Modbus RTU Serial Communications User Manual

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1 Modbus RTU Serial Communications User Manual Revision T February 2013 Honeywell Process Solutions

2 Copyright, Notices, and Trademarks Printed in U.S.A. Copyright 2010 by Honeywell Revision T February 2013 Warranty/Remedy Honeywell warrants goods of its manufacture as being free of defective materials and faulty workmanship. Contact your local sales office for warranty information. If warranted goods are returned to Honeywell during the period of coverage, Honeywell will repair or replace without charge those items it finds defective. The foregoing is Buyer's sole remedy and is in lieu of all other warranties, expressed or implied, including those of merchantability and fitness for a particular purpose. Specifications may change without notice. The information we supply is believed to be accurate and reliable as of this printing. However, we assume no responsibility for its use. While we provide application assistance personally, through our literature and the Honeywell web site, it is up to the customer to determine the suitability of the product in the application. Honeywell Process Solutions 512 Virginia Drive Fort Washington, PA Modbus is a registered trademark of MODICON, Inc. Windows is an addressed trademark of Microsoft Inc. The omission of a name from this list is not to be interpreted that the name is not a trademark. Reference: Modicon Modbus Protocol Reference Guide - PI-MBUS-300 Rev. G ii Modbus RTU Serial Communications User Manual 02/13

3 About This Document Abstract This document provides generic information for Honeywell instruments implementing the Modbus RTU Serial Communications protocol. Configuration information relating to specific devices is supplied in separate user manuals. Refer to 1.2 Modbus RTU Configuration Interface for a list of instruments and the corresponding configuration interface user manuals. Contacts World Wide Web The following lists Honeywell s World Wide Web sites that will be of interest to our customers. Corporate Honeywell Organization Industrial Measurement & Control WWW (URL) Telephone Contact us by telephone at the numbers listed below. Organization Phone Number United States and Canada Honeywell Tech. Support Service Revision Information Document ID Revision Number Publication Date Revision details S July 2010 Register Maps updated for Extended Comms, Alarm Values and Alarm Status (X Series Recorders) T February 2013 Decimal registers updated 02/13 Modbus RTU Serial Communications User Manual iii

4 Contents 1. INTRODUCTION Modbus RTU Implementation Modbus RTU Configuration Interface MODBUS RTU MESSAGE FORMAT Modbus RTU Link Layer Modbus RTU Data Layer IEEE 32-bit Floating-Point Register Information MODBUS RTU FUNCTION CODES Function Code 01 Read Digital Output Status Function Code 02 Read Digital Input Status Function Codes 03/04 Read Input Registers Function Code 05 Force Single Digital Output Function Codes 06 Preset Single Register Function Code 08 Loopback Message Function Codes 16 (10h) Preset Multiple Registers Function Code 17 (11h) Report Device ID MODBUS RTU EXCEPTION CODES A. APPENDIX: REGISTER MAP A.1 Register Map Overview A.2 Miscellaneous Register Map A.2.1 RSX, VPR, VRX, UDC5300 Miscellaneous Register Map A.2.2 DR4300, DR4500 Chart Record Map A.3 Loop Value Integer Register Map A.4 Loop 2 and Extended Value Integer Register Map UDC A.5 Loop Value Register Map A.6 Analog Input Value Register Map A.7 Communication or Constant Value Register Map A.7.1 Extended Comms for X Series recorders A.8 Math, Calculated Value, or Variable Register Map A.9 Math or Calculated Value Status Register Map A.10 Totalizer Value Register Map A.11 Totalizer Status Register Map A.12 Shed Timer Reset Register iv Modbus RTU Serial Communications User Manual 02/13

5 A.13 Maintenance (HealthWatch) Value Register Map A.14 Time Register Map A.15 Alarm Status Register Map A.16 Alarm Set Point Value Register Map A.16.1 Alarm Status A.17 Set Point Programmer Value Register Map A.18 Set Point Programmer Additional Values Register Map A.19 Set Point Programmer Segment Map A.19.1 Segment Register Map A.19.2 Example For Determining a Segment Register A.20 Herculine Smart Actuator Value Register Map A.21 Herculine Smart Actuator Factory Data Register Map A.22 Herculine Smart Actuator Maintenance Data Register Map B. APPENDIX: CRC-16 CALCULATION /13 Modbus RTU Serial Communications User Manual v

