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Li cm n !
u tin em xin chn thnh gi li cm n ti nh trung, khoa in, b mn
KT, cc thy c dy d v du dt chng em trong sut 4 nm hc va qua c
c nhng kin thc chuyn mn c s sau ny chng em c th vo i lm vic, s
dng c ch cho x hi.
thc hin thnh cng n l s hng dn, ch bo tn tnh ca TS Nguyn
c Thnh, Ngi hng dn tn tnh , gip nh hng, gp v cung cp
tng cng nh ch dn ti liu v cc tin trnh thc hin n .
Cui cng chng em xin chn thnh gi nhng li cm n su sc n gia nh,
bn hc... tn tnh gip hon thnh n mn hc ny.
Chn thnh cm n !
TPHCM ,30-6-2011

Ti:Dng Bin Tn iu Khin ng C AC bng giao thc Modbus RTU.

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Mc Lc
Chng 1:Gii Thiu S lc Bin Tn ATV31 ca Schneider Electric....................................... 3
I.Cu hnh mc nh bin tn:Altivar 31 c ci t mc nh cho cc iu kin hot ng thng
dng nht ...................................................................................................................................................3
II.Mn hnh hin th bin tn ....................................................................................................................4
1.Cc thng s hin th thng gp khi khng c li hoc khng khi ng: ............................................4
2.Cc chc nng hin th v cc phm. ......................................................................................................5
III.Ty chn kt ni t xa. .........................................................................................................................5
IV.Lu v gi li mt cu hnh ..................................................................................................................6
V.Lp trnh ................................................................................................................................................7
1.Ci t menu Set. ..................................................................................................................................8
2.Menu drC. .............................................................................................................................................8
3.Menu I/O. .............................................................................................................................................9
4.Menu CtL-. ...........................................................................................................................................9
5.Menu Fun-: ......................................................................................................................................... 10
6.Menu qun l li FLt-. ......................................................................................................................... 11

Chng 2:Gii thiu phn mm Twidosuite ca hng Schneider Electric .................................. 12

I.Tng quan v Twidosuite software. ...................................................................................................... 12
II.Lm vic vi Twidosuite software . ..................................................................................................... 12

Chng 3:iu Khin ng C AC Qua 2 Giao Thc Truyn Thng Modbus RTU V
Canopen.......................................................................................................................................... 19
I.Giao thc truyn thng ModbusRTU. .................................................................................................. 19
1.Read N Words. .................................................................................................................................... 19
2.Write of N words. ............................................................................................................................... 20
3.a ch cc thanh ghi d liu chnh. ...................................................................................................... 20
II.Giao thc truyn thng CANopen. ...................................................................................................... 23

Chng 4:Kt qu thc hin. ........................................................................................................ 26

Chng 5:Ph lc .......................................................................................................................... 31

Ti:Dng Bin Tn iu Khin ng C AC bng giao thc Modbus RTU.

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Chng 1:Gii Thiu S lc Bin Tn ATV31 ca Schneider Electric.

Cc bin tn ATV21,ATV31 c Schneider sn xut km theo.Trong n ny
s dung bin tn ATV31 iu khin ng c AC (v y l loi bin tn duy nht
trong phng th nghim).
I.Cu hnh mc nh bin tn:
Altivar 31 c ci t mc nh cho cc iu kin hot ng thng dng nht
Cc ci t mc nh
Hin th: (BBT) sn sng (rdY) khi ng c dng v tn s ng c khi
ng c chy.
Tn s ng c (bFr): 50Hz.
ng dng duy tr moment c nh bng cch iu khin vector t thng,
khng cn cm bin.
Ch dng bnh thng theo tng/gim tc gim tc (Stt=rMP).
Ch dng khi c li: t do
Cc tng/gim tc tng & gim tc tuyn tnh (ACC, dEC): 3 giy.
Tc thp (LSP): 0Hz.
Tc cao (HSP): 50Hz.
Dng nhit ng c (ItH) = dng in danh nh ca ng c (ph thuc
vo cng sut (BBT)).
Dng hm ng c (SdC) = 0.7x dng danh nh ca (BBT), cho mi 0,5
giy.
T ng iu chnh tng/gim tc gim tc trong trng hp qu p lc
hm.
Khng t ng khi ng sau khi b li.
Tn s ng ct ca b nghch lu: 4kHz.
Cc ng vo logic:
LI1, LI2 (vn hnh 2 chiu): iu khin 2-dy theo trng thi, LI1=thun,
LI2=nghch. i vi ATV31xxxxxxA, hai ng vo ny cha gn chc nng
LI3, LI4: dng chn 4 tc t trc (tc 1= tc tham chiu hoc
bng 0, tc 2 = 10Hz, tc 3 = 15Hz, tc 4 = 20Hz).
LI5-LI6: cha gn chc nng.
Cc ng vo analog:
AI1: tham chiu tc 0-10V, cha gn i vi ATV31xxxxxxA.
AI2: tham chiu tc tng 010V.
I3: 4-20mA cha gn chc nng.
Relay R1: tip im h khi c li (hoc BBTdng).
Relay R2: cha gn chc nng.
Ng ra analog AOC: 0-20mA cha gn chc nng

