User Manual for Honeywell models including: SMARTLINK DS, Intelligent Control Actuator
SMARTLINK® DS Modbus Manual Revision 1.1 12/30/2013 Table of Contents 1 Introduction ............................................................................................................................................... 3 1.1 Purpose ......................................................................................................................................... 3 1.2 Scope............................................................................................................................................. 3 1.3 Intended Audience........................................................................................................................ 3 1.4 References .................................................................................................................................... 3 1.5 Terms, Acronyms and Abbreviations ............................................................................................ 4 2 General.................................................................................................................................................. 4 3 Physical Interface .................................................................................................................................. 5 3.1 Medium......................................................................................................................................... 5 3.2 RS-485 Network Topologies.......................................................................................................... 6 3.3 Data Signaling................................................................................................................................ 6 3.4 Message Frame ............................................................................................................................. 7 4 Application Interface............................................................................................................................. 7 4.1 Register Types ............................................................................................................................... 9 4.2 Exception Codes ............................................................................................................................ 9 4.3 User Configuration ...................................................................................................................... 10 4.4 User Commands .......................................................................................................................... 11 4.5 Position Control and Status ........................................................................................................ 12 4.6 Input / Output and Operational Status....................................................................................... 13 4.7 Communication Diagnostics ....................................................................................................... 14 4.8 Alarm History .............................................................................................................................. 15 4.9 Lockout History ........................................................................................................................... 17 4.10 Actuator Life Data ....................................................................................................................... 19 4.11 Manufacturing Configuration ..................................................................................................... 20 4.12 Report Slave ID............................................................................................................................ 21 SMARTLINK® DS Modbus Manual (Rev 1.1) Page 1 4.13 Feedback Safety Data.................................................................................................................. 22 5 Master Controller Positioning Techniques ......................................................................................... 23 5.1 Position Setpoint Source ............................................................................................................. 23 5.2 Position Command ...................................................................................................................... 23 5.3 Position Feedback ....................................................................................................................... 23 5.4 Example Modbus Master Positioning Sequence ........................................................................ 24 SMARTLINK® DS Modbus Manual (Rev 1.1) Page 2 SMARTLINK DS Modbus Manual 1 Introduction 1.1 Purpose The purpose of this manual is to document the Modbus communications interface to a SMARTLINK DS actuator. 1.2 Scope This document describes how the Modbus protocol is used in the SMARTLINK DS communications interface. This interface is provided for digital control and monitoring of the actuator. The following topics will be covered in this manual: Physical interface Message format Supported Modbus functions Exception codes Modbus register descriptions Modbus report slave ID message description Modbus read file record description Example master controller positioning sequence The SMARTLINK®DS Intelligent Control Actuator Series Technical Catalog should be used in conjunction with this manual since it provides more detailed information on actuator control, user interface, and configuration functions that relate to many of the Modbus registers discussed in the following sections. 1.3 Intended Audience This document is intended for Maxon end user and OEM customers who are developing a custom DCS or PLC-based program to control and monitor a SMARTLINK DS actuator and who have a working knowledge of the Modbus protocol. 1.4 References The following documents are referenced by this document: SMARTLINK®DS Intelligent Control Actuator Series Technical Catalog https://www.maxoncorp.com/Files/pdf/English/E-Smartlink_DS/ E-SL_Durastep-i-complete_section_rev_Dec_2013.pdf MODBUS Application Protocol Specification V1.1b, December 28, 2006, http://www.Modbus-IDA.org MODBUS over Serial Line Specification and Implementation Guide V1.02, December 20, 2006. SMARTLINK® DS Modbus Manual (Rev 1.1) Page 3 1.5 Terms, Acronyms and Abbreviations Below are the terms, acronyms, and abbreviations used within this document. Term, Acronym, Abbreviation Defintion ADU Modbus RTU mode Frame Function code PDU Big endian Little endian U8, S8 U16, S16 U32 Application Data Unit is the Modbus standard name for the entire message frame. Additional data that is dependent on the network type is encoded along with the PDU from the Application layer to form the message frame. Modbus is a serial communications protocol originally published by Modicon for use with its programmable logic controllers (PLCs). Recognized as an industry standard protocol for RS-485 serial communication. Remote Terminal Unit mode is a serial transmission method with an 8-bit binary coding system defined by the Modbus protocol