BK 7300 en
BK 7300 en
BK 7300 en
Version: 1.2
Date:
2012-09-28
Table of Contents
Table of Contents
1. Foreword
Notes on the documentation
Disclaimer
Trademarks
Patent Pending
Copyright
Delivery conditions
Safety Instructions
State at Delivery
Description of safety symbols
2. Basic information
The Beckhoff bus terminal system
The interfaces
Power supply
Power supply to the power contacts
Power contacts
Fieldbus connection
Configuration Interface
KS2000 Software
K-bus contacts
Supply isolation
BK7300
1
1
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14
Table of Contents
3. MODBUS
15
Basic Principles
Bus Topology
15
15
16
17
Parameterization Table
18
Protocol
19
ASCII
RTU
19
19
Functions
19
Diagnostics
Echoes a query (Sub-Function 0)
Coupler Reset (Sub-Function 1)
Delete All Counter Contents (Sub-Function 10)
Bus Communication Error Counter (Sub-Function 11)
Error Answer Counter (Sub-Function 13)
Slave Answers (Sub-function 14)
Unsent Slave Answers (Sub-Function 15)
Number of Error Answers (Sub-Function 16)
4. Appendix
MODBUS Interface
Terminal Mapping
List of References
5. Index
6. Support and Service
Beckhoff's branch offices and representatives
Beckhoff Headquarters
20
21
22
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26
27
28
29
29
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BK7300
Foreword
Foreword
Notes on the documentation
This description is only intended for the use of trained specialists in control and automation technology
who are familiar with the applicable national standards. It is essential that the following notes and
explanations are followed when installing and commissioning these components.
The responsible staff must ensure that the application or use of the products described satisfy all the
requirements for safety, including all the relevant laws, regulations, guidelines and standards.
Disclaimer
The documentation has been prepared with care. The products described are, however, constantly under
development. For that reason the documentation is not in every case checked for consistency with
performance data, standards or other characteristics.
In the event that it contains technical or editorial errors, we retain the right to make alterations at any time
and without warning.
No claims for the modification of products that have already been supplied may be made on the basis of
the data, diagrams and descriptions in this documentation.
Trademarks
Beckhoff, TwinCAT, EtherCAT, Safety over EtherCAT, TwinSAFE and XFC are registered
trademarks of and licensed by Beckhoff Automation GmbH.
Other designations used in this publication may be trademarks whose use by third parties for their own
purposes could violate the rights of the owners.
Patent Pending
The EtherCAT Technology is covered, including but not limited to the following patent applications and
patents: EP1590927, EP1789857, DE102004044764, DE102007017835 with corresponding applications
or registrations in various other countries.
The TwinCAT Technology is covered, including but not limited to the following patent applications and
patents: EP0851348, US6167425 with corresponding applications or registrations in various other
countries.
Copyright
Delivery conditions
In addition, the general delivery conditions of the company Beckhoff Automation GmbH apply.
BK7300
Foreword
Safety Instructions
State at Delivery
All the components are supplied in particular hardware and software configurations appropriate for the
application. Modifications to hardware or software configurations other than those described in the
documentation are not permitted, and nullify the liability of Beckhoff Automation GmbH.
Failure to follow the safety instructions associated with this symbol directly endangers
the life and health of persons.
Caution Risk of injury!
WARNING
Failure to follow the safety instructions associated with this symbol endangers the life
and health of persons.
Personal injuries!
CAUTION
Failure to follow the safety instructions associated with this symbol can lead to injuries
to persons.
Damage to the environment or devices
Warning
Failure to follow the instructions associated with this symbol can lead to damage to the
environment or equipment.
Tip or pointer
Note
BK7300
Basic information
Basic information
The Beckhoff bus terminal system
Up to 64 bus terminals
each with 2 I/O channels
for any form of signal
The simple and compact assembly on a standard C rail, and the direct
cabling of actors and sensors without cross connections between the
terminals, serve to standardize the installation, as does the uniformly
designed labeling.
The small size and great flexibility of the bus terminal system mean that
you can use it anywhere that you could use a terminal and use any type of
connection analog, digital, serial or direct sensors.
Modularity
The modular construction of the terminal row, using bus terminals with
various functions, limits the number of unused channels to at most one per
function. Two channels to a terminal is the optimum solution for the number
of unused channels and the cost per channel. The possibility of using
power input terminals to provide separate power supplies also helps to
minimize the number of unused channels.
