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Temperature Controller
SA200
Communication
Instruction Manual
®
RKC INSTRUMENT INC.
IMR01D02-E3
the respective companies.
All Rights Reserved, Copyright 1999, RKC INSTRUMENT INC.
Thank you for purchasing the RKC instrument. In order to achieve maximum performance and ensure proper operation of your new instrument, carefully read all the instructions in this manual. Please place this manual in a convenient location for easy reference.
SYMBOLS
WARNING
: This mark indicates precautions that must be taken if there is danger of electric shock, fire, etc., which could result in loss of life or injury.
CAUTION : This mark indicates that if these precautions and operating procedures are not taken, damage to the instrument may result.
!
: This mark indicates that all precautions should be taken for safe usage.
: This mark indicates important information on installation, handling and operating procedures.
: This mark indicates supplemental information on installation, handling and operating procedures.
: This mark indicates where additional information may be located.
!
WARNING could result in damage to the instrument, equipment or injury to personnel.
shock, fire or damage to instrument and equipment.
fire or damage to instrument and equipment.
explosive gases.
to avoid electric shock.
disassembled by other than factory-approved personnel. Malfunction can occur and warranty is void under these conditions.
IMR01D02-E3 i-1
i-2
CAUTION
! This is a Class A instrument. In a domestic environment, this instrument may cause radio interference, in which case the user may be required to take adequate measures.
! This instrument is protected from electric shock by reinforced insulation. Provide reinforced insulation between the wire for the input signal and the wires for instrument power supply, source of power and loads.
! Be sure to provide an appropriate surge control circuit respectively for the following:
- If input/output or signal lines within the building are longer than 30 meters.
- If input/output or signal lines leave the building, regardless the length.
! This instrument is designed for installation in an enclosed instrumentation panel. All highvoltage connections such as power supply terminals must be enclosed in the instrumentation panel to avoid electric shock by operating personnel.
! All precautions described in this manual should be taken to avoid damage to the instrument or equipment.
! All wiring must be in accordance with local codes and regulations.
! All wiring must be completed before power is turned on to prevent electric shock, instrument failure, or incorrect action.
The power must be turned off before repairing work for input break and output failure including replacement of sensor, contactor or SSR, and all wiring must be completed before power is turned on again.
! To prevent instrument damage or failure, protect the power line and the input/output lines from high currents with a protection device such as fuse, circuit breaker, etc.
! Prevent metal fragments or lead wire scraps from falling inside instrument case to avoid electric shock, fire or malfunction.
! Tighten each terminal screw to the specified torque found in the manual to avoid electric shock, fire or malfunction.
! For proper operation of this instrument, provide adequate ventilation for heat dispensation.
! Do not connect wires to unused terminals as this will interfere with proper operation of the instrument.
! Turn off the power supply before cleaning the instrument.
! Do not use a volatile solvent such as paint thinner to clean the instrument. Deformation or discoloration will occur. Use a soft, dry cloth to remove stains from the instrument.
! To avoid damage to instrument display, do not rub with an abrasive material or push front panel with a hard object.
! Do not connect modular connectors to telephone line.
NOTICE
! This manual assumes that the reader has a fundamental knowledge of the principles of electricity, process control, computer technology and communications.
! The figures, diagrams and numeric values used in this manual are only for purpose of illustration.
! RKC is not responsible for any damage or injury that is caused as a result of using this instrument, instrument failure or indirect damage.
! Periodic maintenance is required for safe and proper operation of this instrument. Some components have a limited service life, or characteristics that change over time.
! Every effort has been made to ensure accuracy of all information contained herein. RKC makes no warranty expressed or implied, with respect to the accuracy of the information. The information in this manual is subject to change without prior notice.
! No portion of this document may be reprinted, modified, copied, transmitted, digitized, stored, processed or retrieved through any mechanical, electronic, optical or other means without prior written approval from RKC.
IMR01D02-E3
CONTENTS
Page
1. SPECIFICATIONS................................................................1
2. WIRING .................................................................................3
3. SETTING ...............................................................................5
3.1 Communication Setting Mode .........................................................................5
3.2 Setting the Communication Parameters..........................................................6
3.3 Device Address/Slave Address Setting ...........................................................7
3.4 Communication Speed Setting........................................................................9
3.5 Data Configuration Setting ............................................................................11
3.6 Interval Time Setting .....................................................................................13
3.7 Communication Requirements ......................................................................14
4. RKC COMMUNICATION PROTOCOL...............................17
4.1 Polling............................................................................................................17
4.1.1 Polling procedures ............................................................................................18
4.1.2 Polling procedure example ...............................................................................21
4.2 Selecting........................................................................................................22
4.2.1 Selecting procedures ........................................................................................22
4.2.2 Selecting procedure example ...........................................................................25
4.3 Communication Identifier List ........................................................................26
5. MODBUS COMMUNICATION PROTOCOL ......................30
5.1 Message Format ...........................................................................................30
5.2 Function Code ...............................................................................................31
5.3 Communication Mode ...................................................................................31
5.4 Slave Response ............................................................................................32
5.5 Calculating CRC-16.......................................................................................33
IMR01D02-E3 i-3
i-4
Page
5.6 Message Format ...........................................................................................35
5.6.1 Reading holding registers [03H]........................................................................35
5.6.2 Preset single resister [06H]...............................................................................36
5.6.3 Diagnostics (loopback test) [08H] .....................................................................37
5.7 Data Configuration ........................................................................................38
5.7.1 Data range........................................................................................................38
5.7.2 Data processing precautions ............................................................................39
5.8 Communication Data List ..............................................................................40
6. INPUT RANGE TABLES ....................................................44
7. TROUBLESHOOTING .......................................................48
8. ASCII 7-BIT CODE TABLE ................................................51
IMR01D02-E3
1. SPECIFICATIONS
SA200 interfaces with the host computer via Modbus or RKC communication protocols. For reference purposes, the Modbus protocol identifies the host computer as master, the SA200 as slave.
The RKC protocol identifies these parts of the control system as the host computer and SA200.
Interface:
Connection method:
Based on RS-485, EIA standard
2-wire system, half-duplex multi-drop connection
Communication distance: 1 km max.
The maximum communication distance will be affected by the surrounding conditions.
Synchronous method: Start/stop synchronous type
Communication speed: 2400 bps, 4800 bps, 9600 bps, 19200 bps
Data bit configuration: Start bit: 1
Data bit: 7 or 8
Parity bit: Without, Odd or Even
Stop bit: 1 or 2
Protocol:
Error control:
Communication code:
ANSI X3.28 subcategory 2.5, A4
Polling/selecting type
Vertical parity (With parity bit selected)
Horizontal parity (BCC check)
ASCII 7-bit code
Termination resistor:
Xon/Xoff control:
Externally connected
None
Maximum connections: 32 instruments maximum including a host computer
Signal logic: RS-485
Signal voltage
V (A) - V (B) ≥ 2 V
V (A) - V (B) ≤ -2 V
Logic
0 (SPACE)
1 (MARK)
Voltage between V (A) and V (B) is the voltage of (A) terminal for the
(B) terminal.
IMR01D02-E3
1
1. SPECIFICATIONS
2
Interface: Based on RS-485, EIA standard
Connection method: 2-wire system, half-duplex multi-drop connection
Communication distance: 1 km max.
The maximum communication distance will be affected by the surrounding conditions.
Synchronous method:
Communication speed:
Data bit configuration:
Start/stop synchronous type
2400 bps, 4800 bps, 9600 bps, 19200 bps (Selectable)
Data bit: 8 (Byte data corresponding to binary data or bit.)
Parity bit: Without, Odd or Even (Selectable)
Stop bit: 1
Modbus Protocol:
Signal transmission mode: Remote Terminal Unit (RTU) mode
Function code: 03H (Read holding registers)
06H (Preset single register)
08H (Diagnostics: loopback test)
Error check method:
Error code:
CRC-16
1: Function code error
2: When written to read only (RO) data, When any address other than
0000H to 001AH is specified, etc.
3: When the data written exceeds the setting range, When the specified number of data items in the query message exceeds the maximum number of data items available
4: Self-diagnostic error response
Termination resistor:
Maximum connections:
Signal logic:
Externally connected
32 instruments maximum including a master
RS-485
Signal voltage
V (A) - V (B) ≥ 2 V
V (A) - V (B) ≤ -2
V
Logic
0 (SPACE)
1 (MARK)
Voltage between V (A) and V (B) is the voltage of (A) terminal for the
(B) terminal.
IMR01D02-E3
2. WIRING
!
WARNING
To prevent electric shock or instrument failure, turn off the power before connecting or disconnecting the instrument and peripheral equipment.