standard. Contiguous sequence of data transmitted that represents a single transaction or packet. It is the complete Modbus message placed on the network. Modbus message field that identifies the purpose of the message Protocol Data Unit (PDU) is the network independent part of a Modbus message frame or packet sent. This part is encoded/decoded by the Application layer. Modbus representation of addresses and data items. The most significant byte (MSB) of a 16-bit number is transmitted first followed by the least significant byte (LSB). Representation of the Modbus 16-bit CRC number transmitted at the end of every frame. The LSB is transmitted first followed by the MSB. Unsigned and signed 8-bit data format Unsigned and signed 16-bit data format Unsigned 32-bit format 2 General The Modbus capability provided in the SMARTLINK DS actuator conforms to the Modbus over Serial Line Specification guide, V1.02. The actuator functions as a Modbus slave (server) and responds to a single Modbus address to service the requests of the Modbus master (client) on the RS-485 network. The Modbus communications interface permits actuator configuration, position control, and diagnostic monitoring. SMARTLINK® DS Modbus Manual (Rev 1.1) Page 4 3 Physical Interface 3.1 Medium The physical interface is a 2-wire electrical RS-485 (EIA-485) network that must be connected to a Modbus master device. A third conductor is also required as a common signal ground for the other two wires. SMARTLINK DS includes a 3-terminal connector that interfaces to the RS-485 signals as shown in the table below. Table 1. RS-485 Signals Signal Terminal Label Data + (a) Data - (b) Common (c) RS485 In+ RS485 In- RS485 COM Maxon recommends RS-485 twisted-pair cabling with the electrical characteristics summarized in the following table. Table 2. RS-485 Cable Electrical Requirements Characteristic Total Number of Conductors Outer Shield Outer Shield Drain Wire Nominal Characteristic Impedance Maximum Attenuation @ 1 MHz, 20C Mominal Mutual Capacitance of a Pair Specification 3 or 4 (2-pairs) Aluminum foil w/100% coverage 22 AWG or greater 100-120 Ohms (@ 0.5-10 Mhz) 5.5 dB/1000 ft. or greater 17 pF per ft. or less The SMARTLINK DS Modbus communication interface has been qualified with several commercially available cables shown in the table below. Table 3. Qualified RS-485 Cables Cable Mfg - Part Number Description Belden 3106A Belden 82842 Belden 89842 Maxon P/N 59829 Connect-Air P/N W222P-1005 3-wire, Shielded, UV-resistant, Non-Plenum, -20C to +60C 2 pair, Shielded, Plenum, -20C to +75C 2 pair, Shielded, Plenum, -70C to +150C 2 pair, Level 4, Shielded, Non-Plenum, 0C to +75C 2 pair, Level 4, Shielded, Non-Plenum, 0C to +75C SMARTLINK® DS Modbus Manual (Rev 1.1) Page 5 3.2 RS-485 Network Topologies For ease of field installation and communication troubleshooting, the recommended Modbus network topology for SMARTLINK DS is a "star" arrangement with the following requirements: The Modbus master (DCS or PLC) controller is the central node and should include a Modbus network termination resistor. Each SMARTLINK DS should be connected individually to the master controller with its own dedicated cable run with a length of no greater than 500 feet. Each SMARTLINK DS should leave the termination jumper installed which is the factory default shipping configuration. A star arrangement with a maximum of 6 SMARTLINK DS actuators is recommended with a total cabling length no greater than 2000 feet. The SMARTLINK DS Modbus communications interface is NOT polarized. Network polarization at the master controller is not required but is recommended for noise immunity, particularly on long cabling runs. If a distance of greater than 500 feet is required between the Modbus master and any SMARTLINK DS Modbus device, a multi-drop (daisy-chain) bus configuration can be implemented, however, all 2-wire, EIA/TIA RS-485 multipoint system requirements must be followed as described in the Modbus over Serial Line (V1.02) specification. In addition, for multi-drop bus configurations, the SMARTLINK DS AC power input option is recommended because of the voltage drop issue associated with long cable runs for the DC powered units. 3.3 Data Signaling The SMARTLINK DS Modbus physical layer has the RS-485 data signaling characteristics summarized in the following table. Table 4. Data Signaling Summary Characteristic Setting(s) Speed Bits per character Data bits Start bits Stop bits Parity Duplex 9600 or 19200 bits per second 11 bits 8 bits 1 bit 1 bit 1 bit: even or odd Half duplex SMARTLINK® DS Modbus Manual (Rev 1.1) Page 6 3.4 Message Frame The SMARTLINK DS data link layer of the communications interface follows the MODBUS serial standard for frame format and operation. The Modbus serial transmission mode is RTU (Remote Terminal Unit). Modbus ASCII mode is not supported. The SMARTLINK DS message format characteristics are summarized in the table below. Table 5. Data Link Layer Parameters Characteristic Transmission mode Coding system Error check Byte transfer order Bit transfer order Response timeout End of frame Interframe gap Turnaround time Maximum registers read Maximum registers written Setting(s) RTU (Remote Terminal Unit) 8-bit binary Frame check = 2-byte CRC-16 Big Endian LSB (Least significant bit) first 65 ms (RD or RD-WR); 115ms (RD-WR_CMD) 4.1ms or longer less than 4.1ms 10ms minimum 40 registers 20 registers The CRC in the frame is generated using the polynomial defined in the Modbus over serial line standard: G(X) = x16 + x15 + x2 + 1. The least significant byte of the CRC is encoded in Little Endian format with the first after the PDU followed by the most significant byte. 4 Application Interface The SMARTLINK DS application interface is based on the Modbus application layer. Only a subset of the Modbus function codes is supported as shown in the table below. Function code 3 4 6 16 17 20 Table 6. Supported Modbus Function Codes Purpose Comment Read Holding Registers Read Input Registers Write Single Register Write Multiple Registers Report Slave ID Read File Record Can be use interchangeably with function code 4 Can be use interchangeably with function code 3 Used to verify slave module device type/configuration Read safety feedback packet Configuration and status data is accessed as 16-bit holding registers in this interface but is stored in memory as a U8, S8, U16, or an S16 data format. All 32-bit data items are accessed as two consecutive 16-bit holding registers, i.e., each item uses 2 register address spaces. All registers can be accessed as a single register or up to 40 consecutive registers for a read. Data is mapped into logical groups for SMARTLINK® DS Modbus Manual (Rev 1.1) Page 7 efficient register access with room for future expansion and this is why address gaps exist in the SMARTLINK DS register map summary table below. Start Addr (Dec) End Addr (Dec) 1 19 20 29 30 39 40 49 50 59 60 99 100 121 122 129 130 136 137 299 300 371 372 399 400 471 472 499 500 529 530 599 600 606 607 899 Total: Table 7. SMARTLINK DS Modbus Register Summary Number of Registers Modbus Register Category Description Changing any user configuration