Quickstart Guide

ABB PLC and drives integration using Modbus RTU

 Quickstart Guide
ABB PLC and drives integration using Modbus RTU

Contents

Introduction...................................................................................................................................................................4
Safetyinstructions .........................................................................................................................................................4
Limitations .....................................................................................................................................................................4
Fieldbusgrounding ....................................................................................................................................................6
Fieldbusshield ...........................................................................................................................................................6
Endtermination.........................................................................................................................................................6
Pullup/pulldownresistors........................................................................................................................................6
Driveswithembeddedfieldbus.................................................................................................................................7
FieldbusmodulesforABBdrives...............................................................................................................................8
Commonrecommendations......................................................................................................................................8
ABBcableTK505........................................................................................................................................................9
AC500COM1Masteratthebuslineend .........................................................................................................11
AC500COM2Masteratthebuslineend .........................................................................................................11
AC500eCoCOM1Masteratthebuslineend..................................................................................................11
AC500eCoCOM2Masteratthebuslineend..................................................................................................12
Driveconfiguration......................................................................................................................................................13
StartingupACS310driveswithembeddedModbusRTU .......................................................................................14
StartingupACS355driveswithFMBA01ModbusRTUadapter ............................................................................15
StartingupACS800driveswithRMBA01ModbusRTUadapter............................................................................17
StartingupACS850,ACQ810driveswithembeddedModbusRTU ........................................................................18
StartingupACS880driveswithFSCA01ModbusRTUadapter..............................................................................19
StartingupACSM1driveswithFSCA01ModbusRTUadapter ..............................................................................20
Installdriveslibrary .................................................................................................................................................21
ControlBuilderPlusforPLCandDrives.......................................................................................................................22
Hardwareconfiguration ..........................................................................................................................................22
IPconfigurationofCPU(forEthernetconnectionbetweenPCandPLC) ...............................................................24
CODESYS ..................................................................................................................................................................25
CODESYStabs ......................................................................................................................................................25

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LibraryManager ..................................................................................................................................................26
PLClogic...............................................................................................................................................................27
DownloadprogramtoPLC...................................................................................................................................32
Createbootproject .............................................................................................................................................33
Testtheprogram .................................................................................................................................................34
ReadandwritemoredatabetweenPLCanddrive(optional) ............................................................................36
Visualizations .......................................................................................................................................................43
Addmoredrives(optional)..................................................................................................................................46
Actualizationrate ................................................................................................................................................47
Otherusefuldocumentation .......................................................................................................................................47
Revision .......................................................................................................................................................................47

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Introduction
ThisguidewilltakeyouthroughthehardwareinstallationandconfigurationofABBACSDrivesandPLCinorderto
prepare for Modbus RTU control. ABBspecific readymade function blocks and visualizations from the PS553
DRIVES library will be used for the control of the drives. While the guide is applicable to all AC500 PLCs and all
ModbusRTUcompatibleABBACSdrives,theexampleisbuiltupwithanAC500eCoPLCandanACS355drive.

Note! The material in this application might need to be adapted according to actual equipment and function
beforeitisused.Testingoftheequipmentmustalwaysbeperformedbytheresponsiblestartuppersonaccording
tocurrentlegislationbeforetheequipmentisplacedinservice.ABBdoesnottakeanyresponsibilityforpossible
damagecausedbyusingthematerialinthisapplication(shownexamples,data,projecttools,etc.).

Safetyinstructions
Followallsafetyinstructionsdeliveredwiththeusedcomponents:

Readthecompletesafetyinstructionsfortheuseddrivebeforeyouinstall,commissionorusethedrive.
Thecompletesafetyinstructionsaregivenatthebeginningofthedrivesusersmanual(e.g.forACS355:
3AUA0000066143[English]).
Read all safety and installation instructions of the used PLC. See the online help in CoDeSys (Help
ContentsTargetSystemAC500/S500IntroductionOverviewRegulations).

Limitations
Thefollowinglimitationsarevalidforthisguide:

General
o AllinstructionsinthisguidearebasedondefaultsettingsinPLCanddrives
o PS501ControlBuilderPlusversion2.2.0orlater
o ThedrivemustbeequippedwithembeddedModbusRTUoraModbusRTUadapter
FunctionblockandvisualizationlibraryPS553DRIVEScompatibility
o Communicationprofile:ABBdrives
o Drivetypes:AllModbusRTUcompatibleABBACSdrives
o Applicationtypes:Speed/FrequencycontrolorTorquecontrol

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Setupexample

ControlBuilderPlus

ETHERNETor
serialconnection

AC500PLC

ABBACSDrives

ABBModbus
RTUmodules
orembedded

ModbusRTU

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Hardwarephysicalconnection
Inthefollowingchapter,physicalconnectionofthehardwarewillbeexplained.

Fieldbusgrounding
For AC500, which has optoisolated COM interfaces, it is recommended not to connect the ground. For AC500
eCo, where the COM interfaces are not optoisolated, it is recommended to connect the ground at one place,
typicallyinthebusmaster.Forconnectionexamples,seechapterInstallationexamples.

Fieldbusshield
TheshieldshouldalwaysbeconnectedinaModbusRTUline.ThepurposeoftheshieldistoprotectagainstEMC
disturbancesandreflectiononthebusline.Forconnectionexamples,seechapterInstallationexamples.

Endtermination
Purpose:Toavoidsignalreflections.
Resistorsize:120Ohms,W.
Wheretoconnect:Oneresistorineachendofthebusline(firstandlastnode).

Pullup/pulldownresistors
Purpose:Tokeepadefinedhighlevelonthebuswhilethereisnodataexchange.
Resistor size: Depends on bus master (COM) voltage level. 470 for AC500(5 V output) and 270 for
AC500eCo(3.3Voutput).
Wheretoconnect:Activatepullupandthepulldownresistors,butonlyonceoneverybusline,atthebus
master.

