CM1
RT3.13 B3.7 Firmware
Expanded MODBUS RTU Functionality Guide
Version 1.2
February 20, 2013
Introduction
This document provides an overview of the expanded MODBUS RTU functionality included in the Cool Muscle 1 firmware release RT3.13 B3.7. This document assumes the reader is familiar with the MODBUS communications protocol specification as defined by the Modbus Organization, Inc. (www.modbus-ida.org).
Expanded Read/Write Access
The principal update included in the RT3.13 B3.7 firmware release is the addition of read and write access to a variety of motor parameters via MODBUS registers. Specifically the motor parameters are available as signed 32-bit MODBUS holding registers. Note the RT3.13 B3.7 firmware release does not provide support for read or write requests to 16-bit holding registers. [The RT3.13 B3.7 firmware does not allow single point read/write access to the upper or lower word of the aforementioned 32-bit holding registers.]
Setting the motor up as a Modbus Slave
To set the motor to Modbus Slave 3 parameters need to be set.
- K20 sets the motor to Modbus mode with the relevant baud rate
- K62 sets the Modbus slave ID
- K89 sets the address offset. This would typically be 0.
Note: these parameters are shared with other functions. K62 also sets the RS485 protocol ID and K20 the baud rate. Be careful to follow the instructions to setup Modbus Slave or the motor could inadvertently be set into another mode. It is possible to easily recover but can be time consuming if you don't know what you are doing.
Parameter |
Description |
Range |
K20 |
Modbus baud rate |
10: 38400 |
K62 |
Modbus slave address |
0…255 |
K89 |
Modbus address offset |
0…32767 |
Other important parameters:
- K23: K23=0 should be set. All serial port events should be disabled in Modbus mode
- K52: K52=21 should be set. It is import the second digit is set to 1. This forces IN1/OUT1 to be set to serial COM1 communication. Setting the first digit to 2 will force IN2/OUT2 to be digital I/O. See the RT3.12 firmware update sheet for more information on K52.
Parameters can be set manually or using the set Modbus shortcut. To set the parameters to Modbus defaults automatically send "!91" from the terminal window in Control Room. Defaults are
K20=10
K62=1
K23=0
K52=21
K89=0
To set the parameters manually you can follow the same order as above. You will need to cycle power once the motor is in Modbus mode to fully activate Modbus mode.
Disabling Modbus Mode
It is very important to be able to switch the motor back out of Modbus mode. Once it is Modbus mode you cannot communicate with it in normal ASCII through Control Room. To disable Modbus mode temporarily send "FFFFFFFFF" (9 x 'F') from the terminal window in Control Room. This will temporarily disable Modbus mode and allow standard ASCII CML commands. To permanently switch off Modbus mode set K20=0 (for 38400) and K62=0. It is very important to switch both parameters back to their original value.
Reserved 16-bit "Ping" Address
Some MODBUS master devices employ a read request message to verify slave device connectivity at power on. Typically the master device requests ("Ping") the contents of a single 16-bit holding register for this purpose. The RT3.13 B3.7 firmware release will provide a valid response to a single point (16-bit) MODBUS read request at holding register address ([K89]+ 1). This is the only single point (16-bit) read request the motor will process.
Read/Write Access Table
Included below is a table which details the location and significance of motor-side MODBUS registers.
