Modbus Plus Slave - ER-Soft

Modbus Plus Slave - ER-Soft
X-gateway Interface Addendum
Modbus Plus Slave
Doc: HMSI-27-261
Rev: 2.00
Connecting DevicesTM
HALMSTAD • CHICAGO • KARLSRUHE • TOKYO • BEIJING • MILANO • MULHOUSE • COVENTRY • PUNE • COPENHAGEN
HMS Industrial Networks
Mailing address: Box 4126, 300 04 Halmstad, Sweden
Visiting address: Stationsgatan 37, Halmstad, Sweden
E-mail: [email protected]
www.hms-networks.com
Important User Information
This document is intended to provide a good understanding of the functionality offered by the Interface described
here.
The reader is expected to be familiar with high level software design, and communication systems in general. The
use of advanced interface-specific functionality may require in-depth knowledge of networking internals and/or
information from the network specifications. In such cases, the persons responsible for the implementation of this
product should either obtain the necessary specifications to gain sufficient knowledge, or alternatively limit the
implementation in such a way that this is not necessary.
Liability
Every care has been taken in the preparation of this manual. Please inform HMS Industrial Networks AB of any
inaccuracies or omissions. The data and illustrations found in this document are not binding. We, HMS Industrial
Networks AB, reserve the right to modify our products in line with our policy of continuous product development.
The information in this document is subject to change without notice and should not be considered as a commitment by HMS Industrial Networks AB. HMS Industrial Networks AB assumes no responsibility for any errors that
may appear in this document.
There are many applications of this product. Those responsible for the use of this device must ensure that all the
necessary steps have been taken to verify that the applications meet all performance and safety requirements including any applicable laws, regulations, codes, and standards.
HMS Industrial Networks AB will under no circumstances assume liability or responsibility for any problems that
may arise as a result from the use of undocumented features, timing, or functional side effects found outside the
documented scope of this product. The effects caused by any direct or indirect use of such aspects of the product
are undefined, and may include e.g. compatibility issues and stability issues.
The examples and illustrations in this document are included solely for illustrative purposes. Because of the many
variables and requirements associated with any particular implementation, HMS Industrial Networks AB cannot
assume responsibility for actual use based on these examples and illustrations.
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Modbus Plus Slave X-Gateway Interface Addendum
Copyright© HMS Industrial Networks AB
Doc: HMSI-27-261, Rev: 2.00
May 2014
Table of Contents
Table of Contents
Preface
About This Manual
How To Use This Manual .................................................................................................................. P-1
Important User Information .............................................................................................................. P-1
Related Documentation ...................................................................................................................... P-1
Revision List.......................................................................................................................................... P-1
Conventions Used in This Manual .................................................................................................... P-2
Support .................................................................................................................................................. P-2
Chapter 1
About the AnyBus-X Modbus Plus Slave Interface
Overview ................................................................................................................................................1-1
Modbus Plus Status LED:s.........................................................................................................1-1
Connectors and Switches................................................................................................................1-1
Chapter 2
Installation and Configuration
Node ID Configuration........................................................................................................................2-1
Source ID Configuration .....................................................................................................................2-1
Chapter 3
Modbus Plus Data Exchange
General....................................................................................................................................................3-1
Supported Modbus Commands......................................................................................................3-1
Incoming & Outgoing Data Definition .........................................................................................3-1
Outgoing Data Exchange (Gateway to Modbus Plus) ....................................................................3-2
Incoming Data Exchange (Modbus Plus to Gateway)....................................................................3-3
Chapter 4
Modbus Error Handling
Appendix A Technical Specification
Modbus Plus Interface Details........................................................................................................... A-1
Modbus Plus Connector Pinout ........................................................................................................A-1
Preface
P. About This Manual
P.1. How To Use This Manual
This document describes the various features of the AnyBus-X Modbus Plus Slave interface, basic network installation procedures and various network specific details. General information and operating instructions for the AnyBus-X Generic Gateway are available in the AnyBus-X Generic Gateway User
Manual.
