is non-global; to
data is coming from the drive; “from drive” register number 2 is showing; its value is 0xF1B (decimal
equivalent = 3,867).

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Note: The underscores in the picture of the display show possible cursor movement. To move the
* cursor within the display, use the left and right arrow keys. Alphabetic fields are only edited with
only the up and down arrow keys. Numeric fields are edited with either the up and down arrow keys
or the numeric keys. The cursor will move to the beginning of the second line after it reaches the last
possible position on the first line. Likewise, the cursor will move to the beginning of the first line
after it reaches the last possible position on the second line.
Figure 8-4 represents a typical display. If you start with the cursor at position A and use the left arrow [←] key
repeatedly, the cursor will move to A, D, C, B, A, etc. If you start with the cursor at position A and use the right arrow
[→] key repeatedly, the cursor will move to A, B, C, D, A, etc.

D D
H H

Figure 8-4. Cursor Movement Diagram

∇∇∇

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CHAPTER

9 DeviceNet™ (Profile 12) Communications

9.1 Introduction
The AnyBus-S DeviceNet (Profile 12) module is implemented according to the ODVA specification for a communication
adapter (profile no. 12) and acts as a “group two only server” on the DeviceNet network..
The Anybus DeviceNet Profile 12 module supports baud rates of 125 kbit/s, 250 kbit/s, and 500 kbit/s. The baud rate
and network address is selected through the drive menu system.
This chapter features a fast setup section that will help you to start controlling your Siemens drive with NXG control
using a DeviceNet (Profile 12) network as quickly as possible. Section 9.2 is short and procedural, and covers a
minimum of detail. Please refer to the other sections of this chapter for detailed information.
Note that in this chapter, a four-digit number inside of parentheses, e.g., (9403), indicates a parameter ID number for
the keypad on the front of the drive. Press [SHIFT] + [→] in order to enter this number directly. You do not need to
hold down the [SHIFT] key while you press the [→] key. A numerical value expressed as 0xnn (e.g.., 0x12) is being
represented in hexadecimal format.
For more information, visit the ODVA web site at www.odva.org.
DeviceNet is a trademark of ODVA.

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Figure 9-1 shows the connectors, switches, and indicators on the AnyBus board that are relevant to Siemens
operation.

Figure 9-1. Anybus DeviceNet (Profile 12) Communications Board

Table 9-1. Description of DeviceNet (Profile 12) Communication Board

Number in Figure 9-1 Description

1 Connector to NXG Communications Board

2 DeviceNet Connector

3 Configuration Switches (Not Used)

4 Status Indicators

5 AnyBus’ Watchdog

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9.1.1 Connectors
DeviceNet Connector
The module supports both 5.08mm and 3.84mm pluggable screw connectors as well as a 10-pin 2mm board -to-board
connectore. The module supports both 5.08 mm and 3.84 mm pluggable screw connectors as well as a 10-pin, 2mm
board-to-board connector. Figure 9-2 shows the pin assignments for the connector.

DeviceNet
Color Code
1 V- (power conductor) Black

2 CANL (signal conductor) Blue

3 SHIELD Bare

4 CANH (signal conductor) White

5 V+ (power conductor) Red

Figure 9-2. Device Network 5-Pin Connector

The maximum cable length depends on the transmission speed and cable type. The maximum cable length/baud rates
are shown in Table 9-2.
Table 9-2. Maximum Values of DeviceNet Cable Length/Baud Rates

Baud Rate Trunk Distance (Thick Cable)

125 K 500 Meters (1640 Feet)
250 K 250 Meters (820 Feet)
500 K 100 Meters (328 Feet)

Network Termination
The nodes at the physical ends of the network should each have a terminating resistor installed. The termination
resistor is connected across the data lines. Refer to the recommendations of the Open DeviceNet Vendor Association
(ODVA) for values of network termination resistors.
Configuration Switches
The configuration switches are not used.

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9.1.2 DeviceNet (Profile 12) Status Indicators

Figure shows the status indicators. The LEDs indicate run time status and errors to the user.. Status Indicators

Reserved 1 2 Network Status

Reserved 4 3 Module Status

Board Edge

Table 9-3. Status Indicator Descriptions

Number from Indication State Description
Figure
1 Reserved — Reserved for future use.
2 Network Status Off Not powered/Not online.
Green, steady Link OK, on line, connected.
Green, flashing On line, not connected.
Red, steady Critical link failure.
Red, flashing Connection timeout.
3 Module Status Off No power to drive.
Green, steady Device operational
Green, flashing Data size bigger than configured.
Red, steady Unrecoverable fault.
Red, flashing Minor fault.
4 Reserved — Reserved for future use.

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9.2 Fast Setup

9.2.1 Configuring DeviceNet (Profile 12) with Default Settings
To set up DeviceNet (Profile 12) for motor control using the default configuration (Fixed Reg Bits).
The drive can be controlled from the PLC, using the following setup procedure.
1. Using the keypad on the front of the drive, set Network 1 Type (9901) to DeviceNet (Profile 12).
2. Set the DeviceNet (Profile 12) network address (9908).
3. Set the Net Control Type parameter (9944) to FIXED. This sets Data To Drive Reg 01 to have the
definitions shown in Table 9-4.
4. Add the following line to the SOP: Network1RunEnable_O = TRUE; (the semicolon is part of the
code).
You can now control the drive through the PLC.
Table 9-4. Default meaning of ‘Fixed Reg Bits’
Bit Default Definition
Network1FixedRegBit0_I Run forward
Network1FixedRegBit1_I Run reverse
Network1FixedRegBit2_I Fault reset
Network1FixedRegBit3_I Stop*
Network1FixedRegBit4_I Reserved
Network1FixedRegBit5_I Start stop control from network
Network1FixedRegBit6_I Speed commanded from network
Network1FixedRegBit7_I
Network1FixedRegBit8_I
Network1FixedRegBit9_I
Network1FixedRegBit10_I
Network1FixedRegBit11_I Reserved for Future
Network1FixedRegBit12_I
Network1FixedRegBit13_I
Network1FixedRegBit14_I
Network1FixedRegBit15_I

To run the motor, the PLC must send 0x21 to Data To Drive Reg 01. This hexadecimal value sets bit 0 (run) and
bit 5 (start/stop control from network). Likewise, to command the motor to stop, the PLC must send 0x04 or 0x00 to
register Data To Drive Reg 01.

*Network1FixedRegBit3_I functions as a drive stop control bit only if “Start Stop Control” (9945) is set to “Momentary” —
otherwise this bit is Reserved
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9.2.2 Sending Motor Speed Settings to the Drive

To send motor speed settings to the drive:
1. Set the desired speed units that you will be sending (RPM, % or HZ) in menu (9080).
2. Enable speed settings from the network by adding the following line to the SOP program file:
RawDemandNetwork1_O = true;
3. The PLC must send the desired speed setting to the drive to Data To Drive Reg 02. This is a reserved
register only used to hold speed settings.
4. Send 0x61 to Data To Drive Reg 01. The motor will accept the PLC-commanded speed setting.

9.2.3 Controlling the Motor with User Defined Bits in the SOP
1. Use the keypad on the front of the drive to set Network 1 Type (9901) to DeviceNet (Profile 12).
2. Set the DeviceNet (Profile 12) network address (9908).
3. Set the Net Control Type parameter (9944) to SOP.
To control the motor with the SOP, the drive needs to know what bits will be used in the SOP program. Two steps
are required to do this:
1. Find the bits you want to use by referring to Table 9-5 below, and locate the keypad pick list variable
associated with the bits. By referring to Table 9-15, you can see that the first available data to drive register
is Data to Drive Reg 03, which corresponds to keypad parameter ID (9603). Using the keypad on the drive,
go to menu item Data To Drive Reg 03 (9603).
2. Select the pick list variable (Net Input Flag 1, Net Input Flag 2, …) from the pick list in the keypad or Tool
suite. Now the corresponding bits (Network1Flag0_I, Network1Flag1_I, etc.) from the drctry.ngn file can
be used in the SOP program as shown below:

;Network1Flag0_I Use bit 0 for Stop bit

;Network1Flag1_I Use bit 1 for Run Forward bit
RunRequest_O = /Network1Flag0_I * Network1Flag1_I;Run drive using bit
1,stop using bit 0
You chose Data to Drive Reg 03 as your write register; by referring to Table 9-15, you can see that the PLC now
needs to send 0x02 in Data To Drive Reg 03 to run the drive, or 0x01 in the same register to stop the drive.
Table 9-5. Sample Programmable Bits*
Pick List Variable Drctry.ngn bits
Network1Flag0_I ~
Net Input Flag 1
Network1Flag15_I
Network1Flag16_I ~
Net Input Flag 2
Network1Flag31_I
Network1Flag32_I ~
Net Input Flag 3
Network1Flag47_I
Network1Flag48_I ~
Net Input Flag 4
Network1Flag63_I

*A complete listing of SOP-programmable bits is found in Section 9.8.3.

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9.2.4 To monitor drive status and speed feedback

To read the data from the drive, no SOP flags are needed.
1. Set Network 1 Type (9901) to DeviceNet (Profile 12).
2. Set the DeviceNet (Profile 12) network Address (9908).
3. Set Velocity Units (9080) to desired motor speed units. The registers needed to read drive status and speed
feedback from the drive are Data From Drive 01 and Data From Drive 02, respectively. The definitions of
the status bits, which are always found in Data From Drive 01 register, are shown in Table 9-6.
Table 9-6. General Status Output From the Drive
Bit number Meaning in drive control software Value
0 Fault
1 Alarm
2 RunningForward
3 RunningReverse
4 DriveReady
5 StartStopControlFromNetwork
6 SpeedFromNetwork
7 AtSpeedReference
0 = False; 1 = True
8 SpeedInPercent
9 SpeedInRPM
10 SpeedInHz
11 Not used
12 Not used
13 Not used
14 Not used
15 Not used

See Section 9.6 for details on how to read other drive data.

9.3 Remote Capabilities

The DeviceNet (Profile 12) interface to the drive allows remote control and monitoring capability of the drive.
Control of the drive can be through DeviceNet (Profile 12) registers sent to the drive working in conjunction with a
SOP program. Control capabilities include run request, stop request, fault reset, stop, reverse speed demand, and
others. There are 128 remote user-programmable software flags that can be monitored and/or set through the system
program.
Note that the discrete controls and the user-defined control/feedback flags are configured via the drive’s built-in
system program (provided with each drive).

9.4 Menu Setup Procedures

All DeviceNet (Profile 12) setup functions are contained in the Configure Parameters Menu (9902), which is a
submenu of the Communications Menu (9). Access is security controlled at level 7; therefore, you must enter the
proper security code to access these parameters. The menus required for initial setup of the DeviceNet (Profile 12)
interface are listed in Table 9-19. For the correct setup procedure, please refer to Section 9.6.
Select menu contents by using pick lists. The DeviceNet (Profile 12) data mapping is done via the Data To Drive
Registers and Data From Drive Registers as described in Table 9-15.
The pick lists in the menus contain the most commonly used data variables. If a variable is not found in the lists, you
need to search Appendix B to locate it. If found, use the corresponding data ID number to enter the variable into the
9
read registers. The procedure for doing this is described in Section 9.6.2.

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9.5 PLC Setup using DeviceNet (Profile 12) EDS Files

An EDS file is a device description file in a specified format. The format must conform to the ODVA guidelines.
Each device on the DeviceNet (Profile 12) network must have an EDS file. The EDS file provided all relevant data
associated with the DeviceNet (Profile 12) device for configuration tools. An EDS file can be thought of as an
electronic data sheet for a specific device on the DeviceNet (Profile 12) network.
The Anybus EDS provides for more than 136 bytes of input and output. Siemens only uses up to 136 bytes of input
and output. However, if your configuration tool cannot accomodate 136 bytes, the I/O size may be modified by menu
options.
Note: The DeviceNet (Profile 12) master must be configured to have the same input and output sizes to
* communicate to the Siemens NXG drive.

The manufacturer of the DeviceNet (Profile 12) device normally supplies EDS files. The Anybus EDS file is
documented in Appendix F.

9.6 Selecting the Network Protocol

9.6.1 Procedure
Use the keypad on the front of the drive to select a network protocol:
1. Using the keypad, enter Network 1 Type (9901), scroll to DeviceNet (Profile 12), then press [ENTER].
The DeviceNet (Profile 12) configuration parameters will be viewable.
2. Set the DeviceNet (Profile 12) Address (9908) to the desired DeviceNet (Profile 12) network address for
the drive.
3. Some networks require a 4-byte header in the data from the drive. To use this, set DeviceNet (Profile 12)
Header (9936) to On.
4. Select the Velocity Units (9080). This sets the units for motor commanded speed, and motor feedback
speed scaling.
5. If needed, set the Demand Scalar (9912) to n*command speed where –125n125
6. Set the Aux Demand Scalar (9913) if used
7. Use Table 9-15 to program the drive to send data to and receive data from DeviceNet (Profile 12) network.
Each DeviceNet (Profile 12) Register corresponds with a keypad parameter ID, which will be used to tell the
drive what data to send to, or what commands to receive from a particular DeviceNet (Profile 12) Register.
Note that four such registers are already programmed, giving the drive basic send and receive functionality.
The data in these registers are not changeable.
8. The definition of the bits in the available DeviceNet (Profile 12) registers may be entered from a choice of
pick list variables in the keypad menus, or custom programmed using the drive’s SOP program. See Section
9.8 for details.
Note: If you are unfamiliar with drive system programming, you will need to refer to the System
* Programming chapter in your drive’s manual.

Please note that your PLC can receive data from the drive without any changes to the SOP program. Only if you need
to control the drive through the DeviceNet (Profile 12) network, will you need to set any flags in the SOP program.

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If you need to control the drive through a DeviceNet (Profile 12) Plus network (or any other type of network), then
you will need, at an absolute minimum, the following network control flag to appear in the source code of the SOP
program:
Network1RunEnable_O = TRUE; .
To be able to control a drive through a network by sending commands to it, first ensure that the drive’s SOP file
contains the line of code mentioned above. Note that the semicolon is part of the code. If you would like to control
the drive through a second network, then your SOP program must also contain this line:
Network2RunEnable_O = TRUE;
After ensuring that the SOP file has the necessary code to enable control of the drive over a network, you will need to
change some of the drive’s control parameters using the keypad on the front of the drive.

9.6.2 Example
A customer needs to process four drive outputs on his/her PLC. These are status, motor speed, power, and number of
active faults. In order to program a register, refer to Table 9-15 to see if it is programmable. Data From Drive 01 is
not changeable; a change is neither necessary nor possible. It is already permanently set to indicate general status.
Data From Drive 02 is used to indicate motor speed. This register is also not changeable. It is permanently set to
indicate motor speed. Table 9-7 shows the data setup for the hypothetical example.
Table 9-7. Hypothetical Desired Data
PLC DeviceNet (Profile 12) Data Data Scaling
Data From Drive 01 General Status 16 bits
Data From Drive 02 Motor Speed RPM
Data From Drive 03 Output Power kW
Data From Drive 04 Number of faults 0 – 128

Use Table 9-15 to determine the necessary parameter ID. Enter parameter ID 9403 (Data From Drive 03) using the
keypad on the front of the drive. Choose “output power” from the pick list. Enter parameter Data From Drive
(9404) using the keypad on the front of the drive. Scroll through the pick list to find “number of active faults”.
Note that “number of active faults” is not a choice in the pick list. Therefore, it needs to be specified manually. Refer
to Table 9-17 for a list of ‘Data From Drive’ pick list variables. Since “number of active faults” is not a choice in the
pick list, choose Man Id from the pick list. Find “number of active faults” in Appendix A, and look for its data ID
number. Its data ID number is 3000. Note that the data ID number is not the same as a parameter ID number.
“ManId-0000” will be shown on display. Use arrows or number keys to enter 3000, and press [ENTER]. The display
should show “Man Id-3000”. If the data ID number could not be found, the error message “Invalid Id Entered” will
be displayed. Ensure that the data ID is correct. Now the number of active faults will be sent to the PLC using the
‘Data From Drive 04’ register.

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9.7 Drive Control Defaults

To control the drive using its default configuration, you need to send commands to its Fixed Reg Bits location. Refer
to Table 9-15 to see the location of the ‘Fixed Reg Bits’. The drive’s default interpretation of the Fixed Reg Bits is
non-programmable and controlled by the drive’s control software. To ensure that the drive is set to its default setting,
use the keypad on the front of the drive to set parameter (9944) to FIXED. This is the default configuration. Using
the default configuration, the Fixed Reg Bits are interpreted as shown in Table 9-8. Note that these particular
drctry.ngn bits are always defined by register Data To Drive Reg 01 whether the default configuration is used or not.
To redefine the bits at this address, refer to Section 9.7.2.
Table 9-8. If ‘Net Control Type’ set to FIXED (default command configuration):
Bit Default Definition
Network1FixedRegBit0_I Run forward
Network1FixedRegBit1_I Run reverse
Network1FixedRegBit2_I Fault reset
Network1FixedRegBit3_I Stop*
Network1FixedRegBit4_I Reserved
Network1FixedRegBit5_I Start stop control from network
Network1FixedRegBit6_I Speed commanded from network
Network1FixedRegBit7_I
Network1FixedRegBit8_I
Network1FixedRegBit9_I
Network1FixedRegBit10_I
Network1FixedRegBit11_I Not Used
Network1FixedRegBit12_I
Network1FixedRegBit13_I
Network1FixedRegBit14_I
Network1FixedRegBit15_I

*Network1FixedRegBit3_I functions as a drive stop control bit only if “Start Stop Control” (9945) is set to “Momentary” —
otherwise this bit is Reserved

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9.7.1 Status Output

To read drive status data, you need to read the General Status register as found in Table 9-15. The drive’s status
output is shown below in Table 9-9. These status bits are always located at Data From Drive 01 (bytes 01 & 02 of
the profibus data to the network).
Table 9-9. General Status output from the drive
Bit number Meaning in drive control software Value
0 Fault
1 Alarm
2 RunningForward
3 RunningReverse
4 DriveReady
5 StartStopControlFromNetwork
6 SpeedFromNetwork
7 AtSpeedReference
0 = False; 1 = True
8 SpeedInPercent
9 SpeedInRPM
10 SpeedInHz
11 Not used
12 Not used
13 Not used
14 Not used
15 Not used

Note: The default output bit interpretation can NOT be reprogrammed.