Note the addresses included below are referenced to the MODBUS data model. [1 … n]
The MODBUS PDU address is obtained by subtracting 1 from the MODBUS data model address. [0 … (n-1)]
Holding Register Address |
Motor Parameter |
Read Access |
Write Access |
|---|---|---|---|
[K89] + 1 |
Position Error (?95) |
Yes |
No |
[K89]+ 3 |
Motor Position (?96) |
Yes |
No |
[K89]+ 5 |
Motor Speed (?97) |
Yes |
No |
[K89]+ 7 |
Motor Torque (?98) |
Yes |
No |
[K89]+ 9 |
Motor Status (?99) |
Yes |
No |
[K89]+ 11 |
V0 |
Yes |
Yes |
[K89]+ 13 |
V1 |
Yes |
Yes |
[K89]+ 15 |
V2 |
Yes |
Yes |
[K89]+ 17 |
V3 |
Yes |
Yes |
[K89]+ 19 |
V4 |
Yes |
Yes |
[K89]+ 21 |
V5 |
Yes |
Yes |
[K89]+ 23 |
V6 |
Yes |
Yes |
[K89]+ 25 |
V7 |
Yes |
Yes |
[K89]+ 27 |
V8 |
Yes |
Yes |
[K89]+ 29 |
V9 |
Yes |
Yes |
[K89]+ 31 |
V10 |
Yes |
Yes |
[K89]+ 33 |
V11 |
Yes |
Yes |
[K89]+ 35 |
V12 |
Yes |
Yes |
[K89]+ 37 |
V13 |
Yes |
Yes |
[K89]+ 39 |
V14 |
Yes |
Yes |
[K89]+ 41 |
V15 |
Yes |
Yes |
|
|
|
|
[K89]+ 43 |
P0 |
Yes |
Yes |
[K89]+ 45 |
S0 |
Yes |
Yes |
[K89]+ 47 |
A0 |
Yes |
Yes |
[K89]+ 49 |
V0 |
Yes |
Yes |
[K89]+ 51 |
R0 |
Yes |
Yes |
[K89]+ 53 |
M0 |
Yes |
Yes |
|
|
|
|
[K89]+ 55 |
Analog Output |
Yes |
Yes |
[K89]+ 57 |
Input Status (?70) |
Yes |
No |
[K89]+ 59 |
Output Status (?50) |
Yes |
Yes |
|
|
|
|
[K89]+ 103 |
CML Port [ASCII] |
No |
Yes |
|
|
|
|
[K89]+ 201 |
P0 |
Yes |
Yes |
[K89]+ 203 |
P1 |
Yes |
Yes |
[K89]+ 205 |
P2 |
Yes |
Yes |
[K89]+ 207 |
P3 |
Yes |
Yes |
[K89]+ 209 |
P4 |
Yes |
Yes |
[K89]+ 211 |
P5 |
Yes |
Yes |
[K89]+ 213 |
P6 |
Yes |
Yes |
[K89]+ 215 |
P7 |
Yes |
Yes |
[K89]+ 217 |
P8 |
Yes |
Yes |
[K89]+ 219 |
P9 |
Yes |
Yes |
[K89]+ 221 |
P10 |
Yes |
Yes |
[K89]+ 223 |
P11 |
Yes |
Yes |
[K89]+ 225 |
P12 |
Yes |
Yes |
[K89]+ 227 |
P13 |
Yes |
Yes |
[K89]+ 229 |
P14 |
Yes |
Yes |
[K89]+ 231 |
P15 |
Yes |
Yes |
[K89]+ 233 |
P16 |
Yes |
Yes |
[K89]+ 235 |
P17 |
Yes |
Yes |
[K89]+ 237 |
P18 |
Yes |
Yes |
[K89]+ 239 |
P19 |
Yes |
Yes |
[K89]+ 241 |
P20 |
Yes |
Yes |
[K89]+ 243 |
P21 |
Yes |
Yes |
[K89]+ 245 |
P22 |
