348494936-Modbus-TCP-Training.ppt348494936-Modbus-TCP-Training.ppt
- 1. Modbus and Modbus TCP Modbus and Modbus TCP Client/Server communications protocol designed by Client/Server communications protocol designed by Modicon in 1979 for use with its’ PLCs Modicon in 1979 for use with its’ PLCs Openly published and free of royalties or licensing Openly published and free of royalties or licensing fees fees The most common industrial communications The most common industrial communications protocol in the US protocol in the US Used widely for Building Management Systems Used widely for Building Management Systems Passes raw words of bits without processing them Passes raw words of bits without processing them Originally a serial protocol very similar to RS-485, it Originally a serial protocol very similar to RS-485, it now has a TCP variant now has a TCP variant Also available as Modbus Plus, which is proprietary Also available as Modbus Plus, which is proprietary to Modicon and requires specialized hardware to Modicon and requires specialized hardware
- 2. Modbus and Modbus TCP Modbus and Modbus TCP Basic Modbus protocol does not support floating Basic Modbus protocol does not support floating point or ASCII point or ASCII A MODBUS Request is the message sent on the network by the Client to initiate a transaction A MODBUS Indication is the Request message received on the Server side A MODBUS Response is the Response message sent by the Server A MODBUS Confirmation is the Response Message received on the Client side
- 5. Basic Requirements Basic Requirements The Ethernet physical interface must be present The Modbus TCP firmware for the Ethernet processor must be installed V 1.117 or newer PMAC or V1.941 or newer Turbo PMAC firmware must be installed A user buffer of 256 or more words must have been defined with the DEFINE UBUFFER command I67 must be set to a value greater than 0.
- 6. Modbus TCP Modbus TCP Basic Setup with PEWIN32 Pro2 Basic Setup with PEWIN32 Pro2 -Configure->Modbus Setup -Set the start address - In the standard Turbo PMAC CPU/memory configuration (Option 5C0), this address will be $010700 -The software will automatically set I67 to the correct value The book says it will do so after setting it equal to any number > 0, then SAVE and $$$, but this does not always work -You must choose the size of the buffer – default is 256 words -Press Setup Modbus Buffer button
- 7. Modbus TCP Setup Modbus TCP Setup -Press Update PMAC button – this will SAVE and $$$
- 8. ACC-65ETH ACC-65ETH Set up the IP address of the ACC-65ETH as per the hardware Set up the IP address of the ACC-65ETH as per the hardware reference manual using the web browser and the default reference manual using the web browser and the default address of address of http://192.6.94.50 Go to the Modbus TCP configuration utility in PEWIN32 Pro2 Choose the next unused Active Socket. If you are not using a socket for PMAC interrupts, you may use Socket 1 Choose Modbus Client as the Active Mode Set Timer 1 to 50 (250 ms) Set the Server Address as per that set in the ACC-65ETH Set the Timer to 1 Set the FC Command Description to 23 (read/write multiple words)
- 9. ACC-65ETH ACC-65ETH Set the Modbus Reference Number for the Write to 4 Set the Modbus Reference Number for the Write to 4 Set the Modbus Reference Number for the Read to 0 Set the Modbus Reference Number for the Read to 0 Set the PMAC Reference Number for the Write to 36 Set the PMAC Reference Number for the Write to 36 Set the PMAC Reference Number for the Read to 32 Set the PMAC Reference Number for the Read to 32 Set both Lengths to 4 Set both Lengths to 4 Press the Update Command button, then the Update PMAC Press the Update Command button, then the Update PMAC button button This writes the command shown in the Command text box to This writes the command shown in the Command text box to memory in the PMAC. You can check this by pointing MVARs to memory in the PMAC. You can check this by pointing MVARs to the Modbus Command memory space at the start of the Modbus the Modbus Command memory space at the start of the Modbus Buffer space. Buffer space.