Ti:Dng Bin Tn iu Khin ng C AC bng giao thc Modbus RTU.

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II.Mn hnh hin th bin tn.

lu cc la chn: nhn phm ENT

Gi tr hin th s nhp nhy khi d liu c lu.
1.Cc thng s hin th thng gp khi khng c li hoc khng khi ng:
- 43.0: hin th thng s c chn trong menu SUP- (chn la mc nh l tn s
ng c).
- In :ch hn dng, hin th nhp nhy.
- Init: khi ng trnh t.
- RdY: (BBT) sn sng.
- Dcb: qu trnh hm bng dng DC ang thc hin
- NSt: dng t do.
- FSt: dng nhanh.
- TUn: qu trnh t iu chnh ang thc hin.
Hin th nhp nhy ch rng ang c li.

Ti:Dng Bin Tn iu Khin ng C AC bng giao thc Modbus RTU.

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2.Cc chc nng hin th v cc phm.

III.Ty chn kt ni t xa.

Modul ny l mt thit b iu khin cc b c lp trn ca t iu khin.N c dy
cp vi u ni, c th ni ti (BBT) bng ng truyn thng ni tip.N cng c
phn hin th v cc phm lp trnh nh Altivar31, thm vo mt cng tc kha s truy
cp vo menu v 3 phm iu khin (BBT).
FWD/REV: o chiu xoay.
RUN: lnh chy ng c.
STOP/RESET: lnh dng ng c hoc reset li.
Nhn phm ln u dng ng c, v nu chu trnh hm c ci t, nhn ln th hai
s dng chu trnh hm.
Ti:Dng Bin Tn iu Khin ng C AC bng giao thc Modbus RTU.

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IV.Lu v gi li mt cu hnh
C ti 4 cu hnh hon chnh ca (BBT) Altivar31 c th c lu trong remote
terminal.Cc cu hnh ny c th c lu, truyn t mt (BBT) ny ti (BBT) khc
cng cng sut.4 kiu hot ng khc nhau cho mt thit b c th lu trn remote
terminal.Xem thng s SCS v FCS trong cc menu drC-, I-O-, Ctl- v Fun-.

Ti:Dng Bin Tn iu Khin ng C AC bng giao thc Modbus RTU.

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V.Lp trnh
Truy cp vo menu

Vi thng s c th c truy cp trong mt s menu tng s tin dng.

- Nhp cc ci t.
- Tr v mc nh.
- Phc hi v lu cu hnh.

Ti:Dng Bin Tn iu Khin ng C AC bng giao thc Modbus RTU.

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1.Ci t menu Set.

2.Menu drC.

Ti:Dng Bin Tn iu Khin ng C AC bng giao thc Modbus RTU.

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3.Menu I/O.

Cc thng s c th c thay i khi (BBT) dng v khng c lnh RUN.

Trn remote terminal, menu ny c th c truy cp khi cng tc v tr

4.Menu CtL-.

Ti:Dng Bin Tn iu Khin ng C AC bng giao thc Modbus RTU.

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5.Menu Fun-:

Cc thng s ch c th c thay i khi (BBT) dng v khng c lnh Run.

