Modbus and Modbus

TCP
Client/Server communications protocol designed
by Modicon in 1979 for use with its PLCs
Openly published and free of royalties or licensing
fees
The most common industrial communications
protocol in the US
Used widely for Building Management Systems
Passes raw words of bits without processing them
Originally a serial protocol very similar to RS-485,
it now has a TCP variant
Also available as Modbus Plus, which is
proprietary to Modicon and requires specialized
hardware
Modbus and Modbus
TCP
Basic Modbus protocol does not support floating
point or ASCII
A MODBUS Request is the message sent on
the network by the Client to initiate a transaction
A MODBUS Indication is the Request message
received on the Server side
A MODBUS Response is the Response
message sent by the Server
A MODBUS Confirmation is the Response
Message received on the Client side
Modbus TCP
Modbus TCP
Basic Requirements

The Ethernet physical interface must be

present
The Modbus TCP firmware for the Ethernet
processor must be installed
V 1.117 or newer PMAC or V1.941 or newer
Turbo PMAC firmware must be installed
A user buffer of 256 or more words must
have been defined with the DEFINE UBUFFER
command
I67 must be set to a value greater than 0.
Modbus TCP
Basic Setup with PEWIN32
Pro2
-Configure->Modbus Setup
-Set the start address - In the standard Turbo PMAC
CPU/memory configuration (Option 5C0), this address
will be $010700
-The software will automatically set I67 to the correct
value The book says it will do so after setting it equal
to any number > 0, then SAVE and $$$, but this does
not always work
-You must choose the size of the buffer default is
256 words
-Press Setup Modbus Buffer button
Modbus TCP Setup
-Press Update PMAC button this will SAVE and $$$
ACC-65ETH
Set up the IP address of the ACC-65ETH as per the hardware
reference manual using the web browser and the default
address of http://192.6.94.50
Go to the Modbus TCP configuration utility in PEWIN32
Pro2
Choose the next unused Active Socket. If you are not
using a socket for PMAC interrupts, you may use Socket 1
Choose Modbus Client as the Active Mode
Set Timer 1 to 50 (250 ms)
Set the Server Address as per that set in the ACC-65ETH
Set the Timer to 1
Set the FC Command Description to 23 (read/write
multiple words)
ACC-65ETH
Set the Modbus Reference Number for the Write to 4
Set the Modbus Reference Number for the Read to 0
Set the PMAC Reference Number for the Write to 36
Set the PMAC Reference Number for the Read to 32
Set both Lengths to 4
Press the Update Command button, then the Update PMAC
button

This writes the command shown in the Command text box to

memory in the PMAC. You can check this by pointing MVARs
to the Modbus Command memory space at the start of the
Modbus Buffer space.
ACC-65ETH

Data begins at i67+$80+$10 (PMAC Reference 32=16 words

=$10)
Assuming i67=$10700:
X:$10790,0,16 Digital inputs 0-15 32
Y:$10790,0,16 24Vok input and digital inputs 16-23 33
X:$10791,0,12 ADC Input1 34
Y:$10791,0,12 ADC Input2 35
X:$10792,0,16 Digital Outputs 0-15 36
Y:$10792,0,16 RLY1, RLY2, Digital outputs 16-23
37
X:$10793,0,12 DAC 1
38
The PMAC Modbus/TCP-IP configuration
& buffer memory format

Offset 23 X Memory 0 23 Y Memory 0

from
I67

0 Sock #0 TBD (16 bits) TBD (8 bits) Client Client

Mode(upper4 CmdListStrt CmdListEnd
of 8 bits)
(8bits) (8bits)

1 IP future IP future Server IP0 Server IP1 Server IP2 Server IP3
2 Future Spare Future Spare
4- Repeat above for Sockets 1-3 Repeat above for Sockets 1-3
0xB

0xC TBD TBD Period Timer Period Timer 3 Period Timer Period Timer 1
(8 bits) (8 bits) 4 (8 bits) 2 (8 bits)
(8 bits) (8 bits)

0xD TBD TBD

0xE TBD TBD
0xF TBD TBD
0x1 Start of 1st Client Modbus Cmd List Start of 1st Client Modbus Cmd List
0
0x6
9

0x8 Start of 16 bit Client/Server Modbus Buffer Start of 16 bit Client/Server Modbus Buffer
0
The PMAC Modbus/TCP-IP
configuration
& buffer memory format
The Socket Modes ( upper 4 of 8 bits):
0 - Socket NOT ACTIVE
1 - Server TCP, PMAC ASCII protocol.
IP Address = 0.0.0.0
2 - Server TCP, PMACtoClient Interrupt ASCII string.
IP Address = 0.0.0.0 Only available on
Turbo UMACs.
3 - Server Modbus/TCP-IP. IP Address not used.
4 - Client Modbus/TCP-IP. IP Address of Server.