Yes |
Yes |
[K89]+ 247 |
P23 |
Yes |
Yes |
[K89]+ 249 |
P24 |
Yes |
Yes |
[K89]+ 251 |
P25 |
Yes |
Yes |
|
|
|
|
[K89]+ 301 |
R0 |
Yes |
Yes |
[K89]+ 303 |
R1 |
Yes |
Yes |
[K89]+ 305 |
R2 |
Yes |
Yes |
[K89]+ 307 |
R3 |
Yes |
Yes |
[K89]+ 309 |
R4 |
Yes |
Yes |
[K89]+ 311 |
R5 |
Yes |
Yes |
[K89]+ 313 |
R6 |
Yes |
Yes |
[K89]+ 315 |
R7 |
Yes |
Yes |
[K89]+ 317 |
P8 |
Yes |
Yes |
[K89]+ 319 |
P9 |
Yes |
Yes |
[K89]+ 321 |
R10 |
Yes |
Yes |
[K89]+ 323 |
R11 |
Yes |
Yes |
[K89]+ 325 |
R12 |
Yes |
Yes |
[K89]+ 327 |
R13 |
Yes |
Yes |
[K89]+ 329 |
R14 |
Yes |
Yes |
[K89]+ 331 |
R15 |
Yes |
Yes |
[K89]+ 333 |
R16 |
Yes |
Yes |
[K89]+ 335 |
R17 |
Yes |
Yes |
[K89]+ 337 |
R18 |
Yes |
Yes |
[K89]+ 339 |
R19 |
Yes |
Yes |
[K89]+ 341 |
R20 |
Yes |
Yes |
[K89]+ 343 |
R21 |
Yes |
Yes |
[K89]+ 345 |
R22 |
Yes |
Yes |
[K89]+ 347 |
R23 |
Yes |
Yes |
[K89]+ 349 |
R24 |
Yes |
Yes |
[K89]+ 351 |
R25 |
Yes |
Yes |
|
|
|
|
[K89]+ 401 |
N0 |
Yes |
Yes |
[K89]+ 403 |
N1 |
Yes |
Yes |
[K89]+ 405 |
N2 |
Yes |
Yes |
[K89]+ 407 |
N3 |
Yes |
Yes |
[K89]+ 409 |
N4 |
Yes |
Yes |
[K89]+ 411 |
N5 |
Yes |
Yes |
[K89]+ 413 |
N6 |
Yes |
Yes |
[K89]+ 415 |
N7 |
Yes |
Yes |
[K89]+ 417 |
N8 |
Yes |
Yes |
[K89]+ 419 |
N9 |
Yes |
Yes |
[K89]+ 421 |
N10 |
Yes |
Yes |
[K89]+ 423 |
N11 |
Yes |
Yes |
[K89]+ 425 |
N12 |
Yes |
Yes |
[K89]+ 427 |
N13 |
Yes |
Yes |
[K89]+ 429 |
N14 |
Yes |
Yes |
[K89]+ 431 |
N15 |
Yes |
Yes |
[K89]+ 433 |
N16 |
Yes |
Yes |
[K89]+ 435 |
N17 |
Yes |
Yes |
[K89]+ 437 |
N18 |
Yes |
Yes |
[K89]+ 439 |
N19 |
Yes |
Yes |
[K89]+ 441 |
N20 |
Yes |
Yes |
[K89]+ 443 |
N21 |
Yes |
Yes |
[K89]+ 445 |
N22 |
Yes |
Yes |
[K89]+ 447 |
N23 |
Yes |
Yes |
[K89]+ 449 |
N24 |
Yes |
Yes |
[K89]+ 451 |
N25 |
Yes |
Yes |
|
|
|
|
[K89]+ 603 |
S0 |
Yes |
Yes |
[K89]+ 605 |
S1 |
Yes |
Yes |
[K89]+ 607 |
S2 |
Yes |
Yes |
[K89]+ 609 |
S3 |
Yes |
Yes |
[K89]+ 611 |
S4 |
Yes |
Yes |
[K89]+ 613 |
S5 |
Yes |
Yes |
[K89]+ 615 |
S6 |
Yes |
Yes |
[K89]+ 617 |
S7 |
Yes |
Yes |
[K89]+ 619 |
S8 |
Yes |
Yes |
[K89]+ 621 |
S9 |
Yes |
Yes |
[K89]+ 623 |
S10 |