The K-bus
The K-bus is the path taken by data within the terminal row. The bus
coupler carries the K bus through all the terminals by means of six contacts
on the side walls of the terminals, and the end terminal terminates the K
bus. The user does not need to know anything about the function of the K
bus or the internal operation of terminals and bus couplers. There are
numerous software tools available which provide for convenient planning,
configuration and operation.
End terminal
BK7300
Basic information
Three power contacts pass the operating power to the following terminals.
You can use power input terminals to subdivide the terminal row as desired
into groups, each with a separate power supply. These power input
terminals are not taken into account for addressing the terminals, you can
insert them at any position along the terminal row.
You can install up to 64 terminals on a terminal row, including power input
terminals and the end terminal.
Power supply
for the
bus coupler
Bus coupler
Bk7300
MODBUS
K-Bus
Potential
input
terminal
Bus end
terminal
01 02
WD
RX
TX
24V 0V
ERROR
2 3
7 8
9 0 1
BECKHOFF
+ +
PE PE
4 5 6
2 3
7 8
9 0 1
4 5 6
Power
contacts
Bus couplers for various
fieldbus systems
Potential
isolation
You can use a variety of bus couplers to attach the electronic terminal row
quickly and easily to the various fieldbus systems, and you can also
subsequently convert to a different fieldbus system. The bus coupler deals
with all the necessary monitoring and control tasks for operating the
attached bus terminals, indeed all the operation and configuration of the
bus terminals is carried out via the bus coupler. The fieldbus, K bus and I/O
level are electrically isolated.
If the exchange of data across the fieldbus is temporarily interrupted, logic
states are preserved, digital outputs are cleared and analog outputs revert
to a reset value which can be individually configured for each output when
the equipment is set up.
BK7300
Basic information
The interfaces
There are six ways of making a connection to a bus coupler. These
interfaces are designed as plug connections and spring terminals.
MODBUS
01 02
WD
RX
24V 0V
TX
MODBUS
ERROR
BK 7300
2 3
4 5 6
Configuration
interface
7 8
9 0 1
BECKHOFF
+ +
PE PE
Power LEDs
Bus coupler / power contacts
K-Bus
Power supply bus coupler
24 V DC / GND
Input
power contacts
2 3
7 8
9 0 1
power contacts
4 5 6
Power supply
24 V DC on the topmost
terminals
maximum 24 V
maximum 10 A
The six lower connections with spring terminals can be used to supply
power to the peripherals. The spring terminals are connected in pairs to the
power contacts. The power supply to the power contacts has no
connection to the power supply of the bus couplers. The power input is
designed to permit voltages up to 24 V. The pair-wise arrangement and the
electrical connection between the feed terminal contacts makes it possible
to loop through the wires connecting to different terminal points. The load
on the power contact may not continuously exceed 10 A. The current
capacity between two spring terminals is the same as the capacity of the
connecting wires.
Power contacts
Spring contacts at the side
On the right-hand side face of the bus coupler are three spring contacts
which are the power connections. The spring contacts are recessed in slots
to prevent them from being touched. When a bus terminal is connected,
the blade contacts on the left-hand side of the bus terminal are connected
to the spring contacts. The slot and key guides at the top and bottom of the
bus couplers and bus terminals ensure reliable location of the power
contacts.
Fieldbus connection
9 pin sub-D socket strip
BK7300
There is a recessed front face on the left hand side. The MODBUS
connection plug can be inserted here. A full description of the fieldbus
interfaces is found elsewhere in this manual. (In the section on The
Medium: Plugs and Cables)
Basic information
Configuration Interface
Serial interface under the
front cover
The standard bus couplers have an RS232 interface at the bottom of the
front face. The miniature connector can be joined to a PC with the aid of a
connecting cable and the KS2000 configuration software. The interface
allows the analogue channels to be configured. The functionality of the
configuration interface can also be reached via the fieldbus using the PLC
interface.
KS2000 Software
In order to link the MODBUS BK7300 coupler and the KS2000
configuration software, the coupler's address selection switch must be set
to "00", and it must be restarted (i.e. the coupler must be switched off and
then on again).
K-bus contacts
6 contacts at the side
The connections between the bus coupler and the bus terminals are
effected by gold contacts at the right-hand side of the bus coupler. When
the bus terminals are plugged together, these gold contacts automatically
complete the connection to the bus terminals. The K bus is responsible for
the power supply to the electronic components of the K bus in the bus
terminals, and for the exchange of data between the bus coupler and the
bus terminals. Part of the data exchange takes place via a ring structure
within the K bus. Disengaging the K bus, for example by pulling on one the
bus terminals, will break this circuit so that data can no longer be
exchanged. However, there are mechanisms in place which enable the bus
coupler to locate the interruption and report it.
