#4 modbus rtu tcp
DESCRIPTION
treinamento integração drive danfoss modbus industrial curitiba-paranaTRANSCRIPT
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Modbus for VLTModbus for VLT®®FC-seriesFC-series66
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Agenda
• OverviewOverview • Modbus ASCII/RTUModbus ASCII/RTU• Frame Structure Frame Structure • Exception codesException codes• Function codesFunction codes• CoilsCoils• Holding registersHolding registers• Drive parametersDrive parameters• RS-485RS-485
Modbus RTU for FC 100Modbus RTU for FC 100
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Overview
Modbus RTU for FC 100Modbus RTU for FC 100
• MODBUS Protocol is a messaging structure created by MODICONMODBUS Protocol is a messaging structure created by MODICON
company to connect PLC to programming tools.company to connect PLC to programming tools.
• It is now widely used to establish master-slave communication betweenIt is now widely used to establish master-slave communication between
intelligent devices.intelligent devices.
• MODBUS is independent of the physical layer.MODBUS is independent of the physical layer.
• It can be implemented using RS232, RS422, or RS485 or over a varietyIt can be implemented using RS232, RS422, or RS485 or over a variety
of media (e.g. fibre, radio, cellular, etc...). of media (e.g. fibre, radio, cellular, etc...).
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MODBUS is independent of the physical layer:
Modbus RTU for FC 100Modbus RTU for FC 100
Modbus Application LayerModbus Application Layer
OtherOther
OtherOther
Modbus+/HDLCModbus+/HDLC
RS-485RS-485
Master/SlaveMaster/Slave
RS-485/RS-232RS-485/RS-232
Ethernet II Ethernet II 802.3802.3
Ethernet Ethernet physical layerphysical layer
Modbus on TCPModbus on TCP
TCPTCP
IPIP
Modbus +Modbus + Modbus RTUModbus RTU
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Modbus ASCII and Modbus RTU
Modbus RTU for FC 100Modbus RTU for FC 100
The MODBUS protocol comes in 2 versions :The MODBUS protocol comes in 2 versions :
• ASCII transmission mode:ASCII transmission mode:
Each eight-bit byte in a message is sent as 2 ASCII characters. Each eight-bit byte in a message is sent as 2 ASCII characters.
• RTU transmission modeRTU transmission mode
Each eight-bit byte in a message is sent as two four-bit hexadecimal characters. Each eight-bit byte in a message is sent as two four-bit hexadecimal characters.
The main advantage of the RTU mode is that it achieves higher throughput.The main advantage of the RTU mode is that it achieves higher throughput.
ASCII mode allows time intervals of up to 1 second to occur between characters without ASCII mode allows time intervals of up to 1 second to occur between characters without causing an error (e.g. bar-code scanners).causing an error (e.g. bar-code scanners).
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Modbus frame structure
Modbus RTU for FC 100Modbus RTU for FC 100
The Modbus frame structure is the same for requests (master -> slave) and responses The Modbus frame structure is the same for requests (master -> slave) and responses (slave -> master):(slave -> master):
Address ChecksumDataFunction
Modbus ASCII:Modbus ASCII:
Start CR LF
Address ChecksumDataFunctionsilence silence
Silence >= 3.5 characters
Modbus RTU:Modbus RTU:
3A hex 0D hex 0A hex
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Address field
Modbus RTU for FC 100Modbus RTU for FC 100
• Valid slave device addresses are in the range of 0 ... 247 decimal.Valid slave device addresses are in the range of 0 ... 247 decimal.
• The individual slave devices are assigned addresses in the range of 1 ... 247.The individual slave devices are assigned addresses in the range of 1 ... 247.
• Value 0 is reserved for broadcast messages (no response). Value 0 is reserved for broadcast messages (no response).
Request:Request:
A master addresses a slave by placing the slave address in the address field ofA master addresses a slave by placing the slave address in the address field of
the message. the message.