The IP Address 192.6.94.5 is stored as:

IP0=192, IP1=6, IP2=94, IP3=5

M6703=first digit=4 for
Client
M6704=IP address
192.168.0.50

M6710 M6715 are

commands for PMAC ASCII on
Socket 0
M6716=start of FC23 for
Socket 1
M6717=end of FC23 for
Socket 1
Modbus Client Command
List Memory Format
X:23 - 16 X:15 - 0 Y:23 - 16 Y:15 - 0

Timer (3 bits)/ Modbus Reference Count (length) PMAC Reference # (16

Function Code (5 bits) # (16 bits) (8 bits) bits)

$370000040020,$000004040024

$37 = Timer 1, FC 23
$0000 = Modbus Reference Number = 0
First Word = Read Data
$04 = Length = 4
$0020 = PMAC Reference Number = $20

$00 = no function for FC 23

$0004 = Modbus Reference Number = 0
Second Word = Write Data
$04 = Length = 4
$0024 = PMAC Reference Number = $20
Reference Numbers
The PMAC one is the offset into the PMAC
Modbus Server/Client buffer where the
Modbus data is read from or written to.
The Modbus one is sent over Modbus/TCP-
IP with the data. Note the PMAC &
Modbus reference numbers are actual
offsets and do not abide by the
standard Modbus reference number
where you subtract one from it to get
the offset into memory. We start at
zero and not one.
Memory Allocation

PMAC Modbus/TCP Client/Server Buffer Size is fixed at

128 x 32 bits.
Length for FC23 is fixed in 2 x Modbus Bytes = 16 bits
Length for FC2 and FC15 is in bits
Always use all 32 bits of one Modbus memory location
for one type do not use 16 bits for inputs and 16 for
outputs
 Wago Modular I/O

Setting up a Wago 750-342 Modbus

TCP module and rack with a 753-512
(2 DO), a 753-502 ( 4 DI), 753-4011
(2 AO), and a 753-403 (2 AI)
Run BootPServer, and Edit BootPTab
If using no Proxy server then edit the line that starts with KeinProxy:
Wago1NoProxy:ht=1:ha=0030DE00B6DF:ip=192.168.0.52:
If using proxy then edit the line that starts with Hamburg:

Wago1Proxy:ht=1:ha=0030DE00B6DF:ip=192.168.0.52:T3=0A.01.FE
.01:

NOTE: IP address of the proxy server is in Hex

NOTE: ha parameter must match the MAC address of your 750-342
Wago Modular I/O
When addressing, first of all the more
complex modules (modules occupying 1 or
more bytes) are taken into account in
accordance with their physical order behind
the field bus coupler. As such, they occupy
the addresses starting with word 0.

Following this, the data of the other modules

(modules occupying less than 1 byte) follow,
grouped into bytes. In accordance with the
physical byte-wise order this data is used to
fill up the bytes. As soon as a full byte is
occupied by the bit-oriented modules, the
next byte is automatically started.
Wago Modular I/O
FC23, PMAC refs 40, 44, Modbus
ref 0,4
Note that Wago documentation
starts with 0, not 1
DO found at i67+$95
AO found at i67+$94
DI found at i67+$97
AI found at i67+$96
Wago Modular I/O

Data width >= 1 word/channel

Analog input modules
Analog output modules
Input modules for thermal elements
Input modules for resistance sensors
Pulse width output modules
Interface module
Up/down counter
I/O modules for angle and path
measurement
Wago Modular I/O
Data width = 1 Bit / channel
Digital input modules
Digital output modules
Digital output modules with diagnosis
(2 Bit / channel)
Power supply modules with fuse holder
/ diagnosis
Solid State power relay
Relay output modules
 Automation Direct GS
Series VFD

