Kunbus EtherCat User Manual Download Page 95

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KUNBUS-COM EtherCAT

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Illustration 14:

Putty Session

CDI

Summary of Contents for EtherCat

Page 1: ...User Manual KUNBUS COM EtherCat PR100033 16 09 2015 ...

Page 2: ...ldbus Connection Socket 15 3 5 Status LEDs 16 4 Components 18 4 1 Module Components 18 4 2 Storage Unit 19 4 3 Data Broker 20 4 4 Fieldbus Interface 28 4 5 CDI Configuration and Debug Interface 28 4 6 DPR Dual Port RAM 29 4 7 SDI Serial Data Interface 31 4 8 Synchronous serial interface 32 4 9 Scripter 44 5 Commissioning 45 5 1 Installation 45 5 2 Configuration 46 5 3 Firmware Update 46 6 Memory R...

Page 3: ...mmunication model 90 7 1 EtherCAT Object Directory 90 8 CDI 93 8 1 Setting up a Serial Connection 93 8 2 CDI Menus 96 9 Disposal 132 9 1 Dismantling and Disposal 132 10 Technical data 133 10 1Technical data 133 11 Appendix 134 11 1Configuration via Modpoll 134 ...

Page 4: ...for other purposes are not permitted without the express written consent of the KUNBUS GmbH Contraventions shall result in compensation for damages Trademark protection KUNBUS is a registered trademark of the KUNBUS GmbH Windows and Microsoft are registered trademarks of the Microsoft Corp Modbus is a registered trademark of the Modbus IDA Organization KUNBUS GmbH Heerweg 15 c 73770 Denkendorf Deu...

Page 5: ...duct has been used incorrectly damage is due to non observance of the operating manual damage is caused by inadequately qualified personnel damage is caused by technical modification to the product e g soldering 1 5 Customer Service If you have any questions or suggestions concerning this product please do not hesitate to contact us KUNBUS GmbH Heerweg 15 C 49 0 711 3409 7077 support kunbus de www...

Page 6: ...nic circuits Basic knowledge of EtherCAT work in electrostatic protected areas Locally applicable rules and regulations for occupational safety 2 2 Symbols The symbols used have the following meaning DANGER Hazard Observe this information without fail There is a safety hazard that can lead to serious injuries and death CAUTION Caution There is a safety hazard that can result in minor injuries and ...

Page 7: ...igh mechanical loads on your module and control board This can cause faults èAlways use spacer bolts suitable for the connector height of the circuit board so that the module does not lie on the circuit board You can find detailed information in section Spacer bolt 9 CAUTION Damage due to subsequent processing Avoid subsequent processing of theCOMS Modul Ø Soldering can cause components to become ...

Page 8: ...KUNBUS COMS Modul you can make a sensor or actuator fieldbus capable To do this simply insert the module into your application and connect it to the fieldbus The COMS Modul thereby saves you time consuming in house developments Illustration 1 Overall view Overview ...

Page 9: ...cept Illustration 2 Holes for spacer bolts Suitable spacer bolts Suitable spacer bolts have the following properties Conductive material Holes for M3 screws Diameter maximum 8 mm Connections These spacer bolts are an important part of the earthing concept of the COMS Modul Connect hole 1 to protective earth on the fieldbus side Hole 2 is not electrically connected Connect the spacer bolts of hole ...

Page 10: ...he spacer height for this plug connection is 10 75 to 12 3 mm above the circuit board WARNING Fault due to missing or unsuitable spacer bolt Incorrect or missing spacer bolts can result in high mechanical loads on your module and control board This can cause faults èAlways use spacer bolts suitable for the connector height of the circuit board so that the module does not lie on the circuit board O...

Page 11: ... loads e g Ord No 9774110360 from Würth Elektronik Illustration 3 Application Interface Pin assignment on the application interface The module can be operated in serial or parallel mode In serial mode you can choose whether you want to use the module as master or slave You can activate the modes via logical levels Mode Switchover level Serial slave mode a14 3 3 V a6 3 3 V Serial master mode a14 3 ...

Page 12: ...e a8 UART TX OUT Send SDI a9 UART TE OUT SDI 1 transmitter activ ated for RS485 operation a10 a13 Reserved Do not connect a14 MODE IN Mode Select 1 Serial Mode a15 RESET IN Module Reset low active a16 GND Supply b1 b2 Reserved Do not connect b3 GND Supply b4 SPI MISO OUT SPI Data Out b5 SPI CS IN SPI Chip Select b6 SPI READY OUT SPI Ready b7 SPI RESET OUT Reset signal for the SSC b8 UART RX IN Rec...

Page 13: ... UART TX OUT Send SDI a9 UART TE OUT SDI 1 transmitter activ ated for RS485 operation a10 a13 Reserved Do not connect a14 MODE IN Mode Select 1 Serial Mode a15 RESET IN Module Reset low active a16 GND Supply b1 b2 Reserved Do not connect b3 GND Supply b4 SPI MISO IN SPI Data In b5 Reserved Do not connect b6 SPI LOAD OUT Load signal for the SSC b7 SPI RESET OUT Reset signal for the SSC b8 UART RX I...

Page 14: ...N Address Bit 8 a13 ADDR9 IN Address Bit 9 a14 MODE IN Mode Select 0 Parallel Mode a15 RESET IN Module Reset low active a16 GND Supply b1 b2 Reserved Do not connect b3 GND Supply b4 DATA0 IN OUT Databus Bit 0 b5 DATA1 IN OUT Databus Bit 1 b6 DATA2 IN OUT Databus Bit 2 b7 DATA3 IN OUT Databus Bit 3 b8 DATA4 IN OUT Databus Bit 4 b9 DATA5 IN OUT Databus Bit 5 b10 DATA6 IN OUT Databus Bit 6 b11 DATA7 ...

Page 15: ...ieldbus Illustration 4 Fieldbus Connection Socket Pin assignment for EtherCAT Pin Assignment 1 TX 2 TX 3 RX 4 Not assigned Pin 4 and 5 are interconnected and laid via a filter on PE for better EMC response 5 6 RX 7 Not assigned Pin 4 and 5 are interconnected and laid via a filter on PE for better EMC response 8 Overview ...