The reader of this document is expected to be familiar with the Modbus Plus fieldbus system, and communication systems in general. For further information, documentation etc., please www.anybus.com
P.2. Related Documentation
Document
AnyBus-X Generic Gateway User Manual
AnyBus-S MBP Fieldbus Appendix
Author
HMS
HMS
P.3. Revision List
Revision
1.00
1.01
1.02
2.00
Date
2004-04-02
2004-11-11
2010-10-01
May 2014
Author
PeP
PaL
KeL
SDa
Chapter
All
Appendix A
3
All
Description
First release
Updated connector Pinout
Clarified description of data exchange
New hardware and Anybus Configuration Manager
P.4. Conventions Used in This Manual
The following conventions are used throughout this manual:
•
Numbered lists provide sequential steps
•
Bulleted lists provide information, not procedural steps
•
The term ‘AnyBus-X’ is used when referring to the AnyBus-X Generic Gateway
•
The term ‘Slave interface’ is used when referring to the AnyBus-X Modbus Plus Slave interface.
•
The term ‘user manual’ is used when referring to the AnyBus-X Generic Gateway User Manual.
•
Hexadecimal values are written in the format NNNNh, where NNNN is the hexadecimal value.
•
16/32 bit values are generally stored in Motorola (big endian) format unless otherwise stated.
P.5. Support
For contact information and support, please refer to the contact and support pages at:
www.anybus.com/support
X-Gateway Interface Addendum: Modbus Plus Slave
Doc: HMSI-27-261, Rev: 2.00
Chapter 1
1. About the Modbus
Plus Slave Interface
Front View
Top-mounted Modbus Plus
interface
The Modbus Plus Slave interface acts as a host
device. A host device can be read and written to
from another Modbus Plus host device or controller. The Slave interface will not initiate any
point-to-point communication to other nodes,
it will only respond to incoming commands. It
can, however, broadcast Global Data to other
nodes on the network, and extract Global Data
from another node.
Not used
ERROR
ACTIVE
INIT
Gateway
status
Gateway
status
Not used
ERROR
ACTIVE
INIT
1.1. External View
USB Gateway
Config Connector
1.1.1. Modbus Plus Status LED:s
LED
Gateway
Status
ERROR
ACTIVE
INIT
Colour/
Indication
state
Consult the user manual for further
details.
Red
Communication error
Off
Flash every Normal operation
160ms
Flash every Interface is in
1s
MONITOR_OFFLINE
state
2 flashes
Interface is in
MAC_IDLE never-getting-token state
3 flashes
Interface not detecting
any other nodes
4 flashes
Duplicate node ID
detected
Off
Green
Peer interface initialised
Off
-
1.1.2. Connectors and Switches
Bottom-mounted Modbus Plus
interface
Top-mounted Interface
Node ID switch
Source ID switch
Modbus Plus
Connector
5
1
9
6
Gateway Power
Connector
Node ID
Source ID
Bottom-mounted Interface
Modbus Plus
connector
Source ID switch
Node ID switch
USB Gateway config connector
Consult the X-gateway user manual for further
details.
Modbus Plus network connector
See “Modbus Plus Connector Pinout” on
page 11.
X-Gateway Interface Addendum: Modbus Plus Slave
Doc: HMSI-27-261, Rev: 2.00
About the Modbus Plus Slave Interface 1-7
Node ID switches
See “Node ID Configuration” on page 6.
Source ID switches
See “Source ID Configuration” on page 6..
Gateway power connector
Consult the X-gateway user manual for further details.
X-Gateway Interface Addendum: Modbus Plus Slave
Doc: HMSI-27-261, Rev: 2.00
Chapter 2
2. Installation and Configuration
2.1. Node ID Configuration
Each node on a Modbus Plus network must be assigned a unique node ID. Six switches are used to set
the Modbus node ID of the Slave interface in binary form. The switches are read once during startup,
i.e. the gateway must be restarted for any changes to have effect.
Switch 1
ON
ON
ON
...
OFF
OFF
OFF
Switch 2
ON
ON
ON
...
OFF
OFF
OFF
Switch 3
ON
ON
ON
...
OFF
OFF
OFF
Switch 4
ON
ON
ON
...
OFF
OFF
OFF
Switch 5
ON
ON
OFF
...
ON
OFF
OFF
Switch 6
ON
OFF
ON
...
OFF
ON
OFF
Node ID
1
2
3
...
62
63
64
OFF
ON
OFF
ON
ON
OFF
Example:
In this example, the Modbus node ID will be 42.
Note: Depending on if the Slave interface is top or bottom mounted, the orientation of the switches are
different.