Set IP Address using DIP switch

Set SW2 and SW3 to RS-485
Parameters to set using IE or keypad:
P 3.00: 03 (keypad stop ena) 04
(keypad stop disabled)
P 4.00: 05 (frequency determined by
RS485 interface)
P 4.04: 01 (states is to enable reverse command from
analog but when = 0 the remote RUN command dead)
P 9.00: xx (unique communication address 1-254)
P 9.01: 01 (9600 baud data transmission rate)
P 9.02: 05 (MODBUS RTU mode - 8 data bits, odd parity, 1
stop bit)
Automation Direct GS
Series VFD
download NetEdit3 from Automation Direct at:
http://www.hosteng.com/SW-Products/NetEdit3.z
ip
Insure that NWLink IPX/SPX/NetBios compatible
protocol is loaded on your PC by going to the
properties of your Ethernet connection
Run NetEdit 3 and select TC/PIP as type
Press the Scan Network Button. If this is the
first time you have talked to this device you will
see the address 255.255.255.0. Click on this
address and set to the desired network
address. This address should be in the same
range as that of the PMAC.
Now you must power the drive down and back
up. If you open NetEdit again you should now
see the drive type listed in the address.
Automation Direct GS
Series VFD
Connect to the drive using IE to set
drive parameters
Calculating Modbus Reference for the
GS-EDRV
Take the GS parameter number (for
example, 6.31 is the current error code)
Take the digits after the decimal place and
convert to hex (for 6.31 this will be $1F)
Multiply the digit(s) before the decimal by
$100 and add to the results of the previous
calculation (for 6.31 this will yield $61f
Convert this to decimal ($61f -> 1567) and
this is your Modbus Reference
 Automation Direct GS
Series VFD
Count
Command PMAC (leng
Command Data Location Type Modbus Reference Reference th)

M1660
(base+
read frequency command $80) FC3 2330 1 1
set frequency command -
NOTE - divide by 10 to
get freq - so 500 = 50.0 m1661 FC16 2330 2 1

read run command m1662 FC3 2331 3 1

set run command m1663 FC16 2331 4 1

read direction command m1664 FC3 2332 5 1

set direction command m1665 FC16 2332 6 1

read current error code m1666 FC3 1567 7 1

read last error code m1667 FC3 1568 8 1

Automation Direct GS
Series VFD
Read/Write Hex Modbus
Speed Reference 091AH 42331 $91a=2330
Run Command 091BH 42332
Direction 091CH 42333
External Fault 091DH 42334 4 is used as a holder
Fault reset 091EH 42335
Jog 091FH 42336 Modbus Reference
Status 2101H 48450 start with 1, not 0
Frequency cmd 2102H 48451
Output frequency 2103H 48452
Output current 2104H 48453
The correct Modbus
DC-bus voltage 2105H 48454
Output voltage 2106H 48455 Reference for us is
Motor RPM 2107H 48456 2330, not 2331
Scale freq (low) 2108H 48457
Scale freq (high) 2109H 48458
% Load 210BH 48460
Firmware Version 2110H 48465
Phoenix FL IL BK
Modbus I/O
In the demo this is a client
at 192.168.2.80 on Socket 3
FC3 with Modbus Ref 0,
PMAC Ref 6, Count 1, and
FC6 with Modbus Ref 384,
PMAC Ref 24, Count 1

Demo has 16 digital inputs mapped to M839

and 16 digital outputs mapped to M1
Demo is being set output values by the PMAC,
and the QTERM is reading input
values
Phoenix FL IL BK
Modbus I/O
Base configuration at the module
can be done with IE
QTerm
Acting as a client in the demo
PLCs running on PMAC interpreting
command words from the client
M844 Feedrate override
M841 Command Word
M846 Rotary Position A
M847 Rotary Position B
QTerm
M841 Function
1 Axis Select
2 Feedhold
4 Cycle Start
8 Home
16 Estop
32 Program Set
4096 J+
8192 J-
16384 J=
Exor Uniop Terminal
Client mode
or Server
mode
Basic HMI
with
developmen
t package
Exor Uniop Terminal
Exor Uniop Terminal
Modbus TCP Software
Control Panel
Allows command of the PMAC with no
code on the PMAC exactly as the DPR
Control Panel does
I69 enables (firmware 1.942 and up)
Typically set to $80 to set the start of
the panel memory space $80 long
words after the start of Modbus memory
Reserves 26 long words
 PMAC/TURBO Firmware Modbus (I69) Memory Map

