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PDU

The Protocol Data Unit (PDU) is the MODBUS function code
and data field. It is packed together with the Address Field and
the CRC (or LRC) to form the Modbus Serial Line PDU.
The MODBUS protocol defines three PDUs. They are:

•

MODBUS Request PDU, mb_req_pdu

•

MODBUS Response PDU, mb_rsp_pdu

•

MODBUS

Exception

Response

PDU,

mb_excep_rsp_pdu

Read Holding Registers
(03, 0003hex)

This function code is used to READ the contents of a
contiguous block of holding registers in a remote device; in
other words, it allows to read the values set ina group of work
parameters placed in order.

Read Input Register (04,
0004hex)

This function code is used to READ from 1 to 125 contiguous
input registers in a remote device; in other words, it allows to
read some result values and state / alarm messages in a
remote device.

Register

MODBUS functions operate on memory registers to configure,
monitor, and control device I/O.

RTU transmission mode

Remote Terminal Unit. When devices communicate on a
MODBUS serial line using the RTU mode, each 8–bit byte in a
message contains two 4–bit hexadecimal characters. The main
advantage of this mode is that its greater character density
allows better data throughput than ASCII mode for the same
baud rate. Each message must be transmitted in a continuous
stream of characters.

Server

A Server is any program that awaits data requests to be sent
to it. Servers do no initiate contacts with Clients, but only
respond to them.
MODBUS follows the Client/Server model. MODBUS Masters
are referred to as clients, while MODBUS Slaves are servers.

Service request

It is the MODBUS Request, i.e. the message sent on the
network by the Client to initiate a transaction.

Slave

A Slave is any program that awaits data requests to be sent to
it. Slaves do no initiate contacts with Masters, but only
respond to them.

Transmission rate

Data transfer rate (in bps).

Write Multiple Registers
(16, 0010hex)

This function code is used to WRITE a block of contiguous
registers (1 to 123 registers) in a remote device.

Write Single Register (06,
0006hex)

This function code is used to WRITE a single holding register in
a remote device.

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Содержание EM58 MB

Страница 1: ...tection rate Suitable for the following models ES5812 MB ES58S12 MB ESC5812 MB ESC5912 MB ESC6012 MB EM5812 16384MB EM58S12 16384MB EMC5812 16384MB EMC5912 16384MB EMC6012 16384MB Table of Contents Sa...

Страница 2: ...on herein is subject to change without notice and should not be construed as a commitment by Lika Electronic s r l Lika Electronic s r l reserves the right to make all modifications at any moments and...

Страница 3: ...MC59 18 3 2 3 ESC60 EMC60 19 4 Electrical connections 20 4 1 CB cable 20 4 1 1 CB cable specifications 20 4 2 M12 5 pin connector 21 4 3 Ground connection 21 4 4 Diagnostic LEDs Figure 1 22 4 5 DIP sw...

Страница 4: ...nd connections 46 5 4 3 Launching the firmware upgrade process 46 5 5 Manual frame page Transmitting PDUs manually 48 6 MODBUS interface 50 6 1 MODBUS Master Slaves protocol principle 50 6 2 MODBUS fr...

Страница 5: ...switch node ID 0007 hex 79 SW Version 0008 hex 79 HW Version 0009 hex 79 Status word 000A hex 80 Scaling 80 Counting direction 80 Alarm 81 7 2 Exception response and codes 82 8 Programming examples 8...

Страница 6: ...Enable scaling function 42 Enable watchdog 42 Exception error 39 Execute preset 43 F Flash memory error 76 H HW version 38 HW Version 0009 hex 79 L Load default parameters 74 M Machine data not valid...

Страница 7: ...t to highlight the parts of the text where information of great significance for the user can be found user must pay the greatest attention to them Instructions must be followed strictly in order to g...

Страница 8: ...it easier to read the text this guide can be divided into two main sections In the first section general information concerning the safety the mechanical installation and the electrical connection as...

Страница 9: ...or fibre optic Client A Client is any network device that sends data requests to servers MODBUS follows the Client Server model MODBUS Masters are referred to as Clients while MODBUS Slaves are Server...

