Industrial Communication
Chapter 2: Modbus Serial
Modbus Serial Features
Industrial Communication Course with Unity Pro - Modbus Schneider Electric | Industry Business | Training | E. Pauchet V5.0 May 2010
Introduction
Modbus = Modicon Bus (1979)
is an application layer messaging protocol for client/server communication between devices connected on the bus. Independent from the other layers Openly published and royalty-free Relatively easy industrial network to deploy It moves raw bits or words without placing many restrictions on vendors
Various versions
Modbus RTU (Serial), Modbus ASCII, Modbus Ethernet TCP/IP, Modbus Plus (Proprietary of =S=)
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Layers Used in ISO Model
3 Layers used for Modbus Serial
APPLICATION PRESENTATION SESSION TRANSPORT NETWORK DATALINK PHYSICAL Modbus Protocol Not used Not used Not used Not used Master / Slave, Transmission RTU / ASCII RS485, RS422, Fiber Optic, Radio, Cellular,
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Physical Layer
RS485 2 wire RS485 4 wire
Required
Multi-point and point-to-point To integrate into an existing installation without modification Point-to-point mode 15 meter max.
Optional
RS232 Transmission speeds:
Optional
9600 bps and 19200 bps required with 19.2 Kbps by default
Other speeds: 1200, 2400, 4800, 38400, 56 Kbps, 115 Kbps optional
RS485 is the most common physical layer used on Modbus. 32 devices included the master can be connected on the bus.
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Modbus RS485 4 wire installation
Topology: bus type
Master
T R 5V 650 ohms
Slave pair
650 ohms
120 ohms 1 nF
5V
120 ohms 1 nF
Master pair
120 ohms 1 nF
Common PG
T R T R
120 ohms 1 nF
Slave 1
Slave n
Max. number of devices: 32 including master without a repeater Max. length: Main segment: 1,000 m at 19,200 bits/s Drops: 40 m in total (20 m for one tap link)
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Modbus RS485 2 wire installation
Master
T R 5V 650 ohms
Balanced pair
120 ohms 1 nF
Common PG
T R T R
650 ohms
120 ohms 1 nF
Slave 1
Slave n
Max. number of devices: 32 including master without a repeater Max. length: Main segment: 1,000 m at 19,200 bits/s Drops: 40 m in total (20 m for one tap link)
Topology: bus type
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Data Transmission
Method of accessing the medium
Master slave
Transmission method:
Client / Server
Max. useful data size:
120 words
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Unicast Addressing Mode
Address = 1 to 247
Request 5
Funct. Code Request data CRC
Adr 1
Adr 2
Adr 3
Adr 4
Adr 5
Adr n
Response 5
Funct. Code Response data CRC
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Broadcast Addressing Mode
Address = 0
Request 0
Funct. Code Request data CRC
Adr 1
Adr 2
Adr 3
Adr 4
Adr 5
Adr n
No response from slaves Used only with write functions
Industrial Communication Course with Unity Pro - Modbus Schneider Electric | Industry Business | Training | E. Pauchet V5.0 May 2010
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Transmission Modes
ASCII transmission mode
Every data item is encoded in two ASCII characters (7 bits) allows time intervals of up to 1 second to occur between characters without causing an error. Used with Modem / Barcodes
RTU transmission mode
Every data item is encoded in one byte (8 bits) Achieves higher throughput & reliability Used with PLC / SCADA
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Modbus Serial Frame
Modbus PDU
PDU = Protocol Data Unit
Address
Function Code
Data
CRC or LRC
= 0 to 247 Identifies the addressee
= 1 to 127 Action to perform
Additional data depending on the Function Code
Validity check
Two addressing modes:
Unicast Broadcast
Address field = 1 to 247 Address field = 0 (used in write only mode)
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Address Field
Address Function Data Checksum
Valid device addresses : 0 to 247 decimal. Value 0 reserved for broadcast message (no reponse)
Request
A master addresses a slave by placing the slave address in the address field of the message.
Response
When the slave sends its response, it places its own address in this address field of the response to let the master know which slave is responding.
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Function Field
Address Function Data Checksum
Valid codes are in the range of 1 to 255 decimal.
Request
The function code field tells the slave what kind of action to perform.
Response
For a normal response, the slave simply echoes the original function code. For an exception response, the slave returns a code that is equivalent to the original function code with its most significant bit set to a logic 1.
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Data Field
Address Function Data Checksum
Request
The data field contains additional information which the slave must use to take the action defined by the function code. This can include items like register addresses, quantity of items to be handled, etc...
Response
If no error occurs, the data field contains the data requested. If an error occurs, the field contains an exception code that the master. Application used to determine the next action to be taken.
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Checksum Field
Address Function Data Checksum
Modbus RTU uses CRC
Cyclical Redundancy Check (2 bytes)
Modbus ASCII uses LRC
Longitudinal Redundancy Check (1 byte)
Request
The checksum is calculated by the master and sends to the slave.
