TILTIX INCLINOMETER WITH MODBUS RTU
Contents
1. 31 ee 3 Offset Registers 32 3 2 Modbus Interface 5 Baud rate 34 3 3 ACS Modbus RTU 6 Parity 35 Device address 36 ps Hardware 37 4 Installation eene 7 Software version 37 4 1 5 7 Termination 37 4 2 Pin 7 Software power 38 Restore to Factory Settings 38 4 3 Installation Precautions 7 Device Identity 40 4 4 Mounting Instructions 8 Dual 41 4 5 TermillatlOlt 8 Read All Basic 41 4 6 Measurement 9 Preset Functionality 43 Measurement Direction 45 5 TILTIX Modbus RTU 10 mM Restore Factory Settings2. 0008 0000 Hexadecimal 5 0001 0000 Hexadecimal 6 7203 0000 Hexadecimal gp 0002 0000 Hexadecimal 8 MW7 Hexadecimal Output Resolution 0001h 0 01 Default Factory Setting Read position with current resolution 0 01 9 amp jus Curent Retained Format 1 0 0106 0000 Hexadecimal 2 1 0300 0000 Hexadecimal 3 3 0000 0000 Hexadecimal 4 0004 0000 Hexadecimal 5 5 TF03 0000 Hexadecimal MWE 0008 0000 Hexadecimal 99 MWT Hexadecimal jd 8 v 26 MW Hexadecimal Position Value 00004642 h 17986 d gt 17986 x 0 01 179 86 Page 28 TILTIX MODBUS RTU User Manual Version 20140829 POSITAL FRABA TILTIX INCLINOMETER WITH MODBUS RTU INTERFACE Write new output resolution to 0002h 0 1 Us Address Symbol Current Retained Format 1 010A 0000 Hexadecimal 2 Mw 0007 0000 Hexadecimal 3 95MW2 TF10 0000 Hexadecimal 4 0008 0000 Hexadecimal 5 v SOMA 0001 0000 Hexadecimal 8 TF10 0000 Hexadecimal 9 SMW 0008 0000 Hexadecimal 10 Mwg 0001 0000 Hexadecimal Read position value after change in resolution 0 1 9 Address symbol Current Retained Format 1 0 0106 0000 Hexadecimal 2 0300 0000 Hexadecimal 3 MW2 7203 0000 Hexadecimal 4 0000 0000 Hexadec
3. 2 TF10 0000 Hexadecimal A MWS3 0009 0000 Hexadecimal 5 0001 0000 Hexadecimal 6 0002 0000 Hexadecimal 8 xu TF10 0000 Hexadecimal 9 8 0009 0000 Hexadecimal 10 0001 0000 Hexadecimal Read measurement direction after change Us Address Symbol Current Retained Format 1 95MWO 0106 0000 Hexadecimal 2 1 0300 0000 Hexadecimal 3 2 TFOS 0000 Hexadecimal 4 MW3 0003 0000 Hexadecimal 5 SMW 0001 0000 Hexadecimal 6 MW5 TFOS 0000 Hexadecimal MWe 0002 0000 Hexadecimal 3 MWNT 0001 0000 Hexadecimal Page 30 TILTIX MODBUS RTU User Manual Version 20140829 POSITAL FRABA TILTIX INCLINOMETER WITH MODBUS RTU INTERFACE Read position MUN Address Symbol Current Retained 1 5 0 0106 0000 Hexadecimal 2 e MWT 0300 0000 Hexadecimal 3 2 TFQ3 0000 Hexadecimal 4 0000 0000 Hexadecimal 5 MW4 000 0000 Hexadecimal 5 0 0000 Hexadecimal T MW6 0010 0000 Hexadecimal 8 MW7 0000 Hexadecimal 9 690 Hexadecimal Position Value 000069DA h 27098 d gt 27098 x 0 019 270 98 Filter Value Read filter value default 64 40h MUN Address Symbol Current Retained Format 1 Mwg 0106 0000 Hexadecimal 2 0300 0000 Hexadecimal 3 2 03 0000 Hexadecimal 4
4. 17 0000 Hexadecimal 19 18 3FSF Hexadecimal 20 MW19 0000 Hexadecimal 21 20 0000 Hexadecimal 22 Iw 21 0000 Hexadecimal Preset Offset values are all set to default factory settings Page 39 TILTIX MODBUS RTU User Manual Version 20140829 POSITAL FRABA TILTIX INCLINOMETER WITH MODBUS RTU INTERFACE Device Identity Address Symbol Current Retained Format 1 Mwoa 0106 0000 Hexadecimal 2 voll 0001 0000 Hexadecimal 3 2 007 0000 Hexadecimal 4 3 2 0 0000 Hexadecimal 5 Mwa 0100 0000 Hexadecimal 6 5 TF2B 0000 Hexadecimal 7 Mwe 0201 0000 Hexadecimal 8 0100 0000 Hexadecimal 9 Mwa 0003 0000 Hexadecimal 10 0007 0000 Hexadecimal 11 10 ASCII 8 bits 12 11 ASCII 8 bits 13 amp MW12 ASCII 8 bits 14 13 ASCII 8 bits 15 iw 14 ASCII 8 bits 16 15 8 bits 17 96MWH6 8 bits 18 17 ASCII 8 bits 19 18 ASCII 8 bits 20 ASCII 8 bits 21 20 ASCII 8 bits 22 21 ASCII 8 bits 23 MW22 ASCII 8 bits 24 23 ASCII 8 bits 25 24 ASCII 8 bits 26 MW25 ASCII 8 bits 27 6MW26 ASCII 8 bits 28 27 ASCII 8 bits 29 28 ASCII 8 bits 30 9 5MW 23 ASCII 8 bits 31 ASCII 8 bits 32 1 ASCII 8
5. Installation and Configuration User Manual English 10001978 Connector Female M12 5pin A coded Connector w 2m PUR Shielded Cable 10012182 Connector Female M12 5pin A coded Connector w 5m PUR Shielded Cable 10005631 Termination Res External terminal resistors for higher baud rate transmissions 1 The latest documentation can also be downloaded from our website 4 2 Pin Assignment The inclinometer is connected via a 5 pin round sensor Female at connector counterpart or M12 connector Standard M12 Male side at connection cable Signal 5 pin round connector Pin Assignment N C Vs Supply Voltage 0 V Supply Voltage RS 485 A RS 485 B 4 3 Installation Precautions Warning Do not remove or mount Prior to installation please check for all whileane inelinamemnicuader connections and mounting instructions to be complied with Please also observe the general power rules and regulations on operating low voltage technical devices for safety and sustainability of Avert any modifications to the ACS Inclinometers over long period of time housing Please read the installation leaflet for detailed instructions and precautions during mounting Avoid mechanical load and installation Page 7 TILTIX MODBUS RTU User Manual Version 20140829 POSITAL FRABA TILTIX INCLINOMETER WITH MODBUS RTU INTERFACE 4 4 Mounting Instructions ACS is a pre calibrated device which can be put into immediate o
6. 15 14 0055 0000 Hexadecimal 16 MW15 0001 0000 Hexadecimal 17 16 0003 0000 Hexadecimal 18 FFFF 0000 Hexadecimal 19 MW18 FBAE 9F9F Hexadecimal 20 19 0000 0000 Hexadecimal 21 MW20 00A2 0000 Hexadecimal 22 21 0040 0000 Hexadecimal Perform factory reset Symbol _ Retained Forma 1 TN 0000 Hexadecimal 2 e MWA 0000 0000 Hexadecimal 3 9 MW2 7 44 0000 Hexadecimal 4 5500 0000 Hexadecimal 5 MW4 TF44 0000 Hexadecimal amp MW5 5500 0000 Hexadecimal Page 47 TILTIX MODBUS RTU User Manual Version 20140829 POSITAL FRABA TILTIX INCLINOMETER WITH MODBUS RTU INTERFACE Read all data again Address Symbol Retained eMWU 01 x 0000 ican mal i Se MW 0300 0000 Hexadecimal 3 MW2 TF03 0000 Hexadecimal 4 0000 0000 Hexadecimal 5 4 000 0000 Hexadecimal 9 MW5 TF03 0000 Hexadecimal T MWE 001 0000 Hexadecimal 8 MWT 0000 0000 Hexadecimal 9 0604 0000 Hexadecimal 10 FFFF 0000 Hexadecimal 11 FB79 0000 Hexadecimal 12 11 0000 0000 Hexadecimal 13 MW12 0000 0000 Hexadecimal 14 13 0000 0000 Hexadecimal 15 14 0000 0000 Hexadecimal 16 MW15 0001 0000 Hexadecimal 17 16 0000 0000 Hexadecimal 18 1 0000 0000 Hexadecimal 19 18 0000 SFSF Hexadecimal 2