parameter requires the unit to be in 19 User Configuration manual mode and in an "unlocked" access state; See Modbus user command registers #30 and #31 to change the operating mode and enter a passcode (if the unit's lock function has been enabled). (Reserved) --- 10 User Commands (Reserved) A write request to any of the user command registers will initiate an action that can be confirmed by reading the same or a related register. --- 10 Position Control & Status (Reserved) Registers provide the capability to command and monitor actuator position. --- 22 Input/Output and Operational Status (Reserved) All analog and digital actuator hardware data as well as alarm and lockout status. --- 7 Modbus Diagnostics These Modbus diagnostic registers include counters that can be used to identify field communication problems. (Reserved) --- 72 Alarm History Non-volatile alarm event counters and a buffer that holds the last 6 alarm events. (Reserved) --- 72 Lockout History Non-volatile lockout event counters and a buffer that holds the last 6 lockout events. (Reserved) --- 30 Actuator Life Data Non-volatile counters that can be used to monitor the positioning, run time, reset events, and fatal errors over the life of the actuator. (Reserved) --- 7 Manufacturing Configuration Non-volatile data that is set during manufacturing such as gear ratio, position quadrant limits, calibration status, and CRC codes. (Reserved) --- 249 SMARTLINK® DS Modbus Manual (Rev 1.1) Page 8 4.1 Register Types The following table summarizes the Modbus register types. The Modbus response timeout increases to 115 milliseconds when a write is performed on a Read-Write Command register. This additional response time is required by the actuator to confirm the initiation of the requested action before sending the message response. Register Type Read Only Read-Write Read-Write Command Table 8. Register Type Summary Abbreviation Internal Data Types RD Read only of U8, S8, U16, or S16 data RD-WR Read or write of U8, S8, U16, or S16 data RD-WR_CMD Same as RD-WR but a write initiates an action Read Timeout 65 ms 65 ms 65 ms Write Timeout 65ms 65ms 115 ms 4.2 Exception Codes An exception code may be transmitted as part of a slave response to a Modbus read or write request. The following table includes all standard Modbus exception codes that are supported, unused, and Maxon custom-defined SMARTLINK DS exception codes. Exception Code (decimal) 1 2 3 4 5 6 8 10 11 17 19 20 Table 9. Modbus Exception Codes Name Illegal Function Illegal Data Address Illegal Data Value Slave Device Failure Acknowledge Slave Device Busy Memory Parity Error Gateway Path Unavailable Gateway Failed To Respond Access Failure Illegal Write Data Command Disabled Description Illegal function code or action requested Register address out of bounds Data in query field is not allowable Slave device command or action requested failed Slave device request is in process Slave device request cannot be processed at this time Not used Not Used Not used (Maxon defined) Invalid request access level (Maxon defined) Invalid write input data (Maxon defined) Command request is disabled SMARTLINK® DS Modbus Manual (Rev 1.1) Page 9 4.3 User Configuration Modbus user configuration registers are described in the table below. Changing any user configuration parameter requires the unit to be in manual mode and in an "unlocked" access state. In the following section, see user command registers #30 and #31 to change mode and enter a passcode. Table 10. Modbus User Configuration Registers Modbus Address (Dec) Register Name 1 Rotation High Position Proven (HPP) 2 Threshold Low Position Threshold (LPP) 3 Threshold 4 Max Position User 5 Min Position User Register Type Description 0 = Sets Counter Clockwise (CCW) to close; Default setting RD-WR_CMD 1 = Sets Clockwise (CW) to close Rotation is defined as shaft movement towards the 0% position when viewing the actuator shaft RD-WR_CMD 0 = Disables HPP, setting value to 1040 (or 104.0 degress); Default setting 1 = Sets threshold at current position S16 value; units = 0.1 degrees RD-WR_CMD 0 = Disables LPP, setting value to -40 (or -4.0 degress) 1 = Sets threshold at current position S16 value; units = 0.1 degrees RD-WR_CMD 1 = Sets maximum user defined position to current position RD-WR_CMD 1 = Sets minimum user defined position to current position 6 Ma Output Mode 7 Actuator ID 8 Loss-Of-Signal Position 9 F-Terminal Position RD-WR_CMD Configures the analog hardware mA output: 0 = % of user defined full scale span; 4mA = 0%, 20mA = 100%; Default setting 1 = Rotary degress; 4mA = 0 degrees, 20mA = 100 degrees RD-WR_CMD User defined ID number; 1-255 range; Default = 1 RD-WR_CMD 0 = Disables LOS, setting value to -40 (or -4.0 degress); Default value 1 = Sets Ma Loss-Of-Signal to current position S16 value; units = 0.1 degrees RD-WR_CMD 0 = Disables F-terminal, setting value to -40 (or -4.0 degress); Default value 1 = Sets F-terminal position to current position S16 value; units = 0.1 degrees 10 Setpoint Source 11 Language 12 RS-485 Mode 13 Modbus Address 14 Alarm Mode 15 Brake Enable 16 DeadbandMa 17 Reserved (Future) 18 Reserved (Future) 19 User Passcode RD-WR RD RD-WR RD-WR RD-WR RD-WR RD-WR RD RD RD-WR 0 = Ma input signal is used as the position command setpoint source 1 = Serial digital input \is used as the position command setpoint source Future use 0 = ASCII (Manufacturing Only) 1 = Modbus: 19.2k baud, even parity, 1 stop bit 2 = Modbus: 19.2k baud, odd parity, 1 stop bit 3 = Modbus: 9.6k baud, even parity, 1 stop bit 4 = Modbus: 9.6k baud, odd parity, 1 stop bit Default Address = 11; Range 1-247 1 = Alarm Relay indicates both alarm (0.5 Hz on/off) and lockout conditions; Default value 0 = Alarm Relay indicates only lockout conditions 1 = Enables brake function when motor loss-of-sync is detected; Default 0 = Disables (inhibits) brake function Control deadband in 0.1 degree units Range 1-5 (0.1 - 0.5 degrees); Default = 0.2 degrees - - Stored user passcode that can be read only if unit is in "unlocked" state; Valid range 0-9999; Default = 0 for disabled lock function, i.e. unit will remain unlocked until non-zero value is entered and Lock Unit command is executed via register #39. SMARTLINK® DS Modbus Manual (Rev 1.1) Page 10 4.4 User Commands A Modbus write request to the user command registers, summarized in the table below, will initiate an action that can be confirmed by reading the same or a related register. Modbus Address (Dec) Register Name 30 Passcode Entry 31 Mode 32 Reset Logs 33 Reset Mfg Config 34 Abort Command 35 Motor Power 36 Lockout Move Position Command 37 (with manufacturing limits) 38 Reset Lockout 39 Lock Unit Table 11. Modbus User Command Registers Register Type Description RD-WR_CMD The passcode entry command is used to "unlock" the unit to a user access level that permits changing configuration data. This command is disabled if the stored User Passcode (0), Modbus Register #19, has not been changed from its default value of zero. If the passcode, written to this register, matches the stored passcode, the lock state, Modbus register #111, is updated. Valid passcode range: 0-9999 RD-WR_CMD Actuator