Modbus Rtu Tcp

7/18/2019 Modbus Rtu Tcp

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Confidential / Property of Danfoss Drives A/S

2009-June-22

Flemming Huusmann DD-SP !

Drives Division

Modbus for VLTModbus for VLTFC-seriesFC-series66


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2009-June-22

Flemming Huusmann DD-SP 2

Drives Division

Agenda

"#vervie$#vervie$"od%us ASC&&/'()od%us ASC&&/'()"Frame Stru*tureFrame Stru*ture

"+,*eption *odes+,*eption *odes"Fun*tion *odesFun*tion *odes"CoilsCoils"Holding registersHolding registers"Drive parametersDrive parameters

"'S-.'S-.

od%us '() for FC !00od%us '() for FC !00


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Overview


"#D1)S Proto*ol is a messaging stru*ture *reated %y #D&C##D1)S Proto*ol is a messaging stru*ture *reated %y #D&C#

*ompany to *onne*t P3C to programming tools4*ompany to *onne*t P3C to programming tools4

"&t is no$ $idely used to esta%lis5 master-slave *ommuni*ation %et$een&t is no$ $idely used to esta%lis5 master-slave *ommuni*ation %et$een

intelligent devi*es4intelligent devi*es4

"MODBUS is independen of !e p!"si#a$ $a"er%MODBUS is independen of !e p!"si#a$ $a"er%

"&t *an %e implemented using 'S226 'S226 or 'S. or over a variety&t *an %e implemented using 'S226 'S226 or 'S. or over a variety

of media 7e4g4 fi%re6 radio6 *ellular6 et*44484of media 7e4g4 fi%re6 radio6 *ellular6 et*44484


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MODBUS is independen of !e p!"si#a$ $a"er&


od%us Appli*ation 3ayerod%us Appli*ation 3ayer

#t5er#t5er

#t5er#t5er

od%us/HD3Cod%us/HD3C

'S-.'S-.

aster/Slaveaster/Slave

'S-./'S-22'S-./'S-22

+t5ernet &&+t5ernet &&

.024.024

+t5ernet+t5ernetp5ysi*al layerp5ysi*al layer

od%us on (CPod%us on (CP

(CP(CP

&P&P

od%us od%us od%us '()od%us '()


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Modbus ASC'' and Modbus (TU


T!e MODBUS proo#o$ #o)es in * versions &T!e MODBUS proo#o$ #o)es in * versions &

"ASC&& transmission mode:ASC&& transmission mode:

+a*5 eig5t-%it %yte in a message is sent as 2 ASC&& *5ara*ters4+a*5 eig5t-%it %yte in a message is sent as 2 ASC&& *5ara*ters4

"'() transmission mode'() transmission mode

+a*5 eig5t-%it %yte in a message is sent as t$o four-%it 5e,ade*imal *5ara*ters4+a*5 eig5t-%it %yte in a message is sent as t$o four-%it 5e,ade*imal *5ara*ters4

(5e main advantage of t5e '() mode is t5at it a*5ieves 5ig5er t5roug5put4(5e main advantage of t5e '() mode is t5at it a*5ieves 5ig5er t5roug5put4

ASC&& mode allo$s time intervals of up to ! se*ond to o**ur %et$een *5ara*ters $it5outASC&& mode allo$s time intervals of up to ! se*ond to o**ur %et$een *5ara*ters $it5out

*ausing an error 7e4g4 %ar-*ode s*anners84*ausing an error 7e4g4 %ar-*ode s*anners84


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Drives Division

Modbus fra)e sru#ure


(5e od%us frame stru*ture is t5e same for re


7/36Confidential / Property of Danfoss Drives A/S

2009-June-22

Flemming Huusmann DD-SP @

Drives Division

Address fie$d


"alid slave devi*e addresses are in t5e range of 0 444 2@ de*imal4alid slave devi*e addresses are in t5e range of 0 444 2@ de*imal4

"(5e individual slave devi*es are assigned addresses in t5e range of ! 444 2@4(5e individual slave devi*es are assigned addresses in t5e range of ! 444 2@4