Trn remote terminal, menu ny c th c truy cp khi cng tc v tr

Ti:Dng Bin Tn iu Khin ng C AC bng giao thc Modbus RTU.

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6.Menu qun l li FLt-.

Cch chnh bin tn c th c th giao tip trong ch Modbus RTU s c trnh

by c th phn sau.

Ti:Dng Bin Tn iu Khin ng C AC bng giao thc Modbus RTU.

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Chng 2:Gii thiu phn mm Twidosuite ca hng

Schneider Electric

I.Tng quan v Twidosuite software.

Schneider Electric cung cp nhiu phn mm h tr i km theo cc PLC ca
hng,ng vi cc PLC s c phn mm h tr ring bit.Twidosuite software l phn
mm PLC c Schneider Electric cung cp min ph ( c bn h tr cho Win XP v
Win 7) h tr cho PLC Twido.Tng t nh unity pro sofware l phn mm h tr
vit chng trnh cho cc PLC Sneider nh:Premium,quantum.Cc phn mm ny vit
ra v cung cp km theo PLC ca hng Schneider v khng support cho cc PLC ca
hng khc(tng t nh WinCC ca Simens ch h tr cho S7-200,S7-300).
II.Lm vic vi Twidosuite software .
Sau khi ci t v chy chng trnh ta c giao din Twidosuite software ban
u nh bn di.

Ti:Dng Bin Tn iu Khin ng C AC bng giao thc Modbus RTU.

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Bc 1:Chn Programming mode vit chng trnh.

Trong ca s chnh project manager ny gm c:

+Update project information:Cp nht thng tin project
+Create a new project:To project mi.
+Open an existing project:M mt project c sn.
+Save/close current project:ng /m project hin hnh.

Bc 2: to mt project mi c tn l DKDC AC bng cach chn Create a

new project v in cc thng tin v project v chn create.

Ti:Dng Bin Tn iu Khin ng C AC bng giao thc Modbus RTU.

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Trong ca s lm vic lc ny gm cc mc chnh:

+Project:Qun l d n(lu ,m,ng...project).
+Describe:Ni ci t cu hnh hnh phn cng ca PLC v cc thit b kt
ni,giao tip vi PLC (nh bit tn)...
+Program:vit chng trnh diu khin.
+Report:
Bc 3:Chn Describe cu hnh phn cng.Dng chut vo module
Base/compact/ TWDNAC485T pha bn phi mn hinh ri ko ra ngoi.

Bc 4:Khai bo vai tr ca Twido PLC l master trong mng Modbus bng cch
nhp chut phi vo Card TWDNAC485T v khai bo nh hnh pha di.
Ti:Dng Bin Tn iu Khin ng C AC bng giao thc Modbus RTU.

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Thit lp adress cho PLC khi np chng trnh:(c th khng cn s dng bc

ny nu nh a ch PLC sn c v ta khng cn set li,trng hp khi mt IP ta
phi set li IP thng qua cp chuyn i).Sau khi set IP cho PLC ta c th giao tip vi
PLC thng qua mng LAN trong phng th nghim.C th l download chng trnh t
Pc xung PLC v upload chng trnh t PLC ln PC).

Ti:Dng Bin Tn iu Khin ng C AC bng giao thc Modbus RTU.

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Hon thnh xong phn Describe.

Bc 5:Kch chn program vit chng trnh :Twidosuite software h tr giao
din vit chng trnh theo c dng ladder v dng list.Trong n ny trnh by di
dang ladder.

Ti:Dng Bin Tn iu Khin ng C AC bng giao thc Modbus RTU.

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Chng trnh vit iu khin ng c AC trong n(phn gii thch s trnh

by ring cc chng sau ):

Bc 6:Sau khi vit chng trnh xong ta np v chy chng trnh:Trong

program chn debug ,mode l connect.
Ti:Dng Bin Tn iu Khin ng C AC bng giao thc Modbus RTU.