7. 9 MW2 TF10 0000 Hexadecimal 4 0009 0000 Hexadecimal 5 4 0001 0000 Hexadecimal 6 SOMIVVE 8 TF10 0000 i 9 iw 8 0009 0000 Hexadecimal 10 0001 0000 Hexadecimal Read Position We Format Position X Page 45 30 07 Y 10 37 TILTIX MODBUS RTU User Manual 1 0106 0000 Hexadecimal 2 1 0500 0000 Hexadecimal 3 MWe2 TF03 0000 Hexadecim 4 0000 0000 Hexadecimal 5 MW4 000 0000 Hexadecimal 6 9 MW5 0000 Hexadecimal 001C 0000 Hexadecimal 8 FFFF 0000 Hexadecimal 9 wv F441 0000 Hexadecimal FFFF 0000 Hexadecimal 11 w FBF3 0000 Hexadecimal Version 20140829 POSITAL FRABA TILTIX INCLINOMETER WITH MODBUS RTU INTERFACE Change measurement direction to 2 Y Axis counter clockwise and read position Us Address Symbol Current Retained Format 1 0106 0000 Hexadecimal 2 1 0300 0000 Hexadecimal 3 2 7F03 0000 Hexadecimal 4 0000 0000 Hexadecimal 5 4 000 0000 Hexadecimal 6 iw 5 0000 Hexadecimal T MWE 01 0000 Hexadecimal 8 MWT 0000 000 Hexadecimal MWS 0319 0000 Hexadecimal Mw 0000 000 Hexadecimal 1 0551 0000 Hexadecimal Position X 2 7 93 Y 2 13 61 Change measurement direction to 3 Both Axis counter clock
8. Modbus Function Code Address Reception MW6 14h Number of bytes 00h First byte transmitted from Table Page 23 Sensor transmitted after response TILTIX MODBUS RTU User Manual Version 20140829 POSITAL FRABA TILTIX INCLINOMETER WITH MODBUS RTU INTERFACE 6 4 Testing of ACS Modbus Functions 6 4 1 Single Axis Read All Basic Data Us Address Symbol Current Retained Format 5 0106 0000 Hexadecimal 1 2 1 Control and transmission Hexadecimal AMW Hexadecimal A 9 MW3 0000 0000 Hexadecimal 5 MVW4 000 0000 Hexadecimal 58 7203 0000 Hexadecimal T 6 0000 Hexadecimal 8 0000 0000 Hexadecimal MWS 2090 0000 Hexadecimal 10 9 Hexadecimal 11 Mwg Hexadecimal 12 11 0000 0000 Hexadecimal 13 12 0000 0000 Hexadecimal 14 0000 0000 Hexadecimal 15 14 0000 0000 Hexadecimal 16 amp MW15 0001 0000 Hexadecimal 17 MW16 0000 0000 Hexadecimal 18 17 0000 Hexadecimal 19 18 DCF 1 3E9r Hexadecimal 20 19 0000 0000 Hexadecimal 21 20 0000 0000 Hexadecimal 22 21 0040 0000 Hexadecimal MW5 7 03 7F Device Address 03 Function Code MW6 1C Number of bytes transmitted X Position Value 000021 35984d 359 84 MW8 8C90 Register offset 0001h RS Y Position Value N A MW
9. 10 B X Position Preset 0 MW 12 MW13 0000 Register offset 0006h MW 14 MW15 Resolution 1 0 01 MW 16 Measurement Direction 0 Clockwise Offset X FFFFDCF1h 8975d 89 75 MW20 MW21 0040 Register offset OOOEh Filter Length 40h 64d Y Position Preset N A Page 24 TILTIX MODBUS RTU User Manual Version 20140829 POSITAL FRABA TILTIX INCLINOMETER WITH MODBUS RTU INTERFACE Read position value Address Symbol Current Retained For t 0106 0000 Hexadecimal 0300 0000 Hexadecimal 3 SOMW2 7203 0000 Hexadecimal 4 0000 0000 Hexadecimal 5 iw 0002 0000 Hexadecimal 6 MWS 7203 0000 Hexadecimal 0004 0000 Hexadecimal E Hexadecimal MWe 2533 0000 Hexadecimal Position Value 00002693 h 9875 d gt 9875 x 0 01 98 75 n Us Address symbol Current Retained Format MWO 0106 0000 Hexadecimal J9MWA 300 0000 Hexadecimal 2 7703 0000 Hexadecimal 4 3 0000 0000 Hexadecimal 5 AMW 0002 0000 Hexadecimal 6 5 7703 0000 Hexadecimal Py MWG 0004 0000 Hexadecimal Hexadecimal Hexadecimal Position Value 00004981 h 18817 d gt 18817 x 0 01 188 17 Page 25 TILTIX MODBUS RTU User Manual Version 20140829 POSITAL FRABA TILTIX INCLINOMETER WITH MODBUS RTU INTERFACE Preset Functionality Read position before pre
10. Manual Version 20140829 POSITAL FRABA TILTIX INCLINOMETER WITH MODBUS RTU INTERFACE 6 Working with Schneider PLC 6 1 Hardware Tested With Base controller Schneider TWIDO TWDLMDA20DTK Operator Display Schneider TWIDO TWDXCPODM RS485 Interface Serial Adapter Schneider TWIDO TWDNAC485T Page 17 TILTIX MODBUS RTU User Manual Version 20140829 POSITAL FRABA TILTIX INCLINOMETER WITH MODBUS RTU INTERFACE 6 2 Connection scheme An ACS860 single axis inclinometer was con nected to a TWIDO programmable logic controller with a Modbus RTU communication interface The step by step connection procedure and the working of the inclinometer are illustrated in the Please note that the following sections we TWDLMDAZODTK TWDXZXCPODM TWDNACASST Page 18 TILTIX MODBUS RTU User Manual programming in other control systems may vary individually Please have this section as a reference for ACS s working with programmable logic controllers A dual axis ACS080 was also connected to at a later stage to get values from the same 24VDC Supply Version 20140829 POSITAL FRABA TILTIX INCLINOMETER WITH MODBUS RTU INTERFACE 6 3 Software Configuration To configure the controller to use RS485 serial connection to send and receive characters using the Modbus protocol Define the controller expansion module communication module and DUT Make the connections be
11. Preset values updated racecime 15 14 exadecimal 16 9 5 MWH15 0000 Hexadecimal 17 0000 Hexadecimal 18 MW17 0000 Hexadecimal 19 18 JFSF Hexadecimal 20 19 Hexadecimal 21 20 0000 Hexadecimal 22 21 0000 Hexadecimal New Position X gt 0 62 Y 54h gt 0 84 Preset Values X 00000055h gt 0 85 Y 00000055h gt 0 85 Offset Values X FFFFFBAEh gt 11 06 Y 000000A2h 1 62 Page 44 TILTIX MODBUS RTU User Manual Version 20140829 POSITAL FRABA TILTIX INCLINOMETER WITH MODBUS RTU INTERFACE Measurement Direction Default Measurement direction 0 Both Axis Counter clockwise Read Position Eas Address Symbol Current Retained Format 1 0106 0000 Hexadecimal 2 z S MWT 0300 0000 Hexadecimal MW2 0000 Hexadecimal 4 0000 0000 Hexadecimal 5 4 0004 0000 Hexadecimal 6 5 TFO3 0000 Hexadecimal 6 0008 0000 Hexadecimal 8 Se MWT 0000 Hexadecimal 9 8 0318 Hexadecimal 10 11 I XJ So MWS 10 Position X 7 92 Y 10 44 Change measurement direction to 1 X Axis Counter clockwise Us Address Symbol Current Retained Format 0 FFFF FBEC Hexadecimal Hexadecimal 1 0 010A 000 Hexadecimal 2 AMW 0007 0000 Hexadecimal 3
12. bits Page 40 TILTIX MODBUS RTU User Manual Version 20140829 POSITAL FRABA TILTIX INCLINOMETER WITH MODBUS RTU INTERFACE 6 4 2 Dual Axis Read All Basic Data n Address Symbol Current Retained Format 1 95MWO 0106 0000 Hexadecimal 2 0300 0000 Hexadecimal 3 2 TF03 decimal 5 AMW 000 0000 Hexadecimal 6 5 TF 3 0000 Hexadecimal T MWe 001C 0000 Hexadecimal 8 0000 0000 Hexadecimal 9 Mwa 0017 0000 Hexadecimal 10 0000 0000 Hexadecimal 11 10 0B4E 0000 Hexadecimal 12 11 0000 0000 Hexadecimal 13 MW12 0000 0000 Hexadecimal 14 MW13 0000 Response from sensorexadecimal 15 14 0000 0000 Hexadecimal 16 15 0001 0000 Hexadecimal 17 0000 0000 Hexadecimal 18 1 0000 0000 Hexadecimal 19 18 0000 F Hexadecimal 20 19 0000 0000 Hexadecimal 21 20 0000 0000 Hexadecimal 22 21 0040 0000 Hexadecimal Page 41 TILTIX MODBUS RTU User Manual Version 20140829 MW5 MW6 MW7 MWS8 MW9 MW10 MW 11 MW 12 MW13 MW 14 MW15 MW16 MW17 MW18 MW19 MW20 MW21 Page 42 POSITAL FRABA TILTIX INCLINOMETER WITH MODBUS RTU INTERFACE 7 03 7F Device Address 03 Function Code 001C 1C Number of bytes transmitted 0000 Register offset 0000h X Position Value 00000017h 23d 0 23 0017 Register offset 0001h 0
