Connection to the bus
Contents
1. Master PLC PC or communication module i 2 Modbus cable depending on the type of master see table page 10 1 3 Modbus splitter box LU9 GC3 23 4 6 4 65 4 Modbus drop cables VW3 A8 306 Ree 2 qs 5 Line terminators VW3 A8 306 RC a a 6 T junction boxes VW3 A8 306 TFee with cable 7 Modbus cable to another splitter box TSX CSAe00 LMCee ATV 71 Connection accessories Description No Reference Modbus splitter 10 RJ45 connectors and 1 screw terminal 3 LU9 GC3 box Modbus T junction boxes With integrated cable 0 3 m 6 VW3 A8 306 TF03 With integrated cable 1 m 6 VW3 A8 306 TF10 Line For RJ45 connector R 1500 5 VW3 A8 306 R terminators Connection cables Description Length m Connectors No Reference Cables for 3 1 RJ45 connector and 1 stripped end VW3 A8 306 D30 Modbus pus 0 3 2 RJ45 connectors 4 VW3 A8 306 R03 1 2 RJ45 connectors 4 VW3 A8 306 R10 3 2 RJ45 connectors 4 VW3 A8 306 R30 RS 485 double 100 Supplied without connector 7 TSX CSA 100 A 200 Supplied without connector 7 TSX CSA 200 500 Supplied without connector 7 TSX CSA 500 Connection to the bus Type of master Master interface Modbus connection accessories for RJ45 wiring system Description Reference Twido PLC Adaptor or mini DIN RS485 interface module 3 m cable equipped with a mini DIN connector and an RJ45 connector TWD XCA RJ030 Adapto2. TSX Micro PLC Mini DIN RS485 Junction box TSX P ACC 01 connector port PCMCIA card TSX SCP114 Cable equipped with a special connector and TSX SCP CU 4030 stripped at the other end TSX Premium PLC TSX SCY 11601 or TSX SCY 21601 module 25 way SUB D socket Cable equipped with a 25 way SUB D connector and stripped at the other end TSX SCY CM 6030 PCMCIA card TSX SCP114 Cable equipped with a special connector and stripped at the other end TSX SCP CU 4030 Ethernet bridge Screw terminal RS485 Modbus cable TSX CSA100 or 174 CEV 300 10 TSX CSA200 or TSX CSA500 PROFIBUS DP gateway RJ45 RS485 3 m cable equipped with an RJ45 connector VW3 A8 306 D30 LA9P307 and stripped at the other end Fipio LUFP1 or RJ45 RS485 3 m cable equipped with an RJ45 connector VW3 A8 306 D30 PROFIBUS DP LUFP7 or DeviceNet LUPF9 gateway and stripped at the other end PC with serial port PC with male 9 way SUB D RS232 serial port RS232 RS485 converter and Modbus cable TSX SCA 72 and TSX CSA100 or TSX CSA200 or TSX CSA500 Type of master Master interface Modbus connection accessories for junction boxes using SUB D 15 Description Reference Twido PLC Adaptor or screw terminal R8485 interface module TSX Micro PLC Mini DIN RS485 connector port a PCMCIA card TSX SCP114 Cable equipped with a special connector and TSX SCY CU 4530 a SUB D 25 connector TSX Premium PLC T
3. to all slaves without waiting for them to respond broadcasting principle Addresses The Modbus addresses of the Lexium Controller can be configured from 1 to 247 e Address 0 coded in a request sent by the master is reserved for broadcasting The Lexium Controller takes account of the request but does not respond to it e The Lexium Controller has a Modbus server that has its own address A Modbus server to enable the Lexium Controller to access all the parameters available in the Modbus table The list of these parameters and variables MW used by the Motion Pro CoDeSys software can be found in the document 17 Modbus protocol Modbus functions The following table indicates which Modbus functions are managed by the Lexium Controller and specifies their limits The read and write functions are defined from the point of view of the master Code Modbus name Function name Broadcasting Max value of N 3 16 03 Read Holding Registers Read N output words NO 62 words max 6 16 06 Write Single Register Write one output word YES 8 16 08 Diagnostics Diagnostics NO 16 16 10 Write Multiple Registers Write N output words YES 62 words max 43 16 2B Read Device Identification Identification NO Read N output words function 3 Note Hi most significant bits Lo least significant bits This function can be used to read the Lex
