rotork Modbus - Default Chapter; Table of Contents

Contents
Publication PUB091-004-00_0918 3 of 64
Contents
Glossary of Terms: ............................................................................................................................ 5
Abbreviations: .................................................................................................................................... 6
1 INTRODUCTION ............................................................................................ 7
1.1 General ..................................................................................................................................... 8
2 MODBUS OPTION CARD PROPERTIES ...................................................... 9
2.1 Mechanical properties ............................................................................................................ 9
2.2 Electrical Properties ............................................................................................................. 10
2.3 Operation and Storage ......................................................................................................... 10
3 Fitting the Modbus module Option Card .................................................. 11
3.1 Inside an IQ3 actuator .......................................................................................................... 11
3.2 Replacing or Fitting a Modbus Module Option Card ......................................................... 11
3.3 Inside an SI₃ actuator ............................................................................................................ 12
3.4 Inside a CVA actuator ........................................................................................................... 13
3.5 Inside a CMA actuator .......................................................................................................... 14
3.6 Inside a K-Range actuator .................................................................................................... 18
4 RS-485 Data Highway, Connections and MFU Setup .............................. 19
4.1 Data Highway ......................................................................................................................... 19
4.2 Highway Topology ................................................................................................................ 20
4.3 Cable Types ........................................................................................................................... 21
4.4 Termination Network ............................................................................................................ 22
4.5 Inter-connecting the Highway and Setting up the MFU .................................................... 23
4.5.1 Single Highway ................................................................................................................ 23
4.5.2 Dual Highway ................................................................................................................... 23
4.5.3 Single Highway with Internal Repeater ............................................................................ 24
5 The Actuator Input and Output Signals .................................................... 25
5.1 Control Outputs ..................................................................................................................... 25
5.1.1 Controls Priority ............................................................................................................... 29
5.1.2 Modbus Control using Individual Coil commands............................................................ 29
5.1.3 Modbus Control using the ACTCON Register ................................................................. 30
5.1.4 Modbus Control using the Actuator Position DV register ................................................ 30
5.1.5 The IQ3 ‘S’ contacts (Modbus DOs). ............................................................................... 30
5.1.6 IQ3 Modbus Network Control Disable feature ................................................................. 31
5.2 Actuator Digital Input Status Feedback .............................................................................. 31
5.2.1 Digital Inputs from the Actuator ....................................................................................... 32
5.3 Actuator Analogue Input Feedback .................................................................................... 36
5.4 IQ3 Data Logger Information ............................................................................................... 36
6 Modbus Communication ............................................................................ 39
6.1 Electrical Specification ......................................................................................................... 39