"alue 0 is reserved for %road*ast messages 7no response84alue 0 is reserved for %road*ast messages 7no response84

(e+ues&(e+ues&

A master addresses a slave %y pla*ing t5e slave address in t5e address field ofA master addresses a slave %y pla*ing t5e slave address in t5e address field of

t5e message4t5e message4

(esponse&(esponse&

B5en t5e slave sends its response6 it pla*es its o$n address in t5is address fieldB5en t5e slave sends its response6 it pla*es its o$n address in t5is address field

of t5e response to let t5e master >no$ $5i*5 slave is responding4of t5e response to let t5e master >no$ $5i*5 slave is responding4

Address C5e*>sumDataFun*tion



2009-June-22

Flemming Huusmann DD-SP .

Drives Division

Fun#ion Fie$d


"alid *odes are in t5e range of ! -= FF 5e,4alid *odes are in t5e range of ! -= FF 5e,4

(e+ues&(e+ues&

(5e fun*tion *ode field tells t5e slave $5at >ind of a*tion to perform4(5e fun*tion *ode field tells t5e slave $5at >ind of a*tion to perform4

(esponse&(esponse&

For a normal response6 t5e slave simply e*5oes t5e original fun*tion *ode4For a normal response6 t5e slave simply e*5oes t5e original fun*tion *ode4

For an e,*eption response6 t5e slave returns a *ode t5at is e



2009-June-22


Drives Division

Daa Fie$d


(e+ues&(e+ues&

(5e data field *ontains additional information $5i*5 t5e slave must use to ta>e t5e a*tion(5e data field *ontains additional information $5i*5 t5e slave must use to ta>e t5e a*tiondefined %y t5e fun*tion *ode4 (5is *an in*lude items li>e register addresses6 e register addresses6 sumDaaFun*tion



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Flemming Huusmann DD-SP !0

Drives Division

FC , Modbus ./#epion Codes


#ode in

daa fie$d./#epion #ode des#ripion

0,00 (5e parameter num%er does not e,ist

0,0! (5ere is no $rite a**ess to t5e parameter

0,02 (5e data value e,*eeds t5e parameter limits

0,0 (5e su%-inde, in use does not e,ist

0,0 (5e parameter is not of t5e array type

0,0 (5e data type does not mat*5 t5e parameter *alled

0,0; #nly reset

0,0@ ot *5angea%le

0,1 o $rite a**ess

0,!! Data *5ange in t5e parameter *alled is not possi%le in t5e present mode

0,!2 #t5er error0,0 &nvalid data address

0,! &nvalid message lengt5

0,2 &nvalid data lengt5 or value

0, &nvalid fun*tion *ode

0,.2 (5ere is no %us a**ess to t5e parameter *alled

0,. Data *5ange is not possi%le %e*ause fa*tory set-up is sele*ted



2009-June-22

Flemming Huusmann DD-SP !!

Drives Division

C!e#0su) Fie$d


"Modbus (TU uses C(C&Modbus (TU uses C(C&Cy*li*al 'edundan*y C5e*> 72 %yte8Cy*li*al 'edundan*y C5e*> 72 %yte8

"Modbus ASC'' uses L(C&Modbus ASC'' uses L(C& 3ongitudinal 'edundan*y C5e*> 7! %ytes83ongitudinal 'edundan*y C5e*> 7! %ytes8

(e+ues&(e+ues&

(5e *5e*>sum is *al*ulated %y t5e master and sends to t5e slave4(5e *5e*>sum is *al*ulated %y t5e master and sends to t5e slave4

(esponse&(esponse&

(5e *5e*>sum is re-*al*ulated %y t5e slave and *ompared to t5e value sent %y t5e master4(5e *5e*>sum is re-*al*ulated %y t5e slave and *ompared to t5e value sent %y t5e master4

&f a differen*e is dete*ted6 t5e slave $ill not *onstru*t a response to t5e master4&f a differen*e is dete*ted6 t5e slave $ill not *onstru*t a response to t5e master4

Address C!e#0su)DataFun*tion



2009-June-22


Drives Division

Modbus (TU Fra)e e/a)p$e&


Fun*tion *ode ? 05e, : 'ead Holding 'egisters444Fun*tion *ode ? 05e, : 'ead Holding 'egisters444