Terminal
No.
10
11
12
Symbol
Signal ground
Send data/Receive data
Send data/Receive data
Signal name
SG
T/R (A)
T/R (B)
SA200
(Slave)
SG
T/R (A)
T/R (B)
$
$
$
SA200
(Slave)
SG
T/R (A)
T/R (B)
* R
31 max.
RS-485
Shielded twisted pair wire
Paired wire
Host computer (Master)
SG
T/R (A)
SD (TXD):Send data
T/R (B)
* R
RD (RXD):Receive data
Send/Receive transfer signal
SD (TXD) and RD (RXD): Negative logic
* R: Termination resistors (Example: 120 Ω 1/2
IMR01D02-E3
3
2. WIRING
A RS-232C/RS-485 converter is required.
Paired wire
SA200
(Slave)
RS-485
SG
T/R (A)
T/R (B)
* R * R
Shielded twisted pair wire
SG
T/R (A)
T/R (B)
RS-232C/RS-485 converter
RS-232C
Host computer
(Master)
* R: Termination resistors (Example: 120 Ω 1/2
When the host computer (master) uses Windows 95/98/NT, use a RS-232C/RS-485 converter with an automatic send/receive transfer function.
Recommended: CD485, CD485/V manufactured by Data Link, Inc. or equivalent.
Device address
(Slave address)
Host computer (Master)
RS-485 or
1 2 3
SA200
(Slaves)
4
Host computer (Master)
RS-232C
RS-232C/RS-485 converter
RS-485
Junction terminal
29 30
SA200
(Slaves)
31
4
IMR01D02-E3
3. SETTING
To establish communication parameters between host computer (master) and SA200 (slave), it is necessary to set the device address (slave address), communication speed, data configuration and interval time on each SA200 (slave) in the communication mode.
3.1 Communication Setting Mode
1. When the power to the SA200 is turned on, the input type, input range and PV/SV display will be automatically displayed in that order.
2. To go to the communication setting mode, you must be in PV/SV display. Press and hold the
SET key and press the <R/S key at the same time to initiate communication settings. The first parameter to be displayed will be the device address (slave address), Add.
PV SV PV SV
SET
SA200
R/S
PV/SV display
AT
OUT1
OUT2
SV2
ALM1
ALM2
AT
OUT1
OUT2
SV2
ALM1
ALM2
SET
SA200
R/S
Device address (Slave address)
Communication setting mode
To return to the PV/SV display, press and hold the SET key and press the <R/S key at the same time.
IMR01D02-E3
5
3. SETTING
3.2 Setting the Communication Parameters
To select parameters in communication setting mode, press the SET key. The parameters are displayed and sequenced in the order of device address (slave address), Add, communication speed,
bPS, data configuration, bIT and interval time set value, InT.
Power ON
Input type and input range display
Display changes automatically
PV/SV display
(Display approx. 4 seconds.)
Press and hold the SET key and press the <R/S key at same time.
Communication setting mode
PV
PV
PV
SV
Device address
(Slave address)
[Add]
Press the SET key.
SV
Communication speed
[bPS]
Press the SET key.
SV
Data configuration
[bIT]
Press the SET key.
PV
Press the SET key.
SV
Interval time set value
[InT]
Press the SET key for 2 seconds.
Parameter setting mode
6
IMR01D02-E3
3. SETTING
3.3 Device Address (Slave Address) Setting
The device address (slave address) must be set before communication can begin. The device address
(slave address) number is set with numbers from 0 to 99.
Symbol Name
Device address
(Slave address)
Setting range
0 to 99
Description
Set the SA200 device address (slave address).
Factory set value
0
Add
If the slave address is set to 0 in Modbus communication, two-way communication cannot be performed.
When the communication parameter is changed, turn the power on and off again or switch from STOP to RUN to refresh and make the new value effective. If neither action is taken, the SA200 will maintain the set value prior to change.
All device address (slave address) settings must be stored by pressing the SET key. If changes are made and the SET key is not pressed within one minute, the display will automatically return to the PV/SV display and the device address (slave address) will return to the value prior to set change.
Example: When setting the device address (slave address) to 15.
1. Go to the communication setting mode so that device address (slave address), Add, is displayed.
See 3.1 Communication Setting Mode (P. 5), 3.2 Select Communication Parameters
(P. 6).
PV SV
AT
OUT1
OUT2
SV2
ALM1
ALM2
SET
SA200
R/S
Device address (Slave address)
Continued on the next page.
IMR01D02-E3 7
3. SETTING
2. Press the UP key to enter 5 at the first digit from the right.
PV SV
AT
OUT1
OUT2
SV2
ALM1
ALM2
SET
SA200
R/S
3. Press the <R/S key to blink the second digit from the right.
PV SV
AT
OUT1
OUT2
SV2
ALM1
ALM2
SET
SA200
R/S
4. Press the UP key to enter 1 at the second digit from the right.
PV SV
AT
OUT1
OUT2
SV2
ALM1
ALM2
SET
SA200
R/S
5. Press the SET key to store the new device address (slave address). The display automatically goes to the next communication parameter, bPS.
8
IMR01D02-E3
3. SETTING
3.4 Communication Speed Setting
The communication speed of 2400 bps, 4800 bps, 9600 bps or 19200 bps is selectable. To select the speed of the bPS setting, press the UP or DOWN key.
Symbol bPS
Name
Communication speed
Setting range
240: 2400 bps
480: 4800 bps
960: 9600 bps
1920: 19200 bps
Description
Select the communication speed
Factory set value
960
Set the same communication speed for both the SA200 (slave) and the host computer
(master).
When the communication parameter is changed, turn the power on and off again or switch from STOP to RUN to refresh and make the new value effective. If neither action is taken, the SA200 will maintain the set value prior to change.
All communication speed settings must be stored by pressing the SET key. If changes are made and the SET key is not pressed within one minute, the display will automatically return to the PV/SV display and the communication speed will return to the value prior to set change.
Example: Setting communication speed 480: 4800 bps.
1. Go to the communication setting mode so that slave address, Add, is displayed. Then, press the
SET key once, so the communication speed symbol, bPS, appears.
See 3.1 Communication Setting Mode (P. 5), 3.2 Select Communication Parameters
(P. 6).
PV SV
AT
OUT1
OUT2
SV2
ALM1
ALM2
SET
SA200
R/S
Communication speed
IMR01D02-E3
Continued on the next page.
9
3. SETTING
2. Press the DOWN key to set 480.
PV
SET
SA200
R/S
SV
AT
OUT1
OUT2
SV2
ALM1
ALM2
3. Press the SET key to store the new communication speed. The display automatically goes to the next communication parameter, bIT.
10
IMR01D02-E3
3. SETTING
3.5 Data Configuration Setting
To select the data configuration setting, press the UP or DOWN key.
Symbol bIT
Name
Data configuration
Setting range
See
Data configuration table.
Description
Select data configuration during communication
Factory set value
8n1
Data configuration table
Setting Data bit
(7n1) 7
(7n2) 7
(8n1)
(8n2)
(8E1)
(8E2)
(7E1)
(7E2)
(7o1)
(7o2)
(8o1)
(8o2)
8
8
8
8
8
8
7
7
7
7
Parity bit
Without
Without
Even
Even
Odd
Odd
Without
Without
Even
Even
Odd
Odd
Stop bit
1
2
1
2
1
2
1
2
1
2
1
2
Setting range of
Modbus
Setting range of
RKC communication
Set the same data configuration for both the SA200 (slave) and the host computer (master).
When the communication parameter is changed, turn the power on and off again or switch from STOP to RUN to refresh and make the new value effective. If neither action is taken, the SA200 will maintain the set value prior to change.
All data configuration settings must be stored by pressing the SET key. If changes are made and the SET key is not pressed within one minute, the display will automatically return to the PV/SV display and the data configuration will return to the value prior to set change.
IMR01D02-E3 11
3. SETTING
The setting procedures are the same as communication speed setting.
1. Go to the communication setting mode so that slave address, Add, is displayed. Press the SET key until the data configuration symbol, bIT, appears.
2. Set the data bit configuration by pressing the UP or DOWN key.
For details on setting procedure, see 3.4 Communication Speed Setting (P. 9).
12
IMR01D02-E3
3. SETTING
3.6 Interval Time Setting
The interval time is set with numbers from 0 to 250 ms. To shift the digit, press the <R/S key. To change the number of the digit, press the UP or DOWN key.
Symbol Name
Interval time set value
Setting range
0 to 250 ms
Description
Set the value to set the interval time
Factory set value
10
InT
When the communication parameter is changed, turn the power on and off again or switch from STOP to RUN to refresh and make the new value effective. If neither action is taken, the SA200 will maintain the set value prior to change.
