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HIWIN Modbus TCP User Guide Overview

HIWIN MIKROSYSTEM Corp. 1-2

MH02UE01-1804

1.1 Introduction of HIMC Modbus TCP

HIWIN Motion Controller (HIMC) supports Modbus TCP communication protocol. Users are allowed to

access HIMC via Modbus TCP to read or write parameters of axis, system call, controller information, etc.

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Summary of Contents for HIMC Modbus TCP

Page 1: ...www hiwinmikro tw User Guide HIMC Modbus TCP...

Page 2: ...HIWIN Modbus TCP User Guide Revision History Revision History Release Date Version Applicable Software Version Revision Contents April 10th 2018 0 1 iA Studio 1 0 2461 0 First edition...

Page 3: ...s of HIMC Modbus TCP 3 1 3 1 Data storage 3 2 3 2 Function codes 3 2 3 3 Exception codes 3 3 3 4 Data type 3 3 4 Register Map 4 1 4 1 Coils 4 2 4 2 Discrete inputs 4 2 4 3 Input registers 4 2 4 4 Hold...

Page 4: ...HIWIN Modbus TCP User Guide Table of Contents This page is intentionally left blank...

Page 5: ...HIWIN MIKROSYSTEM Corp 1 1 1 Overview 00 000 1 Overview 1 1 1 1 Introduction of HIMC Modbus TCP 1 2...

Page 6: ...Corp 1 2 MH02UE01 1804 1 1 Introduction of HIMC Modbus TCP HIWIN Motion Controller HIMC supports Modbus TCP communication protocol Users are allowed to access HIMC via Modbus TCP to read or write par...

Page 7: ...HIWIN MIKROSYSTEM Corp 2 1 2 Communication interface of HIMC Modbus TCP 0000000 00000000000 2 Communication interface of HIMC Modbus TCP 2 1 2 1 Communication interface 2 2...

Page 8: ...2 1 1 Item Setting CN3 CN4 IP Address 169 254 188 21 169 254 188 20 Port 502 The simulator provided in HIMC can also be accessed via Modbus TCP Information needed when accessing HIMC simulator is as b...

Page 9: ...HIWIN MIKROSYSTEM Corp 3 1 3 Functions of HIMC Modbus TCP 000 00 3 Functions of HIMC Modbus TCP 3 1 3 1 Data storage 3 2 3 2 Function codes 3 2 3 3 Exception codes 3 3 3 4 Data type 3 3...

Page 10: ...Discrete Inputs 1x00000 1x65535 1 bit Read only Input Registers 3x00000 3x65535 16 bits Read only Holding Registers 4x00000 4x65535 16 bits Read Write 3 2 Function codes Supported function codes in HI...

Page 11: ...register length 5 is received 03 03 hex Illegal data value The value specified in a request is not allowable For example the initial address of a parameter is 0 and it occupies two registers If a requ...

Page 12: ...nt32_t and uint32_t are used for digital inputs or outputs and controller status The parameter data are stored as below Value Register N Start Register N 1 End 2097169 0x00200011 00000000 00100000 000...

Page 13: ...4 1 Coils 4 2 4 2 Discrete inputs 4 2 4 3 Input registers 4 2 4 4 Holding registers 4 2 4 4 1 Axis 4 3 4 4 2 System call 4 5 4 4 3 Controller information 4 6 4 4 4 GPIO 4 7 4 4 5 HMPL task 4 8 4 4 6...

Page 14: ...as below Table 4 4 1 Category Description Axis Monitors status and sets parameters of each axis System Call Executes system calls such as emergency stop jog relative motion etc Controller Information...

Page 15: ...mit is reached 3 4 Position feedback float Read only Displays the feedback position of axis N m or rad 5 6 Velocity feedback float Read only Displays the feedback velocity of axis N m s or rad s 7 8 A...

Page 16: ...motion Note Use system call to perform point to point motion 29 Select axis int8_t Read Write Sets axis N as selected axis or displays if axis N is selected Bit 0 0 Cancels the selected axis 1 Selects...

Page 17: ..._t Write Performs jog in positive direction on the selected axis Bit 0 1 Performs jog in positive direction on the selected axis 8196 Jogs int8_t Write Performs jog in negative direction on the select...

Page 18: ...ans please refer to below 0 Initializing 1 Busy 2 Synchronous Controller is ready to perform motion control 3 Asynchronous Controller is not ready to perform motion control 4 An error occurs in the co...

Page 19: ...general purpose inputs GPI1 GPI8 and 8 general purpose outputs GPO1 GPO8 The registers assigned for GPIO are as below Table 4 4 4 1 Register Address Parameter Data Type Attribute Description 8272 GPI...

Page 20: ...r Address 1 Parameter Data Size Attribute Description 8448 Task status Task 0 int8_t Read only Displays the status of task Bit 0 Task is imported to RAM Bit 1 Task is running Bit 2 Task is running in...

Page 21: ...exes When the data type is float the assigned registers are as below Table 4 4 6 1 Register Address 1 Parameter Data Type Type Description 8704 index 0 float Read Write Sets index 0 or displays the va...

Page 22: ...defined Parameters The range of register address is from 4x12288 to 4x20479 Users need to define the desired parameters in iA Studio first Figure 4 4 7 1 Modbus Manager Note For how to set user define...

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