2.2. Source ID Configuration
The Slave interface uses a Source ID from 1 to 64 to configure which node it will extract Global Data
from during the token pass.
Six switches are used to set the Modbus node ID of the Slave interface in binary form. The switches are
read once during startup, i.e. the gateway must be restarted for any changes to have effect.
Switch 2
ON
ON
ON
...
OFF
OFF
OFF
Switch 3
ON
ON
ON
...
OFF
OFF
OFF
Switch 4
ON
ON
ON
...
OFF
OFF
OFF
Switch 5
ON
ON
OFF
...
ON
OFF
OFF
Switch 6
ON
OFF
ON
...
OFF
ON
OFF
Example:
Station ID
1
2
3
...
62
63
64
OFF
ON
ON
OFF
ON
OFF
Switch 1
ON
ON
ON
...
OFF
OFF
OFF
In this example, the Modbus source ID will be 24.
Note: Depending on if the Slave interface is top or bottom mounted, the orientation of the switches
will be different.
X-Gateway Interface Addendum: Modbus Plus Slave
Doc: HMSI-27-261, Rev: 2.00
Chapter 3
3. Modbus Plus Data Exchange
3.1. General
The Slave interface can be read/written to by another node on the network. On Modbus Plus, data
from/to the gateway is represented as Global Data and Point-to-Point Data. The origin of the incoming
Global Data is determined by the Source ID switches (see 2-6 “Source ID Configuration” for further
information). Global Data is then exchanged automatically each token pass. The Point-to-Point Data
exchange will be carried out over a longer time interval via specific requests from other nodes.
The amount of data that is represented as Global Data vs. the amount that is represented as Point-toPoint data can be configured via the Gateway Config interface. Global data corresponds to I/O data
and Point-to-Point Data corresponds to parameter data. Note that all accesses on Modbus are wordoriented (16bit), and it is therefore recommended to set the data sizes to even values in order to retain
data consistency.
The Slave Interface can exchange up to 32 words if Global Data (I/O data) and 125 words of Point-toPoint Data (parameter data) in each direction.
3.1.1. Supported Modbus Commands
The Slave interface communicates according to the Modbus Plus protocol. This means that it can communicate with all Modbus Plus nodes that comply with this protocol, but it does not necessarily mean
that all services available in the Modbus Plus protocol specification are supported.
The following Modbus commands are accepted by the Slave interface:
•
Read Holding Registers (0x03)
•
Preset Single Register (0x06)
•
Preset Multiple Registers (0x10)
3.1.2. Incoming & Outgoing Data Definition
As in all communication systems, the terms ‘incoming’ and
‘outgoing’ can be ambiguous, because their meaning depends on which end of the link is being referenced.
Outgoing Data
Due to the bidirectional nature of the Modbus networking
system, Incoming Point-to-Point Data can be both read
and written. Outgoing Data can for natural reasons only be
read.
X-Gateway Interface Addendum: Modbus Plus Slave
Global Data
(from Gateway)
Modbus Plus
In this document, the term ‘Outgoing Data’ symbolizes
data that has been forwarded from another network. The
term ‘Incoming Data’ symbolizes data that should forwarded to another network.
P - P Data
Incoming Data
Global Data
(to Gateway)
P - P Data
Doc: HMSI-27-261, Rev: 2.00
Modbus Plus Data Exchange 3-10
3.2. Outgoing Data Exchange (Gateway to Modbus Plus)
Outgoing data is mapped to Modbus register 40001 and forward. Depending on the type of gateway and
how it has been set up to operate, up to 5 words (registers 40001 to 40005) may be occupied by the Status
Word and the Live List, see below. (For further information about the Status Word and the Live List,
consult the main user manual)
...
Status Word
Glabal Data
(5 words)
Live List (4 words)
40001
40002
...
P-P Data
(4 words)
Data from
gateway (7 words)
40008
40009
...
40012
Example A:
Global Data Size = 8 words (16 bytes)
Point-to-point Data Size = 4 words (8 bytes)
Live List = Enabled
Control & Status Word = Enabled
Live List (8 bytes)
Data from
gateway (11 words)
P-P Data
(7 words)
Global Data (8 words)
Status Word
40001
40002
...
40005
40006
...
...
40012
Example B:
Global Data Size = 5 words (10 bytes)
Point-to-point Data Size = 7 words (14 bytes)
Live List = Disabled
Control & Status Word = Enabled
Outgoing Global Data is broadcasted each bus cycle and can be consumed by any node on the network.
