Configuration Manual SIMOCODE Pro Modbus RTU

2y ago
43 Views
2 Downloads
1.31 MB
92 Pages
Last View : 21d ago
Last Download : 6m ago
Upload by : Eli Jorgenson
Transcription

SIMOCODE proMotor Management and Control DevicesSIMOCODE pro for Modbus RTUConfiguration ManualGerätehandbuchEdition04/2015Answers for industry.

SIMOCODE pro Modbus RTU1IntroductionSystem configuration and2commissioning with RTUSIMOCODE proSIRIUSSIMOCODE pro Modbus RTUConfiguration Manual3Communication4Modbus data tables5Dimension drawings6Technical dataSafety and commissioning7information for EEx areasAList of /001

Legal informationWarning notice systemThis manual contains notices you have to observe in order to ensure your personal safety, as well as to preventdamage to property. The notices referring to your personal safety are highlighted in the manual by a safety alertsymbol, notices referring only to property damage have no safety alert symbol. These notices shown below aregraded according to the degree of danger.DANGERindicates that death or severe personal injury will result if proper precautions are not taken.WARNINGindicates that death or severe personal injury may result if proper precautions are not taken.CAUTIONindicates that minor personal injury can result if proper precautions are not taken.NOTICEindicates that property damage can result if proper precautions are not taken.If more than one degree of danger is present, the warning notice representing the highest degree of danger willbe used. A notice warning of injury to persons with a safety alert symbol may also include a warning relating toproperty damage.Qualified PersonnelThe product/system described in this documentation may be operated only by personnel qualified for the specifictask in accordance with the relevant documentation, in particular its warning notices and safety instructions.Qualified personnel are those who, based on their training and experience, are capable of identifying risks andavoiding potential hazards when working with these products/systems.Proper use of Siemens productsNote the following:WARNINGSiemens products may only be used for the applications described in the catalog and in the relevant technicaldocumentation. If products and components from other manufacturers are used, these must be recommendedor approved by Siemens. Proper transport, storage, installation, assembly, commissioning, operation andmaintenance are required to ensure that the products operate safely and without any problems. The permissibleambient conditions must be complied with. The information in the relevant documentation must be observed.TrademarksAll names identified by are registered trademarks of Siemens AG. The remaining trademarks in this publicationmay be trademarks whose use by third parties for their own purposes could violate the rights of the owner.Disclaimer of LiabilityWe have reviewed the contents of this publication to ensure consistency with the hardware and softwaredescribed. Since variance cannot be precluded entirely, we cannot guarantee full consistency. However, theinformation in this publication is reviewed regularly and any necessary corrections are included in subsequenteditions.Siemens AGDivision Digital FactoryPostfach 48 4890026 NÜRNBERGGERMANY3ZX1012-0UF70-2AC1 04/2015 Subject to changeCopyright Siemens AG 2015.All rights reserved

Table of contents1234Introduction. 71.1Important information. 71.2IT security information . 9System configuration and commissioning with RTU . 112.1General . 112.2Modbus RTU connection to the SIMOCODE pro device. 122.3Commissioning with Modbus RTU . 142.4Configuration information. 19Communication . 1.6.83.1.6.9Modbus RTU . 21Modbus RTU communication. 21Supported data transfer rates for RTU . 21Assignment of SIMOCODE data to Modbus addresses. 22Modbus data transfer. 22Principle of Modbus data transfer . 22Options for data transfer . 23frame structure . 23SIMOCODE pro function codes . 24General . 24Function codes 01 - Read Coils and 02 - Read Discrete Inputs . 26Function codes 03 - Read Holding Register and 04 - Read Input Registers. 27Function code 05 - Write Single Coil . 28Function code 06 - Write Single Register . 29Function code 15 - Write Multiple Coils . 30Function code 16 - Write Multiple Registers . 31Function code 23 - Read/Write Multiple Registers . 32Function code 43 - Read Device Identification . 343.23.2.13.2.2Error codes . 35Exception responses . 35Error codes supported by SIMOCODE pro. 35Modbus data tables . 374.14.1.14.1.24.1.3General . 37Memory image . 37Byte arrangement . 38Specifications . 384.2Process image output - command data . 394.3Process image input - monitoring data . 404.4Measured values . 41SIMOCODE pro Modbus RTUConfiguration Manual, 04/2015, A5E33498234002A/RS-AA/0015