6 Tables Table 1-1 Communication and Configuration User Manuals 1 Table 2-1 Modbus RTU Message Formats 2 Table 2-2 IEEE Floating Point Number Examples in FP B Format 8 Table 3-1 Modbus RTU Function Codes Definitions 9 Table 3-2 Maximum Number of Object es for Each Instrument Type 10 Table 3-3 Maximum Number of Registers Allowable per Request 12 Table 3-4 Request Delay Time* 12 Table 3-5 DR4500 Digital Output Mapping 14 Table 3-6 UDC2300/UDC2500/UDC3200/UDC3300 DO Mapping 14 Table 3-7 Herculine Smart Actuators Digital Output Mapping 14 Table 3-8 UDC3500 Digital Output Mapping 14 Table 4-1 Modbus RTU Data Layer Status Exception Codes 26 Table A-1 Global Register Map 27 Figures Figure 2-1 IEEE Floating-Point Data format 4 Figure 2-2 IEEE Floating Point Formats 8 vi Modbus RTU Serial Communications User Manual 02/13

7 Introduction 1. Introduction 1.1 Modbus RTU Implementation This implementation is designed to provide a popular data exchange format connecting these instruments to both Honeywell and foreign master devices. The Modbus RTU allows the instrument to be a citizen on a data link shared with other devices that subscribe to the Modbus RTU RS-485 specification. These instruments DO NOT emulate any MODICON type device. The Modbus RTU specification is respected in the physical and data link layers. The message structure of the Modbus RTU function codes is employed and standard IEEE 32-bit floating point and integer formats are used. Data register mapping is unique to these instruments. The definition in Table 2-1 is the register mapping for many Honeywell instruments and the corresponding parameter value within those instruments. 1.2 Modbus RTU Configuration Interface This user manual does not include the configuration interfaces for the instruments supporting the Modbus RTU Protocol. The following table describes the references to the specific instrument s communication and configuration user manuals. Table 1-1 Communication and Configuration User Manuals Instrument Model RSX, VPR, VRX, UDC Minitrend V5, Multitrend Plus V5 eztrend V5 QX and SX (X Series) User Manual Part Number 43-TV Communications Manual 43-TV Communications Manual V5 (Modbus TCP/IP only) 43-TV DR DR UDC UDC UDC3000A Modbus 485 RTU Communications Manual DPR100 DPR180/DPR S/11280S/ SA201/SA2002 UDC UDC2500 Limit Controller UDC UDC US1I-6149 DPR100C-DPR100D Communication Option Manual EN1I-6189 DPR180/DPR250 Communication Option Manual Modbus Configuration Interface for Herculine Actuators 02/13 Modbus RTU Serial Communications User Manual 1

8 Modbus RTU Message Format 2. Modbus RTU Message Format Coding system Number of data bits per character Parity Bit transfer rate Duplex Error checking Table 2-1 Modbus RTU Message Formats 8 bit binary 10 Bits start bits - 1 data bits - 8 parity bits - 0 stop bits - 1 Not used 300, 600, 1200, 2400, 4800, 9600, 19200, Selectable NOTE: Not all instruments support all Baud Rates. Half duplex Transceiver or TX/RX CRC (cyclic redundancy check) Polynomial (CRC ) Bit transfer order LSB first End of message Idle line for 3.5 or more characters (>1.82 msec for 19200). 2.1 Modbus RTU Link Layer The link layer includes the following properties/behaviors: Slave address recognition, Start / End of Frame detection, CRC-16 generation / checking, Transmit / receive message time-out, Buffer overflow detection, Framing error detection, Idle line detection. Errors detected by the physical layer in messages received by the slave are ignored and the physical layer automatically restarts by initiating a new receive on the next idle line detection. 2 Modbus RTU Serial Communications User Manual 02/13

