Modbus training

Part 1 : Part 2 : Part 3 : Part 4 : Reference documents - WEB sites Definitions Modbus frame description Security of transmission

Part 5 :
Part 6 :
P&T - GPS - Training PhW - 06_TECH_Modbus_en 06/ 2004

Physical layer
Main characteristics resume
Section 6 - Slide 1 / 27

Part 1 : Reference documents - WEB sites

Schneider documents Modbus User guide

Reference : TSX DG MOD * Detailed description of the Modbus protocol.

X-WAY communication user guide

Reference : TSX DR NET * This guide gives common characteristics to X-WAY Schneider networks.

Communication application specific functions PL7 Micro/Junior/Pro

Reference : TLX DS COM PL7 42 * Volume 1 : Common communication application Volume 2 : Modbus bus

P&T - GPS - Training PhW - 06_TECH_Modbus_en 06/ 2004

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Part 1 : Reference documents - WEB sites

WEB sites

Modbus.org : http://www.modbus.org
Modicon site for Modbus users.

Transparent Factory : http://www.transparentfactory.com

Schneider Electric site for Transparent Factory users.

Modbus Plus : http://www.modicon.com/techpubs/toc6.html

Modbus Plus Planning and installation.

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Part 2 : Dfinitions

Modbus protocol

MODBUS Protocol is a messaging structure created by MODICON company to connect PLC to programming tools. It is now widely used to establish master-slave communication between intelligent devices. MODBUS is independent of the physical layer. It can be implemented using RS232, RS422, or RS485 or over a variety of media (e.g. fiber, radio, cellular, etc...).

P&T - GPS - Training PhW - 06_TECH_Modbus_en 06/ 2004

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Part 2 : Dfinitions

Modbus Serial line RS485

MODBUS Serial line RS485 is a low cost network using a master/slave medium access with a transmission speed from 1,200 to 115 Kbits/s.

7 Application 6 Presentation

Modbus

5
4 3

Session
Transport Network

2
1

Link
Physical

Master - Slave RS485

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P&T - GPS - Training PhW - 06_TECH_Modbus_en 06/ 2004

Part 2 : Dfinitions

Modbus TCP/IP
MODBUS TCP/IP uses TCP/IP and Ethernet 10 Mbit/s or 100 Mbits/s to carry the MODBUS messaging structure.

7 Application 6 Preentation 5 4 3 2 1 Session Transport Network Link Physical

Modbus

TCP IP

CSMA / CD ETHERNET V2 ou 802.3

P&T - GPS - Training PhW - 06_TECH_Modbus_en 06/ 2004

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Part 2 : Dfinitions

Modbus Plus
MODBUS PLUS is a higher speed network 1 Mbit/s token passing derivative that uses the MODBUS messaging structure.
7 Application 6 Presentation 5 4 3 2 1 Session Transport Network Link Physical
Modbus

802.4 Token passing

RS485
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P&T - GPS - Training PhW - 06_TECH_Modbus_en 06/ 2004

Part 2 : Dfinitions

Modbus ASCII and Modbus RTU

The MODBUS protocol comes in 2 versions : ASCII transmission mode Each eight-bit byte in a message is sent as 2 ASCII characters. RTU transmission mode 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.

ASCII mode allows time intervals of up to 1 second to occur between characters without causing an error.

P&T - GPS - Training PhW - 06_TECH_Modbus_en 06/ 2004

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Part 3 : Modbus frame description

Modbus frame structure

The Modbus frame structure is the same for requests (master to slave messages) and responses (slave to master messages). Modbus RTU
silence

Address

Function

Data

Checksum

silence

Silence >= 3,5 characters

Modbus ASCII : Address Function Data Checksum CR LF

3A Hex
P&T - GPS - Training PhW - 06_TECH_Modbus_en 06/ 2004

0D Hex 0A Hex
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Part 3 : Modbus frame description

Address field
Address Function Data Checksum

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. Value 0 is reserved for broadcast messages (no response). Request : A master addresses a slave by placing the slave address in the address field of the message. Response : When 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.
P&T - GPS - Training PhW - 06_TECH_Modbus_en 06/ 2004
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Part 3 : Modbus frame description

Function field
Address Function Data Checksum

Valid codes are in the range of 1 ... 255 decimal.