Page 16: ...Meaning Note 1 Module Error red Off No error has occurred Flash ing Configuration error At least one system component does not function due to a con figuration error On Internal system error A fatal internal error has oc curred Flash ing Start up phase At least one system component has not yet finished the start up phase On A serious error has occurred A fatal error has occurred Overview ...

Page 17: ...ne system component has not yet finished the start up phase On Normal opera tion All system components function faultlessly 3 Link Activity OUT off No connection flashe s Connection and data traffic on Connection 4 Link Activity IN off No connection flashe s Connection and data traffic on Connection Overview ...

Page 18: ...Components 4 1 Module Components The module is divided into independent components to ensure a high level of flexibility in the application The following pages describe the individual components Illustration 6 Components Components ...

Page 19: ...dbus specification A Memory Register according to this specification has a register number between 1 0x0001 and a maximum of 65536 0x10000 of which the module only uses a small part however With 8 bit values 1 byte remains unused 32 bit values are stored in 2 registers The 16 bit values are stored internally in the memory in Little Endian order This must be taken into account when you access data ...

Page 20: ...ocation mapping yourself This allows you to define which input register the Data Broker should accept data from and which output register it should transfer data to You can define up to 8 register areas with freely definable lengths in the respective output register area for each of the interfaces Any register area of the same length is assigned to the output register areas from one of the input r...

Page 21: ... instead of an input register in the event of a failure of a data provider That has the advantage that the data processing cannot abort uncontrollably The module uses the Little Endian byte order for the internal processing You can also configure the Data Broker so that it exchanges the high and low byte when copying if necessary To do this add the value 0x8000 or 32768 for the required mapping ar...

Page 22: ...free to define the position of the first bit of the target area by entering an output register address and the corresponding bit position 0 to 15 The source area is also defined by entering the input register and a start bit position Illustration 9 Extended Mapping All mapping areas are processed sequentially The Data Broker first copies all simple mapping areas cyclically After that it executes t...

Page 23: ...ere the data is sent to its target the so called consumer via the corresponding interfaces Illustration 10 Distribution to producers consumers Process data is normally exchanged cyclically between producers and consumers If a producer fails e g a connector is removed or a cable is broken the consumer must be able to deal with this situation appropriately For this reason you can define in advance w...

Page 24: ... For EtherCAT this cycle time is determined by parameters of the master For SSC interface the time is determined from the shift register chain length the cycle frequency and for short or fast register chains it is determined by the cycle time of the COMS module During SPI slave mode and SDI transfer the master determines the cycle time of the respective interface as well the base board when using ...

Page 25: ...e taken to the configuration menu 2 Interface Configuration In this menu you have the option to set the mapping for the data broker and the operational parameters for the different interfaces Select Fieldbus Output Mapping to define the data source for the fieldbus output register KUNBUS COM Interface Configuration Operating Mode Config 1 SDI Communication 2 CDI Communication 3 SSC Communication 4...

Page 26: ...ut register as data source start address 0x1401 Confirm your entry with Return ð After confirming you will return automatically to the Fieldbus Output Mapping menu You can find an overview of the start addresses in the section Overview of the Memory Register 47 KUNBUS COM Edit one map entry Source Register 0x1401 Number of Registers 3 Create another mapping at the next free position Select the fir...

Page 27: ...ou to the CDI menu 2 Interface Configuration Here enter 14 Return In CDI menu 2 Interface Configuration under menu item Set Arbitrary Register you now have the option to write the values in the SDI In data area The registers 0x1401 0x1500 are available to you for this purpose In menu 3 Monitor Communication under menu item Arbitrary Register you can view the fieldbus output register from address 0...

Page 28: ... updates The CDI is suitable for configuration during the development and for diagnostic purposes To configure several modules automatically we recommend performing the settings with Modpoll Modpoll is freely available software You can find an introduction and example of this in the Appendix Configuration via Modpoll 134 The serial interface is located at the application interface The respective c...

Page 29: ...MS Modul via DPR can take place in two different ways Process data is read in and read out cyclically from the Data Broker via two fixed address ranges for input and output data In this case the DPR reacts like another communication interface as a producer and consumer The data is distributed according to the specifications set in the Data Broker Messages are exchanged via two address ranges for a...

Page 30: ...ls and coordinates the data transmission individually during communication by means of corresponding control values length specifications and error codes in the relevant headers of the data packets The process data of memory areas also coordinates the exchange of data between the base board and COMS module by means of a corresponding data header NOTICE Important instructions on using the DPR èYou ...

Page 31: ...onverters or interface ICs Afterwards place the converted levels onto connectors for connecting a PC or terminal We deliver the Modul to you with the following default settings to enable access via the SDI automatic baudrate detection 8 data bits 1 stop bit Even parity Even Automatic bitrate detection means that the module tests the following bitrates until it has received a correct Modbus RTU tel...

Page 32: ...re tap MID input b4 SSC Data in MISO input b6 SSC Strobe Signal LOAD output b7 SSC Reset output Output data from the Data Broker is written to the SSC output register area and input data is read from the SSC input register area in both operating modes The SPI Slave operating mode also allows an SPI Master write and read access to all other Memory Register that are enabled for this This section des...

Page 33: ...p Select line to high to indicate to the module that data is ready for transmission and the following data block is meant for the module theoretically a master can address several modules Once the module is now ready for this data transmission it sets the SPI ready line to high and the Master can start transmission of the block immediately A maximum delay between setting the CS signal and releasin...

Page 34: ...e Valid Time Section Data Broker 20 Read access to the DPR areas is fundamentally not possible The module can never be in SPI SSC mode and DPR mode at the same time Consequently access to DPR areas would make no sense The various access types are explained below Writing 1 byte This access type is used if 1 byte is written to a memory register of the module by the Master The Master first sends a tr...

Page 35: ...0x00 0xXXXX 0xXXXX NO_PREVIOUS_OPERATION 0x01 0x0000 0xXXXX WRITE_SUCCESS 0x02 ERROR_CODE1 0xXXXX WRITE_FAILURE 1 See Table ErrorCode The first byte returns the status If it is set to 0 the Master then indicates that it cannot return any current status information since there was no previous operation this is usually the response to the very first block transmission A 1 indicates the successful co...