All interval times must be stored by pressing the SET key. If changes are made and the SET key is not pressed within one minute, the display will automatically return to the PV/SV display and the interval time will return to the value prior to set change.
The setting procedures are the same as device address (slave address) setting.
1. Go to the communication setting mode so that slave address, Add, is displayed. Press the SET key until the interval time symbol, InT, appears.
2. Set the interval time by pressing the UP or DOWN key.
For details on setting procedure, see 3.3 Device Address (Slave Address) Setting (P. 7).
IMR01D02-E3 13
3. SETTING
3.7 Communication Requirements
The SA200 requires the following processing times during data send/receive.
Whether the host computer is using either the polling or selecting procedure for communication, the following processing times are required for SA200 to send data:
-Response wait time after SA200 sends BCC in polling procedure
-Response wait time after SA200 sends ACK or NAK in selecting procedure
RKC communication (Polling procedure)
Procedure details
Response send time after SA200 receives ENQ
Response send time after SA200 receives ACK
Response send time after SA200 receives NAK
Response send time after SA200 sends BCC
MIN
1.6
1.6
1.6
−
Time (ms)
TYP
4.0
−
−
−
MAX
12
10
10
1.0
RKC communication (Selecting procedure)
Procedure details
Response send time after SA200 receives BCC
Response wait time after SA200 sends ACK
Response wait time after SA200 sends NAK
14
Modbus
Procedure details
Read holding registers [03H]
Response transmission time after the slave receives the query message
Preset single register [06H]
Response transmission time after the slave receives the query message
Diagnostics (loopback test) [08H]
Response transmission time after the slave receives the query message
Response send time is time at having set interval time in 0 ms.
MIN
1.6
−
−
Time (ms)
TYP
3.0
−
−
MAX
10
1.0*
1.0*
Time (ms)
13 ms max.
6 ms max.
6 ms max.
IMR01D02-E3
3. SETTING
The sending and receiving of RS-485 communication is conducted through two wires; consequently, the transmission and reception of data requires precise timing. Typical polling and selecting procedures between the host computer and SA200 are described below:
Send data
(Possible/
Impossible)
Possible
Im possible
Host com puter
Sending status
Send data
(Possible/
Impossible)
Possible
E
O
T
Im possible
.....
E
N
Q
(a)
SA200
Sending status
S
T
X
.....
(a): Response send time after SA200 receives ENQ + Interval time
(b): Response send time after SA200 sends BCC
(c): Response send time after SA200 receives ACK + Interval time or
Response send time after SA200 receives NAK + Interval time
B
C
C
(b)
A
C
K or
N
A
K
(c)
Send data
(Possible/
Im possible)
Possible
Im possible
Host com puter
Sending status
Send data
(Possible/
Im possible)
Possible
Im possible
S
T
X
........
B
C
C
(a) (b)
SA200
Sending status
A
C
K or
N
A
K
(a): Response send time after SA200 receives BCC + Interval time
(b): Response wait time after SA200 sends ACK or Response wait time after SA200 sends NAK
IMR01D02-E3
15
3. SETTING
To switch the host computer from transmission to reception, send data must be on line. To check if data is on line, do not use the host computer’s transmission buffer but confirm it by the shift register.
The interval time for the SA200 should be set to provide a time for host computer to finish sending all data including stop bit and to switch the line to receive data. If the interval time between the two is too short, the SA200 may send data before the host computer is ready to receive it. In this case, communication transmission can not be conducted correctly. For a successful communication sequence to occur, the SA200’s interval time must match the specifications of the host computer.
Whether the host computer is using either the polling or selecting procedure for communication, the following processing times are required for SA200 to send data:
-Response wait time after SA200 sends BCC in polling procedure
-Response wait time after SA200 sends ACK or NAK in selecting procedure
A transmission error may occur with the transmission line disconnected, shorted or set to the highimpedance state. In order to prevent the above error, it is recommended that the fail-safe function be provided on the receiver side of the host computer. The fail-safe function can prevent a framing error from its occurrence by making the receiver output stable to the MARK (1) when the transmission line is in the high-impedance state.
16
IMR01D02-E3
4. RKC COMMUNICATION PROTOCOL
The temperature controller SA200 (hereinafter, the controller) uses the polling/selecting method to establish a data link. The basic procedure is followed ANSI X3.28 subcategory 2.5, A4 basic mode data transmission control procedure (Fast selecting is the selecting method used in this controller).
#"The polling/selecting procedures are a centralized control method where the host computer controls the entire process. The host computer initiates all communication so the controller responds according to queries and commands from the host.
#"The code use in communication is 7-bit ASCII code including transmission control characters.
The transmission control characters are EOT (04H), ENQ (05H), ACK (06H), NAK (15H), STX
(02H) and ETX (03H). The figures in the parenthesis indicate the corresponding hexadecimal number.
4.1 Polling
Polling is the action where the host computer requests one of the connected controllers to transmit data. An example of the polling procedure is shown below:
E
O
T
(1)
Host computer send
[Address] [ ID ]
E
N
Q
(2)
Controller send
No response
(5)
S
T
X
E
O
T (4)
[ ID ] [ Data ]
E
T
X
[ BCC ]
(3)
Host computer send
Controller send
No
(8) response
(9)
Indefinite
A
C
(6)
K N
A
(7) K
Time out
E
O
T
Host computer send
E
O
T
(10)
ID: Identifier
IMR01D02-E3
17
4. RKC COMMUNICATION PROTOCOL
4.1.1 Polling procedures
(1) Data link initialization
Host computer sends EOT to the controllers to initiate data link before polling sequence.
(2) Data sent from host computer - Polling sequence
Host computer sends polling sequence with the format shown below:
1.
2.
3.
Example:
ENQ 0 2 M 1 ENQ
Device address
Identifier
1. Device address (2 digits)
The device address specifies the controller to be polled and each controller must have its own unique device address.
See 3.3 Device Address (Slave Address) Setting (P. 7).
2. Identifier (2 digits)
The identifier specifies the type of data that is requested from the controller.
See 4.3 Communication Identifier List (P.26).
3. ENQ
The ENQ is the transmission control character that indicates the end of the polling sequence. The
ENQ must be attached to the end of the identifier. The host computer then must wait for a response from the controller.
(3) Data sent from the controller
If the polling sequence is received correctly, the controller sends data in the following format:
1.
2.
STX Identifier
3.
Data
4.
ETX
5.
BCC
18
IMR01D02-E3
4. RKC COMMUNICATION PROTOCOL
1. STX
STX is the transmission control character which indicates the start of the text transmission
(identifier and data).
2. Identifier (2 digits)
The identifier indicates the type of data (measured value, status and set value) sent to the host computer.
See 4.3 Communication Identifier List (P. 26).
3. Data (6 digits [Expect model code.] )
Data is the information being sent from the controller. It is expressed in decimal ASCII code including a minus sign (-) and a decimal point. No zero suppression is made.
4. ETX
ETX is a transmission control character used to indicate the end of text transmission.
5. BCC
BCC (Block Check Character) detects error using horizontal parity and is calculated by horizontal parity (even number).
Calculation method of BCC: Exclusive OR all data and characters from STX through ETX, not including STX.
Example:
STX M 1 0 0 0 5 0 0 ETX
4DH 31H 30H 30H 30H 35H 30H 30H 03H
BCC
Hexadecimal numbers
BCC = 4DH ⊕ 31H ⊕ 30H ⊕ 30H ⊕ 30H ⊕ 35H ⊕ 30H ⊕ 30H ⊕ 03H = 7AH
Value of BCC becomes 7AH.
(4) EOT sent from the controller (Ending data transmission from the controller)
In the following cases, the controller sends EOT to terminate the data link:
• When the specified identifier is invalid
• When there is an error in the data type
• When all the data has been sent
(5) No response from the controller
The controller will not respond if the polling address is not received correctly. It may be necessary for the host computer to take corrective action such as a time-out.
IMR01D02-E3 19
4. RKC COMMUNICATION PROTOCOL
(6) ACK (Acknowledgment)
An acknowledgment ACK is sent by the host computer when data received is correct. When the controller receives ACK from the host computer, the controller will send any remaining data of the next identifier without additional action from the host computer.
For details of identifier, see 4.3 Communication Identifier List (P. 26).
When host computer determines to terminate the data link, EOT is sent from the host computer.
(7) NAK (Negative acknowledge)
If the host computer does not receive correct data from the controller, it sends a negative acknowledgment NAK to the controller. The controller will re-send the same data when NAK is received. This cycle will go on continuously until either recovery is achieved or the data link is corrected at the host computer.