- 11. ACC-65ETH ACC-65ETH Data begins at i67+$80+$10 (PMAC Reference 32=16 words =$10) Assuming i67=$10700: X:$10790,0,16 Digital inputs 0-15 32 Y:$10790,0,16 24Vok input and digital inputs 16-23 33 X:$10791,0,12 ADC Input1 34 Y:$10791,0,12 ADC Input2 35 X:$10792,0,16 Digital Outputs 0-15 36 Y:$10792,0,16 RLY1, RLY2, Digital outputs 16-23 37 X:$10793,0,12 DAC 1 38 Y:$10793,0,12 DAC 2 39
- 12. The PMAC Modbus/TCP-IP configuration & buffer memory format Offset from I67 23 X Memory 0 23 Y Memory 0 0 Sock #0 Mode(upper4 of 8 bits) TBD (16 bits) TBD (8 bits) Client CmdListStrt (8bits) Client CmdListEnd (8bits) 1 IP future IP future Server IP0 Server IP1 Server IP2 Server IP3 2 Future Spare Future Spare 4- 0xB Repeat above for Sockets 1-3 Repeat above for Sockets 1-3 0xC TBD (8 bits) TBD (8 bits) Period Timer 4 (8 bits) Period Timer 3 (8 bits) Period Timer 2 (8 bits) Period Timer 1 (8 bits) 0xD TBD TBD 0xE TBD TBD 0xF TBD TBD 0x1 0 0x6 9 Start of 1st Client Modbus Cmd List Start of 1st Client Modbus Cmd List 0x8 0 Start of 16 bit Client/Server Modbus Buffer Start of 16 bit Client/Server Modbus Buffer
- 13. The PMAC Modbus/TCP-IP configuration & buffer memory format The The Socket Mode Socket Modes ( upper 4 of 8 bits): s ( upper 4 of 8 bits): 0 - Socket NOT ACTIVE 0 - Socket NOT ACTIVE 1 - Server TCP, PMAC ASCII protocol. 1 - Server TCP, PMAC ASCII protocol. – IP Address = 0.0.0.0 IP Address = 0.0.0.0 2 - Server TCP, PMACtoClient Interrupt ASCII string. 2 - Server TCP, PMACtoClient Interrupt ASCII string. IP Address = 0.0.0.0 Only available on IP Address = 0.0.0.0 Only available on Turbo UMACs. Turbo UMACs. 3 - Server Modbus/TCP-IP. IP Address not used. 3 - Server Modbus/TCP-IP. IP Address not used. 4 - Client Modbus/TCP-IP. IP Address of Server. 4 - Client Modbus/TCP-IP. IP Address of Server. The The IP Address 192.6.94.5 IP Address 192.6.94.5 is stored as: is stored as: – IP0=192, IP1=6, IP2=94, IP3=5 IP0=192, IP1=6, IP2=94, IP3=5
- 15. M6704=IP address 192.168.0.50 M6703=first digit=4 for Client M6716=start of FC23 for Socket 1 M6717=end of FC23 for Socket 1 M6710 – M6715 are commands for PMAC ASCII on Socket 0
- 16. Modbus Client Command List Memory Format X:23 - 16 X:15 - 0 Y:23 - 16 Y:15 - 0 Timer (3 bits)/ Function Code (5 bits) Modbus Reference # (16 bits) Count (length) (8 bits) PMAC Reference # (16 bits) $370000040020,$000004040024 $37 = Timer 1, FC 23 $0000 = Modbus Reference Number = 0 $04 = Length = 4 $0020 = PMAC Reference Number = $20 $0004 = Modbus Reference Number = 0 $04 = Length = 4 $0024 = PMAC Reference Number = $20 $00 = no function for FC 23 First Word = Read Data Second Word = Write Data
- 17. Reference Numbers Reference Numbers The PMAC one is the offset into the PMAC The PMAC one is the offset into the PMAC Modbus Server/Client buffer where the Modbus Server/Client buffer where the Modbus data is read from or written to. Modbus data is read from or written to. The Modbus one is sent over Modbus/TCP- The Modbus one is sent over Modbus/TCP- IP with the data. IP with the data. Note the PMAC & Note the PMAC & Modbus reference numbers are actual Modbus reference numbers are actual offsets and do not abide by the standard offsets and do not abide by the standard Modbus reference number where you Modbus reference number where you subtract one from it to get the offset into subtract one from it to get the offset into memory. We start at zero and not one. memory. We start at zero and not one.