Page 36: ...ten for all other target areas All 16 bit wide register contents to be written must be prepared by the Master in such a way that the higher value byte is transmitted as the first byte and the lower value byte is transmitted as the second byte Big Endian or Motorola format The register contents must be sent in ascending address order i e the start address first Transmission block with fixed length ...

Page 37: ...ead or write request having to be executed Theoretically you could use all memory register addresses between 0 and 0xFFFF In practice however the write access is limited to registers that are enabled for this purpose During transmission of the first data block the module sends the status of the previous data transmission The module first returns the data to be read when sending the next data block...

Page 38: ... this access type the number of source registers to be read as well as the start address are transmitted with the first transmission block that has a fixed length of 5 bytes After this block with metadata the transmission of the read data follows in a separate transmission block with variable length Therefore this access type is suitable primarily for larger volumes of data The maximum permitted n...

Page 39: ...of more than 2 bytes with one access bulk read write In this access type the number of source registers to be read or target registers to be written are transmitted with the first transmission block that has a fixed length of 5 bytes After this block with metadata the transmission of the read data follows in a separate transmission block with variable length Unlike with Bulk Read or Bulk Write no ...

Page 40: ... block with variable length is invalid and must be discarded by the Master Error Codes Error code Designation Description 0x01 INVALID_DATA_ ADDRESS Invalid data address The master tries to access an invalid ad dress The slave ignores the instruction 0x02 INVALID_DATA_ LENGTH Invalid data length The data length predefined by the master is too great The slave ignores the instruction 0x04 INVALID_DA...

Page 41: ... signals to the fieldbus without the need of microprocessor controlled application circuitry Switches contacts relay coils or solenoid valves for example can therefore be connected directly via EtherCAT without using a microprocessor The COMS Modul with its clock Pin a4 clocks the output data into the input register of the chain via the MOSI line Pin a5 where it is shifted bit by bit until the end...

Page 42: ...ing purposes A test sample shifted through the complete chain without a LOAD signal allows the COMS Modulto detect how long the entire chain is by means of the necessary clock signals for such a shifting procedure A centre pickoff between the output and input modules allows the COMS Modul to also detect the corresponding number of inputs and outputs during this run of a test sample If bit errors o...

Page 43: ...well as the clock rate After completion of a shift procedure the next shift cycle starts with the next work cycle of the module The maximum delay between the completion and start of a shift cycle is 10 ms Note If the shift procedure is longer than a work cycle of the module the cycle time is determined by the length and speed of the shift register chain Components ...

Page 44: ...rvomotor The program sequences required are loaded once into the module in the form of a script via the CDI interface of the module and then always executed there cyclically KUNBUS provides you with a PC tool for creating and testing such scripts You can read all the necessary details in the separate manual on the Scripter NOTICE Please note that when using the Scripter and activating a script the...

Page 45: ...module with a direct connection onto the control board Fasten the module head first to the application contact strip of the control board The spacer bolts must be on the corresponding holes in the board and the module kept parallel at a distance to the control board Fasten the module by screwing down the spacer bolts to the module board ð You have successfully integrated your application and can n...

Page 46: ...configure several modules automatically we recommend performing the settings with Modpoll You can find an introduction and example of this in the Appendix Configuration via Modpoll 134 Configuration using the SDI The COMS Modul has a UART interface with 3 3 V logic levels Your main board must convert these lines to standardised RS 485 signals so that Modbus RTU devices can access these Conversion ...

Page 47: ...assignment depends on the application and is not specified by the Modbus specification A Memory Register according to this specification has a register number between 1 0x0001 and a maximum of 65536 0x10000 of which the module only uses a small part however With 8 bit values 1 byte remains unused 32 bit values are stored in 2 registers The 16 bit values are stored internally in the memory in Littl...

Page 48: ...0xe001 Output DPR 0x2c01 0xe001 Register assignment of the memory area The following table contains a brief overview of the register assignment of the general memory area You can find a detailed overview of the individual registers on the following pages Register number Assignment Description 0x0001 0x0100 50 General Device Parameters e g Setting of the bitrates mailbox sizes etc 0x0101 0x0e00 Res...

Page 49: ...bus Version Low Byte 0x4009 82 Firmware Version 0x400a 83 Serial number High Byte 0x400b 83 Serial number Low Byte 0x400c 83 Physical Address 0x400f 84 Available Ports 0x4011 84 Configuration Bits High Byte 0x4012 84 Configuration Bits Low Byte 0x4014 86 Product number High Byte 0x4015 86 Product Number Low Byte 0x4016 0x4035 Product Name 0x4036 86 Fieldbus Input Size 0x4037 87 Fieldbus Output Siz...

Page 50: ...bytes available 2 Permanently stored No Access Read Write Meaning 0x0000 or 0x0001 Operation Cyclical data exchange takes place 0x0002 Restoring default settings Factory Reset Resetting of all permanent parameters to their original respective settings A module reset takes place automatically and does not have to be done manually here 0x0003 Reset Implementing a reset Your settings can first be app...

Page 51: ...Fieldbus Run State 1 The field bus is in cyclical data exchange 0 The cyclical data connection is interrup ted Bit 1 Only available in SSC mode SSC SSR Master Run State 1 The synchronous serial interface is in SSC mode and is exchanging data cyclically 0 No cyclical data exchange takes place Bit 2 Synchronous Serial Mapping Configuration Error State 1 Configuration error in the mapping of the SCC ...

Page 52: ...ping of the DPR interface 0 Configuration is ok Bit 11 13 Reserved Bit 14 Extended Mapping Error 1 Configuration error in the mapping 0 Configuration is ok Bit 15 Script Run Status 1 Script was loaded successfully and is running cyclically 0 Script is stopped Bit 16 Script Error State 1 An error has occurred during execution of the script 0 Script runs without errors Example The status value 0x009...

Page 53: ...network RS485 can consist of several modules Therefore the Modbus protocol provides the unique addressing via device addresses If you want to access the COMS Modulwith a Modbus Master e g PC with Modpoll the Master must use the device address set in this register as the first byte in the send telegram The new settings are applied after a reset Power Off On or write Memory Register 0x0001 with valu...