13. configurations are gt PLC Trenster is possible C application is not protected tp PLC gt PC transter is authorized Comparison of application Page 22 TILTIX MODBUS RTU User Manual Version 20140829 POSITAL FRABA TILTIX INCLINOMETER WITH MODBUS RTU INTERFACE Manage Animation Table Create a list of memory words you would like to read out from the controller to check the status of the sensor reply __ Address symbol Current Retained Format 1 Mwoa 0106 0000 Hexadecimal 2 0000 imal 3 9 MW2 TFQ03 mal 4 MW3 0000 exadecimal 5 iw 000A 0000 Hexadecimal 6 5 7 03 0000 Hexadecimal 7 SME 1400 0000 Hexadecimal 8 0003 0000 Hexadecimal D600 0000 Hexadecimal 10 0006 0000 Hexadecimal 11 10 5600 12 11 0000 0000 Hexadecimal 13 MW12 0000 0000 Hexadecimal 14 13 0000 0000 Hexadecimal 15 0000 0000 Hexadecimal 16 15 0100 0000 Hexadecimal Explanation Memory Most Significant Byte Least Significant Byte Word MWO 01h Standard for TX RX 06h Total bytes in TX Table Control Control Table MW 1 00h Reception Offset 00h Reception Offset MW2 7Fh Device Address 03h Modbus Function Code Read registors es Transmission MW3 0000h Starting Registor Address Table MWA 000Ah Number of Registors to read MW5 7Fh Response Device 03h
14. response address field to let the master know which slave is responding Version 20140829 POSITAL FRABA TILTIX INCLINOMETER WITH MODBUS RTU INTERFACE 3 3 ACS Modbus RTU The ACS Modbus RTU inclinometer corresponds to the Modbus RTU standards It is available in industrial and heavy duty housings and two measurement axes variants The single axis measurement variant with a range of 360 and a dual axis measurement capable ACS model with a range of 80 In addition to high resolution accuracy and protection class of IP69K it has 3 4 Typical Applications of ACS Solar Tracking Cranes and Construction Machinery Medical Systems Elevated Platforms Mobile Lifts and Fire Engines Automated Guided Vehicles AGV Automatic Assembling Machinery Boring and Drilling Applications Levelling and Flattening Page 6 TILTIX MODBUS RTU User Manual built in active linearization compensation temperature This makes ACS suitable for rugged environments and versatile applications in industrial heavy duty and solar applications Various software tools for configuration and parameter setting are available from different suppliers Version 20140829 POSITAL FRABA TILTIX INCLINOMETER WITH MODBUS RTU INTERFACE 4 Installation 4 1 Accessories Article No Article Description ACS360 080 Inclinometer ACS series of Inclinometers Industrial Heavy Duty Download User Manual
15. symbol Current Retained Format 1 0 0104 0000 Hexadecimal 2 0500 0000 Hexadecimal 3 2 7245 0000 Hexadecimal 4 2101 0000 Hexadecimal 5 TF45 0000 Hexadecimal 6 FMVS 2101 0000 5 MVG 0002 0000 Hexadecimal Change to odd parity Us Address symbol Current Retained Format 1 0106 0000 Hexadecimal 2 0005 0000 Hexadecimal 3 96 MW2 7 44 0000 Hexadecimal 4 2101 0000 Hexadecimal 5 Iw 0001 0000 Hexadecimal 6 5 7744 0000 Hexadecimal 2101 0000 Hexadecimal NOTE A power cycle is required for the changes to take place Also ensure the network configuration of PLC is also changed before continuing Read parity value Now reads odd parity Us Address Symbol Current Retained Format 1 0 0104 0000 Hexadecimal 2 0500 0000 Hexadecimal 3 2 TF45 0000 Hexadecimal 4 2101 0000 Hexadecimal 5 7245 0000 Hexadecimal 6 2101 0000 Hexadecimal Page 35 TILTIX MODBUS RTU User Manual Version 20140829 POSITAL FRABA TILTIX INCLINOMETER WITH MODBUS RTU INTERFACE Device address Procedure to change device address Default 7F Read device address A Us Address symbol Current Retained Format 1 MWO 0104 0000 Hexadecimal 2 1 0500 0000 Hexadecimal 3 2 TF45 0000 Hexadec
16. 0 9 6MW19 0000 0000 Hexadecimal 21 20 0000 0000 Hexadecimal 22 21 0040 0000 Hexadecimal Page 48 TILTIX MODBUS RTU User Manual Version 20140829 POSITAL FRABA TILTIX INCLINOMETER WITH MODBUS RTU INTERFACE Device Identity A Us Address Symbol Current Retained 1 0106 0000 Ti 2 Se MW 0001 0000 Hexadecimal 3 MW2 007 0000 Hexadecimal 4 3 2B0E 0000 Hexadecimal 5 4 0100 0000 Hexadecimal 6 5 TF2B 0000 Hexadecimal T MWE 0201 0000 Hexadecimal a 9 MWT 0100 0000 Hexadecimal 9 0003 0000 Hexadecimal 10 9 0007 0000 Hexadecimal 11 1 ASCII 8 bits 12 Iw 11 ASCII 8 bits 13 MW12 ASCII 8 bits 14 ASCII 8 bits 15 amp MW14 ASCII 8 bits 16 MW15 ASCII 8 bits 17 16 ASCII 8 bits 18 17 19 18 0 bits 20 iw 19 8 bits 21 96MW20 ASCII 8 bits 22 21 ASCII 8 bits 23 MW22 ASCII 8 bits 24 23 ASCII 8 bits 25 24 ASUII 8 bits 26 25 ASCII 8 bits 27 MW26 ASCII 8 bits 28 27 ASCII 8 bits 29 28 ASCII 8 bits 30 29 ASCII 8 bits 31 MW30 ASCII 8 bits 32 31 ASCII 8 bits Page 49 TILTIX MODBUS RTU User Manual Version 20140829 POSITAL FRABA TILTIX INCLINOMETER WITH MOD
17. 000 Register offset 0002h Y Position Value 00000B4Eh 2894d 28 94 OB4E Register offset 0003h 0000 Register offset 0004h X Position Preset 0 0000 Register offset 0005h 0000 Register offset 0006h 0000 Register offset 0007h 0001 Register offset 0008h Y Position Preset 0 Resolution 1 0 01 0000 Register offset 000Ah Offset X 0 0000 Register offset 0009 Measurement Direction 0 Clockwise 0000 Register offset 000Bh 0000 Register offset 000Ch Offset Y 0 0000 Register offset 000Dh 0040 Register offset 000Eh Filter Length 40h 64d TILTIX MODBUS RTU User Manual Version 20140829 POSITAL FRABA TILTIX INCLINOMETER WITH MODBUS RTU INTERFACE Preset Functionality First read all data rus Address Symbol Current Retained Format 1 0 0106 0000 Hexadecimal 2 0300 0000 Hexadecimal 3 2 03 0000 Hexadecimal 4 96MW3 0000 0000 Hexadecimal 5 000 0000 Hexadecimal 6 5 0000 Hexadecimal 6 0000 Hexadecimal 8 0000 Hexadecimal 8 0000 Hexadecimal 10 0000 Hexad simal 11 95MW10 0000 Hexadecimal 12 MW11 0000 Hexadecimal 13 12 0000 Hexadecimal 14 MW13 0000 Hexadecimal 15 eMW14 0000 Hexadecimal 16 15 0000 Hexadecimal 17 9 5MWH16 0000 Hexadecimal 18 17 0000 Hexadecimal 19 amp MW18
18. 47 5 1 Communication Settings for Setup 10 Device Identity 49 9 2 Function Codes supported by ACS 10 Appendix Appendix A Output Graphs 50 5 3 Device Specific Registers 11 ACS 360 Modbus Output Values 50 54 Manufacture Specific Registers and ACS 080 Modbus RTU Output Values 51 Function 13 7 1 52 5 5 Device Identity 15 8 Check Out Some of the Other POSITAL 53 6 Working with Schneider PLC 17 EE BI 2 sala 54 6 1 Hardware Tested With 17 6 2 Connection scheme 18 6 3 Software Configuration 19 Page 2 TILTIX MODBUS RTU User Manual Version 20140829 POSITAL FRABA TILTIX INCLINOMETER WITH MODBUS RTU INTERFACE 1 General Safety Advice 1 1 Important Information The addition of this symbol to a Read these instructions carefully and have a look at the equipment to become familiar with the device before trying to install operate or maintain it The following special messages may appear throughout this documentation or on the equipment to warn of potential hazards or to call attention towards information that clarifies simplifies a procedure Please Note Electrical equipment sho