Supply isolation
3 supply groups:
fieldbus
K-bus
peripheral level
The bus couplers operate with three independent supplies. The input
power supplies the electrically isolated K-bus circuitry in the bus coupler
and the K-bus itself. The power supply is also used to generate the
operating power for the fieldbus.
Note: All the bus terminals are electrically isolated from the K bus, so that
the K-bus is completely electrically isolated.
Bus coupler
Bus terminals
Terminal bus
Field bus
Periphery level
24 V DC
BK7300
Basic information
Power on selftest
Structure list
OK
BK7300
Error
Stop
Basic information
Mechanical construction
The Beckhoff bus terminal system is remarkable for its compact
construction and high degree of modularity. When you design the
installation you will need to plan for one bus coupler and some number of
bus terminals. The dimensions of the bus couplers do not depend on the
fieldbus system. If you use large plugs, for example like some of the bus
plugs used for the PROFIBUS, they may protrude above the overall height
of the cabinet.
Dimensions of a bus
coupler
MODBUS
01 02
01 02
24V 0V
24V 0V
+ +
+ +
PE PE
PE PE
RUN
RX
TX
BECKHOFF
2 3
7 8
9 0 1
BK 7300
100
94
Error
4 5 6
2 3
7 8
9 0 1
4 5 6
47
12
The overall width of the construction is the width of the bus coupler,
including the bus end terminal, plus the width of the installed bus terminals.
The bus terminals are 12 mm or 24 mm wide, depending on their function.
Depending on the gauge of cables used the overall height of 68 mm may
be overstepped by about 5 mm to 10 mm by the cables at the front.
Assembly and connections
It takes only a slight pressure to latch the bus coupler and the various bus
terminals onto a supporting 35 mm rail and a locking mechanism then
prevents the individual housings from being removed. You can remove
them without effort if you first release the latching mechanism by pulling the
orange tab. You should carry out work on the bus terminals and the bus
coupler only while they are switched off: if you plug or unplug components
while the power is on you may briefly provoke some undefined state (and,
for instance, reset the bus coupler).
Maximum number of
terminals
BK7300
Basic information
The power contact labeled "PE can be used as protective earth or ground.
This contact stands proud for safety reasons and can carry short-circuit
currents of up to 125A. Note that in the interests of electromagnetic
compatibility the PE contacts are capacitively connected to the supporting
track. This may lead to spurious results and even damage to the terminal
when you test the insulation (e.g. insulation test for breakdown using a
230V mains supply to the PE line). You should therefore disconnect the PE
line on the bus coupler while you carry out insulation tests. You can
disconnect other power supply points for the duration of the test by drawing
the power supply terminals out from the remaining row of terminals by at
least 10mm. If you do this, there will be no need to disconnect the PE
connections.
PE power contacts
The protective earth power contact ("PE) may not be used for any other
connections.
BK7300
Basic information
Electrical data
The MODBUS the fieldbus-specific electrical data is listed in this section.
The following table gives an overview of all the data:
Technical data
Supply voltage
Input current
Power-on surge
K bus supply
current up to
Configuration
facility
Number of bus
terminals
Digital peripheral
signals
Analogue peripheral
signals
Baud rate
Protocol
Bus connection
Voltage of the
power contact
Power contacts
current drawn
Electric strength
Typical weight
Operating
temperature
Storage
temperature
Relative humidity
Vibration/shock
stability
EMC immunity/
transmission
Installation location
Protection class
BK7300
24 V DC
70mA +
(total K-bus current)/4
500 mA max.
2.5 x steady operating current
1750 mA max.
via KS2000 or the controller
64
256 inputs/outputs
128 inputs/outputs
From 150 baud to 38400 baud
RTU and ASCII
D-Sub RS 485
9-pin
24 V DC / AC max.
10 A max.
500 V (power contact / supply voltage / fieldbus)
none
170 g
0C ... +55C
-20C ... +85C
95% without dew formation
according to IEC 68-2-6 / IEC 68-2-27
according to EN 50082 (ESD, burst) / EN 50081
Any
IP20
Current consumption on the For operation of the K-bus electronics, the bus terminals require energy
K-Bus
from the K-bus that is supplied by the bus coupler. Refer to the catalogue
or the corresponding data sheets of the bus terminals for details of the Kbus current consumption. In doing so, pay attention to the maximum output
current of the bus coupler that is available for powering the bus terminals.
Using a special power supply terminal (KL9400), power can be fed back
into the K-bus at any chosen point. If you wish to use a power supply
terminal, please contact Beckhoffs technical support.