Страница 10: ...LRC Checking In ASCII mode messages include an error checking field that is based on a Longitudinal Redundancy Checking LRC calculation that is performed on the message contents exclusive of the begi...

Страница 11: ...unicate on a MODBUS serial line using the RTU mode each 8 bit byte in a message contains two 4 bit hexadecimal characters The main advantage of this mode is that its greater character density allows b...

Страница 12: ...t Lika Electronic assumes no liability for the customer s failure to comply with these requirements 1 2 Electrical safety Turn OFF the power supply before connecting the device connect according to th...

Страница 13: ...he unit do not tool the unit or its shaft delicate electronic equipment handle with care do not subject the device and the shaft to knocks or shocks respect the environmental characteristics of the pr...

Страница 14: ...al number when reaching Lika Electronic for purchasing spare parts or needing assistance For any information on the technical characteristics of the product refer to the technical catalogue Warning de...

Страница 15: ...l catalogue 3 1 Solid shaft encoders ES58 ES58S EM58 EM58S Mount the flexible coupling 1 on the encoder shaft fix the encoder to the flange 2 or to the mounting bell by means of the screws 3 secure th...

Страница 16: ...ing a mounting bell code PF4256 ES58S EM58S NOTE In order to guarantee reliability over time of the encoder mechanical parts we recommend a flexible coupling to be installed between the encoder and th...

Страница 17: ...cknut mount the encoder on the motor shaft using the reducing sleeve 8 if supplied Avoid forcing the encoder shaft insert the anti rotation pin 1 into the slot on the flange of the encoder this secure...

Страница 18: ...reducing sleeve 8 if supplied Avoid forcing the encoder shaft fasten the fixing plate 4 to the rear of the motor using two M3 cylindrical head screws 5 fix the collar 3 to the encoder shaft apply thr...

Страница 19: ...y into the fixing plate 7 fix the collar 3 to the encoder shaft apply threadlocker to screw 3 NOTE You are strongly advised not to carry out any mechanical operations drilling milling etc on the encod...

Страница 20: ...te Modbus A RS 485 Blue Modbus B RS 485 1 0Vdc of the RS 485 serial connection too 4 1 1 CB cable specifications Model LIKA CB type cable Wires 2 x 0 24 mm2 24 19AWG 2 x 0 35 mm2 22 19AWG pair cable J...

Страница 21: ...ng and or the frame to ground Connect properly the cable shield to ground on user s side Lika s EC pre assembled cables are fitted with shield connection to the connector ring nut in order to allow gr...

Страница 22: ...1 Figure 1 Diagnostic LEDs Two bicoloured LEDs located in the rear side of the encoder see the Figure here above are meant to show visually the operating or fault status of the MODBUS MAN ESx58x_EMx5...

Страница 23: ...c After Sales Service While performing the firmware upgrade operation bootloading refer to the 5 4 Update FW page Firmware upgrade section on page 45 the two LEDs operate in a specific way as explaine...

Страница 24: ...FW page Firmware upgrade section on page 45 ON RED ON RED While downloading data to the flash memory for upgrading the firmware of the unit see the 5 4 Update FW page Firmware upgrade section on page...

Страница 25: ...ng this operation be careful not to damage the internal components and the connection wires To access the DIP switches loosen and remove the M12 metal screw plug in the rear of the encoder Be careful...

Страница 26: ...ansmission rate baud rate and parity bit Set the binary value of the baud rate and the parity bit according to the following table considering that ON 1 OFF 0 Switch Baud rate Parity bit 0000 9600 bit...

Страница 27: ...ransmission rate which is currently set in the unit can be read next to the DIP switch baud rate 0006 hex register see on page 78 4 5 2 Setting the node address Figure 3 WARNING Power supply must be t...

Страница 28: ...t exchange Master sends a request to all Slaves connected to the Modbus network See the 6 1 MODBUS Master Slaves protocol principle section on page 50 The Modbus Master node has no specific address on...