4. E a 4 Configuration de la cib f ka A Configuration des tach ModBus Node Address configured i 32 Espace de travail EN LIGNE TODO Lokal_ SIM EN MARC 15 Diagnostics Modbus LEDs The Modbus LEDs are located on the RJ45 port on the front panel of the Lexium Controller They indicate the Modbus communication status MODBUS STATUS LED Each LED lights up for 200 ms when a frame is being transmitted on the corresponding Modbus network whether or not this is destined for the Lexium Controller Communication management and faults If there is no Modbus communication the LEDs on the graphic display terminal are off There is no specific Modbus communication fault LED e Following initialization power up the Lexium Controller checks that frames are being sent on the Modbus network These frames can be sent from a Modbus PLC or an HMI and also from a PC on which the Motion Pro CoDeSys software is running If the cable is disconnected from the Modbus master then reconnected in order to communicate using the Motion Pro CoDeSys software the Lexium Controller automatically detects the Motion Pro CoDeSys frame format with no action required from the user It is possible to reconnect to the Modbus Master again with no action required from the user e Thus when a Modbus communication fault occurs the Lexium Controller does not react The communication fault must be managed by the Modbus Master fro
5. Lexium Controller Modbus User s manual Retain for future use a brand of ie Telemecanique Contents Important information a Documentation structure 5 Introduction 6 Presentation 6 Connection to the bus 7 Connecting the Modbus RJ45 connector or graphic display terminal 7 Connecting to the Lexium Controller 7 Wiring recommendations 7 RS485 standard 7 Modbus standard schematic 8 Connecting via RJ45 wiring system 9 Connecting via junction boxes 11 Connecting on screw terminals 13 Configuration 14 Configuring the Modbus network 14 Diagnostics 16 Modbus LEDs 16 Communication management and faults 16 Modbus protocol 17 RTU mode 17 Principle iF Addresses 17 Modbus functions 18 Read N output words function 3 18 Write one output word function 6 19 Diagnostics function 8 19 Write N output words function 16 16 10 20 Identification function 43 16 2B 21 Exception responses 22 Read non existent or protected parameters 22 While every precaution has been taken in the preparation of this document Schneider Electric SA assumes no liability for any omissions or errors it may contain nor for any damages resulting from the application or use of the information herein The products and options described in this document may be changed or modified at any time either from a technical point of view or in the way they are operated Thei
6. SX SCY 11601 or TSX SCY 21601 module SUB D 25 socket Cable equipped with a 25 way SUB D connector and stripped at the other end TSX SCP CU 4530 PCMCIA card TSX SCP114 Cable equipped with a special connector and stripped at the other end TSX SCY CU 4530 Ethernet bridge Screw terminal RS485 174 CEV 300 10 PROFIBUS DP gateway RJ45 RS485 LA9P307 Fipio gateway LUFP1 or RJ45 RS485 3 m cable equipped with an RJ45 connector VW3 A8 306 PROFIBUS DP gateway LUFP7 and a SUB D 25 connector PC with serial port PC with male 9 way SUB D RS232 serial port Connection to the bus Connecting on screw terminals Connection accessories Description Reference Line For screw terminals R 150Q VW3 A8 306 DR terminators Connection cables Description Length m Connectors Reference Cables for 3 1 RJ45 connector and one stripped end VW3 A8 306 D30 Modbus bus RS 485 double shielded 100 Supplied without connector TSX CSA 100 twisted pall Gables 200 Supplied without connector TSX CSA 200 500 Supplied without connector TSX CSA 500 13 Configuration Configuring the Modbus network The parameters of the Modbus network can be configured via the graphic display terminal or using the Motion Pro CoDeSys software Configuration via the graphic display terminal The parameters Modbus address and Modbus baudrate are available in the sub menu LC CONFIGURA