*
9.7.2 Running the drive using non-default settings
The drive can be run in a non-default manner by reprogramming the Fixed Reg Bits register. As seen in Table 9-15,
the location is fixed at Data To Drive Reg 01 (bytes 01 & 02 of the DeviceNet [Profile 12] data from the network).
However, the definition of the bits can be reprogrammed. To change the interpretation of the control bits (Data To
Drive Reg 01), use the following procedure:
By setting menu parameter Net Control Type (9944) to ‘SOP’, each bit from the ‘Fixed Reg Bits’ word can be used
in any desired manner, such as shown below. In order to make the definition of the ‘Fixed Reg Bits’ in the Data To
Drive Reg 01 programmable, use the drive’s keypad to set parameter Net Control Type (9944) to ‘SOP’. The
source code below shows how to use the SOP program to trip the input medium voltage when ‘1’ is sent to
Network1FixedRegBit9 in Data To Drive Reg 01 (bytes 01 & 02 of the DeviceNet (Profile 12) data from the
network).
;ExternalDigitalOutput01h_O Use digital output to trip input medium Voltage
ExternalDigitalOutput01h_O = Network1FixedRegBit9_I;

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9.8 User Programming via the SOP

9.8.1 Inputs to the drive (64 bits)
There are 64 input bits available for user programming. Use Table 9-15 to find the location of the first Data To
Drive Reg register which is programmable. Please note which network 1 keypad parameter ID corresponds to that
‘Data To Drive Register’. The table reveals the first programmable data item for the DeviceNet (Profile 12) network
is Data From Drive 03, and that its corresponding keypad parameter ID for network 1 is 9603. Go to the keypad on
the front of the drive and enter parameter 9603. You will see a pick list, the first item of which is ‘None’. See
Table 9-16 for a list of possible pick list choices for ‘Data to Drive Registers’. Scroll through the pick list until you
come to Net Input Flag 1, and then press [ENTER]. This setting will use the first 16 bits of the possible 64 bits. To
use the second set of 16 bits, select Net Input Flag 2, and so on. The corresponding names of the bits related to the
menu pick list items are found in Section 9.8.
This example shows how to use the DeviceNet (Profile 12) network to trip the input medium voltage. In this example,
our PLC will be writing data to Data To Drive Reg 03, which we programmed to Net Input Flag 1. We will use the
SOP program to set a flag bit that will use digital output to trip input medium voltage. The PLC will write the
contents of Net Input Flag 1, bit 9 (Network1Flag9_I) to create an input medium voltage trip. The SOP source
code is shown below:
;ExternalDigitalOutput01h_O Use digital output to trip input medium voltage
ExternalDigitalOutput01h_O = Network1Flag9_I;

9.8.2 Outputs from the drive (64 bits)

There are 64 output bits available for user programming. Use Table 9-15 to find the location of the first Data From
From Drive register which is programmable. Please note which network 1 keypad parameter ID corresponds to that
Data From Drive register. The table reveals the first programmable data item for the DeviceNet (Profile 12) network
is Data To Drive Reg 03, and that its corresponding keypad parameter ID for network 1 is 9403. Go to the keypad on
the front of the drive and enter parameter 9403. You will see a pick list, the first item of which is ‘None’. See Table
9-17 for a list of possible pick list choices for Data From Drive Registers. Scroll through the pick list until you
come to Net1 Out Reg 1, and then press [ENTER]. This setting will use the first 16 bits of the possible 64 bits. To
use the second set of 16 bits, select Net1 Out Reg 2, and so on. The corresponding names of the bits related to the
menu pick list items are found in Table 9-13.
This example shows how to use the DeviceNet (Profile 12) network to detect a trip on the input medium voltage. In
this example, our PLC will be reading Data From Drive 03, which we programmed to Net1 Out Reg 1. We will use
the SOP program to set a flag bit that corresponds to a medium voltage low fault. We will use bit 9 of Net1 Out Reg
1, which is Network1Flag9_O, to set the network flag true if the medium voltage low fault is active. The PLC will
read the contents of Net 1 Out Reg 1, bit 9 (Network1Flag9_O) to determine if a medium voltage fault occurred.
The SOP source code is shown below:
; Monitor medium voltage fault on the ControlNet network
Network1Flag9_O = MediumVoltageLowFault_I;

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9.8.3 Flags available to the SOP program

Net Control Type Default:
The drive’s interpretation of the bits in Table 9-10 is fixed by the drive’s control software unless you set parameter
Net Control Type (9944) to ‘SOP’. To change the default interpretation of these bits, see Section 9.7.2.
Table 9-10. Relationship of ‘Fixed Reg Bits’ to Keypad Menus and drctry.ngn Bits (programmable bits
available for use in the SOP)
Pick list variable in ‘Data to Drive Related Drctry.ngn bits DeviceNet (Profile 12) Network Data
Reg nn’ menus
Network1FixedRegBit0_I ~
Fixed Reg Bits (network 1) Bytes 01 & 02 from network
Network1FixedRegBit15_I
Network2FixedRegBit0_I ~
Fixed Reg Bits (network 2) Bytes 01 & 02 from network
Network2FixedRegBit15_I

User programmable:

The interpretation of these bits is programmable through the SOP file. These bits can be programmed to set or reset
any other bits used within the SOP.
Table 9-11. Network 1 Programmable Input Bits (keypad parameter ID 9603-9664)
Pick list variable in ‘Data to Drive Reg nn’ menus Related Drctry.ngn bits
Network1Flag0_I ~
Net Input Flag 1
Network1Flag15_I
Network1Flag16_I ~
Net Input Flag 2
Network1Flag31_I
Network1Flag32_I ~
Net Input Flag 3
Network1Flag47_I
Network1Flag48_I ~
Net Input Flag 4
Network1Flag63_I

Table 9-12. Network 2 Programmable Input Bits (keypad parameter ID 9703-9764)

Pick list variable in ‘Data to Drive Reg nn’ menus Related Drctry.ngn bits
Network2Flag0_I ~
Net Input Flag 1
Network2Flag15_I
Network2Flag16_I ~
Net Input Flag 2
Network2Flag31_I
Network2Flag32_I ~
Net Input Flag 3
Network2Flag47_I
Network2Flag48_I ~
Net Input Flag 4
Network2Flag63_I

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Table 9-13. Network 1 Programmable Output Bits (keypad parameter ID 9403-9464)

Pick list variable in ‘Data to Drive Reg nn’ menus Related Drctry.ngn bits
Network1Flag0_O ~
Net1 Out Reg 1
Network1Flag15_O
Network1Flag16_O ~
Net1 Out Reg 2
Network1Flag31_O
Network1Flag32_O ~
Net1 Out Reg 3
Network1Flag47_O
Network1Flag48_O ~
Net1 Out Reg 4
Network1Flag63_O

Table 9-14. Network 2 Programmable Output Bits (keypad parameter ID 9503-9564)

Pick list variable in ‘Data to Drive Reg nn’ menus Related Drctry.ngn bits
Network2Flag0_O ~
Net2 Out Reg 1
Network2Flag15_O
Network2Flag16_O ~
Net2 Out Reg 2
Network2Flag31_O
Network2Flag32_O ~
Net2 Out Reg 3
Network2Flag47_O
Network2Flag48_O ~
Net2 Out Reg 4
Network2Flag63_O

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9.9 DeviceNet (Profile 12) Network Data and Keypad Pick List Tables
Table 9-15. Correspondence between drive parameter ID and DeviceNet (Profile 12) network data*
Network Drive Parameter ID Description Default Contents DeviceNet (Profile
Numbers 12) Network Data
General Status Bytes 01 & 02 to
1 9401 Data From Drive 01
(not changeable) network
Motor Speed Bytes 03 & 04 to
1 9402 Data From Drive 02
(not changeable) network
Bytes 05 – 128 to
1 9403 - 9464 Data From Drive 03-64 None
network
(Global) Data From Drive General Status
1 9801 N/A
01 (not changeable)
(Global) Data From Drive Motor Speed
1 9802 N/A
02 (not changeable)
(Global) Data From Drive
1 9803 - 9832 None N/A
03-32
Fixed Reg Bits Bytes 01 & 02 from
1 9601 Data To Drive Reg 01
(not changeable) network
Velocity Demand Bytes 03 & 04 from
1 9602 Data To Drive Reg 02
(not changeable) network
Bytes 05 – 128 from
1 9603 – 9664 Data To Drive Reg 03-64 None
network
(Global) Data To Drive Reg Fixed Reg Bits
1 9201 N/A
01 (not changeable)
(Global) Data To Drive Reg Velocity Demand
1 9202 N/A
02 (not changeable)
(Global) Data To Drive 03 –
1 9203 – 9232 None N/A
64
General Status Bytes 01 & 02 to
2 9501 Data From Drive 01
(not changeable) network
Motor Speed Bytes 03 & 04 to
2 9502 Data From Drive 02
(not changeable) network
Bytes 05 – 128 to
2 9503 – 9564 Data From Drive 03- 64 None
network
(Global) Data From Drive General Status
2 9834 N/A
01 (not changeable)
(Global) Data From Drive Motor Speed
2 9835 N/A
02 (not changeable)
(Global) Data From Drive
2 9836 – 9865 None N/A
03 –32
Fixed Reg Bits Bytes 01 & 02 from
2 9701 Data To Drive Reg 01
(not changeable) network
Velocity Demand Bytes 03 & 04 from
2 9702 Data To Drive Reg 02
(not changeable) network
Bytes 05 – 128 from
2 9703 – 9764 Data To Drive Reg 03-64 None
network
(Global) Data To Drive Reg Fixed Reg Bits
2 9234 N/A
01 (not changeable)
(Global) Data To Drive Reg Velocity Demand
2 9235 N/A
02 (not changeable)
(Global) Data To Drive Reg
2 9236 – 9265 None N/A
03 - 64

9
a. Drive Parameter ID Number—the number to enter using the keypad on the front of the drive.

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b. Data From Drive—data that the PLC will receive from the drive in order to determine how the drive is
functioning. Each register contains a 16-bit digital representation of the status of a particular aspect of the
drive’s functioning. Some registers are fixed to track certain drive functions; others are programmable to
track any of a number of drive status choices.
c. Data To Drive—data that the PLC will send to the drive in order to control it. Each register contains a 16-
bit digital representation of the PLC’s command for a particular aspect of the drive’s functioning. Some
registers are fixed to control certain functions; others are programmable to control any of a number of drive
function choices.
d. DeviceNet (Profile 12) Network Data—DeviceNet (Profile 12) uses a predefined byte count to
communicate between the master and the drive. The Siemens NXG drive uses 136 bytes for input and
output. 128 bytes are used to form the 64 16-bit registers (2 bytes per register) and 8 bytes are ‘reserved’ for
future used. The master must be set up to communicate using 136 bytes of input data and 136 bytes of output
data. The data received (128 bytes) is mapped to the 64 Data To Drive Registers and the data sent to the PLC
is defined using the 64 Data From Drive Registers.

Table 9-16: Data To Drive Pick List Variables

Name Name
None MUX 3 ID
Fixed Reg Bits MUX 4 ID
Velocity Demand MUX 5 ID
Auxiliary Demand MUX 6 ID
Net Input Flag 1 MUX 7 ID
Net Input Flag 2 MUX 8 ID
Net Input Flag 3 PTD1
Net Input Flag 4 PTD2
Ratio PTD3
Forward Max Lim PTD4
Reverse Max Lim Parallel Cmd 1
Forward Acc Time Torque Demand
Forward Dec Time PVCL Demand
Reverse Acc Time Flux Demand
Reverse Dec Time Node Count
Net Input Pulse Node Index
Forward Min Lim Torque Acc Time
Reverse Min Lim Torque Dec Time
Torque Limit Torque Offset
MUX 1 ID Torque Scalar
MUX 2 ID Vars Command

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Table 9-17. Data From Drive Pick List Variables

Drive Pick List Variables
None Net1 Out Reg 3 Mux1 Echo Wago Inputs 33-48
Man Id Net1 Out Reg 4 Mux1 Data Wago Inputs 49-64
General Status Net2 Out Reg 1 Mux2 Echo Wago Inputs 65-80
Motor Voltage Net2 Out Reg 2 Mux2 Data Wago Inputs 81-96
Total Current Net2 Out Reg 3 Mux3 Echo Wago Outputs 1-16
Output Power Net2 Out Reg 4 Mux3 Data Wago Outputs 17-32
Motor Speed Torque Current Mux4 Echo Wago Outputs 33-48
Speed Demand Magnetizing Cur Mux4 Data Wago Outputs 49-64
Speed Reference Motor Flux Mux5 Data PFD1
Heartbeat Motor Torque Mux6 Echo PFD2
Drive State Flux Reference Mux6 Data PFD3
Inp RMS Current Input Voltage Mux7 Echo PFD4
Input Frequency Inp Power Factor Mux7 Data Drive Losses
Input Power Avg Input KVars Mux8 Echo Speed Droop Percent
Net1 Out Reg 1 Max Available Output Volts Mux8 Data Sync Motor Field Ref
Net1 Out Reg 2 Hottest Cell Temp Wago Inputs 1-16 Avail reactive Current
Wago Inputs 17-32 Dirve Efficiency

9.10 Menu Parameter Tables

Table 9-18. Network 1 Configure Menu (9900)
Parameter ID Units Default Min Max Description
Network 1 9901 None Designates the type of external
Type network connected to the drive.
• None
• Modbus
• DeviceNet
• ControlNet
• Modbus Plus
• Ethernet Modbus
• Data Highway +
• ControlNet

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Table 9-19. Configure Parameters Menu (9902)

Parameter ID Units Default Min Max Description
Baud Rate 9905 125k DeviceNet network baud rate.
DeviceNet
Sets address of node on DeviceNet
(Profile 12) 9908 10 1 63
(Profile 12) network.
Address
ControNet Turns the DeviceNet (Profile 12)
9956 Off
Header Header off or on.
Designates the units for velocity
values from the drive.
Velocity Units 9080 % • %
• RPM
• Hz
Demand Scalar for input demand reference
9912 1 -125 125
Scalar from the network.
Aux Demand Auxiliary scalar for input demand
9913 1 -125 125
Scalar reference from the network.
Network 1 I/O Select the size of input and output
9951 136 bytes
Size data.

Table 9-20. Register Data From Drive Menu (9400)

Parameter ID Units Default Min Max Description
Register data from
Data From General drive parameter 1.
9401
Drive 01 Status This register is not
programmable
Register data from
Data From drive parameter 2.
9402 Motor Speed
Drive 02 This register is not
programmable.
Register data from
Data From drive parameters 3-64.
9403-9464 None
Drive 03 -64 These registers are
programmable.

Table 9-21. Register Data To Drive Menu (9600)

Parameter ID Units Default Min Max Description
Data To Drive Reg 9601 Fixed Reg Register data to drive
01 Bits parameter 1. This
register is not
programmable.
Data To Drive Reg 9602 Velocity Register data to drive
02 Demand parameter 2. This
register is not
programmable.
Data to Drive Reg 9603- None Register data to drive
03-64 9664 parameters 3-64.
These registers are

9 programmable.

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Table 9-22. Network 2 Configure Menu (9914)

Parameter ID Units Default Min Max Description
Network 2 Type 9915 None Designates the type of external
network connected to the drive.
• None
• Modbus
• DeviceNet
• ControlNet
• Modbus Plus
• Ethernet Modbus
• Data Highway +
• ControlNet

Table 9-23. Network 2 Configure Parameters Menu (9916)

Parameter ID Units Default Min Max Description
DeviceNet
9919 125k DeviceNet Network baud rate.
Baud Rate
DeviceNet
Sets address of node on DeviceNet
(Profile 12) 9922 9 1 99
(Profile 12) network.
Address
DeviceNet
Turns the 4-byte DeviceNet (Profile
(Profile 12) 9957 Off
12) Header on or off.
Header
Designates the units for velocity
values from the drive.
Velocity Units 9924 % • %
• RPM
• Hz
Demand Scalar for input demand reference
9926 1 -125 125
Scalar from the network.
Aux Demand Auxiliary scalar for input demand
9927 1 -125 125
Scalar reference from the network.
Network2 I/O Select the size of input and output
9952 136 bytes
Size data.