Response:Response:
When the slave sends its response, it places its own address in this address fieldWhen the slave sends its response, it places its own address in this address field
of the response to let the master know which slave is responding.of the response to let the master know which slave is responding.
Address ChecksumDataFunction
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Function Field
Modbus RTU for FC 100Modbus RTU for FC 100
• Valid codes are in the range of 1 -> FF hex.Valid codes are in the range of 1 -> FF hex.
Request:Request:
The function code field tells the slave what kind of action to perform.The function code field tells the slave what kind of action to perform.
Response:Response:
For a normal response, the slave simply echoes the original function code.For a normal response, the slave simply echoes the original function code.
For an exception response, the slave returns a code that is equivalent to the original For an exception response, the slave returns a code that is equivalent to the original function code with its most significant bit set to a logic 1.function code with its most significant bit set to a logic 1.
Address ChecksumDataFunction
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Data Field
Modbus RTU for FC 100Modbus RTU for FC 100
Request:Request:
The data field contains additional information which the slave must use to take the action The data field contains additional information which the slave must use to take the action defined by the function code. This can include items like register addresses, quantity of defined by the function code. This can include items like register addresses, quantity of items to be handled, etc... items to be handled, etc...
Response:Response:
If no error occurs, the data field contains the data requested.If no error occurs, the data field contains the data requested.
If an error occurs, the field contains an exception code that the master application can use If an error occurs, the field contains an exception code that the master application can use to determine the next action to be taken.to determine the next action to be taken.
Address ChecksumDataFunction
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FC 100 Modbus Exception Codes
Modbus RTU for FC 100Modbus RTU for FC 100
code in data field
Exception code description
0x00 The parameter number does not exist
0x01 There is no write access to the parameter
0x02 The data value exceeds the parameter limits
0x03 The sub-index in use does not exist
0x04 The parameter is not of the array type
0x05 The data type does not match the parameter called
0x06 Only reset
0x07 Not changeable
0xB No write access
0x11 Data change in the parameter called is not possible in the present mode
0x12 Other error
0x40 Invalid data address
0x41 Invalid message length
0x42 Invalid data length or value
0x43 Invalid function code
0x82 There is no bus access to the parameter called
0x83 Data change is not possible because factory set-up is selected
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Checksum Field
Modbus RTU for FC 100Modbus RTU for FC 100
• Modbus RTU uses CRC:Modbus RTU uses CRC: Cyclical Redundancy Check (2 byte) Cyclical Redundancy Check (2 byte)
• Modbus ASCII uses LRC: Modbus ASCII uses LRC: Longitudinal Redundancy Check (1 bytes) Longitudinal Redundancy Check (1 bytes)
Request:Request:
The checksum is calculated by the master and sends to the slave.The checksum is calculated by the master and sends to the slave.
Response:Response:
The checksum is re-calculated by the slave and compared to the value sent by the master.The checksum is re-calculated by the slave and compared to the value sent by the master.
If a difference is detected, the slave will not construct a response to the master.If a difference is detected, the slave will not construct a response to the master.
Address ChecksumDataFunction
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Modbus RTU Frame example:
Modbus RTU for FC 100Modbus RTU for FC 100
Function code = 03hex : Read Holding Registers...Function code = 03hex : Read Holding Registers...