BK7300
Basic information
distinction is made here between input and output and between bit-oriented
(digital) and byte-oriented (analog, or complex) signal processing.
It also forms two groups, whereby one contains only inputs and the other
only outputs. In each group, the byte-oriented channels take the lowest
addresses, in ascending order, and these are then followed by the bitoriented channels.
Digital signals
(bit-oriented)
Digital signals are bit-oriented. This means that one bit of the process
image is assigned to each digital channel. The bus coupler sets up a block
of memory containing the current input bits and arranges to immediately
write out the bits from a second block of memory which belongs to the
output channels.
The precise assignment of the input and output channels to the process
image of the control unit is explained in detail in the Appendix by means of
an example.
Analog signals
(byte-oriented)
Default assignment of
inputs and outputs to the
process image
Assignment level
1.
Analog outputs
byte-wise assignment
2.
Digital outputs
bit-wise assignment
3.
Analog inputs
byte-wise assignment
Digital inputs
bit-wise assignment
BK7300
11
Basic information
Data consistency
Items of data are said to be consistent if their content all belongs together,
and if they are transmitted as a single block. Examples of data items that
belong together are: 1. the high and low bytes of an analogue value (word
consistency), and 2. a control/status byte and the associated parameter
word for access to the registers. Data consistency in the interaction of
peripheral devices and their controllers is, in a basic sense, only assured
for a single byte. In other words, the bits of a byte are read in or written
together. Byte consistency is sufficient for handling digital signals.
Whenever values have a length of more than 8 bits, analogue values for
instance, the consistency must be extended. The different bus systems
guarantee consistency up to the required length. Correct transfer of the
consistent data from the bus system master to the controller is important.
The corresponding manual for the bus system will provide a detailed
description of the correct procedure, in particular the description of the
used master interfaces. Those chapters of this manual that deal with the
fieldbus refer to the most widespread interfaces.
Processing complex signals All byte-oriented signal channels such as RS232, RS485 and incremental
encoder, can use byte lengths greater than two. Apart from the actual
difference in length, the procedure is always comparable with that for
analog signals
The bus coupler has two groups of LEDs for the display of status. The
upper group with four LEDs indicates the status of the respective field bus.
The significance of the field bus status LED is explained in the relevant
sections of this manual - it conforms to conventional field bus displays.
On the upper right hand side of the bus couplers are two more green LEDs
that indicate the supply voltage. The left hand LED indicates the 24 V
supply of the bus coupler. The right hand LED signals the supply to the
power contacts.
Local errors
Two LEDs, the I/O LEDs, in the area below the field bus status LEDs
referred to above, serve to indicate the operating status of the bus
terminals and the connections to these terminals. The green LED lights up
in order to indicate fault-free operation. The red LED blinks with two
different frequencies in order to indicate an error. The error is encoded in
the blinks as follows:
Blink code
Fast blinking
First slow sequence
Second slow sequence
12
Error type
Error location
BK7300
Basic information
Error code
Persistent,
continuous
blinking
1 pulse
Error
Description
argument
EMC problems
2
0
n (n > 0)
3 pulses
4 pulses
5 pulses
14 pulses
15 pulses
16 pulses
2 pulses
Remedy
- Check power supply for overvoltage or
undervoltage peaks
- Implement EMC measures
- If a terminal bus error is present, it can be
localized by a restart of the coupler (by
switching it off and then on again)
- Set manufacturers setting with the KS2000
- Connect fewer terminals; too many entries in
the table for the programmed configuration
- Software update required for the coupler
- Check programmed configuration for
correctness
- Incorrect table entry / bus coupler
- No terminal connected; attach terminals.
- One of the terminals is defective; halve the
number of terminals attached and check
whether the error is still present with the
remaining terminals. Repeat until the
defective terminal is located.
- Check whether the n+1 terminal is correctly
connected; replace if necessary.
Check whether the end terminal 9010 is
connected.
Replace terminal
- Start the coupler again, and if the error
occurs again then exchange the terminal
- Start the coupler again, and if the error
occurs again after this, use the KS2000
software to set manufacturers settings
- Start the coupler again, and if the error
occurs again after this, use the KS2000
software to set manufacturers settings
The number of pulses (n) indicates the position of the last bus terminal
before the fault. Passive bus terminals, such as a power feed terminal, are
not included in the count.
In the case of some errors, rectification does not cause the bus coupler to
leave the blink sequence. The bus coupler stays in the "Stop" state. The
bus coupler can only be re-started either by switching the power supply off
and on again, or by a software reset.
Insertion and removal of bus terminals is only permitted when switched off.