Table 9-24. Network 2 Register Data From Drive Menu (9500)

Parameter ID Units Default Min Max Description
Register data from
Data From General drive parameter 1.
9501
Drive 01 Status This register is not
programmable
Register data from
Data From drive parameter 2.
9502 Motor Speed
Drive 02 This register is not
programmable.
Register data from
Data From drive parameters 3-64.
9503-9564 None
Drive 03 -64 These registers are
programmable.

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Table 9-25. Network 2 Register Data To Drive Menu (9700)

Parameter ID Units Default Min Max Description
Register data to drive
Data To Fixed Reg parameter 1. This
9701
Drive Reg 01 Bits register is not
programmable.
Register data to drive
Data To Velocity parameter 2. This
9702
Drive Reg 02 Demand register is not
programmable.
Register data to drive
Data To
9703- parameters 3-64.
Drive Reg None
9764 These registers are
03-64
programmable.

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9.11 Display Network Monitor Function (Parameter ID 9950)

This function allows you to view the values of network registersIt is extremely useful for troubleshooting. As data is
transmitted, and the values of the registers change, the display will automatically and continuously update to reflect
the changes. The direction of data transmission as shown on this screen, is from the drive’s perspective. Therefore,
‘Rx’ is data received into the drive, and ‘Tx’ is data transmitted from the drive.

Format of the register Data direction (3) Register number

value display (1)

D NET1 Tx N-Reg:
01 00257 Line 1 data

H NET2 Rx N-Reg:
02 0F1B Line 2 data

Global or non-global register

Network for this register (2) Register value
(4)

Figure 9-3. Diagram of Display Network Monitor Function

1. ‘D’ means decimal format.

‘H’ means hexadecimal format.
2. The drive may be connected to two separate networks.
3. ‘Rx’ means that this is a “Data to Drive” register.
‘Tx’ means that this is a “Data from Drive” register.
4. ‘G’ means a global register.
‘N’ means a non-global register.
The Modbus protocol does not support global registers. Therefore, when working with a Modbus controller,
this field will contain ‘N’ in all of the registers.
5. This two-digit numeric field indicates the number of the register being shown.
‘Tx’ 01-64 are “Data from Drive 01” (parameter ID 9401) through “Data from Drive 64”
(parameter ID 9464).
‘Rx’ 01-64 are “Data to Drive 01” (parameter ID 9601) through “Data to Drive 64” (parameter ID 9664).
6. The value of the register. Since the registers all contain 16-bit digital words, they range in value from 0-
65535 (decimal), or 0-FFFF (hexadecimal).
7. Line 1 contains the following information:
The register value is shown in decimal format; the register is in network 1; the register is non-global; the
data is going to the drive; “to drive” register number 1 is showing; its value is 257.
8. Line 2 contains the following information:
The register value is shown in hexadecimal format; the register is in network 2; the register is non-global; to

9
data is coming from the drive; “from drive” register number 2 is showing; its value is 0xF1B (decimal
equivalent = 3,867).

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Note: The underscores in the picture of the display show possible cursor movement. To move the
* cursor within the display, use the left and right arrow keys. Alphabetic fields are only edited with
only the up and down arrow keys. Numeric fields are edited with either the up and down arrow keys
or the numeric keys. The cursor will move to the beginning of the second line after it reaches the last
possible position on the first line. Likewise, the cursor will move to the beginning of the first line
after it reaches the last possible position on the second line.
Figure 9-4 represents a typical display. If you start with the cursor at position A and use the left arrow [←] key
repeatedly, the cursor will move to A, D, C, B, A, etc. If you start with the cursor at position A and use the right
arrow [→] key repeatedly, the cursor will move to A, B, C, D, A, etc.

D D
H H

Figure 9-4. Cursor Movement Diagram

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NXG Communications Manual Parameter Read / Write

A
APPENDIX

A Parameter Read / Write

A.1 Introduction
Parameter Read/Write allows you to use a PLC to read and write parameter values in the drive. The Parameters To
Drive (PTD) registers read and write ID commands, read and write parameter commands, read and write pick list
items, and execute certain functions. The Parameters From Drive (PFD) registers echo the PTD command, hold the
PTD read command results, and produce an error code if the PTD command cannot be performed.

A.2 Setting Up the PTD and PFD Registers

The PTD and PFD registers are set up in the Communications Menu (9), in the submenu Network 1 Configure (9900)
or Network 2 Configure (9914). The four PTD registers are available as pick list items in the IDs 9603 to 9664. The
four PFD registers are available as pick list items in the IDs 9403 to 9464. Place each set of four registers in
sequential IDs.
Each register performs a specific function.

A.3 Defining the PTD Registers

Table A-1 summarizes the possible PTD register contents.
The PTD1 register can have a value of 0 to 127:
• Values of 1 to 15 support ID commands.
• Values of 21 to 26 support parameter commands.
• Values of 31 to 40 support pick list commands.
• Values of 41 to 47 support function commands.
• Values not listed here are reserve for future use (0 = no operation).
The PTD2 register supplies the Menu ID for the required command.
The PTD3 register supplies the Write Value for Least Significant 16-Bits.
The PTD4 register supplies the Write Value for Most Significant 16-Bits.
Table A-2 lists the available ID Function commands, such as Autotune, when PTD1 is set to a Function command
(value 41). The table also lists the settings or values for PTD3, PTD4, PFD3, and PFD4 for each ID function.

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A.4 Defining the PFD Registers

Table A-3 summarizes the possible PFD register contents.
A The PFD1 register consists of 16 bits:
• Bits 0 to 6 contains the command echo (from PTD1, bits 0 to 6).
• Bit 7 contains the error flag.
• Bits 8 to 15 are conditional. If bit 7 is not set (no error), bits 8 to 11 represent the exponent. If bit 7 is set, bits
8 to 15 contain the error code. See Table A-3.
The PFD2 register contains the Menu ID echo.
The PFD3 register contains the value returned from a Read Parameter Value command issued by PTD1. If the value
is numeric, PFD3 contains the least significant 16 bits. If the value is a string, PFD3 contains the first two bytes.
The PFD4 register contains the value returned from a Read Parameter Value command, if needed. If the value is
numeric, PFD4 contains the most significant 16-bits. If the value is a string, PFD4 contains the second two bytes.

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Table A-1. Registers PTD 1-4 Contents

Register Value Description A

PTD1 ID Commands 0 No Operation
Bits 0-7
Read ID Type:
0 = Parameter
1 = Pick List Item
1
2 = Pick List with Manual ID (Manual ID Not Selected)
3 = Pick List with Manual ID (Manual ID Currently Selected)
4 = Function

2 Read Next ID

3 Read ID Minimum Value

4 Read ID Maximum Value

5 Read ID String Length

6-11 Read ID String (4 bytes per command)

12 Read ID Security Level (0, 5, 7)

13 Write ID Security Level (0, 5, 7)

14 Read ID Default Value

15 Read ID Default Used (0 = No, 1 = Yes)

16-20 Reserved for Future Use

Parameter 21 Read Parameter Value

Commands
22 Write Parameter Value

23 Read Units Text Length

24 Read Units String (Bytes 1-40)

25 Read IP Address

26 Write IP Address

27-30 Reserved for Future Use

Pick List 31 Read Pick List Item

Commands
32 Write Pick List Item (Not Using Drive ID)

33 Write Pick List Item (Using Drive ID)

34 Read Pick List Text Length

35-40 Read Pick List String (4 Bytes per Command)

Function 41 Perform Function

Commands
See Table A-2 for
42-47 Read Function String (4 Bytes per Command)
supported IDs

48-127 Reserved for Future Use

Bits 8-11 Exponent Exponent to be used for Write Parameter Value command

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Register Value Description

A PTD2

PTD3
Menu ID

Write Value
Menu ID for Command

Value to be used for Write Parameter Value command—Least Significant 16-Bits

PTD4 Most Significant 16-Bits

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Table A-2. Supported ID Function Commands (PFD1-Command 41)

ID Function PTD3/PTD4 Use PFD3/PFD4 Use A

1260 Autotune Stage1 Not used Not used

1270 Autotune Stage2 Not used Not used

2640 Reset Bypassed Cells Not used Not used

3510 Start Control Loop Test Not used Not used

3520 Stop Control Loop Test Not used Not used

PFD3: 1 = Error
5045 Set Current As Default Not used
PFD4: Not used

5050 Reset to Defaults Not used Not used

6200 Clear Event Log Not used Not used

PFD3: 1 = Error
6240 Alarm/Fault Log Clear Not used
PFD4: Not used

PTD3 = Value
8030 Preset Hour Meter Not Used
PTD4 = Exponent

8040 Reset Hour Meter Not used Not used

PTD3 = Value
8060 Alarm/Fault Log Clear Not Used
PTD4 = Exponent

8070 Reset Output KWH Meter Not used Not used

PTD3 = Value
8074 Preset Input KWH Meter Not used
PTD4 = Exponent

8076 Reset Input KWH Meter Not used Not used

8080 Set the Clock Time PTD4 PTD3 Not used

0 Seconds (0-59)
Invalid combinations of
1 Minutes (0-59) PTD3/PTD4 return a
Limit Error in PFD1.
2 Hours (0-23)

3 Days

4 Month (1-12)

Year (1999-
5
2099)

PFD4: Not used in

released versions
PFD3:
Display Vesion Number
8090 Not used Bits 12-15: Not used
(Software Release Version) Bits 8-11: Major Rev
Bits 4-7: Minor Rev
Bits 0-3: Incremental
release (if >0)

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ID Function PTD3/PTD4 Use PFD3/PFD4 Use

A 9140*

9147*
Display Sys Prog Name

Display Drctry Version

Not used

Not used
PFD3 = String Length

PFD3 = String Length

9195* Show Active Config File Not used PFD3 = String Length

9946 Net 1 to 2 Reg. Copy Not used Not used

* IDs that support the use of the function string commands (commands 42-47).
Table A-3.

Register Bits Description

PFD1 Status 0-6 Echo of Command from PTD

Bits 0-6: Echo of
Error Flag. If Bit 7 is not set (0), Bits 8-15 represent the number of decimal digits.
Command 7
If Bit 7 is set (1), Bits 8-15 contain the error codes shown below:

Bit 7: Error Flag Error Error Description

Code
Bits 8-15: If Error Flag
set the bits 8-15 as 0 Not used
the Error Code.
Otherwise, bits 8-11 1 Invalid ID
are a 4-bit exponent
2 Limit Error
for the data.
3 Drive is running. Can’t change value

4 Parameter/pick list write Lockout (drive does allow parameter changes)

5 ID is parameter type. Use parameter commands.

8-15
6 ID is a pick list type. Use pick list commands.

7 Command Error: Use wirte pick list Manual ID Command

8 Command Error: Use write pick list command

9 Invalid Manual ID

10 Fixed Pick List (Item is Read Only)

11 Pick List Item Already Selected

12 Invalid Function ID

13-255 Reserved for Future Use

PFD2 Menu ID Echo Menu ID Echo

Read Value Value returned from read parameter value command—Least Significant 16-Bits.
PFD3 If command is Get ID, this register contains the least significant 16 bits.
If command is Read String, the 1st two bytes are returned.

Most Significant 16-Bits.

PFD4 Read Exponent If command is Get ID, this register contains the most significant 16 bits.
If command is Read String, the 2nd two bytes are returned.

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A.5 PLC Handshaking Procedure for Parameter Read/Write

Register Setup
1. Write register data into PTD3 and PTD4, for commands that require PLC data.
A
2. Write the menu ID into the PTD2 register.
3. Poll until PDF2 register value equals PTD2 register value (menu ID echo).
4. Write the command type into the PTD1 register.
Perform Handshake
5. Poll until the lower 7 bits (0-6) in the PFD1 register are equal to the value in the PTD1 register
(command echo).
Error Testing
6. Test bit 7 of PFD1 (command echo flag).
7. If bit 7 is set, the upper byte of PFD1 is the error code.
8. If bit 7 is clear, the upper byte of PFD1 contains the 4-bit exponent for the data if the command was “Read
Parameter Value.” For all other commands, the upper byte will be zero.
Read Data
9. Read register data in PFD3 and PFD4 (commands that return PCD data).
End the Command
10. Write zero into the PTD1 register (reset the command).

A.6 Example: Change the Rated Input Voltage (ID 2010)

Change the rated input voltage parameter (2010) to 3000.
1. Write 3000 to PTD3; PT4 is not needed. This is the new voltage.
2. Write 2010 to PTD2. This is the ID of Rated Input Voltage.
3. Poll PFD2 until it’s value equals 2010 (the value of PTD2).
4. Write 22 to PTD1. This is the Write Parameter Value command.
5. Poll bits 0-6 of PTD1 until the value equals 22 (the value of PTD1).
6. When PFD2 = PTD2 and the lower six bits of PFD1 = PTD1, test bit 7 of PFD1.
7. If bit 7 of PFD1 is not set, read bits 8 to 11 for the exponent.
8. If bit 7 of PFD1 is set, read bits 8 to 15 for the error code.
9. Read PFD3 and PFD4 for the new value.
10. Write 0 to PTD1.

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Appendix

B Output Data IDs

B
Data ID numbers for read commands are listed in Tables B-1 through B-53.

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Table B-1. General Data Register Assignments

Data ID Units Point Description Range

2000 RPM Speed reference command -32768 – 32767
2010 % * 10 Speed reference command -327.6% – 327.6%
2011 % * 100 Flux reference -327.6% – 327.6%
2012 % * 100 Power factor -327.6% – 327.6%
B 2013 KVAR Kvar 0 – 65535
Menu-Selected:
Hz * 100 Motor speed, filtered 0 – 6553.5
2014
RPM -32768 – 32767
% * 10 -327.6 – 327.6
2015 % * 100 Flux DS, filtered -327.6% – 327.6%
2016 % * 100 Peak voltage clamp limit, normalized -327.6% – 327.6%
2017 % * 10 Hot cell temperature 0 – 65535%
2020 RPM Speed feedback -32768 – 32767
2030 % * 10 Speed feedback -327.6% – 327.6%
2040 RPM Speed demand -32768 – 32767
2050 % * 10 Speed demand -327.6% – 327.6%
2060 % * 10 Raw speed input -327.6% – 327.6%
2070 % * 10 Ramp output -327.6% – 327.6%
2080 Amps Torque demand -32768 – 32767
2090 % * 100 Torque demand -327.6% – 327.6%
2100 Volts Motor voltage 0 – 65535
2110 % * 100 Motor voltage 0 – 655.35%
2120 Volts Line voltage 0 – 65535
2130 Amps Input current 0 – 65535
2140 Hz * 10 Line frequency 0 – 65535
2150 Amps Torque current feedback -32768 – 32767
2160 % * 10 Torque current feedback -327.6% – 327.6%
2170 Amps Magnetizing Current Feedback 0 – 65535
2180 % * 100 Magnetizing Current Feedback 0 – 655.35%
2190 Amps Total Current Feedback -32768 – 32767
2200 % * 100 Total Current Feedback -327.68% – 327.67%

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Data ID Units Point Description Range

0 = Off,
1 = Magnetizing,
2 = Spinning Load,
3 = Autotune
2210 N/A Drive state 4 = Run B
5 = Stop
6 = Coast
7 = Up Transfer
8 = Down Transfer
2220 N/A Heartbeat 0 – 65535
2230 KW Output power -32768 – 32767
2240 % * 100 Output power -327.68% – 327.67%
2250 KW Input power 0 – 65535
2260 % * 100 Input power 0 – 655.35%
2270 % * 100 EO Avg Output Neutral Voltage 0 – 327.67%
2280 Volts EO Avg Output Neutral Voltage 0 – 32767
Serial Flags: For use with Tables A-2 through A-5. There are 64 bits that can be used with any other valid input or
output bits. For example, packing bits from multiple addresses into a single telegram.
Table B-2. Serial Flags 1 S1_1

Data ID Bits SOP Flags Values

Serial Flags 0_O – 15_O 0 = False (off),
2380 0 – 15
(same as bit number) 1 = True (on)

Table B-3. Serial Flags 2 S1_2

Data ID Bits SOP Flags Values

Serial Flags 16_O – 31_O 0 = False (off),
2390 0 – 15
(bit number + 16) 1 = True (on).

Table B-4. Serial Flags 3 S1_3

Data ID Bits SOP Flags Values

Serial Flags 32_O – 47_O 0 = False (off),
2400 0 – 15
(bit number + 32) 1 = True (on).

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Table B-5. Serial Flags 4 S1_4

Data ID Bits SOP Flag Values

Serial Flag 48_O – 63_O 0 = False (off),
2410 0 – 15
(bit number + 48) 1 = True (on).

B
Table B-6. Network 1 Output Flags

Data ID Bits SOP Flag Values

0 = False (off),
2002 0 – 15 Network1Flag0_O – Network1Flag15_O
1 = True (on).
0 = False (off),
2003 0 – 15 Network1Flag16_O – Network1Flag31_O
1 = True (on).
0 = False (off),
2004 0 – 15 Network1Flag32_O – Network1Flag47_O
1 = True (on).
0 = False (off),
2005 0 – 15 Network1Flag48_O – Network1Flag63_O
1 = True (on).