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AC500andAC500eCoCOMportoverview
AC500 AC500eCo CM574RS
COM1 COM2 COM1 COM2 COM1=COM2
(optional) (seeCOM1of
AC500,exceptpull
up/pulldown)
COMVoltagelevel 5V 5V 3,3V 3,3V 5V
Optoisolated YES YES NO NO YES
(electricallyisolated) optional*)
Maximumbuscable Acc.toRS485 Acc.toRS485 50m 50m Acc.toRS485
length standard standard *)Accto standard
RS485
standard
Connection Terminal 9poleDsub 9poleDsub Terminal Terminal
*)Terminal
Terminationresistor NO NO NO NO NO
builtin
Terminationresistor 120 120 120 120 120
size
Pullup/pulldown YES(connect NO NO YES(connect YES(connectwith
resistorsbuiltin withbridges) *)yesconnect withbridges) bridges)
withbridges
Pullup/pulldown 470 470 270 270 475
resistorsize
Pullup/pulldown Master(CPU) Master(CPU) Master(CPU) Master Master(CPU)COM
resistorsconnection COMport COMport COMport (CPU)COM port
point port
Pullup/pulldown Bridges:1to External470 External270 Bridges:1to Bridges:1to2and3
connection 2and3to4 resistors resistors 2and3to4 to4
*)usingTK506RS485isolatorforPM554/PM564withindexA3andhigher

Driveswithembeddedfieldbus
ThefollowingABBdriveshaveModbusRTUembedded:

ACS310
ACS/ACH550
ACS850

Since the builtin end termination of the drive automatically also activates pullup/pulldown resistors, it is
recommendedtoskipthebuiltinoption.

Itisrecommendedtoconnectaseparateendterminationresistortothefirstnode(i.e.thePLCCOMinterface)
andthelastnode(i.e.thelastdriveonthebus).

Forconnectionexamples,seechapterInstallationexamples.

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FieldbusmodulesforABBdrives
The following ABB drives Modbus RTU modules have an option to activate builtin end termination and pull
up/pulldownresistors.

RMBA01(usedwithforinstanceACS550andACS800)
FSCA01(usedwithforinstanceACS880andACSM1)

ThefollowingABBdrivesModbusRTUmoduledoesnothaveanoptiontoactivatebuiltinendresistorsincluding
pullup/pulldownresistors.

FMBA01(usedwithforinstanceACS355)

Since the builtin end termination of the modules (RMBA01 and FSCA01) automatically also activates pull
up/pulldownresistors,itisrecommendedtoskipthebuiltinoption.

Itisrecommendedtoconnectaseparateendterminationresistortothefirstnode(i.e.thePLCCOMinterface)
andthelastnode(i.e.thelastdriveonthebus).

Forconnectionexamples,seechapterInstallationexamples.

Commonrecommendations
Note!Thefollowingbulletsareonlyrecommendationsandnogeneralrules.

Installationwheretotalcablelengthismorethan50m
o UseCPUAC500ratherthanAC500eCoorAC500eCowithTK506RS485isolatorforCOM1.
Installationwherethereisariskthatgroundconnectionsindifferentnodescouldvaryinvoltagepotential
(typicallyinshipinstallationsorwithcablelengthsmorethan50m).
o UseCPUAC500anddonotconnectgroundcable,onlyshield2wiresolution,oruseAC500eCo
withTK506RS485isolatorforCOM1.
WhenAC500eCoisused
o Use of 3wire connection is recommended because the COM interface is not optoisolated,
oruseAC500eCowithTK506RS485isolatorforCOM1.
o Use of cable length more than 50m should be realized with repeaters,
oruseAC500eCowithTK506RS485isolatorforCOM1.
Cabletype
o Use only cables with twisted pair wires and braided shields. Foil shields are not robust enough,
cannotbecontactedwellandhavepoorHF(HighFrequency)properties.
o Groundthecableshielddirectlywithaclipwhenenteringtheswitchgearcabinet.Donotcutthe
shielduntilthecablereachestheconnectedmodule.
o TheconnectionbetweenthePEbarandtheshieldbarmusthavelowimpedance.
o UseABBcableTK505whensuitableforeasyinstallation.

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Busline
Construction 2cores,twisted,withcommonshield
Conductorcrosssection >0.22mm2(24AWG)
recommendation 0.5mm2correspondsto0.8mm
Twistingrate <10/meter(symmetricallytwisted)
Coreinsulation Polyethylene(PE)
Resistancepercore <100/km
Characteristicimpedance Appr.120(100150)
Capacitancebetweenthecores <55nF/km(ifhigher,thenmaxbuslength
mustbereduced)
Terminatingresistors 120,Watbothlineends
Remarks CableswithPVCcoreinsulationandacore
diameterof0.8mmcanbeuseduptoa
lengthofappr.250m.Inthiscase,thebus
terminatingresistorisappr.100.

ABBcableTK505
ForaneasyModbusinstallationintheCPUend,thepremadeABBcableTK505canbeused.Itincludesa9poleD
sub contact with builtin end termination (120 ) and pullup/pulldown resistors (2*270 ). This contact is
suitableforAC500eCoCOM1.ItcanalsobeusedforAC500COM2(eventhoughanothervoltagelevelisused),
butonlyiftheGNDwireisnotconnectedtotheModbusslaves(2wiresolution,preferredforAC500COMports).