Request :

The function code field tells the slave what kind of action to perform.
Response :

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 function code with its most significant bit set to a logic 1.
P&T - GPS - Training PhW - 06_TECH_Modbus_en 06/ 2004
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Part 3 : Modbus frame description

Data field
Address Function Data Checksum

Valid codes are in the range of 0 ... 255 decimal.

Request :

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 items to be handled, etc...
Response :

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 to determine the next action to be taken.
P&T - GPS - Training PhW - 06_TECH_Modbus_en 06/ 2004
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Part 3 : Modbus frame description

Checksum field
Address Function Data Checksum

Valid codes are in the range of 0 ... 255 decimal. Modbus RTU uses CRC : Modbus ASCII uses LRC :
Request :

Cyclycal Reduncy Check (2 byte) Longitudinal Redundancy Check (1 bytes)

The checksum is calculated by the master and sends to the slave.

Response :

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.
P&T - GPS - Training PhW - 06_TECH_Modbus_en 06/ 2004
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Part 3 : Modbus frame description

Frame exemple in RTU mode Function code = 03 : Read Holding Registers

Request :
1 byte 1 byte 2 bytes 2 bytes 2 bytes

Slave Function Address code = 03

First word address

Number of words to read

CRC16

Response :
1 byte 1 byte 2 bytes 2 bytes 2 bytes 2 bytes

Slave Function Number of Address code = 03 bytes read

Value of the first word

Value of the last word

CRC16

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Part 3 : Modbus frame description

Frame exemple in RTU mode Function code = 06 : Write Single Register

Request :
1 byte 1 byte 2 bytes 2 bytes 2 bytes

Slave Function Address code = 06

Word address

Value of word

CRC16

Response :
1 byte 1 byte 2 bytes 2 bytes 2 bytes

Slave Function Address code = 06

Word address

Value of word

CRC16

P&T - GPS - Training PhW - 06_TECH_Modbus_en 06/ 2004

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Part 3 : Modbus frame description

Frame exemple in RTU mode Function code = 16 (dcimal) : Write Multiple Registers

Request :
1 byte 1 byte 2 bytes 2 bytes 1 byte 2 bytes 2 bytes

Slave Function Address code = 16

First word address

Number of Number of Value of the words to write bytes first word

CRC16

Response :
1 byte 1 byte 2 bytes 2 bytes
2 bytes

Slave Function Address code = 16

First word address

Number of words to write

CRC16

P&T - GPS - Training PhW - 06_TECH_Modbus_en 06/ 2004

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Part 3 : Modbus frame description

Function code exemples

Code 01 02 03 04 05 06 15 16 23 43 (0x01) (0x02) (0x03) (0x04) (0x05) (0x06) (0x0F) (0x10) (0x17) (0x2B) Function Read Coils Read Discrete Inputs Read Holding Registers Read Input Registers Write Single Coil Write Single Register Write Multiple Coils Write Multiple Registers Read/Write Multiple Registers Read Device Identification

The complete description of all Modbus request is freely available on the

Modbus.org web site : http://www.modbus.org
P&T - GPS - Training PhW - 06_TECH_Modbus_en 06/ 2004
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Part 4 : Security of transmission

Error checking methods Parity checking

Even or odd can be optionally applied to each character.

Frame checking
LRC or CRC is applied to the entire message.

Continuous stream
The entire message frame must be transmitted as a continuous stream. If a silent interval (more than 1.5 character times RTU mode or 1 second ASCII mode) occurs before completion of the frame, the receiving device flushes the incomplete message and assumes that the next byte will be the address field of a new message.

P&T - GPS - Training PhW - 06_TECH_Modbus_en 06/ 2004

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Part 4 : Security of transmission

Error checking methods

The master is configured by the user to wait for a predetermined timeout interval before aborting the transaction. This interval is set to be long enough for any slave to respond normally.

If the slave detects a transmission error, the message will not be acted upon.
The slave will not construct a response to the master. Thus the timeout will expire and allow the master's program to handle the error.