Table B-7. Network 2 Output Flags

Data ID Bits SOP Flag Values

0 = False (off),
2006 0 – 15 Network2Flag0_O – Network2Flag15_O
1 = True (on).
0 = False (off),
2007 0 – 15 Network2Flag16_O – Network2Flag31_O
1 = True (on).
0 = False (off),
2008 0 – 15 Network2Flag32_O – Network2Flag47_O
1 = True (on).
0 = False (off),
2009 0 – 15 Network2Flag48_O – Network2Flag63_O
1 = True (on).

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Table B-8. Wago Inputs

Data ID Bits SOP Flag Values

0–7 ExternalDigitalInput01a_I – ExternalDigitalInput01h_I 0 = False (off),
2650
8 – 15 ExternalDigitalInput02a_I – ExternalDigitalInput02h_I 1 = True (on).
0–7 ExternalDigitalInput03a_I – ExternalDigitalInput03h_I 0 = False (off),
2651
8 – 15
0–7
ExternalDigitalInput04a_I – ExternalDigitalInput04h_I
ExternalDigitalInput05a_I – ExternalDigitalInput05h_I
1 = True (on).

0 = False (off),
B
2652
8 – 15 ExternalDigitalInput06a_I – ExternalDigitalInput06h_I 1 = True (on).
0–7 ExternalDigitalInput07a_I – ExternalDigitalInput07h_I 0 = False (off),
2653
8 – 15 ExternalDigitalInput08a_I – ExternalDigitalInput08h_I 1 = True (on).
0–7 ExternalDigitalInput09a_I – ExternalDigitalInput09h_I 0 = False (off),
2654
8 – 15 ExternalDigitalInput10a_I – ExternalDigitalInput10h_I 1 = True (on).
0–7 ExternalDigitalInput11a_I – ExternalDigitalInput11h_I 0 = False (off),
2655
8 – 15 ExternalDigitalInput12a_I – ExternalDigitalInput12h_I 1 = True (on).

Table B-9. Wago Outputs

Data ID Bits SOP Flag Values

0–7 ExternalDigitalOutput01a_O – ExternalDigitalOutput01h_O 0 = False (off),
2656
8 – 15 ExternalDigitalOutput02a_ O – ExternalDigitalOutput02h_ O 1 = True (on).
0–7 ExternalDigitalOutput03a_ O – ExternalDigitalOutput03h_ O 0 = False (off),
2657
8 – 15 ExternalDigitalOutput04a_ O – ExternalDigitalOutput04h_ O 1 = True (on).
0–7 ExternalDigitalOutput05a_ O – ExternalDigitalOutput05h_ O 0 = False (off),
2658
8 – 15 ExternalDigitalOutput06a_ O – ExternalDigitalOutput06h_ O 1 = True (on).
0–7 ExternalDigitalOutput07a_ O – ExternalDigitalOutput07h_ O 0 = False (off),
2659
8 – 15 ExternalDigitalOutput08a_ O – ExternalDigitalOutput08h_ O 1 = True (on).

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Table B-10. Cell Temperature

Data ID Units SOP Flag Range

4090 % * 10 CellTemperature+0 0 – 6553.5
4100 % * 10 CellTemperature+1 0 – 6553.5
4110 % * 10 CellTemperature+2 0 – 6553.5
4120 % * 10 CellTemperature+3 0 – 6553.5
B 4130 % * 10 CellTemperature+4 0 – 6553.5
4140 % * 10 CellTemperature+5 0 – 6553.5
4150 % * 10 CellTemperature+6 0 – 6553.5
4160 % * 10 CellTemperature+7 0 – 6553.5
4170 % * 10 CellTemperature+8 0 – 6553.5
4180 % * 10 CellTemperature+9 0 – 6553.5
4190 % * 10 CellTemperature+10 0 – 6553.5
4200 % * 10 CellTemperature+11 0 – 6553.5
4210 % * 10 CellTemperature+12 0 – 6553.5
4220 % * 10 CellTemperature+13 0 – 6553.5
4230 % * 10 CellTemperature+14 0 – 6553.5
4240 % * 10 CellTemperature+15 0 – 6553.5
4250 % * 10 CellTemperature+16 0 – 6553.5
4260 % * 10 CellTemperature+17 0 – 6553.5
4270 % * 10 CellTemperature+18 0 – 6553.5
4280 % * 10 CellTemperature+19 0 – 6553.5
4290 % * 10 CellTemperature+20 0 – 6553.5
4300 % * 10 CellTemperature+21 0 – 6553.5
4310 % * 10 CellTemperature+22 0 – 6553.5
4320 % * 10 CellTemperature+23 0 – 6553.5

Enable Faults: Faults can either be always enabled or enabled by a bit in the SOP drctry file. If they are always
enabled, then when the fault occurs, the fault bit will be set. If enabled by the SOP bit, then the fault bit will only be
set if the enable bit is set on the SOP drtry file.
Note: SOP programs are intended to be written and modified by Siemens engineers. This is just for
* information purposes only. For more information on these parameters, see the Troubleshooting and
Maintenance chapter of the appropriate user’s manual.
Differences between faults and alarms:
• Faults: Once a fault occurs, the drive is immediately tripped (stopped). It is not possible to run the drive
again until the fault is cleared.
• Alarms: An alarm is only an indication of some potential trouble condition. The alarm will not trip or stop
the drive. An alarm cannot be reset by any action. The only way an alarm is reset is when the condition that
caused the alarm ceases to exist. An alarm can be acknowledged by attempting to reset either by the
windows tool (reset button), keypad (reset key), or through a communication bit. Once an alarm condition
does not exist, and it has not been acknowledged, it is in an “unacknowledged” state and the
unacknowledged bits will remain high until they are acknowledged.
• Active Faults: This bit is high when the fault is active or in an active state.

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NXG Communications Manual Output Data IDs

Note: Bits that are NOT listed in the following tables are undefined.
*
Note: The values for the Faults/Alarms listed in Tables B-13 through B-23 are: 0 = False (off); 1 = True (on).
* B
Table B-11. Number of Faults/Alarms

Data ID Bits Description Values

3000 N/A Number of active faults 0 – 128
3010 N/A Number of unacknowledged alarms 0 – 128
3020 N/A Number of active alarms 0 – 128

*
Note: In the Alarm/Fault/Programmable column of Tables B-13 through B-23, Alarm = A, Fault = F, and
Programmable = P. In the Enable column: Fixed = F (always enabled an dnot changeable by the user),
Programmable to Enable = PE (default state is enabled), and Programmable to Disable = PD (default state is
disabled).

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 Output Data IDs NXG Communications Manual

Table B-12. FW1_1

Data ID Bits Description Alarm / Enable

Fault /
Programmable
Fault Flags1: Fatal Outputs

B
1 Over speed fault F PE
3 Under load fault F F
6 Mtr Therm Over Ld Fault F F
3030 8 Output phase open F F
10 IOC F F
12 Cell F F
14 In torq limit rollback P PE
Unacknowledged Warning Flags1 (3150)/
Active Warning Flags1 (3270)
(Note: All bits are associated with both Data IDs)
0 Over speed alarm A PE
2 Under load alarm A PE
4 Mtr Therm Over Load 1 A PE
5 Mtr Therm Over Load 2 A PE
3150/
7 Output phase imbal A F
3270
9 Output Ground fault A F
13 In torque limit A PE
14 In torq limit rollback P PE
15 Input phase loss A PD

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NXG Communications Manual Output Data IDs

Table B-13. FW1_2

Data ID Bits Description Alarm/ Enable

Fault/
Programmable
Fault Flags2
0 Phase sequence P PE B
2 CPU Temperature Fault F PE
4 Cell over temp fault F F
5 Modulator Configuration F F
6 Cell count mismatch F F
7 Power supply F F
3040
8 Wago communication fault F F
9 Wago configuration F F
10 Cell bypass COM fail F F
11 Cell bypass acknowledge F F
12 Cell bypass link F F
14 System program F F
Unacknowledged Warning Flags2(3160)/
Active Warning Flags2(3280)
0 Phase sequence P PE
1 CPU Temperature Alarm A F
3160/
3 Cell over temp alarm A F
3280
13 Weak battery A F
15 Medium voltage low 1 A PE

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 Output Data IDs NXG Communications Manual

Table B-14. FW1_3

Data ID Bits Description Alarm/ Enable

Fault/
Programmable
Fault Flags3

B
1 Medium voltage low flt F F
5 Line over voltage fault F F
6 Input phase imbal P F
7 Input one cycle P F
3050 9 Encoder loss F F
10 Keypad communication P F
11 Network 1 communication P F
12 Network 2 communication P F
14 Motor over volt fault F F
Unacknowledged Warning Flags3 (3170)/
Active Warning Flags3 (3290)
0 Medium voltage low 2 .A F
2 Cell alarm A F
3 Line over voltage 1 A PE
4 Line over voltage 2 A PE
6 Input phase imbalance P F
7 Input one cycle P F
3170/
8 Input ground A PE
3290
9 Encoder loss A F
10 Keypad communication P PE
11 Network 1 communication P PE
12 Network 2 communication P PE
13 Motor over volt alarm A PE
15 Cell bypass comm alarm A F

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NXG Communications Manual Output Data IDs

Table B-15. FW1_4

Data ID Bits Description Alarm/ Enable

Fault/
Programmable
Fault Flags4
1 Cell bypass fault F F B
2 Cell config fault F F
4 Back EMF timeout F F
5 Hall effect pwr supply F F
6 Modulator board fault F F
3060 8 Modulator watchdog Flt F F
10 Tool communication P PE
11 Failed to magnetize P F
12 Loss of field current P F
13 Minimum speed trip F F
14 Excessive drive losses P F
Unacknowledged Warning Flags4 (3180)/
Active Warning Flags4 (3300)
0 Cell bypass link alarm A F
3 Carrier Frq Set Too Low A F
9 Cell DC bus low A F
10 Tool communication P PE
3180/
3300 11 Failed to magnetize P F
12 Loss of field current P F
Excessive drive losses alarm WAGO
14 P F
communication alarm
15 WAGO communication alarm A F

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 Output Data IDs NXG Communications Manual

Table B-16. FW2_1

Data ID Bits Description Alarm/ Enable

Fault/
Programmable
Fault Flags5

B
1 All blowers not avail P PE
2 Clogged filters P PE
5 Reactor OT Fault P PE
8 Xformer OT Fault F PE
10 Both pumps not available P PE
3070 12 Coolant Conduct > 5 uS P PE
Inlet water temperature high Coolant Inlet Temp
13 P PE
> 60c alarm
Coolant Inlet Temp < 22cInlet water temperature
14 P PE
low
15 Cell water temperature high P PE
Unacknowledged Warning Flags5 (3190)/
Active Warning Flags5 (3310)
0 One blower not avail P PE
1 All blowers not avail P PE
2 Clogged filters P PE
3 Reactor temperature 1OT Alarm alarm A PE
4 Reactor temperature 2OT Trip Alarm alarm A PE
5 Reactor OT Fault P F
Transformer Xformer OT AlarmTemperature 1
6 A PE
alarm
Xformer OT Trip AlarmTransformer
7 A PE
3190/ temperature 2 alarm
3310 9 One pump not availablefailed A PE
10 Both pumps not available P PE
Coolant conductivity high AlarmCoolant
11 A PE
Conduct > 3 uS
12 Coolant Conduct > 5 uS P PE
Inlet water temperature highCoolant Inlet Temp
13 P PE
> 60c alarm
Coolant Inlet Temp < 22cInlet water temperature
14 P PE
low
15 Cell water temperature high P PE

B-12 902399: Version 4.0

NXG Communications Manual Output Data IDs

Table B-17. FW2_2

Data ID Bits Description Alarm/ Enable

Fault/
Programmable
Fault Flags6
0 Xfrm Cool OT Trip Alarm P PE B
2 Coolant Tank Level < 20” F PE
4 Low Coolant Flow < 20% P PE
3080 6 Loss all HEX fans P PE
8 Loss of drive enable F PE
12 A/D Hardware fault F F
14 Config File Read Error F F
Unacknowledged Warning Flags6 (3200)/
Active Warning Flags6 (3320)
0 Xfrm Cool OT Trip Alarm P PE
1 Coolant Tank Level < 30” A PE
3 Low Coolant Flow < 60% A PE
4 Low Coolant Flow < 20% P PE
5 Loss one HEX fan A PE
3200/
6 Loss all HEX fans P PE
3320
7 All HEX fans on A PE
9 Up transfer failed A F
10 Down transfer failed A F
11 A/D Hardware alarm A F
13 Config File Write Alarm A F

Table B-18. FW2_3

Data ID Bits Description Alarm/ Enable

Fault/
Programmable
Fault Flags7
7 Loss of signal intern P PE
3090
8 ~ 15 Loss of signal 1 through 8 P PE
Unacknowledged Warning Flags7 (3210)/
Active Warning Flags7 (3330)
3210/ 7 Loss of signal intern P PE
3330 8 ~ 15 Loss of signal 1 through 8 P PE

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 Output Data IDs NXG Communications Manual

Table B-19. FW2_4

Data ID Bits Description Alarm/ Enable

Fault/
Programmable
Fault Flags8

B
3100 0 ~ 15 Loss of signal 9 through 24 P PE
Unacknowledged Warning Flags8 (3220)/
Active Warning Flags8 (3340)
3220/
0 ~ 15 Loss of signal 9 through 24 P PE
3340

Table B-20. FW3_1

Data ID Bits Description Alarm/ Enable

Fault/
Programmable
Fault Flags9
User Fault 1 through 16
3110 0 ~ 15 P PD

Unacknowledged Warning Flags9 (3230)/

Active Warning Flags9 (3350)
3230/ User Fault 1 through 16
0 ~ 15 P PD
3350 (bit number + 1)

Table B-21.FW3_2

Data ID Bits Description Alarm/ Enable

Fault/
Programmable
Fault Flags10
User Fault 17 through 32
3120 0 ~ 15 P PD
(bit number + 17)
Unacknowledged Warning Flags10 (3240)/
Active Warning Flags10 (3360)
3240/ User Fault 17 through 32
0 ~ 15 P PD
3360 (bit number + 17)

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NXG Communications Manual Output Data IDs

Table B-22. FW3_3

Data ID Bits Description Alarm/ Enable

Fault/
Programmable
Fault Flags11

3130 0 ~ 15
User Fault 33 ~ 48
(bit number + 33)
P PD B
Unacknowledged Warning Flags11 (3250)/
Active Warning Flags11 (3370)
3250/ User Fault 33 ~ 48
0 ~ 15 P PD
3370 (bit number + 33)

Table B-23. FW3_4

Data ID Bits Description Alarm/ Enable

Fault/
Programmable
Fault Flags12
User Fault 49 ~ 64
3140 0 ~ 15 P PD
(bit number + 49)
Unacknowledged Warning Flags12 (3260)/
Active Warning Flags12 (3380)
3260/ User Fault 49 ~ 64
0 ~ 15 P PD
3380 (bit number + 49)

Table B-24. FW4_1

Data ID Bits Description Alarm/ Enable

Fault/
Programmable
Fault Flags13
0 Loss of internal analog input #1 P PE
1 Loss of internal analog input #2 P PE
3141
2 Loss of internal analog input #3 P PE
3-15 Reserved for future use - -
Unacknowledged Warning Flags13 (3261)/
Active Warning Flags13 (3381)
0 Loss of internal analog input #1 P PE
3261/ 1 Loss of internal analog input #2 P PE
3381 2 Loss of internal analog input #3 P PE
3-15 Reserved for future use - -

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 Output Data IDs NXG Communications Manual

Table B-25. FW4_2

Data ID Bits Description Alarm/ Enable

Fault/
Programmable
Fault Flags14

B
3142 0-15 Reserved for future use - -
Unacknowledged Warning Flags13 (3262)/
Active Warning Flags13 (3382)
3262/
0-15 Reserved for future use - -
3382

Table B-26. FW4_3

Data ID Bits Description Alarm/ Enable

Fault/
Programmable
Fault Flags15
3143 0-15 Reserved for future use - -
Unacknowledged Warning Flags13 (3263)/
Active Warning Flags13 (3383)
3263/
0-15 Reserved for future use - -
3383

Table B-27. FW4_4

Data ID Bits Description Alarm/ Enable

Fault/
Programmable
Fault Flags16
3144 0-15 Reserved for future use - -
Unacknowledged Warning Flags13 (3264)/
Active Warning Flags13 (3384)
3264/
0-15 Reserved for future use - -
3384

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NXG Communications Manual Output Data IDs

Table B-28. Fault/Alarm Flags1-1

Data ID Bits Description

0 Over speed alarm
1 Over speed fault
2 Under load alarm
3
4
Under load fault
Mtr Therm Over Load 1
B
5 Mtr Therm Over Load 2
6 Mtr Therm Over Ld Fault
7 Output phase imbal
3400
8 Output phase open
9 Output Ground fault
10 IOC
11 MenuInit
12 Cell
13 In torque limit
14 In torq limit rollback
15 Input phase loss

Table B-29. Fault/Alarm Flags1-2

Data ID Bits Description

0 Phase sequence
1 CPU Temperature Alarm
2 CPU Temperature Fault
3 Cell over temp alarm
4 Cell over temp fault
5 Modulator Configuration
6 Cell count mismatch
7 Power supply
3401
8 Wago communication fault
9 Wago configuration
10 Cell bypass COM fail
11 Cell bypass acknowledge
12 Cell bypass link
14 System program
13 Weak battery
15 Medium voltage low 1