(8) No response from host computer
When the host computer does not respond within approximately three seconds after the controller sends data, the controller sends EOT to terminate the data link.
(9) Indefinite response from host computer
The controller sends EOT to terminate the data link when the host computer response is indefinite.
(10) EOT (Data link termination)
The host computer sends EOT message when it is necessary to suspend communication with the controller or to terminate the data link due lack of response from the controller.
20
IMR01D02-E3
4. RKC COMMUNICATION PROTOCOL
4.1.2 Polling procedure example
Host computer send
E
O
T
04H
0 1 M 1
30H 31H 4DH 31H
E
N
Q
05H
Polling address
Identifier
Host computer send
A
C
K
06H
S
T
X
M 1 0 0 1 0 .
0
E
T
X
B
C
C
02H 4DH 31H 30H 30H 31H 30H 2EH 30H 03H 60H
Host computer send
S
T
X
A A 0 0 0 0 0 0
E
T
X
B
C
C
02H 41H 41H 30H 30H 30H 30H 30H 30H 03H 03H
E
O
T
04H
Identifier Data
Send data
Controller send
Next send data
Controller send
Host computer send
E
O
T
04H
0 1 M 1
30H 31H 4DH 31H
E
N
Q
05H
Polling address
Identifier
S
T
X
M 1 0 0
Error data
1
02H 4DH 31H 30H 30H 31H
Host computer send
N
A
K
15H
.
0
E
T
X
B
C
C
2EH 30H 03H 60H
Host computer send
S
T
X
M 1 0 0 1 0 .
0
E
T
X
B
C
C
02H 4DH 31H 30H 30H 31H 30H 2EH 30H 03H 60H
A
C
K
06H
Identifier Data
Send data
Controller send
Re-send data
Controller send
IMR01D02-E3 21
4. RKC COMMUNICATION PROTOCOL
4.2 Selecting
Selecting is the action where the host computer requests one of the connected controllers to receive data. An example of the selecting procedure is shown below:
E
O
T
(1)
[Address]
(2)
Host computer send
S
T
X
[ Identifier ] [ Data ]
E
T
X
[ BCC ]
(3)
Controller send
No response
(6)
A
C
K (4)
Host computer send
E
O
T
(7)
N
A
K (5)
4.2.1 Selecting procedures
(1) Data link initialization
Host computer sends EOT to the controllers to initiate data link before selecting sequence.
(2) Sending selecting address from the host computer
Host computer sends selecting address for the selecting sequence.
Device address (2 digits)
The device address specifies the controller to be selected and each controller must have its own unique device address.
See 3.3 Device Address (Slave Address) Setting (P. 7).
22
IMR01D02-E3
4. RKC COMMUNICATION PROTOCOL
(3) Data sent from the host computer
The host computer sends data for the selecting sequence with the following format:
1.
STX Identifier
2.
Data ETX BCC
For the STX, ETX and BCC, see item 4.1 Polling (P. 17).
1. Identifier (2 digits)
The identifier specifies the type of data that is requested from the controller, such as set value.
See 4.3 Communication Identifier List (P. 26).
2. Data (Maximum 6 digits)
Data is the information being sent to the controller. It is expressed in decimal ASCII code including a minus sign (-) and a decimal point (period).
The data that receipt of letter is possible
• Data with numbers below the decimal point omitted or zero suppressed data can be received.
<Example> When data send with -001.5, -01.5, -1.5, -1.50, -1.500 at the time of -1.5, controller can receive a data.
• When the host computer send data with decimal point to item of without decimal point, controller receives a message with the value which cut off below the decimal point.
<Example> When setting range is 0 to 200, controller receives as a following.
Send data
Receive data
0.5
0
100.5
100
• Controller receives value in accordance with decided place after the decimal point. The value below the decided place after the decimal point is cut off.
<Example> When setting range is -10.00 to +10.00, controller receives as a following.
Send data
Receive data
-.5
-0.50
-.058
-0.05
.05
0.05
-0
0.00
The data that receipt of letter is impossible
Controller sends NAK when received a following data.
+
.
-
-.
Plus sign and the data that gained plus sing
Only minus sign (there is no figure)
Only decimal point (period)
Only minus sign and decimal point (period)
IMR01D02-E3 23
4. RKC COMMUNICATION PROTOCOL
(4) ACK (Acknowledgment)
An acknowledgment ACK is sent by the controller when data received is correct. When the host computer receives ACK from the controller, the host computer will send any remaining data. If there is no more data to be sent to controller, the host computer sends EOT to terminate the data link.
(5) NAK (Negative acknowledge)
If the controller does not receive correct data from the host computer, it sends a negative acknowledgment NAK to the host computer. Corrections, such as re-send, must be made at the host computer. The controller will send NAK in the following cases:
• When an error occurs on communication the line (parity, framing error, etc.)
• When a BCC check error occurs
• When the specified identifier is invalid
• When receive data exceeds the setting range
(6) No response from controller
The controller does not respond when it can not receive the selecting address, STX, ETX or BCC.
(7) EOT (Data link termination)
The host computer sends EOT when there is no more data to be sent from the host computer or there is no response from the controller.
24
IMR01D02-E3
4. RKC COMMUNICATION PROTOCOL
4.2.2 Selecting procedure example
Host computer send
E
O
T
04H
0 1
30H 31H
S
T
X
S 1 2 0 0 .
0
E
T
X
B
C
C
02H 53H 31H 32H 30H 30H 2EH 30H 03H 4DH
Selecting address
Identifier Data
Send data
A
C
K
06H
Controller send
Host computer send
S
T
X
P 1 1 .
0
E
T
X
B
C
C
02H 50H 31H 31H 2EH 30H 03H 4DH
Next send data
Host computer send
A
C
K
06H
Controller send
E
O
T
04H
Error data
Host computer send
E
O
T
04H
0
30H
1
31H
S
T
X
S 1 2 1 0 .
0
E
T
X
B
C
C
02H 53H 31H 32H 31H 30H 2EH 30H 03H 4DH
Selecting address
Identifier Data
Send data
N
A
K
15H
Controller send
Host computer send
S
T
X
S 1 2 0 0 .
0
E
T
X
B
C
C
02H 53H 31H 32H 30H 30H 2EH 30H 03H 4DH
Re-send data
A
C
K
06H
Controller send
Host computer send
S
T
X
02H
P 1
50H 31H
……
IMR01D02-E3
25
4. RKC COMMUNICATION PROTOCOL
26
4.3 Communication Identifier List
Communication is not possible when an identifier is specified that the controller can not recognize.
The number of digits for data is 6.
Name Identifier
(Attribute
Data range
RO: Read only, R/W: Read and Write)
Model code ID Display the model code
Measured value (PV) M1 Within input range.
Burnout
Alarm 1 status
B1
AA
0: OFF
0: OFF
1: ON
1: ON
AB 0: OFF
O1 -5.0 to +105.0 %
1: ON Alarm 2 status
Heat-side manipulated output value
Cool-side manipulated output value
Error code 1
O2 -5.0 to +105.0 %
RUN/STOP function
Autotuning
ER 0: No error
Except 0: Error occurs
SR 0: RUN 1: STOP
Self-tuning
Set value (SV)
G1 0: Autotuning OFF
1: Autotuning ON
After AT is completed, setting will automatically change to 0.
G2 0: Self-tuning (ST) OFF
1: Self-tuning (ST) ON
S1 Within input range.
Alarm 1 set value
Alarm 2 set value
A1 Process alarm, SV alarm:
Setting limiter (low limit) to setting limiter (high limit)
A2 Deviation alarm: -span to +span
However, within -1999 to +9999 ° C
[ ° F] or -199.9 to +999.9 ° C [ ° F]
Factory set value
-----
-----
-----
-----
-----
-----
-----
-----
0
0
0
Temperature input: 0 or 0.0
Voltage/curren t inputs: 0.0
Temperature input:
50 or 50.0
Voltage/curren t inputs: 5.0
Attribute
RO
RO
R/W
R/W
R/W
R/W
R/W
R/W
2
3
4
RO
RO
RO
RO
RO
RO
Continued on the next page.
IMR01D02-E3
4. RKC COMMUNICATION PROTOCOL
Name
Control loop break alarm
Control loop break alarm deadband
Heat-side proportional band (P)
Integral time (I)
Derivative time (D)
Anti-reset windup
Heat-side proportioning cycle time
Cool-side proportional band
Overlap/deadband
Identifier
(Attribute
Data range
RO: Read only, R/W: Read and Write)
Factory set value
8.0
Attribute
R/W 5 A5 0.0 to 200.0 minutes
(0.0: OFF)
A6 0 (0.0) to span
However, less than 9999
P1 Temperature input:
0 (0.0) to span or 9999 (999.9) ° C [ ° F]
Voltage/current inputs: 0.1 to span
(0 or 0.0: ON/OFF action)
Cannot be written while the self-tuning
(ST) function is on, only Read is available.