Page 54: ... module does not send a reply to the master until the correct bitrate has been detected This procedure can require up to 40 polls of the master TIP Set a fixed bitrate if the automatic bitrate detection lasts too long for you The new settings are applied after a reset Power Off On or write Memory Register 0x0001 with value 0x0003 Modbus Register 0x0005 Value Range 0x00 0x07 Default Value 0x00 Numb...

Page 55: ...ity Number of available bytes 1 Permanently stored Yes Access Read Write Meaning 0x0000 Even Parity 1 Stop Bit 0x0001 Odd Parity 1 Stop Bit 0x0002 No Parity 2 Stop Bits 0x0007 Current bitrate of the SDI interface In this memory register you will find information about the currently used bitrate of the SDI interface Modbus Register 0x0007 Value Range 0x0000 0x0007 Initial value Number of bytes avai...

Page 56: ... Value 0x07 Number of bytes available 1 Permanently stored Yes Access Read Write Meaning 0x01 2400 bit s 0x02 4800 bit s 0x03 9600 bit s 0x04 19200 bit s 0x05 38400 bit s 0x06 57600 bit s 0x07 115200 bit s NOTICE Automatic bitrate detection with the CDI is not possible Ø If the configuration that was entered is invalid the corresponding registers use the following settings in order not to block th...

Page 57: ...d Write Meaning Bit 0 Parity Enable PEN 1 Activate parity check 0 Do not activate parity check Bit 1 Even or Odd EOP Only relevant if parity check is activated 1 Odd Parity 0 Even Parity Bit 2 Stop Bit STB 1 Use synchronisation with 2 stop bits 0 Use synchronisation with 1 stop bit Example The value 0x05 00000_101b means Bit 0 1 Activate parity check Bit 1 0 Set Even Parity Bit 2 1 Use synchronisa...

Page 58: ...t s 0x07 115200 bit s 0x0015 Current data transmission format of the CDI interface In this memory register you will find information about the current format of a data byte for the CDI Modbus Register 0x0015 Value Range 0x00 0x07 Number of bytes available 1 Permanently stored No Access Read Only Meaning Bit 0 Parity Enable PEN 1 Activate parity control 0 Do not activate parity control Bit 1 Even o...

Page 59: ...rmanently stored Yes Access Read Write Meaning 0x00 SSC SSR Master Mode disabled 0x01 SSC SSR Master Mode auto 0x02 SSC SSR Master Mode configured 0x0017 Current SSC Mode In this memory register you will find information for the current SSC mode of the module You can find further information on this topic in section Synchronous serial interface 32 Modbus Register 0x0017 Value Range 0x0000 0x0003 N...

Page 60: ...CLK low CPOL 0 MSB first 0x0004 Lagging edge CPHA 1 CLK high CPOL 1 MSB first 0x0019 Current configuration of the SPI controller In this memory register you will find information about the current configuration of the clock and data level for the SPI interface This setting is only used in the SPI slave mode In SSC Master Mode the SPI Controller always uses setting 4 lagging edge CLK high MSB first...

Page 61: ...puts Prerequisite You have activated the Master Mode In this memory register you have the option to set the number of output shift register modules for the cyclical data exchange The size of each shift register module is 8 bits When you carry out a manual configuration here you must make sure that the automatic register detection is not set since these values are given priority If the number of co...

Page 62: ... modules Prerequisite You have activated the Master Mode In this memory register you have the option to set the number of input shift register modules for the cyclical data exchange The size of each shift register module is 8 bits When you carry out a manual configuration here you must make sure that the automatic register detection is not set since these values are given priority If the number of...

Page 63: ... will find information about the current number of output shift register modules for the cyclical data exchange on the SSC interface Modbus Register 0x001f Value Range 0 32 Default Value Number of bytes available 2 Permanently stored No Access Read Only Meaning 0x00 0 Shift registers 0x01 1 Shift registers 0x02 0x1F 0x20 32 Shift registers Memory Register ...

Page 64: ... SSC interface 00 Output data is set to 0 default value 01 Output data is set to 1 10 The data last written is retained Bit 3 Bit 2 FB1 and FB0 fieldbus interface 00 Output data is set to 0 default value 01 Output data is set to 1 10 The data last written is retained Bit 5 Bit 4 SS1 and SS0 SDI interface 00 Output data is set to 0 default value 01 Output data is set to 1 10 The data last written i...

Page 65: ...pplied with process data via the Data Broker from this input area then adjust themselves to the preselected safe values You set these values in the Memory Register 0x0021 You can find detailed information on this topic in section Data Broker 20 Modbus Register 0x0022 Value Range 0 255 Default Value 0x00 Number of bytes available 1 Permanently stored Yes Access Read Write Meaning 0 The data is vali...

Page 66: ...supplied with process data via the Data Broker from this input area then adjust themselves to the preselected safe values You set these values in the Memory Register 0x0021 You can find detailed information on this topic in section Data Broker 20 Modbus Register 0x0023 Value Range 0 255 Default Value 0x00 Number of bytes available 1 Permanently stored Yes Access Read Write Meaning 0 The data is va...

Page 67: ...r of bytes available 1 Permanently stored Yes Access Read Write Meaning 0 The data is valid indefinitely in acyclic oper ation 1 255 Validity period in milliseconds ms The next production must follow within this time 0x0027 Configure size of the In Mailbox In this memory register you have the option to set the size of the In Mailbox of the DPR This value has a header of 12 bytes When specifying th...

Page 68: ...ilable 2 Permanently stored Yes Access Read Write 0x0029 Configure length of the incoming process data packets In this memory register you have the option to define the size of the process data input area You can find further information in section DPR Dual Port RAM 29 This value has a header of 2 bytes When specifying the value you must not include the length of the header for the required data s...

Page 69: ...p as follows Header 40 bytes Configurable size 984 bytes Modbus Register 0x002a Value Range 0x0000 0x0200 0 512 bytes Default Value 0x017e 382 bytes Number of bytes available 2 Permanently stored Yes Access Read Write 0x002b Size of the Dual Port RAM In this memory register you will find information to define the size of the Dual Port RAM This value includes the 5 headers of Memory Register 0x0027...