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 Output Data IDs NXG Communications Manual

Table B-30. Fault/Alarm Flags1-3

Data ID Bits Description

0 Medium voltage low 2
1 Medium voltage low flt
2 Cell alarm
3 Line over voltage 1
B 4 Line over voltage 2
5 Line over voltage fault
6 Input phase imbal
7 Input one cycle
3402
8 Input ground
9 Encoder loss
10 Keypad communication
11 Network 1 communication
12 Network 2 communication
13 Motor over volt alarm
14 Motor over volt fault
15 Cell bypass comm alarm

Table B-31. Fault/Alarm Flags1-4

Data ID Bits Description

0 Cell bypass link alarm
1 Cell bypass fault
2 Cell config fault
3 Carrier Frq Set Too Low
4 Back EMF timeout
5 Hall effect pwr supply
6 Modulator board fault
7 Not Used
3403
8 Modulator watchdog Flt
9 Cell DC bus low
10 Tool communication
11 Failed to magnetize
12 Loss of field current
13 Minimum speed trip
14 Excessive drive losses
15 WAGO communication alarm

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NXG Communications Manual Output Data IDs

Table B-32. Fault/Alarm Flags2-1

Data ID Bits Description

0 One blower not avail
1 All blowers not avail
2 Clogged filters
3
4
Reactor temperature 1OT Alarm alarm
Reactor temperature 2OT Trip Alarm alarm
B
5 Reactor OT Fault
6 Transformer Xformer OT AlarmTemperature 1 alarm
7 Xformer OT Trip AlarmTransformer temperature 2 alarm
3404
8 Xformer OT Fault
9 One pump not availablefailed
10 Both pumps not available
11 Coolant conductivity high AlarmCoolant Conduct > 3 uS
12 Coolant Conduct > 5 uS
13 Inlet water temperature highCoolant Inlet Temp > 60c alarm
14 Coolant Inlet Temp < 22cInlet water temperature low
15 Cell water temperature high

Table B-33. Fault/Alarm Flags2-2

Data ID Bits Description

0 Xfrm Cool OT Trip Alarm
1 Coolant Tank Level < 30”
2 Coolant Tank Level < 20”
3 Low Coolant Flow < 60%
4 Low Coolant Flow < 20%
5 Loss one HEX fan
6 Loss all HEX fans
7 All HEX fans on
3405
8 Loss of drive enable
9 Up transfer failed
10 Down transfer failed
11 A/D Hardware alarm
12 A/D Hardware fault
13 Config File Write Alarm
14 Config File Read Error
15 Not Used

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 Output Data IDs NXG Communications Manual

Table B-34. Fault/Alarm Flags2-3

Data ID Bits Description

0-6 Not Used
3406 7 Loss of signal intern
8 – 15 Loss of signal 1 through 8

B Table B-35. Fault/Alarm Flags2-4

Data ID Bits Description

3407 0 – 15 Loss of signal 9 through 24

Table B-36. Fault/Alarm Flags3-1

Data ID Bits Description

3408 0 – 15 User Fault 1 through 16

Table B-37. Fault/Alarm Flags3-2

Data ID Bits Description

3409 0 – 15 User Fault 17 through 32

Table B-38. Fault/Alarm Flags3-3

Data ID Bits Description

3410 0 – 15 User Fault 33 through 48

Table B-39. Fault/Alarm Flags3-4

Data ID Bits Description

3411 0 – 15 User Fault 49 through 64

Table B-40. Fault/Alarm Enable Flags1 1-4

Data ID Bits Description

3412 0 – 15 See table Fault/Alarm Flags Flags1-1
3413 0 – 15 See table Fault/Alarm Flags Flags1-2
3414 0 – 15 See table Fault/Alarm Flags Flags1-3
3415 0 – 15 See table Fault/Alarm Flags Flags1-4

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NXG Communications Manual Output Data IDs

Table B-41. Fault/Alarm Enable Flags2 1-4

Data ID Bits Description

3416 0 – 15 See table Fault/Alarm Flags Flags2-1
3417 0 – 15 See table Fault/Alarm Flags Flags2-2
3418 0 – 15 See table Fault/Alarm Flags Flags2-3
3419 0 – 15 See table Fault/Alarm Flags Flags2-4
B
Table B-42. Fault/Alarm Enable Flags3 1-4

Data ID Bits Description

3420 0 – 15 See table Fault/Alarm Flags Flags3-1
3421 0 – 15 See table Fault/Alarm Flags Flags3-2
3422 0 – 15 See table Fault/Alarm Flags Flags3-3
3423 0 – 15 See table Fault/Alarm Flags Flags3-4

Table B-43. Fatal Fault Flags Flags1 1-4

Data ID Bits Description

3424 0 – 15 See table Fault/Alarm Flags Flags1-1
3425 0 – 15 See table Fault/Alarm Flags Flags1-2
3426 0 – 15 See table Fault/Alarm Flags Flags1-3
3427 0 – 15 See table Fault/Alarm Flags Flags1-4

Table B-44. Fatal Fault Flags Flags2 1-4

Data ID Bits Description

3428 0 – 15 See table Fault/Alarm Flags Flags2-1
3429 0 – 15 See table Fault/Alarm Flags Flags2-2
3430 0 – 15 See table Fault/Alarm Flags Flags2-3
3431 0 – 15 See table Fault/Alarm Flags Flags2-4

Table B-45. Fatal Fault Flags Flags3 1-4

Data ID Bits Description

3432 0 – 15 See table Fault/Alarm Flags Flags3-1
3433 0 – 15 See table Fault/Alarm Flags Flags3-2
3434 0 – 15 See table Fault/Alarm Flags Flags3-3
3435 0 – 15 See table Fault/Alarm Flags Flags3-4

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 Output Data IDs NXG Communications Manual

Table B-46. Fault/Alarm Flags4 1-4

Data ID Bits Description

0 Loss of internal analog input #1
1 Loss of internal analog input #2
3436
2 Loss of internal analog input #3
3-15 Reserved for future use.
B
Table B-47. Fault/Alarm Flags4 2-4

Data ID Bits Description

3437 0-15 Reserved for future use.
3438 0-15 Reserved for future use.
3439 0-15 Reserved for future use.

Table B-48. Fault/Alarm Enable Flags4 3-4

Data ID Bits Description

3440 0 – 15 See table Fault/Alarm Flags Flags4-1
3441 0 – 15 See table Fault/Alarm Flags Flags4-2
3442 0 – 15 See table Fault/Alarm Flags Flags4-3
3443 0 – 15 See table Fault/Alarm Flags Flags4-4

Table B-49. Fatal Fault Flags Flags4 4-4

Data ID Bits Description

3444 0 – 15 See table Fault/Alarm Flags Flags4-1
3445 0 – 15 See table Fault/Alarm Flags Flags4-2
3446 0 – 15 See table Fault/Alarm Flags Flags4-3
3447 0 – 15 See table Fault/Alarm Flags Flags4-4

Table B-50. Analog Input Read Registers

Data ID Units Point Description Range

3502 – Analog input #1–
N/A 0 – 32767
3525 Analog input #24

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NXG Communications Manual Output Data IDs

Table B-51. Active Cells Read Registers

Data ID Units Point Description Range

4000 Cells Active cells phase A 0–8
4010 Cells Active cells phase B 0–8
4020 Cells Active cells phase C 0–8

B
Table B-52. Cell Status Phase A (4030), Phase B (4040), Phase C (4050)

Data ID Bits Description Values

0
Cell 1 status
1
2
Cell 2 status
3
4
Cell 3 status
5
6
Cell 4 status 0 = Humanistically,
4030/ 7 1 = Active,
4040/
8 2 = Bypassed,
4050 Cell 5 status 3 = Faulted
9
10
Cell 6 status
11
12
Cell 7 status
13
14
Cell 8 status
15

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 Output Data IDs NXG Communications Manual

Table B-53Table A-41. Bypass Status Phase A (4060), Phase B (4070), Phase C (4080)

Data ID Bits Description Values

0
Cell 1 bypass status
1
2
Cell 2 bypass status
3
B 4
Cell 3 bypass status
5
6
4060/ Cell 4 bypass status 0 = Unavailable,
7
4070/ 1 = Bypassed,
4080 8 2 = Available.
Cell 5 bypass status
9
10
Cell 6 bypass status
11
12
Cell 7 bypass status
13
14
Cell 8 bypass status
15

Note for Modbus: If you are using a control software version earlier than 2.0, these data can be accessed
* directly in fixed Modbus addresses. The first cell of the first table is Modbus address 46001. Increment the
Modbus address by one for each table cell downward.

B.1 Various Data Tables

Table B-54: Performance Table

Data ID Units Point Description Range

2161 %*100 Drive Losses 0 - 655.35%

2162 %*100 Excessive Reactive Current 0 - 655.35%

2163 %*100 Speed Droop -3276.8% - +3276.7%

2164 %*100 Sync Motor Field Current -327.6% - +327.6%

2168 %*100 Efficiency 0 - 655.35%

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NXG Communications Manual Output Data IDs

Table B-55: Parameter Read / Write Table

Data ID Name Value

2660 Network 1 PFD1

2661 Network 1 PFD2

2662 Network 1 PFD3

B
2663 Network 1 PFD4
Refer to Appendix A of this
manual
2664 Network 2 PFD1

2665 Network 2 PFD2

2666 Network 2 PFD3

2667 Network 2 PFD4

Table B-56: Parallel Drive Table

Data ID Units Point Description Range

2268 *100 Peak Voltage Clamp Limit 0 - 655.35

2269 Parallel Drive Status 1 • bit 0: Slave

• bit 1: In Network
2270 Parallel Drive Status 2
• bit 2: Spinning Load Enabled
• bit 3: Energy Saver Enabled
• bit 4: Speed Loop Test Mode Enabled
• bit 5: Auto Tune Enabled
• bit 6: Reset Timeout
2271 Handshake

2272 *100 Available PVCL 0 - 655.35

2273 %*100 Available Torque

2274 Number of Nodes

2275 Amps Mag Current Command Amps 0 - 655.35

2276 %*100 Mag current Command % 0 - 655.35%

2277 *100 Field Weakening Output 0 - 655.35

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 Output Data IDs NXG Communications Manual

Table B-57: Active Front End (AFE) Table

Data ID Units Point Description Range

(min / max / avg)

3600 / 3601 / 3602 %*100 Real Current Feedback Filtered 0 - 655.35%

3603 / 3604 / 3605 %*100 Reactive Current Feedback Filtered 0 - 655.35%

B 3606 / 3607 / 3608 %*100 DC Link Voltage 0 - 655.35%

3609 / 3610 / 3611 %*100 Real Voltage Feed Forward 0 - 655.35%

3612 / 3613 / 3614 Hz*10 Input Frequency 0 - 655.35

3615 / 3616 / 3617 %*100 Real Voltage Command 0 - 655.35

3618 / 3619 / 3620 %*100 Reactive Voltage Command 0 - 655.35

3621 / 3622 / 3623 *100 Highest Cell Temperature 0 - 655.35

3624 / 3625 / 3626 *100 Differential Cell Temperature 0 - 655.35

3627 / 3628 / 3629 %*100 Input Current 0 - 655.35

3630 / 3631 / 3632 %*100 Multiplexed Data 0 - 655.35

3633 State

3634 Status

3635 EPLD Status 1

3636 EPLD Status 2

3637 / 3638 / 3639 *100 Water Flow 0 - 655.35

3640 / 3641 / 3642 *100 Water Glycol flow 0 - 655.35

3643 Number of AFE Cells

3644 Number of AFE Cells with Open Sensors

36345 %*100 Available Reactive Current 0 - 655.35%

Table B-58: SilcoGraph Data Table

Data ID Units Point Description Range

3645 - 3652 %*100 Float Outputs 0 - n7 -327.6% - +327.6%

Table B-59: Shared Memory Table

Data ID Point Description

3654 - 3659 Shared Memory Handshake 0 - 5

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NXG Communications Manual Output Data IDs

∇∇∇

902399:Version 4.0 B-27

 Output Data IDs NXG Communications Manual

B-28 902399: Version 4.0

NXG Communications Manual DeviceNet DP EDS File

APPENDIX

C DeviceNet DP EDS File

$ Electronic Data Sheet generated using SST EDS Editor

[File]

C
DescText = "NXG Harmony Motor Drive";
CreateDate = 06-04-01;
CreateTime = 13:44:37;
ModDate = 10-02-02;
ModTime = 13:45:07;
Revision = 1.1;

[Device]
VendCode = 91;
VendName = "Robicon";
ProdType = 2;
ProdTypeStr = "AC Drive";
ProdCode = 4;
MajRev = 1;
MinRev = 1;
ProdName = "NXG DeviceNet";
Catalog = "";

[IO_Info]
Default = 0x0001;

PollInfo = 0x0001, 1, 1;

COSInfo = 0x0004, 1, 1;

CyclicInfo = 0x0008, 1, 1;

Input1=
4, 0, 0x000D,

902399: Version 4.0 C-1

 DeviceNet DP EDS File NXG Communications Manual

"Extended Speed Control Input",

6, "20 04 24 71 30 03",
"";

Output1=
4, 0, 0x000D,
"Extended Speed Control Output",
6, "20 04 24 21 30 03",
"";

C
[ParamClass]
MaxInst = 96;
Descriptor = 0x000B;
CfgAssembly = 0;

[Params]

Param1=
0,
6, "20 28 24 01 30 03",
0x0010, 8, 1,
"Motor Type ",
"",
"Enter the Motor Type",
0, 10, 7,
1, 1, 1, 0,
0, 0, 0, 0,
0;

Param2=

0,
6, "20 28 24 01 30 06",
0x0024, 2, 2,
"Motor Rated Curr",
"A",
"Enter the Motor Rated Nameplate Current",

C-2 902399: Version 4.0

NXG Communications Manual DeviceNet DP EDS File

120, 15000, 1250,

1, 10, 1, 0,
0, 0, 0, 0,
0;

Param3=
0,
6, "20 28 24 01 30 07",
0x0020, 2, 2,
"Motor Rated Volts",
"V",
C
"The Motor Nameplate Rated Voltage",
380, 13800, 4160,
1, 1, 1, 0,
0, 0, 0, 0,
0;

Param4=
0,
6, "20 28 24 01 30 09",
0x0020, 2, 2,
"Motor Rated Freq",
"Hz",
"Enter the Motor Nameplate Frequency in Hertz",
15, 330, 60,

1, 1, 1, 0,
0, 0, 0, 0,
0;

Param5=
0,
6, "20 28 24 01 30 0C",
0x0020, 2, 2,
"Motor Poles",
"",
"Enter the Motor Nameplate Number of Poles",
2, 32, 4,

902399: Version 4.0 C-3

 DeviceNet DP EDS File NXG Communications Manual

1, 1, 1, 0,
0, 0, 0, 0,
0;

Param6=
0,
6, "20 28 24 01 30 0F",
0x0030, 2, 2,
"Motor Base Speed",

C "RPM",
"Enter the Motor Nameplate Base Speed in RPM",
1, 19800, 1800,
1, 1, 1, 0,
0, 0, 0, 0,
0;

Param7=
0,
6, "20 29 24 01 30 03",
0x0032, 4, 1,
"Run Control Fwd",
"",
"",
0, 1, 0,
1, 1, 1, 0,
0, 0, 0, 0,
0;

Param8=
0,
6, "20 29 24 01 30 04",
0x0032, 4, 1,
"Run Control Rev",
"",
"",
0, 1, 0,
1, 1, 1, 0,
0, 0, 0, 0,

C-4 902399: Version 4.0

NXG Communications Manual DeviceNet DP EDS File

0;

Param9=
0,
6, "20 29 24 01 30 05",
0x0032, 4, 1,
"Network Control",
"",
"",
0, 1, 0,
1, 1, 1, 0,
C
0, 0, 0, 0,
0;

Param10=
0,
6, "20 29 24 01 30 06",
0x0032, 8, 1,
"Drive State",
"",
"",
0, 1, 0,
1, 1, 1, 0,
0, 0, 0, 0,
0;

Param11=
0,
6, "20 29 24 01 30 07",
0x0032, 4, 1,
"Run Fwd Status",
"",
"",
0, 1, 0,
1, 1, 1, 0,
0, 0, 0, 0,
0;

902399: Version 4.0 C-5

 DeviceNet DP EDS File NXG Communications Manual

Param12=
0,
6, "20 29 24 01 30 08",
0x0032, 4, 1,
"Run Rev Status",
"",
"",
0, 1, 0,
1, 1, 1, 0,

C 0, 0, 0, 0,
0;

Param13=
0,
6, "20 29 24 01 30 09",
0x0032, 4, 1,
"Ready Status",
"",
"",
0, 1, 0,
1, 1, 1, 0,
0, 0, 0, 0,
0;

Param14=
0,
6, "20 29 24 01 30 0A",
0x0032, 4, 1,
"Fault Status",
"",
"",
0, 1, 0,
1, 1, 1, 0,
0, 0, 0, 0,
0;

Param15=
0,

C-6 902399: Version 4.0

NXG Communications Manual DeviceNet DP EDS File

6, "20 29 24 01 30 0C",
0x0032, 4, 1,
"Fault Reset",
"",
"",
0, 1, 0,
1, 1, 1, 0,
0, 0, 0, 0,
0;

