Modbus_Addition_Addendum_A_Rev_1.02 (1)
Contents
1. 9 Holding Registers Read Write 16 bits reete rte tette k o aed 9 Dealing with the Swapped Long Registers 11 Noui GUT erc er R A E ren 12 Connection Soi dicii ME 13 Mall S GEBOT unimudilat Jin 13 Modbus RTU Addendum A page 4 rev 1 02 Agnus Technology 1 Introduction The Modbus RTU protocol runs over the RS 485 communication medium For tips regarding setting up a RS 485 network see the user manual specific to your controller The Arcus implementation of Modbus RTU supports the holding register data type only Coils Discrete Inputs and Input Registers are not supported Modbus RTU Addendum A page 5 rev 1 02 ARCUS Technology 2 Communication Settings Baud Rate The RS 485 baud rate can be changed using the DB command Please note that the device baud rate must be within the range 1 5 Device Baud Value Baud Rate bps 1 9600 2 19200 3 38400 4 57600 5 115200 To write the values to the device s flash memory use the STORE command After a complete power cycle the new baud rate will be written to memory Note that before a power cycle is completed the settings will not take effect By default Baud rate is set to 1 9600 bps This setting can be made either through RS 485 ASCII or USB communication depending on your controller Modbus Device Number Arcus Modbus controllers allow the user to set the Modbus device numbe2. 15 0 13 VT H V7 Higher 16 bits 31 16 14 VIL V7 Lower 16 bits 15 0 15 V8 H V8 Higher 16 bits 31 16 16 V8 L V8 Lower 16 bits 15 0 17 VO H V9 Higher 16 bits 31 16 18 VO L VO Lower 16 bits 15 0 19 V10 H V10 Higher 16 bits 31 16 20 VIO L V10 Lower 16 bits 15 0 21 VILH V11 Higher 16 bits 31 16 22 VILL V11 Lower 16 bits 15 0 23 VI2 H V12 Higher 16 bits 31 16 24 VI2 L V12 Lower 16 bits 15 0 25 V13_H V13 Higher 16 bits 31 16 26 V13 L V13 Lower 16 bits 15 0 27 V14 H V14 Higher 16 bits 31 16 Modbus RTU Addendum A page 9 rev 1 02 ARCUS 7 Technology 28 V14 L V14 Lower 16 bits 15 0 29 VI5 H V15 Higher 16 bits 31 16 30 V15 L V15 Lower 16 bits 15 0 31 V16 H V16 Higher 16 bits 31 16 32 V16 L V16 Lower 16 bits 15 0 33 VI7 H V17 Higher 16 bits 31 16 34 VI7 L V17 Lower 16 bits 15 0 35 V18 H V18 Higher 16 bits 31 16 36 VI8 L V18 Lower 16 bits 15 0 37 V19 H V19 Higher 16 bits 31 16 38 V19 L V19 Lower 16 bits 15 0 39 V20 H V20 Higher 16 bits 31 16 40 V20 L V20 Lower 16 bits 15 0 41 V21 H V21 Higher 16 bits 31 16 42 V21 L V21 Lower 16 bits 15 0 43 V22 H V22 Higher 16 bits 31 16 44 V22 L V22 Lower 16 bits 15 0 45 V23 H V23 Higher 16 bits 31 16 46 V23 L V23 Lower 16 bits 15 0 47 V24 H V24 Higher 16 bits 31 16 48 V24 L V24 Lower 16 bits 15 0 49 V25 H V25 Higher 16
3. X1000 If V1 is set to 1 then go to position 1000 WAITX Wait for move to complete ELSEIF V1 2 X3000 If V1 is set to 2 then go to position 3000 WAITX Wait for move to complete ELSEIF V1 3 X0 If V1 is set to 3 then go to position 0 WAITX Wait for move to complete ENDIF V2 PX Store pulse position in V2 ENDWHILE Go back to WHILE statement END SUB 1 HSPD V4 Set the high speed to V4 pulses sec LSPD V5 Set the low speed to V5 pulses sec ACC V6 Set the acceleration to V6 msec END SUB Modbus RTU Addendum A page 8 rev 1 02 4 Modbus RTU Addressing ARCUS Technology The Arcus implementation of Modbus RTU supports the holding register data type only Coils Discrete Inputs and Input Registers are not supported Data Model Data Type Size Data Type Access Address Range Parameter Bits Description 03h 16 Holding Registers Read Write 1 60 Holding Registers Read Write 16 bits Address Name Description 1 VI H V1 Higher 16 bits 31 16 2 VILL V1 Lower 16 bits 15 0 3 V2 H V2 Higher 16 bits 31 16 4 V2 L V2 Lower 16 bits 15 0 5 V3 H V3 Higher 16 bits 31 16 6 V3 L V3 Lower 16 bits 15 0 J V4_H V4 Higher 16 bits 31 16 8 VAL V4 Lower 16 bits 15 0 9 V5_H V5 Higher 16 bits 31 16 10 V5_L V5 Lower 16 bits 15 0 11 V6 H V6 Higher 16 bits 31 16 12 V6 L V6 Lower 16 bits