19. 6 Mwe 0005 Hexadecimal v Hexadecimal 8 v Hexadecimal Position Value 00002221 h 8737 d gt 8737 x 0 01 87 37 Preset the current position to reference origin 09 rus Address Symbol Current Retained Format 1 Mwoa 0110 0000 Hexadecimal 2 z 0007 0000 Hexadecimal 3 2 1 0000 Hexadecimal 4 0004 0000 Hexadecimal 5 5 4 0004 0000 Hexadecimal 6 MW5 00068 0000 Hexadecimal Hexadecimal Hexadecimal 3 iv Hexadecimal 10 Hexadecimal 11 Hexadecimal 12 MW 0004 2000 Hexadecima 13 MW12 0004 0000 Hexadecimal Page 27 TILTIX MODBUS RTU User Manual Version 20140829 POSITAL FRABA TILTIX INCLINOMETER WITH MODBUS RTU INTERFACE Read position value again Us Address Symbol Current Retained Format 1 0 0106 0000 Hexadecimal 2 0300 0000 Hexadecimal 3 MW2 03 0000 Hexadecimal 4 3 0000 0000 Hexadecimal 5 0004 0000 Hexadecimal 6 w 0 0000 Hexadecimal MW 0005 0000 Hexadecimal 8 v Do IV T 0000 0000 Hexadecimal 002F 0000 Hexadecimal Position Value 0000002F h 47 d gt 47 x 0 019 0 47 to Output Resolution Read resolution register Address Symbol Current Retained Format MWO 0106 0000 Hexadecimal 2 1 0300 0000 Hexadecimal 3 2 TF 3 0000 Hexadecimal 4
20. 95MW3 000 0000 Hexadecimal 5 0001 0000 Hexadecimal 6 5 7203 0000 Hexadecimal 100 0000 Hexadecima Hexadecimal 8 v SM Change filter value to 128 pA us Address Symbol Current Retained Format 1 0 010A 0000 Hexadecimal 26 1 0007 0000 Hexadecimal 3 2 TF10 0000 Hexadecimal amp MW3 000 0000 Hexadecimal 5 AMW 0001 0000 Hexadecimal 6 z oM WS 0002 0000 Hexadecimal 9 Mwa 000 0000 Hexadecimal 10 MW9 0001 0000 Hexadecimal Page 31 TILTIX MODBUS RTU User Manual Version 20140829 POSITAL FRABA TILTIX INCLINOMETER WITH MODBUS RTU INTERFACE Read new filter value check Address symbol Current Hetained Format 1 Mwoa 0106 0000 Hexadecimal 2 Fol 0300 0000 Hexadecimal 3 5 2 7203 0000 Hexadecimal 4 000 0000 Hexadecimal 5 0001 0000 Hexadecimal 6 5 7203 0000 Hexadecimal Offset Registers Offset value Physical position set position To check the working First read position A Address Symbol Current Retained Format 1 0106 0000 Hexadecimal 2 z 1 0300 0000 Hexadecimal 3 2 TF03 0000 Hexadecimal 4 0000 0000 Hexadecimal 5 0004 0000 Hexadecimal 5 TF03 0000 Hexadecimal ri 0008 0000 Hexadecimal Hexadecimal 9 Hexadecimal Position 4677h 180 39 T
21. BUS RTU INTERFACE Appendix Appendix A Output Graphs ACS 360 Modbus RTU Output Values ACS 360 Output Values Factory setting Resolution 0 01 Value Counts Rotation an le 7 180 Page 50 TILTIX MODBUS RTU User Manual Version 20140829 POSITAL FRABA TILTIX INCLINOMETER WITH MODBUS RTU INTERFACE ACS 080 Modbus RTU Output Values ACS080 X Axis Output Values Factory Setting Resolution 0 01 39999 8908 19999 Rotational Angle X axis 4 4 k 5080 Axis Output Values Factory Setting Resolution 0 01 19999 8999 19999 Rotational Angle Y axis EL Page 51 TILTIX MODBUS RTU User Manual Version 20140829 7 Glossary A Address APV B Baud rate Bus Byte Modbus RTU CCW CW F Function Code L Line terminator P PV R HO R W WO Useful Links POSITAL FRABA TILTIX INCLINOMETER WITH MODBUS RTU INTERFACE Number assigned to each node irrespective of whether it is a master or slave The inclinometer address non volatile is configured in the base with rotary switches Absolute Position Value Transmission speed formulated in number of bits per second Bus node Device that can send and or receive or amplify data by means of the bus Topology
22. Calculation Offset value Physical position set position 0 06 180 39 180 33 Page 33 TILTIX MODBUS RTU User Manual Version 20140829 POSITAL FRABA TILTIX INCLINOMETER WITH MODBUS RTU INTERFACE Baud rate Read with reply default 3 19200 Bd Us Address symbol Current Retained Format 1 0 0104 0000 Hexadecimal 2 1 0500 0000 Hexadecimal 3 2 7245 0000 Hexadecimal 4 MVW3 2001 0000 Hexadecimal 5 5 TF45 0000 Hexadecimal 6 amp MWS 2001 0000 Hexadecimal Change baud rate to 02 9600 Bd DES Address aymbol Current Retained Format 0106 0000 Hexadecimal 2 0005 0000 Hexadecimal 3 2 7244 0000 Hexadecimal 4 iv OMS 2001 1000 Hexadecimal SMW 2001 0000 Hexadecimal NOTE A power cycle is required for the changes to take place Also ensure the network configuration of PLC is also changed before continuing Check new baud rate A Us Address Symbol Current Retained Format 1 0104 0000 Hexadecimal 2 0500 0000 Hexadecimal 3 TF45 0000 Hexadecimal 4 MWS 2001 0000 Hexadecimal 5 AMW TF45 0000 Hexadecimal 6 eMWS5 2001 0000 Hexadecimal Page 34 TILTIX MODBUS RTU User Manual Version 20140829 POSITAL FRABA TILTIX INCLINOMETER WITH MODBUS RTU INTERFACE Parity Read parity value default even parity A Us Address
23. POSITAL FRABA TILTIX INCLINOMETER WITH MODBUS RTU INTERFACE AMERICA FRABA Inc 1800 East State Street Suite 148 Hamilton NJ 08609 2020 USA T 1 609 750 8705 F 1 609 750 8703 www posital com info posital com User Manual EUROPE FRABA AG Carlswerkstrasse 13c 51063 Cologne GERMANY T 49 221 96213 0 F 49 221 96213 20 www posital com info posital eu ASIA FRABA Pte Ltd 20 Kallang Ave 01 00 Pico Creative Centre Singapore 33941 1 T 65 6514 8880 F 65 6271 1792 www posital com info posital sg POSITAL FRABA TILTIX INCLINOMETER WITH MODBUS RTU INTERFACE 1 General Safety Advice 3 Modbus 20 predio Eiaa 22 e 7 Manage Animation 23 2 1 Background 4 6 4 Testing of ACS Modbus Functions 24 2 2 Version Management 4 6 4 1 Single 24 2 3 IMPrint i 4 Read All Basic Data 24 2 4 COPIE 4 Read position value 25 2 5 User Annotation 4 Preset Functionality 26 2 6 Document History 4 SUPU RESOUNO e Measurement Direction 29 B NO Filter
24. Page 20 TILTIX MODBUS RTU User Manual Version 20140829 POSITAL FRABA TILTIX INCLINOMETER WITH MODBUS RTU INTERFACE MEER Most significant byte Least significant byte Control table Length Transmission Heception Heception offset Transmission offset Transmission table Transmitted Byte 1 Transmitted Byte 2 Heception table Received Byte p 1 Command 01 for all RX and TX functions Length Transmission Reception The total number of bytes in the transmission table Transmission Table Command Transmission sequence to the sensor Reception Table Response from the sensor EXAMPLE PROGRAM LD 1 amp MNO 16 0106 MW1 16 0000 1 tMW2 16 7F03 Write the control table transmission 16 0000 1 MW4 16 000A 1 LD 1 ca Write the EXCHx function EXCH MWO0 16 LD MSG2 E ST 300 0 Page 21 TILTIX MODBUS RTU User Manual Version 20140829 POSITAL FRABA TILTIX INCLINOMETER WITH MODBUS RTU INTERFACE Debugging Transfer program to controller and establish communication for debugging ho cammunecntion has bona f Tear tha The Tirin Aard ha appie n muerta riria chin Contes pow Ippo ol e IS e n pm Creating a backup of the controller application The TwidoSuste end the PLC applications are different immediate connection impossible Hordwere