Страница 29: ...stor must be activated as line termination in the first or the last device of the transmission line both at the beginning and the end of the communication bus RT Description 1 2 ON Activated when the...

Страница 30: ...96 counts 12 bits EM58 singleturn physical resolution 4 096 cpr number of physical revolutions 16 384 revolutions total physical resolution 67 108 864 counts 26 bits please check that the Scaling func...

Страница 31: ...tablish the serial connection it is necessary to select the model of the connected encoder among the ones in the list NOTE Before starting the program and establishing a communication with the device...

Страница 32: ...s and the commands needful for starting the connection process and once the connection is established for reading and writing the parameters are available 3 In the group box on the further right some...

Страница 33: ...e top right of the page over the FUNCTIONS group box the MESSAGES button is available By pressing the button the main page widens and a window appears on the right it shows the frames that are exchang...

Страница 34: ...d all the possible addresses from 1 to 247 according to the MODBUS protocol It is clear that this searching operation may take a while To start searching and connect to the device press the CONNECT bu...

Страница 35: ...s appears in the DEVICE group box Read Params When you press the Read Params button you send a single command to read the Input Registers and the Holding Registers The Input Registers and the Holding...

Страница 36: ...n be transmitted manually For complete information on the firmware upgrade procedure please refer to the 5 4 Update FW page Firmware upgrade section on page 45 for complete information on the manual t...

Страница 37: ...current position of the device expressed in counts The value does not appear if an error is active in the device See the Current position 0001 0002 hex register on page 77 Angle It shows the angular p...

Страница 38: ...alue expressed in decimal notation 257 in the Figure that can be read currently next to the Status word 000A hex register refer to page 80 If there are active alarms the Alarm message appears on the r...

Страница 39: ...on response messages that the Server transmits to the Client when an error occurs are shown Exception error It shows the exception response messages that the Server transmits to the Client when an err...

Страница 40: ...are fully described in the 7 1 1 Machine data parameters Holding registers section on page 65 in this manual WARNING If the Auto save check box at the bottom of the page is selected see on page 44 al...

Страница 41: ...ounts per revolution 0000 0001 hex register on page 65 This register can be modified only if the Enable scaling function option next to the Operating parameters item is enabled 1 Preset value It allow...

Страница 42: ...ws both to change the counting direction function and to show its current setting Select deselect the check box to enable 1 disable 0 the function if the Real values check box is selected the decimal...

Страница 43: ...ld is the same as the value entered in the Preset value parameter you are not required to press the Read Params button in order to refresh the current position value For more information refer to the...

Страница 44: ...of the Save parameters bit and registers setting deactivation of the Save parameters bit and registers setting While the commands are being executing the background of the button is coloured orange an...

Страница 45: ...g to the instructions provided in this section Before installation always ascertain that the firmware program is compatible with the hardware and software of the device Furthermore never turn the powe...

Страница 46: ...e contact Lika Electronic Technical Assistance After Sale Service 5 4 2 Preliminary operations and connections Before proceeding with the firmware upgrade please ascertain that the following requireme...

Страница 47: ...e power off during flash upgrade 4 Press the DOWNLOAD button to start the firmware upgrading process the two LEDs fitted in the encoder s enclosure starts blinking green at 5 Hz with duty cycle 50 and...

Страница 48: ...e Transmit pattern group box you can use the TAB key in the keyboard to move through the fields under Transmit pattern 2 enter the Cyclical Redundancy Check CRC value in the last two fields on the rig...

Страница 49: ...ead a non existent output or register the exception response messages that the Server transmits to the Client will be displayed next to the Exception error field at the bottom of the page For more inf...

Страница 50: ...will never communicate with each other The Master node initiates only one Modbus transaction at the same time The Master node issues a Modbus request to the Slave nodes in two modes UNICAST mode in th...

Страница 51: ...sage When the Slave returns its response it places its own address in the response ADDRESS FIELD to let the Master know which Slave is responding FUNCTION CODE the function code indicates to the Serve...