- 18. Memory Allocation Memory Allocation PMAC Modbus/TCP Client/Server Buffer Size PMAC Modbus/TCP Client/Server Buffer Size is fixed at is fixed at 128 x 32 bits. 128 x 32 bits. Length for FC23 is fixed in 2 x Modbus Bytes = 16 bits Length for FC23 is fixed in 2 x Modbus Bytes = 16 bits Length for FC2 and FC15 is in bits Length for FC2 and FC15 is in bits Always use all 32 bits of one Modbus memory location for Always use all 32 bits of one Modbus memory location for one type – do not use 16 bits for inputs and 16 for outputs one type – do not use 16 bits for inputs and 16 for outputs
- 19. Wago Modular I/O Wago Modular I/O Setting up a Wago 750-342 Modbus Setting up a Wago 750-342 Modbus TCP module and rack with a 753-512 TCP module and rack with a 753-512 (2 DO), a 753-502 ( 4 DI), 753-4011 (2 DO), a 753-502 ( 4 DI), 753-4011 (2 AO), and a 753-403 (2 AI) (2 AO), and a 753-403 (2 AI) Run BootPServer, and Edit BootPTab Run BootPServer, and Edit BootPTab If using no Proxy server then edit the line that starts with KeinProxy: Wago1NoProxy:ht=1:ha=0030DE00B6DF:ip=192.168.0.52: If using proxy then edit the line that starts with Hamburg: Wago1Proxy:ht=1:ha=0030DE00B6DF:ip=192.168.0.52:T3=0A.01.FE.01: NOTE: IP address of the proxy server is in Hex NOTE: ha parameter must match the MAC address of your 750-342
- 20. Wago Modular I/O Wago Modular I/O When addressing, first of all the more complex modules (modules occupying 1 or more bytes) are taken into account in accordance with their physical order behind the field bus coupler. As such, they occupy the addresses starting with word 0. Following this, the data of the other modules (modules occupying less than 1 byte) follow, grouped into bytes. In accordance with the physical byte-wise order this data is used to fill up the bytes. As soon as a full byte is occupied by the bit-oriented modules, the next byte is automatically started.
- 21. Wago Modular I/O Wago Modular I/O FC23, PMAC refs 40, 44, Modbus ref FC23, PMAC refs 40, 44, Modbus ref 0,4 0,4 Note that Wago documentation Note that Wago documentation starts with 0, not 1 starts with 0, not 1 DO found at i67+$95 DO found at i67+$95 AO found at i67+$94 AO found at i67+$94 DI found at i67+$97 DI found at i67+$97 AI found at i67+$96 AI found at i67+$96
- 22. Wago Modular I/O Wago Modular I/O Data width >= 1 word/channel Analog input modules Analog output modules Input modules for thermal elements Input modules for resistance sensors Pulse width output modules Interface module Up/down counter I/O modules for angle and path measurement
- 23. Wago Modular I/O Wago Modular I/O Data width = 1 Bit / channel Digital input modules Digital output modules Digital output modules with diagnosis (2 Bit / channel) Power supply modules with fuse holder / diagnosis Solid State power relay Relay output modules
- 24. Automation Direct GS Automation Direct GS Series VFD Series VFD Set IP Address using DIP switch Set IP Address using DIP switch Set SW2 and SW3 to RS-485 Set SW2 and SW3 to RS-485 Parameters to set using IE or keypad: Parameters to set using IE or keypad: – P 3.00: 03 (keypad stop ena) 04 P 3.00: 03 (keypad stop ena) 04 (keypad stop disabled) (keypad stop disabled) – P 4.00: 05 (frequency determined by P 4.00: 05 (frequency determined by RS485 interface) RS485 interface) – P 4.04: 01 (states is to enable reverse command from analog P 4.04: 01 (states is to enable reverse command from analog but when = 0 the remote RUN command dead) but when = 0 the remote RUN command dead) – P 9.00: xx (unique communication address 1-254) P 9.00: xx (unique communication address 1-254) – P 9.01: 01 (9600 baud data transmission rate) P 9.01: 01 (9600 baud data transmission rate) – P 9.02: 05 (MODBUS RTU mode - 8 data bits, odd parity, 1 stop P 9.02: 05 (MODBUS RTU mode - 8 data bits, odd parity, 1 stop bit) bit)