Table of contents4.5Display and statistical data .424.6Device diagnostics .434.7Error memory .514.8Event memory .524.9Trace data.534.10I&M0 - device identification .544.11I&M1 - Tag .554.12I&M2 - Installation date .564.13I&M3 - Comment .574.14Basic device parameter 1 .584.15Extended device parameters 1 .654.16Marking .775Dimension drawings . 796Technical data . 817Safety and commissioning information for EEx areas . 83AList of abbreviations . 85A.1BList of abbreviations .85Appendix . 87B.1Correction sheet .87Glossary . 89Index . 91SIMOCODE pro Modbus RTU6Configuration Manual, 04/2015, A5E33498234002A/RS-AA/001

Introduction1.11Important informationPurpose of this manualIn this SIMOCODE pro Modbus Configuration Manual, specific device features are shown indetail with regard to Modbus communication.The SIMOCODE pro V Modbus basic unit corresponds to the SIMOCODE pro V basic unit.The complete system description is included in the SIMOCODE pro view/en/20017780) System Manual. Both thesesystem manuals contain a detailed description of the motor management system with itsfunctions. The two system manuals offer information on configuring, commissioning, serviceand maintenance, as well as help in detecting faults. A typical example of a reversing starterapplication is used to teach the user quickly and practically how to use the system. The twomanuals include circuit diagrams, dimension drawings and technical data of the systemcomponents as configuration aids.Required basic knowledgeTo understand this manual you will require basic knowledge of low-voltage controls anddistribution, digital circuit engineering and automation technology.Scope of applicationThis manual is only valid for the Modbus components of the SIMOCODE pro system.SIEMENS reserves the right to include updated information about new components or newversions of components in a Product Information.SIMOCODE pro Modbus RTUConfiguration Manual, 04/2015, A5E33498234002A/RS-AA/0017

Introduction1.1 Important informationFurther information Please read the operating instructions of the respective components. You can find theoperating instructions for SIMOCODE pro at: SIMOCODE pro operating ) You will need the following manuals in addition to this system manual:– "Failsafe Digital Modules SIMOCODE pro Safety" ew/en/50564852)– The appropriate manual for the DP masterYou will find further information under Internet (http://www.siemens.com/simocode) Information and Download Center (http://www.siemens.com/sirius/infomaterial) Product Information System (ProdIS) (http://www.siemens.com/sirius/support) Certificates (http://www.siemens.com/sirius/approvals)Further support (Service and Support)Technical Assistance e)Telephone: 49 (0) 911-895-5900 (8 a.m. to 5 p.m. CET)Fax: 49 (0) 911-895-59 07E-Mail: technical-assistance@siemens.comCorrection sheetA correction sheet is included at the end of this manual. Please use it to enter yoursuggestions for improvements, additions and corrections, and send it back to us. This willhelp us to improve the next edition of the manual.Disclaimer of liabilityThe products described here have been developed to carry out safety-related functions aspart of a complete plant or machine. In general, a complete safety system consists ofsensors, evaluation units, signaling devices and methods for safe tripping. The manufactureris responsible for ensuring safe functioning of the complete plant or machine. Siemens AG,its subsidiaries, and associated companies (hereinafter referred to as "Siemens") are not in aposition to guarantee every characteristic of a complete plant or machine not designed bySiemens.Siemens also denies all responsibility for any recommendations that are made or implied inthe following description. No new guarantee, warranty, or liability claims above thosestandard to Siemens can be derived from the following description.SIMOCODE pro Modbus RTU8Configuration Manual, 04/2015, A5E33498234002A/RS-AA/001

Introduction1.2 IT security information1.2IT security informationSiemens provides products and solution with industrial security functions that support thesecure operation of plants, solutions, machines, equipment, and/or networks. They areimportant components of a holistic industrial security concept. The products and solutionsfrom Siemens are continuously developed with this aspect in mind. Siemens recommendsthat you inform yourself regularly about product updates.For the secure operation of Siemens products and solutions, it is necessary to take suitablepreventive action (e.g. cell protection concept) and integrate each component into a holistic,state-of-the-art industrial security concept. Third-party products that may be in use shouldalso be considered. You will find more information about industrial security at IndustrialSecurity (http://www.siemens.com/industrialsecurity)To stay informed about product updates as they occur, sign up for a product-specificnewsletter. You will find more information on this at OCODE pro Modbus RTUConfiguration Manual, 04/2015, A5E33498234002A/RS-AA/0019