operating modes: 0 - Restart 1 - Control (active positioning to specified position setpoint source) 2 - Manual (local positioning to user specified setpoint) 3- Lockout (position control disabled with LPP/HPP/Alarm relays de-energized) 4- Test (mode for manufacturing/service only) Permissible write values: 1 (Control), 2 (Manual), and 3 (Lockout) 1 = Resets alarm and lockout event history and event counters, Modbus registers #300- RD-WR_CMD 311, 320-325, 330-341, 350-355, 360-365, 400-406, 420-425, 430-441, 450-455, and 460-465. Disabled in Control mode RD-WR_CMD RD-WR_CMD RD-WR_CMD RD-WR_CMD 1 = Resets the stored configuration to the original factory values HPP and LPP relays will be disabled. Re-commissiong the position proven thresholds will be required; Disabled in Control mode 1 = Stops any command or position move in process. If in Control Mode with the mA input command enabled, any motor movement will be stopped and Manual mode will be entered. Intended as a field diagnostic function ONLY. This command should be used only when the actuator is NOT under load and the shaft requires manual repositioning due to a failure. be positioned manually. 1 = Motor drive power ON 0 = Motor drive power OFF Disabled in Control mode Open-loop diagnostic position move command when there is no position feedback due to a failure or if the shaft position is located outside of the 100-degree potentiometer "quadrant". This command is only enabled when the unit is in Lockout Mode. Input data range: -200 to +200; units are 0.1 degrees RD-WR Position control setpoint in 0.1 degree units that is limited by the maximum and minimum manufacturing positions which are electronic "end stops". To use this command, unit must be in either: 1.) Manual mode if the Setpoint Source configuration setting is the mA (analog) input signal, or 2.) Control mode if the Setpoint Source configuration setting is the digital serial (RS-485) input Valid range: Min Mfg Position (Register #602) to Max Mfg Position (Register #601) 1 = If the unit is in Lockout Mode, a reset of the lockout condition is made. If the unit is RD-WR_CMD not in Lockout Mode, the command fails. Successful completion of the command can be verified by reading mode status, Modbus register #31. 1 = If the Lock function is enabled (i.e. User Passcode , Register #19, is non zero), this RD-WR_CMD command forces the passcode entry to a 0, "locking" or disabling modification of user configuration parameters and inhibiting all user commands. SMARTLINK® DS Modbus Manual (Rev 1.1) Page 11 4.5 Position Control and Status The following table summarizes the Modbus registers that are used for controlling and monitoring position in degrees or as a percent of user-defined span, i.e. % open. Table 12: Modbus Position Control and Status Registers Modbus Address (Dec) Register Name Register Type Description 50 Ma Position % Open Command RD Status of the mA position command in units of 0.1 % open. Valid range: 0 - 1000; Example: 1000 = 100.0 % 51 Serial Position % Open Command When the user configuration register, Setpoint Source, is set to a 1 for digital (RS-485 RD_WR Modbus) control, a write to this register will establish the position setpoint in units of 0.1% open. Valid register range: 0 - 1000; Example: 100.0 % = 1000 Control Position % Open 52 Feedback Control position status in units of 0.1% open; Updated every 50 ms. RD Register range: -3277 to 3277 (-327.7% to 327.7%) Register value indicating a feedback fault: -9990 (-999.0%) Safety Position % Open 53 Feedback 54 Ma Position Command Position status in units of 0.01% open; Value is updated and validated every 50ms by the RD safety feedback subsystem and is delayed by up to 50 ms with respect to Register #52. Register range: -32768 to 32767 (-327.68% to 327.67%) RD Status of the mA position command in units of 0.1 degrees. Example: 100.0 degrees = 1000 register value 55 Serial Position Command RD_WR Position setpoint command in units of 0.1 degrees; Limited by the maximum and minimum user-defined position which define the operating full span. To use this command, unit must be in either: 1.) Manual mode if the Setpoint Source configuration setting is the Ma input signal, or 2.) Control mode if the Setpoint Source configuration setting is the digital serial input Valid register range: Min User Position (Register #5) to Max User Position (Register #4) 56 Control Position Feedback Position status in units of 0.1 degrees; Value is updated every 50 ms. RD Register range: -40 to 1040 (-4.0 to 104.0 degrees) Register value indicating a feedback fault: -999 (-99.9 degrees) 57 Safety Position Feedback 58 Position Control Command Status Position status in units of 0.01 degrees; Value is updated and validated every 50ms by the safety feedback subsystem. This feedback status is delayed by up to 50 ms with RD respect to Register #56. Valid register range: -40 to 1040 (-4.0 to 104.0 degrees) Register value indicating a feedback fault: -999 (-99.9 degrees) Position control command (or setpoint) status in units of 0.1 degrees RD Value is updated every 50 ms. 59 Redundant Position Feedback 'B' Redundant position feedback 'B' in units of 0.1 degrees; Value is updated every 50 ms. RD Register range: -40 to 1040 (-4.0 to 104.0 degrees) Register value indicating a feedback fault: -999 (-99.9 degrees) SMARTLINK® DS Modbus Manual (Rev 1.1) Page 12 4.6 Input / Output and Operational Status The following table summarizes the Modbus registers related to actuator I/O and operational status. Table 13. Modbus I/O and Operational Status Registers Modbus Address (Dec) Register Name 100 mA Input 101 mA Output Register Type Description RD Analog position command input current in microamp units 4 mA = 4000; Valid range: 0-25000 Analog position feedback current output in microamp units RD 4 mA = 4000; Valid range: 0-25000 102 Internal Temperature 103 DC Input Voltage 104 Motor Sense Current #1 RD Internal housing temperature in 0.1 degrees Centigrade units 250 = 25 degrees C RD DC input bus voltage in 0.1 volt units; 240 = 24 Vdc Motor winding #1 sense current in 0.1 Amp units RD The register value is only valid when the motor is not moving 105 Motor Sense Current #2 106 High Position Proven 107 Low Position Proven 108 Alarm\ Relay Drive 109 F-Terminal Input State 110 4-20mA LOS Command 111 Lock State 112 Alarm Bit Status 113 Lockout Bit Status 114 RS-485 Status Motor winding #2 sense current in 0.1 Amp units RD The register value is only valid when the motor is not moving 1 = High Position Proven relay is energized RD 0 = High Position Proven relay is de-energized RD 1 = Low Position Proven relay is energized 0 = Low Position Proven relay is de-energized 1 = Alarm\ relay is energized RD 0 = Alarm\ relay is de-energized 1 = F-Terminal input is in the ON state RD 0 = F-Terminal input is in the OFF state RD 1 = 4-20mA LOS Command is TRUE 0 = 4-20mA LOS Command is FALSE Access "lock" state status: RD 0 = Locked; 1 = User; 2 = Service/OEM; 3 = Factory Alarm bit definitions: 0x0001 = DC voltage 0x0002 = Position feedback 0x0004 = Non-volatile memory 0x0008 = Control hardware 0x0010 = Safety system #2 RD 0x0020 = Microprocessor reset 