7. TION Modbus parameter Description Possible values Terminal Default display value Modbus address 1 to 247 1 to 247 0 0 Lexium Controller Modbus server disabled 0 Modbus baudrate Baudrate of Modbus communication 9600 19200 38400 38400 NOTE The graphic display terminal will only operate at 38400 bps and the value 8 N 1 8 bits sent no parity 1 stop bit Any other value will make communication with the graphic display terminal impossible Configuration using the Motion Pro CoDeSys software The configuration can be read via the PLC Browser key word The key word for ascertaining the address and speed of the Modbus network is mbusinf CoDeSys PRERELEASE SOFTWARE FOR TEST ONLY simple_test pro P E EX Fichier Editer Projet Ins rer Extras EnLigne Fen tre Aide ox SEE goaa G Configuration de l auto i a Configuration de la cib j A Configuration des tach 3A Espace de travail ModBus Address 0 ModBus BaudRate 38400 ii Gestionnaire de bibliot a Histogramme 3 Journal J Liste de programmes C EN LIGNE TODO Lokal_ SIM EN MARC Configuration The key word for configuration of the Modbus network address is for example with address 2 mbaddr 2 CoDeSys PRERELEASE SOFTWARE FOR TEST ONLY simple_test pro P E B5 Fichier Editer Projet Ins rer Extras EnLigne Fen tre Aide oF SAC S oaoa badadr 2 al T
8. a Modbus function the Lexium Controller sends an exception response The list of parameters or variables that can be accessed by Modbus is as follows e From 0 to 59999 all the parameters are available A large number of the parameters from 60000 upwards are not available and are used for Ethernet connectivity and functions After the Ethernet parameters the zone does not exist For a list of the available Ethernet parameters refer to the Ethernet manual 22 LMC_Modbus_EN_V1 2007 03
9. ility for the consequences of using this device This document does not constitute an instruction manual for inexperienced people 2006 Schneider Electric All rights reserved Documentation structure Installation Manual This manual describes e How to install the controller How to connect the controller Optional Graphic Display Terminal User s Manual This manual describes e How to install the graphic display terminal e How to connect the graphic display terminal e How to program the controller via the graphic display terminal Easy Motion Programming Manual Supplied preinstalled in the Lexium Controller the application model associated with Easy Motion mode is a user friendly tool that can be used for e Rapid axis configuration e Use of Manual Automatic mode e Creating positioning tasks e Editing cam profiles e Backup and recovery of the machine parameters e Diagnostics of the motion controller and the various axes This programming manual also contains a table of the parameters that can be accessed via the communication protocols Motion Pro Programming Manual The Motion Pro Programming Manual is included in the software online help This online help describes e The software interface e IEC 1131 programming e The function libraries standard functions motion control functions application functions e The Lexium controller configuration screens Modbus Ethernet PROFIBUS DP and DeviceNet man
10. ine the length ect no 4 byte ASCII string for example 0201 for version 2 1 Negative response specifically related to the Identification function Device version in MMmm format where MM represents the determinant and mm the subdeterminant 2B 80 Type of MEI Error code CRC16 Slave no AB OE 00 to 02 Lo Hi 1 byte 1 byte 1 byte 1 byte 1 byte 1 byte Error code 16 00 No error 16 01 The question code 16 2B the Type of MEI 16 0E or the ReadDeviceld 16 01 contained in the question is incorrect 16 02 The Object Id 16 00 contained in the question is incorrect 21 Modbus protocol Exception responses An exception response is returned by a slave when it is unable to perform the request addressed to it Format of an exception response CRC16 Lo Hi 1 byte 1 byte 1 byte 2 bytes Slave no Response code Error code Response code function code of the request 16 80 the most significant bit is set to 1 Error code 1 The requested function is not recognized by the slave 2 The word addresses indicated in the request do not exist in the slave 3 The word values indicated in the request are not permissible in the slave 4 The slave has started to execute the request but cannot continue to process it completely Read non existent or protected parameters When a set of parameters is read or when a non existent or protected parameter is written by