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Installationexamples
Bestconnectionofshieldistoconnectdirectlytothemountingplateofthecabinetasnearaspossibletothe
AC500.Themountingplatehastobeconnectedtocommonearthinthecabinetatonepoint.

or

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AC500COM1Masteratthebuslineend

AC500COM2Masteratthebuslineend

AC500eCoCOM1Masteratthebuslineend

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AC500eCoCOM2Masteratthebuslineend

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Driveconfiguration
DriveswithoutembeddedModbusRTUneedtobeequippedwithModbusRTUadapteraccordingtoactualdrive
type.

ThefollowingdriveconfigurationstepswilladaptthedrivetoModbusRTUcontrolbasedonABBspecificdrives
libraryPS553DRIVES.

Driveparameterscanbesetfromthedrivescontrolpanelorfromdrivespecificpctool(DriveWindowLightfor
ACS355andACS550,DriveStudioforACS850andACSM1,DriveComposerforACS880andDriveWindowfor
ACS800).

Note!Allparametersettingsarebasedondrivedefaultsettings.Ifthedrivehasbeenparameterizedpreviously,
returntodefaultsettingsbeforecontinuing.Itcanbedoneby:

Changingmacro(andthenchangingbackagain)inparameter99.02forACS310,ACS355andACS550.
Settingparameter99.03APPLICRESTOREtoYESinACS800.
Settingparameter16.04ParamrestoretoRestoredefsinACS850andACSM1.
Settingparameter96.06ParameterrestoretoRestoredefaultsinACS880.

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StartingupACS310driveswithembeddedModbusRTU
Minimumrequiredparametersettings(basedonfactorydefaultsettings)
Parameter Description Setting Comment

98.02 COMMPROTSEL STD Activatesfieldbuscommunication

MODBUS
53.02 EFBSTATIONID [Address] ModbusRTUnodeaddressofthedrive
53.03 EFBBAUDRATE 19.2kbit/s Transferrateofthelink.Samebaudratemustbe
(example) definedintheModbusRTUmaster.
53.04 EFBPARITY 8NONE1 Parityandstopbits.Sameparityandstopbitsmust
(example) bedefinedintheModbusRTUmaster.
53.05 PROFILE ABBDRV CommunicationprofileABBDrives
FULL
Drivepowerdownandpowerupforthenewfieldbussettingstotakeeffect!

10.01 EXT1COMMANDS COMM Fieldbusinterfaceassourceforstartandstop

11.02 EXT1/EXT2SEL COMM FieldbusinterfaceassourcetoswitchtoEXT2
11.03 REF1SELECT COMM Fieldbusinterfaceassourceforspeedreference
16.04 FAULTRESETSEL COMM Fieldbusinterfaceassourceforfaultreset

Optionalparametersettings
30.18 COMMFAULT [optional] Howthedrivereactstoafieldbuscommunication
FUNC break.
30.19 COMMFAULTTIME [optional] Timebetweencommunicationbreakdetectionand
theselectedaction.
(11.05) REF1MAX [Scalemax] Maxspeed/frequencyscalingvalue(usedinfunction
block/visualizationinputSPEED_REF_MAX).Must
belessorequaltodriveparametermax
speed/frequency.

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StartingupACS355driveswithFMBA01ModbusRTUadapter
Minimumrequiredparametersettings(basedonfactorydefaultsettings)
Parameter Description Setting ApplicMacro Comment
AC500
MODBUS*)

98.02 COMMPROTSEL STD STD Activatesfieldbusmodule

MODBUS MODBUS

53.02 EFBSTATIONID [Address] 2 ModbusRTUnodeaddressofthedrive

53.03 EFBBAUDRATE 19.2kbit/s 19.2kbit/s Transferrateofthelink.Samebaudratemust

(example) bedefinedintheModbusRTUmaster.
53.04 EFBPARITY 8NONE1 8NONE1 Parityandstopbits.Sameparityandstopbits
(example) mustbedefinedintheModbusRTUmaster.
53.05 PROFILE ABBDRV ABBDRV CommunicationprofileABBDrives
FULL FULL
53.10 ActualSpeed 101 101 Actualspeedfeedback
53.11 ActualValue2 105 303 Actualvalue2(e.gtorque105)(303=Status
Word1)
Drivepowerdownandpowerupforthenewfieldbussettingstotakeeffect!

10.01 EXT1COMMANDS COMM COMM Fieldbusinterfaceassourceforstartandstop

11.02 EXT1/EXT2SEL COMM COMM FieldbusinterfaceassourcetoswitchtoEXT2
11.03 REF1SELECT COMM COMM Fieldbusinterfaceassourceforspeed
reference
16.04 FAULTRESETSEL COMM COMM Fieldbusinterfaceassourceforfaultreset

Optionalparametersettings
30.18 COMMFAULT [optional] FAULT Howthedrivereactstoafieldbus
FUNC communicationbreak.
30.19 COMMFAULTTIME [optional] Default:.3s Timebetweencommunicationbreakdetection
andtheselectedaction.
(11.05) REF1MAX [Scalemax] Maxspeed/frequencyscalingvalue(usedin
functionblock/visualizationinput
SPEED_REF_MAX).Mustbelessorequalto
driveparametermaxspeed/frequency.
*)inPar.99.02theApplicationMacrocanbesettoAC500Modbus(10)thentheparametersareautomatically
setasshown.

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StartingupACS550withembeddedModbusRTU
Minimumrequiredparametersettings(basedonfactorydefaultsettings)
Parameter Description Setting Comment

98.02 COMMPROTSEL EXTFBA Activatesfieldbuscommunication

53.02 EFBSTATIONID [Address] ModbusRTUnodeaddressofthedrive
53.03 EFBBAUDRATE 19.2kbit/s Transferrateofthelink.Samebaudratemustbe
(example) definedintheModbusRTUmaster.
53.04 EFBPARITY 8NONE1 Parityandstopbits.Sameparityandstopbitsmust
(example) bedefinedintheModbusRTUmaster.
53.05 PROFILE ABBDRV CommunicationprofileABBDrives
FULL
Drivepowerdownandpowerupforthenewfieldbussettingstotakeeffect!