I1 0 to 3600 seconds (0: PD action)
Cannot be written while the self-tuning
(ST) function is on, only Read is available.
D1 0 to 3600 seconds (0: PI action)
Cannot be written while the self-tuning
(ST) function is on, only Read is available.
W1 0 to 100 % of heat-side proportional band (0: Integral action OFF)
Cannot be written while the self-tuning
(ST) function is on, only Read is available.
T0 1 to 100 seconds
Temperature input:
0
30 or 30.0
Voltage/curren t inputs: 3.0
240
60
100
Relay contact output: 20
Voltage pulse output: 2
100
R/W
R/W
R/W
R/W
R/W
R/W
R/W
5
6 P2 1 to 1000 % of heat-side proportional band
V1 -span to +span
However, within -1999 to +9999 ° C
[ ° F] or -199.9 to +999.9 ° C [ ° F]
0 or 0.0
R/W 6
Continued on the next page.
IMR01D02-E3 27
4. RKC COMMUNICATION PROTOCOL
28
Cool-side proportioning cycle time
PV bias
Name Identifier
(Attribute
Data range
T1 1 to 100 seconds
PB -span to +span
F1
LK
However, within -1999 to +9999
[ ° F] or -199.9 to +999.9 °
0 to 100 seconds (0: OFF)
0000 to 0111
C [ °
RO: Read only, R/W: Read and Write)
Factory set value
Attribute
R/W 6
F]
° C
Relay contact output: 20
Voltage pulse output: 2
Temperature input: 0 or 0.0
Voltage/current inputs: 0.0
0
0000
R/W
R/W
R/W
Digital filter
Set data lock function 7
EEPROM storage mode 8
EEPROM storage status 9
EB 0: Backup mode
(Set values are store to the EEPROM)
1: Buffer mode
(No set values are store to the EEPROM)
EM 0: Mismatch
1: Match
0
-----
R/W
RO
1 Any number other than 0 indicates errors (RAM write error, etc.) detected by the controller selfdiagnosis function. Please contact RKC sales office or the agent.
2 If the heat/cool PID control with autotuning (water cooling/air cooling) is selected, or the set value of any one of the heat/cool proportional band, integral time, derivative time and anti-reset windup is set to 0, the attribute becomes RO.
3
4
If no alarm for first alarm or control loop break alarm is selected, the attribute becomes RO.
If no alarm for second alarm is selected, the attribute becomes RO.
5 If control loop break alarm for first alarm is not selected, the attribute becomes RO.
6 If heat/cool PID control with autotuning (water cooling/air cooling) for control type is not selected, the attribute becomes RO.
7 Details of set data lock function:
Set data
0000
0001
0010
0011
0100
0101
0110
0111
Set value (SV)
−
−
−
−
×
×
×
×
Alarm setting
(First alarm, Second alarm)
×
×
×
×
−
−
−
−
Other setting items
×
−
×
−
×
−
×
−
(-) Unsettable-Data locked ( × ) Settable-Data unlocked
The data lock function only prevents setting changes being made from the front keys. Setting changes can still be made through communication transmission.
Continued on the next page.
IMR01D02-E3
4. RKC COMMUNICATION PROTOCOL
8 The non-volatile memory (EEPROM) has limitations on the number of memory rewrite times. If the buffer mode is selected as an EEPROM storage mode, all of the set values changed are not written to the EEPROM and thus a problem of limitations on the number of memory rewrite times can be solved. When the memory is used to frequently change the set value via communication, select the buffer mode.
When selecting any EEPROM storage mode, take notice of the following.
• If power failure occurs while the buffer mode is selected, the set value returns to the value before the storage mode is selected.
• If the buffer mode is changed to the backup mode, all of the set values at that time are stored to the EEPROM. If necessary to backup the final value of each set item, select the backup mode.
• When the power is turned on, the backup mode is always set.
9 The contents of the buffer memory and those of the EEPROM can be checked.
When data is 0: The contents of the buffer memory do not match with those of the EEPROM.
• As data is being written to the EEPROM in backup mode, do not turn the power off. If turned off, no set values are stored.
• If the set value is changed after the backup mode is changed to the buffer mode,
0 is set (mismatch). As the set value changed is not backup, select the backup mode if necessary.
When data is 1: The contents of the buffer memory match with those of the EEPROM.
(Data write to the EEPROM is completed.)
IMR01D02-E3 29
5. MODBUS COMMUNICATION PROTOCOL
The master controls communication between master and slave. A typical message consists of a request (query message) sent from the master followed by an answer (response message) from the slave. When master begins data transmission, a set of data is sent to the slave in a fixed sequence.
When it is received, the slave decodes it, takes the necessary action, and returns data to the master.
5.1 Message Format
The message consists of four parts: slave address, function code, data, and error check code which are always transmitted in the same sequence.
Slave address
Function code
Data
Error check CRC-16
Message format
The slave address is a number from 1 to 99 manually set at the front key panel of the controller.
For details, see 3.3 Device Address (Slave Address) Setting (P. 7).
Although all connected slaves receive the query message sent from the master, only the slave with the slave address coinciding with the query message will accept the message.
The function codes are the instructions set at the master and sent to the slave describing the action to be executed. The function codes are included when the slave responds to the master.
For details, see 5.2 Function Code (P. 31).
The data to execute the function specified by the function code is sent to the slave and corresponding data returned to the master from the slave.
For details, see 5.6 Message Format (P. 35), 5.7 Data Configuration (P. 38) and
5.8 Communication Data List (P. 40).
30
An error checking code (CRC-16: Cyclic Redundancy Check) is used to detect an error in the signal transmission.
For details, see 5.5 Calculating CRC-16 (P.33).
IMR01D02-E3
5. MODBUS COMMUNICATION PROTOCOL
5.2 Function Code
Function code contents
Function code
(Hexadecimal)
03H
06H
08H
Function Contents
Read holding registers
Preset single register
Measured value (PV), alarm status, etc.
Set value (SV), alarm set value, PID constants,
PV bias, etc. (For each word)
Diagnostics (loopback test) Diagnostics (loopback test)
Message length of each function (Unit: byte)
Function code
(Hexadecimal)
Function
03H
06H
08H
Read holding registers
Preset single register
Diagnostics (loopback test)
Query message Response message
Min Max Min Max
8
8
8
8
8
8
7
8
8
255
8
8
5.3 Communication Mode
Signal transmission between the master and slaves is conducted in Remote Terminal Unit (RTU) mode.
RTU mode
Items Contents
Data bit length
Start mark of message
End mark of message
Message length
Data time interval
Error check
8 bit (Binary)
Unused
Unused
See 5.2 Function Code (P. 31)
24 bit’s time or less*
CRC-16 (Cyclic Redundancy Check)
*The data time intervals in one query message from the master must be 24 bit’s time or less. If the data time interval exceeds 24 bit’s time, the slave regards the transmission as ended and because the message format is incomplete, the slave does not respond.
IMR01D02-E3
31
5. MODBUS COMMUNICATION PROTOCOL
32
5.4 Slave Responses
(1) Normal response
• In the response message of the Read Holding Registers, the slave returns the read out data and the number of data items with the same slave address and function code as the query message.
• In the response message of the Preset Single Resister, the slave returns the same message as the query message.
• In the response message of the Diagnostics (loopback test), the slave returns the same message as the query message.
(2) Defective message response
• If the query message from the master is defective, except for transmission error, the slave returns the error response message without any action.
Slave address
Function code
Error code
Error check CRC-16
Error response message
• If the self-diagnostic function of the slave detects an error, the slave will return an error response message to all query messages.
• The function code of each error response message is obtained by adding 80H to the function code of the query message.
Error code
1
2
3
4
Contents
Function code error (Specifying nonexistent function code)
When written to read only (RO) data, When any address other than 0000H to
001AH is specified, etc.
When the data written exceeds the setting range, When the specified number of data items in the query message exceeds the maximum number of data items available
Self-diagnostic error response
(3) No response
The slave ignores the query message and does not respond when:
• The slave address in the query message does not coincide with any slave address settings.
• The CRC code of the master does not coincide with that of the slave.
• Transmission error such as overrun, framing, parity and etc., is found in the query message.
• Data time interval in the query message from the master exceeds 24 bit’s time.
