Section 6 - SIide 1 / 27 P&T - GPS - Training

PhW - 06_TECH_Modbus_en 06/ 2004

Modbus training Modbus training
Part 1 : Reference documents - WEB sites
Part 2 : Definitions
Part 3 : Modbus frame description
Part 4 : Security of transmission
Part 5 : PhysicaI Iayer
Part 6 : Main characteristics resume
Section 6 - SIide 2 / 27 P&T - GPS - Training
PhW - 06_TECH_Modbus_en 06/ 2004
Modbus User guide
Reference : TSX DG MOD *
Detailed description of the Modbus protocol.
X-WAY communication user guide
Reference : TSX DR NET *
This guide gives common characteristics to X-WAY Schneider networks.
Communication appIication specific functions PL7 Micro/Junior/Pro
Reference : TLX DS COM PL7 42 *
Volume 1 : Common communication application
Volume 2 : Modbus bus
Part 1 : Reference documents - WEB sites Part 1 : Reference documents - WEB sites
Schneider documents Schneider documents
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WEB sites WEB sites
Modbus.org :
http://www.modbus.org
Modicon site for Modbus users.
Transparent Factory :
http://www.transparentfactory.com
Schneider Electric site for Transparent Factory users.
Modbus Plus :
http://www.modicon.com/techpubs/toc6.html
Modbus Plus Planning and installation.
Part 1 : Reference documents - WEB sites Part 1 : Reference documents - WEB sites
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Modbus protocoI Modbus protocoI
MODBUS ProtocoI is a messaging structure created by MODCON
company to connect PLC to programming tools.
t is now widely used to establish master-slave communication between
intelligent devices.
MODBUS is independent of the physicaI Iayer.
t can be implemented using RS232, RS422, or RS485 or over a variety
of media (e.g. fiber, radio, cellular, etc...).
Part 2 : Dfinitions Part 2 : Dfinitions
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Modbus SeriaI Iine RS485 Modbus SeriaI Iine RS485
MODBUS SeriaI Iine RS485 is a low cost network using a master/slave
medium access with a transmission speed from 1,200 to 115 Kbits/s.
Application
Presentation
Session
Transport
Network
Link
Physical
7
6
5
4
3
2
1
Master Master - - Slave Slave
Modbus
RS485 RS485
Part 2 : Dfinitions Part 2 : Dfinitions
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Modbus TCP/IP Modbus TCP/IP
MODBUS TCP/IP uses TCP/P and Ethernet 10 Mbit/s or 100
Mbits/s to carry the MODBUS messaging structure.
Application
Preentation
Session
Transport
Network
Link
Physical
7
6
5
4
3
2
1
SMA / SMA /
%RA% J2 ou 82.3 %RA% J2 ou 82.3
Modbus
TCP
IP
Part 2 : Dfinitions Part 2 : Dfinitions
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Modbus PIus Modbus PIus
MODBUS PLUS is a higher speed network 1 Mbit/s token passing derivative
that uses the MODBUS messaging structure.
Application
Presentation
Session
Transport
Network
Link
Physical
7
6
5
4
3
2
1
82.4 %oken passing 82.4 %oken passing
Modbus
RS485 RS485
Part 2 : Dfinitions Part 2 : Dfinitions
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Modbus ASCII and Modbus RTU Modbus ASCII and Modbus RTU
The MODBUS protocol comes in 2 versions :
ASC transmission mode
Each eight-bit byte in a message is sent as 2 ASC characters.
RTU transmission mode
Each eight-bit byte in a message is sent as two four-bit hexadecimal
characters.
The main advantage of the RTU mode is that it achieves higher throughput.
ASC mode allows time intervals of up to 1 second to occur between
characters without causing an error.
Part 2 : Dfinitions Part 2 : Dfinitions
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Modbus frame structure Modbus frame structure
Address Checksum Data Function
The Modbus frame structure is the same for requests (master to slave
messages) and responses (slave to master messages).
Modbus ASC
Modbus RTU
: CR LF
3A ex
0D ex 0A ex
Part 3 : Modbus frame description Part 3 : Modbus frame description
Address Checksum Data Function
silence silence
Silence >= 3,5 characters
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Address fieId Address fieId
Address Checksum Data Function
Valid slave device addresses are in the range of 0 ... 247 decimal.
The individual slave devices are assigned addresses in the range of 1 ... 247.
Value 0 is reserved for broadcast messages (no response).