Furthermore, outgoing Global Data and Point-to-Point Data can be read by other nodes using Modbus
command 0x03 (‘Read Holding Registers’). Note however that Modbus command 0x06 (‘Preset Single
Register’) and 0x10 (‘Preset Multiple Registers’) will only work for incoming data, see next page.
Note: The Live List is only available on master-slave gateway versions. Consult the main user manual
for further information.
X-Gateway Interface Addendum: Modbus Plus Slave
Doc: HMSI-27-261, Rev: 2.00
Modbus Plus Data Exchange 3-11
3.3. Incoming Data Exchange (Modbus Plus to Gateway)
Incoming data is mapped to Modbus registers 41025 and forward. Depending on how the gateway is set
to operate, the first word (register 41025) may be occupied by the Control Word, see below. (For more
information about the Control Word, consult the main user manual).
41025
41026
Data to
gateway (11 words)
...
41033
41034
...
Point-to-Point Data
(8 words)
...
P-P Data
(3 words)
Global Data
(9 words)
Control Word
Global Data
(3 words)
Note that depending on how the gateway is configured, the first two bytes consumed by the gateway
may be interpreted as control information (Control Word), see below.
41025
...
Data(8tobytes)
Live List
gateway (11 words)
41027
41028
...
...
41035
41036
Example A:
Global Data Size = 9 words (18 bytes)
Point-to-point Data Size = 3 words (6 bytes)
Control Word = Enabled
Example B:
Global Data Size = 3 words (6 bytes)
Point-to-point Data Size = 8 words (16 bytes)
Control Word = Disabled
The incoming Global Data is extracted automatically each bus cycle from the Source Node specified
using the Source ID switches (see 2-6 “Source ID Configuration”) provided that the specified node supports Global Data transactions. Incoming Global Data can also be read by other nodes using Modbus
command 0x03 (‘Read Holding Registers’).
Incoming Point-to-Point Data can be read by other nodes using Modbus command 0x03 (‘Read Holding Registers’), or written to using commands 0x06 (‘Preset Single Register’) and 0x10 (‘Preset Multiple
Registers’)
Note: The Live List is only available on master-slave gateway versions. Consult the main user manual
for further information.
X-Gateway Interface Addendum: Modbus Plus Slave
Doc: HMSI-27-261, Rev: 2.00
Chapter 4
4. Modbus Error Handling
With the exception of broadcast messages, the Modbus Master expects a normal response upon sending
a Query. If no response is returned (e.g. due to a transmission error), this will eventually trigger a timeout
condition in the Master.
If the Slave interface receives a Query but is for some reason unable to process it (i.e. the Master tries
to access a non-existent Coil or Register), an exception response is returned to inform the Master of the
nature of the error.
The following Exception Responses may be returned by the Slave interface:
Exception Code
01h
02h
03h
06h
Name
Illegal Function
Illegal Data Address
Illegal Data Value
Host Side Busy
X-Gateway Interface Addendum: Modbus Plus Slave
Description
The Query contains an illegal or unsupported function call
The Query contains an illegal data address
The Query contains invalid data
Host side is busy, reissue the command later
Doc: HMSI-27-261, Rev: 2.00
Appendix A
A. Technical Specification
A.1. Modbus Plus Interface Details
•
Transmission media
Modbus Plus one differential line and shield
•
Cable
Shielded copper cable, One Twisted pair
•
Topology
Token Bus Structure, virtual token ring.
•
Galvanically isolated bus electronics
•
Baud rate
1Mbit/s (Modbus Plus standard)
•
Global Data size
32 words in each direction (32 words in and 32 words out)
•
Point-to-point data size
Up to 125 words
•
Supported Modbus Commands
0x03 - “Read Holding Registers”
0x06 - “Preset Single Register”
0x10 - “Preset Multiple Registers”
A.2. Modbus Plus Connector Pinout
Modbus Plus connectivity is provided via a 9 pin female D-sub connector.
#
housing
1
2
3
4
5
6
7
8
9
Signal
Connected to PE
Cable shield
Modbus Plus Line B
Modbus Plus Line A
-
X-Gateway Interface Addendum: Modbus Plus Slave
5
9
Female
1
6
Doc: HMSI-27-261, Rev: 2.00
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