Page 70: ...information on this topic in section Data Broker 20 Modbus Register 0x002c Value Range 0 255 Default Value 0x00 Number of bytes available 1 Permanently stored Yes Access Read Write Meaning 0 The data is valid indefinitely 1 255 Validity period in milliseconds ms The next production must follow within this time 0x002d Current Size of the Input Mailbox In this register you will find information abou...

Page 71: ...nd information about the current size of the process data input area This value has a header of 2 bytes This register only indicates the configured size however and does not include the header Modbus Register 0x002f Value Range 0 Initial value Number of bytes available 2 Permanently stored No Access Read Only 0x0030 Current length of the process data in the output area In this register you will fi...

Page 72: ...gister you have the option to select the interface by which the script should communicate NOTICE Please note that activation of a script influences the individual port E g If the CDI port is used by the script the CDI menu can no longer be used until you have deactivated the script If the CDI port is used by the script you can only deactivate the script by writing the value 0 in the memory registe...

Page 73: ... cyclically 2 The running script is waiting for data input or for a waiting period to elapse 3 The script was stopped or no script for run ning is loaded or running script is deactiv ated 4 Script cannot run due to a serious error 0x0035 Script Loop Register In this register you have the option to monitor whether your script is running During each run of the script the value in the register is inc...

Page 74: ...Register 0x0036 Value Range 0x00 0x05 Default Value Number of bytes available 1 Permanently stored No Access Read Only Meaning 0 No Error 1 Centre tap is not receiving any data line de fective 2 Data In is not receiving any data 3 Number of input registers is not as expected 4 Number of output registers is not as expec ted 5 General error e g electrical faults Also see about this 2 Data Broker 20 ...

Page 75: ...nge the High Byte and Low Byte swap In the event of an invalid mapping an error message flag is set in the status register 0x0002 In section Data Broker 20 we will explain how a mapping works You will also find an example of a mapping 0x0e01 0x0e10 Output Data Mapping SSC Modbus Register 0x0e01 0x0e10 Value Range Default Value 0x00 Number of bytes available 32 Permanently stored Yes Access Read Wr...

Page 76: ...xf40 Extended Output Mapping In these memory registers have the option to define a bit accurate mapping Individual bits can be mapped from any input data area to the output data area of your choice You can create a total of 16 different mappings Please note that a bit accurate mapping requires very much run time performance Only use this function if you really need it To define a bit accurate mapp...

Page 77: ...ed Yes Access Read Write Meaning Register 0 4 6 8 60 Source register number Register 1 5 9 61 Target register number Register 2 6 10 62 Bit 0 3 Source bit position Bit 4 7 Target bit position Register 3 7 11 63 Bit 0 14 Number of registers to be copied Bit 15 generated when setting a change from high and low byte swap Memory Register ...

Page 78: ...munication itself of course The initial value in the input registers is 0 until a register is written with process data Output registers that are not written by the Data Broker also contain the initial value 0 regardless of the setting for the drop off value in the event of validity periods of the source data being exceeded Output registers can solely be written by the Data Broker Read access is n...

Page 79: ... the COMS Modul is not running in DPR mode selecting this register as a source register for a mapping entry will result in an error Modbus Register 0x1c01 0x1d01 Coil Address 0x6001 Value Range Initial value 0x00 Number of bytes available 0 512 configurable Permanently stored No Access Read Only 0x2001 Output SSC Modbus Register 0x2001 0x2080 Value Range Coil Address 0x8001 0x8800 Initial value 0x...

Page 80: ... Only 0x2c01 Output DPR You can only read this register if the COMS Modul is in DPR mode If the COMS Modul is not running in DPR mode selecting this register as a source register for a mapping entry will result in an error Modbus Register 0x2c01 0x2d01 Coil Address 0xe001 Value Range Initial value 0x00 Number of bytes available 0 512 configurable Permanently stored No Access Read Only Memory Regis...

Page 81: ... or invalid bitrate 0x4002 Module Status In this memory register you will find information about the EtherCAT state of the module The data of the ET1100 register 0x0130 EtherCAT Run Status is stored here as a copy This copy is updated cyclically Modbus Register 0x4002 Value Range 0x00 0x18 Number of bytes available 2 Permanently stored No Access Read Only Meaning Bit 0 3 0x00 Error State 0x01 Init...

Page 82: ... Access Read Write Meaning 0x4007 0x4008 Fieldbus Version In this memory register you will find information about the fieldbus version The Memory Register 0x4007 contains the High Word Memory Register 0x4008 contains the Low Word of the fieldbus version This value is displayed as an EtherCat object 0x1018 Sub 0x03 Modbus Register 0x4007 0x4008 Value Range 0x00000000 0x00020000 Default Value 0 Numb...

Page 83: ...Identity object Modbus Register 0x400a 0x400b Value Range 0x00000000 0xffffffff Default Value KUNBUS Serial number Number of bytes available 4 Permanently stored Yes Access Read Write 0x400c Configuration of the Physical Address In this memory register you will find information for the Physical Address The COMS Modul registers on the fieldbus with the physical address You can also call up this val...

Page 84: ...ntly stored No Access Read Only Meaning Bit 0 Operation Bit 1 PDI Watchdog Bit 2 Enhanced Link Detection Bit 4 Physical link Port A Bit 5 Physical link Port B Bit 8 9 Link Status Port A Bit 10 11 Link Status Port B 0x4011 0x4012 Fieldbus Configuration In these registers you can define how the COMS Modul receives its device address Modbus Register 0x4011 0x4012 Value Range Default Value 0x00000008 ...

Page 85: ...termines Explicit Device ID reserved 10 Invalid 11 Rotary switch settings determine the Explicit Device ID You can define the format via bit 7 Bit 7 Rotary switch settings for the Explicit Device ID XiDM 0 Binary format value range from 0 9 all other values are in valid 1 BCD Format Bit assignment Register 0x4011 b31 b30 b29 b28 b27 b26 b25 b24 b23 b22 b21 b20 b19 b18 b17 b16 Register 0x4012 b15 b...