4. bits 31 16 50 V25 L V25 Lower 16 bits 15 0 51 V26 H V26 Higher 16 bits 31 16 52 V26 L V26 Lower 16 bits 15 0 53 V27 H V27 Higher 16 bits 31 16 54 V27_L V27 Lower 16 bits 15 0 55 V28_H V28 Higher 16 bits 31 16 56 V28 L V28 Lower 16 bits 15 0 57 V20 H V29 Higher 16 bits 31 16 58 V29 L V29 Lower 16 bits 15 0 159 V30 H V30 Higher 16 bits 31 16 160 V30_L V30 Lower 16 bits 15 0 V30 is reserved for communication mode setting In order to change from Modbus communication to ASCII set V30 1 Modbus RTU Addendum A page 10 rev 1 02 ARCUS Technology Dealing with the Swapped Long Registers Variables V1 V30 are 32 bit twos complement numbers Since standard Modbus holding registers only hold 16 bits the full 32 bit numbers are stored into two different registers The lower addressed register represents the higher 16 bits of the 32 bit number while higher addressed register represents the lower 16 bits of the 32 bit number This is known as swapped long Example 1 Set V1 to 34930493 OxFDEBO00C3 V1 holding register is found at address 1 Set Holding Register Address 1 bits 16 31 to OXFDEB Set Holding Register Address 2 bits 0 15 to 0x00C3 Example 2 Read V2 register V2 holding register is found Assuming that the values stored in these registers are Holding Register Address 3 bits 16 31 2 0x0000 Holding Register Address 4 bits 0 15 2 0x4933 When reading this value the full 32 bit val
5. ARCUS 7 Technology Communication Add on Modbus RTU Addendum A Modbus RTU Addendum A page 2 rev 1 02 ARCUS 7 Technology COPYRIGHT 2008 ARCUS ALL RIGHTS RESERVED First edition October 2008 ARCUS TECHNOLOGY copyrights this document You may not reproduce or translate into any language in any form and means any part of this publication without the written permission from ARCUS ARCUS makes no representations or warranties regarding the content of this document We reserve the right to revise this document any time without notice and obligation Revision History 1 00 1 Release 1 01 Added RSM 1 02 Updated bookmarks Modbus RTU Addendum A page 3 rev 1 02 N mm p ARCUS Technology Table of Contents Py iuret Te 67 9 cata tila vaca 3 Communication Settings cocos seta tacite een eva rss e SEES RN M RA ERR RUN nopari ER RUE Md 6 B ud RAE 24 e 6 Modbus Device Numbet opa ci obe Gm beue EEN ASR NS ERE ARTER ER dei katade 6 RS 485 Communication Mode asini eri o rp ERE PEE eed buses pd tita bm uS erne esserne 6 Sample Ec T 8 Achieving functionality via variables iori etie etait piece Eu tup vasa Rein pa E tet n ER d s u EUH 8 Standalone Example Program D ieessscst eo ei tsp tetas etas o struc db s I pes tua ts apt kaa 8 Modbus RTU Addressing cm 9 peau
6. NM Get Modbus device number 1 127 DNM 1 127 Set Modbus device number OK RSM Get RS 485 Communication mode 0 ASCII Modbus RTU RSM 0 1 Set RS 485 Communication mode OK STORE Store settings to flash OK Changing from Modbus to RS 485 Once your controller is in Modbus communication it can no longer accept ASCII commands In order to change communtcation back to ASCII you must write the value 1 into register V30 After writing to register V30 a power cycle must be performed before the setting takes effect Note that the setting is automatically stored to flash when written See Modbus RTU Addressing for details on how to write the value Modbus RTU Addendum A page 7 rev 1 02 ARCUS Technology 3 Sample Usage Achieving functionality via variables Only the general purpose variables V1 V30 of the controller are accessible via Modbus RTU communication By reading updating these variables the desired functionality can be achieved by referencing them within a running stand alone program For details regarding stand alone programming see the user manual specific to your controller In a typical application the controller runs a stand alone program while the Modbus master accesses variables over the Modbus RTU protocol The following is a sample of such a stand alone program Standalone Example Program 1 EO 1 Enable the motor power WHILE 1 21 Forever loop GOSUB 1 Set speed settings IF V1 1