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.
Part 3 : Modbus frame description Part 3 : Modbus frame description
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Valid codes are in the range of 1 ... 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.
Function fieId Function fieId
Address Checksum Data unction
Part 3 : Modbus frame description Part 3 : Modbus frame description
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Valid codes are in the range of 0 ... 255 decimal.
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 :
f no error occurs, the data field contains the data requested.
f an error occurs, the field contains an exception code that the master
application can use to determine the next action to be taken.
Data fieId Data fieId
Address Checksum ata Function
Part 3 : Modbus frame description Part 3 : Modbus frame description
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Valid codes are in the range of 0 ... 255 decimal.
Modbus RTU uses CRC : Cyclycal Reduncy Check (2 byte)
Modbus ASC uses LRC : Longitudinal Redundancy Check (1 bytes)
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.
f a difference is detected, the slave will not construct a response to the master.
Checksum fieId Checksum fieId
Address Checksum Data Function
Part 3 : Modbus frame description Part 3 : Modbus frame description
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Request :
Frame exempIe in RTU mode Frame exempIe in RTU mode
Function code = 03 : Read Holding Registers
$ave
Address
CRC16
First word
address
Function
code 03
Number oI
words to read
1 byte 1 byte 2 bytes 2 bytes 2 bytes
Response :
$ave
Address
CRC16
Number oI
bytes read
Function
code 03
Vaue oI the
Iirst word
1 byte 1 byte 2 bytes 2 bytes 2 bytes
Vaue oI the
ast word
2 bytes
Part 3 : Modbus frame description Part 3 : Modbus frame description
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Request :
Frame exempIe in RTU mode Frame exempIe in RTU mode
Function code = 06 : Write Single Register
$ave
Address
CRC16
Word
address
Function
code 06
Vaue oI
word
1 byte 1 byte 2 bytes 2 bytes 2 bytes
Response :
Part 3 : Modbus frame description Part 3 : Modbus frame description
$ave
Address
CRC16
Word
address
Function
code 06
Vaue oI
word
1 byte 1 byte 2 bytes 2 bytes 2 bytes
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Request :
Frame exempIe in RTU mode Frame exempIe in RTU mode
Function code = 16 (dcimal) : Write Multiple Registers
$ave
Address
CRC16
First word
address
Function
code 16
Number oI
words to write
1 byte 1 byte 2 bytes 2 bytes 2 bytes
Response :
$ave
Address
CRC16
Function
code 16
1 byte 1 byte 2 bytes 2 bytes 2 bytes
Part 3 : Modbus frame description Part 3 : Modbus frame description
Vaue oI the
Iirst word
Number oI
bytes
1 byte 2 bytes
First word
address
Number oI
words to write
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Function code exempIes Function code exempIes
Part 3 : Modbus frame description Part 3 : Modbus frame description
Code Furcl|or
01 (0x01) Read Co||s
02 (0x02) Read 0|screle lrpuls
03 (0x03) Read lo|d|rg Reg|slers
01 (0x01) Read lrpul Reg|slers
05 (0x05) wr|le 3|rg|e Co||
0 (0x0) wr|le 3|rg|e Reg|sler
15 (0x0F) wr|le Vu|l|p|e Co||s
1 (0x10) wr|le Vu|l|p|e Reg|slers
23 (0x1Z) Read/wr|le Vu|l|p|e Reg|slers
13 (0x28) Read 0ev|ce lderl|l|cal|or
Tre corp|ele descr|pl|or ol a|| Vodous requesl |s lree|y ava||ao|e or lre Vodous.org Weo s|le
: http://www.modbus.org
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Parity checking
Even or odd can be optionally applied to each character.
Frame checking
LRC or CRC is applied to the entire message.
Continuous stream
The entire message frame must be transmitted as a continuous stream.
f a silent interval (more than 1.5 character times RTU mode or 1 second ASC mode) occurs
before completion of the frame, the receiving device flushes the incomplete message and
assumes that the next byte will be the address field of a new message.
Error checking methods Error checking methods Error checking methods Error checking methods
Part 4 : Security of transmission Part 4 : Security of transmission
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The master is configured by the user to wait for a predetermined timeout
interval before aborting the transaction.
This interval is set to be long enough for any slave to respond normally.
f the slave detects a transmission error, the message will not be acted upon.
The slave will not construct a response to the master.
Thus the timeout will expire and allow the master's program to handle the error.