9 Modbus RTU Message Format General Modbus RTU message format Query message format [Slave, Function Code, Function code dependent data, CRC 16] Response message format [Slave, Function Code*, Function code dependent data, CRC 16] * If an error is detected in a valid message the response function code is modified by adding 80 and the function code dependent data is replaced by an exception response code as described in Section 4 - Modbus RTU Exception Codes. Between messages, the RS-485 link is in a high impedance state. During this time receiving devices are more susceptible to noise generated false start of messages. Although noise-generated messages are rejected due to address, framing, and CRC checking, they can cause the loss of a good message when they are included in the message stream. In the slave, the transmitting device enables its transmitter line driver and forces an idle line state onto the link for three character time slots prior to transmitting. This action forces termination of any noise generated messages and improves message frame synchronization. 2.2 Modbus RTU Data Layer The data layer includes: Diagnostic loopback, Function code recognition / rejection, Busy / repoll, Data error code generation Errors detected by the data layer are rejected and the slave responds to the polling device with a Modbustype status exception error. A summary of the Modbus status exception codes is listed in Section 4 - Modbus RTU Exception Codes 02/13 Modbus RTU Serial Communications User Manual 3

10 Modbus RTU Message Format 2.3 IEEE 32-bit Floating-Point Register Information The Modbus applications support IEEE 32-bit floating-point information for several of the function codes. IEEE Floating-Point Data Format The formula for calculating the floating-point number is: (exponent -127) mantissa x 2 (23 bit signed binary with 8 bit biased binary exponent) byte 4 byte 3 byte 2 byte xxxxxxxx x.xxxxxxx xxxxxxxx xxxxxxx mantissa (23 bits) implied binary point for mantissa exponent (8 bit unsigned value) sign of the mantissa 0 = positive, 1 = negative Figure 2-1 IEEE Floating-Point Data format Mantissa and Sign The mantissa is defined by a sign bit (31), and a 23-bit binary fraction. This binary fraction is combined with an implied value of 1 to create a mantissa value, which is greater than or equal to 1.0 and less than 2.0. The mantissa is positive if the sign bit is zero (reset), and negative if the sign bit is one (set). For example: DECIMAL HEXADECIMAL BINARY C The sign bit (31) is zero, indicating a positive mantissa. Removing the sign bits and exponent bits, the mantissa becomes: HEXADECIMAL BINARY xxxxxxxx x Add an implied value of one to the left of the binary point: BINARY Using positioned notation, this binary number is equal to: ( 1x2 ) + ( 0x2 ) + ( 0x2 ) + ( 1x2 ) = = Modbus RTU Serial Communications User Manual 02/13

11 Modbus RTU Message Format Exponent The exponent is defined by an unsigned 8-bit binary value (bits 23 through 30). The value of the exponent is derived by performing a signed subtraction of 127 (decimal) from the 8-bit exponent value. DECIMAL HEXADECIMAL BINARY C removing the sign and mantissa bits, the exponent becomes: DECIMAL HEXADECIMAL BINARY x xxxxxxx xxxxxxxx xxxxxxxx or: 1x x2 + 0x x x x x x2 0 Subtract a bias of 127 (decimal) from the exponent to determine its value: = 6. Mantissa and Exponent Combination Combining the mantissa and exponent from the two previous examples: float number = mantissa x 2 exponent float number = x 2 6 = x 64 = Below is a list of sample float values in IEEE format: DECIMAL HEXADECIMAL C C2C F BFE D F AE 02/13 Modbus RTU Serial Communications User Manual 5

12 Modbus RTU Message Format Reserved Operands Per the Standard certain exceptional forms of floating-point operands are excluded from the numbering system. These are as follows: EXCEPTION EXPONENT MANTISSA +/- Infinity All 1 s All 0 s Not-a-Number (NAN) All 1 s Other than 0 s Denormalized Number All 0 s Other than 0 s Zero All 0 s All 0 s Modbus Double Register Format Each IEEE 32-bit floating point number requires two consecutive registers (four bytes) starting with the register defined as the starting register for the information. The stuffing order of the bytes into the two registers differs among Modbus hosts. The selections are: Selection Description Byte order (See Figure 2-1) FP B Floating Point Big Endian Format 4, 3, 2, 1 Notes FP BB Floating Point Big Endian with byte-swapped 3, 4, 1, 2 FP L Floating Point Little Endian Format 1, 2, 3, 4 FP LB Floating Point Little Endian with byte-swapped 2, 1, 4, 3 Modicon and Wonderware standard See IEEE Formats starting on next page. 6 Modbus RTU Serial Communications User Manual 02/13