Introduction1.2 IT security informationSIMOCODE pro Modbus RTU10Configuration Manual, 04/2015, A5E33498234002A/RS-AA/001

System configuration and commissioning with RTU2.12GeneralSIMOCODE pro devices with Modbus communication have been developed in accordancewith the "MODBUS over serial line specification and implementation guide" (available at(http://www.modbus.org)). You can find the relevant information on establishingModbus RTU communication in this specification. The key points for a Modbus RTUcommunication network ("Multipoint System requirements") listed in the specification applyequally for a communication network with SIMOCODE devices.SIMOCODE pro Modbus RTUConfiguration Manual, 04/2015, A5E33498234002A/RS-AA/00111

System configuration and commissioning with RTU2.2 Modbus RTU connection to the SIMOCODE pro device2.2Modbus RTU connection to the SIMOCODE pro deviceConnecting Modbus RTU to the SIMOCODE pro V Modbus basic unitModbus RTU can be connected to the SIMOCODE pro V basic unit both via the connectingterminals as well as via the sub-D connector. The maximum data transfer rate for bothconnection methods is 57,600 bps.NOTICE9-pin sub-D connectionThe 9-way sub-D connection is an alternative to the A/B terminals!Connecting Modbus RTU to the SIMOCODE pro V Modbus basic unit via the device terminalsTerminal assignment:TerminalModbus signalAD0 or DABD1 or DBSPECommon / shieldingConnecting Modbus RTU to the SIMOCODE pro V Modbus basic unit via the sub-D connectorThe pin assignments of the 9-pin sub-D socket for SIMOCODE pro correspond to theassignments defined for PROFIBUS DP. The sub-D connector has the followingassignments:PinModbus signal8D0 or DA3D1 or DB5Common / shieldingSIMOCODE pro Modbus RTU12Configuration Manual, 04/2015, A5E33498234002A/RS-AA/001

System configuration and commissioning with RTU2.2 Modbus RTU connection to the SIMOCODE pro deviceFigure 2-1Connecting the 9-pin sub-D connector to the SIMOCODE pro V Modbus RTU basic unitFigure 2-2PIN assignments 9-pin sub-D socketSIMATIC Industrial Communication 6ES7972* RS485 connectors can be used to connectModbus RTU to the sub-D interface thanks to the identical pin assignments toPROFIBUS DP (see RS485 bus n/WW/Catalog/Products/9300041?tree CatalogTree)in the Industry Mall).NOTICEUsing the PROFIBUS DP connectorWhen the PROFIBUS DP connector is used, the bus terminator does not conform to theModbus specification.Possible functional constraints resulting from the use of the PROFIBUS DP bus terminatorwith a MODBUS TCP are the user's responsibility.SIMOCODE pro Modbus RTUConfiguration Manual, 04/2015, A5E33498234002A/RS-AA/00113

System configuration and commissioning with RTU2.3 Commissioning with Modbus RTU2.3Commissioning with Modbus RTUCommissioning sequence of the SIMOCODE pro V Modbus basic unitTable 2- 1Commissioning sequence of the SIMOCODE pro V Modbus basic unitStep1DescriptionSwitch on the power supply. In a fault-free state, the "Device" LED should light upgreen.2Connect the PC / PG to the system interface with the PC cable (see the figure below)3Parameterize SIMOCODE pro or check the existing parameterization with a PC onwhich SIMOCODE ES V13 SP1 (or later) is installed.4If automatic baud rate detection is activated, the "Bus" LED flashes green as soon asthe setting selected by the controller is found.When the controller exchanges data with the device, the "Bus" LED lights up green.Figure 2-3Connecting a PC to the SIMOCODE pro V Modbus RTU basic unitSIMOCODE pro Modbus RTU14Configuration Manual, 04/2015, A5E33498234002A/RS-AA/001