SlaveAddress
CRC16First word address
Function code=0x03
Number of words to read
1 byte 1 byte 2 bytes 2 bytes 2 bytes
Response :Response :
SlaveAddress
CRC16Number of bytes read
Function code=0x03
Value of the first word
1 byte 1 byte 2 bytes 2 bytes 2 bytes
Value of the last word
2 bytes
Request :Request :
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Modbus RTU Frame example:
Modbus RTU for FC 100Modbus RTU for FC 100
Function code = 06hex : Write single RegisterFunction code = 06hex : Write single Register
SlaveAddress
CRC16Word
addressFunction
code=0x06Value of word
1 byte 1 byte 2 bytes 2 bytes 2 bytes
Response :Response :
SlaveAddress
CRC16Word addressFunction
code=0x06Value of word
1 byte 1 byte 2 bytes 2 bytes 2 bytes
Request :Request :
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Modbus RTU Frame example:
Modbus RTU for FC 100Modbus RTU for FC 100
Function code = 10hex : Write Multiple RegistersFunction code = 10hex : Write Multiple Registers
Response :Response :
Request :Request :
SlaveAddress
CRC16First word address
Function code=0x10
Number of words to write
1 byte 1 byte 2 bytes 2 bytes 2 bytes
Value of the first word
Number of bytes
1 byte 2 bytes
SlaveAddress
CRC16Function
code=0x10
1 byte 1 byte 2 bytes 2 bytes 2 bytes
First word address
Number of words to write
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Supported Modbus Function Codes in FC 100
Modbus RTU for FC 100Modbus RTU for FC 100
• The Function Code tells what type of Modbus telegram it is...The Function Code tells what type of Modbus telegram it is...
Function Function code
Read coils 1 hex
Read holding registers 3 hex
Write single coil 5 hex
Write single register 6 hex
Diagnostics* 8 hex
Write multiple coils F hex
Write multiple registers 10 hex
Get comm. event counter B hex
Report slave ID* 11 hex
Read Device Identification* 2B hex
* =* =
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Supported Modbus Function Codes
Modbus RTU for FC 100Modbus RTU for FC 100
• Function Code 8: DiagnosticsFunction Code 8: Diagnostics
Function Function code
Sub-function code Sub-function
Diagnostics 8
1 Restart communication
2 Return diagnostic register
10 (0xA) Clear counters and diagnostic register
11 (0xB) Return bus message count
12 (0xC) Return bus communication error count
13 (0xD) Return bus exception error count
14 (0xE) Return slave message count
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Supported Modbus Function Codes
Modbus RTU for FC 100Modbus RTU for FC 100
• Function Code 8: Diagnostics, sub-function 2 Function Code 8: Diagnostics, sub-function 2 Return diagnostics registerReturn diagnostics register
Function Function code
Sub-function code Sub-function
Diagnostics 8 2 Return diagnostic register
Description Length Data
MSB Function code 1 byte 0x08
Sub-function code 2 bytes 0x0002
4 bytes Alarm word
LSB 4 bytes Warning word
• Response:Response:
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Supported Modbus Function Codes
Modbus RTU for FC 100Modbus RTU for FC 100
• Function Code 8: Diagnostics, sub-function 2 Function Code 8: Diagnostics, sub-function 2 Return diagnostics registerReturn diagnostics register
Function Function code
Sub-function code Sub-function
Diagnostics 8 11 Return Bus Message Count
Description Length Data
MSB Function code 1 byte 0x08
Sub-function code 2 bytes 0x000B
LSB Data 2 bytes Par. 8-80 Bus Message Count
• Response:Response:
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Supported Modbus Function Codes
Modbus RTU for FC 100Modbus RTU for FC 100
• Function Code 8: Diagnostics, sub-function 2 Function Code 8: Diagnostics, sub-function 2 Return diagnostics registerReturn diagnostics register
Function Function code
Sub-function code Sub-function
Diagnostics 8 12 Return bus communication error count
• Response:Response:
Description Length Data
MSB Function code 1 byte 0x08
Sub-function code 2 bytes 0x000C