Страница 52: ...is field is function code dependent and usually contains information such as variable references variable counts data offsets sub function etc n bytes The Modbus Exception Response PDU is defined as e...

Страница 53: ...be the first of a new message i e an address When baud rate 9600 bit s the silent interval is 4 ms When baud rate 19200 bit s the silent interval is 2 ms When baud rate 115200 bit s the silent interv...

Страница 54: ...cannot send a second request at the same time When the link is in Idle state each transmitted character detected on the link is identified as the start of the frame The link goes to Active state Then...

Страница 55: ...e will be unique Reserved function codes are not available for public use 6 4 1 Implemented function codes Lika ES58 EM58 Modbus series encoders only implement public function codes they are described...

Страница 56: ...ex parameter registers 5 and 6 Request Response Field name Hex Field name Hex Function 03 Function 03 Starting address Hi 00 Byte count 04 Starting address Lo 04 Register 5 value Hi 00 No of registers...

Страница 57: ...ter 5 00 00 hex 0 dec 05 DC value of register 6 05 DC hex 1500 dec F8 FA CRC 04 Read Input Register FC 04 04 hex This function code is used to READ from 1 to 125 contiguous input registers in a remote...

Страница 58: ...xample of a request to read the Current position 0001 0002 hex parameter input registers 2 and 3 Request Response Field name Hex Field name Hex Function 04 Function 04 Starting address Hi 00 Byte coun...

Страница 59: ...lave address 04 04 Read Input Register function code 04 number of bytes 2 bytes for each register 00 00 value of register 2 Current position 0001 0002 hex 00 00 hex 0 dec 2F F0 value of register 3 Cur...

Страница 60: ...ating parameters 0008 hex item register 9 we need to set the scaling function Scaling function 1 and the increasing counting with clockwise rotation of the encoder shaft Code sequence 0 Request Respon...

Страница 61: ...nse following the request to write in the Operating parameters 0008 hex item register 9 from the Slave having the node address 1 is as follows Response PDU in hexadecimal format 01 06 00 08 00 01 C9 C...

Страница 62: ...Function code 1 byte 10 hex Starting address 2 bytes 0000 hex to FFFF hex Quantity of registers 2 bytes 1 to 123 007B hex Exception Response PDU Error code 1 byte 90 hex 10 hex 80 hex Exception code 1...

Страница 63: ...in decimal notation are set respectively in the registers 3 and 4 of the Custom total resolution 0002 0003 hex parameter Thus the encoder will be programmed to have a 2048 count per revolution single...

Страница 64: ...reasons when the encoder is on a continuous data exchange between the Master and the Slave has to be planned in order to be sure that the communication is always active this is intended to prevent da...

Страница 65: ...ite Multiple Registers writing of multiple registers for any further information on the implemented function codes refer to the 6 4 1 Implemented function codes section on page 55 Custom counts per re...

Страница 66: ...ice Default 4096 min 1 max 4096 NOTE To avoid counting errors please always make sure that the following condition is met Custom total resolution 0002 0003 hex a power of 2 Custom counts per revolutio...

Страница 67: ...egisters 1 Custom total resolution 0002 0003 hex Registers 3 4 Unsigned32 rw WARNING This parameter is active only if the bit 0 Scaling function in the Operating parameters 0008 hex register is set to...

Страница 68: ...4 096 min 1 max 4 096 ES58 67 108 864 min 1 max 67 108 864 EM58 NOTE To avoid counting errors please always make sure to meet the following condition Custom total resolution 0002 0003 hex power of 2...

Страница 69: ...evolution while 1 024 revolutions are required Enable the Scaling function Operating parameters 0008 hex bit 0 1 Set the number of distinguishable steps per revolution Custom counts per revolution 000...

Страница 70: ...you never set the Preset value 0004 0005 hex and the homing command has not been executed before anyway Perform counting preset command the transmitted value and the read position are necessarily the...

Страница 71: ...hex and then perform a homing operation bit 11 Perform counting preset in Control Word 0009 hex 1 Offset value 0006 0007 hex Registers 7 8 Unsigned32 ro As soon as you send the Perform counting prese...