PMAC PMAC/Mo X: Memory Parameter Y: Memory Parameter

Address dbus Ref.
(I69 +) #

$0 0/1 Coordinate System Feed Pot Override Motor/Coordinate System Enable

Enable
$1 2/3 Coordinate 1 System Feed Pot Override Motor/Coordinate System 1 Request
$2 4/5 Coordinate 2 System Feed Pot Override Motor/Coordinate System 2 Request
$3 6/7 Coordinate 3 System Feed Pot Override Motor/Coordinate System 3 Request
$4 8/9 Coordinate 4 System Feed Pot Override Motor/Coordinate System 4 Request
$5 10/11 Coordinate 5 System Feed Pot Override Motor/Coordinate System 5 Request
$6 12/13 Coordinate 6 System Feed Pot Override Motor/Coordinate System 6 Request
$7 14/15 Coordinate 7 System Feed Pot Override Motor/Coordinate System 7 Request
$8 16/17 Coordinate 8 System Feed Pot Override Motor/Coordinate System 8 Request
$9 18/19 Reserved Reserved
$A 20/21 Reserved Reserved
$B 22/23 Reserved Reserved
$C 24/25 Reserved Reserved
$D 26/27 Reserved Reserved
$E 28/29 Reserved Reserved
$F 30/31 Reserved Reserved
 Bit Format of Control Panel Motor/Coordinate
System Enable Word (Y:I69)

Control Panel Motor/Coordinate System Enable Mask

BIT (Set bit to enable; PMAC clears on taking action)
0 Motor/Coordinate System # 1 + Mtr/CS offset
1 Motor/Coordinate System # 2 + Mtr/CS offset
2 Motor/Coordinate System # 3 + Mtr/CS offset
3 Motor/Coordinate System # 4 + Mtr/CS offset
4 Motor/Coordinate System # 5 + Mtr/ CS offset
5 Motor/Coordinate System # 6 + Mtr/CS offset
6 Motor/Coordinate System # 7 + Mtr/CS offset
7 Motor/Coordinate System # 8 + Mtr/CS offset
15 8 Turbo Mtr/CS offset is limited to 31 (PMAC not used)
Bit Format of Coordinate System (CS) Feed Pot
Override Enable Word (X:I69)

BIT Set bit to enable Override, clear bit to disable

0 Coordinate System # 1 + CS offset
1 Coordinate System # 2 + CS offset
2 Coordinate System # 3 + CS offset
3 Coordinate System # 4 + CS offset
4 Coordinate System # 5 + CS offset
5 Coordinate System # 6 + CS offset
6 Coordinate System # 7 + CS offset
7 Coordinate System # 8 + CS offset
15 8 Turbo CS offset is limited to 8 (PMAC not used)
Bit Format of Motor/Coordinate System
Words (Y:I69+1 to 8)

BIT REQUEST (1 = action requested; 0 = no action

requested)
0-7 (Reserved for Delta Tau Future Use)
8 Jog-Minus (Motor Only) *
9 Jog-Plus (Motor Only) *
10 Pre-Jog - J= (Motor Only)
11 Start (RUN) (Coord. Sys. Only)
12 Step (STEP/QUIT) (Coord. Sys. Only)
13 Stop (ABORT) (Coord. Sys. Only)
14 Home (Motor Only)
15 Feed Hold (HOLD) (Coord. Sys. Only)
* When both Jog-Minus and Jog-Plus are set, motor will stop
New Features (1.943+,
1.117+)
Add eight more direct control bits
commands:
B, K, J:*, J^*, J=*, >, <, and ^K
Read/Write an ASCII (PMAC Modbus
Address 0xF000)
Read/Write PMAC In (PMAC Modbus
Address 0x1000-0x3FFF), Mn (PMAC
Modbus Address 0x4000-0x7FFF) , Pn
(PMAC Modbus Address 0x8000-0xBFFF)
and Qn (PMAC Modbus Address 0xC000-
0xEFFF) using a Modbus 32 bit float data
type.
New Features (1.943+,
1.117+)
Read/Write PMAC Qn C.S. #
(PMAC Modbus Address 0xF500)
Read & Clear PMAC Modbus
Command Error Status word
(PMAC Modbus Address 0xF100)
Read/Write PMAC Modbus
Registers relative to I69 (PMAC
Modbus Address 0xF200-0xF2FF)
Read/Write PMAC Modbus Coils
relative to I69 (PMAC Modbus
Address 0xF300-0xF4FF)
Gotchas
With a non-Turbo PMAC do not do power on
phasing as it turns off background processing
long enough for the Ethernet processor to
initialize without the main processor initializing
the i67 sockets
Make sure that server Port 502 is not being
blocked by firewall software
Make sure that firewall software is not blocking
client ports (>1024, exact port dependent on
device, but different port for every open client
socket
Server vs Client in 3d party documentation
Addressing in 3d party documentation