Yes |
Yes |
[K89]+ 625 |
S11 |
Yes |
Yes |
[K89]+ 627 |
S12 |
Yes |
Yes |
[K89]+ 629 |
S13 |
Yes |
Yes |
[K89]+ 631 |
S14 |
Yes |
Yes |
[K89]+ 633 |
S15 |
Yes |
Yes |
|
|
|
|
[K89]+ 635 |
A0 |
Yes |
Yes |
[K89]+ 637 |
A1 |
Yes |
Yes |
[K89]+ 639 |
A2 |
Yes |
Yes |
[K89]+ 641 |
A3 |
Yes |
Yes |
[K89]+ 643 |
A4 |
Yes |
Yes |
[K89]+ 645 |
A5 |
Yes |
Yes |
[K89]+ 647 |
A6 |
Yes |
Yes |
[K89]+ 649 |
A7 |
Yes |
Yes |
[K89]+ 651 |
A8 |
Yes |
Yes |
|
|
|
|
[K89]+ 653 |
M0 |
Yes |
Yes |
[K89]+ 655 |
M1 |
Yes |
Yes |
[K89]+ 657 |
M2 |
Yes |
Yes |
[K89]+ 659 |
M3 |
Yes |
Yes |
[K89]+ 661 |
M4 |
Yes |
Yes |
[K89]+ 663 |
M5 |
Yes |
Yes |
[K89]+ 665 |
M6 |
Yes |
Yes |
[K89]+ 667 |
M7 |
Yes |
Yes |
[K89]+ 669 |
M8 |
Yes |
Yes |
|
|
|
|
[K89]+ 671 |
K0 |
Yes |
Yes |
[K89]+ 673 |
K1 |
Yes |
Yes |
[K89]+ 675 |
K2 |
Yes |
Yes |
[K89]+ 677 |
K3 |
Yes |
Yes |
[K89]+ 679 |
K4 |
Yes |
Yes |
[K89]+ 681 |
K5 |
Yes |
Yes |
[K89]+ 683 |
K6 |
Yes |
Yes |
[K89]+ 685 |
K7 |
Yes |
Yes |
[K89]+ 687 |
K8 |
Yes |
Yes |
[K89]+ 689 |
K9 |
Yes |
Yes |
[K89]+ 691 |
K10 |
Yes |
Yes |
[K89]+ 693 |
K11 |
Yes |
Yes |
[K89]+ 695 |
K12 |
Yes |
Yes |
[K89]+ 697 |
K13 |
Yes |
Yes |
[K89]+ 699 |
K14 |
Yes |
Yes |
[K89]+ 701 |
K15 |
Yes |
Yes |
[K89]+ 703 |
K16 |
Yes |
Yes |
[K89]+ 705 |
K17 |
Yes |
Yes |
[K89]+ 707 |
K18 |
Yes |
Yes |
[K89]+ 709 |
K19 |
Yes |
Yes |
[K89]+ 711 |
K20 |
Yes |
Yes |
[K89]+ 713 |
K21 |
Yes |
Yes |
[K89]+ 715 |
K22 |
Yes |
Yes |
[K89]+ 717 |
K23 |
Yes |
Yes |
[K89]+ 719 |
K24 |
Yes |
Yes |
[K89]+ 721 |
K25 |
Yes |
Yes |
[K89]+ 723 |
K26 |
Yes |
Yes |
[K89]+ 725 |
K27 |
Yes |
Yes |
[K89]+ 727 |
K28 |
Yes |
Yes |
[K89]+ 729 |
K29 |
Yes |
Yes |
[K89]+ 731 |
K30 |
Yes |
Yes |
[K89]+ 733 |
K31 |
Yes |
Yes |
[K89]+ 735 |
K32 |
Yes |
Yes |
[K89]+ 737 |
K33 |
Yes |
Yes |
[K89]+ 739 |
K34 |
Yes |
Yes |
[K89]+ 741 |
K35 |
Yes |
Yes |
[K89]+ 743 |
K36 |
Yes |
Yes |
[K89]+ 745 |
K37 |
Yes |
Yes |
[K89]+ 747 |
K38 |
Yes |
Yes |
[K89]+ 749 |
K39 |
Yes |
Yes |
[K89]+ 751 |
K40 |
Yes |
Yes |
[K89]+ 753 |
K41 |
Yes |
Yes |
[K89]+ 755 |
