Modbus User Manual
Contents
1. Application Data Unit ADU Header is 7 bytes long e Transaction Identifier 2 bytes Identification of a Modbus Request Response transaction Protocol Identifier 2 bytes 0 Modbus protocol e Length 2 bytes Number of following bytes directly after this length field e Unit Identifier 1 byte Identification of a remote slave connected on a serial line Protocol Data Unit PDU is the Modbus TCP equivalent of the Modbus RTU message payload described above Note Too much polling on port 7775 UDP Port may cause sluggish behavior Q Programmer polls TCP connection will timeout by default after 60 seconds of inactivity This can be modified by a command sent via UDP to port 7775 Command is 3 bytes with the third byte equal to the TCP timeout in seconds A value of 0 will disable the timeout Changes to the TCP timeout will take place once the drive is reset Command Example 3 bytes 0x00 Ox1F sets TCP timeout to 10 seconds Modbus register 40054 40055 is now Pulse Counter Time Stamp has been deprecated 920 0072 Rev E 10 9 9 2014 Applied Motion Products Applied Motion Products 404 Westridge Drive Watsonville CA 95076 USA tel 831 761 6555 fax 831 761 6544 www applied motion com 920 0072 Rev E 9 9 20142. NA e NNNM 1 0 Point 2 N A a ais Wa E Conditio NA Distance Feed and Set Output Feed to Position Feed to Sensor Feed to Sensor with Safety Condition Distance A N A 1 0 Point N A 1 0 Point N A N A N A Function 1 3 Function 1 3 Lee p ow i 1 0 Point N A N A N A Normal Decel N A Not Applicable Notes e 32 bit values may be either big endian or little endian Endianness is determined by Bit 6 of the PR command word It is recommended that this setting be configured with the ST Configurator software e Consult the I O Encoding Table for details on parameter data for commands referencing I O 9 920 0072 Rev E 9 9 2014 Modbus User Manual Encoding Table Useful ASCII values for IO commands Character values shown are taken from standard SCL command nomenclature For example a Feed to Sensor command example may utilize the falling edge of input 1 and appear as FS1F To encode this command the user would select 0x31 for the character 1 and 0x46 for the character P input 1 or output 1 input 2 or output 2 input 3 or output 3 input 4 or output 4 low state closed high state open w fow rige Modbus TCP Protocol Provides a Client Server communication between devices connected on an Ethernet TCP IP network Communication via TCP to port 502 Headers are encoded in Big endian
3. install into the main machine network 9 Repeat for all other slave nodes taking care to ensure each has a unique node address Note the drive must be rebooted to switch between Modbus and configuration modes 920 0072 Rev E 4 9 9 2014 Modbus User Manual Drive Behavior An extensive list of registers has been made available allowing the user to monitor or change every detail of the drive s status It is also possible to send commands to a specific register mimicking the behavior of our proprietary SCL command set The capability allows a PLC to have unparalleled control over the drive s behavior at runtime The drive will respond to the following Modbus function codes 3 Read Holding Registers 4 Read Input Registers 6 Write Single Register 16 Write Multiple Registers Monitoring See the Register Map table for details on specific data that can be monitored and written in this manner Sending Commands The Command Opcode register 40125 is designated to receive encoded SCL commands via Modbus Many SCL commands have been made available in this manner and will allow the user full control over the motion capabilities of the drive SCL command encoding details can be found in the Modbus Register Table Please refer to the Host Command Reference for details of the functionality of these registers and commands 5 920 0072 Rev E 9 9 2014 Modbus User Manual Examples Point to Point Moves Four pieces of data are requ