25. ation and features described herein are subject to change without notice Page 4 TILTIX MODBUS RTU User Manual 2 5 User Annotation All readers are highly welcome to send us feedback and comments about this document Depending on your region you can reach us by e mail at the following e mail addresses America info posital com Asia info fraba sg Europe info posital eu 2 6 Document History Document Manual ACS Modbus RTU_General pdf Created 2014 08 29 Author CDS Reviewers DPR ANA versione First Release 20140829 Version 20140829 POSITAL FRABA TILTIX INCLINOMETER WITH MODBUS RTU INTERFACE 3 Introduction This manual explains how to install and configure the ACS gravity referenced inclinometers with a 3 1 TILTIX Inclinometers TILTIX inclinometers sense and measure the angle of tilt inclination slope elevation of an object with respect to the force of gravity The basic principle behind this ACS inclinometer is a Micro Electro Mechanical Systems MEMS sensor cell that is embedded to a fully molded ASIC The angle is measured with the relative change in electrical capacitance in the MEMS cell 3 2 Modbus RTU Interface Modbus RTU is an open serial RS 232 or RS 485 architecture It is a widely accepted protocol due to its ease of use and reliability MODBUS RTU messages are a simple The simplicity of these protocol derived from the Master Slave messages is to ensure
26. cimal 11 0000 Hexadecimal 12 11 0000 Hexadecimal 13 MW12 0000 Hexadecimal 14 0000 Hexadecimal 15 SMW14 0000 Hexadecimal 16 MW15 0000 Hexadecimal 17 0000 Hexadecimal 18 17 0000 Hexadecimal 19 95MWH8 Sr SF Hexadecimal 20 19 0000 Hexadecimal 21 20 0000 Hexadecimal 22 21 0000 Hexadecimal Page 38 TILTIX MODBUS RTU User Manual Version 20140829 POSITAL FRABA TILTIX INCLINOMETER WITH MODBUS RTU INTERFACE Then factory reset ba Us Address Symbol Current Retained Format __ Format 1 0104 0000 Hexadecimal 2 0000 0000 Hexadecimal 3 2 7244 0000 Hexadecimal 4 MW3 5500 0000 Hexadecimal 5 7244 0000 Hexadecimal 6 5500 0000 Hexadecimal Read all data again Bi Address Symbol Current Retained Format 1 Mwoa 0106 0000 Hexadecimal 2 0300 0000 Hexadecimal 3 2 0000 Hexadecimal A 0000 Hexadecimal 5 4 0000 Hexadecimal 6 MWS 0000 Hexadecimal T MW 0000 Hexadecimal 8 7 0000 Hexadecimal 9 MW 0000 Hexadecimal 10 0000 Hexadecimal 11 0000 Hexadecimal 12 11 0000 Hexadecimal 13 MW12 0000 Hexadecimal 14 13 0000 Hexadecimal 15 MW14 0000 Hexadecimal 16 15 0000 Hexadecimal 17 16 0000 Hexadecimal 18
27. e Multiple Register Write Manufacturer Specific Read Manufacturer Specific Read Device ID Diagnostic Page 10 TILTIX MODBUS RTU User Manual Hex Value Error Code Exception Codes 0x83h 01 02 03 04 0x90h 01 02 03 04 01 02 03 04 OxC5h 01 02 03 04 Ox2B OxOE OxAB 01 02 03 04 Version 20140829 POSITAL FRABA TILTIX INCLINOMETER WITH MODBUS RTU INTERFACE 5 3 Device Specific Registers Register Name Register Access Offset in Functio n Code Current Position Value Higher Register x 1 Axis Current Position Value Lower Register x 1 Axis Current Position Value Higher Register y Axis Current Position Value Lower Register y Axis Preset Value Higher 0x0004 Register x 1 Axis Ox03h 0x1 0h RW Ox10h Preset Value Lower Register x 1 Axis 0x0005 0x0006 0x0007 R W 0x03h 0x10h Preset Value Higher Register y Axis R W 0x03h 0x10h Resolution 0x0008 R W 0x03h 0x10h Measurement 0x0009 RAN Direction 0x03h 0x10h Preset Value Lower Register y Axis Page 11 Data type hex 0x0000 HO 16 bits 0x03h signed 0x0001 RO 16 bits 0x03h signed 0x0002 RO 16 bits 0x03h signed 0x0003 HO 16 bits 0x03h signed RW 16 bits signed 16 bits signed 16 bits signed 16 bits signed 16 bits 16 bits TILTIX MODBUS RTU User Manual Description and Value
28. hen preset to zero Address Symbol Current Retained Format 1 0 0110 0000 Hexadecimal 2 0007 0000 Hexadecimal 3 2 TF10 0000 Hexadecimal 4 3 0004 0000 Hexadecimal 5 0004 0000 Hexadecimal 6 5 0009 0000 Hexadecimal 7 v Hexadecimal 8 lv Hexadecimal 3 iv Hexadecimal 10 iw Hexadecimal 11 7F10 0000 Hexadecimal 12 11 0004 0000 Hexadecimal 13 MW12 0004 0000 Hexadecimal Page 32 TILTIX MODBUS RTU User Manual Version 20140829 POSITAL FRABA TILTIX INCLINOMETER WITH MODBUS RTU INTERFACE Read position again Address Symbol Current Retained Format 1 0106 0000 Hexadecimal 2 FoM 0300 0000 Hexadecimal 3 2 7203 0000 Hexadecimal 4 0000 0000 Hexadecimal 5 AMW 0004 0000 Hexadecimal 5 0 0000 Hexadecimal T boda 0005 0000 Hexadecimal New position value 0006 0 06degree Read offset values Address symbol Current Retained Format 1 9 5MWO 0106 0000 Hexadecimal 2 0300 0000 Hexadecimal 3 2 03 0000 Hexadecimal 4 000A 0000 Hexadecimal 5 4 0004 0000 Hexadecimal 6 5 7F 3 0000 Hexadecimal T MW6 0006 0000 Hexadecimal 8 Hexadecimal 3 v Hexadecimal 0 v Hexadecimal 11 Hexadecimal Offset value FFFFBAO5h signed 179 15 degrees Theoretical
29. ilter length Length Ox03h accepts only 2n values E g 4 8 0x10h 16 32 64 128 256 If the input 64d number isn t a 2n number the next lower 2n number will be taken EXAMPLE WRITE Preset value for x and y axis Request Command Response Device Address 7Fh Device Address 7Fh Function Code 10h Function Code 10h Starting Register Address 0004h Starting Register Address 0004h Number of Register 0004h Number of Register 0004h Number of Bytes 0008h CRC xxxxh CRC xxxxh Page 12 TILTIX MODBUS RTU User Manual Version 20140829 POSITAL FRABA TILTIX INCLINOMETER WITH MODBUS RTU INTERFACE EXAMPLE READ Position value for 2 axis inclinometer Request Command Name Value Device Address Function Code 0 Starting Register Address 0000h Number of Register CRC Name 0004h Register 0 Value Register 1 Value 1234h Register 2 Value Register 3 Value 1234h CRC Response Value Device Address 7Fh Function Code 03h 8h Byte Count 0004h 0005h xxxxh 5 4 Manufacture Specific Registers and Function Codes User defined Function Code 44h 45h is for less commonly used off line functions such as setting serial port parameters and changing the device address Some Modbus hosts cannot support this Function code but the frames can still be sent using a serial terminal program on a PC that can send binary data on the serial port Changes to the serial port parameters and device address are stored