10.01 EXT1COMMANDS COMM Fieldbusinterfaceassourceforstartandstop

11.02 EXT1/EXT2SEL COMM FieldbusinterfaceassourcetoswitchtoEXT2
11.03 REF1SELECT COMM Fieldbusinterfaceassourceforspeedreference
16.04 FAULTRESETSEL COMM Fieldbusinterfaceassourceforfaultreset

Optionalparametersettings
30.18 COMMFAULT [optional] Howthedrivereactstoafieldbuscommunication
FUNC break.
30.19 COMMFAULTTIME [optional] Timebetweencommunicationbreakdetectionand
theselectedaction.
(11.05) REF1MAX [Scalemax] Maxspeed/frequencyscalingvalue(usedinfunction
block/visualizationinputSPEED_REF_MAX).Must
belessorequaltodriveparametermax
speed/frequency.

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StartingupACS800driveswithRMBA01ModbusRTUadapter
Minimumrequiredparametersettings(basedonfactorydefaultsettings)
Parameter Description Setting Comment

98.02 COMM.MODULE STD Activatesfieldbusmodule

LINK MODBUS
98.07 COMMPROFILE ABBDRIVES CommunicationprofileABBDrives
52.01 STATION [Address] ModbusRTUnodeaddressofthedrive
NUMBER
52.02 BAUDRATE 19.2kbit/s Transferrateofthelink.Samebaudratemustbe
(example) definedintheModbusRTUmaster.
52.03 PARITY NONE1STO Parityandstopbits.Sameparityandstopbitsmustbe
PBIT definedintheModbusRTUmaster.
(example)
Drivepowerdownandpowerupforthenewfieldbussettingstotakeeffect!

10.01 EXT1 COMM.CW Fieldbusinterfaceassourceforstartandstop

STRT/STP/DIR
11.02 EXT1/EXT2 COMM.CW FieldbusinterfaceassourcetoswitchtoEXT2control
SELECT location
11.03 EXTREF1SELECT COMM.REF Fieldbusinterfaceassourceforspeedreference
16.04 FAULTRESETSEL COMM.CW Fieldbusinterfaceassourceforfaultreset
92.02 MAINDSACT1 102 Actualspeedvaluetakenfrom01.02

92.02 MAINDSACT2 e.g.105 Actualvalue2.E.gtorquetakenfrom01.05

Optionalparametersettings
30.18 COMMFLTFUNC [optional] Howthedrivereactstoafieldbuscommunication
break.
30.19 MAINREFDST [optional] Timebetweencommunicationbreakdetectionandthe
OUT selectedaction.
(11.05) EXTREF1 [Scalemax] Maxspeed/frequencyscalingvalue(usedinfunction
MAXIMUM block/visualizationinputSPEED_REF_MAX).Mustbe
lessorequaltodriveparametermaxspeed/frequency.

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StartingupACS850,ACQ810driveswithembeddedModbusRTU
Minimumrequiredparametersettings(basedonfactorydefaultsettings)
Parameter Description Setting Comment

50.15 Fbcwused P.02.36 SelectstheaddressofthefieldbusControlWordin

use.
58.01 Protocolenasel ModbusRTU Initializesembeddedfieldbuscommunication.
Drivetodrivelinkoperation(parametergroup
57)isautomaticallydisabled.
58.03 Nodeaddress [Address] ModbusRTUnodeaddressofthedrive
58.04 Baudrate 19.2kbit/s Transferrateofthelink.Samebaudratemustbe
(example) definedintheModbusRTUmaster.
58.05 Parity 8none1 Parityandstopbits.Sameparityandstopbitsmust
(example) bedefinedintheModbusRTUmaster.
58.06 Controlprofile ABBClassic CommunicationprofileABBDrives
58.10 Refreshsettings [optional] Refreshesthesettingsofparameters
58.0158.09.
10.01 Ext1startfunc FB Fieldbusinterfaceassourceforstartandstop
12.01 EXT1/EXT2SEL P.02.36bit FieldbusinterfaceassourcetoswitchtoEXT2
15 controllocation
21.01 Speedref1sel EFBref1 Fieldbusinterfaceassourceforspeedreference

10.10 Faultresetsel P.02.36bit8 Fieldbusinterfaceassourceforfaultreset

Optionalparametersettings
58.07 Commlosstout [optional] DefinesthetimeoutlimitfortheEFB
communicationmonitoring.
58.08 Commlossmode Noneor Enables/disablesEFBcommunicationloss
AnyMessage
monitoringanddefinesthemeansforresetting
thecounterofthecommunicationlossdelay.
58.09 Commlossaction [optional] DefinesthedriveoperationaftertheEFB
communicationlossmonitoringawakes.
58.10 Refreshsettings [optional] Refreshesthesettingsofparameters
58.0158.09.
(19.01) Speedscaling [Scalemax] Maxspeed/frequencyscalingvalue(usedinfunction
block/visualizationinputSPEED_REF_MAX).Must
belessorequaltodriveparametermax
speed/frequency.