IMR01D02-E3
5. MODBUS COMMUNICATION PROTOCOL
5.5 Calculating CRC-16
The Cyclic Redundancy Check (CRC) is a 2 byte (16-bit) error check code. After constructing the data message, not including start, stop, or parity bit, the master calculates a CRC code and appends this to the end of the message. The slave will calculate a CRC code from the received message, and compare it with the CRC code from the master. If they do not coincide, a communication error has occurred and the slave does not respond.
The CRC code is formed in the following sequence:
1. Load a 16-bit CRC register with FFFFH.
2. Exclusive OR ( ⊕ ) the first byte (8 bits) of the message with the CRC register. Return the result to the CRC register
3. Shift the CRC register 1 bit to the right.
4. If the carry flag is 1, exclusive OR the CRC register with A001 hexadecimal and return the result to the CRC register. If the carry flag is 0, repeat step 3.
5. Repeat step 3 and 4 until there have been 8 shifts.
6. Exclusive OR the next byte (8 bits) of the message with the CRC register..
7. Repeat step 3 through 6 for all bytes of the message (except the CRC).
8. The CRC register contains the 2 byte CRC error code. When they are appended to the message, the low-order byte is appended first, followed by the high-order byte.
IMR01D02-E3 33
5. MODBUS COMMUNICATION PROTOCOL
START
FFFFH → CRC Register
CRC Register ⊕ next byte of the message → CRC Register
0 → n
Shift CRC Register right 1 bit
No
Carry flag is 1
Yes
CRC Register ⊕ A001H → CRC Register n + 1 → n
No
No n > 7
Yes
Is message complete ?
Yes
END
The ⊕ symbol indicates an exclusive OR operation. The symbol for the number of data bits is n.
34
IMR01D02-E3
5. MODBUS COMMUNICATION PROTOCOL
5.6 Message Format
5.6.1 Read holding registers [03H]
The query message specifies the starting register address and quantity of registers to be read.
The contents of the holding registers are entered in the response message as data, divided into two parts: the high-order 8 bits and the low-order 8 bits, arranged in the order of the register numbers.
Example: The contents of the three holding registers from 0000H to 0002H are the read out from slave address 2.
Query message
Slave address
Function code
Starting number
Quantity
CRC-16
High
Low
High
Low
High
Low
02H
03H
00H
00H
00H
03H
05H
F8H
First holding register address
The setting must be between 1 (0001H) and
125 (007DH).
Normal response message
Slave address
Function code
Number of data
First holding register contents
Next holding register contents
Next holding register contents
CRC-16
High
Low
High
Low
High
Low
High
Low
Error response message
Slave address
80H + Function code
Error code
CRC-16 High
Low
02H
03H
06H
00H
00H
00H
00H
00H
63H
75H
ACH
02H
83H
03H
F1H
31H
Number of holding registers × 2
IMR01D02-E3 35
5. MODBUS COMMUNICATION PROTOCOL
5.6.2 Preset single register [06H]
The query message specifies data to be written into the designated holding register. The write data is arranged in the query message with high-order 8 bits first and low-order 8 bits next. Only R/W holding registers can be specified.
Example: Data is written into the holding register 0010H of slave address 1.
Query message
Slave address
Function code
Holding register number
Write data
CRC-16
High
Low
High
Low
High
Low
01H
06H
00H
10H
01H
02H
08H
5EH
Any data within the range
Normal response message
Slave address
Function code
Holding register number
Write data
CRC-16
High
Low
High
Low
High
Low
Error response message
Slave address
80H + Function code
Error code
CRC-16 High
Low
01H
86H
02H
C3H
A1H
01H
06H
00H
10H
01H
02H
08H
5EH
Contents will be the same as query message data.
36
IMR01D02-E3
5. MODBUS COMMUNICATION PROTOCOL
5.6.3 Diagnostics (loopback test) [08H]
The master’s query message will be returned as the response message from the slave. This function checks the communication system between the master and slave.
Example: Loopback test for slave address 1
Query message
Slave address
Function code
Test code
Data
CRC-16
High
Low
High
Low
High
Low
01H
08H
00H
00H
1FH
34H
E9H
ECH
Test code must be set to 00
Any pertinent data
Normal response message
Slave address
Function code
Test code
Data
CRC-16
High
Low
High
Low
High
Low
Error response message
Slave address
80H + Function code
Error code
CRC-16 High
Low
01H
88H
03H
06H
01H
01H
08H
00H
00H
1FH
34H
E9H
ECH
Contents will be the same as query message data.
IMR01D02-E3 37
5. MODBUS COMMUNICATION PROTOCOL
5.7 Data Configuration
5.7.1 Data range
The numeric range of data used in Modbus protocol is 0000H to FFFFH. Only the set value within the setting range is effective.
FFFFH represents -1.
Data processing with decimal points
The Modbus protocol does not recognize data with decimal points during communication.
Control loop break alarm
Example: When the control loop break alarm set value is 8.0 minutes; 8.0 is processed as 80,
80 = 0050H
Control loop break
High 00H alarm Low 50H
Alarm 1 status
Alarm 2 status
Burnout
Autotuning
Self-tuning
Integral time
Derivative time
Anti-reset windup
Heat-side proportioning cycle time
Cool-side proportional band
Cool-side proportional cycle time
Set data lock function
RUN/STOP function
Example: When integral time is 50 seconds; 50 is processed as 50, 50 = 0032H
Integral time High
Low
00H
32H
38
IMR01D02-E3
5. MODBUS COMMUNICATION PROTOCOL
The position of the decimal point changes depending on the input range type because the Modbus protocol does not recognize data with decimal points during communication.
The following data can have one of three decimal point positions:
• No decimal point
• One decimal place
• Two decimal place
For details, see 6. INPUT RANGE TABLES (P. 44).
Measured value (PV)
Set value (SV)
Alarm 1 set value
Alarm 2 set value
Heat-side proportional band
LBA deadband
PV bias
Example: When the temperature set value is -20.0 ° C; -20.0 is processed as -200,
-200 = 0000H - 00C8H = FF38H
Set value (SV) High
Low
FFH
38H
5.7.2 Data processing precautions
• For 03H (read holding register), an error response message is returned when the start address is larger than 1AH.
• For 06H (preset single register), an error message is returned when the write address is larger than
1AH.
• Read data of unused channel and undefined address is 0.
• Any attempt to write to an unused channel is not processed as an error. Data can not be written into an unused channel.
• If data range or address error occurs during data writing, the data written before error is in effect.
IMR01D02-E3 39
5. MODBUS COMMUNICATION PROTOCOL
5.8 Communication Data List
The communication data list summarizes data addresses (holding resister numbers), names, attributes, setting ranges and factory set values.
Address
00H
03H
04H
05H
06H
07H
08H
0BH
0CH
0DH
0EH
Name
(Attribute
Data range
RO: Read only, R/W: Read and Write)
Factory set value
Attribute
Measured value (PV) Within input range.
Alarm 1 status 0: OFF 1: ON
Alarm 2 status
Burnout
Set value (SV)
Alarm 1 set value
Alarm 2 set value
Control loop break alarm
Control loop break alarm deadband
Autotuning
Self-tuning
0: OFF
0: OFF
1: ON
1: ON
Within input range.
-----
-----
-----
-----
Temperature input: 0 or 0.0
Voltage/current inputs: 0
Temperature input:
50 or 50.0
RO
RO
RO
RO
R/W
Process alarm, SV alarm:
Setting limiter (low limit) to setting limiter (high limit)
Deviation alarm: -span to +span
However, within -1999 to +9999 ° C
[ ° F] or -199.9 to +999.9 ° C [ ° F]
0.0 to 200.0 minutes
(0.0: OFF)
0 (0.0) to span
However, less than 9999
0: Autotuning OFF
1: Autotuning ON
After Autotuning is completed, setting will automatically change to
0.
0: Self-tuning (ST) OFF
1: Self-tuning (ST) ON
Voltage/current inputs: 5.0
8.0
0
0
0
R/W
R/W
R/W
R/W
R/W
R/W
Continued on the next page.
1
2
3
4
40
IMR01D02-E3
5. MODBUS COMMUNICATION PROTOCOL
Address
0FH
10H
11H
12H
13H
14H
15H
16H
17H
Name
(Attribute
Data range
RO: Read only, R/W: Read and Write)
Factory set value
Attribute
R/W Heat-side proportional band
(P)
Integral time (I)
Temperature input:
0 (0.0) to span or 9999 (999.9) ° C [ ° F]
Voltage/current inputs:
0.1 to span (0 or 0.0: ON/OFF action)
Cannot be written while the self-tuning
(ST) function is on, only Read is available.
0 to 3600 seconds (0: PD action)
Cannot be written while the self-tuning
(ST) function is on, only Read is available.