30. imal 4 2201 0000 Hexadecimal 5 wv amp MW4 7245 0000 Hexadecimal 6 5 2201 0000 Hexadecimal Change device address to 05h A Us Address symbol Current Retained Format 1 0106 0000 Hexadecimal 2 0005 0000 Hexadecimal 3 2 TF44 0000 Hexadecimal 4 wt 95 2201 0000 Hexadecimal 6 5 44 0000 Hexadecimal 6 2201 0000 Hexadecimal NOTE A power cycle is required for the changes to take place Also ensure the network configuration of PLC is also changed before continuing Establish communication and read position value with new device address Us Address symbol Current Retained Format 1 Mwa 0106 0000 Hexadecimal 2 0300 0000 Hexadecimal 3 2 0503 0000 Hexadecimal 4 3 0000 0000 Hexadecimal 5 MW 0004 0000 Hexadecimal 6 5 b403 0000 Hexadecimal Mwe 0008 0000 Hexadecimal 8 MW7 0000 0000 Hexadecimal Page 36 TILTIX MODBUS RTU User Manual Version 20140829 POSITAL FRABA TILTIX INCLINOMETER WITH MODBUS RTU INTERFACE Hardware version Hardware version value read is 9 ba Us Address symbol Current Retained Format 1 S amp MWO 0104 0000 Hexadecimal 2 0500 0000 Hexadecimal 3 eMW2 7745 0000 Hexadecimal 4 SMV 3001 0000 Hexadecimal 5 iw AMW TF45 0000 Hexadecimal 6 iw MWS 3001 0000 Hexadecimal Software version Software version value read
31. imal 5 0004 0000 Hexadecimal 6 5 7203 0000 Hexadecimal T Mwe 0006 0000 Hexadecimal 8 Hexadecimal 3 Hexadecimal Position Value 0000070A h 17986 d gt 1802 x 0 19 180 2 Measurement Direction Read measurement direction Default is 0000h Clockwise measurement Us Address symbol Current Retained Format __ Format 1 0 0106 0000 Hexadecimal 2 1 0300 0000 Hexadecimal 3 2 7203 0000 Hexadecimal 4 0009 0000 Hexadecimal 5 AMW 0001 0000 Hexadecimal 6 5 03 0000 Hexadecimal iw 0002 0000 Hexadecimal 0000 0000 Hexadecimal lt 29 TILTIX MODBUS User Manual Version 20140829 POSITAL FRABA TILTIX INCLINOMETER WITH MODBUS RTU INTERFACE Read position AM Address Symbol Current Format 1 0 0106 Hexadecimal 2 Yo 0300 Hexadecimal 5 3 2 TF03 Hexadecimal 4 0000 Hexadecimal 5 4 0004 Hexadecimal 6 5 TFO3 Hexadecimal MW6 0008 Hexadecimal 8 Hexadecimal Hexadecimal Position Value 000022 8899 d gt 8899 x 0 01 88 99 Change measurement direction to 1 Counter Clockwise measurement X Axis Us Address Symbol Current Retained Format 1 MWO 010A 0000 Hexadecimal 2 MWI 0007 0000 Hexadecimal 3
32. in flash memory so these settings are retained when power is off A soft power cycle Command Oxaa or a manual power cycle is needed to activate the new values Register Name Command Access Data Comments in hex Function type Default Code Baud Rate 0x20 Read 0x45h 8 bits Baud Rate values 0 2400 Write 0x44h 1 24800 2 9600 3 19200 219200 4 38400 5 57600 6 115200 Parit 2 Device Address Activate Terminating Resistor Read device 0x30 Read 0x45h H W version Page 13 0x21 Read 0x45h 8 bits 0 no parity 1 odd parity 2 Write Ox44h even parity 0x22 Read 0x45h 8 bits Used to set the device zm Write Ox44h address Valid range from 1 to 127d 247 0x23 Read 0x45h 8 bits Used to set the internal Write Ox44h terminating resistor of 120 Inactive ohms 0 inactive 1 active 8 bits TILTIX MODBUS RTU User Manual H W version read as a BCD value egg 01 means 01 Version 20140829 POSITAL FRABA TILTIX INCLINOMETER WITH MODBUS RTU INTERFACE Read device 0x31 Read 0x45h 16 bits S W version read as a BCD S W version value e g 0110 means 1 10 Restore to Write 0x44h No data command length Factory Setting smaller Software Power OxAA Write 0x44h 8 bits No data command length cycle smaller EXAMPLE WHRITE Set Device Address Request Command Response Device Address 7Fh 7Fh Function Code 44h 44h C
33. is 1 00 A Us Address symbol Current Retained Format 1 SOMO 0104 0000 Hexadecimal 2 1 0500 0000 Hexadecimal 3 2 7245 0000 Hexadecimal 4 AMW 3102 0000 Hexadecimal 5 TF45 0000 Hexadecimal 6 wt 3102 0000 Hexadecimal Decimal Termination Resistor Default value is 0 i e termination resistor is OFF Wus Address Symbol Current Retained Formato Format 1 MWO 0104 0000 Hexadecimal 2 0500 0000 Hexadecimal 3 2 TF45 0000 Hexadecimal 4 2301 0000 Hexadecimal 5 4 TF45 0000 Hexadecimal 6 ITE 2301 0000 Hexadecimal Page 37 TILTIX MODBUS RTU User Manual Version 20140829 POSITAL FRABA TILTIX INCLINOMETER WITH MODBUS RTU INTERFACE Software power cycle Address symbol Current Retained Format MVV 0104 0000 Hexadecimal gt Se MW 0300 0000 Hexadecimal 3 Hexadecimal 4 Hexadecimal 5 TFCA 0000 Hexadecimal 6 5 0003 0000 Hexadecimal Restore to Factory Settings First read all data Address Symbol Current Retained Format 1 0 0106 0000 Hexadecimal 2 0300 0000 Hexadecimal 3 2 03 0000 Hexadecimal 3 0000 0000 Hexadecimal 5 000 0000 Hexadecimal 6 5 0000 Hexadecimal Mwe 0000 Hexadecimal 8 7 0000 Hexadecimal 9 0000 Hexadecimal 10 0000 Hexade
34. ith or without shielding in accordance with the electromagnetic compatibility requirements A single line structure minimizes reflection The following diagram shows the components for the physical layer of a two wire ACS Inclinometer 1200 Version 20140829 POSITAL FRABA TILTIX INCLINOMETER WITH MODBUS RTU INTERFACE 4 6 Measurement Axes ACS 80 Dual Axis Inclinometer X Y 0 mid Angle Position With Factory Settings X 0 Y X Axis Inclination Y Axis Inclination ACS360 Single Axis Inclinometer Z 0 Initial Starting Point Factory Settings Page 9 TILTIX MODBUS RTU User Manual Version 20140829 POSITAL FRABA TILTIX INCLINOMETER WITH MODBUS RTU INTERFACE 5 Modbus RTU This chapter succeeds the hardware configuration as in real time ACS is a very flexible device and hence all the parameters are programmable vi a Modbus configuration master This enables remote 5 1 Communication Settings for Setup Description Value Baud Rate 19200 Device Address 7Fh 127d Parity Stop Bits Data Format 8 bit Binary 5 2 Function Codes supported by ACS Even 1 Stop Bit This chapter is divided into two major parts one describing the methodology for putting the ACS into operation and the other for programming of ACS Function codes are used to access the various registers The Codes supported by ACS are as follows Function Type Read Holding Register Writ
35. ncoder in a heavy duty version With an IP68 IP69K rating high shock and vibration resistance and high load bearing shafts these encoders are built to last in the most abusive environments More Information TILTIX Inclinometers Accurate measurement of the degree of tilt or inclination from a horizontal position is very important for many motion control systems or to ensure safety Inclination sensors offer an easy and efficient way of monitoring spatial orientation without the need for mechanical linkages a real advantage for design engineers More Information TILTIX MODBUS RTU User Manual Version 20140829 POSITAL FRABA TILTIX INCLINOMETER WITH MODBUS RTU INTERFACE Disclaimer FRABA B V all rights reserved We do not assume responsibility for technical inaccuracies or omissions Specifications are subject to change without notice Page 54 TILTIX MODBUS RTU User Manual Version 20140829