Param16=
C
0,
6, "20 29 24 01 30 0F",
0x0032, 4, 1,
"Control From Net",
"",
"",
0, 1, 0,
1, 1, 1, 0,
0, 0, 0, 0,
0;

Param17=
0,
6, "20 2A 24 01 30 03",
0x0032, 4, 1,
"Drive At Ref",
"",
"",
0, 1, 0,
1, 1, 1, 0,
0, 0, 0, 0,
0;

Param18=
0,
6, "20 2A 24 01 30 04",
0x0032, 4, 1,

902399: Version 4.0 C-7

 DeviceNet DP EDS File NXG Communications Manual

"Network Ref",
"",
"",
0, 1, 0,
1, 1, 1, 0,
0, 0, 0, 0,
0;

Param19=

C 0,
6, "20 2A 24 01 30 06",
0x0032, 8, 1,
"Drive Ctrl Mode",
"",
"",
0, 5, 1,
1, 1, 1, 0,
0, 0, 0, 0,
0;

Param20=
0,
6, "20 2A 24 01 30 07",
0x0030, 3, 2,
"Speed Actual",
"RPM",
"",
-32767, 32767, 0,
1, 1, 1, 0,
0, 0, 0, 0,
0;

Param21=
0,
6, "20 2A 24 01 30 08",
0x0030, 3, 2,
"Speed Reference",
"RPM",

C-8 902399: Version 4.0

NXG Communications Manual DeviceNet DP EDS File

"",
-32767, 32767, 0,
1, 1, 1, 0,
0, 0, 0, 0,
0;

Param22=
0,
6, "20 2A 24 01 30 09",
0x0030, 3, 2,
"Current Actual",
C
"",
"",
-32767, 32767, 0,
1, 1, 1, 0,
0, 0, 0, 0,
0;

Param23=
0,
6, "20 2A 24 01 30 0F",
0x0030, 3, 2,
"Power Actual",
"",
"",
-32767, 32767, 0,
1, 1, 1, 0,
0, 0, 0, 0,
0;

Param24=
0,
6, "20 2A 24 01 30 11",
0x0030, 3, 2,

"Output Voltage",
"V",
"",

902399: Version 4.0 C-9

 DeviceNet DP EDS File NXG Communications Manual

-32767, 32767, 0,
1, 1, 1, 0,
0, 0, 0, 0,
0;

Param25=
0,
6, "20 2A 24 01 30 12",
0x0024, 2, 2,

C "Accel Time",
"",
"",
0, 50000, 78,
64, 1000, 1, 0,
0, 0, 0, 0,
0;

Param26=
0,
6, "20 2A 24 01 30 13",
0x0024, 2, 2,
"Decel Time",
"",
"",
0, 50000, 78,
64, 1000, 1, 0,
0, 0, 0, 0,
0;

Param27=
0,
6, "20 2A 24 01 30 16",
0x0010, 5, 1,
"Speed Scale",
"",
"",
-127, 127, 0,
1, 1, 1, 0,

C-10 902399: Version 4.0

NXG Communications Manual DeviceNet DP EDS File

0, 0, 0, 0,
0;

Param28=
0,
6, "20 2A 24 01 30 17",
0x0010, 5, 1,
"Current Scale",
"",
"",
-127, 127, 0,
C
1, 1, 1, 0,
0, 0, 0, 0,
0;

Param29=
0,
6, "20 2A 24 01 30 1A",
0x0030, 5, 1,
"Power Scale",
"",
"",
-127, 127, 0,
1, 1, 1, 0,
0, 0, 0, 0,
0;

Param30=
0,
6, "20 2A 24 01 30 1B",
0x0010, 5, 1,
"Voltage Scale",
"",
"",
-127, 127, 0,
1, 1, 1, 0,
0, 0, 0, 0,
0;

902399: Version 4.0 C-11

 DeviceNet DP EDS File NXG Communications Manual

Param31=
0,
6, "20 2A 24 01 30 1C",
0x0010, 5, 1,
"Time Scale",
"",
"",
-127, 127, 0,

C 1, 1, 1, 0,
0, 0, 0, 0,
0;

Param32=
0,
6, "20 2A 24 01 30 1D",
0x0032, 5, 1,
"Ref From Net",
"",
"",
-127, 127, 0,
1, 1, 1, 0,
0, 0, 0, 0,
0;

Param33=
0,
6, "20 2A 24 01 30 65",
0x0030, 2, 2,
"Reg From Drive 03",
"",
"",
0, 65535, 0,
1, 1, 1, 0,
0, 0, 0, 0,
0;

Param34=

C-12 902399: Version 4.0

NXG Communications Manual DeviceNet DP EDS File

0,
6, "20 2A 24 01 30 66",
0x0030, 2, 2,
"Reg From Drive 04",
"",
"",
0, 65535, 0,
1, 1, 1, 0,
0, 0, 0, 0,
0;
C
Param35=
0,
6, "20 2A 24 01 30 67",
0x0030, 2, 2,
"Reg From Drive 05",
"",
"",
0, 65535, 0,
1, 1, 1, 0,
0, 0, 0, 0,
0;

Param36=
0,
6, "20 2A 24 01 30 68",
0x0030, 2, 2,
"Reg From Drive 06",
"",
"",
0, 65535, 0,
1, 1, 1, 0,
0, 0, 0, 0,
0;

Param37=
0,
6, "20 2A 24 01 30 69",

902399: Version 4.0 C-13

 DeviceNet DP EDS File NXG Communications Manual

0x0030, 2, 2,
"Reg From Drive 07",
"",
"",
0, 65535, 0,
1, 1, 1, 0,
0, 0, 0, 0,
0;

C Param38=
0,
6, "20 2A 24 01 30 6A",
0x0030, 2, 2,
"Reg From Drive 08",
"",
"",
0, 65535, 0,
1, 1, 1, 0,
0, 0, 0, 0,
0;

Param39=
0,
6, "20 2A 24 01 30 6B",
0x0030, 2, 2,
"Reg From Drive 09",
"",
"",
0, 65535, 0,
1, 1, 1, 0,
0, 0, 0, 0,
0;

Param40=
0,
6, "20 2A 24 01 30 6C",
0x0030, 2, 2,
"Reg From Drive 10",

C-14 902399: Version 4.0

NXG Communications Manual DeviceNet DP EDS File

"",
"",
0, 65535, 0,
1, 1, 1, 0,
0, 0, 0, 0,
0;

Param41=
0,
6, "20 2A 24 01 30 6D",
0x0030, 2, 2,
C
"Reg From Drive 11",
"",
"",
0, 65535, 0,
1, 1, 1, 0,
0, 0, 0, 0,
0;

Param42=
0,
6, "20 2A 24 01 30 6E",
0x0030, 2, 2,
"Reg From Drive 12",
"",
"",
0, 65535, 0,
1, 1, 1, 0,
0, 0, 0, 0,
0;

Param43=
0,
6, "20 2A 24 01 30 6F",
0x0030, 2, 2,
"Reg From Drive 13",
"",
"",

902399: Version 4.0 C-15

 DeviceNet DP EDS File NXG Communications Manual

0, 65535, 0,
1, 1, 1, 0,
0, 0, 0, 0,
0;

Param44=
0,
6, "20 2A 24 01 30 70",
0x0030, 2, 2,

C "Reg From Drive 14",

"",
"",
0, 65535, 0,
1, 1, 1, 0,
0, 0, 0, 0,
0;

Param45=
0,
6, "20 2A 24 01 30 71",
0x0030, 2, 2,
"Reg From Drive 15",
"",
"",
0, 65535, 0,
1, 1, 1, 0,
0, 0, 0, 0,
0;

Param46=
0,
6, "20 2A 24 01 30 72",
0x0030, 2, 2,
"Reg From Drive 16",
"",
"",
0, 65535, 0,
1, 1, 1, 0,

C-16 902399: Version 4.0

NXG Communications Manual DeviceNet DP EDS File

0, 0, 0, 0,
0;

Param47=
0,
6, "20 2A 24 01 30 73",
0x0030, 2, 2,
"Reg From Drive 17",
"",
"",
0, 65535, 0,
C
1, 1, 1, 0,
0, 0, 0, 0,
0;

Param48=
0,
6, "20 2A 24 01 30 74",
0x0030, 2, 2,
"Reg From Drive 18",
"",
"",
0, 65535, 0,
1, 1, 1, 0,
0, 0, 0, 0,
0;

Param49=
0,
6, "20 2A 24 01 30 75",
0x0030, 2, 2,
"Reg From Drive 19",
"",
"",
0, 65535, 0,
1, 1, 1, 0,
0, 0, 0, 0,
0;

902399: Version 4.0 C-17

 DeviceNet DP EDS File NXG Communications Manual

Param50=
0,
6, "20 2A 24 01 30 76",
0x0030, 2, 2,
"Reg From Drive 20",
"",
"",
0, 65535, 0,

C 1, 1, 1, 0,
0, 0, 0, 0,
0;

Param51=
0,
6, "20 2A 24 01 30 77",
0x0030, 2, 2,
"Reg From Drive 21",
"",
"",
0, 65535, 0,
1, 1, 1, 0,
0, 0, 0, 0,
0;

Param52=
0,
6, "20 2A 24 01 30 78",
0x0030, 2, 2,
"Reg From Drive 22",
"",
"",
0, 65535, 0,
1, 1, 1, 0,
0, 0, 0, 0,
0;

Param53=

C-18 902399: Version 4.0

NXG Communications Manual DeviceNet DP EDS File

0,
6, "20 2A 24 01 30 79",
0x0030, 2, 2,
"Reg From Drive 23",
"",
"",
0, 65535, 0,
1, 1, 1, 0,
0, 0, 0, 0,
0;
C
Param54=
0,
6, "20 2A 24 01 30 7A",
0x0030, 2, 2,
"Reg From Drive 24",
"",
"",
0, 65535, 0,
1, 1, 1, 0,
0, 0, 0, 0,
0;

Param55=
0,
6, "20 2A 24 01 30 7B",
0x0030, 2, 2,
"Reg From Drive 25",
"",
"",
0, 65535, 0,
1, 1, 1, 0,
0, 0, 0, 0,
0;

Param56=
0,
6, "20 2A 24 01 30 7C",

902399: Version 4.0 C-19

 DeviceNet DP EDS File NXG Communications Manual

0x0030, 2, 2,
"Reg From Drive 26",
"",
"",
0, 65535, 0,
1, 1, 1, 0,
0, 0, 0, 0,
0;

C Param57=
0,
6, "20 2A 24 01 30 7D",
0x0030, 2, 2,
"Reg From Drive 27",
"",
"",
0, 65535, 0,
1, 1, 1, 0,
0, 0, 0, 0,
0;

Param58=
0,
6, "20 2A 24 01 30 7E",
0x0030, 2, 2,
"Reg From Drive 28",
"",
"",
0, 65535, 0,
1, 1, 1, 0,
0, 0, 0, 0,
0;

Param59=
0,
6, "20 2A 24 01 30 7F",
0x0030, 2, 2,
"Reg From Drive 29",

C-20 902399: Version 4.0

NXG Communications Manual DeviceNet DP EDS File

"",
"",
0, 65535, 0,
1, 1, 1, 0,
0, 0, 0, 0,
0;

Param60=
0,
6, "20 2A 24 01 30 80",
0x0030, 2, 2,
C
"Reg From Drive 30",
"",
"",
0, 65535, 0,
1, 1, 1, 0,
0, 0, 0, 0,
0;

Param61=
0,
6, "20 2A 24 01 30 81",
0x0030, 2, 2,
"Reg From Drive 31",
"",
"",
0, 65535, 0,
1, 1, 1, 0,
0, 0, 0, 0,
0;

Param62=
0,
6, "20 2A 24 01 30 82",
0x0030, 2, 2,
"Reg From Drive 32",
"",
"",

902399: Version 4.0 C-21

 DeviceNet DP EDS File NXG Communications Manual

0, 65535, 0,
1, 1, 1, 0,
0, 0, 0, 0,
0;

Param63=
0,
6, "20 2A 24 01 30 83",
0x0030, 2, 2,

C "Reg From Drive 33",

"",
"",
0, 65535, 0,
1, 1, 1, 0,
0, 0, 0, 0,
0;

Param64=
0,
6, "20 2A 24 01 30 84",
0x0030, 2, 2,
"Reg From Drive 34",
"",
"",
0, 65535, 0,
1, 1, 1, 0,
0, 0, 0, 0,
0;

Param65=
0,
6, "20 2A 24 01 30 85",
0x0000, 2, 2,
"Reg To Drive 03",
"",
"",
0, 65535, 0,
1, 1, 1, 0,

C-22 902399: Version 4.0

NXG Communications Manual DeviceNet DP EDS File

0, 0, 0, 0,
0;

Param66=
0,
6, "20 2A 24 01 30 86",
0x0000, 2, 2,
"Reg To Drive 04",
"",
"",
0, 65535, 0,
C
1, 1, 1, 0,
0, 0, 0, 0,
0;

Param67=
0,
6, "20 2A 24 01 30 87",
0x0000, 2, 2,
"Reg To Drive 05",
"",
"",
0, 65535, 0,
1, 1, 1, 0,
0, 0, 0, 0,
0;

Param68=
0,
6, "20 2A 24 01 30 88",
0x0000, 2, 2,
"Reg To Drive 06",
"",
"",
0, 65535, 0,
1, 1, 1, 0,
0, 0, 0, 0,
0;

902399: Version 4.0 C-23

 DeviceNet DP EDS File NXG Communications Manual

Param69=
0,
6, "20 2A 24 01 30 89",
0x0000, 2, 2,
"Reg To Drive 07",
"",
"",
0, 65535, 0,

C 1, 1, 1, 0,
0, 0, 0, 0,
0;

Param70=
0,
6, "20 2A 24 01 30 8A",
0x0000, 2, 2,
"Reg To Drive 08",
"",
"",
0, 65535, 0,
1, 1, 1, 0,
0, 0, 0, 0,
0;

Param71=
0,
6, "20 2A 24 01 30 8B",
0x0000, 2, 2,
"Reg To Drive 09",
"",
"",
0, 65535, 0,
1, 1, 1, 0,
0, 0, 0, 0,
0;

Param72=

C-24 902399: Version 4.0

NXG Communications Manual DeviceNet DP EDS File

0,
6, "20 2A 24 01 30 8C",
0x0000, 2, 2,
"Reg To Drive 10",
"",
"",
0, 65535, 0,
1, 1, 1, 0,
0, 0, 0, 0,
0;
C
Param73=
0,
6, "20 2A 24 01 30 8D",
0x0000, 2, 2,
"Reg To Drive 11",
"",
"",
0, 65535, 0,
1, 1, 1, 0,
0, 0, 0, 0,
0;

Param74=
0,
6, "20 2A 24 01 30 8E",
0x0000, 2, 2,
"Reg To Drive 12",
"",
"",
0, 65535, 0,
1, 1, 1, 0,
0, 0, 0, 0,
0;

Param75=
0,
6, "20 2A 24 01 30 8F",

902399: Version 4.0 C-25

 DeviceNet DP EDS File NXG Communications Manual

0x0000, 2, 2,
"Reg To Drive 13",
"",
"",
0, 65535, 0,
1, 1, 1, 0,
0, 0, 0, 0,
0;

C Param76=
0,
6, "20 2A 24 01 30 90",
0x0000, 2, 2,
"Reg To Drive 14",
"",
"",
0, 65535, 0,
1, 1, 1, 0,
0, 0, 0, 0,
0;

Param77=
0,
6, "20 2A 24 01 30 91",
0x0000, 2, 2,
"Reg To Drive 15",
"",
"",
0, 65535, 0,
1, 1, 1, 0,
0, 0, 0, 0,
0;

Param78=
0,
6, "20 2A 24 01 30 92",
0x0000, 2, 2,
"Reg To Drive 16",

C-26 902399: Version 4.0

NXG Communications Manual DeviceNet DP EDS File

"",
"",
0, 65535, 0,
1, 1, 1, 0,
0, 0, 0, 0,
0;

Param79=
0,
6, "20 2A 24 01 30 93",
0x0000, 2, 2,
C
"Reg To Drive 17",
"",
"",
0, 65535, 0,
1, 1, 1, 0,
0, 0, 0, 0,
0;

Param80=
0,
6, "20 2A 24 01 30 94",
0x0000, 2, 2,
"Reg To Drive 18",
"",
"",
0, 65535, 0,
1, 1, 1, 0,
0, 0, 0, 0,
0;

Param81=
0,
6, "20 2A 24 01 30 95",
0x0000, 2, 2,
"Reg To Drive 19",
"",
"",

902399: Version 4.0 C-27

 DeviceNet DP EDS File NXG Communications Manual

0, 65535, 0,
1, 1, 1, 0,
0, 0, 0, 0,
0;

Param82=
0,
6, "20 2A 24 01 30 96",
0x0000, 2, 2,

C "Reg To Drive 20",

"",
"",
0, 65535, 0,
1, 1, 1, 0,
0, 0, 0, 0,
0;

Param83=
0,
6, "20 2A 24 01 30 97",
0x0000, 2, 2,
"Reg To Drive 21",
"",
"",
0, 65535, 0,
1, 1, 1, 0,
0, 0, 0, 0,
0;