LSB Data 2 bytes Par. 8-81 Bus Error Count
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Supported Modbus Function Codes
Modbus RTU for FC 100Modbus RTU for FC 100
• Function Code 8: Diagnostics, sub-function 2 Function Code 8: Diagnostics, sub-function 2 Return diagnostics registerReturn diagnostics register
Function Function code
Sub-function code Sub-function
Diagnostics 8 13 Return slave message count
• Response:Response:
Description Length Data
MSB Function code 1 byte 0x08
Sub-function code 2 bytes 0x000D
LSB Data 2 bytes Par. 8-83 Slave Error Message Count
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Supported Modbus Function Codes
Modbus RTU for FC 100Modbus RTU for FC 100
• Function Code 8: Diagnostics, sub-function 2 Function Code 8: Diagnostics, sub-function 2 Return diagnostics registerReturn diagnostics register
Function Function code
Sub-function code Sub-function
Diagnostics 8 14 Return slave message count
• Response:Response:
Description Length Data
MSB Function code 1 byte 0x08
Sub-function code 2 bytes 0x000E
LSB Data 2 bytes Par. 8-82 Slave Message Count
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Supported Modbus Function Codes
Modbus RTU for FC 100Modbus RTU for FC 100
• Function Code 11hex: Function Code 11hex: Report Slave IDReport Slave ID
Function Length Data
MSB Function code 1 byte 0x11
Byte count 1 byte 1-251(N)
Slave ID 0-250 bytes Slave ID
LSB Run status Indicators 1 bytes 0x00 or 0xFF
• Response:Response:
FC Parameter
Name
15-40 FC Type
15-41 Power section
15-42 Voltage
15-43 SW version
• 0x00 if coil ‘Stopped / Running’ is 0 (coil no. 44)0x00 if coil ‘Stopped / Running’ is 0 (coil no. 44)
• 0xFF if coil ‘Stopped / Running’ is 1 (coil no. 44)0xFF if coil ‘Stopped / Running’ is 1 (coil no. 44)
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Supported Modbus Function Codes
Modbus RTU for FC 100Modbus RTU for FC 100
• Function Code 2Bhex: Function Code 2Bhex: Device IdentificationDevice Identification
Description Length Data
MSB Function code 1 byte 0x2B
MEI type 1 byte 0x0E
Read device ID code 1 byte 1 or 2 or 3 or 4
Conformity level 1 byte 1 or 2 or 3 or 81 or 82
More Follows 1 byte 0x00 or 0xFF
Next Object ID 1 byte Object ID number
Number of objects 1 byte 0x00 – 0x0F
1st object ID 1 byte
1st object length 1 byte
1st object Value 1st obj. length
...
LSB ...
• Response:Response:
Device Ident.Device Ident.
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Device Identification
Modbus RTU for FC 100Modbus RTU for FC 100
FC Parameter Name Modbus Obj. ID Modbus description
15-51 FC Serial 0x80 Private object
15-60 [0] Option: Slot A 0x81 Private object
15-61 [0] Option SW: Slot A 0x82 Private object
15-62 [0] Opt. ord. no.: Slot A 0x83 Private object
15-60 [1] Option: Slot B 0x84 Private object
15-61 [1] Option SW: Slot B 0x85 Private object
15-62 [1] Opt. ord. no.: Slot B 0x86 Private object
15-60 [2] Option: Slot C0 0x87 Private object
15-61 [2] Option SW: Slot C0 0x88 Private object
15-62 [2] Opt. ord. no.: Slot C0 0x89 Private object
15-60 [3] Option: Slot C1 0x8A Private object
15-61 [3] Option SW: Slot C1 0x8B Private object
15-62 [3] Opt. ord. no.: Slot C1 0x8C Private object
15-45 Option: Slot D 0x8D Private object
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Coils (single bit)
Modbus RTU for FC 100Modbus RTU for FC 100
Coil number Description Signal direction
1 – 16 Frequency converter control word Master -> slave
17 – 32 Frequency converter speed or set-point referenceRange 0x0 – 0xFFFF (-200% ... ~200%)
Master -> slave
33 – 48 Frequency converter status word Slave -> master
49 – 64 Open loop mode: Frequency converter output frequencyClosed loop mode: Frequency converter feedback signal
Slave -> master
65 Parameter write control Master -> slave
0 = Parameter changes are written to the RAM of the frequency converter
1 = Parameter changes are written to the RAM and EEPROM of the frequency converter.