Страница 72: ...the registers Custom counts per revolution 0000 0001 hex and Custom total resolution 0002 0003 hex in accordance with the following relation Transmitted position value Custom counts per revolution 000...

Страница 73: ...e value that is currently set can be read in the Counting direction bit 1 of the Status word 000A hex see on page 80 WARNING Changing this value causes also the position calculated by the controller t...

Страница 74: ...rameters bit 10 Default parameters they are set at the factory by Lika Electronic engineers to allow the operator to run the device for standard operation in a safe mode are restored at each rising ed...

Страница 75: ...preset refer to page 70 WARNING To save the current encoder position in the Offset value 0006 0007 hex register permanently please execute the Save parameters command Should the power be turned off w...

Страница 76: ...gnostic LEDs Figure 1 section on page 22 Structure of the alarms byte byte MSB LSB bit 15 8 7 0 msb lsb msb lsb The available alarm error codes are listed hereafter Byte 0 Machine data not valid bit 0...

Страница 77: ...og alarm is cleared automatically as soon as the communication is restored The Flash memory error alarm cannot be reset Current position 0001 0002 hex Registers 2 3 Integer32 ro These registers are me...

Страница 78: ...rate and parity bit of the serial port fitted in the unit data transmission rate has to be set through the provided DIP switch For any further information on setting the baud rate and the parity bit r...

Страница 79: ...1 00 Ms bit Ls bit Major number Minor number Value 01 02 hex in hexadecimal notation corresponds to the binary representation 00000001 00000010 and has to be interpreted as version 1 2 firmware editio...

Страница 80: ...enabled or disabled If the value is 0 the scaling function is disabled if the value is 1 instead the scaling function is enabled For any information on setting and using the scaling function refer to...

Страница 81: ...58 MODBUS Alarm bit 8 If the value is 1 there is an active alarm see details in the Alarms register 0000 hex variable on page 76 bits 9 15 Not used MAN ESx58x_EMx58x MB E 1 3 Programming parameters 81...

Страница 82: ...orming the Client about the nature of the error The exception response message has two fields that differentiate it from a normal response FUNCTION CODE FIELD in a normal response the Server echoes th...

Страница 83: ...ubmitted with a starting register address of 96 and a quantity of registers of 4 then this request will successfully operate address wise at least on registers 96 97 98 99 If a request is submitted wi...

Страница 84: ...iled to pass a consistency check The server attempted to read record file but detected a parity error in the memory The client can retry the request but service may be required on the server device 0A...

Страница 85: ...04 starting address Preset value 0004 0005 hex parameter register 5 00 02 number of requested registers 85 CA CRC Response PDU in hexadecimal notation 01 03 04 00 00 05 DC F8 FA where 01 Slave address...

Страница 86: ...meter register 2 00 02 number of requested registers 20 0B CRC Response PDU in hexadecimal notation 01 04 04 00 00 2F F0 E7 F0 where 01 Slave address 04 04 Read Input Register function code 04 number...

Страница 87: ...tation 01 06 00 08 00 01 C9 C8 where 01 Slave address 06 06 Write Single Register function code 00 08 address of the register Operating parameters 0008 hex item register 9 00 01 value to be set in the...

Страница 88: ...t in the register 2 00 00 08 00 hex 2 048 dec 00 80 value to be set in the register 3 00 00 value to be set in the register 4 00 80 00 00 hex 8 388 608 dec B6 DA CRC Response PDU in hexadecimal notati...

Страница 89: ...ounting preset in Control Word 0009 hex 9 2 List of the Input Registers Registers list and address Description of the bits Alarms register 0000 hex 0 Machine data not valid 1 Flash memory error 11 Wat...

Страница 90: ...This page intentionally left blank...

Страница 91: ...This page intentionally left blank...

Страница 92: ...interface updated V1 0 V2 0 2 0 0 This device is to be supplied by a Class 2 Circuit or Low Voltage Limited Energy or Energy Source not exceeding 30 Vdc Refer to the order code for supply voltage rat...

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