0x0040 = Position control 0x0080 = Motor synchronization 0x0100 = Internal temperature 0x0200 = Software execution 0x0400 = Safety system #1 0x0800 = Safety system #3 Lockout bit definitions: 0x0001 = Position feedback 0x0002 = Non-volatile memory 0x0004 = Control hardware RD 0x0008 = Safety system 0x0010 = Position control 0x0020 = Motor synchronization 0x0040 = User lockout test RS-485 mode status: 0 = Custom ASCII 19.2Kb, no parity, 2 stop bits (Manufacturing ONLY) RD 1 = Modbus 19.2K baud, even parity, 1 stop bit 2 = Modbus 19.2K baud, odd parity, 1 stop bit 3 = Modbus 9.6K baud, even parity, 1 stop bit 4 = Modbus 9.6K baud, odd parity, 1 stop bit SMARTLINK® DS Modbus Manual (Rev 1.1) Page 13 Table 13. (continued) Modbus I/O and Operational Status Registers Modbus Address (Dec) Register Name 115 Reserved 116 Reserved 117 Reserved 118 Reserved 119 Reserved 120 Event Display Flag 121 Event Display Index Register Type -- -- -- -- -- Future use Future use Future use Future use Future use Description RD 1 = alarm or lockout condition displayed on local LCD 0 = no alarm or lockout displayed on local LCD If Event Display Flag (Modbus register #120) = 1, the alarm or lockout condition display message on the local LCD is defined as follows: 0 = "ALARM:24Vdc " 1 = "ALARM:Position " 2 = "ALARM:Memory " 3 = "ALARM:Ctrl H/W " 4 = "ALARM:Safety #2 " 5 = "ALARM:Reset " 6 = "ALARM:Pos Ctrl " 7 = "ALARM:Motor Sync " RD 8 = "ALARM:Temp " 9 = "ALARM:Software " 10 = "ALARM:Safety #1 " 11 = "ALARM:Safety #3 " 12 = "LKOUT:Position " 13 = "LKOUT:Memory " 14 = "LKOUT:Ctrl H/W " 15 = "LKOUT:Safety " 16 = "LKOUT:Pos Ctrl " 17 = "LKOUT:Motor Sync " 18 = "LKOUT:User Test " 4.7 Communication Diagnostics The following table includes all Modbus diagnostic counters that can be used to identify field communication problems. Table 14. Modbus Communication Diagnostic Registers Modbus Address Register (Dec) Register Name 130 Modbus Bus Message Counter 131 Modbus Bus Comm Error Counter Type RD_WR RD_WR Description Counter (16-bit) for all valid messages seen on the network "bus", including ones that are addressed to the unit Counter (16-bit) for corrupted messages seen on the network "bus" 132 Modbus Bus Overrun Counter RD_WR Counter (16-bit) for messages with a receiver character overrun error 133 Modbus Slave Exception Error Counter RD_WR Counter (16-bit) for messages addressed to the unit with a Modbus exception error 134 Modbus Slave Message Counter RD_WR Counter (16-bit) for valid messages addressed to the unit 135 Modbus Slave No Response Counter RD_WR Counter (16-bit) for messages addressed to the unit with no Modbus response 136 Modbus Slave Busy Counter Counter (16-bit) for messages addressed to the unit for which it RD_WR returned a Slave Device Busy exception response SMARTLINK® DS Modbus Manual (Rev 1.1) Page 14 4.8 Alarm History The Modbus alarm history registers, summarized in the following table, provide non-volatile event counters, an event log that holds the last 6 alarm event IDs, and an associated time stamp for each log event. The alarm and lockout history can be reset by the Modbus user command register #32. Table 15. Modbus Alarm History Registers Modbus Address Register (Dec) Register Name 300 Alarm Event Total - 24VDC 301 Alarm Event Total - Position Feedback 302 Alarm Event Total - Non-volatile Memory 303 Alarm Event Total - Control Hardware 304 Alarm Event Total - Safety System #2 305 Alarm Event Total - Reset 306 Alarm Event Total - Position Control 307 Alarm Event Total - Motor Synchronization 308 Alarm Event Total - Internal Temperature 309 Alarm Event Total - Software Execution 310 Alarm Event Total - Safety System #1 311 Alarm Event Total - Safety System #3 312-319 Reserved Type RD RD RD RD RD RD RD RD RD RD RD RD -- Description Non-volatile counter (16-bit) of 24VDC alarm events Non-volatile counter (16-bit) of position feedback alarm events Non-volatile counter (16-bit) of non-volatile memory alarm events Non-volatile counter (16-bit) of control hardware alarm events Non-volatile counter (16-bit) of safety system alarm #2 events Non-volatile counter (16-bit) of microprocessor reset alarm events Non-volatile counter (16-bit) of position control alarm events Non-volatile counter (16-bit) of motor synchronization alarm events Non-volatile counter (16-bit) of internal temperature alarm events Non-volatile counter (16-bit) of software execution alarm events Non-volatile counter (16-bit) of safety system alarm #1 events Non-volatile counter (16-bit) of safety system alarm #3 events Future use Non-volatile alarm history event #0 ID. This alarm log entry is the most recent event of a 6-deep event buffer, #0 through #5. If the value of the time stamp associated with this logged event (Modbus Register #330 and #331) is zero, no alarm event has occurred. Valid ID range is 0 to 11 with the following ID definitions: Alarm Event ID #0 = 24VDC Alarm Event ID #1 = Position Feedback Alarm Event ID #2 = Non-volatile Memory 320 Alarm Event #0 ID RD Alarm Event ID #3 = Control Hardware Alarm Event ID #4 = Safety System #2 Alarm Event ID #5 = Reset Alarm Event ID #6 = Position Control Alarm Event ID #7 = Motor Synchronization Alarm Event ID #8 = Internal Temperature Alarm Event ID #9 = Software Execution Alarm Event ID #10 = Safety System #1 321 Alarm Event #1 ID 322 Alarm Event #2 ID 323 Alarm Event #3 ID 324 Alarm Event #4 ID 325 Alarm Event #5 ID Alarm Event ID #11 = Safety System #3 Non-volatile alarm history event #1 ID RD Refer to Register #320 description for ID # defintions Non-volatile alarm history event #2 ID RD Refer to Register #320 description for ID # defintions Non-volatile alarm history event #3 ID RD Refer to Register #320 description for ID # defintions Non-volatile alarm history event #4 ID RD Refer to Register #320 description for ID # defintions Non-volatile alarm history event #5 ID. This alarm log entry is the RD oldest event of the 6-deep event buffer, #0 through #5. Refer to Register #320 description for ID # defintions SMARTLINK® DS Modbus Manual (Rev 1.1) Page 15 Table 15. (continued) Modbus Alarm History Registers Modbus Address Register (Dec) Register Name 326-329 Reserved 330 Alarm Event #0 Time LSW 331 Alarm Event #0 Time MSW 332 Alarm Event #1 Time LSW 333 Alarm Event #1 Time MSW 334 Alarm Event #2 Time LSW 335 Alarm Event #2 Time MSW 336 Alarm Event #3 Time LSW 337 Alarm Event #3 Time MSW 338 Alarm Event #4 Time LSW 339 Alarm Event #4 Time MSW 340 Alarm Event #5 Time LSW 341 Alarm Event #5 Time MSW 342-369 Reserved Type -- RD RD RD RD RD RD RD RD RD RD RD RD RD Description Future use Least signficant word (LSW) of 32-bit alarm event #0 time stamp; Units are seconds for the entire 2-register, 4-byte time value Most signficant word (MSW) of 32-bit alarm event #0 time stamp; Units are seconds for the entire 2-register, 4-byte time value Least signficant word (LSW) of 32-bit alarm event #1 time stamp; Units are seconds for the entire 2-register, 4-byte time value Most signficant word (MSW) of 32-bit alarm event #1 time stamp; Units are seconds for the entire 2-register, 4-byte time value Least signficant word (LSW) of 32-bit alarm event #2 time stamp; Units