Param84=
0,
6, "20 2A 24 01 30 98",
0x0000, 2, 2,
"Reg To Drive 22",
"",
"",
0, 65535, 0,
1, 1, 1, 0,

C-28 902399: Version 4.0

NXG Communications Manual DeviceNet DP EDS File

0, 0, 0, 0,
0;

Param85=
0,
6, "20 2A 24 01 30 99",
0x0000, 2, 2,
"Reg To Drive 23",
"",
"",
0, 65535, 0,
C
1, 1, 1, 0,
0, 0, 0, 0,
0;

Param86=
0,
6, "20 2A 24 01 30 9A",
0x0000, 2, 2,
"Reg To Drive 24",
"",
"",
0, 65535, 0,
1, 1, 1, 0,
0, 0, 0, 0,
0;

Param87=
0,
6, "20 2A 24 01 30 9B",
0x0000, 2, 2,
"Reg To Drive 25",
"",
"",
0, 65535, 0,
1, 1, 1, 0,
0, 0, 0, 0,
0;

902399: Version 4.0 C-29

 DeviceNet DP EDS File NXG Communications Manual

Param88=
0,
6, "20 2A 24 01 30 9C",
0x0000, 2, 2,
"Reg To Drive 26",
"",
"",
0, 65535, 0,

C 1, 1, 1, 0,
0, 0, 0, 0,
0;

Param89=
0,
6, "20 2A 24 01 30 9D",
0x0000, 2, 2,
"Reg To Drive 27",
"",
"",
0, 65535, 0,
1, 1, 1, 0,
0, 0, 0, 0,
0;

Param90=
0,
6, "20 2A 24 01 30 9E",
0x0000, 2, 2,
"Reg To Drive 28",
"",
"",
0, 65535, 0,
1, 1, 1, 0,
0, 0, 0, 0,
0;

Param91=

C-30 902399: Version 4.0

NXG Communications Manual DeviceNet DP EDS File

0,
6, "20 2A 24 01 30 9F",
0x0000, 2, 2,
"Reg To Drive 29",
"",
"",
0, 65535, 0,
1, 1, 1, 0,
0, 0, 0, 0,
0;
C
Param92=
0,
6, "20 2A 24 01 30 A0",
0x0000, 2, 2,
"Reg To Drive 30",
"",
"",
0, 65535, 0,
1, 1, 1, 0,
0, 0, 0, 0,
0;

Param93=
0,
6, "20 2A 24 01 30 A1",
0x0000, 2, 2,
"Reg To Drive 31",
"",
"",
0, 65535, 0,
1, 1, 1, 0,
0, 0, 0, 0,
0;

Param94=
0,
6, "20 2A 24 01 30 A2",

902399: Version 4.0 C-31

 DeviceNet DP EDS File NXG Communications Manual

0x0000, 2, 2,
"Reg To Drive 32",
"",
"",
0, 65535, 0,
1, 1, 1, 0,
0, 0, 0, 0,
0;

C Param95=
0,
6, "20 2A 24 01 30 A3",
0x0000, 2, 2,
"Reg To Drive 33",
"",
"",
0, 65535, 0,
1, 1, 1, 0,
0, 0, 0, 0,
0;

Param96=
0,
6, "20 2A 24 01 30 A4",
0x0000, 2, 2,
"Reg To Drive 34",
"",
"",
0, 65535, 0,
1, 1, 1, 0,
0, 0, 0, 0,
0;

[EnumPar]

Param7=
"False",
"True";

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NXG Communications Manual DeviceNet DP EDS File

Param8=
"False",
"True";

Param9=
"Local Control",
"Network Control";

Param10=
C
"Vendor Specific",
"Startup",
"Not Ready",
"Ready",
"Enabled",
"Stopping",
"Fault Stop",
"Faulted";

Param11=
"Not Running Fwd",
"Running Fwd";

Param12=
"Not Running Rev",
"Running Rev";

Param13=
"Not Ready",
"Ready";

Param14=
"No Faults Present",
"Faulted";

Param15=
"No Action",

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 DeviceNet DP EDS File NXG Communications Manual

"Fault Reset";

Param16=
"Control is local",
"Control is from network";

Param17=
"Drive actual speed not at reference",
"Drive actual speed is at reference";

C Param18=
"Set reference not DN control",
"Set reference at DN control";

Param19=
"Vendor specific mode",
"Open loop speed (Frequency)",
"Closed loop speed control",
"Torque control",
"Process control",
"Position control";

Param32=
"Local speed/torque reference",
"DeviceNet speed/torque reference";

[Groups]

Group1=
"Motor", 6,
1, 2, 3, 4, 5, 6;

Group2=
"Control Supervisor", 10,
7, 8, 9, 10, 11, 12, 13, 14, 15, 16;

Group3=
"Drive", 16,

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NXG Communications Manual DeviceNet DP EDS File

17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32;

Group4=
"Drive Extended", 64,
33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50,
51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70,
71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90,
91, 92, 93, 94, 95, 96;

———

902399: Version 4.0 C-35

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C-36 902399: Version 4.0

NXG Communications Manual Profibus GSD Datafile

Appendix

D Profibus GSD Datafile

; Device Data File for Robicon Corporation Drives with PFB SLAVE
; Copyright (c) 1998 Robicon Corp.
; GSD Rev 1.00

#Profibus_DP

Vendor_Name = "Robicon Corporation"

Model_Name = "NXG-PFB"
Revision = "Rev 1.0"
Protocol_Ident = 0
Station_Type = 0
D
FMS_Supp = 0
Hardware_Release = "1.0"
Software_Release = "1.01"

; Supported baud rates

9.6_supp = 1
19.2_supp = 1
93.75_supp = 1
187.5_supp = 1
500_supp = 1
1.5M_supp = 1
3M_supp = 1
6M_supp = 1
12M_supp = 1

; Maximum responder time for supported baud rates

MaxTsdr_9.6 = 60
MaxTsdr_19.2 = 60
MaxTsdr_93.75 = 60
MaxTsdr_187.5 = 60
MaxTsdr_500 = 100
MaxTsdr_1.5M = 150
MaxTsdr_3M = 200

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 Profibus GSD Datafile NXG Communications Manual

MaxTsdr_6M = 200
MaxTsdr_12M = 200

; Setup time for supported baud rates

Tset_9.6 = 1
Tset_19.2 = 1
Tset_93.75 = 1
Tset_187.5 = 1
Tset_500 = 1
Tset_1.5M = 1
Tset_3M = 4
Tset_6M = 8
Tset_12M = 16

D ; Supported hardware features

Redundancy = 0
Repeater_Ctrl_Sig = 2
24V_Pins = 0

; Slave Specific
Ident_Number = 0x0868

Freeze_Mode_Supp = 0
Sync_Mode_Supp = 0
Auto_Baud_Supp = 1
Set_Slave_Add_Supp = 0

; Maximum length of user parameter

User_Prm_Data_Len = 32

Min_Slave_Intervall = 2
Modular_Station = 1
Max_Module = 32
Max_Input_Len = 244
Max_Output_Len = 244
Max_Data_Len = 400

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NXG Communications Manual Profibus GSD Datafile

Module = " 136 Bytes In / 136 Bytes Out " 0x1f, 0x1f, 0x1f, 0x1f, 0x1f, 0x1f,
0x1f, 0x1f, 0x17, 0x2f, 0x2f, 0x2f, 0x2f, 0x2f, 0x2f, 0x2f, 0x2f, 0x27
EndModule

Module = “16 Bytes In " 0x1f

EndModule

Module = “ 8 Bytes In " 0x17

EndModule

Module = “16 Bytes Out" 0x2f

EndModule

Module = “ 8 Bytes Out" 0x27

EndModule D
— — —

902399: Version 4.0 D-3

 Profibus GSD Datafile NXG Communications Manual

D-4 902399: Version 4.0

NXG Communications Manual ControlNet EDS File

APPENDIX

E ControlNet EDS File

$ ControlNet ABS-CNT Electronic Data Sheet
$ Copyright (c)1999,2000,2002 HMS Industrial Networks AB

[File]
DescText = “AnyBus-S ControlNet”;
CreateDate = 07-19-1999;
CreateTime = 11:11:51;
ModDate = 11-15-2002;
ModTime = 16:42:00;
Revision = 1.5;

[Device] E
VendCode = 90;
VendName = “HMS Industrial Networks AB (Hassbjer Micro Sys)”;
ProdType = 12;
ProdTypeStr = “Communication Adapter”;
ProdCode = 1;
MajRev = 1;
MinRev = 3;
ProdName = “AnyBus-S CNT”;
Catalog = “ABS CNT”;

[Device Classification]
Class1 = 1_RSNetWorx_Adapter;
Class2 = ControlNet;

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 ControlNet EDS File NXG Communications Manual

[Port]
Port2 = ControlNet_Redundant,
“Port A”,
“20 F0 24 01”,
2;

[Params]
Param2 =
0, $ first field shall equal 0
,, $ path size,path
0x0000, $ descriptor
2, $ data type : 16-bit Unsigned Integer
2, $ data size in bytes
“Output Size”, $ name
““, $ units
““, $ help string
0,450,16, $ min,max,default data values
E 0,0,0,0, $ mult,dev,base,offset scaling not used
0,0,0,0, $ mult,dev,base,offset link not used
0; $ decimal places not used

Param3 =
0, $ first field shall equal 0
,, $ path size,path
0x0000, $ descriptor
2, $ data type : 16-bit Unsigned Integer
2, $ data size in bytes
“Input Size”, $ name
““, $ units
““, $ help string
8,454,20, $ min,max,default data values
0,0,0,0, $ mult,dev,base,offset scaling not used
0,0,0,0, $ mult,dev,base,offset link not used
0;

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NXG Communications Manual ControlNet EDS File

[Connection Manager]
Connection1 =
0x04010002, $ trigger & transport
$ 0-15 = supported transport classes (class
1)
$ 16 = cyclic (1 = supported)
$ 17 = change of state (0 = not supported)
$ 18 = on demand (0 = not supported)
$ 19-23 = reserved (must be zero)
$ 24-27 = exclusive owner
$ 28-30 = reserved (must be zero)
$ 31 = client 0 (don’t care for classes 0
and 1)
0x44240405, $ point/multicast & priority & realtime format
$ 0 = O=>T fixed (1 = supported)
$ 1 = O=>T variable (0 = not supported)
$ 2 = T=>O fixed (1 = supported)
$ 3 = T=>O variable (0 = not supported)
$
$
4-7
8-10
= reserved (must be zero)
= O=>T header (4 byte run/idle)
E
$ 11 = reserved (must be zero)
$ 12-14 = T=>O header
$ 15 = reserved (must be zero)
$ 16-19 = O=>T point-to-point
$ 20-23 = T=>O multicast
$ 24-27 = O=>T scheduled
$ 28-31 = T=>O scheduled
,Param2,, $ O=>T RPI,Size,Format
,Param3,, $ T=>O RPI,Size,Format
,, $ config part 1 (dynamic assemblies)
,, $ config part 2 (module configuration)
“Discrete Exclusive Owner”, $ connection name
““, $ Help string
“20 04 24 01 2C 96 2C 64”; $ exclusive output path

1_PLC5C_RTD_Format1 = 1_PLC5C_1794_Discrete_RTD_Format;

∇ ∇ ∇

902399: Version 4.0 E-3

 ControlNet EDS File NXG Communications Manual

E-4 902399: Version 4.0

NXG Communications Manual DeviceNet (Profile 12) EDS File

APPENDIX

F DeviceNet (Profile 12) EDS File

$ DeviceNet Manager Generated Electronic Data Sheet

[File]
DescText = “ABS Standard Configuration”;
CreateDate = 12-08-98;
CreateTime = 10:31:30;
ModDate = 02-17-2005;
ModTime = 11:24:00;
Revision = 1.35; $ Revision of EDS file

[Device]
VendCode = 90; $ Vendor Code
ProdType = 12; $ Product Type
ProdCode = 12; $ Product Code
MajRev = 1; $ Major Rev
MinRev = 35; $ Minor Rev
VendName = “HMS Networks”;
ProdTypeStr = “Communications Adapter”;
ProdName = “AnyBus-S DeviceNet”;
F
Catalog = “AnyBus-S DeviceNet”;

$ Parameter Class Section

[ParamClass]
MaxInst = 29; $ Max Instances - total # configuration parameters
Descriptor = 0x00;$ Parameter Class Descriptor - No parameters
CfgAssembly = 0x00;$ The config assembly is not supported.

[Params]

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 DeviceNet (Profile 12) EDS File NXG Communications Manual

$ ****************************************************************************
$ Polled production
$ ****************************************************************************

Param1 = 0, $ parameter value slot

6, “20 05 24 00 30 64”, $ connection object
0x0002, $ descriptor (Scaling)
198, 1, $ USINT, 4 bytes
“Polled production”, $ parameter name
““, $ units string
““, $ help string
0, 5, 0, $ min, max, default (0)
0, 0, 0, 0, $ mult, div, base, offset scaling
, , , , $ scaling links not used
0; $ decimal places

$ ****************************************************************************
$ Polled consumtion
$ ****************************************************************************

Param2 = 0, $ parameter value slot

F 6, “20 05 24 00 30 65”,
0x0002,
$ connection object
$ descriptor (Scaling)
198, 1, $ USINT, 4 bytes
“Polled consumtion”, $ parameter name
““, $ units string
““, $ help string
0, 5, 0, $ min, max, default (0)
0, 0, 0, 0, $ mult, div, base, offset scaling
, , , , $ scaling links not used
0; $ decimal places

$ ****************************************************************************
$ Strobed production
$ ****************************************************************************

Param3 = 0, $ parameter value slot

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NXG Communications Manual DeviceNet (Profile 12) EDS File

6, “20 05 24 00 30 66”, $ Connection object

0x0002, $ descriptor (Scaling)
198, 1, $ USINT, 4 bytes
“Strobed production”, $ parameter name
““, $ units string
““, $ help string
0, 5, 0, $ min, max, default (0)
0, 0, 0, 0, $ mult, div, base, offset scaling
, , , , $ scaling links not used
0; $ decimal places

$ ****************************************************************************
$ Strobed consumption
$ ****************************************************************************

Param4 = 0, $ parameter value slot

6, “20 05 24 00 30 67”, $ connection object
0x0002, $ descriptor (Scaling)
198, 1, $ USINT, 4 bytes
“Strobed consumption”, $ parameter name
““, $ units string
““, $ help string
0, 5, 0, $ min, max, default (0) F
0, 0, 0, 0, $ mult, div, base, offset scaling
, , , , $ scaling links not used
0; $ decimal places

$ ****************************************************************************
$ COS Production
$ ****************************************************************************

Param5 = 0, $ parameter value slot

6, “20 05 24 00 30 68”, $ connection object
0x0002, $ descriptor (Scaling)
198, 1, $ USINT, 4 bytes
“COS production”, $ parameter name
““, $ units string
““, $ help string

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 DeviceNet (Profile 12) EDS File NXG Communications Manual

0, 5, 0, $ min, max, default (0)

0, 0, 0, 0, $ mult, div, base, offset scaling
, , , , $ scaling links not used
0; $ decimal places

$ ****************************************************************************
$
$ ****************************************************************************

Param6 = 0, $ parameter value slot

6, “20 A0 24 00 30 64”, $ input mapping object
0x10, $ descriptor (Scaling)
199, 2, $ UINT, 2 bytes
“Input1 offset”, $ parameter name
““, $ units string
““, $ help string
0, 512, 0, $ min, max, default (0)
1, 1, 1, 0, $ mult, div, base, offset scaling
, , , , $ scaling links not used
0; $ decimal places

$ ****************************************************************************

F $
$ ****************************************************************************

Param7 = 0, $ parameter value slot

6, “20 A0 24 00 30 6E”, $ input mapping object
0x10, $ descriptor (Scaling)
199, 2, $ UINT, 2 bytes
“Input1 length”, $ parameter name
“bytes”, $ units string
““, $ help string
0, 512, 0, $ min, max, default (0)
1, 1, 1, 0, $ mult, div, base, offset scaling
, , , , $ scaling links not used
0; $ decimal places

$ ****************************************************************************

F-4 902399:Version 3.0

NXG Communications Manual DeviceNet (Profile 12) EDS File

$
$ ****************************************************************************

Param8 = 0, $ parameter value slot

6, “20 A0 24 00 30 65”, $ input mapping object
0x10, $ descriptor (Scaling)
199, 2, $ UINT, 2 bytes
“Input2 offset”, $ parameter name
““, $ units string
““, $ help string
0, 512, 0, $ min, max, default (0)
1, 1, 1, 0, $ mult, div, base, offset scaling
, , , , $ scaling links not used
0; $ decimal places

$ ****************************************************************************
$
$ ****************************************************************************

Param9 = 0, $ parameter value slot

6, “20 A0 24 00 30 6F”, $ input mapping object
0x10, $ descriptor (Scaling)
199, 2, $ UINT, 2 bytes F
“Input2 length”, $ parameter name
“bytes”, $ units string
““, $ help string
0, 512, 0, $ min, max, default (0)
1, 1, 1, 0, $ mult, div, base, offset scaling
, , , , $ scaling links not used
0; $ decimal places

$ ****************************************************************************
$
$ ****************************************************************************

Param10 = 0, $ parameter value slot

6, “20 A0 24 00 30 66”, $ input mapping object
0x10, $ descriptor (Scaling)

