CJ Serie MODBUS TCP Quick Start Manual - OMRON Kft
Aug 30, 2005 - realization of this documentation, omron could not be held for person in charge for .... 1-2-0. Used by ModbusTCP PLC program. Modbus process. Type ... For function codes carrying a variable amount of data in the request or.
This documentation is intended to facilitate the implementation of the material omron. Certain details are voluntarily occulted not to cause confusion. Despite everything the care taken to the realization of this documentation, omron could not be held for person in charge for the errors or omissions and their consequences. This documentation could be modified without notice and does not present any engagement on behalf of omron.
JP Viskovic 30/08/2005 OEE-F
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MANUEL STA46
Modbus TCP
Table of content
1.
SPECIFICATIONS............................................................................................................................................. 4 1-1 SUPPORTED COMMAND LIST .............................................................................................................................. 4 1-2 MEMORY MAP................................................................................................................................................... 4 1-2-0 Used by ModbusTCP PLC program ....................................................................................................... 4 1-2-1 PLC area accessible by Modbus TCP request....................................................................................... 4 1-3 MODBUS TCP FRAME FORMAT ......................................................................................................................... 5 1-3-0 MBAP Header description ...................................................................................................................... 5 1-4 FUNCTION CODE .............................................................................................................................................. 6 1-4-0 I/O memory area (CIO) Read Multiple Coils ........................................................................................... 6 1-4-1 I/O memory area (CIO) Read Multiple Coils ........................................................................................... 7 1-4-2 I/O memory area (DM) Read Multiple Registers .................................................................................... 8 1-4-3 I/O memory area (CIO) Read Multiple Registers.................................................................................... 9 1-4-4 I/O memory area Write Single Coil ....................................................................................................... 10 1-4-5 I/O memory area (DM) Write Single Register ....................................................................................... 11 1-4-6 Echo back test ...................................................................................................................................... 12 1-4-7 I/O memory area (DM) Write Multiple Registers................................................................................... 13 1-5 ERROR RESPONSE.......................................................................................................................................... 14 1-6 STATUS COUNTER .......................................................................................................................................... 14
Function I/O memory area (CIO) Read Multiple Coils I/O memory area (CIO) Read Multiple Coils I/O memory area (DM) Read Multiple Registers I/O memory area (CIO) Read Multiple Registers I/O memory area Write Single Coil I/O memory area (DM) Write Single Register Echo back test ***** NOT SUPPORTED ****** I/O memory area (DM) Write Multiple Registers
1-2
Memory map
1-2-0
Used by ModbusTCP PLC program Modbus process Type Work Area Receive Area Send Area
Ethernet Unit flag & command switch (Unit n°0) Type Memory address Flag/command Area CIO1000- CIO1024 Parameter Area D 30000 - D30099
1-2-1
Name in MODBUS Read Coils Read Discrete Inputs Read Holding Registers Read Input Registers Write Single Coil Write Single Register Diagnostic Write Multiple Coils Write Multiple Registers
Descriptions Used for counter and calculation Used to store received bytes Used to prepare bytes to send
Descriptions For more details see Op. manual W343
PLC area accessible by Modbus TCP request MODBUS PDU Corresponding CS/CJ’s address Address Address Discrete Inputs 1 - 5120 0 - 5119 0 – 5119 (CIO 0.00 - CIO319.15) Coils 1 - 65536 0 - 65535 0 – 65535 (CIO 0.00 – CIO4095.15) Input Registers 1 - 5801 0 - 57800 0 – 5800 (CIO0 – CIO5800) * Holding Registers 1 - 32768 0 - 32767 0 - 32767 (D0 – D32767) *: area 5801 to 6143 is reserved for the ModbusTCP PLC program (see 1-2-0)
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MANUEL STA46
1-3
Modbus TCP
Modbus TCP frame Format A dedicated header is used on TCP/IP to identify the MODBUS Application Data Unit. It is called the MBAP header (MODBUS Application Protocol header). This header provides some differences compared to the MODBUS RTU application data unit used on serial line: • The MODBUS ‘ slave address’ field usually used on MODBUS Serial Line is replaced by a single byte ‘ Unit Identifier’ within the MBAP Header. The ‘ Unit Identifier’ is used to communicate via devices such as bridges, routers and gateways that use a single IP address to support multiple independent MODBUS end units. • All MODBUS requests and responses are designed in such a way that the recipient can verify that a message is finished. For function codes where the MODBUS PDU has a fixed length, the function code alone is sufficient. For function codes carrying a variable amount of data in the request or response, the data field includes a byte count. • When MODBUS is carried over TCP, additional length information is carried in the MBAP header to allow the recipient to recognize message boundaries even if the message has been split into multiple packets for transmission. The existence of explicit and implicit length rules, and use of a CRC-32 error check code (on Ethernet) results in an infinitesimal chance of undetected corruption to a request or response message.