are seconds for the entire 2-register, 4-byte time value Most signficant word (MSW) of 32-bit alarm event #2 time stamp; Units are seconds for the entire 2-register, 4-byte time value Least signficant word (LSW) of 32-bit alarm event #3 time stamp; Units are seconds for the entire 2-register, 4-byte time value Most signficant word (MSW) of 32-bit alarm event #3 time stamp; Units are seconds for the entire 2-register, 4-byte time value Least signficant word (LSW) of 32-bit alarm event #4 time stamp; Units are seconds for the entire 2-register, 4-byte time value Most signficant word (MSW) of 32-bit alarm event #4 time stamp; Units are seconds for the entire 2-register, 4-byte time value Least signficant word (LSW) of 32-bit alarm event #5 time stamp; Units are seconds for the entire 2-register, 4-byte time value Most signficant word (MSW) of 32-bit alarm event #5 time stamp; Units are seconds for the entire 2-register, 4-byte time value Future use 370 Alarm Log Index Index to most recent alarm log event; Valid range is 0 to 5 and this RD corresponds to Modbus event log registers #320 to #325 371 Alarm Log Count RD Alarm log count provides the number of event logs currently used SMARTLINK® DS Modbus Manual (Rev 1.1) Page 16 4.9 Lockout History The following Modbus lockout history registers, summarized in the following table, provide non-volatile event counters, an event log that holds the last 6 alarm event IDs, and an associated time stamp for each log event. The alarm and lockout history can be reset by the Modbus user command register #32. Table 16. Modbus Lockout History Registers Modbus Address Register (Dec) Register Name 400 Lockout Event Total - Position Feedback 401 Lockout Event Total - Memory 402 Lockout Event Total - Control H/W 403 Lockout Event Total - Safety 404 Lockout Event Total - Position Control 405 Lockout Event Total - Motor Synchronization 406 Lockout Event Total - User Test 407-419 Reserved Type Description RD Non-volatile counter (16-bit) of position feedback lockout events RD Non-volatile counter (16-bit) of non-volatile memory lockout events RD Non-volatile counter (16-bit) of control hardware lockout events RD Non-volatile counter (16-bit) of safety system lockout events RD Non-volatile counter (16-bit) of position control lockout events RD Non-volatile counter (16-bit) of motor synchronization lockout events RD Non-volatile counter (16-bit) of user test lockout events -- Future use Non-volatile lockout history event #0 ID. This alarm log entry identifies the most recent event of a 6-deep event buffer, #0 through #5. If the value of the time stamp associated with this logged event (Modbus Register #430 and #431) is zero, no lockout event has occurred. Valid ID range is 0 to 6 with the following ID definitions: 420 Lockout Event #0 ID RD Lockout Event ID #0 = Position Feedback Lockout Event ID #1 = Non-volatile Memory Lockout Event ID #2 = Control Hardware Lockout Event ID #3 = Safety System Lockout Event ID #4 = Position Control Lockout Event ID #5 = Motor Synchronization Lockout Event ID #6 = User Test 421 Lockout Event #1 ID 422 Lockout Event #2 ID 423 Lockout Event #3 ID 424 Lockout Event #4 ID 425 Lockout Event #5 ID Non-volatile lockout history event #1 ID RD Refer to Register #420 description for ID # defintions Non-volatile lockout history event #2 ID RD Refer to Register #420 description for ID # defintions Non-volatile lockout history event #3 ID RD Refer to Register #420 description for ID # defintions Non-volatile lockout history event #4 ID RD Refer to Register #420 description for ID # defintions RD Non-volatile lockout history event #5 ID Refer to Register #420 description for ID # defintions SMARTLINK® DS Modbus Manual (Rev 1.1) Page 17 Table 16. (continued) Modbus Lockout History Registers Modbus Address (Dec) Register Name 426-429 Reserved 430 Lockout Event #0 Time LSW 431 Lockout Event #0 Time MSW 432 Lockout Event #1 Time LSW 433 Lockout Event #1 Time MSW 434 Lockout Event #2 Time LSW 435 Lockout Event #2 Time MSW 436 Lockout Event #3 Time LSW 437 Lockout Event #3 Time MSW 438 Lockout Event #4 Time LSW 439 Lockout Event #4 Time MSW 440 Lockout Event #5 Time LSW 441 Lockout Event #5 Time MSW 442-469 Reserved 470 Lockout Log Index 471 Lockout Log Count Register Type Description -- Future use Least signficant word (LSW) of 32-bit lockout event #0 time stamp; RD Units are seconds for the entire 2-register, 4-byte time value Most signficant word (MSW) of 32-bit lockout event #0 time stamp; RD Units are seconds for the entire 2-register, 4-byte time value Least signficant word (LSW) of 32-bit lockout event #1 time stamp; RD Units are seconds for the entire 2-register, 4-byte time value Most signficant word (MSW) of 32-bit lockout event #1 time stamp; RD Units are seconds for the entire 2-register, 4-byte time value Least signficant word (LSW) of 32-bit lockout event #2 time stamp; RD Units are seconds for the entire 2-register, 4-byte time value RD Most signficant word (MSW) of 32-bit lockout event #2 time stamp; Units are seconds for the entire 2-register, 4-byte time value RD Least signficant word (LSW) of 32-bit lockout event #3 time stamp; Units are seconds for the entire 2-register, 4-byte time value Most signficant word (MSW) of 32-bit lockout event #3 time stamp; RD Units are seconds for the entire 2-register, 4-byte time value Least signficant word (LSW) of 32-bit lockout event #4 time stamp; RD Units are seconds for the entire 2-register, 4-byte time value Most signficant word (MSW) of 32-bit lockout event #4 time stamp; RD Units are seconds for the entire 2-register, 4-byte time value Least signficant word (LSW) of 32-bit lockout event #5 time stamp; RD Units are seconds for the entire 2-register, 4-byte time value RD Most signficant word (MSW) of 32-bit lockout event #5 time stamp; Units are seconds for the entire 2-register, 4-byte time value -- Future use RD Index to most recent lockout log event; Valid range is 0 to 5 and this corresponds to Modbus event log registers #420 to #425 RD Lockout log count provides the number of event logs currently used SMARTLINK® DS Modbus Manual (Rev 1.1) Page 18 4.10 Actuator Life Data The Modbus registers, summarized in the following table, are provided for actuator life monitoring of run time, positioning, resets, and fatal errors. These registers are non-volatile and cannot be reset. Table 17. Modbus Actuator Life Data Registers Modbus Address (Dec) Register Name 500 Run Time LSW 501 Run Time MSW 502 Move Counter LSW 503 Move Counter MSW 504 Move Degree Total (0.01 Degs) 505 Move Degree Total LSW 506 Move Degree Total MSW 507 Loss-of-Sync Counter 508 Reserved 509 Reserved 510 Last Reset Event 511 Watchdog Reset counter 512 Power-up Reset Counter 513 Brown-out Reset Counter 514 Other Resets Counter 515 Fatal Fuse Error Counter 516 Fatal Flash Error Counter 517 Fatal RAM Error Counter 518 Reserved 519 Reserved 520 Move Histogram <= 0-19.9 degree LSW 521 Move Histogram <= 0-19.9 degree MSW 522 Move Histogram 20-39.9 degree LSW 523 Move Histogram 20-39.9 degree MSW 524 Move Histogram 40-59.9 degree LSW 525 Move Histogram 40-59.9 degree MSW 526 Move Histogram 60-79.9 degree LSW 527 