- 25. Automation Direct GS Automation Direct GS Series VFD Series VFD download NetEdit3 from Automation Direct at: download NetEdit3 from Automation Direct at: http://www.hosteng.com/SW-Products/NetEdit3.zi http://www.hosteng.com/SW-Products/NetEdit3.zi p p Insure that NWLink IPX/SPX/NetBios compatible Insure that NWLink IPX/SPX/NetBios compatible protocol is loaded on your PC by going to the protocol is loaded on your PC by going to the properties of your Ethernet connection properties of your Ethernet connection Run NetEdit 3 and select TC/PIP as type Run NetEdit 3 and select TC/PIP as type Press the Scan Network Button. If this is the first Press the Scan Network Button. If this is the first time you have talked to this device you will see the time you have talked to this device you will see the address 255.255.255.0. Click on this address and address 255.255.255.0. Click on this address and set to the desired network address. This address set to the desired network address. This address should be in the same range as that of the PMAC. should be in the same range as that of the PMAC. Now you must power the drive down and back up. Now you must power the drive down and back up. If you open NetEdit again you should now see the If you open NetEdit again you should now see the drive type listed in the address. drive type listed in the address.
- 27. Automation Direct GS Automation Direct GS Series VFD Series VFD Connect to the drive using IE to set drive Connect to the drive using IE to set drive parameters parameters Calculating Modbus Reference for the GS- Calculating Modbus Reference for the GS- EDRV EDRV – Take the GS parameter number (for example, Take the GS parameter number (for example, 6.31 is the current error code) 6.31 is the current error code) – Take the digits after the decimal place and Take the digits after the decimal place and convert to hex (for 6.31 this will be $1F) convert to hex (for 6.31 this will be $1F) – Multiply the digit(s) before the decimal by Multiply the digit(s) before the decimal by $100 and add to the results of the previous $100 and add to the results of the previous calculation (for 6.31 this will yield $61f calculation (for 6.31 this will yield $61f – Convert this to decimal ($61f -> 1567) and Convert this to decimal ($61f -> 1567) and this is your Modbus Reference this is your Modbus Reference
- 28. Automation Direct GS Automation Direct GS Series VFD Series VFD Command Data Location Command Type Modbus Reference PMAC Reference Count (leng th) read frequency command M1660 (base+ $80) FC3 2330 1 1 set frequency command - NOTE - divide by 10 to get freq - so 500 = 50.0 m1661 FC16 2330 2 1 read run command m1662 FC3 2331 3 1 set run command m1663 FC16 2331 4 1 read direction command m1664 FC3 2332 5 1 set direction command m1665 FC16 2332 6 1 read current error code m1666 FC3 1567 7 1 read last error code m1667 FC3 1568 8 1
- 29. Automation Direct GS Automation Direct GS Series VFD Series VFD Read/Write Hex Modbus Speed Reference 091AH 42331 Run Command 091BH 42332 Direction 091CH 42333 External Fault 091DH 42334 Fault reset 091EH 42335 Jog 091FH 42336 Status 2101H 48450 Frequency cmd 2102H 48451 Output frequency 2103H 48452 Output current 2104H 48453 DC-bus voltage 2105H 48454 Output voltage 2106H 48455 Motor RPM 2107H 48456 Scale freq (low) 2108H 48457 Scale freq (high) 2109H 48458 % Load 210BH 48460 Firmware Version 2110H 48465 $91a=2330 4 is used as a holder Modbus Reference start with 1, not 0 The correct Modbus Reference for us is 2330, not 2331