36. oF oF Hexadecimal 20 19 0000 Hexadecimal 21 20 0000 Hexadecimal 22 21 0000 Hexadecimal Position X Axis 00000586 h 1414 d gt 14 14 Y Axis FFFFFFB4 h 76 d gt 0 76 Page 43 TILTIX MODBUS RTU User Manual Version 20140829 POSITAL FRABA TILTIX INCLINOMETER WITH MODBUS RTU INTERFACE Preset to X 0 85 Y 0 85 Address Symbol Current Retained Format 1 0110 0000 Hexadecimal 2 0007 0000 Hexadecimal 3 2 TF10 0000 Hexadecimal 4 MW3 0004 0000 Hexadecimal 5 9 MW4 0004 0000 Hexadecimal 6 5 0009 0000 Hexadecimal Mwe 0000 0000 Hexadecimal 8 0055 0000 Hexadecimal 9 Mwa 0000 0000 Hexadecimal 10 0055 0000 Hexadecimal 11 10 10 0000 Hexadecimal 12 11 0004 0000 Hexadecimal 13 96MWH2 0004 0000 Hexadecimal Read all data again A Address Symbol Current Retained Format 1 0 0106 0000 Hexadecimal 2 0300 0000 Hexadecimal 3 2 7203 0000 Hexadecimal 4 96MW3 0000 0000 Hexadecimal 5 000 0000 Hexadecimal 6 95MW5 7203 0000 Hexadecimal MWE 001 0000 Hexadecimal 8 MMW 0000 decimal o i mv xxr NW position after Bresebeecia 10 OM 0000 0000 Hexadecimal 11 10 0000 Hexadecimal 12 11 0000 Hexadecimal 13 MW12 0000 Hexadecimal 14 13
37. of a communication network where all nodes are reached by passive links This allows transmission in both directions 8 bit unit of data 1 byte Application layer of an industrial network based Counter clockwise Clockwise Resistor terminating the main segments of the bus Preset Value Configuration value Read Only Parameter that is only accessible in read mode Read Write Parameter that can be accessed in read or write mode Write Only Parameter that is only accessible in write mode Modbus over serial document from Modbus org www modbus org docs Modbus over serial line V1 pdf Page 52 MODBUS User Manual Version 20140829 POSITAL FRABA TILTIX INCLINOMETER WITH MODBUS RTU INTERFACE 8 Check Out Some of the Other POSITAL Products Page 53 Fast EtherCAT Rotary Encoder POSITAL s new optical encoders with EtherCAT provide high speed data for positioning and speed control they ensure extremely short cycle times of up to 62 us Thanks to their distributed clock function they allow users to synchronize axes with a deviation of lt 1 us The EtherCAT encoders support cable redundancy thus minimizing breakdown times in case of cable breaks if special PLCs with two network cards are used a maximum of one cycle is lost More Information IXARC Rotary Encoders Designed for Challenging Environments POSITAL is excited to introduce the new IXARC high performance magnetic e
38. ommand 22h 22h New Address 05h CRC Xxxxh CRC xxxxh EXAMPLE READ Read Baud Rate Request Command Response Device Address 7th 7th Function Code 45h 45h Command 20h 20h CRC Xxxxh Page 14 TILTIX MODBUS RTU User Manual Version 20140829 POSITAL FRABA TILTIX INCLINOMETER WITH MODBUS RTU INTERFACE EXAMPLE Write Software power cycle Request Command Response Device Address 7th 7th Function Code 44h 44h Command AAh AAh Number of Bytes 00h CRC Xxxxh CRC xxxxh 5 5 Device Identity This function code is used to get information name and serial number We support the basic regarding the device identity like manufacturers type of Object ID We shall include the serial name software and hardware versions product number as part of the product code Name Object ID Access Data type Value Size in Characters Vendor Name 0x00 Read 8 bits POSITAL 7 Ascii Product Code 0x01 Head 8 bits ACS360 M1 or 9 11 Includes Serial Ascil ACS180 1 amp Number S 00123456 Major Minor Rev 0x02 Read 8 bits SW01 00 HW01 12 Ascii Page 15 TILTIX MODBUS RTU User Manual Version 20140829 EXAMPLE Request Command Name Device Address Function Code MEI Type Head Dev id Code Object ID CRC Page 16 POSITAL FRABA TILTIX INCLINOMETER WITH MODBUS RTU INTERFACE Response ACS360 M1 5 12345678 Object Length OCh Object Value SW01 00 HW01 Object Value TILTIX MODBUS RTU User
39. peration upon simple and easy installation with a three point mount The mounting surface must be plane and free of dust and grease We recommend hex head screws with M4 or UNC bolts 6 ACS Industrial and 6 or UNC bolts 1 4 ACS Heavy Duty for the best possible and secure mounting Use all three screws for mounting but restrict the tightening torque in the range of 1 5 2 5 Nm for the screws The M12 connectors are to 45 Termination If the inclinometer is connected at the end or beginning of the bus or is used at transmission 2 a termination resistor of 120 Ohm must be used in order to prevent reflection of information back into the ACS sensors have built in termination resistors that can be activated or de activated by setting correct register accordingly Please refer to the Appendix A to learn more about the objects ACS Inclinometer PLC Modbus RTU Master RS 485 B Page 8 Other Modbus lt gt TILTIX MODBUS User Manual be perfectly aligned and screwed till the end with a tightening torque in the range of 0 4 0 6 Nm Use all three screws for mounting and also note to use the same tightening torque for all the screws Prior to installation please check for all connection and mounting instructions to be complied with Please do also observe the general rules and regulations on low voltage technical devices The bus wires can be routed in parallel or twisted w
40. reliability Due to this simplicity the basic 16 bit MODBUS RTU register structure can be used to pack in floating point tables ASCII text queues and other unrelated data Modbus RTU military and heavy duty applications interface suitable for industrial The ACS series of inclinometers both industrial and heavy duty lines are available in two variants First a single axis measurement variant with a range of 360 and the other variant a dual axis measurement capable ACS model with a range of 80 The MODBUS application protocol 1 defines a simple Protocol Data Unit PDU independent of the underlying communication layers The mapping of MODBUS protocol on a specific bus or network introduces some additional fields on the Protocol Data Unit The client that initiates a MODBUS transaction builds the MODBUS PDU and then adds fields in order to build the appropriate communication PDU Address field Function code Data CRC or LRC MODBUS SERIAL LINE PDU saa te fmc oaa Se MODBUS PDU On MODBUS Serial Line the Address field only contains the slave address The valid slave nodes addresses are in the range of 0 247 decimal The individual slave devices are assigned addresses in the range of 1 247 A master addresses a slave Page 5 TILTIX MODBUS RTU User Manual by placing the slave address in the address field of the message When the slave returns its response it places its own address in the