System configuration and commissioning with RTU2.3 Commissioning with Modbus RTUSoftware for configuring and commissioningSIMOCODE ES V13 SP1 (or later) is required for full configuring and commissioning.Here, you can choose between: SIMOCODE ES V13 Basic: text-oriented configuration of SIMOCODE SIMOCODE ES V13 Standard: configuration of SIMOCODE using graphicallyinterconnectable function blocks.NoteThe SIMOCODE ES V13 Premium software does not have more functionality thanSIMOCODE ES V13 Standard for SIMOCODE pro Modbus devices, but it can neverthelessbe used for commissioning.The functional principle of SIMOCODE ES software is described in the online help. A"Getting Started" is available on the internet in a multimedia format to help you become morefamiliar with the software in the initial fundamental steps: Getting t.aspx) "Guided Tour" tab.Device addressingAs supplied, the default setting for the device address 126. This must be reassigned whencommissioning the devices.Setting the Modbus RTU address via addressing plugProceed as follows:Table 2- 2Step1Setting the Modbus RTU address via addressing plugDescriptionSet the desired valid address on the DIP switch.The switches are numbered. Addresses from 1 to 247 can be assigned.For example, address 21: Put the "16" "4" "1" switches in the "ON" position.1)2Plug the addressing plug into the system interface. The "Device" LED lights up yellow.3Briefly press the "TEST/RESET" button. The address you set is now stored. The"Device" LED flashes yellow for approx. 3 seconds.4Remove the addressing plug from the system interface.1)NoteLabeling for the address "128"Labeling for the address "128" is not available on the addressing plug, that is, the unlabeledswitch corresponds to the address "128".SIMOCODE pro Modbus RTUConfiguration Manual, 04/2015, A5E33498234002A/RS-AA/00115

System configuration and commissioning with RTU2.3 Commissioning with Modbus RTUSetting of the Modbus RTU address with SIMOCODE ES in the TIA PortalProceed as follows:Table 2- 3Setting the Modbus RTU address with SIMOCODE ESStep1DescriptionPlug the PC cable into the system interface.2Start SIMOCODE ES V13 SP1 (or later version)3Select "Online Connect online" or click the "Connect online" buttonCommunication parametersThe following Modbus communication parameters can be set in the SIMOCODE ES V13software under "Parameter Modbus":Figure 2-4Modbus settingsSIMOCODE pro Modbus RTU16Configuration Manual, 04/2015, A5E33498234002A/RS-AA/001

System configuration and commissioning with RTU2.3 Commissioning with Modbus RTU Baud rate: The baud rate of SIMOCODE pro V Modbus can be set in the range from0.3 - 57.6 kbps. The parameter setting "auto" activates automatic baud rate detection withwhich the device autonomously determines the setting selected by the controller.Automatic baud rate search encompasses baud rates in the range from 4.8 . 57.6 kbps.NoteAutomatic baud rate detectionUse of this function is only possible when the "Watchdog" function is activated.Idle time:Messages begin and end with a transmission break of at least 3.5 characters. Theshortest idle time depends on the baud rate. The following table shows the default values:Bits per second (bps)300Shortest idle time (ms)128600641200322400164800896004192002576002 Baud rate (detected): Information about the detected baud rate, if automatic baud ratedetection (baud rate auto) is set. Modbus address: Setting the Modbus address for the SIMOCODE device. The addresscan be set in the range from 1 - 247. As supplied, the address for SIMOCODE pro Vdevices is set to the default value of 126 Port configuration: The number of stop bits and the selected parity of the Modbusinterface can be set here. The following settings are possible:– 8E1 - 1 stop bit, even parity– 8O1 - 1 stop bit, odd parity– 8N2 - 2 stop bits, no parity– 8N1 - 1 stop bit, no parity Wait time / wait time (default value): The time duration of the pause between a receivedrequest and the reply from SIMOCODE pro can be set with the "Wait time" and "Wait time(default value)" parameters. If the default value of the Modbus specification is to be used,selection of the "Wait time (default value)" parameter is recommended. The "Wait time"parameter is available for free setting. The setting is made in ms. The smallest settablevalue corresponds to the default value of the Modbus specification. If longer wait timesare required, these can be defined using the "Wait time" parameter.SIMOCODE pro Modbus RTUConfiguration Manual, 04/2015, A5E33498234002A/RS-AA/00117