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C 2 cch np chng trnh vo PLC Twido dng cp np trc tip hoc thng
qua qua mng LAN trong phng th nghim
+Np trc tip :cm cp ni gia PLC v cng usb ca PC.Thit lp giao tip gia
PLC v cng COM trn my tnh bng cch n nt manage connection nh hnh trn
.Chn connection mode:Serial.Bnh thng my tnh s t nhn cng COM v ta ch
vic chn,nhng i khi my tnh khng t nhn c cng COM .Ta vo My
computer trm PC,chn device manager,chn ports xem tn cng COM v in tn
vo name v IP address.Nu my vn cha nhn lu project ri thot khi chng
trnh v retry li.
+Np chng trnh thng qua mng LAN:tng t trong manage connection ta
chn add thm connection mi,connection mode:Ethernet ,IP Address:g ng ia
ch IP ca PLC(trong trng hp khng bit a ch ca PLC ta th set li IP nh
trn,hoc dng 1 phn mm d IP bit c a ch hin ti ca PLC!).

Ti:Dng Bin Tn iu Khin ng C AC bng giao thc Modbus RTU.

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Chng 3:iu Khin ng C AC Qua 2 Giao Thc Truyn

Thng Modbus RTU V Canopen.
I.Giao thc truyn thng ModbusRTU.
The Modbus protocol :l nghi thc master-slave cho php mt master(duy
nht),master c th giao tip vi cc slaves thng qua a ch ring ca mi slave.Cc
slave s respond khi nhn c yu cu t master.
PLC Twido c th giao tip vi bin tn iu khin ng c AC qua giao thc
Modbus RTU.Cch giao tip c th c cung cp trong Standar Modbus Request
trong file help ca Twidosuite Software .

1.Read N Words.

a ch ca slave.
S word c v.
a ch u tin ca
word c v.

Ni lu word u tin
khi c v

Ti:Dng Bin Tn iu Khin ng C AC bng giao thc Modbus RTU.

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Cch c gi tr t slave v PLC bng Modbus RTU.

2.Write of N words.

a ch ca slave

S word ghi ra slave.

a ch word u
tin s ghi ra.

N:Ty theo s byte s

ghi ra.

Ni lu gi tr word
u tin ghi ra.

Cch ghi gi tr t PLC ra Slave.

N:Ty theo s byte s

ghi ra.

3.a ch cc thanh ghi d liu chnh.

Slave trong chun Modbus RTU c th l:I/O distribute,bin tn,...ng vi mi slave
s c bng a ch km theo c nh sn xut cung cp c th giao tip nhn v tr
d liu v PLC.Trong n ny c th l bng giao tip trao i d liu ca bin tn
ATV31: Altivar 31 Communication variables.C rt nhiu thanh ghi a ch trong
bng,gii hn n ny ch trnh by nhng thanh ghi cn thit v c s dng iu
khin ng c.
Di y l a ch cc thanh ghi d liu chnh:
3201:Status word
L word trng thi ca bin tn,ng vi mi gi tr ca status word cho ra cc ch
c th ca bin tn.
V d:
Trng thi li:16#0008 hoc 16#0028.
Ti:Dng Bin Tn iu Khin ng C AC bng giao thc Modbus RTU.

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Bng gi tr c th tng bit trong Status word.

Status word :
bit 0: Ready to switch on
bit 1: Switched on
bit 2: Operation enabled
bit 3 = 0: No fault
bit 3 = 1: Malfunction, fault present (FAI)
bit 4: Voltage disabled (still equals 0)
bit 5: Quick stop
bit 6: Switch on disabled
bit 7 = 0: No alarm
bit 7 = 1: Alarm present
bit 8: Reserved
bit 9 = 0: Forced local mode in progress (FLO)
bit 9 = 1: No forced local mode
bit 10 = 0: Reference not reached (transient state)
bit 10 = 1: Reference reached (steady state)
bit 11 = 0: LFRD reference normal
bit 11 = 1: LFRD reference exceeded (< LSP or > HSP) Caution: LFRD is
expressed in rpm,
LSPHyhyhyhyhyhyhhbyhyhyhyhyhyhyhyhyhyhyyh
and HSP in Hz
bits 12 and 13: Reserved
bit 14 = 0: No stop imposed by STOP key on built-in keypad (ATV31...A) or
on the remote
display terminal
bit 14 = 1: Stop imposed by STOP key on built-in keypad (ATV31...A) or on
the remote display
terminal
bit 15 = 0: Forward rotation (output frequency)
bit 15 = 1: Reverse rotation (output frequency)

Ti:Dng Bin Tn iu Khin ng C AC bng giao thc Modbus RTU.