13 Modbus RTU Message Format IEEE Floating Point Formats FP B - Floating Point Big Endian Format: Bit 31 E0 M22 M21M20 M19 M18 M17 M16 Bit 0 M7 M6 M5 M4 M3 M2 M1 M0 S E7 E6 E5 E4 E3 E2 E1 M15 M14 M13 M12 M11 M10 M9 M8 High Low High Low REGISTER N (High) REGISTER N+1 (Low) S=Sign E=Exponent M=Mantissa FP BB - Floating Point Big Endian with Byte Swapped Format: Bit 31 Bit 24 Bit 15 Bit 8 S E7 E6 E5 E4 E3 E2 E1 Bit 23 Bit 16 Bit 7 Bit 0 M15 M14 M13 M12 M11 M10 M9 M8 E0 M22 M21M20 M19 M18 M17 M16 M7 M6 M5 M4 M3 M2 M1 M0 High Low High Low REGISTER N (High) REGISTER N+1 (Low) S=Sign E=Exponent M=Mantissa continued next page 02/13 Modbus RTU Serial Communications User Manual 7

14 Modbus RTU Message Format FP L - Floating Point Little Endian Format: Bit 15 Bit 8 M15 M14 M13 M12 M11 M10 M9 M8 Bit 31 Bit 24 S E7 E6 E5 E4 E3 E2 E1 Bit 7 Bit 0 M7 M6 M5 M4 M3 M2 M1 M0 Bit 23 Bit 16 E0 M22 M21M20 M19 M18 M17 M16 High Low High Low REGISTER N (High) REGISTER N+1 (Low) S=Sign E=Exponent M=Mantissa FP LB - Floating Point Little Endian with Byte Swapped Format: Bit 7 Bit 0 Bit 23 Bit 16 M7 M6 M5 M4 M3 M2 M1 M0 E0 M22 M21M20 M19 M18 M17 M16 Bit 15 Bit 8 Bit 31 Bit 24 M15 M14 M13 M12 M11 M10 M9 M8 S E7 E6 E5 E4 E3 E2 E1 High Low High Low REGISTER N (High) REGISTER N+1 (Low) S=Sign E=Exponent M=Mantissa Figure 2-2 IEEE Floating Point Formats Table 2-2 IEEE Floating Point Number Examples in FP B Format Value (decimal) IEEE FP B MSB LSB Register N Register N+1 high low high low C80000h 42h C8h 00h 00h D47AEh 42h 5Dh 47h AEh h 40h 00h 00h 00h 1.0 3F800000h 3Fh 80h 00h 00h -1.0 BF800000h BFh 80h 00h 00h 8 Modbus RTU Serial Communications User Manual 02/13

15 Modbus RTU Function Codes 3. Modbus RTU Function Codes The Honeywell Universal Modbus RTU protocol uses a subset of the standard Modbus RTU function codes to provide access to process-related information. Several MODICON function codes are employed. It is appropriate to define instrument-specific "user-defined" function codes. Several standard Modbus RTU function codes are supported. These standard function codes provide basic support for IEEE 32-bit floating point numbers and 16-bit integer register representation of instrument s process data. Repolling of data is not supported by these instruments. Table 3-1 Modbus RTU Function Codes Definitions Function Code Name Usage 01 Read Coil Status Read the State of a Digital Output 02 Read Input Status Read the State of a Digital Input Read Holding Registers / Read Input Registers Read Data in 16 bit Register Format (high/low). Used to read integer or floating point process data. Registers are consecutive and are imaged from the instrument to the host. 05 Force Single Coil Write data to force Digital Output ON/OFF Values of FF 00 forces DO ON Values of forces DO OFF Values of FF FF releases the force of the DO All other values are illegal and will not affect the DO. RSX, VPR, VRX, UDC5300 ONLY 06 Preset Single Register Write Data in 16-bit Integer Format (high/low) ONLY. 08 Loopback Test Used for diagnostic testing of the communications port. 16 (10h) Preset Multiple Registers Write Data in 16-bit Format (high/low). Used to write integer and floating point override data. Registers are consecutive and are imaged from the host to the instrument. Note: UDC will write floating point data using this Function Code 17 (11h) Report Device ID Read instrument ID and connection information, ROM version, etc. 20 (14h) Read General Reference Used to Read or upload the instrument s configuration into the host device. See Section Modbus RTU Configuration Interface for a reference to the User Manual for the specific instrument. 21 (15h) Write General Reference Used to Write or download an instrument s configuration into the instrument from a host device. See Section Modbus RTU Configuration Interface for a reference to the User Manual for the specific instrument. 02/13 Modbus RTU Serial Communications User Manual 9