Deviation time (D) 0 to 3600 seconds (0: PI action)
Cannot be written while the self-tuning
(ST) function is on, only Read is available.
Anti-reset windup 0 to 100 % of heat-side proportional band (0: Integral action OFF)
Cannot be written while the self-tuning
(ST) function is on, only Read is available.
Heat-side proportioning cycle time
1 to 100 seconds
Temperature input:
30 or 30.0
Voltage/current inputs: 3.0
240
60
100
Relay contact output: 20
Voltage pulse output: 2
100 Cool-side proportional band
1 to 1000 % of heat-side proportional band
Overlap/deadband -span to +span
However, within -1999 to +9999 ° C [ ° F] or -199.9 to +999.9 ° C [ ° F]
1 to 100 seconds Cool-side proportioning cycle time
0 or 0.0
Relay contact output: 20
Voltage pulse output: 2
PV bias -span to +span
However, within -1999 to +9999 ° C [ ° F] or -199.9 to +999.9 ° C [ ° F]
Temperature input: 0 or 0.0
Voltage/current inputs: 0.0
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
5
5
5
Continued on the next page.
IMR01D02-E3
41
5. MODBUS COMMUNICATION PROTOCOL
42
Address
18H
19H
1AH
1BH
1CH
1DH
1EH
Name
(Attribute
Data range
RO: Read only, R/W: Read and Write)
Factory set value
Attribute
0 R/W Set data lock function 6
RUN/STOP function
Digital filter
EEPROM storage mode 7
EEPROM storage status 8
Heat-side manipulated output value
Cool-side manipulated output value
0 to 7
0: RUN 1: STOP
0 to 100 seconds (0: OFF)
0: Backup mode
(Set values are store to the EEPROM)
1: Buffer mode
(No set values are store to the EEPROM)
0: Mismatch
1: Match
-5.0 to +105.0 %
-5.0 to +105.0 %
0
0
0
-----
-----
-----
R/W
R/W
R/W
RO
RO
RO
1 If no alarm for first alarm or control loop break alarm is selected, the attribute becomes RO.
2 If no alarm for second alarm is selected, the attribute becomes RO.
3 If control loop break alarm for first alarm is not selected, the attribute becomes RO.
4 If the heat/cool PID control with autotuning (water cooling/air cooling) is selected, or the set value of any one of the heat/cool proportional band, integral time, derivative time and anti-reset windup is set to 0, the attribute becomes RO.
5 If heat/cool PID control with autotuning (water cooling/air cooling) for control type is not selected, the attribute becomes RO.
6 Details of set data lock function:
Set data
0
1
2
3
4
5
6
7
Set value (SV)
×
×
×
×
−
−
−
−
Alarm setting
(First alarm, Second alarm)
×
×
×
×
−
−
−
−
Other setting items
×
−
×
−
×
−
×
−
(-) Unsettable-Data locked ( × ) Settable-Data unlocked
The data lock function only prevents setting changes being made from the front keys. Setting changes can still be made through communication transmission.
Continued on the next page.
IMR01D02-E3
5. MODBUS COMMUNICATION PROTOCOL
7 The non-volatile memory (EEPROM) has limitations on the number of memory rewrite times. If the buffer mode is selected as an EEPROM storage mode, all of the set values changed are not written to the EEPROM and thus a problem of limitations on the number of memory rewrite times can be solved. When the memory is used to frequently change the set value via communication, select the buffer mode.
When selecting any EEPROM storage mode, take notice of the following.
• If power failure occurs while the buffer mode is selected, the set value returns to the value before the storage mode is selected.
• If the buffer mode is changed to the backup mode, all of the set values at that time are stored to the EEPROM. If necessary to backup the final value of each set item, select the backup mode.
• When the power is turned on, the backup mode is always set.
8 The contents of the buffer memory and those of the EEPROM can be checked.
When data is 0: The contents of the buffer memory do not match with those of the EEPROM.
• As data is being written to the EEPROM in backup mode, do not turn the power off. If turned off, no set values are stored.
• If the set value is changed after the backup mode is changed to the buffer mode,
0 is set (mismatch). As the set value changed is not backup, select the backup mode if necessary.
When data is 1: The contents of the buffer memory match with those of the EEPROM.
(Data write to the EEPROM is completed.)
IMR01D02-E3 43
44
6. INPUT RANGE TABLES
Input Range Table 1
Input type
Thermocouple
K
J
Input range
0 to 200 ° C
0 to 400 ° C
0 to 600 ° C
0 to 800 ° C
0 to 1000 ° C
0 to 1200 ° C
0 to 1372 ° C
-199.9 to 300.0 ° C
0.0 to 400.0 ° C
0.0 to 800.0 ° C
0 to 100 ° C
0 to 300 ° C
0 to 450 ° C
0 to 500 ° C
0.0 to 200.0 ° C
0.0 to 600.0 ° C
-199.9 to 800.0 ° C
0 to 800 ° F
0 to 1600 ° F
0 to 2502 ° F
0.0 to 800.0 ° F
20 to 70 ° F
-199.9 to 999.9 ° F
0 to 200 ° C
0 to 400 ° C
0 to 600 ° C
0 to 800 ° C
0 to 1000 ° C
0 to 1200 ° C
-199.9 to 300.0 ° C
0.0 to 400.0 ° C
0.0 to 800.0 ° C
0 to 450 ° C
0.0 to 200.0 ° C
0.0 to 600.0 ° C
-199.9 to 600.0 ° C
Code
Input Range
K
K
K
K
K
K
K
K
K
K
K
K
K
K
K
K
K
K
K
K
K
K
K
J
J
J
J
J
J
J
J
J
J
J
J
J
14
17
20
29
37
07
08
09
10
13
04
05
06
01
02
03
38
A1
A2
A3
A4
A9
B2
07
08
09
10
22
23
30
04
05
06
01
02
03
Continued on the next page.
IMR01D02-E3
6. INPUT RANGE TABLES
Continued from the previous page.
Input type Input range Code
Input Range
Thermocouple
J
R
S
B
E
0 to 800 ° F
0 to 1600 ° F
0 to 2192 ° F
0 to 400 ° F
0 to 300 ° F
-199.9 to 999.9 ° F
0.0 to 800.0 ° F
0 to 1600 ° C 1
0 to 1769 ° C 1
0 to 1350 ° C 1
0 to 3200 ° F 1
0 to 3216 ° F 1
0 to 1600 ° C 1
0 to 1769 ° C 1
0 to 3200 ° F 1
0 to 3216 ° F 1
400 to 1800 ° C
0 to 1820 ° C 1
800 to 3200 ° F
0 to 3308 ° F 1
0 to 800 ° C
0 to 1000 ° C
0 to 1600 ° F
0 to 1832 ° F
J
J
J
J
J
J
J
R
R
R
R
R
S
S
S
S
B
B
B
B
E
E
E
E
A1
A2
A3
A6
A7
A9
B6
01
02
04
A1
A2
01
02
A1
A2
01
02
A1
A2
01
02
A1
A2
1
2
N
T
0 to 1200 ° C
0 to 1300 ° C
0.0 to 800.0 ° C
0 to 2300 ° F
0 to 2372 ° F
0.0 to 999.9 ° F
-199.9 to +400.0 ° C 2
-199.9 to +100.0 ° C 2
-100.0 to +200.0 ° C
0.0 to 350.0 ° C
-199.9 to +752.0 ° F 2
-100.0 to +200.0 ° F
-100.0 to +400.0 ° F
0.0 to 450.0 ° F
0.0 to 752.0 ° F
N
N
N
N
N
N
T
T
T
T
T
T
T
T
T
01
02
06
A1
A2
A5
01
02
03
04
A1
A2
A3
A4
A5
Accuracy is not guaranteed between 0 to 399 ° C (0 to 751 ° F)
Accuracy is not guaranteed between -199.9 to -100.0 ° C (-199.9 to -148.0 F)
Continued on the next page.
IMR01D02-E3 45
6. INPUT RANGE TABLES
46
Continued from the previous page.