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StartingupACS880driveswithFSCA01ModbusRTUadapter
Minimumrequiredparametersettings(basedonfactorydefaultsettings)

Parameter Description Setting Comment

50.01 FBAAenable Enable Activatesfieldbusmodule

51.02 PROTOCOL/PROFIL ABBDrives CommunicationprofileABBDrives
E Classicor
Enhanced
51.03 STATIONID [Address] ModbusRTUnodeaddressofthedrive
51.04 BAUDRATE 19.2kbit/s Transferrateofthelink.Samebaudratemustbe
(example) definedintheModbusRTUmaster.
51.05 EFBPARITY 8NONE1 Parityandstopbits.Sameparityandstopbits
(example) mustbedefinedintheModbusRTUmaster.
52.02 FBAdatain2 Act116bit(5) ActualspeedasDataWord2fromthedrive
53.02 FBAdataout2 Ref116bit(2) SpeedreferenceasDataWord2tothedrive
51.27 FBAparrefresh Configure Updatesfieldbussettings(groups50to57)
19.11 Ext1/Ext2selection McwBit11 FieldbusinterfaceassourcetoswitchtoEXT2
(06.01) controllocation
20.01 Ext1commands FieldbusA Fieldbusinterfaceassourceforstartandstop
20.02 Ext1starttrigger Level TodirectlyrestartafterCoastStop(Off3)

22.11 Speedref1 FBAref1 Fieldbusinterfaceassourceforspeedreference

selection
31.11 Faultreset P.06.01bit7 Fieldbusinterfaceassourceforfaultreset
selection

Optionalparametersettings
50.02 FBAAcommloss [optional] Definesthedriveoperationafterthe
func communicationlossmonitoringawakes.
51.06 MODBUSTIMEOUT [optional] Timebetweencommunicationbreakdetection
andtheselectedaction.1=100ms.
51.07 TIMEOUTMODE CONTROL Howthedrivereactstoafieldbuscommunication
WRITE break.
51.27 FBAPARREFRESH REFRESH Updatesfieldbussettings(groups50to53)

(46.01) Speedscaling [Scalemax] Maxspeed/frequencyscalingvalue(usedin

functionblock/visualizationinput
SPEED_REF_MAX).Mustbelessorequaltodrive
parametermaxspeed/frequency.

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StartingupACSM1driveswithFSCA01ModbusRTUadapter

Minimumrequiredparametersettings(basedonfactorydefaultsettings)
Parameter Description Setting Comment

50.01 FBAENABLE Enable Activatesfieldbusmodule

51.02 PROTOCOL/PROFILE ABBDrives CommunicationprofileABBDrives
Classic
51.03 STATIONID [Address] ModbusRTUnodeaddressofthedrive
51.04 BAUDRATE 19.2kbit/s Transferrateofthelink.Samebaudratemustbe
(example) definedintheModbusRTUmaster.
51.05 EFBPARITY 8NONE1 Parityandstopbits.Sameparityandstopbits
(example) mustbedefinedintheModbusRTUmaster.
52.01 FBADATAIN1 4 StatuswordasDataWord1fromthedrive
52.02 FBADATAIN2 5 ActualspeedasDataWord2fromthedrive
53.01 FBADATAOUT1 1 ControlwordasDataWord1tothedrive
53.02 FBADATAOUT2 2 SpeedreferenceasDataWord2tothedrive
51.27 FBAPARREFRESH REFRESH Updatesfieldbussettings(groups50to53)

10.01 EXT1STARTFUNC FBA Fieldbusinterfaceassourceforstartandstop

12.01 EXT1/EXT2SEL P.02.12bit15 FieldbusinterfaceassourcetoswitchtoEXT2
controllocation
24.01 SPEEDREF1SEL FBAREF1 Fieldbusinterfaceassourceforspeedreference
10.08 FAULTRESETSEL P.02.12bit8 Fieldbusinterfaceassourceforfaultreset

Optionalparametersettings
51.06 MODBUSTIMEOUT [optional] Timebetweencommunicationbreakdetection
andtheselectedaction.1=100ms.
51.07 TIMEOUTMODE CONTROL Howthedrivereactstoafieldbuscommunication
WRITE break.
50.02 COMMLOSSFUNC [optional] Definesthedriveoperationafterthe
communicationlossmonitoringawakes.
51.27 FBAPARREFRESH REFRESH Updatesfieldbussettings(groups50to53)

(25.02) SPEEDSCALING [Scalemax] Maxspeed/frequencyscalingvalue(usedin

functionblock/visualizationinput
SPEED_REF_MAX).Mustbelessorequaltodrive
parametermaxspeed/frequency.

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Installdriveslibrary
Note!InControlBuilderPlusV2.3andlater,theACSDrivesBaselibraryisalreadyinstalled.Youcanfinditinthe
subfolderPS553DRIVESofthedefaultlibraryfolder(seeleftpicturebelow)

Note! The version of the library can differ, nevertheless the name will stay the same! Creation date and main
changescanbeseeninthelibrarymanagerofCODESYSonly.

ForolderVersionsofControlBuilderPlusyoucandownloadtheinstallationpackageinthefollowingwayfrom:

o www.abb.com/PLC:

o On right side menu under heading "Your preferences": Select "English" as language ... (country doesnt
matter).

o Onrightsidemenuunder"MoreInfoLinks":Clickon"PS501Updates".

o Select"PS501UPDA:PS553DRIVES"todownload*.zipfile.

InstallthedriveslibraryPS553DRIVESwithreadymadefunctionblocksandvisualizationobjectsbyunzippingto
atemporarydirectoryandclickingonthefilesetup.exe(seerightpicturebelow).

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ControlBuilderPlusforPLCandDrives
StarttheControlBuilderPlusPCtoolforPLCconfigurationandgothroughthefollowingsteps.

Hardwareconfiguration
File New Project Choose AC500 project and name the project. Choose PLC device according to your
equipmentandthenAdddevice.

Doubleclick CPU_parameters and configure according to your application. Set for instance Check battery =
OffifyourCPUdoesnothaveabatteryinstalled.

RightclickactualCOMinterface(COM1isusedintheexample)andclickPlugDevice.SelectCOMXModbus
andclickPlugDevice.