16 Modbus RTU Function Codes Table 3-2 Maximum Number of Object es for Each Instrument Type Part 1 Object Name RSX VRX100 VRX150 VPR100 VRX180 DR 4300 DR 4500 DPR 100 DPR 180 DPR 250 Herculine See Sub Smart section Actuators Alarms Status A.15 Alarm Set Point A.16 Value Analog Inputs A.6 Analog Output N/A Comm. or Constant Values A.7 Discrete Input N/A Discrete Output/Coil N/A Loop A.5 Math, Calculated, or Variable Value Math or Calculated Value Status Set Point Programmer Value Segments per Set Point Programmer A A A A.19 Totalizer A.11 Object Name Table 3-2 Maximum Number of Object es for Each instrument Type Part 2 QX Minitrend SX Multitrend Minitrend V5 Multirend Plus V5 UDC 2300 UDC 2500 UDC 3200 UDC 3300 UDC 3500 UDC 5300 See Sub section Alarms Status A.15 Alarm Set N/A N/A N/A N/A A.16 Point Value Exended Comms variables 64 (32 std plus 32) 64 (32 std plus 32) Analog Inputs A.6 Analog Output 4 8 N/A N/A N/A 10 Modbus RTU Serial Communications User Manual 02/13

17 Modbus RTU Function Codes Object Name Comm. or Constant Values QX Minitrend SX Multitrend Minitrend V5 Multirend Plus V5 UDC 2300 UDC 2500 UDC 3200 UDC 3300 UDC 3500 UDC 5300 See Sub section A.7 Discrete Input N/A Discrete Output/Coil N/A Loop N/A N/A N/A N/A A.5 Math, Calculated, or Variable Value Math or Calculated Value Status A.8 N/A N/A N/A N/A A.9 Set Point Programmer Value Segments per Set Point Programmer N/A N/A N/A N/A A.17 N/A N/A N/A N/A A.19 Totalizer A.11 ATTENTION Values depend on each instrument s model number. DPR products only support Analog Inputs, Communication Values, and Math Values per this document at this time. Please reference US1I-6149 DPR100C-DPR100D Communication Option Manual and EN1I-6189 DPR180/DPR250 Communication Option Manual for details pertaining to Alarms, Digital Inputs, and Digital Outputs. 02/13 Modbus RTU Serial Communications User Manual 11

18 Modbus RTU Function Codes Table 3-3 Maximum Number of Registers Allowable per Request Function Code X Series Recorders QX and SX Minitrend V5, Multitrend Plus V5 RSX, VPR, VRX, UDC5300 DPR100, DPR180, DPR250 DR4300, DR4500 UDC3300, UDC2300, UDC2500, UDC3200, UDC3500 Herculine Smart Actuators 1, 2 See Table 3-2 See Table 3-2 See Table 3-2 See Table 3-2 See Table 3-2 See Table 3-2 See Table 3-2 3, Registers 96 Floats 128 Registers 64 Floats 127 Registers 63 Floats 64 Registers 32 Floats 82 Registers 41 Floats 22 Registers 11 Floats 32 Registers 16 Floats Coil Not Supported Not Supported Not Supported Not Supported Register 1 Register 1 Register 1 Register 1 Register 10h 128 Registers 64 Floats 64 Registers 32 Float 127 Registers 63 Floats 64 Registers 32 Floats 42 Floats FLOATS ONLY CAN NOT WRITE INTEGER REGISTERS 1 Float FLOAT ONLY CAN NOT WRITE INTEGER REGISTERS 16 Floats FLOATS ONLY CAN NOT WRITE INTEGER REGISTERS Table 3-4 Request Delay Time* Herculine Smart Actuators X Series Recorders QX and SX Minitrend V5, Multitrend Plus V5 RSX, VPR, UDC5300 DPR100, DPR180, DPR250 DR4300 DR4500 UDC2300, UDC2500, UDC3200 UDC3300, UDC characters ms 3.5 Characters 3.5 Characters 3.5 Character s 3.5 Characters Version 4: 20 ms Version 5 or greater: 3.5 characters + 2 ms Version 57 and 58: 20 ms Version 59 or greater: 3.5 characters + 2 ms UDC2300 Version 6 or greater: 3.5 characters,ot herwise 20 ms UDC3300 Version 9 or greater: 3.5 characters otherwise 20 ms *The link s time delay will be the worse case for the units connected. For example, if a link has a DPR180 and a UDC3300 connected, the link must observe a request delay of 20 ms. 12 Modbus RTU Serial Communications User Manual 02/13