Page 86: ...4 Permanently stored Yes Access Read Write 0x4016 0x4035 Product Name In this memory register you have the option to change the product name The product name of the module assigned by KUNBUS is stored In the delivered condition Modbus Register 0x4016 0x4035 Value Range 32 Byte String Default Value KUNBUS COM EtherCAT Number of bytes available 32 Permanently stored Yes Access Read Write 0x4036 Size...

Page 87: ...e Number of bytes available 2 Permanently stored Yes Access Read Write 0x4101 Current Station Alias In this memory register you will find information for the Station Alias currently used Modbus Register 0x4101 Value Range 0 65535 Default Value Number of bytes available 2 Permanently stored No Access Read Only 0x4103 Station Alias SSC In this memory register you will find information for the Statio...

Page 88: ...105 Current Explicit Device ID In this memory register you will find information Explicit Device ID currently used Modbus Register 0x4105 Value Range 0 65535 Default Value Number of bytes available 2 Permanently stored No Access Read Only 0x4106 Explicit Device ID SSC In this memory register you will find information for the Explicit Device ID which the module reads via the shift chain You can set...

Page 89: ...g registers in the software as reserve registers 0x0009 0x000A 0x0011 0x4004 0x4005 These registers have no function for the current module variant These are intended for customer specific extensions internal purposes and further developments in the software Memory Register ...

Page 90: ...dbus Register 0x4007 0x4008 1010h Store Parameters 00h Largest sub index supported U8 RO 01h 01h Store all parameters U32 RW Bit rate and node ID cannot be stored using this command 1011h Restore parameters 00h Largest sub index supported U8 RO 01h 01h Restore all default parameters U32 RW 1018h Identity object 00h Number of entries U8 RO 04h 01h Vendor ID 0x00000569 U32 RO Modbus Register 0x4003 ...

Page 91: ...No of mapped ap plication objects in PDO U8 RW 01h Mapped object 1 U32 RW 02h Mapped object 2 U32 RW 03h Mapped object 3 U32 RW 04h Mapped object 4 U32 RW 05h Mapped object 5 U32 RW 06h Mapped object 6 U32 RW U32 RW 80h Mapped object 128 U32 RW 1A01h Transmit PDO mapping 2 1A00h Transmit PDO map ping U8 No of mapped applica tion ob jects in PDO U8 01h Mapped object 1 U32 02h Mapped object 2 U32 03...

Page 92: ... Number of entries U8 RO 01h Input buffer Byte 128 U8 RO 02h Input buffer byte 129 80h Input buffer byte 255 Fieldbus Output Data from the Master You can access this data in 3 ways Byte Word Double Word Index Object Name Subindex Description Data Type Access Comment 2000h Output Buffer 00h Number of entries U8 RW byte access Modbus Register 0x1801 1880 01h Output buffer byte 0 U8 RW 02h Output buf...

Page 93: ...X and TX connections of this interface an RS232 interface is available to you for connecting a terminal you can find details from our sample circuit diagram under RS232 Interface for CDI in the Appendix Illustration 12 Setting up a Serial Connection You can connect the serial COMx interface of a PC to such a terminal interface or a serial USB converter and then access the CDI menus using a termina...

Page 94: ...ues see Fig above Deactivate the dataflow control as well Change to the Session view Activate Serial as connection type The Serial line and Speed fields are already preallocated with the settings you specified beforehand Assign a name under Saved Sessions to save these settings Click on Save Click on Open ð The main menu will open in the terminal window NOTICE If the terminal window remains black ...

Page 95: ...KUNBUS COM EtherCAT 95 135 Illustration 14 Putty Session CDI ...

Page 96: ... Information 2 Interface Configuration 3 Monitor Communication 4 Module Status Menu 1 Module Information 1 Module Information In this menu you will find general information about the module Software revision Checksum of the firmware Serial number of the module Module type unique throughout KUNBUS KUNBUS COM Module Information Revision 2 0 7935 Firmware CRC 0xdebd4edc Serial Number 4294967295 Modul...

Page 97: ...ation 2 CDI Communication 3 SSC Communication 4 DPR Configuration 6 SDI Output mapping 7 SSC Output mapping 8 Fieldbus Output mapping 9 DPR Output mapping 11 Fieldbus Specific 12 Set Arbitrary Register 13 Script Interpreter 14 Reset Module 15 Reset to Factory Settings 16 Extended Mapping 2 1 SDI Communication In this menu you will find information about the settings for the Modbus RTU communicatio...

Page 98: ...y 1 stop bit The number of stop bits is based automatically on the parity setting This ensures that a transmission always contains the same number of bits per byte KUNBUS COM SDI Communication Set Parity 1 Even Parity 1 Stopbit 2 Odd Parity 1 Stopbit 3 No Parity 2 Stopbits 2 1 3 Set Modbus Node Address In this menu you have the option to enter the Modbus Node Address Permitted input values 1 247 K...

Page 99: ... 57600 Bit s 7 115200 Bit s 2 2 2 CDI Communication Set Parity In this menu you have the option to select the appropriate parity for your application from the displayed values The default value is Even Parity 1 stop bit The number of stop bits is based automatically on the parity setting This ensures that a transmission always contains the same number of bits per byte KUNBUS IC CDI Communication S...

Page 100: ...his option you can define the number of input output shift registers and the bitrate yourself Enter 3 Enter to select this mode as the configuration source With the option 9 you open the configuration menu KUNBUS COM Select SSC SSR Master Mode Mode SSC SSR Master Mode configured shift registers 1 SSC SSR Master Mode disabled 2 SSC SSR Master Mode auto detect shift registers 3 SSC SSR Master Mode c...

Page 101: ... the bitrate With option 1 Auto detect Bitrate the bitrate is determined automatically The values specified are to be regarded as reference values for fast medium and slow In SSC master mode these values are fallen short of by approx 10 In slave mode the EtherCAT Master determines the bitrate KUNBUS COM SSC SSR Bitrate 1 Auto detect Bitrate 2 300 kBit s 3 1200 kBit s 4 4800 kBit s 2 3 SSC SPI Slav...

Page 102: ... not completely correct In the memory register 0x0018 60 you can see the correct representation 2 4 Dualport RAM Configuration In this menu you have the option to configure the Dual Port RAM Please note that you cannot configure the DPR when the module is in SSC mode KUNBUS COM Dualport RAM Configuration The DPR has a size of NNN bytes They are split into 4 sections 1 Mailbox In 20 500 Bytes NNN1 ...