K42 |
Yes |
Yes |
[K89]+ 757 |
K43 |
Yes |
Yes |
[K89]+ 759 |
K44 |
Yes |
Yes |
[K89]+ 761 |
K45 |
Yes |
Yes |
[K89]+ 763 |
K46 |
Yes |
Yes |
[K89]+ 765 |
K47 |
Yes |
Yes |
[K89]+ 767 |
K48 |
Yes |
Yes |
[K89]+ 769 |
K49 |
Yes |
Yes |
[K89]+ 771 |
K50 |
Yes |
Yes |
[K89]+ 773 |
K51 |
Yes |
Yes |
[K89]+ 775 |
K52 |
Yes |
Yes |
[K89]+ 777 |
K53 |
Yes |
Yes |
[K89]+ 779 |
K54 |
Yes |
Yes |
[K89]+ 781 |
K55 |
Yes |
Yes |
[K89]+ 783 |
K56 |
Yes |
Yes |
[K89]+ 785 |
K57 |
Yes |
Yes |
[K89]+ 787 |
K58 |
Yes |
Yes |
[K89]+ 789 |
K59 |
Yes |
Yes |
[K89]+ 791 |
K60 |
Yes |
Yes |
[K89]+ 793 |
K61 |
Yes |
Yes |
[K89]+ 795 |
K62 |
Yes |
Yes |
[K89]+ 797 |
K63 |
Yes |
Yes |
[K89]+ 799 |
K64 |
Yes |
Yes |
[K89]+ 801 |
K65 |
Yes |
Yes |
[K89]+ 803 |
K66 |
Yes |
Yes |
[K89]+ 805 |
K67 |
Yes |
Yes |
[K89]+ 807 |
K68 |
Yes |
Yes |
[K89]+ 809 |
K69 |
Yes |
Yes |
[K89]+ 811 |
K70 |
Yes |
Yes |
[K89]+ 813 |
K71 |
Yes |
Yes |
[K89]+ 815 |
K72 |
Yes |
Yes |
[K89]+ 817 |
K73 |
Yes |
Yes |
[K89]+ 819 |
K74 |
Yes |
Yes |
[K89]+ 821 |
K75 |
Yes |
Yes |
[K89]+ 823 |
K76 |
Yes |
Yes |
[K89]+ 825 |
K77 |
Yes |
Yes |
[K89]+ 827 |
K78 |
Yes |
Yes |
[K89]+ 829 |
K79 |
Yes |
Yes |
[K89]+ 831 |
K80 |
Yes |
Yes |
[K89]+ 833 |
K81 |
Yes |
Yes |
[K89]+ 835 |
K82 |
Yes |
Yes |
[K89]+ 837 |
K83 |
Yes |
Yes |
[K89]+ 839 |
K84 |
Yes |
Yes |
[K89]+ 841 |
K85 |
Yes |
Yes |
[K89]+ 843 |
K86 |
Yes |
Yes |
[K89]+ 845 |
K87 |
Yes |
Yes |
[K89]+ 847 |
K88 |
Yes |
Yes |
[K89]+ 849 |
K89 |
Yes |
Yes |
|
|
|
|
[K89]+ 875 |
RESERVED |
Yes |
Yes |
|
|
|
|
[K89]+ 901 |
H0 |
Yes |
Yes |
[K89]+ 903 |
H1 |
Yes |
Yes |
[K89]+ 905 |
H2 |
Yes |
Yes |
[K89]+ 907 |
H3 |
Yes |
Yes |
[K89]+ 909 |
H4 |
Yes |
Yes |
[K89]+ 911 |
H5 |
Yes |
Yes |
[K89]+ 913 |
H6 |
Yes |
Yes |
[K89]+ 915 |
H7 |
Yes |
Yes |
|
|
|
|
[K89]+ 951 |
T0 |
Yes |
No |
[K89]+ 953 |
T1 |
Yes |
Yes |
[K89]+ 955 |
T2 |
Yes |
Yes |
[K89]+ 957 |
T3 |
Yes |
Yes |
[K89]+ 959 |
T4 |
Yes |
Yes |
[K89]+ 951 |
T5 |
Yes |
Yes |
[K89]+ 953 |
T6 |
Yes |
Yes |
[K89]+ 955 |
T7 |
Yes |
Yes |
Overview
Content Tools