66 - 65536 Reserved
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Holding registers (words)
Modbus RTU for FC 100Modbus RTU for FC 100
Register number Description
00001 – 00006 Reserved
00007 Last error code from an FC data object interface
00008 Reserved
00009 Parameter index*
00010 – 00999 000 parameter group (parameters 001 through 099)
01000 – 01999 100 parameter group (parameters 100 through 199)
02000 – 02999 200 parameter group (parameters 200 through 299)
03000 – 03999 300 parameter group (parameters 300 through 399)
04000 – 04999 400 parameter group (parameters 400 through 499)
… …
49000 – 49999 4900 parameter group (parameters 4900 through 4999)
50000 Input data: Frequency converter control word register (CTW).
50010 Input data: Bus reference register (REF).
… …
50200 Output data: Frequency converter status word register (STW).
50210 Output data: Frequency converter main actual value register (MAV).
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Holding registers (words), addressing
Modbus RTU for FC 100Modbus RTU for FC 100
• Holding register 00001 is addressed as register 40001 in the data address Holding register 00001 is addressed as register 40001 in the data address field of the message.field of the message.
• The function code field already specifies a ‘holding register’ operation. The function code field already specifies a ‘holding register’ operation. Therefore, the ‘4XXXX’ reference is implicit. Therefore, the ‘4XXXX’ reference is implicit.
Example:Example: Par 0-01 Par 0-01 Language:Language:
Example:Example: Par 20-21 Par 20-21 Feedback: Feedback: (NB: 32 bit)(NB: 32 bit)
• Holding reg. 00010, addressed as: Holding reg. 00010, addressed as: 4001040010
• Holding reg. 020210, addressed as: Holding reg. 020210, addressed as: 420210 420210 (high (high word)word)
• Holding reg. 020211, addressed as: Holding reg. 020211, addressed as: 420211 420211 (low (low word)word)
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FC 100 Frequency Converter Set-up
Modbus RTU for FC 100Modbus RTU for FC 100
To enable Modbus RTU on the FC 100, set the following parameters:To enable Modbus RTU on the FC 100, set the following parameters:
Parameter no.
Parameter name
Setting
8-30 Protocol Modbus RTU
8-31 Address 1 – 247
8-32 Baud rate 2400 - 115200
8-33 Parity / Stop bits Even parity, 1 stop bit (default)
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RS-485 physics
Modbus RTU for FC 100Modbus RTU for FC 100
Master
Slave 1 Slave 2
D1
D0Common
5 V
650
650
120 1 nF
120 1 nF
Maximum length of busMaximum length of bus 1000 m at 19200 bps1000 m at 19200 bps
Maximum number of stations (without repeater)Maximum number of stations (without repeater) 32 (31 slaves)32 (31 slaves)
Maximum length of tap linksMaximum length of tap links 20 m for one tap link 20 m for one tap link 40 m divided by the number of tap links40 m divided by the number of tap links
Bus polarisationBus polarisation 650 650 at 5V and common for the master at 5V and common for the master
Line terminatorLine terminator 120 120 - 0,25Wm in series with 1nF 10V - 0,25Wm in series with 1nF 10V
Common polarityCommon polarity Yes (Common) connected to the PGYes (Common) connected to the PG
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MCA 122
Modbus TCPModbus TCP
• Modbus TCP is the oldest Industrial Ethernet Modbus TCP is the oldest Industrial Ethernet ProtocolProtocol
•Was introduced by Modicon back in 1999. Was introduced by Modicon back in 1999.
• The Protocol is widely used inside:The Protocol is widely used inside:
• Water/Wastewater and inside companies Water/Wastewater and inside companies standardizing their PLC system on standardizing their PLC system on Modicon/Group Schneider PLC’sModicon/Group Schneider PLC’s
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MCA 122
Modbus TCPModbus TCP
• Modbus RTU to Modbus TCP Modbus RTU to Modbus TCP
•Easy connection to Group Schneider PLC’s and leading Easy connection to Group Schneider PLC’s and leading SCADA systemsSCADA systems
• High performance option, capable of execute High performance option, capable of execute commands in 5mSec ratecommands in 5mSec rate
• Two Ethernet ports with build in switch, enabling line Two Ethernet ports with build in switch, enabling line structure.structure.