4. 2 Rev E 9 9 2014 Modbus User Manual 4x3 Steps per Revolution R 4054 55 Rw Pusecome 8S Analog Position Gain AP 4x57 o RW 0 Analog Threshold ar Y 4c ogos O 7 4069 60 RW ING Accumulator LO User Defined User Defined er Defin er Defin t Defin Defin Defined Defined LO Defined Dein Defin Defined er Defined User Defined User Defin User Defin User Defin User Defin User Defined User Defined User Defined SHORT Brake Release Delay Brake Engage Delay ale Current Delay 400 50 HyeboicSmohigGin org SHORT Hyperbolic Smoothing Phase 400 RW 5 Analog FiterGain 4m 1 eserves 1 4005 50 CommandOpeos o 4006 Parameter RAW Parameter 2 408 0 Pame 400 mam 4030 SHORT Parameter o ez CD e c CD c C CD CD a lt CD Zila CD ce i co c CD c clc CD CD e CD a gt c co CD co Ea ODIDI DIDIDIDIDIDIDIDIDIDIDIDOIDIDIDIDOIDIDID e e e a 920 0072 Rev E 8 9 9 2014 Modbus User Manual A AX fosa NA Startdogging CJ 096
5. Modbus User Manual Applied Motion Products APPLIED MOTION PRODUCTS INC ModbusB is a registered trademark of Schneider Electric licensed to the Modbus Organization Inc 920 0072 Rev E 9 9 2014 Modbus User Manual Covers the following Modbus RTU enabled drives ST5 Q RN ST5 Q RE ST5 Q NN ST5 Q NE ST10 Q RN ST10 Q RE ST10 Q NN ST10 Q NE 920 0072 Rev E 9 9 2014 STM17Q 3AN STM17Q SAE STM17Q 3RN STM17Q SRE STM23Q 2AN STM23Q 2AE STM23Q 2RN STM23Q 2RE STM23Q 3AN STM23Q 3AE STM23Q 3RN STM23Q 3RE STM24QF 3AN STM24QF 3AE STM24QF 3RN STM24QF 3RE SWM24QF 3AN SWM24QF 3AE Covers the following Modbus TCP enabled drives ST5 Q EN ST5 Q EE ST10 Q EN ST10 Q EE Modbus User Manual What is Modbus Modbus originally created by Modicon is a fieldbus that allows a master and one or more slave devices to share data These data are organized into 16 bit registers which can also be used to share information single bit I O points It is a popular protocol with PLC vendors due to its simplicity and the inherent ease of sending PLC register data often 16 bits in width over a fieldbus protocol optimized for 16 bit data The master may initiate read and write operations on single registers or blocks of registers While there is no rule to this effect it is common for the master to read and write on a periodic time base polling rather than sending and requesting data only when it is needed In this m
6. anner PLC register data is ensured to be valid and consistent as a representation of the slave device s status Modbus TCP data is transmitted over Ethernet TCP IP port 502 Wiring Modbus RTU Modbus RTU uses the standard RS 232 or RS 485 physical layer RS 232 is a point to point communications scheme and as such the largest possible network would consist of a single slave drive Please note that even though it will be the only device on the network it will still require an address This address may be an integer value from 1 32 and is set through the ST Configurator software during initial configuration For drives with RS 485 communications there are a few things to consider It is possible to use 2 wire RS 485 for operational communication over Modbus however 4 wire RS 485 is required for use with all Applied Motion configuration and programming software i e ST Configurator and Q Programmer As such we recommend that all RS 485 networks be constructed using the 4 wire method Be sure to consult your drive s hardware manual for specific wiring details Modbus TCP Modbus TCP uses the standard Ethernet physical layer and a TCP IP connection Connect your drive to the PC PLC or LAN using standard CAT5 cabling Consult your drive s manual for wiring and detailed communication instructions Drive configuration Modbus RTU Drive Configuration First download and install the most recent version of the ST Config
7. ed by this command 40126 Q segment to execute Integer 1 12 Now we can send the QX command itself QX Command 40125 0x78 Hexadecimal is equal to 102 Note to stop a command or interrupt a Q program either the SK or SKD commands may be used SK Command 40125 OxE1 Hexadecimal is equal to 225 SKD Command 40125 OxE2 Hexadecimal is equal to 226 920 0072 Rev E 9 9 2014 Oo Modbus User Manual Register Access DataType Description SCL Register 4004 Red SHORT DriverBoardimpus ISX fo ioo 40056 Read LONG Encoder Position E EP fo e 0007 8 Read fione Immediate Absolute Position fJ 1 4009 00 write fione AbsolwePosition Command f P Immediate Actual Velocity IVO Immediate Drive Temperature IT 407 Read SHORT Immediate Analog put vae A fo o a 0 08 Red SHORT QProgramLinenumber f bo o Immediate Current Command 10 Relative Distance D dg 4090223 Red LONG SensorPositon Point to Point Acceleration AC Point to Point Deceleration DE B 4oost 32 loxg D Change Distance DC Point to Point Move State 0 s 0 sr La tons sion t RW SHORT Miscellaneous Flags o E 0045 46 LONG input Counter PT 0 wo SHORT gwo 40g SHORT ogbe 4050 SHORT meDmelCuren CA nwo SHORT Ile Current oo 7 920 007