Page 103: ...reviously will remain unchanged 2 6 SDI Output Mapping In this menu you have the option to configure the Data Broker Mapping for SDI Here you can specify up to eight different register areas start address and number of successive registers as data sources Optionally you can activate a timeout and specify default data that should be valid in the event of a timeout KUNBUS COM SDI Outputmapping Src R...

Page 104: ...plied in the operating mode KUNBUS COM Edit one map entry Source Register 0x1001 Number of Registers NOTICE In the event of an invalid mapping e g due to a register address outside the permitted input range or a register number that is too high an error message appears Default data in Data Broker In this menu you have the option to define the default data for consumers used in the event of invalid...

Page 105: ...lues KUNBUS COM Production valid time 0 disabled 2 7 SSC Output Mapping In this menu you have the option to configure the Data Broker Mapping for SSC Here you can specify up to eight different register areas start address and number of successive registers as data sources Optionally you can activate a timeout and specify default data that should be valid in the event of a timeout KUNBUS COM SSC Ou...

Page 106: ...plied in the operating mode KUNBUS COM Edit one map entry Source Register 0x1001 Number of Registers NOTICE In the event of an invalid mapping e g due to a register address outside the permitted input range or a register number that is too high an error message appears Default data in Data Broker In this menu you have the option to define the default data for consumers used in the event of invalid...

Page 107: ...values KUNBUS COM Production valid time 0 disabled 2 8 Fieldbus Output Mapping In this menu you have the option to configure the Data Broker Mapping for Here you can specify up to eight different register areas start address and number of successive registers as data sources Optionally you can activate a timeout and specify default data that should be valid in the event of a timeout KUNBUS COM Out...

Page 108: ...plied in the operating mode KUNBUS COM Edit one map entry Source Register 0x1001 Number of Registers NOTICE In the event of an invalid mapping e g due to a register address outside the permitted input range or a register number that is too high an error message appears Default data in Data Broker In this menu you have the option to define the default data for consumers used in the event of invalid...

Page 109: ...lues KUNBUS COM Production valid time 0 disabled 2 9 DPR Output Mapping In this menu you have the option to configure the Data Broker Mapping for DPR Here you can specify up to eight different register areas start address and number of successive registers as data sources Optionally you can activate a timeout and specify default data that should be valid in the event of a timeout KUNBUS COM DPR Ou...

Page 110: ...plied in the operating mode KUNBUS COM Edit one map entry Source Register 0x1001 Number of Registers NOTICE In the event of an invalid mapping e g due to a register address outside the permitted input range or a register number that is too high an error message appears Default data in Data Broker In this menu you have the option to define the default data for consumers used in the event of invalid...

Page 111: ...ings Actual Station Alias Source EtherCAT Master Actual Explicit Device ID Source Modbus Register 1 Station Alias Settings 2 Explicid Device Id Settings 2 11 1 Station Alias Settings In this menu you can select how the module should get the Station Alias Modbus Register The module gets the Station Alias via the storage register Switch attached to shift register The module gets the Station Alias vi...

Page 112: ...IC EtherCAT Mbus Register Set Station Alias Enter value for station Alias 0 65535 2 11 1 2 Switch attached to shift register If you want to assign the Station Alias via the SSC enter 2 Return in the EtherCAT Alias settings menu The SSC is now selected as the current configuration source By entering 9 Return the displayed menu window opens Here you can now select the required settings 2x BCD Data a...

Page 113: ...ettings Actual Explicit Device ID Source Shift register 1 Modbus Register 2 Switch attached to shift register 9 Configure Actual Selection 2 11 2 1 Explicit ID Settings In this menu you will find information Explicit Device ID currently used By selecting 1 Enter you open the configuration menu KUNBUS IC EtherCAT Xid Mbus Register setting Explicit device ID 0x4104 0 1 Change Explicit device ID 2 11...

Page 114: ...rbitrary Register In this menu you have the option to make adjustments to the writeable registers that do not have their own menu item First enter the register number KUNBUS COM Set Arbitray Register Register Number If the register number does not exist or is write protected you will receive a corresponding error message KUNBUS COM Set Arbitray Register Register Number 0x5001 Register doesn t exis...

Page 115: ...I interface is now available again 2 13 Script Interpreter In this menu you have the option to activate or deactivate a script and to select the desired port NOTICE Please note that activation of a script influences the individual port Never activate a script with the setting Port used by script CDI if you do not have any other fully functional access SDI DPR to the parameter memory registers exce...

Page 116: ...tion within the target register Number of bits to be copied Info Bitwise copying requires performance The module works cyclically During each cycle the different interfaces are operated in series and the data from the Data Broker is distributed between the input and output data areas Since all interfaces process the data traffic independently of each other asynchronous and store the data produced ...

Page 117: ...1 0 0x0001 0 0 10 0x0001 0 0x0001 0 0 11 0x0001 0 0x0001 0 0 12 0x0001 0 0x0001 0 0 13 0x0001 0 0x0001 0 0 14 0x0001 0 0x0001 0 0 15 0x0001 0 0x0001 0 0 16 0x0001 0 0x0001 0 0 The submenu for entering the mapping is displayed by entering a number from 1 to 16 KUNBUS COM Extended Mapping 1 Entry Entry 1 Source 0x1001 Bitpos 2 Destination 0x2001 Bitpos 0 Bit Length 8 1 change mapping 2 clear mapping...

Page 118: ... the bit that you want to map KUNBUS COM Extended Mapping 1 Entry Entry 1 Source 0x1401 Bitpos 14 Destination 0x2401 Bitpos 2 Bit Length 0x2400 Bitpos 2 1 change mapping 1 Source Register 0x1810 Source Bit Position Destination Register Specify here the register where you want to output the data KUNBUS COM Extended Mapping 1 Entry Entry 1 Source 0x1401 Bitpos 14 Destination 0x2401 Bitpos 2 Bit Leng...

