wilamowski-b-m-irwin-j-d-industrial-communication-systems-2011

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Modbus 36-7 For more details regarding these functions, as well as their corresponding frame formats, the interested reader is once again encouraged to consult the Modbus specification [1]. 36.4.3 Device Classes Modbus server and client devices are classified into classes [3], depending on which of the above functions they implement. Class 0 includes the minimum useful set of functions: • Read holding registers (0x03) • Write multiple registers (0x10) Class 1 defines a more complete set of the most commonly used functions: • Read coils (0x01) • Read discrete inputs (0x02) • Read input registers (0x04) • Write single coil (0x05) • Write single register (0x06) • Read exception status (0x07) Class 2 devices support all data transfer functions: • Write multiple coils (0x0F) • Read file record (0x14) • Write file record (0x15) • Mask write register (0x16) • Read/write multiple registers (0x17) • Read FIFO queue (0x18) 36.4.4 Error Handling Error checking starts as soon as the server receives a request APDU. At this time it will start off by verifying the validity of the function code, address values, and data values (in this order) and, upon the first error encountered, will reply with an exception response APDU with error codes 1, 2, or 3, respectively (Table 36.4). After passing these initial tests, the actions corresponding to the function indicated in the request APDU are executed. If an error occurs during this processing, additional error codes may be generated and sent to the client using the exception response APDUs. TABLE 36.4 Modbus Exception Codes Code (Hex) Name Comments 0x01 0x02 0x03 0x04 Illegal function Illegal data address Illegal data value Slave device failure 0x05 Acknowledge Not commonly used. Indicates that the slave will reply later to the request. 0x06 Slave device busy 0x08 Memory parity error Used only in function codes 0x14 and 0x15. 0x0A Gateway path unavailable Only used by gateways. 0x0B Gateway target device failed to respond Only used by gateways. © 2011 by Taylor and Francis Group, LLC
36-8 Industrial Communication Systems 36.5 Modbus Serial A Modbus serial network comprises multiple devices connected to a physical medium (e.g., a serial bus). Due to the shared nature of the physical medium, a mechanism is required to regulate medium access. For this reason, Modbus serial follows the master–slave interaction model (Figure 36.5), with the Modbus client becoming the master, and the Modbus servers taking the role of slaves. The master is responsible for initiating the communication by sending requests to the slaves, one request at a time. These, in turn, reply to the master with the requested data. The request/reply exchange can be performed in one of two ways: • Unicast mode: The master sends a request to a specific slave. The slave processes this request and replies to the master. • Broadcast mode: The master sends a request to all slaves. The slaves process this request, but do not reply to the master. The master only starts a request/reply exchange once the previous exchange has finished. Each Modbus serial network may only have one master. The number of slaves is limited to 247. A device can be both master and slave, but not at the same time. Therefore, a device can change its role whenever appropriate. In practice, roles are usually static since the Modbus protocol itself does not specify how the changing of roles may be managed. 36.5.1 Frames The request/reply exchange is performed using request and reply APDUs, which are transmitted within frames that always have the same structure (Figure 36.6): • Address: This field contains the slave address. In a request frame, it identifies the destination device, while in a reply frame it identifies the sender. Each slave has a unique address in the range 1–247. Address 0 is used (by the master) for broadcasting messages. The range 248–255 is reserved. • Modbus APDU: This field is the application layer PDU (Section 36.4). • CRC or LRC: This field is used for error detection purposes. The content depends on the transmission mode (RTU or ASCII) being used. For details, see Section 36.5.4. Request Slave n Slave 2 Slave 1 Master Request Broadcast mode Unicast mode Reply Modbus network FIGURE 36.5 Request/reply exchange. Modbus serial frame Address Function code Data CRC or LCR Modbus application layer PDU (APDU) FIGURE 36.6 Modbus serial frame. © 2011 by Taylor and Francis Group, LLC
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The Industrial Electronics Handbook
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The Electrical Engineering Handbook
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CRC Press Taylor & Francis Group 60
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viii Contents 11 Industrial Strengt
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x Contents 46 Profisafe............
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Preface The field of industrial ele
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xvi Preambles Thilo Sauter Institut
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xviii Preambles are the same. Commu
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xx Preambles In order to cater to h
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xxii Preambles In this manner, it i
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Editorial Board Dietmar Bruckner Vi
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xxviii Editors J. David Irwin recei
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Contributors Teresa Albero-Albero E
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Contributors xxxiii Georg Gaderer I
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Contributors xxxv Peter Neumann Ins
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Contributors xxxvii Thomas Tamandl
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I Technical Principles 1 ISO/OSI Mo
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Technical Principles I-3 18 Clock S
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1-2 Industrial Communication System
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2 Media Herbert Schweinzer Vienna U
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Media 2-3 TABLE 2.1 Overview over S
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Media 2-5 Single ended Differential
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Media 2-7 2.2.6 Standards Numerous
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16 Industrial Agent Technology Alek
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20 Network-Based Control Josep M. F
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21 Functional Safety Thomas Novak S
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25 Process Automation Alois Zoitl V
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27 Industrial Multimedia Javier Sil
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Industrial Multimedia 27-3 Multimed
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Industrial Multimedia 27-5 FIGURE 2
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28 Industrial Wireless Communicatio
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III Technologies 31 Controller Area
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31 Controller Area Network Joaquim
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32 Profibus Max Felser Bern Univers
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Profibus 32-7 in Figure 32.3. He si
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Page 530 and 531: 37 Industrial Ethernet Gaëlle Mars
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Page 562 and 563: 40 PROFINET Max Felser Bern Univers
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45 LIN-Bus Andreas Grzemba Universi
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47 SafetyLon Thomas Novak SWARCO Fu
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48 Wireless Local Area Networks Hen
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50 ZigBee Stefan Mahlknecht Vienna
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52 WiMAX in Industry Milos Manic Un
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53 WirelessHART, ISA100.11a, and OC
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TABLE 54.1 Characteristics of Some
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FIGURE 55.1 CPU IN-Log IN-Num OUT-l
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START FIGURE 55.3 COLD WARM STOP E_
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START RUNSTOP COLD INIT INITO WARM
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FIGURE 55.9 Different addresses of
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EtherNet FIGURE 55.11 Device: LED1
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60 User Datagram Protocol—UDP Ale
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61 Transmission Control Protocol—
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65 Semantic Web Services for Manufa
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V Outlook 67 Trends and Challenges
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68 Processing Data in Complex Commu
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