Response
The checksum is re-calculated by the slave and compared to the value sent by the master. If a difference is detected, the slave will not construct a response to the master.
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Function Codes
Code 01 02 03 04 05 06 07 08 15 16 23 43 (0x01) (0x02) (0x03) (0x04) (0x05) (0x06) (0x07) (0x08) (0x0F) (0x10) (0x17) (0x2B) Function Read n consecutive output bits Read n consecutive input bits Read n consecutive output words Read n consecutive input words Write 1 output bit Write 1 output word Read exception status Access diagnostic counters Write n output bits Write n output words Read/Write n output words Read identification
http://www.modbus.org
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Example of Read Request
Request
1 byte 1 byte 2 bytes 2 bytes 2 bytes
Slave Function Address code = 3
First word address
Number of words to read
CRC16
Response
1 byte 1 byte 2 bytes 2 bytes 2 bytes 2 bytes
Slave Function Address code = 3
Number of bytes read
Value of the first word
Value of the last word
CRC16
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Registers & Index
Registers
Memory variable located in a device Word, Bit, Byte, etc Can be reached thanks to its Index
Inputs Registers: read only (status) Outputs Registers: read / write (commands)
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Programming Modbus with Unity Pro
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1 Platform, 3 Target
3 PLC Targets
M340, Premium, Quantum
Same Philosophy Different Function Blocks
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BMXNOM0200
Safety screw (1) Display block with 4 LEDs: (2)
RUN (green) and ERR (red): Module status SER COM (green): Activity on the serial link (lit) or fault (flashing).
Channel 0 (3a & 3b)
RS 232C connection, marked COM Port 0 RS232 RS 485 connection, marked COM Port 0 RS485
Channel 1 (4)
RS 485 connection, marked COM Port 1 RS485
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BMXNOM0200 Configuration
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Request Programming
Dedicated Function Blocks for M340
ADDM Address Conversion READ_VAR Execute a read request WRITE_VAR Execute a write request DATA_EXCH Execute a user defined request OUT_IN_MBUS Change from Slave to Master mode
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ADDM FB
IN:
String variable: r.m.c.e.MBS
Out
Converted table of words, to be used in the others FB
r.m.c.e.MBS
r = the rack number where the Modbus module is located, m = the slot number of the Modbus module, c = the channel used e = the equipment address (slave address) of the target MBS = used to indicates to use Modbus Serial (optional)
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READ_VAR FB
IN:
ADR: to be linked to the output of the ADDM block. OBJ: defining object to read (in the case of Modbus register: %MW) NUM: starting register to read NB: number of consecutive register to read
OUT
RECP: reception zone of the block, delivering the value read (table of words)
IN/OUT
GEST: table of 4 words to manage the communication block (errors, timeout, length, etc..)
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WRITE_VAR FB
IN:
ADR: to be linked to the output of the ADDM block. OBJ: defining object to read (in the case of Modbus register: %MW) NUM: starting register to read EMIS: source table to write from the PLC
IN/OUT
GEST: table of 4 words to manage the communication block (errors, timeout, length, etc..)
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GEST Variable
Structured Variable
Table of 4 words
Most Significant Byte GEST[1] Exchange number (updated each time the request is executed) Operation report Timeout Length Least Significant Byte Activity bit: 1 = exchange in progress, 0 = exchange terminated. Communication Report
GEST[2] GEST[3] GEST[4]
Industrial Communication Course with Unity Pro - Modbus Schneider Electric | Industry Business | Training | E. Pauchet V5.0 May 2010
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Exercise
Add & Configure Modbus Module (p 2-13) Add a module Configure the channel Set the Modbus Slave Insert the ADDM block Create the READ_VAR request Test the application
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Optimizing Communication
Beware of Communication Buffer Overload Usage of the Activity Bit (GEST[1].X0)
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Optimizing Communication (Example)
Conditioning with the Activity Bit
Avoid buffer overload Ensure that the next block is send when the previous is finished.
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Optimizing Communication (Cont.)
Device Timeout
Mean to know if the Master is lost After a defined time without receiving request, Slave goes to fallback mode
Allo, anybody still there?
Fallback Mode
Mode activated when communication is lost Behaviour to define (start a motor, stop a process, switch off outputs..)
No answers great, lets go party!
Industrial Communication Course with Unity Pro - Modbus Schneider Electric | Industry Business | Training | E. Pauchet V5.0 May 2010
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Exercise
Optimizing the Communication (2-16) Insert the Activity Bit as condition Insert the WRITE_VAR function Test the communication Testing the TimeOut (2-20) Use WRITE_VAR to change the Timeout parameter Test the communication
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Modbus Serial RTU
Main Features Reminder:
Up to 1200m whatever the baud rate value Performance: Depends on the PLC application and how its managed. Up to 32 Slaves Baudrates: 1,2kbit/s... 19,2kbit/s max 240 bytes per telegram No separate ground wire Good error detection (CRC)
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