SlaveAddress

C'C!;First $ordaddress

Fun*tion*ode?0,0

um%er of$ords to read

! %yte ! %yte 2 %ytes 2 %ytes 2 %ytes

'esponse :'esponse :

SlaveAddress

C'C!;um%er of%ytes read

Fun*tion*ode?0,0

alue of t5efirst $ord


alue of t5elast $ord

2 %ytes

Request :Request :



2009-June-22


Drives Division



Fun*tion *ode ? 0;5e, : Brite single 'egisterFun*tion *ode ? 0;5e, : Brite single 'egister

SlaveAddress

C'C!;Bord

addressFun*tion

*ode?0,0;alue of $ord



SlaveAddress

C'C!;Bord addressFun*tion

*ode?0,0;alue of $ord


Request :Request :


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Fun*tion *ode ? !05e, : Brite ultiple 'egistersFun*tion *ode ? !05e, : Brite ultiple 'egisters


Request :Request :

SlaveAddress

C'C!;First $ordaddress

Fun*tion*ode?0,!0

um%er of$ords to $rite


alue of t5efirst $ord

um%er of%ytes

! %yte 2 %ytes

SlaveAddress

C'C!;Fun*tion

*ode?0,!0


First $ordaddress

um%er of$ords to $rite


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Suppored Modbus Fun#ion Codes in FC ,


"(5e Fun*tion Code tells $5at type of od%us telegram it is444(5e Fun*tion Code tells $5at type of od%us telegram it is444

Fun#ion Fun#ion

#ode

'ead *oils ! 5e,

'ead 5olding registers 5e,Brite single *oil 5e,

Brite single register ; 5e,

Diagnosti*s . 5e,

Brite multiple *oils F 5e,

Brite multiple registers !0 5e,

et *omm4 event *ounter 1 5e,

'eport slave &D !! 5e,

'ead Devi*e &dentifi*ation 21 5e,

? ?


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Suppored Modbus Fun#ion Codes


"Fun*tion Code .: Diagnosti*sFun*tion Code .: Diagnosti*s

Fun#ion Fun#ion

#ode

Sub-fun#ion #ode Sub-fun#ion

Diagnosti*s .

! 'estart *ommuni*ation

2 'eturn diagnosti* register

!0 70,A8 Clear *ounters and diagnosti* register

!! 70,18 'eturn %us message *ount

!2 70,C8 'eturn %us *ommuni*ation error *ount

! 70,D8 'eturn %us e,*eption error *ount

! 70,+8 'eturn slave message *ount


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"Fun*tion Code .: Diagnosti*s6 su%-fun*tion 2Fun*tion Code .: Diagnosti*s6 su%-fun*tion 2 Return diagnostics registerReturn diagnostics register

Fun#ion Fun#ion

#ode


Diagnosti*s . 2 'eturn diagnosti* register

Des*ription 3engt5 Data

S1 Fun*tion *ode ! %yte 0,0.

Su%-fun*tion *ode 2 %ytes 0,0002

%ytes Alarm word3S1 %ytes Warning word

"'esponse:'esponse:


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Fun#ion Fun#ion

#ode


Diagnosti*s . !! 'eturn 1us essage Count



Su%-fun*tion *ode 2 %ytes 0,0001

3S1 Data 2 %ytes Par4 .-.0Bus Message Count

"'esponse:'esponse:


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Fun#ion Fun#ion

#ode


Diagnosti*s . !2 'eturn %us *ommuni*ation error *ount

"'esponse:'esponse:



Su%-fun*tion *ode 2 %ytes 0,000C

3S1 Data 2 %ytes Par4 .-.!Bus Error Count


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Fun#ion Fun#ion

#ode


Diagnosti*s . ! 'eturn slave message *ount

"'esponse:'esponse:



Su%-fun*tion *ode 2 %ytes 0,000D

3S1 Data 2 %ytes Par4 .-.Slave Error Message Count


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Fun#ion Fun#ion

#ode


Diagnosti*s . ! 'eturn slave message *ount

"'esponse:'esponse:



Su%-fun*tion *ode 2 %ytes 0,000+

3S1 Data 2 %ytes Par4 .-.2Slave Message Count


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"Fun*tion Code !!5e,:Fun*tion Code !!5e,: Report Slave IDReport Slave ID

Fun*tion 3engt5 DataS1 Fun*tion *ode ! %yte 0,!!