11. ium Controller parameters regardless of their type Maximum size of the number of variables that can be read in one frame 62 Request Slave no 03 No of first word Number of words CRC16 Hi Lo Hi Lo Lo Hi 1 byte 1 byte 2 bytes 2 bytes 2 bytes Response Slave no 03 Number of First word value _ Last word value CRC16 bytes read Hi Lo Hi Lo Lo Hi 1 byte 1 byte 1 byte 2 bytes 2 bytes 2 bytes Example 1 Using function 3 to read the 4 words mW3102 W3102 to mW3105 W3105 16 0C1E to 16 0C21 in slave 2 where mw3102 gt mw3102 W3102 16 0028 W3103 16 0258 omw3104 gt W3104 16 01F4 mw3105 gt W3105 16 0000 Request 02 03 OC1E 0004 276C Response 02 03 08 0028 0258 01F4 0000 52B0 Value of W3 102 W3 103 W3 104 W3 105 Modbus protocol Write one output word function 6 Request and response the frame format is identical Slave no 06 Word number Value of word CRC16 Hi Lo Hi Lo Lo Hi 1 byte 1 byte 2 bytes 2 bytes 2 bytes Example Writing value 16 000D to word mw9001 W9001 16 2329 in slave 2 value 13 Request and response 02 06 2329 000D 9270 Diagnostics function 8 Subcode 16 00 echo This function asks the slave being interrogated to echo return the message sent by the master in its entirety Request and response Slave no 08 S
12. m a PLC a PC an industrial terminal Magelis or a SCADA monitoring the Lexium Controller Modbus protocol RTU mode RTU transmission mode is used The frame contains no message header byte and no end of message byte It is defined as follows The data is transmitted in binary code CRC16 Cyclic redundancy check parameter The end of the frame is detected on a silence greater than or equal to 3 5 characters Principle The Modbus protocol is a master slave protocol Only one device can transmit on the line at any one time The master manages the exchanges and only it can take the initiative It interrogates each of the slaves in succession No slave can send a message unless it is invited to do so Master In the event of an error during data exchange the master repeats the question and declares the interrogated slave absent if no response is received within a given time period ear C9 If a slave does not understand a message it sends an exception response to the master The master may or may not repeat the request Direct slave to slave communication is not possible For slave to slave communication the master application software must be designed accordingly to interrogate a slave and send back the data received to the other slave Two types of dialog are possible between master and slaves e The master sends a request to a slave and waits for it to respond e The master sends a request
13. not connected 7 Modbus VP signal 12 V DC power supply provided by the Motion Controller only for the power supply of an MODBUS RS485 RS232 converter or a graphic display terminal 8 Modbus common signal oV Note Do not use terminals marked not connected Connecting to the Lexium Controller Connection accessories must be ordered separately please refer to the catalogs Connect the RJ45 cable to the MODBUS port on the Lexium Controller Wiring recommendations Use the Telemecanique cable with 2 pairs of shielded twisted conductors references TSXCSA100 TSXCSA200 or TSXCSA500 The Modbus cable must be at least 30 cm away from the power cables If it is necessary to cross the Modbus cables and the power cables be sure they cross at right angles As far as possible connect the shielded cable to a protective ground for example to the ground of each device if this ground is connected to the protective ground e Install a line terminator at each end of the line Check the polarity of the line Connect the common common signal to the protective ground at one or more points on the bus For more information refer to the Electromagnetic compatibility of industrial networks and fieldbuses manual RS485 standard The RS485 standard allows variants of different characteristics Polarity Line termination Distribution of a reference potential Number of slaves Length of bus The new Modbus specifications publi