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 DeviceNet (Profile 12) EDS File NXG Communications Manual

199, 2, $ UINT, 2 bytes

“Input3 offset”, $ parameter name
““, $ units string
““, $ help string
0, 512, 0, $ min, max, default (0)
1, 1, 1, 0, $ mult, div, base, offset scaling
, , , , $ scaling links not used
0; $ decimal places

$ ****************************************************************************
$
$ ****************************************************************************

Param11 = 0, $ parameter value slot

6, “20 A0 24 00 30 70”, $ input mapping object
0x10, $ descriptor (Scaling)
199, 2, $ UINT, 2 bytes
“Input3 length”, $ parameter name
“bytes”, $ units string
““, $ help string
0, 512, 0, $ min, max, default (0)
1, 1, 1, 0, $ mult, div, base, offset scaling

F , , , ,
0;
$ scaling links not used
$ decimal places

$ ****************************************************************************
$
$ ****************************************************************************

Param12 = 0, $ parameter value slot

6, “20 A0 24 00 30 67”, $ input mapping object
0x10, $ descriptor (Scaling)
199, 2, $ UINT, 2 bytes
“Input4 offset”, $ parameter name
““, $ units string
““, $ help string
0, 512, 0, $ min, max, default (0)
1, 1, 1, 0, $ mult, div, base, offset scaling

F-6 902399:Version 3.0

NXG Communications Manual DeviceNet (Profile 12) EDS File

, , , , $ scaling links not used

0; $ decimal places

$ ****************************************************************************
$
$ ****************************************************************************

Param13 = 0, $ parameter value slot

6, “20 A0 24 00 30 71”, $ input mapping object
0x10, $ descriptor (Scaling)
199, 2, $ UINT, 2 bytes
“Input4 length”, $ parameter name
“bytes”, $ units string
““, $ help string
0, 512, 0, $ min, max, default (0)
1, 1, 1, 0, $ mult, div, base, offset scaling
, , , , $ scaling links not used
0; $ decimal places

$ ****************************************************************************
$
$ ****************************************************************************

F
Param14 = 0, $ parameter value slot
6, “20 A0 24 00 30 68”, $ input mapping object
0x10, $ descriptor (Scaling)
199, 2, $ UINT, 2 bytes
“Input5 offset”, $ parameter name
““, $ units string
““, $ help string
0, 512, 0, $ min, max, default (0)
1, 1, 1, 0, $ mult, div, base, offset scaling
, , , , $ scaling links not used
0; $ decimal places

$ ****************************************************************************
$
$ ****************************************************************************

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 DeviceNet (Profile 12) EDS File NXG Communications Manual

Param15 = 0, $ parameter value slot

6, “20 A0 24 00 30 72”, $ input mapping object
0x10, $ descriptor (Scaling)
199, 2, $ UINT, 2 bytes
“Input5 length”, $ parameter name
“bytes”, $ units string
““, $ help string
0, 512, 0, $ min, max, default (0)
1, 1, 1, 0, $ mult, div, base, offset scaling
, , , , $ scaling links not used
0; $ decimal places

$ ****************************************************************************
$
$ ****************************************************************************

Param16 = 0, $ parameter value slot

6, “20 A0 24 00 30 69”, $ input mapping object
0x10, $ descriptor (Scaling)
199, 2, $ UINT, 2 bytes
“Input6 offset”, $ parameter name

F ““,
““,
$ units string
$ help string
0, 512, 0, $ min, max, default (0)
1, 1, 1, 0, $ mult, div, base, offset scaling
, , , , $ scaling links not used
0; $ decimal places

$ ****************************************************************************
$
$ ****************************************************************************

Param17 = 0, $ parameter value slot

6, “20 A0 24 00 30 73”, $ input mapping object
0x10, $ descriptor (Scaling)
199, 2, $ UINT, 2 bytes
“Input6 length”, $ parameter name

F-8 902399:Version 3.0

NXG Communications Manual DeviceNet (Profile 12) EDS File

“bytes”, $ units string

““, $ help string
0, 512, 0, $ min, max, default (0)
1, 1, 1, 0, $ mult, div, base, offset scaling
, , , , $ scaling links not used
0; $ decimal places

$ ****************************************************************************
$ Output mappping
$ ****************************************************************************
$
$ ****************************************************************************

Param18 = 0, $ parameter value slot

6, “20 A1 24 00 30 64”, $ output mapping object
0x10, $ descriptor (Scaling)
199, 2, $ UINT, 2 bytes
“Output1 offset”, $ parameter name
““, $ units string
““, $ help string
0, 512, 0, $ min, max, default (0)
1, 1, 1, 0, $ mult, div, base, offset scaling
, , , , $ scaling links not used F
0; $ decimal places

$ ****************************************************************************
$
$ ****************************************************************************

Param19 = 0, $ parameter value slot

6, “20 A1 24 00 30 6E”, $ output mapping object
0x10, $ descriptor (Scaling)
199, 2, $ UINT, 2 bytes
“Output1 length”, $ parameter name
“bytes”, $ units string
““, $ help string
0, 512, 0, $ min, max, default (0)
1, 1, 1, 0, $ mult, div, base, offset scaling

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 DeviceNet (Profile 12) EDS File NXG Communications Manual

, , , , $ scaling links not used

0; $ decimal places

$ ****************************************************************************
$
$ ****************************************************************************

Param20 = 0, $ parameter value slot

6, “20 A1 24 00 30 65”, $ output mapping object
0x10, $ descriptor (Scaling)
199, 2, $ UINT, 2 bytes
“Output2 offset”, $ parameter name
““, $ units string
““, $ help string
0, 512, 0, $ min, max, default (0)
1, 1, 1, 0, $ mult, div, base, offset scaling
, , , , $ scaling links not used
0; $ decimal places

$ ****************************************************************************
$
$ ****************************************************************************

F Param21 = 0, $ parameter value slot

6, “20 A1 24 00 30 6F”, $ output mapping object
0x10, $ descriptor (Scaling)
199, 2, $ UINT, 2 bytes
“Output2 length”, $ parameter name
“bytes”, $ units string
““, $ help string
0, 512, 0, $ min, max, default (0)
1, 1, 1, 0, $ mult, div, base, offset scaling
, , , , $ scaling links not used
0; $ decimal places

$ ****************************************************************************
$
$ ****************************************************************************

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NXG Communications Manual DeviceNet (Profile 12) EDS File

Param22 = 0, $ parameter value slot

6, “20 A1 24 00 30 66”, $ output mapping object
0x10, $ descriptor (Scaling)
199, 2, $ UINT, 2 bytes
“Output3 offset”, $ parameter name
““, $ units string
““, $ help string
0, 512, 0, $ min, max, default (0)
1, 1, 1, 0, $ mult, div, base, offset scaling
, , , , $ scaling links not used
0; $ decimal places

$ ****************************************************************************
$
$ ****************************************************************************

Param23 = 0, $ parameter value slot

6, “20 A1 24 00 30 70”, $ output mapping object
0x10, $ descriptor (Scaling)
199, 2, $ UINT, 2 bytes
“Output3 length”, $ parameter name
“bytes”, $ units string F
““, $ help string
0, 512, 0, $ min, max, default (0)
1, 1, 1, 0, $ mult, div, base, offset scaling
, , , , $ scaling links not used
0; $ decimal places

$ ****************************************************************************
$
$ ****************************************************************************

Param24 = 0, $ parameter value slot

6, “20 A1 24 00 30 67”, $ output mapping object
0x10, $ descriptor (Scaling)
199, 2, $ UINT, 2 bytes
“Output4 offset”, $ parameter name

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 DeviceNet (Profile 12) EDS File NXG Communications Manual

““, $ units string

““, $ help string
0, 512, 0, $ min, max, default (0)
1, 1, 1, 0, $ mult, div, base, offset scaling
, , , , $ scaling links not used
0; $ decimal places

$ ****************************************************************************
$
$ ****************************************************************************

Param25 = 0, $ parameter value slot

6, “20 A1 24 00 30 71”, $ output mapping object
0x10, $ descriptor (Scaling)
199, 2, $ UINT, 2 bytes
“Output4 length”, $ parameter name
“bytes”, $ units string
““, $ help string
0, 512, 0, $ min, max, default (0)
1, 1, 1, 0, $ mult, div, base, offset scaling
, , , , $ scaling links not used
0; $ decimal places

F $ ****************************************************************************
$
$ ****************************************************************************

Param26 = 0, $ parameter value slot

6, “20 A1 24 00 30 68”, $ output mapping object
0x10, $ descriptor (Scaling)
199, 2, $ UINT, 2 bytes
“Output5 offset”, $ parameter name
““, $ units string
““, $ help string
0, 512, 0, $ min, max, default (0)
1, 1, 1, 0, $ mult, div, base, offset scaling
, , , , $ scaling links not used
0; $ decimal places

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NXG Communications Manual DeviceNet (Profile 12) EDS File

$ ****************************************************************************
$
$ ****************************************************************************

Param27 = 0, $ parameter value slot

6, “20 A1 24 00 30 72”, $ output mapping object
0x10, $ descriptor (Scaling)
199, 2, $ UINT, 2 bytes
“Output5 length”, $ parameter name
“bytes”, $ units string
““, $ help string
0, 512, 0, $ min, max, default (0)
1, 1, 1, 0, $ mult, div, base, offset scaling
, , , , $ scaling links not used
0; $ decimal places

$ ****************************************************************************
$
$ ****************************************************************************

Param28 = 0, $ parameter value slot

6, “20 A1 24 00 30 69”, $ output mapping object F
0x10, $ descriptor (Scaling)
199, 2, $ UINT, 2 bytes
“Output6 offset”, $ parameter name
““, $ units string
““, $ help string
0, 512, 0, $ min, max, default (0)
1, 1, 1, 0, $ mult, div, base, offset scaling
, , , , $ scaling links not used
0; $ decimal places

$ ****************************************************************************
$
$ ****************************************************************************

Param29 = 0, $ parameter value slot

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 DeviceNet (Profile 12) EDS File NXG Communications Manual

6, “20 A1 24 00 30 73”, $ output mapping object

0x10, $ descriptor (Scaling)
199, 2, $ UINT, 2 bytes
“Output6 length”, $ parameter name
“bytes”, $ units string
““, $ help string
0, 512, 0, $ min, max, default (0)
1, 1, 1, 0, $ mult, div, base, offset scaling
, , , , $ scaling links not used
0; $ decimal places

[EnumPar]

Param1=
“Input 1”,
“Input 2”,
“Input 3”,
“Input 4”,
“Input 5”,

F “Input 6”;

Param2=
“Output 1”,
“Output 2”,
“Output 3”,
“Output 4”,
“Output 5”,
“Output 6”;
Param3=
“Input 1”,
“Input 2”,
“Input 3”,
“Input 4”,
“Input 5”,
“Input 6”;

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NXG Communications Manual DeviceNet (Profile 12) EDS File

Param4=
“Output 1”,
“Output 2”,
“Output 3”,
“Output 4”,
“Output 5”,
“Output 6”;
Param5=
“Input 1”,
“Input 2”,
“Input 3”,
“Input 4”,
“Input 5”,
“Input 6”;

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F-16 902399:Version 3.0

NXG Communications Manual Index
CHAPTER

Index
A G
assembly data 3-8, 3-9, 3-10 global data 3-6
auto mode 2-4, 4-5, 5-8, 6-8, 7-4, 8-5, 9-7 global data items 3-6
green LED 3-18
B
BA1 3-3, 3-19 J
BA2 3-3, 3-19 jumper 3-19
jumper settings
C debug port 1-2
cluster 3-2 Modbus port 2-5
common network topologies 3-2
communication board 1-1 L
communications board LED 3-18, 3-19
jumpers 2-5 linear bus topology 3-2
Communications menu (9)
Modbus network 2-4, 4-5, 5-8, 6-8, 7-4, 8-6, 9-7 M
CRC 2-7, 2-9, 2-10, 2-12, 2-13, 2-14, 2-16 master 2-6, 4-1, 4-8
master/slave 3-2, 3-8, 3-9
D Maximum length of user parameter D-2
data transfer 3-9 Maximum responder time D-1
data variables 2-5, 4-5, 5-9, 6-8, 7-4, 8-6, 9-7 Modbus address table 5-17, 6-16, 7-12, 8-13, 9-15
default Modbus network
control configuration 2-17, 4-13, 5-11, 6-11, 7-7, 8- baud rates 2-1
8, 9-10 communications diagram 2-5, 2-6, 4-2, 4-7
Device Data File D-1 data bits 2-1
DeviceNet( data frame 2-1
5-pin connector 3-3 flags 2-4, 4-5, 5-8, 6-8, 7-4, 8-5, 9-7
jumpers 3-3 jumpers 2-5
node address 3-6 master 2-1, 2-6, 2-8, 2-10, 2-13, 2-16, 4-1, 4-2, 4-8,
UCS Module 3-3 4-9, 4-10, 4-11, 4-13
UCS module 3-3 serial port 2-5
display network monitor function 2-29, 3-20, 4-25, 5-25, start bit 2-1
6-21, 7-18, 8-19, 9-21 stop bit 2-1, 4-1
supported commands 2-6, 4-1, 4-8, 5-10
E Modbus protocol 2-1, 2-2, 4-1
EDS files 3-7 remote terminal unit (RTU) format 2-1, 2-2, 4-1
electronic data sheets 3-7
emergency stop 2-4, 4-5, 5-8, 6-8, 7-4, 8-5, 9-7 N
explicit messages 3-8, 3-9 network communications problems 3-19
network status LED 3-18
F network termination 3-4, 9-3
fault reset 2-4, 4-5, 5-8, 6-8, 7-4, 8-5, 9-7 network topologies 3-2
fixed reg bits node 3-2
default definition 2-2, 4-3, 5-6, 6-5, 7-2, 8-3, 9-5
location 2-17, 4-13, 5-11, 6-11, 7-7, 8-8, 9-10 P
programmable definitions 2-19, 4-15, 5-13, 6-12, 7- peertopeer 3-2
8, 8-9, 9-11 pick list variables
flags 2-4, 4-5, 5-8, 6-8, 7-4, 8-5, 9-7 data from drive 3-15, 4-20, 8-15, 9-17
data to drive 3-13, 3-14, 4-20, 5-18, 6-17, 7-14
pointtopoint 3-8

902399:Version 3.0 I-1

Index NXG Communications Manual

programmable input bits user programming

network 1 2-20, 3-17, 4-17, 5-15, 6-14, 7-10, 8-11, input bits 2-19, 3-16, 4-16, 5-13, 6-13, 7-9, 8-10, 9-
9-13 12
network 2 2-20, 3-17, 4-17, 5-16, 6-14, 7-10, 8-11, output bits 2-19, 3-16, 4-16, 5-14, 6-13, 7-9, 8-10, 9-
9-13 12
programmable output bits SOP flags 2-20, 3-17, 4-17, 5-15, 6-14, 7-10, 8-11,
network 1 2-21, 3-17, 4-18, 5-16, 6-15, 7-11, 8-12, 9-13
9-14
network 2 2-21, 3-18, 4-18, 5-16, 6-15, 7-11, 8-12, V
9-14 velocity units parameter 2-9, 4-9
default 2-9, 4-9
R
read output registers command 2-6, 2-15, 4-2, 4-8, 4-13 W
read output registers response 2-6, 2-15, 2-16, 4-2, 4-8, write input register command 4-10
4-9, 4-13 write input register response 4-10
read output registers transmission 2-6, 2-16, 4-2, 4-9, 4- write input register transmission 2-10, 4-10
13 write multiple input registers command response 2-13, 4-
register 3-6 10
register-based data items 3-6, 3-13, 3-15 write multiple input registers command transmission 2-
reverse speed demand 2-4, 4-5, 5-8, 6-8, 7-4, 8-5, 9-7 13, 4-10
run request 2-4, 4-5, 5-8, 6-8, 7-4, 8-5, 9-7 write multiple input registers response 2-14, 4-11
write multiple input registers transmission 2-13, 4-11
S
security code 2-4, 4-5, 5-8, 6-8, 7-4, 8-6, 9-7 X
setup procedure XCL Receive Setup 3-6
for motor control w/user-defined bits 2-3, 4-4, 5-7, XCL Send Setup 3-6
6-6, 7-3, 8-4, 9-6
for motor control(DeviceNet() 3-5
for motor control(Modbus) 2-2, 4-3, 5-7
read data from drive 2-4, 4-4, 5-8, 6-7, 7-3, 8-5, 9-7
sending motor speed settings 2-3, 4-4, 5-7, 6-6, 7-3
Setup time D-2
slave 2-6, 4-1, 4-8
slave device 3-2
Slave Specific D-2
software flags 2-4, 4-5, 5-8, 6-8, 7-4, 8-5, 9-7
SOP program
run enable 2-2, 4-3, 5-6, 6-4, 7-1, 8-3, 9-5
status flags “from” the drive 3-18
stop request 2-4, 4-5, 5-8, 6-8, 7-4, 8-5, 9-7
strobe 3-2
Supported baudrates D-1
Supported hardware features D-2
system program
software flags (Modbus) 2-4, 4-5, 5-8, 6-8, 7-4, 8-5,
9-7

T
termination 3-4, 9-3
topologies 3-2

U
UCS modules 1-1
user parameter maximum length D-2

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