Chapter 5 MODBUS /OMRON Protocols Support

The T100M+ PLC supports a subset of the OMRON and MODBUS (Both ASCII and RTU modes are now supported) compatible communication protocols so that it can be easily linked to third-party control software/hardware products such as SCADA software, touch panels etc. The PLC automatically recognizes the type of command format and will respond with the correct response. These are accomplished without any user intervention and without any need to configure the PLC at all! Both MODBUS and Omron protocols use the same device ID address (00 to FF) as the native protocol described in Chapter 3. Since the addresses of I/O and internal variables in the T100M+ PLC are organized very differently from the OMRON or Modicon PLCs, we need to map these addresses to the corresponding memory areas in the other PLCs so that they can be easily accessed by their corresponding protocols. All I/Os, timers, counters, internal relays and data memory DM[1] to DM[4000] are mapped as shown in table 5.1. However, 32 bit variables and string variables are not mapped since they are fundamentally quite different in their implementation among different PLCs. Internal variables which are not mapped can be still be accessed by copying the contents of these variables to unused data memory DM[n] (these can be easily accomplished within a CusFn ) so that they can be accessed by these third party protocols. For normal application Table 5.1 may be all that you need to interface to third party control products such as a touch screen LCD panel.

5.1 MODBUS ASCII Protocol Support

T100M+ supports MODBUS ASCII protocols with the following command and response format:
START : Address 2 chars Function 2 chars Data # chars LRC Check 2 chars CRLF 2 chars

The following Function Codes are supported:

02 03 05 06 16 Read Input Status Read Holding Registers Force Single Coil. Coil #1 = 40001.1, Coil #2 = 40001.2 . Coil # 17 = 40002.1 and so on. Preset Single Register Preset Multiple Registers

Please refer to the MODBUS protocol published by Groupe Schneider at http://www.modicon.com to find out the exact address and data format of the MODBUS command and response.

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Table 5.1: Memory Mapping of T100M+ to other PLCs

T100M+ I/O #
Input n 1 to 16 17 to 32 33 to 48 49 to 64 65 to 80 81 to 96 Output n 1 to 16 17 to 32 33 to 48 49 to 64 65 to 80 81 to 96 Timer n 1 to 16 17 to 32 33 to 48 49 to 64 Counter n 1 to 16 17 to 32 33 to 48 49 to 64 Relay n 1 to 16 17 to 32 33 to 48 49 to 64 65 to 80 81 to 96 97 to 112 113 to 128 129 to 144 145 to 160 161 to 176 177 to 192 193 to 208 209 to 224 .. 497 to 512

OMRON

MODBUS Word Addr. mapping

40001.1 to 40001.16 40002.1 to 40002.16 40003.1 to 40003.16 40004.1 to 40004.16 40005.1 to 40005.16 40006.1 to 40006.16 40017.1 to 40017.16 40018.1 to 40018.16 40019.1 to 40019.16 40020.1 to 40020.16 40021.1 to 40021.16 40022.1 to 40022.16 40033.1 to 40033.16 40034.1 to 40034.16 40035.1 to 40035.16 40036.1 to 40036.16 40049.1 to 40049.16 40050.1 to 40050.16 40051.1 to 40051.16 40052.1 to 40052.16

MODBUS Bit Addr. Mapping n 1 to16 17 to 32 33 to 48 49 to 64 65 to 80 81 to 96 256 + n 257 to 272 273 to 288 289 to 304 305 to 320 321 to 336 337 to 352 512+n 513 to 528 529 to 544 545 to 560 561 to 576 768 + n 769 to 784 785 to 800 801 to 816 817 to 832 1024 + n 1025 to 1040 1041 to 1056 1057 to 1072 1073 to 1088 1089 to 1104 1105 to 1120 1121 to 1136 1137 to 1152 1153 to 1168 1169 to 1184 1185 to 1200 1201 to 1216 1217 to 1232

IR00.0 to IR00.15 IR01.0 to IR01.15 IR02.0 to IR02.15 IR03.0 to IR03.15 IR04.0 to IR04.15 IR05.0 to IR05.15 IR16.0 to IR16.15 IR17.0 to IR17.15 IR18.0 to IR18.15 IR19.0 to IR19.15 IR20.0 to IR20.15 IR21.0 to IR21.15 IR32.0 IR33.0 IR34.0 IR35.0 IR48.0 IR49.0 IR50.0 IR51.0 to to to to to to to to IR32.15 IR33.15 IR34.15 IR35.15 IR48.15 IR49.15 IR50.15 IR51.15

IR64.0 IR65.0 IR66.0 IR67.0 IR68.0 IR69.0 IR70.0 IR71.0 IR72.0 IR73.0 IR74.0 IR75.0

to to to to to to to to to to to to

IR64.15 IR65.15 IR66.15 IR67.15 IR68.15 IR69.15 IR70.15 IR71.15 IR72.15 IR73.15 IR74.15 IR75.15

40065.1 to 40065.16 40066.1 to 40066.16 40067.1 to 40067.16 40068.1 to 40068.16 40069.1 to 40069.16 40070.1 to 40070.16 40071.1 to 40071.16 40072.1 to 40072.16 40073.1 to 40073.16 40074.1 to 40074.16 40075.1 to 40075.16 40076.1 to 40076.16 40077.1 to 40077.16 40078.1 to 40078.16 .. 40097.1 to 40097.16

IR76.0 to IR76.15 IR77.0 to IR77.15 .. IR96.0 to IR96.15

1233 to 1248 .. 1521 to 1536

* MODBUS is a registered trademark of Groupe Schneider.

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OMRON is a registered trademark of OMRON Corporation.