14. r description can in no way be considered contractual Important information PLEASE NOTE Please read these instructions carefully and examine the equipment in order to familiarize yourself with the device before installing operating or carrying out any maintenance work on it The following special messages that you will come across in this document or on the device are designed to warn you about potential risks or draw your attention to information that will clarify or simplify a procedure The addition of this symbol to a Danger or Warning safety label indicates the presence of an electrical hazard that will result in injury if the instructions are not followed A This is a safety warning symbol It warns you of potential risks of injury You must comply with all safety messages that follow this symbol in order to avoid any risk of injury or death A DANGER DANGER indicates an imminently hazardous situation which if not avoided will result in death serious injury or equipment damage A WARNING WARNING indicates a potentially hazardous situation which if not avoided can result in death serious injury or equipment damage A CAUTION CAUTION indicates a potentially hazardous situation which if not avoided can result in injury or equipment damage PLEASE NOTE Only qualified staff are authorized to carry out maintenance work on electrical equipment Schneider Electric accepts no responsib
15. r or screw terminal R8485 interface module 3 m cable equipped with an RJ45 connector and stripped at the other end VW3 A8 306 D30 TSX Micro PLC Mini DIN RS485 3 m cable equipped with a mini DIN connector andan TWD XCA RJ030 connector port RJ45 connector PCMCIA card Stripped cable TSX SCP CM 4030 TSX SCP114 TSX Premium PLC TSX SCY 11601 or TSX SCY 21601 module 25 way SUB D socket Cable equipped with a 25 way SUB D connector and stripped at the other end for connection to the screw terminals of the LU9GC3 splitter box TSX SCY CM 6030 PCMCIA card TSX SCP114 Stripped cable TSX SCP CM 4030 Ethernet bridge 174 CEV 300 10 Screw terminal R8485 3 m cable equipped with an RJ45 connector and stripped at the other end VW3 A8 306 D30 PROFIBUS DP gateway RJ45 RS485 1 m cable equipped with 2 RJ45 connectors VW3 P07 306 R10 LA9P307 Fipio LUFP1 or RJ45 RS485 0 3 m cable equipped with 2 RJ45 connectors or VW3 A8 306 RO3 or PROFIBUS DP LUFP7 or DeviceNet LUFP9 gateway 1 m cable equipped with 2 RJ45 connectors or 3 m cable equipped with 2 RJ45 connectors VW3 A8 306 R10 or VW3 A8 306 R30 PC with serial port PC with male 9 way SUB D RS232 serial port RS232 RS485 converter and 3 m cable equipped with an RJ45 connector and stripped at the other end for connection to the screw terminals of the LU9GC3 splitter box TSX SCA 72 and VW3 A8 306 D30 Connec
16. rst word Number of words CRC16 Hi Lo Hi Lo Lo Hi 02 10 23 29 00 02 9B B7 hexadecimal values 20 Modbus protocol Identification function 43 16 2B Request si a6 Type of MEI ReadDeviceld Object Id CRC16 ave no 0E 01 00 Lo Hi 1 byte 1 byte 1 byte 1 byte 1 byte 2 bytes Response Type of MEI ReadDeviceld Degree of conformity Slave no 2B 0E 01 02 1 byte 1 byte 1 byte 1 byte 1 byte Number of additional frames Next object Id Number of objects 00 00 04 1 byte 1 byte 1 byte Id of object no 1 Length of object no 1 Value of objectno 1 _ 00 oD Telemecanique 1 byte 1 byte 13 bytes Id of object no 2 Length of object no 2 Value of object no 2 01 0B LMC20 1 byte 1 byte 11 bytes Id of object no 3 Length of object no 3 Value of objectno 3 02 04 0201 1 byte 1 byte 4 bytes CRC16 Lo Hi 1 byte 1 byte The total response size given in this example equals 55 bytes The response contains the following three objects e Object no 1 Obj 2 Obj 3 ect no Manufacturer name always Telemecanique i e 13 bytes Device reference ASCII string for example LMC20 i e 11 bytes The length of this object varies according to device type Use the Length of object no 2 field to determ
17. shed on www modbus org in 2002 gives precise details of all these characteristics They are also summarized in the next section standard schematic The new Telemecanique devices comply with these specifications Connection to the bus Modbus standard schematic The standard schematic corresponds to the Modbus specification published in 2002 on www modbus org Modbus_over_serial_line_V1 pdf Nov 2002 and in particular to the 2 wire multipoint serial bus schematic The Lexium Controller conforms to this specification Schematic diagram Slave 1 Slave n Type of trunk cable Shielded cable with 1 twisted pair and at least a 3rd conductor Maximum length of bus 1000 m at 19200 bps with the Telemecanique TSX CSAe cable Maximum number of stations without repeater 32 stations i e 31 slaves Maximum length of tap links e 20 m for one tap link 40 m divided by the number of tap links on a multiple junction box Bus polarization One 450 to 650 pull up resistor to the 5 V 650 Q or thereabouts recommended One 450 to 650 Q pull down resistor to the Common 650 or thereabouts recommended This polarization is recommended for the master Line termination One 120 Q 0 25 W resistor in series with a 1nF 10 V capacitor Common polarity Yes Common connected to the protective ground at one or more points on the bus Connection to the bus Connecting via RJ45 wiring system 1