• No need for expensive switches, due to the build in No need for expensive switches, due to the build in switch,switch,
• Build in web server, for easy status from remote PCBuild in web server, for easy status from remote PC
• E-mail notify, that can send E-mail if Warning/alarm E-mail notify, that can send E-mail if Warning/alarm occursoccurs
• Register mapping equal to Modbus RTU, which allows a Register mapping equal to Modbus RTU, which allows a easy upgrade fromeasy upgrade from
•High speed access from MCT-10 Setup Software via High speed access from MCT-10 Setup Software via EthernetEthernet
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Read/write block of data (Process data)
Modbus RTU/TCPModbus RTU/TCP
Function code = 03hex : Read Holding Registers...Function code = 03hex : Read Holding Registers...
SlaveAddress
CRC16First word address
Function code=0x03
Number of words to read
1 byte 1 byte 2 bytes 2 bytes 2 bytes
Request :Request :
Function code = 10hex : Write Multiple RegistersFunction code = 10hex : Write Multiple Registers
Request :Request :
SlaveAddress
CRC16First word address
Function code=0x10
Number of words to write
1 byte 1 byte 2 bytes 2 bytes 2 bytes
Value of the first word
Number of bytes
1 byte 2 bytes
This is only possible with consecutive registers (no “holes” in the range)This is only possible with consecutive registers (no “holes” in the range)
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Read/write block of data (Process data)
Modbus RTU/TCPModbus RTU/TCP
• Since parameters are organized in registers Since parameters are organized in registers with jumps of 10, it is not possible to make with jumps of 10, it is not possible to make block-read/write.block-read/write.
Register # Data10 Par. 0-0111 …12 …13 …14 …15 …16 …17 …18 …1920 Par. 0-0221
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Read/write block of data (Process data)
Modbus RTU/TCPModbus RTU/TCP
• To enable block-read/write, a block of process-To enable block-read/write, a block of process-data has been defined.data has been defined.
• Par. 281 and 291 is not used.Par. 281 and 291 is not used.
• Block is below reg. #10,000 which is Block is below reg. #10,000 which is accessible for all PLC’saccessible for all PLC’s
• Can also be used for down-mapping of Can also be used for down-mapping of parameters…parameters…
• Available on Modbus TCPAvailable on Modbus TCP
• Will also be available on Modbus RTUWill also be available on Modbus RTU
Register #Register # DataDataModbus TCPModbus TCP Modbus RTUModbus RTU
Mapping parameterMapping parameter
WR
ITE
2810 CTW 12-21[0] 8-43[0]
2811 REF 12-21[1] 8-43[1]
2812 PCD 3 12-21[2] 8-43[2]
2813 PCD 4 12-21[3] 8-43[3]
2814 PCD 5 12-21[4] 8-43[4]
2815 PCD 6 12-21[5] 8-43[5]
2816 PCD 7 12-21[6] 8-43[6]
2817 PCD 8 12-21[7] 8-43[7]
2818 PCD 9 12-21[8] 8-43[8]
2719 PCD 10 12-21[9] 8-43[9]
… … …
REA
D
2910 STW 21-22[0] 8-44[0]
2911 MAV 21-22[1] 8-44[1]
2912 PCD 3 21-22[2] 8-44[2]
2913 PCD 4 21-22[3] 8-44[3]
2914 PCD 5 21-22[4] 8-44[4]
2915 PCD 6 21-22[5] 8-44[5]
2916 PCD 7 21-22[6] 8-44[6]
2917 PCD 8 21-22[7] 8-44[7]
2918 PCD 9 21-22[8] 8-44[8]
2919 PCD 10 21-22[9] 8-44[9]
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Read/write block of data (Process data)
Modbus RTU/TCPModbus RTU/TCP
......
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Want to know more?
ModbusModbus
VLTVLT® ® FC 100 LonWorks:FC 100 LonWorks:
MG.11.E1.02 MG.11.E1.02
www.modbus.orgwww.modbus.org