19 Modbus RTU Function Codes 3.1 Function Code 01 Read Digital Output Status Description Function code 01 (0X references) is used to read a Digital Output s (DO) ON/OFF status of the slave device in a binary data format. All binary data transferred using function code 01 is mapped into bytes. The specific number of Dos available in an instrument or available via one Function Code 01 message is instrument-model specific. Broadcast is not supported. Query The query message specifies the starting DO and the quantity of coils to read. Dos are addressed starting at zero: DO 1 through 16 are addressed as 0 through 15 respectively. Query message format for function code 01 Slave Function Code Starting High Starting Low Number DO High Number DO Low CRC CRC Example: Read Dos number 1 to 7 from slave at address CRC CRC Response The DO status in the response message is packed as one DO per bit of the data field. Status is indicated as: 1 = ON; 0 = OFF. The LSB of the first data byte contains the DO addressed in the query. The other Dos follow toward the high order end of this byte, and from low order to high order in subsequent bytes. If the returned DO quantity is not a multiple of eight, the remaining bits in the final data byte will be padded with zeros (toward the high order end of the byte). The byte count field specifies the quantity of data bytes returned. Response message format for function code 01 Slave Function Code Byte Count Data Data CRC CRC Example: Dos number 2 and 7 are on, all others are off CRC CRC In the response the status of Dos 1 7 is shown as the byte value 42 hex, or binary. DO 8 is the MSB of this byte, and DO 1 is the LSB. Left to right, the status of DO 7 through 1 is: ON-OFF-OFF-OFF- OFF-ON-OFF. DO #8 was not requested and so bit #7 or the MSB was padded with a 0. 02/13 Modbus RTU Serial Communications User Manual 13

20 Modbus RTU Function Codes Table 3-5 DR4500 Digital Output Mapping Coil Number Instrument Function 1 Alarm Relay #1 2 Alarm Relay #1 3 Control Relay #1 4 Control Relay #2 5 Control Relay #3 6 Control Relay #4 Table 3-6 UDC2300/UDC2500/UDC3200/UDC3300 DO Mapping Coil Number Instrument Function 1 Control Relay Note 1. 2 Alarm Relay #2 3 Alarm Relay #1 Note 1. The reading of this bit is valid only for Relay Output Type configurations. Not valid for current outputs Table 3-7 Herculine Smart Actuators Digital Output Mapping Coil Number Instrument Function 1 Alarm Relay #1 2 Alarm Relay #2 3 Alarm Relay #3 4 Alarm Relay #4 Table 3-8 UDC3500 Digital Output Mapping Coil Number Instrument Function 1 Relay #1 2 Relay #2 3 Relay #3 4 Relay #4 5 Realy # 5 14 Modbus RTU Serial Communications User Manual 02/13

21 Modbus RTU Function Codes 3.2 Function Code 02 Read Digital Input Status Description Function code 02 (1X references) is used to read a Digital Input s (DI) ON/OFF status of the slave device in a binary data format. All binary data transferred using function code 02 is mapped into bytes. The specific number of inputs available in an instrument or available via one Function Code 02 message is instrument-model specific. Broadcast is not supported. Query The query message specifies the starting input and the quantity of inputs to read. Inputs are addressed starting at zero: Input 1 through 16 are addressed as 0 through 15 respectively Query message format for function code 02 Slave Function Code Starting High Starting Low Number Inputs High Number Inputs Low CRC CRC Example: Read inputs number 1 to 7 from slave at address CRC CRC Response The input status in the response message is packed as one input per bit of the data field. Status is indicated as: 1 = ON; 0 = OFF. The LSB of the first data byte contains the input addressed in the query. The other inputs follow toward the high order end of this byte, and from low order to high order in subsequent bytes. If the returned input quantity is not a multiple of eight, the remaining bits in the final data byte will be padded with zeros (toward the high order end of the byte). The byte count field specifies the quantity of data bytes returned. Response message format for function code 02 Slave Function Code Byte Count Data Data CRC CRC Example: Inputs number 2 and 7 are on, all others are off CRC CRC In the response the status of inputs 1 7 is shown as the byte value 42 hex, or binary. Input 8 is the MSB of this byte, and input 1 is the LSB. Left to right, the status of input 7 through 1 is: ON-OFF-OFF- OFF-OFF-ON-OFF. Input #8 was not requested and so bit #7 or the MSB was padded with a 0. 02/13 Modbus RTU Serial Communications User Manual 15