P&T - GPS - Training PhW - 06_TECH_Modbus_en 06/ 2004

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Part 5 : Physical layer

RS485 physical layer

RS485 is the most common physical layer used on Modbus. The RS485 standard allows variants of different characteristics : polarisation line terminator distribution of a reference potential number of slaves length of the bus

P&T - GPS - Training PhW - 06_TECH_Modbus_en 06/ 2004

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Part 5 : Physical layer

The various versions of the RS485 physical layer

The new Telemecanique devices conform to the Modbus specification published in 2002 on the Modbus.org web site.

But some Schneider older devices comply with earlier specifications :

Uni-Telway Jbus

P&T - GPS - Training PhW - 06_TECH_Modbus_en 06/ 2004

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Part 5 : Physical layer

New Modbus RS485 standard schematic

5V

Master
650

650

120 1 nF

D1

120 1 nF

D0 Common

Slave 1

Slave 2

Maximum length of bus Maximum number of stations (without repeater) Maximum length of tap links Bus polarisation Line terminator Common polarity
P&T - GPS - Training PhW - 06_TECH_Modbus_en 06/ 2004

1000 m at 19200 bps 32 (31 slaves) 20 m for one tap link 40 m divided by the number of tap links 650 at 5V and common for the master 120 - 0,25Wm in series with 1nF 10V Yes (Common) connected to the PG
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Part 5 : Physical layer

Uni-Telway RS485 schematic

5V

Master
4,7 K

4,7 K

D(B)
120 1 nF D(A) 0 VL 5V 4,7 K 4,7 K 4,7 K 5V 4,7 K 120 1 nF

Slave 1

Slave 2

Maximum length of bus Maximum number of stations (without repeater) Maximum length of tap links Bus polarisation Line terminator Common polarity
P&T - GPS - Training PhW - 06_TECH_Modbus_en 06/ 2004

1000 m at 19200 bps 29 (28 slaves) 20 m for one tap link 40 m divided by the number of tap links 4,7 K at 5V and common for the master and slaves 120 - 0,25Wm in series with 1nF 10V Yes (0 VL) and high impedance place between 0 VL and the ground in each station
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Part 5 : Physical layer

Jbus RS485 schematic

Master
470 5V 470

L-(B/B ) 150 150

L+(A/A )

Slave 1

Slave 2

Maximum length of bus Maximum number of stations (without repeater) Maximum length of tap links Bus polarisation Line terminator Common polarity
P&T - GPS - Training PhW - 06_TECH_Modbus_en 06/ 2004

1300 m at 19200 bps 32 (31 slaves) 3m 470 at 5V and common for the master 150 No
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Part 5 : Physical layer

Mixed RS485 schematic

5V

Suitable polarization Rp must be calculated

Master
Rp

Rp

120

D1 D0 Common 5V 4,7 K

120 1 nF

1 nF

Slave 1

4,7 K

Slave 2

If the master is fitted with a 470 polarisation, it s possible to connect a maximum of 18 slaves with 4,7 K polarisation

Maximum length of bus Maximum number of stations (without repeater) Maximum length of tap links Bus polarisation Line terminator Common polarity
P&T - GPS - Training PhW - 06_TECH_Modbus_en 06/ 2004

1000 m at 19200 bps At most 32 stations (depending on Rp and the number of 4,7 K 20 m for one tap link 40 m divided by the number of tap links
Rp should be validated by calculating the equivalent polarisation Re according to the polarisation of the master and slave stations. Re must be between 162 and 650

120 - 0,25Wm in series with 1nF 10V Yes (Common) connected to the PG
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Part 6 : Main characteristics resume

Main characteristics resume

Topology:

Bus with line terminations

Maximum distance:

With RS485 : 1000 m without repeater

Data rate:

From 1,200 to 115 Kbits/s

Max. no. of devices:

With RS485 : 32 master included

P&T - GPS - Training PhW - 06_TECH_Modbus_en 06/ 2004

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Part 6 : Main characteristics resume

Main characteristics resume

Method of accessing the medium: Transmission method: Max. useful data size:

Master slave Messaging 120 words

Transmission security:

LRC or CRC Start and stop delimiters Parity bit Continuous stream

P&T - GPS - Training PhW - 06_TECH_Modbus_en 06/ 2004

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