1yte *ount ! %yte !-2!78

Slave &D 0-20 %ytes Slave ID

3S1 'un status &ndi*ators ! %ytes 0x00 or 0xFF

"'esponse:'esponse:

FCParameter

ame

!-0 FC (ype

!-! Po$er se*tion

!-2 oltage

!- SB version

"0,00 if *oil EStopped / 'unning is 0 7*oil no4 80,00 if *oil EStopped / 'unning is 0 7*oil no4 8

"0,FF if *oil EStopped / 'unning is ! 7*oil no4 80,FF if *oil EStopped / 'unning is ! 7*oil no4 8


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"Fun*tion Code 215e,:Fun*tion Code 215e,: Device IdentiicationDevice Identiication


S1 Fun*tion *ode ! %yte 0,21

+& type ! %yte 0,0+

'ead devi*e &D *ode ! %yte ! or 2 or or

Conformity level ! %yte ! or 2 or or .! or .2

ore Follo$s ! %yte 0,00 or 0,FF

e,t #%Ge*t &D ! %yte #%Ge*t &D num%er

um%er of o%Ge*ts ! %yte 0,00 0,0F

!sto%Ge*t &D ! %yte

!sto%Ge*t lengt5 ! %yte

!sto%Ge*t alue !st o%G4 lengt5

444

3S1 444

"'esponse:'esponse:

Devi*e &dent4Devi*e &dent4


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Devi#e 'denifi#aion


FC Parameter ame od%us #%G4 &D od%us des*ription

!-! FC Serial 0,.0 Private o%Ge*t

!-;0 I0 #ption: Slot A 0,.! Private o%Ge*t

!-;! I0 #ption SB: Slot A 0,.2 Private o%Ge*t

!-;2 I0 #pt4 ord4 no4: Slot A 0,. Private o%Ge*t

!-;0 I! #ption: Slot 1 0,. Private o%Ge*t

!-;! I! #ption SB: Slot 1 0,. Private o%Ge*t

!-;2 I! #pt4 ord4 no4: Slot 1 0,.; Private o%Ge*t

!-;0 I2 #ption: Slot C0 0,.@ Private o%Ge*t

!-;! I2 #ption SB: Slot C0 0,.. Private o%Ge*t

!-;2 I2 #pt4 ord4 no4: Slot C0 0,.9 Private o%Ge*t

!-;0 I #ption: Slot C! 0,.A Private o%Ge*t

!-;! I #ption SB: Slot C! 0,.1 Private o%Ge*t

!-;2 I #pt4 ord4 no4: Slot C! 0,.C Private o%Ge*t

!- #ption: Slot D 0,.D Private o%Ge*t


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Coi$s 1sing$e bi2


Coi$ nu)ber Des#ripion Signa$ dire#ion

, 3 ,6 Fre


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:o$ding regisers 1words2


(egiser nu)ber Des#ripion

0000! 0000; 'eserved

0000@ 3ast error *ode from an FC data o%Ge*t interfa*e

0000. 'eserved

00009 Parameter inde,

000!0 00999 000 parameter group 7parameters 00! t5roug5 0998

0!000 0!999 !00 parameter group 7parameters !00 t5roug5 !998

02000 02999 200 parameter group 7parameters 200 t5roug5 2998



M M


0000 &nput data: Fre


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:o$ding regisers 1words2; addressing


"Holding register 0000! is addressed as register 000! in t5e data addressHolding register 0000! is addressed as register 000! in t5e data address

field of t5e message4field of t5e message4

"(5e fun*tion *ode field already spe*ifies a E5olding register operation4(5e fun*tion *ode field already spe*ifies a E5olding register operation4

