machines/firmware/legacy/flexibot/setup.md

Omron MX2

1. Please refer to the OmronMX2 - Modbus setup guide(Section 7.2.2)

In case the terminal labels mismatch the documenation, please use SN for (A-) and SP for (B+)

1.1 Set basic parameters

• Max. Frequency, depending on gearbox, A004 = 75Hz
• Acceleration time, F02 = 2secs
• Decceleration time, F03 = 2secs

2. The firmware expects the VFD at Slave-Address 1 !

Additionally, please check the user manual

2.1 Modbus settings - Page 297

• Parity : None - C74 = 00
• Speed : 9600 - C71 = 5 (6=19200) see manual - Page 167
• Slave Id : 1 - C72 = 1

2.2 Control settings

• Frequency selection - A001 : 03 (Modbus)
• Command selection - A002 : 03 (Modbus)

Please restart the inverter after changing those settings!

2.3 Test settings, using serial Modbus adapter CP2102 and Modbus poll (see ./tools/MbPoll_v9.4.0_cracked.exe)

2.3.1 Wire the CP2102 USB adapter

2.3.2 Connect

2.3.3 Function - Write Coil

The 'Run' LED shoud now be on.

Omron E5 - PID

TCP interface

To set the target temperature to 100 Degc on PID1, the complete message for Modbus TCP would be

01 06 00 11 00 64 D8 24

• 01 : slave id
• 06 : Modbus verb / function code, in this case WRITE HOLDING REGISTER
• 11 : address (17)
• 00 64 : value (100), 2 bytes
• D8 24 : CRC, 2 bytes. Since it's TCP, this isn't evaluated and can be ignored on the Controllino - PlasticHub firmware (see './firmware/Mudbus.cpp').

In order to fake a Modbus message, all we need is 01 06 00 11 00 64 but we also have to prefix it with the TCP overhead (d2 8d 00 00 00 06)

|-- TCP Overhead----- | -------- Modbus ---- |

d2 8d 00 00 00 06 | 01 06 00 11 00 64

In example, we can send this via Hercules :

The TCP overhead (d2 8d 00 00 00 06) is created as follow:

• d2 8d : Transaction identifier, 2 bytes
• 00 00 : Protocol identifier, 2 bytes
• 00 06 : Length of the message, 2 bytes

Modbus Registers - Controllino Mega (Master)

Write - Register

• 1 : VFD - Target Freq
• 3 : VFD - Status
  • OMRON_STATE_ACCELERATING 4
  • OMRON_STATE_DECELERATING 2
  • OMRON_STATE_RUNNING 3
  • OMRON_STATE_STOPPED 1
  • OMRON_STATE_ERROR 8
• 5 : VFD - Start:01 / Stop:02
• 6 : VFD - Frequency
• 7 : VFD - Direction - Forward : 1 | Reverse : 2 | Stop : 3

Misc

Firmware update using command line

C:\Program Files (x86)\arduino-1.6.10\hardware\tools\avr/bin/avrdude -CC:\Program Files (x86)\arduino-1.6.10\hardware\tools\avr/etc/avrdude.conf -v -patmega328p -carduino -PCOM21 -b115200 -D -Uflash:w:C:\Users\per\AppData\Local\Temp\builda0905d717cd3fb20c5f6c59067701315.tmp/serial.ino.hex:i