22 Modbus RTU Function Codes 3.3 Function Codes 03/04 Read Input Registers Description Function code 03 (4X references) or Function code 04 (3X references) is used to read the binary contents of input registers in the slave referenced in Appendix A. Function codes 3 and 4 are not restricted to inputs. They may transmit alarm status, control parameters, etc. The specific supported registers available in an instrument or available via one Function Code 03/04 message is instrument-model specific. When a master station requests a register that is not supported by the specific device the slave will respond with zeros for that register. If a request is made to an address that does not exist in the map in Appendix A, the instrument is to honor that request and return zeros. This behavior will greatly enhance the bandwidth on the link vs. making several different requests for non-contiguous data elements. (i.e. Consider a device that contains AI #1 and AI #3 and for some reason AI #2 is an invalid request.) The contiguous method would allow the read of AI #1 through AI #3 and the data location for AI #2 would be zeros. Broadcast is not supported. Query The query message specifies the starting register and quantity of registers to be read. Registers are addressed starting at zero: registers 1-16 are addressed as Query message format for function code 03/04 Slave Function Code Starting High Starting Low Number es High Number es Low CRC CRC Example: Read analog inputs #1 and #2 in addresses as floating point values from a slave at address CRC CRC 16 Modbus RTU Serial Communications User Manual 02/13

23 Modbus RTU Function Codes Response The register data in the response message are packed as two bytes per register. For each register, the first byte contains the high order bits and the second contains the low order bits. The floating point values require two consecutive registers. A request for a single floating point value must be for two registers. The first 16 bits of the response contain the IEEE MSB of the float value. The second 16 bits of the response contain the IEEE LSB of the float value. (See Section 2.3.) If the master station requests only one register at an address of a floating point value, the slave may respond with an exception with illegal data address code. The Modbus RTU protocol has a single byte count for function codes 03 and 04, therefore the Modbus RTU protocol can only process up to 64 floating point and 127 integer values in a single request. Response message format for function codes 03/04 Slave Function Code Byte Count Data Data CRC CRC Example: Analog inputs #1 and #2 as floating point values where AI #1 = and AI #2 = C AE 42 5D CRC CRC 02/13 Modbus RTU Serial Communications User Manual 17

24 Modbus RTU Function Codes 3.4 Function Code 05 Force Single Digital Output Description Force a single Digital Output (DO) (0X reference) to either ON or OFF. These are the same Dos used in Function Code 01. When broadcast, the same function forces the same DO in all attached slave devices. Only supported by RSX, VPR, VRX, and UDC5300 instruments. These instruments do not support broadcast, and forcing can only be done in the Run mode. Query The query message specifies the DO to be forced. Registers are addressed starting at zero: DO 1 is address 0. The requested ON/OFF state is specified by a constant in the query data field. A value of FF 00 hex requests it to be ON. A value of hex requests it to be OFF. RSX, VPR, VRX, and UDC5300 products support a value of FF FF to release the force. Query message format for function code 05 Slave Function Code DO High DO Low Force Data High Force Data Low CRC CRC Example: Force DO 6 ON in a slave at address FF 00 CRC CRC Response The normal response is an echo of the query, returned after the DO state has been forced. Response message format for function code 05 Slave Function Code DO High DO Low Force Data High Force Data Low CRC CRC Example: Force DO 6 ON in a slave at address FF 00 CRC CRC 18 Modbus RTU Serial Communications User Manual 02/13

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