1-3-0
MBAP Header description The MBAP Header contains the following fields: Fields Transaction Identifier
Length 2 Bytes
Protocol Identifier
2 Bytes
Length
2 Bytes
Unit Identifier
1 Byte
Description Identification of a MODBUS Request / Response transaction 0 = MODBUS protocol
Number of following bytes Identification of a remote slave connected on a serial line or on other buses
Client Initialized by the client ( request) Initialized by the client ( request) Initialized by the client ( request) Initialized by the client ( request)
Server Recopied by the server from the received request Recopied by the server from the received request Initialized by the server (Response) Recopied by the server from the received request
The header is 7 bytes long: • Transaction Identifier - It is used for transaction pairing, the MODBUS server copies in the response the transaction identifier of the request. • Protocol Identifier – It is used for intra-system multiplexing. The MODBUS protocol is identified by the value 0. • Length - The length field is a byte count of the following fields, including the Unit Identifier and data fields. • Unit Identifier – This field is used for intra-system routing purpose. It is typically used to communicate to a MODBUS or a MODBUS+ serial line slave through a gateway between an Ethernet TCP-IP network and a MODBUS serial line. This field is set by the MODBUS Client in the request and must be returned with the same value in the response by the server. All Modbus/TCP ADU are sent via TCP on registered port 502. JP Viskovic 30/08/2005 OEE-F
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MANUEL STA46
Modbus TCP
1-4
Function Code
1-4-0
I/O memory area (CIO) Read Multiple Coils
[Function] Reads coils in I/O memory area. [Request] Function Code Starting Address Quantity of Coils
Length 1 Byte 2 Bytes 2 Bytes
Data 0x01 0x0000-0xFFFF 1-2000(0x7D0)
Length 1 Byte 1 Byte n Byte
Data 0x01 N n = N or N+1
[Response] Function Code Byte Count Coil Status
Example: read 19 bits (CIO 0001.04 to 0002.06) Request
Response Data 0x01 0x00 0x14 0x00 0x13
Function Code Starting Address(H) Starting Address(L) Quantity of Coils(H) Quantity of Coils(L)
0CH 1CH 2CH 3CH
15 15 31 1 47 63
14 14 30 0 46 62
13 13 29 1 45 61
12 12 28 1 44 60
11 11 27 1 43 59
Data 0x01 0x03 0xCD 0x6B 0x05
Function Code Byte Count Coil Status 27-20 Coil Status 35-28 Coil Status 38-36 10 10 26 1 42 58
9 9 25 0 41 57
8 8 24 0 40 56
7 7 23 1 39 55
6 6 22 1 38 1 54
5 5 21 0 37 0 53
4 4 20 1 36 1 52
3 3 19 35 0 51
2 2 18 34 1 50
1 1 17 33 1 49
Italic characters show the ON/OFF(1/0) status of its bit condition.
JP Viskovic 30/08/2005 OEE-F
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0 0 16 32 0 48
MANUEL STA46
1-4-1
Modbus TCP
I/O memory area (CIO) Read Multiple Coils
[Function] Reads coils in I/O memory area [Request] Function Code Starting Address Quantity of Coils
Length 1 Byte 2 Bytes 2 Bytes
Data 0x02 0x0000-0x13FF 1-2000(0x7D0)
Length 1 Byte 1 Byte n Byte
Data 0x02 N n = N or N+1
[Response] Function Code Byte Count Coil Status
Example: read 19 bits (CIO 0001.04 to 0002.06) Request
Response Data 0x02 0x00 0x13 0x00 0x13
Function Code Starting Address(H) Starting Address(L) Quantity of Coils(H) Quantity of Coils(L)
0CH 1CH 2CH 3CH
15 15 31 1 47 63
14 14 30 0 46 62
13 13 29 1 45 61
12 12 28 1 44 60
11 11 27 1 43 59
Data 0x02 0x03 0xCD 0x6B 0x05
Function Code Byte Count Coil Status 27-20 Coil Status 35-28 Coil Status 38-36
10 10 26 1 42 58
9 9 25 0 41 57
8 8 24 0 40 56
7 7 23 1 39 55
6 6 22 1 38 1 54
5 5 21 0 37 0 53
4 4 20 1 36 1 52
3 3 19 35 0 51
2 2 18 34 1 50
1 1 17 33 1 49
Italic characters show the ON/OFF(1/0) status of its bit condition.
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0 0 16 32 0 48
MANUEL STA46
1-4-2
Modbus TCP
I/O memory area (DM) Read Multiple Registers
[Function] Reads registers in I/O memory area [Request] Length 1 Byte 2 Bytes 2 Bytes
Data 0x03 0x0000-0x7FFF(*) 1-125(0x7D)
Length 1 Byte 1 Byte N x 2 Bytes
Data 0x03 N x 2(*)
Function Code Starting Address Quantity of Registers (*)Useful range of Start Address depends on allocated area.
[Response] Function Code Byte Count Register Value (*)N=Quantity of Registers
Example: read 3 words (DM 1000 to DM 1002) Request
Response Data 0x03 0x03 0xE8 0x00 0x03
Function Code Starting Address(H) Starting Address(L) Quantity of Registers(H) Quantity of Registers(L)
Function Code Starting Address(H) Starting Address(L) Quantity of Registers(H) Quantity of Registers(L) Byte Count Registers Value(H) Registers Value(L) Registers Value(H) Registers Value(L)
DM 1000 1001
15
14
13
12
3 9
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Data 0x10 0x03 0xE8 0x00 0x02
Function Code Starting Address(H) Starting Address(L) Quantity of Registers(H) Quantity of Registers(L)
10
9 A 7
8
7
6
5 C 1
4
3
2
1 5 3
13
0
MANUEL STA46
1-5
Modbus TCP
Error response If the request contains error like address or quantity out of range, the PLC program will generate an exception response containing the exception code [Response] Length 1 Byte 1 Byte
Function Code Exception Code
Exception Code 01 02 03
1-6
Data Function Code + 0x80 01, 02 or 03
Name ILLEGAL FUNCTION ILLEGAL DATA ADDRESS ILLEGAL DATA VALUE
Descriptions Keep a record of illegal request Keep a record of response sent Keep a record of frame received Keep a record of socket receive error Keep a record of socket send error
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