Page 119: ... 2 1 change mapping 1 Source Register 0x1810 Source bit position 5 Destination Register 0x2405 Destination Bit Position Bit Length Specify here the number of bits you want to map KUNBUS COM Extended Mapping 1 Entry Entry 1 Source 0x1401 Bitpos 14 Destination 0x2401 Bitpos 2 Bit Length 0x2400 Bitpos 2 1 change mapping 1 Source Register 0x1810 Source bit position 5 Destination Register 0x2405 Destin...

Page 120: ...est Bitp Length 1 0x1810 5 0x2405 3 27 2 0x0001 0 0x0001 0 0 3 0x0001 0 0x0001 0 0 4 0x0001 0 0x0001 0 0 5 0x0001 0 0x0001 0 0 6 0x0001 0 0x0001 0 0 7 0x0001 0 0x0001 0 0 8 0x0001 0 0x0001 0 0 9 0x0001 0 0x0001 0 0 10 0x0001 0 0x0001 0 0 11 0x0001 0 0x0001 0 0 12 0x0001 0 0x0001 0 0 13 0x0001 0 0x0001 0 0 14 0x0001 0 0x0001 0 0 15 0x0001 0 0x0001 0 0 16 0x0001 0 0x0001 0 0 The extended mapping is ...

Page 121: ...I In 3 Fieldbus In from Master 4 DPR In from Base Board 5 SSC Out 6 SDI Out 7 Fieldbus Out to Master 8 DPR Out to Base Board 9 Arbitrary Register 3 1 Monitor SSC Input Registers In this menu you will get an overview of the current values of the input areas of the shift register chain In the first row you see the setting values for the display Here you can select a binary b hexadecimal h or decimal...

Page 122: ...00 0x1409 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x1411 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x1419 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x1421 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x1429 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x1421 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x1439 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 3 3 Monitor Fieldbus Input from Master In this menu yo...

Page 123: ...x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x1c09 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x1c11 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x1c19 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x1c21 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x1c29 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x1c31 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x1c39 0x0000 0x...

Page 124: ...x0000 0x2409 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x2411 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x2419 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x2421 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x2429 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x2431 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x2439 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 3 7 Monitor Fieldbus Output to Master In this menu ...

Page 125: ...0000 0x1c31 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x1c39 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000 3 9 Arbitrary Register In this menu you will get an overview of all registers Use this function to view registers that do not have their own menu item First enter the register number e g 0x4001 KUNBUS COM Monitor Arbitray Register Register Number 0x4001 The CDI then displays 64 regi...

Page 126: ...onfiguration errors as well as errors in the Data Broker Mapping The first row displays whether the module is in SSC mode or DPR mode Please make sure that SSC and SDI are deactivated in DPR mode The DPR is deactivated in SSC mode Only a short message is then displayed in the corresponding status menus KUNBUS COM Common Status Flags cr refresh Esc return Baseboard connection mode DPR Fieldbus Stat...

Page 127: ...you will find information about the status of the SSC interface The representation is dependent on the selected mode and configurations SSC SSR Master Mode auto detect shift registers You have selected auto detect shift registers as the configuration source for the SSC In this menu you will find the following information Number of shift registers Bitrate If the shift register chain is not working ...

Page 128: ...Status cr refresh Esc return SSC SSR Master Mode configured shift registers Actual Number of Input registers 1 1 Actual Number of Output registers 1 1 Actual Bitrate 4800 kBit s SSC SSR Master Mode disabled You will find this representation if the SSC Master was switched off via the menu KUNBUS COM SSC Status cr refresh Esc return SSC SSR Master Mode disabled SSC SPI Slave Mode You have selected S...

Page 129: ...trate 115200 Bit s Actual Parity even Actual Stopbits 1 Stopbit 4 6 DPR Status In this menu you will find information about the status of the DPR and about the parameters of the DPR KUNBUS COM DPR Status cr refresh Esc return DPR Status Ready In Mailbox Size 32 In Mailbox State empty Out Mailbox Size 122 Out Mailbox State empty In Process Data Size 384 Out Process Data Size 384 CDI ...

Page 130: ...x 0 0x 0000 contains the High Word of the error The register x 1 0x 0000 contains the Low Word of the error If all four entries are occupied and another error occurs this error will replace the oldest error in the Error Stack The latest error is always displayed first KUNBUS COM Error Stack cr refresh Esc return Entry 0 0x00000000 Entry 1 0x00000000 Entry 2 0x00000000 Entry 3 0x00000000 4 8 Script...

Page 131: ...d value triggers a serious software error after a firmware update If the error cannot be remedied please contact our support Have the number of the error entry ready for this purpose KUNBUS COM Fatal Error Handler A severe error occurred Error Stack Entry 0 0x34030000 Entry 1 0x00000000 Entry 2 0x00000000 Entry 3 0x00000000 press R for Reset or press F for Reset with Factory Defaults Also see abou...

Page 132: ...all regulations necessary for working in electrostatically protected areas in order to avoid any faults on the module èMake sure that you yourself and the module are earthed ü The device in which your module is installed has been disconnected from the power supply ü You have removed the cover of the housing if applicable in accordance with the manufacturer s instructions Release the safety lever i...

Page 133: ...nsions Length 85 mm Width 65 mm Height 12 mm Weight 31 g Environmental Conditions Operating temperature 0 to 60 C Humidity 0 not 95 non condensing Mechanical shock load 15G Permanent mechanical stress 5G Condensing not allowed Storage temperature 40 C to 85 Technical data ...

Page 134: ...modpoll exe file into the input panel Always begin new commands with the input Modpoll ð Define your application by specifying the protocol type register address baudrate etc We have compiled the relevant Modpoll commands for you in the following table Example for the Configuration of the SSC Output Register modpoll m rtu r 0x1401 t 4 hex b 19200 COM1 0x1234 modpoll m rtu r 0x2401 t 4 hex b 19200 ...

Page 135: ...utput register table t 4 float Slave works onBig Endian 32 Bit integers i Slave works onBig Endian 32 Bit floats f Only poll once instead of every second 1 Use Daniel Enron single register 32 bit mode e First reference is 0 instead of 1 PDU addressing 0 Options for Modbus TCP TCP Port number default value 502 p Options for ASCII and Modbus RTU Baudrate 9600 19200 Default value 9600 b Databits 7 or...

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