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3103:Maximum output frequency-Tn s u ra cc i.Thanh ghi ny tng ng

iu chnh thng s cho mc tFr trong bin tn ATV31 .
8501:a ch thanh ghi iu khin ca bin tn,mt s trng thi c th ca bin
tn khi iu khin ng c AC nh sau:
V d: Trng thi quay thun :16#000F
Trng thi quay nghch:16#080F
Trng thi dng
:16#100F
Trng thi dng nhanh :16#400F
8052:iu chnh tc bin tn.
9001:ACC time-a ch thanh ghi cha thi gian tng tc ca bin tn.tng ng
vi muc ACC trong ATV31.
9002:DEC time-a ch thanh ghi cha thi gian gim tc ca bin tn.tng ng
vi muc DEC trong ATV31.

Gin iu khin ng c
(trch t bn y ca file ATV31 Communication variables nm phn ph
lc cui cng trong n ny).
Ti:Dng Bin Tn iu Khin ng C AC bng giao thc Modbus RTU.

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II.Giao thc truyn thng CANopen.

Bng giao tip Canopen.

%MWx %MWx+1 %MWx+2
Bit Bit Bit Bit
[15-8] [7- [15-8] [70]
0]
1
0
1
1
2

%MWx+3 %MWx+4 %MWx+5

Bit Bit Bit Bit Bit Bit
[15- [7- [15-8] [7- [15-8] [78] 0]
0]
0]

---

3 or 4
Node
Index
Sub Len
Data 1

5 (1)

Node

6 (1)
7 (1)

Node
Node

8 (1)

Node

Action

ResetCANopen communication.
Reset CANopen nodes.
Switch from operational to preoperational mode.
Switch to operational mode.
3 => Start Read SDO command.
4 => Start Write SDO command.
Node = 1-16 => Node address
PDO object index.
Sub = 0-255 => Object sub-index
Len = Length of data in byte
Payload according to the length
field (Len) value
Payload according to the length
Data 2
field (Len) value
Reset CANopen communication
for a node.
Reset CANopen nodes for a node.
Switch from operational to preoperational mode for a node.
Switch to operational mode for a
node.

Ti:Dng Bin Tn iu Khin ng C AC bng giao thc Modbus RTU.

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V d:chng trnh dng c momen ca Motor:

V d 2:Chng trnh thay i thi gian tng tc ca ng c ACC time ti word

%MW50.

Ti:Dng Bin Tn iu Khin ng C AC bng giao thc Modbus RTU.

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Ti:Dng Bin Tn iu Khin ng C AC bng giao thc Modbus RTU.

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Chng 4:Kt qu thc hin.

Program lists and diagrams

Ti:Dng Bin Tn iu Khin ng C AC bng giao thc Modbus RTU.

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Ti:Dng Bin Tn iu Khin ng C AC bng giao thc Modbus RTU.

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Ti:Dng Bin Tn iu Khin ng C AC bng giao thc Modbus RTU.

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Ti:Dng Bin Tn iu Khin ng C AC bng giao thc Modbus RTU.

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Define Symbol:

Ti:Dng Bin Tn iu Khin ng C AC bng giao thc Modbus RTU.

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Chng 5:Ph lc.

Hnh nh v cc thit b:

Hnh 1

PLC Twido

Ti:Dng Bin Tn iu Khin ng C AC bng giao thc Modbus RTU.

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Hnh 2

bin tn ATV31

Ti:Dng Bin Tn iu Khin ng C AC bng giao thc Modbus RTU.

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Hnh 3

Dng c AC trong phng th ngim

ng c AC trong phng th ngim

Ti:Dng Bin Tn iu Khin ng C AC bng giao thc Modbus RTU.

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Hnh 4

Cp Dng np chng trnh

Cp dng np chng trnh

Ti:Dng Bin Tn iu Khin ng C AC bng giao thc Modbus RTU.