System configuration and commissioning with RTU2.3 Commissioning with Modbus RTU Watchdog / Watchdog time: Monitoring of the bus communication can be activated withthese parameters. This is necessary when automatic baud rate detection is selected, or ifthe SIMOCODE device were to experience a fault if the bus communication fails. If thewatchdog is activated, SIMOCODE monitors whether a valid read or write access to thedevice occurs within the set watchdog time. If this is not the case, SIMOCODE begins anew search for a valid baud rate if automatic rate detection is set. In addition, a "Fault bus" is generated if the "Watchdog Bus monitoring" parameter is also activated.Bus and controller monitoring on ModbusWith the SIMOCODE pro V Modbus basic unit, both the bus communication and thecontroller function can be monitored. The functions "Bus monitoring" and"PLC / PCS monitoring" are available for this purpose.The functionality differs slightly from that described in the SIMOCODE pro PROFIBUSsystem manual. Bus monitoring: With this type of monitoring, the "Fault - bus" fault is generated if– "Bus monitoring" is active– In the "Remote" operating mode (mode selector S1 1 and S2 1), cyclic dataaccess to Modbus registers between the PLC and SIMOCODE pro is interrupted forlonger than the set bus monitoring time, e.g. as the result of an interruption of theModbus connection.– The "Status - bus o. k." can always be evaluated. If SIMOCODE pro is cyclicallyexchanging data with the PLC, "Status - Bus o. k." is set to "1". PLC / PCS monitoring: With this type of monitoring, the "Fault - PLC/PCS" message isgenerated if– "PLC/PCS monitoring" is active– The input "PLC/PCS monitoring - input" switches to logic zero when in the "Remote"operating mode (mode selector S1 1 and S2 1). "PLC/PCS monitoring - input" isconnected preferably with the bit "Cyclic receive - bit 0.7".– The status "PLC/PCS in Run" can always be evaluated. If SIMOCODE pro is in cyclicdata exchange with the PLC, and the input "PLC/PCS monitoring" is set, "PLC/PCS inRun" is set to "1".You can find the further description of the function block "Watchdog" (PLC/PCS monitoring)in the SIMOCODE pro PROFIBUS System ew/en/20017780).SIMOCODE pro Modbus RTU18Configuration Manual, 04/2015, A5E33498234002A/RS-AA/001

System configuration and commissioning with RTU2.4 Configuration information2.4Configuration informationThe following expansion modules are not supported: DM-F PROFIsafe fail-safe digital module (3UF7330-.) Ground-fault module (3UF7500-.).SIMOCODE pro Modbus RTUConfiguration Manual, 04/2015, A5E33498234002A/RS-AA/00119

System configuration and commissioning with RTU2.4 Configuration informationSIMOCODE pro Modbus RTU20Configuration Manual, 04/2015, A5E33498234002A/RS-AA/001

Communication3.1Modbus RTU3.1.1Modbus RTU communication3Modbus RTU (Remote Terminal Unit) is a standard protocol for network communication anduses the electrical RS485 connection for serial data transmission between Modbus devicesin the network.Modbus RTU uses a master/slave network in which the entire communication is triggered byonly one master device while the slaves can only respond to the request of the master. Themaster sends a request to a slave address and only this slave address responds to thecommand (exception: broadcast frames to slave address 0 which are not acknowledged bythe slaves).3.1.2Supported data transfer rates for RTUSIMOCODE pro supports the following data transfer rates in Modbus RTU mode: 300 baud 600 baud 1,200 baud 2,400 baud 4,800 baud 9,600 baud 19,200 baud (default setting) 57,600 baud.SIMOCODE pro Modbus RTUConfiguration Manual, 04/2015, A5E33498234002A/RS-AA/00121

Communication3.1 Modbus RTU3.1.3Assignment of SIMOCODE data to Modbus addressesAll SIRIUS data are available in datasets or in the process image: System datasets Datasets specific to a device subfamily Product-specific datasets.To be addressable via Modbus, the data in these datasets or in this process image areconverted to Modbus data formats.Data access toData type according to Modbus nomenclatureRead-only bitsDiscrete inputsRead/write bitsCoilsRead-only datasets and words (16-bit)Input registersRead/write datasets and wordsHolding registers1 coil corresponds to 1 bit.1 register corresponds to 1 word (2 bytes).3.1.4Modbus data transfer3.1.4.1Principle of Modbus data transferIn contrast to cyclic/acyclic data transfer in the PROFIBUS bus system, the data aretransferred linearly using the Modbus protocol.The master is an automation system (PLC). The slave is a SIMOCODE pro device.The master takes the initiative in the data transfer. SIMOCODE pro works as a slave andsupplies the corresponding feedback signals to the bits/registers called up by the master, orit accepts the bits/registers written by the master into the internal SIMOCODE memory.The master sends requests to one or more slaves. The slave processes the requests of themaster and responds within a certain time with an acknowledgment, or with the requesteddata, or an error code if applicable. The requests contain the function code and additionaldata. The data can only be transferred between the master and a slave. Requests cannot betransferred between slaves. A slave cannot transfer any information, e.g. alarms,autonomously to the master. This always requires continuous polling of the corresponding bitby the master.SIMOCODE pro Modbus RTU22Configuration Manual, 04/2015, A5E33498234002A/RS-AA/001