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DoubleclickCOMX_ModbustoconfiguretheModbussettings.Doatleastthefollowingsettings:

SetBaudrate,Parity,DatabitsandStopbits(1)accordingtosettingsinactualdrive.
SetOperationmodetoMasterandAddressto0(2).
SetRTScontroltoTelegram(3)
(=RS485inAC500eCothisisalreadyset)

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IPconfigurationofCPU(forEthernetconnectionbetweenPCandPLC)
IftheCPUhasanEthernetportandtheCPUIPaddresshasnotalreadybeenconfigured,followthestepsbelow.

Deactivate the firewall of the PC, or allow the connection if question comes up. Connect an Ethernet cable
betweenPCandPLC(orviaaswitch).

OpentheIPconfigurationtoolfromtheToolsmenuandpresstheScanbutton.

SelectactualPLCfromthescannedobjects(1),makeyournetworksettings(2)andpresstheSendConfiguration
button. This needs to be done the first time you connect to the PLC even if the IP address is already correct.

Note!ThePLCneedstobeinSTOPmodeforIPconfiguration.

AfterthenewconfigurationwassentthePLCwillautomaticallyreboot.

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CODESYS
DoubleclickAC500fromtheDevicetreeintheControlBuilderPlusprojecttoopenCODESYS.

CODESYStabs
InCODESYStherearefourdifferenttabsforprogramming,configuration,etc.

1. POUs(ProgramOrganizationUnits):ThistabcontainsyourFunctions,FunctionblocksandPrograms.
2. Data types: In this tab, along with the standard data types you can define your own userspecific data
types.
3. Visualizations:Inthistabyoucancreateyourownorusepredefinedvisualizationstodisplayyourproject
variablesgraphically.InOnlinemode,thesecanthenchangetheirform,color,text,position,output,etc.
inresponsetospecifiedvariablevalues.
4. Resources: In this tab you can configure and organize your project. It includes Global variables, Library
manager,etc.

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LibraryManager
Open the Library Manager by doubleclicking Library Manager from the Resources tab. Rightclick in the
libraryfieldandchooseAdditionalLibrary.

Select the ACSDrivesBase_AC500_V20.lib and ACSDrivesComModRTU_AC500_V20.lib library files from the

PS553DRIVEScatalog(underthestandardCODESYSlibrarycatalog)andclickOpen.Thelibrariesareaddedto
theproject.

Note! When copying projects the used libraries must be found on the same library path as on the original PC.
Otherwiseawarningwillshowthatalibrarycannotbefound.Ifso,thisredmarkedlibraryhastobedeletedand
addednewlyfromthenowdifferentpathtotheproject.

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PLClogic
ThefollowingprogramhandlesaSpeedcontroldriveapplication.

Compileyourproject,chooseRebuildallfromtheProjectmenu.

RightclickPLC_PRGinthePOUstabandchooseConvertObject.ChooseTargetLanguageFBDandclick
OK.

RightclickinthePOUsfieldandchooseAddObject.SetTypeofPOUtoProgramandLanguageofthePOUto
FBD,givethenewProgramasuitablenameandclickOK.

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DoubleclickPLC_PRG(1)toopenthemainprogram.Selectthedottedbox(2)inNetwork0001andinsertabox
(3).WritethenameofyournewProgram(Drive1(PRG)intheexample)tocallforitfromthemainprogram.

Doubleclick your new program and add a box as described above. This time, press F2 while the block title is
selected and choose ACS_COM_MOD_RTU from Standard Function Blocks, then click OK (Tip: untick the
StructuredboxintheInputassistant).

Give the instance of the drive access block a suitable name (1) and declare the variable of type
ACS_COM_MOD_RTU(2)(automaticsuggestion).

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Doubleclick Global_Variables in the Resources tab (1) and create a global variable for the Modbus token
handling of type ACS_MOD_TOKEN_TYPE (2). This variable will be used for connecting the drive to a certain
Modbusline.

Note!Thisvariableshouldbeglobal(Onesinglevariableusedforalldrives).

Open the program again from the POUs tab and connect the function block inputs and outputs according to
yourneeds.Intheexamplebelow,theblockwillalwaysbeenabled,COMport1ofthePLCisused,thedrivehas
Modbus node number 1, default timeout 1000 ms is used, drive type is ACS355, no extra parameters besides
StatuswordandActualspeed/torquearereadfromthedrive.

Thevariablesdeclared betweenVAR andEND_VARinthepicture below arelocalvariablesandcanonlybe

accessedfromtheactualprogram(PRG)orfromtheVisualizationobjects(seechapterVisualizations).

Tip! Click inside the name of the function block and press F1 toopen the description of the block in the online
help.

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Createasecondnetwork(Ctrl+T)inthesameprogramandaddtheblockACS_DRIVES_CTRL_STANDARDinthe
samewayasforACS_COM_MOD_RTU.Connectthefunctionblockinputsandoutputsaccordingtoyourneeds.
Intheexamplebelow:

Theblockwillalwaysbeenabled
ThedriveisstartedbythevariableDriveStart
Emergencystopfunctionsarenotusedinthisexample
RampstopbysettingDriveStart=FALSE
CoaststopbysettingDriveCoastStop=TRUE
FaultresetbysettingDriveResetFault=TRUE(positiveedge).
Speed reference is set by the variable SpeedRef as a value between 20000 and 20000, where 20000
correspondstoaparameterinthedrive(seechapterDriveconfiguration).