8. ired to fully define a point to point move Acceleration Deceleration Distance and Velocity Followed of course by the move command itself To command such a move over Modbus we must first write to the aforementioned control registers then send the command Acceleration 40028 Units 10 RPM sec Deceleration 40029 Units 10 RPM sec Velocity 40030 Units 0 25 RPM Distance 40031 32 20000 This register is affected by Endianness setting Now it s time for the command itself The most common point to point move is the Feed to Length which uses the SCL command FL In Modbus we do the following The drive will execute the move command immediately pulling the relevant parameter data from the above registers It is immediately ready to accept another command Note it is not necessary to send parameter data with each command unless this data changes between moves For example to repeat a move simply send the command again leaving the relevant paramter data unchanged FL Command 40125 102 0x66 Hexadecimal is equal to 102 Launch a Q Program It is possible to execute a stored Q program over Modbus using the QX command opcode 0x78 This command requires a value to be written to Parameter 1 the first of 5 registers set aside for command dependant parameter data To launch the program at segment 1 we would use the SCL command QX1 Over Modbus the following procedure applies First configure the parameter data only Parameter 1 is us
9. nodes taking care to ensure each has a unique node address Note the drive must be rebooted to switch between Modbus and configuration modes Modbus TCP Drive Configuration The IP address is your Modbus address Applied Motion Ethernet drives include a 16 position rotary switch that includes 15 predefined IP addresses plus a DHCP setting These addresses can be changed using the ST Configurator software You will also need to choose your motor set the drive for Modbus communication mode and configure other parameters such as I O functionality First download and install the most recent version of the ST Configurator software from the Applied Motion Products website www applied motion com 1 Launch ST Configurator software select Ethernet and enter the drive s IP address 2 Apply power to the drive 3 Click Upload from Drive to identify the drive and upload the current configuration This will ensure that the software accurately reflects the current state of the drive s configuration parameters 4 Click Motion amp I O 5 Set any desired motor and encoder configurations your application may require 6 Click Download to Drive to save the settings 7 Optionally launch Q Programmer to write and download a program for this axis The drive may be configured to launch the program automatically upon power up or to wait for the QX command to be sent from the Modbus master 8 Remove power from the drive and
10. urator software from the Applied Motion Products website www applied motion com For RS 485 drives you will also need a USB to RS 485 converter such as the USB COMi M module available from AMP Consult your drive s manual for wiring and general communication instructions 1 Launch ST Configurator software and select the appropriate COM port 2 Apply power to the drive Note perform this step with only a single drive on the network Each drive must be configured individually before it may be used on a network 3 ST Configurator will automatically identify the drive but will not upload all parameters Click Upload from Drive This will ensure that the software accurately reflects the current state of the drive s 3 920 0072 Rev E 9 9 2014 Modbus User Manual configuration parameters 4 Click Motion amp 1 0 5 Specify the drive s node address and baud rate 6 For drives with Flex IO confirm the desired I O settings Click OK to return to the main screen 7 Set any desired motor and encoder configurations your application may require 8 Click Download to Drive to save the settings 9 Optionally launch Q Programmer to write and download a program for this axis The drive may be configured to launch the program automatically upon powerup or to wait for the QX command to be sent from the Modbus master 10 Remove power from the drive and install into the main machine network 11 Repeat for all other slave
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