Communication3.1 Modbus RTU3.1.4.2Options for data transferThe following figure shows the data transfer options:Figure 3-13.1.5Options for data transferframe structureThe data exchan

2.2 Modbus RTU connection to the SIMOCODE pro device SIMOCODE pro Modbus RTU 12 Configuration Manual, 04/2015, A5E33498234002A/RS-AA/001 2.2 Modbus RTU connection to the SIMOCODE pro device Connecting Modbus RTU to the SIMOCODE pro V Modbus basic unit Modbus RTU can be connected to the SIMOCODE pro V basic unit both viathe connectingFile Size: 1MB

Related Documents:

SIMOCODE pro V PN SIMOCODE pro V EIP SIMOCODE pro V PB SIMOCODE pro V MR Current / voltage measuring module Operator panel with display max. 5 / 7 expansion modules Safety Extended control functions (e.g. positioner, pole- changing starter) General Performance SIMOCODE pro V PN GP SIM

SIMOCODE pro V SIMOCODE pro V (PN) SIMOCODE pro S SIMOCODE ES Software Communications. NEMA Control Contactors Non-Combination Starters Combination Starters Reduced Voltage Starters Solid-State and Thermal Overload Relays Pump Controls Lighting and Heating

NP ModBus TCP N System Configuration Example 8 Add a ModBus Master Port and Node Expand the "MB NP Modbus TCP" branch on the I/O Configuration Form by clicking on the . Expand the Modbus TCP by clicking on the . Expand the "ModBus Port NP ModBus TCP Master Port" branch on the I/O Configuration Form by clicking on the . Expand the Nodes branch on the I/O Configuration Toolbox by .

3. System description 5 3.1 Modbus 5 3.2 CIM 200 Modbus RTU 5 3.3 CIM 260 3G/4G cellular Modbus 5 3.4 CIM 500 Modbus TCP 5 4. Specifications 6 4.1 CIM module 6 4.2 CIM 200 Modbus RTU 6 4.3 CIM 260 3G/4G cellular 7 4.4 CIM 500 Modbus TCP 7 5. CIM 200 Modbus RTU setup 8 5.1 Setting the Modbus transmission speed 8 5.2 Setting the stop bits and the .

Modbus/TCP Modbus Master/Slave A Modbus master/slave network provides a protocol for data transfer and programming with a single RTU master and up to 247 slave . The Modbus/TCP KEPServer driver supports Modbus and Mailbox device models. Modbus Device Model. Publication 2711P-UM002B-EN-P - March 2007 Modbus Applications PanelView Plus

User Guide: FAAST XT Fire Alarm Aspiration Sensing Technology Modbus Protocol Schema 10 5 Rev A Modbus Resources 1. Modbus Application Protocol Specification, Version 1.1b3, Modbus Organization, Hopkinton, MA, 2012 2. Modbus over Serial Line Specification and Implementation Guide, Version 1.02, Modbus Organization, Hopkinton, MA, 2006

Modbus(2) AirTF . Modbus(3) RH . Modbus(4) WS_mph . Modbus(5) WindDir . Modbus(6) SlrW . Modbus(7) Rain_in . NextScan . EndProg . Near the end of the program are several lines that copy values from measurements to values within an array. For example, this line copies the air temperature measurement into the second value of an array called .

Albert Woodfox were properly convicted for the 1972 murder of prison guard Brent Miller. Supporters of Wallace and Woodfox, who make up two-thirds of a group known to supporters as the "Angola Three," say that the convictions were at least partly because of the men's involvement with the Black Panther Party. "Under this new governor's office, this new day, we are making sure we right the .