7. chnology Connection Configuration After the 3 party Modbus driver has been successfully registered start the program and the following screen should show up Select the correct COM port Baud Rate and Slave ID Modbus Device Number The search function allows the user to search for a device on a COM port at a given baud rate Modbus Variables v102 COM Patt COMI v Search Baud Rate 9600 X Slave ID 1 x Silent Interval 50 Main Screen The main screen allows the user to read write variables V 1 V 30 Modbus Variables v102 Variables Modbus RTU Addendum A page 13 rev 1 02 ARCUS Technology Contact Information Arcus Technology Inc 3061 Independence Drive Suite H Livermore CA 94551 925 373 8800 www arcus technology com Modbus RTU Addendum A page 14 rev 1 02
8. r used for addressing from the range of 1 127 In order to make this change use the DNM command To write the values to the device s flash memory use the STORE command After a complete power cycle the new device number will be written to memory Note that before a power cycle is completed the settings will not take effect By default Modbus device number is set to 1 This setting can be made either through RS 485 ASCII or USB communication depending on your controller RS 485 Communication Mode Changing from RS 485 to Modbus By default Arcus controllers are configuring for ASCII protocol when using RS 485 communication In order to enable Modbus RTU communication set RSM 1 Modbus RTU Addendum A page 6 rev 1 02 Agnus Technology To write the values to the device s flash memory use the STORE command After a complete power cycle the communication mode setting will be written to memory Note that before a power cycle is completed the settings will not take effect This setting must be made through RS 485 ASCII Below is a table of the ASCII commands that are mentioned above To see a complete list of all ASCII commands see the user manual specific to your controller Command Description Return DB Return the current baud rate of the device 1 9600 bps 2 19200 bps 3 38400 bps 4 57600 bps 5 115200 bps DB 1 2 3 4 5 Set the baud rate of the device OK D
9. ue is 18739 0x00004933 Modbus RTU Addendum A page 11 rev 1 02 ARCUS Technology 4 Modbus GUI Arcus provides a GUI that allows Modbus communication to be achieved between a PC and the controller Visit our website to download this software www arcus technology com Before running the program make sure to register the 3 party Modbus master driver on your PC See instructions below a Download and extract GUI folder onto your PC Local Disk C File Edit View Favorites Tools Help Back Search Folders M gt HH Address C ED CMPNENTS System Tasks IB Documents and Settings m Hide th me D Generic Modbus 102 Fr Hide the contents o this drive WINDOWS T Add or remove k E rnd programs gt Search for files or folders File and Folder Tasks Make a new folder Q Publish this folder to the Web EZ Share this folder b Using the command line browse to the mod102 directory within the GUI folder and type mbserver exe regserver and press enter e C WINDOWS system32 cmd exe C Generic Modbus 162 162 mod162 gt mbserver exe regserver G Generic Modbus 162 162 mod162 gt c Note that if this process is not done correctly you will receive the following error when trying to run the program ModbusVariables Error 2147024893 Automation error The system cannot find the path specified Modbus RTU Addendum A page 12 rev 1 02 ARCUS Te
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