The variables declared between VAR and END_VAR in the picture below are local variables inside this
program.(Toaccessthemfromanotherparte.g.anyvisualizationtheprogramsnamehastobeusedfollowedby
adotandthevariablesname.E.g.Drive1.DriveOperating

Note!ThevariableconnectedtoACS_DRIVES_CTRL_STANDARDDRIVE_DATAmustbethesameastheone
connectedtoACS_COM_MOD_RTUDRIVE_DATAandmustbeoftypeACS_DRIVE_DATA_TYPE.

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DownloadprogramtoPLC
Save the program and choose Communication Parameters from the Online menu. Set communication
Parametersaccordingtoyouronlineconnection.Intheexamplebelow,theAddress192.168.0.10corresponds
tothe IPaddressofactualCPUandis alsothedefaultIPaddressofAC500CPUs.Note thatin caseofEthernet
connection, the IP address of your PC port or Ethernet adapter should belong to the same subnet as the CPU,
192.168.0.XXX(XXXbetween1and255).

ChooseLoginfromtheOnlinemenuandinthefollowingpopupwindow,clickYes.ThenchooseRunfrom
theOnlinemenutostartthePLC.CheckthatthePLCgoestoRUNmodeinthePLCdisplayorled.

Note!IfthePLCdoesnotgotoRUNmode,youmighthavesomePLCerrorsthatyouneedtoreset.Youcando
that either by pressing the DIAG button on the PLC itself (not in the eCo series) followed by the OK button
until all errors are reset. You can also do it in online mode by using the diagreset command from the PLC
BrowserintheCODESYSResourcestab.

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Createbootproject
In online mode (Login), choose Create boot project from the Online menu. With this command, the
compiledprojectisstoredtotheflashinsuchawaythatthePLCwillloaditautomaticallywhenrestarted.

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Testtheprogram
Ifthedrivehasanactivefault(TRIPPEDoutputiscoloredblue)(1),thentrytoresetbysettingtheRESETinput
=TRUE(2).DoubleclicktheinputvariableandchooseWriteValuesfromtheOnlinemenu(3).

When the READY output is TRUE (blue) (1), then set the SPEED_REF input (2) to desired speed value and
STARTinput=TRUE(3).WritevaluesfromtheOnlinemenuorCtrl+F7.Checkthatthedrivestartsandfollows
thegivenspeedreference.

Note!SpeedreferenceissetintheblockinputSPEED_REFasavaluebetween20000and20000,where20000

correspondstoaparameterinthedrive(seechapterDriveconfiguration).

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ReadandwritemoredatabetweenPLCanddrive(optional)
While the already implemented function block ACS_COM_MOD_RTU has builtin functionality to read more
data/parameters from predetermined Modbus register addresses in the drive, the function blocks
ACS_MOD_READ_N_PRMandACS_MOD_WRITE_N_PRMcanreadandwritedata/parametersfromModbus
registeraddressesaccordingtouserchoice.

ExampleReaddrivedatawithACS_COM_MOD_RTU
ValuesarereadfromModbusregisteraddresses40007..40030.Thenumberofreadparametersdependsonthe
functionblockinputNVAR_READ.Configurationisforinstancemadeinparameters53.12to53.17forACS310,
ACS355 and ACS550, or in parameters 58.35 to 58.58 for ACS850 and ACQ810. The supported number of
parametersthatcanbereadinthiswaydependonactualdrivetype,forinstance6parameterscanbereadfrom
ACS355or24parameterscanbereadfromACS850.

Additionalparametersettingsinthedrivearenecessary,seeexamplebelowwithanACS355drive:

53.12=107Modbusregister40007willconsistofACS355parameter1.07DCvoltage.
53.13=110Modbusregister40008willconsistofACS355parameter1.10Drivetemp.
53.14=120Modbusregister40009willconsistofACS355parameter1.20Analoginput1.

Note!Aftertheseparametersettings,thedriveneedsareboot(poweroff/poweron)toactivatethesettings.

SetACS_COM_MOD_RTUblockinputNVAR_READaccordingtonumberofparameterstoberead(1).Createa
newvariableconnectedtoblockoutputREAD_VALUES(2)andpressthebutton (3)tosetthevariableof
typeARRAY(4)ofINT.GivethearrayStartindex1andEndindex24(5),pressOK.

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Theparametervaluesfromthedrivearethenwrittentothenewarrayvariable(6).

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ExampleReaddrivedatawithACS_MOD_READ_N_PRM
ValuesarereadfromModbusregisteraddressesaccordingtouserchoice.Noadditionalparametersettingsinthe
drivearenecessary.

Createanewnetworkinthesameprogram(POU)andaddtheblockACS_MOD_READ_N_PRM.

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Setfunctionblockinputsaccordingto:

EN=TRUE(1)Theblockwillalwaysbeenabled.
PRIO=Leftunconnected.
NVAR=Numberofparameterstoberead(2)2parameterswillbereadinthisexample.
PRM_NUM=Startaddressofparameterstoberead(3)parameters12.02and12.03willbereadinthis
example.
DATA is connected via an ADR block to a new variable (4). Press the button (5) and choose type
ARRAY(6),setStartindexto1andEndindextothenumberofvaluestoberead,2inthisexample(7).
SettypetoINT(8)andpressOK.
DRIVE_DATA=ThesamevariablethatisconnectedtoACS_COM_MOD_RTUDRIVE_DATA(9).

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Note!SeveralACS_MOD_READ_N_PRMblockscanbeactivatedatthesametime.Seeexamplebelow.

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ExampleWritedrivedatawithACS_MOD_WRITE_N_PRM
ValuesarewrittentoModbusregisteraddressesaccordingtouserchoice.Noadditionalparametersettingsinthe
drivearenecessary.

Createanewnetworkinthesameprogram(POU)andaddtheblockACS_MOD_WRITE_N_PRM(1).