18. tion to the bus Connecting via junction boxes 1 Master PLC PC or communication module 2 Modbus cable depending on the type of master see table page 12 3 Modbus cable TSX CSAe00 4 Junction box TSX SCA 50 5 Subscriber socket TSX SCA 62 6 7 6 Modbus drop cable VW3 A8 306 a or 0 7 Modbus drop cable VW3 A8 306 D30 Ls E Mce A Connection accessories Description No Reference Junction box 4 TSX SCA 50 3 screw terminals and an RC line terminator to be connected using cable VW3 A8 306 D30 Subscriber socket 5 TSX SCA 62 2 female 15 way SUB D connectors 2 screw terminals and an RC line terminator to be connected using cable VW3 A8 306 or VW3 A8 306 D30 Connection cables Description Length m Connectors No Reference Cables for Modbus bus 3 1 RJ45 connector and one stripped end 7 VW3 A8 306 D30 3 1 RJ45 connector and 1 male 15 way SUB D connector for 6 VW3 A8 306 TSX SCA 62 RS 485 double shielded 100 Supplied without connector 3 TSX CSA 100 twisted pair cables 200 Supplied without connector 3 TSX CSA 200 500 Supplied without connector 3 TSX CSA 500 11 Connection to the bus Type of master Master interface Modbus connection accessories for junction boxes using screw terminals Description Reference Twido PLC Adaptor or screw terminal Modbus cable TSX CSA100 or RS485 interface module TSX CSA200 or TSX CSA500
19. uals These manuals describe e Connection to the bus or network e Diagnostics e Software setup e The protocol communication services Introduction Presentation The integrated communication port provides direct access to the Modbus protocol e The Modbus HMI RJ45 port located on the front panel of the Lexium Controller is used to connect The graphic display terminal A Magelis industrial HMI terminal A programmable controller PLC Another controller The Motion Pro CoDeSys software workshop The Modbus port on the Lexium Controller can be used for the following functions e Configuration e Adjustment e Control e Monitoring The Lexium Controller supports The 2 wire RS485 physical layer e RTU transmission mode This manual describes how to set up the Lexium Controller on Modbus and the available Modbus services The slave address is configured using Motion Pro CoDeSys The Modbus network speed is 38 4 kbps It can be configured for 19 2 but this configuration limits use with Motion Pro CoDeSys via the serial link LMC10 LMC20 LMC20Ac0e60ece Modbus connector or graphic display terminal Connection to the bus Connecting the Modbus RJ45 connector or graphic display terminal Connector on Lexium Controller Terminal Description 1 not connected 2 not connected 3 not connected 4 B signal RS485 V1 signal Modbus 5 A signal RS485 VO signal Modbus 6
20. ub code Data CRC16 Hi Lo Hi Lo Lo Hi 1 byte 1 byte 2 bytes N bytes 2 bytes Sub code Request data Response data Function executed 00 XX YY XX YY Echo Example Values 16 31 and 16 32 echoed by slave 4 Request and response if function successful Slave no Request code or Response code Sub code Value of 1st byte Value of 2nd byte CRC16 Hi Lo Lo Hi 04 08 00 00 31 32 74 1B hexadecimal values 19 Modbus protocol Write N output words function 16 16 10 This function can be used to write the Lexium Controller parameters or variables regardless of their type The maximum size of the number of variables that can be read in one frame is 62 Request Slave no 10 No of first word Number of words Number of bytes Value of first word CRC16 Hi Lo Hi Lo Hi Lo Lo Hi 1 byte 1 byte 2 bytes 2 bytes 1 byte 2 bytes 2 bytes Response Slave no 10 No of first word Number of words CRC16 Hi Lo Hi Lo Lo Hi 1 byte 1 byte 2 bytes 2 bytes 2 bytes Example Writing values 20 and 30 to words W9001 and W9002 in slave 2 W9001 to 20 and W9002 to 30 Request Slave no Request No of first word Number of Number of Value of first word Value of second CRC16 code words bytes word Hi Lo Hi Lo Hi Lo Hi Lo Lo Hi 02 10 23 29 00 02 04 00 14 00 1E 73 A4 Response Slave no Response code No of fi
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