Input type Input range
Thermocouple
RTD
W5Re/W26Re
PL II
U
L
Pt100
0 to 2000 ° C
0 to 2320 ° C
0 to 4000 ° F
0 to 1300 ° C
0 to 1390 ° C
0 to 1200 ° C
0 to 2400 ° F
0 to 2534 ° F
-199.9 to +600.0 ° C *
-199.9 to +100.0 ° C *
0.0 to 400.0 ° C
-199.9 to +999.9 ° F *
-100.0 to +200.0 ° F
0.0 to 999.9 ° F
0 to 400 ° C
0 to 800 ° C
0 to 800 ° F
0 to 1600 ° F
-199.9 to +649.0 ° C
-199.9 to +200.0 ° C
-100.0 to +50.0 ° C
-100.0 to +100.0 ° C
-100.0 to +200.0 ° C
0.0 to 50.0 ° C
0.0 to 100.0 ° C
0.0 to 200.0 ° C
0.0 to 300.0 ° C
0.0 to 500.0 ° C
-199.9 to +999.9 ° F
-199.9 to +400.0 ° F
-199.9 to +200.0 ° F
-100.0 to +100.0 ° F
-100.0 to +300.0 ° F
0.0 to 100.0 ° F
0.0 to 200.0 ° F
0.0 to 400.0 ° F
0.0 to 500.0 ° F
* Accuracy is not guaranteed between -199.9 to -100.0 ° C (-199.9 to -148.0 ° F)
Continued on the next page.
Code
Input Range
U
U
U
U
U
U
L
L
L
L
D
D
D
D
D
D
D
D
D
D
D
D
D
D
D
D
D
D
D
A
A
A
A
A
W
W
W
A1
A2
A3
01
02
03
01
02
A1
A2
A5
A6
A7
A8
A9
10
A1
A2
A3
A4
05
06
07
08
09
01
02
03
04
01
02
A1
01
02
03
A1
A2
IMR01D02-E3
6. INPUT RANGE TABLES
Continued from the previous page.
RTD
Input type
JPt100
Input range
-199.9 to +649.0 ° C
-199.9 to +200.0 ° C
-100.0 to +50.0 ° C
-100.0 to +100.0 ° C
-100.0 to +200.0 ° C
0.0 to 50.0 ° C
0.0 to 100.0 ° C
0.0 to 200.0 ° C
0.0 to 300.0 ° C
0.0 to 500.0 ° C
Code
Input Range
P
P
P
P
P
P
P
P
P
P
Input Range Table 2
Voltage
(V)
Current
(mA)
Input type
0 to 5 V DC
0 to 10 V DC
1 to 5 V DC
0 to 20 mA DC
4 to 20 mA DC
Input range
0. 0 to 100.0 %
4
5
6
7
8
Code
Input Range
01
01
01
01
01
For the current input specification, a resistor of 250 Ω must be connected between the input terminals.
04
05
06
01
02
03
07
08
09
10
IMR01D02-E3 47
7. TROUBLESHOOTING
!
WARNING power before replacing the instrument.
before mounting or removing the instrument.
all the wiring is completed.
instrument.
experience in this type of work.
48
CAUTION
All wiring must be completed before power is turned on to prevent electric shock, instrument failure, or incorrect action.
The power must be turned off before repairing work for input break and output failure including replacement of sensor, contactor or SSR, and all wiring must be completed before power is turned on again.
This section lists some of the main causes and solutions for communication problems.
If you can not solve a problem, please contact RKC sales office or the agent, on confirming the type name and specifications of the product.
Problem
No response
Probable cause
Wrong connection , no connection or disconnection of the communication cable
Breakage, wrong wiring, or imperfect contact of the communication cable
Mismatch of the setting data of communication speed and data bit configuration with those of the host
Wrong address setting
Solution
Confirm the connection method or condition and connect correctly
Confirm the wiring or connector and repair or replace the wrong one
Confirm the settings and set them correctly
Continued on the next page.
IMR01D02-E3
7. TROUBLESHOOTING
Continued from the previous page.
Problem Probable cause
No response
Error in the data format
Transmission line is not set to the receive state after data send (for RS-485)
EOT return The specified identifier is invalid
Error in the data format
NAK return Error occurs on the line (parity bit error, framing error, etc.)
Solution
Reexamine the communication program
Confirm the identifier is correct or that with the correct function is specified.
Otherwise correct it
Reexamine the communication program
Confirm the cause of error, and solve the problem appropriately. (Confirm the transmitting data, and resend data)
BCC error
The data exceeds the setting range
The specified identifier is invalid
Confirm the setting range and transmit correct data
Confirm the identifier is correct or that with the correct function is specified.
Otherwise correct it
IMR01D02-E3 49
7. TROUBLESHOOTING
Problem
No response
Probable cause
Wrong connection , no connection or disconnection of the communication cable
Breakage, wrong wiring, or imperfect contact of the communication cable
Mismatch of the setting data of communication speed and data bit configuration with those of the host
Confirm the connection method or condition and connect correctly
Confirm the wiring or connector and repair or replace the wrong one
Confirm the settings and set them correctly
Solution
Error code
1
Error code
2
Error code
3
Error code
4
Wrong address setting
A transmission error (overrun error, framing error, parity error or CRC-16 error) is found in the query message
The time interval between adjacent data in the query message is too long, exceeding
24 bit’s time
Function cod error
(Specifying nonexistent function code)
When written to read only (RO) data,
When any address other than 0000H to
001AH is specified, etc.
When the data written exceeds the setting range, When the specified number of data items in the query message exceeds the maximum number of data items available
Self-diagnostic error
Re-transmit after time-out occurs or verify communication program
Confirm the function code
Confirm the address of holding register
Confirm the setting data
Turn off the power to the instrument. If the same error occurs when the power is turned back on, please contact RKC sales office or the agent.
50
IMR01D02-E3
8. ASCII 7-BIT CODE TABLE
This table is only for use with RKC communication.
b5 to b7 b4 b3 b2 b1 b7 0 b6 0 b5 0
0
0
0
1
1
0 0 0 0 0 NUL DLE SP
0 0 0 1 1 SOH DC1 !
0 0 1 0 2 STX DC2 ”
0 0 1 1 3 ETX DC3
0 1 0 0 4 EOT DC4
0 1 0 1 5 ENQ NAK %
0 1 1 0 6 ACK SYM &
#
$
0 1 1 1 7 BEL ETB
1 0 0 0 8 BS CAN
1 0 0 1 9 HT EM
1 0 1 0 A LF SUB
)
*
’
(
1 0 1 1 B VT ESC
1 1 0 0 C FF FS
1 1 0 1 D CR
1 1 1 0 E SO
GS
RS .
-
+
,
1 1 1 1 F SI US /
0
1
0
2
9
:
7
8
5
6
3
4
=
>
;
<
0
1
2
?
0
1
1
3
W
X
Y
Z
U
V
S
T
]
^
[
¥
P
Q
R
_
1
0
1
5
J
I
G
H
E
F
C
D
K
L
M
N
@
A
B
O
1
0
0
4 y z w x u v s t
}
˜
|
{ p q r
DEL
1
1
1
7 j i g h e f c d m n k l
‘ a b o
1
1
0
6
IMR01D02-E3
51
MEMO
52
IMR01D02-E3
The first edition: NOV.1999
The Third edition: JUN.2001
RKC INSTRUMENT INC.
HEADQUARTERS: 16-6, KUGAHARA 5-CHOME, OHTA-KU TOKYO 146-8515 JAPAN
PHONE: 03-3751-9799 (+81 3 3751 9799)
E-mail: [email protected]
FAX: 03-3751-8585 (+81 3 3751 8585)
IMR01D02-E3 JUN.2001
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Table of contents
- 7 1. SPECIFICATIONS
- 9 2. WIRING
- 11 3. SETTING
- 11 3.1 Communication Setting Mode
- 12 3.2 Setting the Communication Parameters
- 13 3.3 Device Address/Slave Address Setting
- 15 3.4 Communication Speed Setting
- 17 3.5 Data Configuration Setting
- 19 3.6 Interval Time Setting
- 20 3.7 Communication Requirements
- 23 4. RKC COMMUNICATION PROTOCOL
- 23 4.1 Polling
- 24 4.1.1 Polling procedures
- 27 4.1.2 Polling procedure example
- 28 4.2 Selecting
- 28 4.2.1 Selecting procedures
- 31 4.2.2 Selecting procedure example
- 32 4.3 Communication Identifier List
- 36 5. MODBUS COMMUNICATION PROTOCOL
- 36 5.1 Message Format
- 37 5.2 Function Code
- 37 5.3 Communication Mode
- 38 5.4 Slave Response
- 39 5.5 Calculating CRC
- 41 5.6 Message Format
- 41 5.6.1 Reading holding registers [03H]
- 42 5.6.2 Preset single resister [06H]
- 43 5.6.3 Diagnostics (loopback test) [08H]
- 44 5.7 Data Configuration
- 44 5.7.1 Data range
- 45 5.7.2 Data processing precautions
- 46 5.8 Communication Data List
- 50 6. INPUT RANGE TABLES
- 54 7. TROUBLESHOOTING
- 57 8. ASCII 7-BIT CODE TABLE