(5erefore6 t5e ENNNN referen*e is impli*it4(5erefore6 t5e ENNNN referen*e is impli*it4

+,ample: Par 0-0!+,ample: Par 0-0! !anguage"!anguage"

+,ample: Par 20-2!+,ample: Par 20-2! Feed#ac$"Feed#ac$" 71: 2 %it871: 2 %it8

"Holding reg4 000!06 addressed as:Holding reg4 000!06 addressed as: ,,

"Holding reg4 0202!06 addressed as:Holding reg4 0202!06 addressed as: **,**, 75ig575ig5

$ord8$ord8

"Holding reg4 0202!!6 addressed as:Holding reg4 0202!!6 addressed as: **,,**,, 7lo$7lo$

$ord8$ord8


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FC , Fre+uen#" Converer Se-up


(o ena%le od%us '() on t5e FC !006 set t5e follo$ing parameters:(o ena%le od%us '() on t5e FC !006 set t5e follo$ing parameters:


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(S-79 p!"si#s


Maser

S$ave , S$ave *

D,

D

Co))on

9 V

69

69

,*

, nF

,*

, nF

a,imum lengt5 of %usa,imum lengt5 of %us !000 m at !9200 %ps!000 m at !9200 %ps

a,imum num%er of stations 7$it5out repeater8a,imum num%er of stations 7$it5out repeater8 2 7! slaves82 7! slaves8

a,imum lengt5 of tap lin>sa,imum lengt5 of tap lin>s 20 m for one tap lin>20 m for one tap lin>

0 m divided %y t5e num%er of tap lin>s0 m divided %y t5e num%er of tap lin>s

1us polarisation1us polarisation ;0;0 at and *ommon for t5e masterat and *ommon for t5e master

3ine terminator3ine terminator !20!20 - 062Bm in series $it5 !nF !0- 062Bm in series $it5 !nF !0

Common polarityCommon polarity Oes 7Common8 *onne*ted to t5e POes 7Common8 *onne*ted to t5e P


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MCA ,**

od%us (CPod%us (CP

"od%us (CP is t5e oldest &ndustrial +t5ernetod%us (CP is t5e oldest &ndustrial +t5ernet

Proto*olProto*ol

"Bas introdu*ed %y odi*on %a*> in !9994Bas introdu*ed %y odi*on %a*> in !9994

"(5e Proto*ol is $idely used inside:(5e Proto*ol is $idely used inside:"Bater/Baste$ater and inside *ompaniesBater/Baste$ater and inside *ompanies

standardiing t5eir P3C system onstandardiing t5eir P3C system on

odi*on/roup S*5neider P3Csodi*on/roup S*5neider P3Cs


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MCA ,**

od%us (CPod%us (CP

"od%us '() to od%us (CPod%us '() to od%us (CP

"+asy *onne*tion to roup S*5neider P3Cs and leading+asy *onne*tion to roup S*5neider P3Cs and leading

SCADA systemsSCADA systems

"Hig5 performan*e option6 *apa%le of e,e*uteHig5 performan*e option6 *apa%le of e,e*ute

*ommands in mSe* rate*ommands in mSe* rate

"($o +t5ernet ports $it5 %uild in s$it*56 ena%ling line($o +t5ernet ports $it5 %uild in s$it*56 ena%ling line

stru*ture4stru*ture4

"o need for e,pensive s$it*5es6 due to t5e %uild ino need for e,pensive s$it*5es6 due to t5e %uild in

s$it*56s$it*56

"1uild in $e% server6 for easy status from remote PC1uild in $e% server6 for easy status from remote PC

"+-mail notify6 t5at *an send +-mail if Barning/alarm+-mail notify6 t5at *an send +-mail if Barning/alarmo**urso**urs

"'egister mapping e


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(ead=wrie b$o#0 of daa 1


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(ead=wrie b$o#0 of daa 1(egiser > DaaDaaModbus TC


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?an o 0now )ore

od%usod%us

3(3(TT FC !00 3onBor>s:FC !00 3onBor>s:

M%,,%.,%*M%,,%.,%*

$$$4mod%us4org$$$4mod%us4org

Modbus Rtu Tcp

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