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Pakscan
P
3
P
3
P
3
P
3
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3
P
3
Pakscan
IIE Loop
Keyswitch
IIE Loop
Standby
Standby
Port A
A Port B PS720
Auto
Port A
B Port B
Status
PS710 Pri/Stby
Status
PS710 Pri/Stby
PS730
PS720
rotork
rotork
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Power Alarm
rotork
Port 1
Port 2
Power Alarm
PS700
Port 2
CE
Pakscan IIS
Modbus RTU Serial and TCP/IP Communication Specification for Pakscan P3 and IIS Master Station
Issue 08/2009
As we are continually developing our products their design is subject to change without notice.
The contents of this document are copyright and must not be reproduced without the written
permission of Rotork Controls Ltd. The name Rotork is a registered trademark Modbus is a registered trademark of Modbus-IDA Centum is a registered trademark by Yokogawa Electric Corporation EPLCG, SI gateway, TDC3000, Experion are products of Honeywell Inc.
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Contents
Contents
Glossary of Terms: ............................................................................................................................5 Abbreviations: ...................................................................................................................................5
1
1.1 1.2
INTRODUCTION.................................................................................................7
General .....................................................................................................................................7 Serial communication to Pakscan master stations .............................................................8 1.2.1 Serial communication to a Pakscan IIS master station ........................................8 1.2.2 Serial communication to a Pakscan P3 master station ........................................9 1.2.3 Host communication connections for hot standby Pakscan P3 master stations 10 1.2.4 Pakscan 3 master station Port Function DIP switches ....................................14 1.2.5 Pakscan 3 master station RS485 termination .................................................14 1.2.6 Pakscan 3 master station RS485 Cross Connection (Hot Standby Systems) 15 1.2.7 RS485 termination Pakscan IIS master station ...............................................15 Ethernet Communications to Pakscan master stations ...................................................16 1.3.1 Pakscan P3 Ethernet Connection ......................................................................16 1.3.2 Pakscan IIS Ethernet Connection ......................................................................17
1.3
2
2.1
2.2
3
3.1 3.2 3.3 3.4
MODBUS SPECIFICATION..............................................................................27
Electrical specification .........................................................................................................27 Outer protocol .......................................................................................................................27 Serial Data ..............................................................................................................................27 Overview of the design .........................................................................................................27
4
4.1 4.2 4.3
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4.4
4.5
4.6 4.7
4.3.3 Register and Discrete Address Formulae ..........................................................35 Notes on the use of the Generic and EPLCG Modbus protocol.......................................38 4.4.1 Suggested Scan Cycle .......................................................................................38 4.4.2 Writing to Coils....................................................................................................38 4.4.3 Readback of Holding Registers ..........................................................................39 4.4.4 Alarm Handling ...................................................................................................39 4.4.5 Use of Alarm Bits ................................................................................................40 Master station data base (Generic and Honeywell EPLCG protocols) ............................41 4.5.1 Master Station Read Only Data ..........................................................................41 4.5.2 Master Station Write Only Data ..........................................................................44 Field unit data base (Generic and Honeywell EPLCG protocols) ....................................45 4.6.1 Field Unit Data Base Locations ..........................................................................46 Modbus messages examples (Generic and Honeywell EPLCG protocols) ....................55 4.7.1 Read Master Station Status................................................................................55 4.7.2 Write Master Station Alarm Accept ....................................................................55 4.7.3 Read Field Unit 12 Digital Status........................................................................55 4.7.4 Read Field Unit 62 Digital Status........................................................................56 4.7.5 Read Digital Status from 60 Field Units, Addresses 121 to 180 ........................56 4.7.6 Energise Command to OPEN relay of Field Unit 4 ............................................56 4.7.7 Write Desired Valve Position for FCU 26 to be 50% ..........................................56
5
5.1 5.2 5.3
5.4
5.5 5.6
5.7
5.8
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Contents
Read Field Unit Bit 2 and 3 from FCU 1 to 120 ..................................................82 Read Valve Position from FCU 26......................................................................82 Energise Command to Open relay of Field Unit 104 ..........................................82 Write Desired Valve Position for FCU 26 to be 50% ..........................................83
6
6.1
6.2
Glossary of Terms:
Block Parameter Bit Modbus Address Register Address A master station data base entry covering 8 related parameters A master station data base entry of 16 bits A master station data base discrete entry. The 8 bit address to which a Modbus Slave responds when interrogated. A data base start location within a Modbus address used to access at least one parameter (16 bits). Discrete Address A data base start location within a Modbus address used to access at least one bit. Field Unit A device connected to a master station that reports records into the master station data base. Master Station A Modbus slave containing a data base about itself and the connected field units. Slave A Modbus device containing data. Host A Modbus master controlling all data transactions on the Data Highway. Data Highway The mechanism along which the data flows; e.g. the RS 232, RS485 or Ethernet connection between Host and master station(s). Gateway The host device (PLC or DCS or other equipment) interface to the data highway
Abbreviations:
Comms CRC DIP FCU FU HW MS No RAM ROM RTU SW Communications Cyclic Redundancy Check Dual In-Line Package (chip) Field Unit Field Unit Hardware Master Station Number Random Access Memory Read Only Memory Remote Terminal Unit Software
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Serial Communications
This manual relates to Pakscan 3 Systems fitted with PS720 Current Loop modules and Pakscan IIS systems
1 INTRODUCTION
This document provides information on the Modbus data base organisation and locations of information inside Pakscan IIS and P3 Current Loop Option master stations. In addition, it provides an overview for the connection of host systems to the Pakscan master stations.
Supporting Documents:
Modbus-IDA documentation: Protocol Documentation Modbus Application Protocol Specification Implementation for Legacy Serial Systems Modbus Protocol Reference Guide Implementation for New Serial Systems Modbus over Serial Line Specification & Implementation Guide Implementation for Modbus TCP/IP systems Modbus Messaging on TCP/IP Implementation Guide Rotork Documentation Pakscan 3 Master Station System Manual Pakscan IIS Master Station Technical Manual Publication S720E Publication S130E