- 30. Phoenix FL IL BK Modbus Phoenix FL IL BK Modbus I/O I/O In the demo this is a client at In the demo this is a client at 192.168.2.80 on Socket 3 192.168.2.80 on Socket 3 FC3 with Modbus Ref 0, FC3 with Modbus Ref 0, PMAC Ref 6, Count 1, and PMAC Ref 6, Count 1, and FC6 with Modbus Ref 384, FC6 with Modbus Ref 384, PMAC Ref 24, Count 1 PMAC Ref 24, Count 1 Demo has 16 digital inputs mapped to M839 and Demo has 16 digital inputs mapped to M839 and 16 16 digital outputs mapped to M1 digital outputs mapped to M1 Demo is being set output values by the PMAC, Demo is being set output values by the PMAC, and and the QTERM is reading input values the QTERM is reading input values
- 32. Phoenix FL IL BK Modbus Phoenix FL IL BK Modbus I/O I/O Base configuration at the module Base configuration at the module can be done with IE can be done with IE
- 33. QTerm QTerm Acting as a client in the demo Acting as a client in the demo PLCs running on PMAC interpreting PLCs running on PMAC interpreting command words from the client command words from the client M844 – Feedrate override M844 – Feedrate override M841 – Command Word M841 – Command Word M846 – Rotary Position A M846 – Rotary Position A M847 – Rotary Position B M847 – Rotary Position B
- 34. QTerm QTerm M841 M841 Function Function 1 1 Axis Select Axis Select 2 2 Feedhold Feedhold 4 4 Cycle Start Cycle Start 8 8 Home Home 16 16 Estop Estop 32 32 Program Set Program Set 4096 4096 J+ J+ 8192 8192 J- J- 16384 16384 J= J=
- 35. Exor Uniop Terminal Exor Uniop Terminal Client mode Client mode or Server or Server mode mode Basic HMI Basic HMI with with development development package package
- 36. Exor Uniop Terminal Exor Uniop Terminal
- 37. Exor Uniop Terminal Exor Uniop Terminal
- 38. Modbus TCP Software Modbus TCP Software Control Panel Control Panel Allows command of the PMAC with no Allows command of the PMAC with no code on the PMAC exactly as the DPR code on the PMAC exactly as the DPR Control Panel does Control Panel does I69 enables (firmware 1.942 and up) I69 enables (firmware 1.942 and up) Typically set to $80 to set the start of the Typically set to $80 to set the start of the panel memory space $80 long words panel memory space $80 long words after the start of Modbus memory after the start of Modbus memory Reserves 26 long words Reserves 26 long words
- 39. PMAC/TURBO Firmware Modbus (I69) Memory Map PMAC Address (I69 +) PMAC/ Modbus Ref. # X: Memory Parameter Y: Memory Parameter $0 0/1 Coordinate System Feed Pot Override Enable Motor/Coordinate System Enable $1 2/3 Coordinate 1 System Feed Pot Override Motor/Coordinate System 1 Request $2 4/5 Coordinate 2 System Feed Pot Override Motor/Coordinate System 2 Request $3 6/7 Coordinate 3 System Feed Pot Override Motor/Coordinate System 3 Request $4 8/9 Coordinate 4 System Feed Pot Override Motor/Coordinate System 4 Request $5 10/11 Coordinate 5 System Feed Pot Override Motor/Coordinate System 5 Request $6 12/13 Coordinate 6 System Feed Pot Override Motor/Coordinate System 6 Request $7 14/15 Coordinate 7 System Feed Pot Override Motor/Coordinate System 7 Request $8 16/17 Coordinate 8 System Feed Pot Override Motor/Coordinate System 8 Request $9 18/19 Reserved Reserved $A 20/21 Reserved Reserved $B 22/23 Reserved Reserved $C 24/25 Reserved Reserved $D 26/27 Reserved Reserved $E 28/29 Reserved Reserved $F 30/31 Reserved Reserved
- 40. Bit Format of Control Panel Motor/Coordinate System Enable Word (Y:I69) BIT Control Panel Motor/Coordinate System Enable Mask (Set bit to enable; PMAC clears on taking action) 0 Motor/Coordinate System # 1 + Mtr/CS offset 1 Motor/Coordinate System # 2 + Mtr/CS offset 2 Motor/Coordinate System # 3 + Mtr/CS offset 3 Motor/Coordinate System # 4 + Mtr/CS offset 4 Motor/Coordinate System # 5 + Mtr/ CS offset 5 Motor/Coordinate System # 6 + Mtr/CS offset 6 Motor/Coordinate System # 7 + Mtr/CS offset 7 Motor/Coordinate System # 8 + Mtr/CS offset 15 – 8 Turbo Mtr/CS offset is limited to 31 (PMAC not used)