Error checking methods Error checking methods Error checking methods Error checking methods
Part 4 : Security of transmission Part 4 : Security of transmission
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RS485 physicaI Iayer RS485 physicaI Iayer
Part 5 : PhysicaI Iayer Part 5 : PhysicaI Iayer
RS485 is the most common physical layer used on Modbus.
The RS485 standard allows variants of different characteristics :
polarisation
line terminator
distribution of a reference potential
number of slaves
length of the bus
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The various versions of the RS485 physicaI Iayer The various versions of the RS485 physicaI Iayer
Part 5 : PhysicaI Iayer Part 5 : PhysicaI Iayer
The new Telemecanique devices conform to the Modbus specification
published in 2002 on the Modbus.org web site.
But some Schneider older devices comply with earlier specifications :
Uni-Telway
Jbus
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New Modbus RS485 standard schematic New Modbus RS485 standard schematic
Part 5 : PhysicaI Iayer Part 5 : PhysicaI Iayer
Master
SIave 1 SIave 2
D1
D0
Common
5 V
650
650
120
1 nF
120
1 nF
Maximum length of bus 1000 m at 19200 bps
Maximum number of stations (without repeater) 32 (31 slaves)
Maximum length of tap links 20 m for one tap link
40 m divided by the number of tap links
Bus polarisation 650 at 5V and common for the master
Line terminator 120 - 0,25Wm in series with 1nF 10V
Common polarity Yes (Common) connected to the PG
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Uni-TeIway RS485 schematic Uni-TeIway RS485 schematic
Part 5 : PhysicaI Iayer Part 5 : PhysicaI Iayer
Master
SIave 1 SIave 2
D(B)
D(A)
0 VL
5 V
4,7 K
120
1 nF
120
1 nF
Maximum length of bus 1000 m at 19200 bps
Maximum number of stations (without repeater) 29 (28 slaves)
Maximum length of tap links 20 m for one tap link
40 m divided by the number of tap links
Bus polarisation 4,7 K at 5V and common for the master and slaves
Line terminator 120 - 0,25Wm in series with 1nF 10V
Common polarity Yes (0 VL) and high impedance place between 0 VL
and the ground in each station
4,7 K
4,7 K 4,7 K 4,7 K 4,7 K
5 V 5 V
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Jbus RS485 schematic Jbus RS485 schematic
Part 5 : PhysicaI Iayer Part 5 : PhysicaI Iayer
Master
SIave 1
SIave 2
L-(B/B ')
L+(A/A ')
5 V
470
470
150 150
Maximum length of bus 1300 m at 19200 bps
Maximum number of stations (without repeater) 32 (31 slaves)
Maximum length of tap links 3 m
Bus polarisation 470 at 5V and common for the master
Line terminator 150
Common polarity No
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Mixed RS485 schematic Mixed RS485 schematic
Part 5 : PhysicaI Iayer Part 5 : PhysicaI Iayer
Master
SIave 1 SIave 2
D1
D0
Common
5 V
Rp
120
1 nF
120
1 nF
Maximum length of bus 1000 m at 19200 bps
Maximum number of stations (without repeater) At most 32 stations (depending on Rp and the number of
4,7 K
Maximum length of tap links 20 m for one tap link
40 m divided by the number of tap links
Bus polarisation
Rp should be validated by calculating the equivalent polarisation Re
according to the polarisation of the master and slave stations. Re
must be between 162 and 650
Line terminator 120 - 0,25Wm in series with 1nF 10V
Common polarity Yes (Common) connected to the PG
Rp
4,7 K
4,7 K
5 V
SuitabIe poIarization Rp
must be caIcuIated
If the master is fitted with a 470 poIarisation,
it 's possibIe to connect a maximum of
18 sIaves with 4,7 K poIarisation
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Main characteristics resume Main characteristics resume
TopoIogy: Bus with Iine terminations
Maximum distance: With RS485 : 1000 m without repeater
Data rate: From 1,200 to 115 Kbits/s
Max. no. of devices: With RS485 : 32 master incIuded
Part 6 : Main characteristics resume Part 6 : Main characteristics resume
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Method of accessing the medium: Master sIave
Transmission method: Messaging
Max. usefuI data size: 120 words
Transmission security: LRC or CRC
Start and stop deIimiters
Parity bit
Continuous stream
Main characteristics resume Main characteristics resume
Part 6 : Main characteristics resume Part 6 : Main characteristics resume