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T100M+ Variables Timer 1 to 64 Present Values Counter 1 to 64 Present Values Clock TIME[1] TIME[2] TIME[3] DATE[1] DATE[2] DATE[3] DATE[4] DM[1] DM[2] . DM[4000]

OMRON IR128 to IR191 IR256 to IR319 IR512 IR513 IR514 IR516 IR517 IR518 IR519 DM[1] DM[2] . DM[4000]

MODBUS 40129 to 40192 40257 to 40320 40513 40514 40515 40517 40518 40519 40520 41001 41002 . 45000

Date

Data Memory

5.2 MODBUS RTU Protocol Support

The new Rev D of the T100MD+ or T100MX+ PLCs also supports the MODBUS RTU protocol. The difference between the ASCII and RTU protocols is that the latter transmits binary data directly instead of converting one byte of binary data into two ASCII characters. A message frame is determined by the silent interval of 3.5 character times between characters received at the COMM port. Other than that, the function codes and memory mappings are identical to the MODBUS ASCII protocol. Table 5.1 therefore applies to MODBUS RTU protocol as well. MOBBUS RTU has following command and response format:
Start Silence of 3.5 char times Address 1 byte Function 1 byte Data # byte CRC 16 2 bytes END Silence of 3.5 char times

The following Function Codes are supported:

02 03 05 06 16 Read Input Status Read Holding Registers Force Single Coil. Coil #1 = 40001.1, Coil #2 = 40001.2 . Coil # 17 = 40002.1 and so on. Preset Single Register Preset Multiple Registers 5-4

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5.3 OMRON Host Link Command Support

Command Type a) b) c) d) e) TEST STATUS READ ERROR Read IR Area READ HR, AR, LR Area & TC Status READ f) DM AREA READ g) PV READ h) Status Write l) IR Area WRITE j) HR, AR, LR Area & TC Status WRITE k) DM Area WRITE l) FORCED SET m) Registered I/O Read for Channel or Bit Header TS MS MF RR RH RD RC SC WR WH, WJ, WL, WG WD KSCIO KRCIO QQMR/ QQIR Level of Support Full support Full support Dummy (always good) Full support (0000 to 1000) Dummy (always returns 0000) Full support Dummy (always returns 0000) Dummy (always OK) Full Support Dummy (always OK) Full Support (from DM0001-DM4000) Full Support for IR Area only Dummy for other areas. Full Support for IR and DM only Dummy for other areas (always 0000)

For detailed description of the command and response formats for each OMRON Host Link Commands, please refer to C20H/C28H/C40H PLC Operation manual published by OMRON Corporation.

5.4 Application Example: Interfacing to SCADA Software

SCADA software or MMI systems (also known as LCD Touch Panels) normally use object-oriented programming method. Graphical objects such as switches indicator lights or meters, etc., are picked from the library and then assigned to a certain I/O or internal data address of the PLC. When designing a SCADA system, first you need to define the PLC type. You can choose the MODBUS ASCII, MODBUS RTU or OMRON C20H. Once a graphical object has been created, you will need to edit its connection and at this point you will be presented with a selection table that correspond to the memory map of that PLC type. Example 1: To connect an indicator lamp to Input #9 of the PLC. You will need to program the switch to connect to IR00.8 for OMRON protocol. However, If you have defined the PLC as MODBUS type then this indicator lamp should be connected to address 40001.9. (See Table 5.1). In either case there is no need to learn about the actual command format of the protocol itself, as the SCADA software will automatically generate the required commands to access the input address that has been chosen for the object.
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Example 2: To display reading from ADC #3 as a bar graph on SCADA. Since the data from ADC #3 is not directly mapped to MODBUS or OMRON in Table 5.1, you need to add a statement in the custom function that reads the ADC #3 and copy it into a data memory, e.g., DM[100] = ADC(3) Now you can program the bar graph on the SCADA screen to be connected to DM[100] if you use OMRON protocol. For MODBUS protocol the object should be connected to the address: 41100 as can be seen from Table 5.1.

5.5 Using The T100M+ PLC as MODBUS Master

The T100M+ PLCs supports for MODBUS protocol goes beyond being a MODBUS slave only. You can use the TBASIC READMOBUS and WRITEMODBUS commands to send out MODBUS ASCII commands to access any other T100M+ PLC or any third party MODBUS slave devices. Note that when using READMODBUS or WRITEMODBUS command, the 40001 address stated in Table 5.1 should be interpreted as address 0000, and 40002 as address 0001 . 41001 as address 1000, etc. This is in accordance with the specifications stated in MODBUS protocols. MODICON defined zero offset address for the MODBUS command, yet in their I/O definition the I/O channels are supposed to start from address 40001. Hence the unusual correspondence. But to maintain compatibility with the MODBUS specifications we have to adhere to their definitions. M+ PLC As MODBUS RTU Master The new Rev. D T100M+ PLC can also act as a MODBUS RTU master! The same READMODBUS and WRITEMOBUS commands can be used to send and receive MODBUS RTU commands. What you need to do is to add 10 (decimal) to the COMM port number to signal to the processor that you wish to use MODBUS RTU instead of ASCII to talk to the slaves. I.e. you should specify port #11 to use RTU commands on COMM1, and specify port #13 to use RTU commands on COMM3. E.g. the statement DM[10] = READMODBUS (13, 8, 16) will access via COMM3 the slave with ID = 08 and read the content of register #16. This register corresponds to MODICON address 40017 and is the OUTPUT[1] of the slave PLC. The ability to speak MODBUS RTU greatly extend the type of peripherals which can be used with a T100M+ PLC. You can now make use of many off-the-shelf, third party RTU devices to extend the PLC capability, making the M-series truly super PLCs!
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