- 41. Bit Format of Coordinate System (CS) Feed Pot Override Enable Word (X:I69) BIT Set bit to enable Override, clear bit to disable 0 Coordinate System # 1 + CS offset 1 Coordinate System # 2 + CS offset 2 Coordinate System # 3 + CS offset 3 Coordinate System # 4 + CS offset 4 Coordinate System # 5 + CS offset 5 Coordinate System # 6 + CS offset 6 Coordinate System # 7 + CS offset 7 Coordinate System # 8 + CS offset 15 – 8 Turbo CS offset is limited to 8 (PMAC not used)
- 42. Bit Format of Motor/Coordinate System Words (Y:I69+1 to 8) BIT REQUEST (1 = action requested; 0 = no action requested) 0-7 (Reserved for Delta Tau Future Use) 8 Jog-Minus (Motor Only) * 9 Jog-Plus (Motor Only) * 10 Pre-Jog - J= (Motor Only) 11 Start (RUN) (Coord. Sys. Only) 12 Step (STEP/QUIT) (Coord. Sys. Only) 13 Stop (ABORT) (Coord. Sys. Only) 14 Home (Motor Only) 15 Feed Hold (HOLD) (Coord. Sys. Only) * When both Jog-Minus and Jog-Plus are set, motor will stop
- 43. New Features (1.943+, New Features (1.943+, 1.117+) 1.117+) Add eight more direct control bits Add eight more direct control bits commands commands: : B B, , K K, , J:* J:*, , J^* J^*, , J=* J=*, , > >, , < <, and , and ^K ^K Read/Write an Read/Write an ASCII (PMAC Modbus Address ASCII (PMAC Modbus Address 0xF000) 0xF000) Read/Write PMAC In (PMAC Modbus Address Read/Write PMAC In (PMAC Modbus Address 0x1000-0x3FFF) 0x1000-0x3FFF), , Mn (PMAC Modbus Address Mn (PMAC Modbus Address 0x4000-0x7FFF) 0x4000-0x7FFF), , Pn (PMAC Modbus Address Pn (PMAC Modbus Address 0x8000-0xBFFF) 0x8000-0xBFFF) and and Qn Qn (PMAC Modbus (PMAC Modbus Address 0xC000-0xEFFF) Address 0xC000-0xEFFF) using a Modbus 32 using a Modbus 32 bit float data type. bit float data type.
- 44. New Features (1.943+, New Features (1.943+, 1.117+) 1.117+) Read/Write PMAC Qn C.S. # Read/Write PMAC Qn C.S. # (PMAC (PMAC Modbus Address 0xF500) Modbus Address 0xF500) Read & Clear PMAC Modbus Command Read & Clear PMAC Modbus Command Error Status word (PMAC Modbus Error Status word (PMAC Modbus Address 0xF100) Address 0xF100) Read/Write PMAC Modbus Registers Read/Write PMAC Modbus Registers relative to I69 (PMAC Modbus Address relative to I69 (PMAC Modbus Address 0xF200-0xF2FF) 0xF200-0xF2FF) Read/Write PMAC Modbus Coils Read/Write PMAC Modbus Coils relative to relative to I69 I69 (PMAC Modbus Address (PMAC Modbus Address 0xF300-0xF4FF) 0xF300-0xF4FF)
- 45. Gotchas Gotchas With a non-Turbo PMAC do not do power on With a non-Turbo PMAC do not do power on phasing as it turns off background processing long phasing as it turns off background processing long enough for the Ethernet processor to initialize enough for the Ethernet processor to initialize without the main processor initializing the i67 without the main processor initializing the i67 sockets sockets Make sure that server Port 502 is not being blocked Make sure that server Port 502 is not being blocked by firewall software by firewall software Make sure that firewall software is not blocking Make sure that firewall software is not blocking client ports (>1024, exact port dependent on client ports (>1024, exact port dependent on device, but different port for every open client device, but different port for every open client socket socket Server vs Client in 3d party documentation Server vs Client in 3d party documentation Addressing in 3d party documentation Addressing in 3d party documentation