Move Histogram 60-79.9 degree MSW 528 Move Histogram 80- >= 100 degree LSW 529 Move Histogram 80- >= 100 degree MSW Register Type Description RD Least signficant word (LSW) of 32-bit total run time; Units are seconds for the entire 2-register, 4-byte time value Most signficant word (MSW) of 32-bit total run time; RD Units are seconds for the entire 2-register, 4-byte time value RD Least signficant word (LSW) of 32-bit position move counter RD Most signficant word (MSW) of 32-bit position move counter Overflow counter in units of 0.01 degree for 32-bit total move degree RD counter in registers #505 and #506 Valid range = 0 to 99 (0.00 to 0.99 degrees) RD Least signficant word (LSW) of 32-bit total move degree counter RD Most signficant word (MSW) of 32-bit total move degree counter Units are degrees for the entire 2-register, 4-byte time value RD Loss of (motor) synchronization event counter (16-bit) -- Future use -- Future use Last reset event flag definitions: 0x0001 = Power-on reset RD 0x0004 = Brown-out reset 0x0008 = Watchdog reset RD Counter (16-bit) of watchdog resets RD Counter (16-bit) of power-on resets RD Counter (16-bit) of brown-out resets Counter (16-bit) of resets other than watchdog, power-up, and brown- RD out resets RD Counter (16-bit) of fuse corruption errors RD Counter (16-bit) of flash corruption errors RD Counter (16-bit) of RAM corruption errors RD Future use RD Future use Least signficant word (LSW) of 32-bit counter for moves within RD specified 20-degree window. Most signficant word (MSW) of 32-bit counter for position moves RD within specified 20-degree window. RD Least signficant word (LSW) of 32-bit counter for position moves within specified 20-degree window. Most signficant word (MSW) of 32-bit counter for position moves RD within specified 20-degree window. Least signficant word (LSW) of 32-bit counter for position moves within RD specified 20-degree window. RD Most signficant word (MSW) of 32-bit counter for position moves within specified 20-degree window. Least signficant word (LSW) of 32-bit counter for position moves within RD specified 20-degree window. Most signficant word (MSW) of 32-bit counter for position moves RD within specified 20-degree window. RD Least signficant word (LSW) of 32-bit counter for position moves within specified 20-degree window. Most signficant word (MSW) of 32-bit counter for position moves RD within specified 20-degree window. SMARTLINK® DS Modbus Manual (Rev 1.1) Page 19 4.11 Manufacturing Configuration The following Modbus registers include manufacturing configuration data and CRCs for safety and non- volatile EEPROM data storage. Table 18. Modbus Manufacturing Configuration Data Registers Modbus Address (Dec) Register Name 600 Gear Ratio 601 Max Position Mfg 602 Min Position Mfg 603 Commissioned Data CRC (CSD) 604 Mfg Safety Data CRC (MSD) 605 EEPROM CRC Register Type Description RD Planetary gear ratio; Valid values: 70 and 210 (70:1 and 210:1) RD Maximum position or virtual "hard stop"; Units in 0.1 degrees RD Minimum position or virtual "hard stop"; Units in 0.1 degrees RD Commissioned safety data packet (CSD) 16-bit CRC RD Manufacturing safety data packet (MSD) 16-bit CRC RD EEPROM (all user and mfg configuration/calibration data) 16-bit CRC 606 Calibration Status The least significant nibble represents manufacturing (as shipped) calibration status: 0x0001 - Calibration complete 0x0002 - Manufacturing position limits have been set 0x0004 - Analog (mA) calibration has been performed RD 0x0008 - Manufacturing defaults have been saved The most significant nibble represents user/service calibration status: 0x0010 - Calibration complete 0x0020 - Manufacturing position limits have been set 0x0040 - Analog (mA) calibration has been performed 0x0080 - Manufacturing defaults have been saved SMARTLINK® DS Modbus Manual (Rev 1.1) Page 20 4.12 Report Slave ID A Report Slave ID Modbus function, customized for SMARTLINK DS, is provided for verification of manufacturing-related data and operational status. The complete Modbus ADU frames for the Report Slave ID request and response are shown in the following two tables. Data Device Address Function Code CRC Table 19. Report Slave ID Request Message Format Size (bytes) 1 1 2 Value / Description 1-247 = Modbus slave address 17 = report slave ID function code Modbus 16-bit CRC Data Device Address Function Code Byte count Slave ID Run indicator status Actuator ID Gear ratio Firmware version #1 Firmware version #2 CED CRC CSD CRC MSD CRC Reference record #1A Reference record #1B Reference record #2A Reference record #2B CRC Table 20. Report Slave ID Response Message Format Size (bytes) 1 1 1 1 1 1 1 2 2 2 2 2 16 16 16 16 2 Value / Description 1-247 = Modbus slave address 17 = report slave ID function code 78 = Number of bytes following except Modbus CRC 32 = SMARTLINK DS Actuator ID 255 = ON (Control or Manual Mode); 0 = OFF 1-255 = user configuration data for numeric actuator identification 70 or 210: indicating a 70:1 or 210:1 ratio Control firmware version = value / 1000 Safety firmware version = value / 1000 Configuration EEPROM data (CED) 16-bit CRC Commissioned safety data (CSD) 16-bit CRC Manufacturing safety data (MSD) 16-bit CRC Reference record TBD (future) Reference record TBD (future) Reference record TBD (future) Serial Number in ASCII format: YYWW-XXX where YY = 2-digit year, 0-99 WW = 2-digit week number, 1-52 XXX = 3-digit unit number, 0-999 Modbus 16-bit CRC SMARTLINK® DS Modbus Manual (Rev 1.1) Page 21 4.13 Feedback Safety Data For control applications that are safety critical and require fail-safe actuator reporting of shaft position, the Feedback Safety Data (FSD) packet should be read periodically by the master controller using the Modbus Read File Record function. Specific details on how to verify the contents of the FSD are described in the section, Example Master Controller Positioning Sequence. The complete Modbus ADU frames for the read file record message request and response are shown in the following two tables. Data Device address Function code Byte count Reference type File number Record number Record length CRC Table 21. Read File Record #1 Feedback Safety Data (FSD) Request Size (bytes) 1 1 1 1 Value / Description 1-247 = Modbus slave address 20 = read file record function code 7 = number of request data bytes to follow 6 = read file reference type 2 1 = Safety Feedback Data (SFD) packet file number 2 0 = record number (used as starting address data 2 6 = length of file record in 16-bit words 2 Modbus 16-bit CRC Table 22. Read File Record #1 Feedback Safety Data (FSD) Response Data Device Address Function Code Byte count File data length Reference type Actuator ID Safety data ID Packet counter FSD CRC Safety position % open feedback Size (bytes) 1 1 1 1 1 1 1 1 2 2 Value / Description 1-247 = Modbus slave address 20 = read file record function code 24 = number of response data bytes to follow 14 = number of bytes in response data inluding next 2 items 6 = read file reference type 1-255 = user configuration data for numeric actuator identification 12 = safety data ID that represents FSD packet 1-255 = counter incremented every 