Setfunctionblockinputsaccordingto:

ENisconnectedtoanexecutevariableoftypeBOOL(1).Atrisingedgethevariableiswrittenonce.
PRIO=Leftunconnected.
NVAR=Numberofparameterstowrite(3)2parameterswillbewritteninthisexample.
PRM_NUM=Startaddressofparameterstobewritten(4)parameters12.02and12.03willbewritten
inthisexample.
DATA is connected via anADR block to a new variable (5) of type ARRAY [1..X] OF INT according to
instructionsfortheACS_MOD_READ_N_PRMblock.
DRIVE_DATA=ThesamevariablethatisconnectedtoACS_COM_MOD_RTUDRIVE_DATA(6).

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Note!SeveralACS_MOD_WRITE_N_PRMblockscanbeusedintheprogram.Seeexamplebelow.

Note!ThevariableisonlywrittenatarisingedgeoftheENinput.

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Visualizations
VisualizationsareoptionalandcanbeagoodwaytotestthecommunicationbetweenPLCanddrive.Gooffline
(Logout from the Online menu). Rightclick Visualizations in the Visualizations tab (1) and choose Add
Object,givethevisualizationpageasuitablename.Fromthenewpage,chooseVisualizationfromtheInsert
menuanddrawabox.SelectVisualizationACS_COM_MOD_RTU_VISU_PH.

DoubleclickthenewvisualizationobjectforSettingsandclickPlaceholder.SelecttheReplacementfieldand
pressF2.

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To make a connection to the instance of the function block ACS_COM_MOD_RTU, choose the instance from
actualprogram(PRG)andclickOKuntilallpopupwindowsareclosed.

Tip!TicktheStructuredboxintheInputassistantwindowforabetteroverview.

On the same page, create a visualization window for the drive control. Insert Visualization Select
ACS_DRIVES_CTRL_STANDARD_VISU_PHdoubleclickthenewobjectandclickPlaceholderPressF2from
theReplacementfield ChoosetheinstanceoffunctionblockACS_DRIVES_CTRL_STANDARD clickOK
untilallpopupwindowsareclosed.

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GoonlineagainbychoosingLoginfromtheOnlinemenuandthenRunfromthesamemenu(ifthePLCis
notalreadyinrunmode).

Thestatusofthefunctionblockinputsandoutputsarenowdisplayedinthevisualizationwindow.Blockinputs
which have not been connected to the function blocks in the program PRG can be changed from the
visualizationwindow.

Note! In this example all block inputs have already been

connected to the function blocks, so they cannot be
changedfromthevisualizationview.

Someexamplesofwhatcanbeseeninthevisualization:

READY:ifthedriveisreadytostart.
OPERATING:ifthedriveisoperating(magnetizingthemotor).
TRIPPED:ifthedrivehasanactivefault.
ACT_SPEED:actualspeedvalue.
ACT_SW:actual16bitStatusWordfromthedrive.
USED_CW:actual16bitControlWordsentfromthePLCtothedrive.
MESSAGEfield:informationabouttheactualstate,e.g.OperationorWaitforrisingedgeofSTART.

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GoofflinebychoosingLogoutfromtheOnlinemenu.

Addmoredrives(optional)
IntheCODESYSPOUstab,rightclicktheprogramforyourearlierdriveandchooseCopyObject,givethenew
program a suitable name and doubleclick PLC_PRG. Add the new program to the main program by copying
Network0001toNetwork0002andrenametheblockinNetwork0002toaccordingtoyournewprogram.

Doubleclickandopenthenewprogram.ChangeSLAVEnumberoftheACS_COM_MOD_RTUblockaccording
totheModbusRTUnodeaddressofactualdrive.

Continuetoaddasmanydrivesasyouneed.Ifyouwanttocreatevisualizationpages/objectsfortheadditional
drives,makesurethatyouconnectthePlaceholderstothefunctionblockinstancesforthecorrectprogram(PRG),
Drive2inthisexample.

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Actualizationrate
BeawarethatonaModbusRTUlineonlyoneModbusjobisperformedatatime.Thatmeansthattheupdate
rate of the variables increases with the number of active Modbus blocks, such as ACS_COM_MOD_RTU,
ACS_MOD_READ_N_PRMofACS_MOD_WRITE_N_PRM.

TheACS_COM_MOD_RTUfunctionblockautomaticallyreadstheactualdataallthetimeandexecutesawritejob
eachtimetheControlWordorthereferencevalues(speedortorque)havechanged.

Otherusefuldocumentation

CODESYSHelp(ContentsTargetsystemAC500/S500ACSDrivesLibraries)

UsersmanualModbusAdapterModuleFMBA01 [3AFE68586704]
UsersmanualModbusAdapterModuleRMBA01 [3AFE64498851]
ModbusProtocolManualRS485AdapterModuleFSCA01 [3AUA0000044530]

UsersmanualACS355drives [3AUA0000066143]
ACS850FirmwareManualStandardControlProgram [3AUA0000045497]
ACQ810FirmwareManualStandardPumpControlProgram [3AUA0000055144]
FirmwaremanualACS880primarycontrolprogram [3AUA0000085967]
ACSM1FirmwareManualSpeedandTorqueControl [3AFE68848270]
ACSM1FirmwareManualMotionControl [3AFE68848270]
UsersManualACS55001Drives [3AUA0000001418]
FirmwareManualACS800StandardControlProgram [3AFE64527592]

Revision

Rev Page (P) Description Date

Chap (C)
A - New document 2013-02-01

B Update (C) Drive configuration 2013-03-22

ModbusRTU 47 PLCanddrivesintegration


For more information please contact your local ABB Copyright 2012 ABB. All rights reserved.
Specifications subject to change without notice.
representative or visit:
www.abb.com/drives
www.abb.com/drivespartners