41. s Default You read this value as current position value You read this value as current position value You read this value as current position value You read this value as current position value You can write a 0 or current value here to make the current value your preset point You can write a 0 or current value here to make the current value your preset point You can write a 0 or current value here to make the current value your preset point You can write a 0 or current value here to make the current value your preset point Resolution of Position Value Values 0 0 001 1 0 01 2 0 1 3 1 Using this you can invert the counting direction Both axis CW 1 axis CCW 1 Y axis CCW 2 Both Axis CCW 3 Oh Version 20140829 POSITAL FRABA TILTIX INCLINOMETER WITH MODBUS RTU INTERFACE Offset Value Higher 0x000A HO 16 bits Read the offset value Physical Register x Axis Ox03h signed position set position Offset Value Lower 0x000B RO 16 bits Readthe offset value Physical Register x Axis Ox03h signed position set position Offset Value Higher 0 000 RO 16 bits Read the offset value Physical Register y Axis Ox03h signed position set position Offset Value Lower 0x000D RO 16 bits Readthe offset value Physical Register y Axis Ox03h signed position set position Moving Average Filter 0x000E R W 16 bits The Moving Average F
42. set Address Symbol Current Retained Format __ Format 1 0 0106 0000 Hexadecimal 2 0300 0000 Hexadecimal 3 2 fFOS 0000 Hexadecimal 4 3 0000 0000 Hexadecimal 5 i 0002 0000 Hexadecimal 6 MW5 TF 3 0000 Hexadecimal i ow Mwe 0004 0000 Hexadecimal of lw 0000 0000 Hexadecimal Hexadecimal Position Value 00004641 h 17985 d gt 17985 x 0 019 179 85 Preset the current position with a user defined position of 2222h 87 38 9 ba Us Address Symbol Current Retained Format 1 0 0110 0000 Hexadecimal 2 Ww 0007 0000 Hexadecimal 3 2 FF AO 0000 Hexadecimal 4 3 0004 0000 Hexadecimal 5 Mwa 0004 0000 Hexadecimal MW5 0005 0000 Hexadecimal 7 Mwe Hexadecimal SMW Hexadecimal 9 Hexadecimal 10 Hexadecimal 11 TF10 0000 Hexadecimal 12 11 0004 0000 Hexadecimal 13 12 0004 0000 Hexadecimal Note It is not mandatory to write the Preset registers of Y Axis for Single axis inclinometers Page 26 TILTIX MODBUS RTU User Manual Version 20140829 POSITAL FRABA TILTIX INCLINOMETER WITH MODBUS RTU INTERFACE Read position again a Address Symbol Current Format 1 0106 Hexadecimal 2 0300 Hexadecimal 3 3 0000 Hexadecimal 4 AMW 0004 Hexadecimal 5 5 03 Hexadecimal
43. tween the devices Configure the ports and communication network network 419200 Configuration of ACS Modbus Type and Device Address Exi Configuration Page 19 TILTIX MODBUS RTU User Manual Version 20140829 POSITAL FRABA TILTIX INCLINOMETER WITH MODBUS RTU INTERFACE Configuration of network All network parameters TEE x Networ Type Name Parameters Baudrate 19200 Stop Bit Data Bits 8 RTU Response Timeout Parity even Time between frames ms Protocol Type Address 2 Modbus Master Modbus master mode allows the controller to send a Modbus query to a slave and to wait for the response The Modbus Master mode is only supported via the EXCHx instruction Moreover the EXCHx instruction is composed of the control transmission the word table associated with and reception tables Syntax EXCHx where x port number 1 or 2 network 1 10 x 100ms 10 ms The EXCHx instruction allows the Twido controller to send and or receive information to from Modbus devices The user defines a table of words MWi L containing control information and the data to be sent and or received up to 250 bytes in transmission and or reception The format for the word table is described later message exchange is performed using the EXCHx instruction L number of words in the control words transmission and reception tables
44. uld be serviced only by qualified personnel No responsibility is assumed by POSITAL for any consequences arising out of the use of this material This document is not intended as an instruction manual for untrained personnel Page 3 TILTIX MODBUS RTU User Manual Danger or Warning safety label indicates that an electrical hazard exists which will result in personal injury if the instructions are not followed This is the safety alert symbol It is used to alert you to potential personal injury hazards Obey all safety messages that follow this symbol to avoid possible injury or death Version 20140829 POSITAL FRABA TILTIX INCLINOMETER WITH MODBUS RTU INTERFACE 2 About this Manual 2 1 Background This user manual explains how to install and configure the ACS inclinometer with a Modbus RTU interface with illustrations from a Schneider TWIDO PLC 2 2 Version Management Updated On 20140815 Document Name Manual ACS Modbus RTU_General pdf 2 3 Imprint FRABA B V Jan Campertstraat 5 NL 6416 SG Heerlen T 49 221 96213 0 info fraba com www fraba com 2 4 Copyright FRABA B V all rights reserved Claims copyright on this documentation It is not allowed to modify extend or hand over to a third party and to copy this documentation without written approval by FRABA N V Nor is any liability assumed for damages resulting from the use of the information contained herein Further this public
45. wise and read position ae Address symbol Current Retained Format 1 0106 0000 Hexadecimal 2 z 0300 0000 3 2 0000 Hexadecimal 4 3 000 0000 Hexadecimal 5 AMW 000 0000 Hexadecimal 6 5 7203 0000 Hexadecimal 0010 0000 Hexadecimal 8 lw SMV Hexadecimal 9 Hexadecimal 01 MV Hexadecimal 1 Hexadecimal Position X 30 02 Y 13 60 Summary Register Value X Position Y Position 0 Clockwise 7 92 Clockwise 10 44 1 Counter Clockwise 30 07 Clockwise 10 37 2 Clockwise 7 93 Counter Clockwise 13 61 3 Counter Clockwise 30 02 Counter Clockwise 13 60 Page 46 TILTIX MODBUS RTU User Manual Version 20140829 POSITAL FRABA TILTIX INCLINOMETER WITH MODBUS RTU INTERFACE Restore Factory Settings Read all data before factory reset Address Symbol Current Hetained 1 0 0106 0000 2 1 0300 0000 Hexadecimal 3 2 TF03 0000 Hexadecimal 4 0000 0000 Hexadecimal 5 4 000 0000 Hexadecimal amp 5 5 TF03 0000 Hexadecimal Mwe 001 0000 Hexadecimal 8 MW7 FFFF 0000 Hexadecimal 9 442 0000 Hexadecimal 10 9 0000 0000 Hexadecimal 11 0551 0000 Hexadecimal 12 11 0000 0000 Hexadecimal 13 12 0055 0000 Hexadecimal 14 0000 0000 Hexadecimal
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