50ms for "fresh" data indication Feedback Safety Data (FSD) 16-bit CRC Safety validated position feedback in units of 0.01% open. Value is updated and validated every 50ms by the safety feedback subsystem and is delayed by up to 50 ms with respect to Modbus Register #52. Valid range: -32768 to 32767 (-327.68% to 327.67%) Register value indicating a feedback fault: -999 (-99.9%) Safety position feedback Safety validated position feedback in units of 0.1 degrees. Value is updated and validated every 50ms by the safety feedback 2 subsystem. This feedback status is delayed by up to 50 ms with respect to Register #56. Valid register range: -40 to 1040 (-4.0 to 104.0 degrees) Register value indicating a feedback fault: -999 (-99.9 degrees) Safety processor mode Relay status Pad CRC 1 Safety microprocessor operating modes: 1 = Monitor; 2 = Proving Lockout; 3 = Lockout Relay bit postions / ON state definitions: 1 High Position Relay = 0x01 Low Position Relay = 0x02 Alarm (Not) Relay = 0x04 1 "0" pad for word alignment 2 Modbus 16-bit CRC SMARTLINK® DS Modbus Manual (Rev 1.1) Page 22 5 Master Controller Positioning Techniques The following Modbus master controller positioning techniques are recommended for applications in which there is a requirement for detection of an actuator failure that could result in false reporting of the output shaft position. This is a common requirement for a PLC or DCS-based system that controls air and fuel valve actuators within a parallel positioning combustion system. In addition to the application recommendations below, the master controller must have the hardware and software capability to place the system in a fail-safe state after an actuator failure is detected. Specifically, the system should be designed in a manner that complies with software/functional safety requirements such as ANSI/UL 1998 Software Class 2, UL/IEC 60730-1 Software Class C, or other similar safety standards as appropriate for the end application. 5.1 Position Setpoint Source For continuous position control by an upstream master controller, the position setpoint source parameter of SMARTLINK DS should be configured during unit commissioning for serial Modbus control. Refer to the description of the Setpoint Source register #10 in the User Configuration section above or the SMARTLINK®DS Intelligent Control Actuator Series Technical Catalog for local display commissioning of this parameter. 5.2 Position Command The serial position command (in 0.1 degree units), register #55, should be used for commanding the actuator to a new position. This register is less ambiguous than commanding the actuator via the position % open command, register #51. The actual position of the shaft will be different for the same percent open command if the min or max travel configuration is changed after initial actuator commissioning. 5.3 Position Feedback After the position command register #55 is sent, the master controller should poll the actuator with a multiple register read (of three contiguous registers): Register #55, Serial Position Command, Register #56, Control Position Feedback, and Register #57, Safety Position Feedback. This poll is used to verify the position command and the actual position of the shaft using both feedback values for comparison. In addition, the Feedback Safety Data (FSD) packet should be periodically read back to validate the feedback data in a fail-safe manner. SMARTLINK® DS Modbus Manual (Rev 1.1) Page 23 5.4 Example Modbus Master Positioning Sequence The following table provides an example Modbus master command request sequence with the actuator starting at 10.0 degrees. The sequence includes Modbus command write/read requests as well as a verification of the feedback data with a Read File Record request. Time (ms) Master Controller Action 0 Change position setpoint to 10.5 degrees Determine if actual position is achieved within 0.1 degrees of the command position setpoint. Verify the 100 safety position feedback is within 0.3 degrees of the control position feedback. Repeat previous action. Position feedback is now 200 within 0.1 degree of commanded position setpoint and the actuator control loop is now satisfied. Feedback Setpoint (degs) (degs) DS Modbus Command Request 10.0 10.5 Function code 6: Write a 105d to Register #55, Serial Position Command Function code 4: Read 3 consecutive registers - Register #55, Serial Position Command, Register 10.2 10.5 #56, Control Position Feedback, and Register #57, Safety Position Feedback. 10.4 10.5 Repeat previous request. Function code 3 can be used interchangeably with function code 4. 300 Change position setpoint to 10.6 degrees. 10.4 10.6 Function code 6: Write a 106d to Register #55, Serial Position Command Determine if actual position is achieved within 0.1 Function code 4: Read 3 consecutive registers - 400 degrees of the command position setpoint. Verify the safety position feedback is within 0.3 degrees of the 10.6 10.6 Register #55, Serial Position Command, Register #56, Control Position Feedback,and Register #57, control position feedback. Safety Position Feedback. Read the safety feedback packet periodically to confirm the SMARTLINK DS safety feedback system is functioning correctly. The following fault-detection actions are recommned: - Calculate the FSD (Feedback Safety Data) CRC and compare with the received FSD CRC to verify the integrity of the data. - Verify the actuator ID received matches the ID of the intended actuator being controlled. - Verify the Safety Data ID equals 12, the factorydefined ID of a SMARTLINK DS actuator. - Verify the packet counter has changed from the previous counter reading indicating the data is "fresh". 500 (The packet counter is incremented by the SMARLINK 10.6 DS safety feedback system every 50 milliseconds.) - Verify the position feedback in degrees received within the packet is within 0.3 degrees of the commanded position setpoint and control position feedback, read previously from Registers #55 and #56. - Verify the SP (Safety Processor) mode is equal to 1 indicating a monitoring mode. If any of the above safety packet criteria fails a predetermined number of times out of an applicationdependent sample size, the master controller should take appropriate action to ensure a fail-safe system state. Function code 20: Read file record #1 The SMARTLINK DS feedback safety packet verification process should be performed by the master controller at a periodic rate that prevents an unsafe system condition caused by an actuator at an incorrect or unknown position. The FSD (Feedback Safety Data) CRC16 is calculated on the following 9 data bytes order in this manner: U8 Actuator ID, 10.6 U8 Safety Data ID (= 12), U8 Packet Counter, S16 Position (in 0.1% Open units), S16 Position (in 0.1 degrees), U8 Safety Processor (SP) Mode, U8 Output Relay States The FSD packet includes the data above plus the FSD CRC16 which is transmitted after the packet counter. Refer to the Read File Record #1 Feedback Safety Data (FSD) section of this manual for more detailed information on the FSD data structure transmitted. SMARTLINK® DS Modbus Manual (Rev 1.1) Page 24Acrobat Distiller 9.5.2 (Windows)