The electronics in the bus terminals and in the bus coupler are protected to
a large measure against damage, but incorrect function and damage
cannot be ruled out if they are plugged in under power.
The occurrence of a fault in the course of operation does not immediately
trigger the display of error codes by the LEDs. The bus coupler must be
requested to diagnose the bus terminals. The diagnostic request is
generated after switching on.
MODBUS LEDs
WD
RX
TX
Error
BK7300
Watchdog is active
Receive Data
Data is being received
Transmit Data
Data is being transmitted
Error Data
Error in data transmission, checksum error
13
Basic information
MODBUS
WD
RX
TX
Error
If a K-bus error occurs during operation, the procedures for reaction to a Kbus error are executed in accordance with the parameterization. If the Kbus error occurs during booting, the slave is not included in the data
exchange.
Fieldbus errors
WD
A fieldbus error only occurs when the watchdog (WD) period has elapsed.
The watchdog is preset to 1000 ms. The WD is activated as soon as a
"write" access has been made to the coupler's process data (WD LED
goes on). After this, another "write" command must be sent to the process
data within the set WD time, in order to start the WD from zero again.
Once a WD error has occurred, data communication can only be restarted
by resetting the coupler (see "Coupler Reset", under Diagnostics).
The maximum watchdog time is 65000 ms, and it can be set by rotary
switch or via the KS2000 software.
14
BK7300
MODBUS
MODBUS
Basic Principles
The MODBUS is a master-slave bus system in which only one device (the
master) actively starts a transaction (queries). The passive device (the
slave) then sends an answer (response) if the telegram was directly
addressed to it and provided that it has no errors.
Bus Topology
Physically, the BK7300 uses RS485 transmission. This means that a twowire cable is needed for the data transmission. The topology is linear. At
the beginning and end of the lines the bus requires termination resistors.
The structure of the Modbus network is similar to that of PROFIBUS.
01 02
01 02
01 02
01 02
+ +
+ +
+ +
+ +
+ +
PE PE
PE PE
PE PE
PE PE
PE PE
01 02
MODBUS
01 02
RUN
RX
24V 0V
BK 7300
2 3
7 8
9 0 1
BECKHOFF
TX
4 5 6
2 3
7 8
9 0 1
4 5 6
MODBUS
01 02
01 02
01 02
01 02
MODBUS
RUN
RX
24V 0V
+ +
+ +
PE PE
PE PE
PE PE
PE PE
PE PE
BK 7300
7 8
9 0 1
4 5 6
01 02
01 02
01 02
+ +
+ +
+ +
+ +
+ +
PE PE
PE PE
PE PE
PE PE
PE PE
01 02
2 3
7 8
9 0 1
4 5 6
2 3
7 8
9 01
BK 7300
+ +
BECKHOFF
+ +
4 5 6
BECKHOFF
+ +
01 02
01 02
24V 0V
TX
2 3
2 3
7 8
01 02
RX
TX
9 01
01 02
RUN
4 5 6
Broadcast function
The Beckhoff bus couplers support the broadcast function. For this
purpose the slave address in the telegram must be set to "00". Slaves do
not answer a broadcast. Not all functions are supported.
Functions that support a broadcast:
5
Force single coil
6
Preset single register
15
Force multiple coils
16
Preset multiple register
PIN assignment
The BK7300 uses RS485 for the data transmission. A screened two-wire
cable is sufficient. The connection to the coupler is a 9-pin sub-D socket.
The data line is connected to PIN 3 and PIN 8.
BK7300
15
MODBUS
Cable
BK7300
BK7300
TxD/RxD (3)
RxD/TxD (8)
RxD/TxD (3)
TxD/RxD (8)
shield
PE
Sub-D socket
5: GND
3: RxD/TxD
1
8: RxD/TxD
6: 5 V
Bus termination
5 V (6)
RxD/TxD (3)
TxD/RxD (8)
GND (5)
16
BK7300
MODBUS
02
MODBUS
RUN
RX
24V 0V
TX
BECKHOFF
2 3
7 8
9 0 1
BK 7300
Error
+ +
+ +
+ +
+ +
+ +
PE PE
PE PE
PE PE
PE PE
PE PE
PE PE
PE PE
4 5 6
2 3
7 8
9 0 1
4 5 6
Input Function 2
0x0001
0x0002
0x0003
0x0004
Output Function 1,5,15
0x0001
0x0002
0x0003
0x0004
BK7300
17
MODBUS
Example
You want to check whether the correct baud rate has been set.
1.
Switch off the coupler's 24 V supply
2.
Remove all the terminals except the KL9010 end terminal
3.
Set the x10 address selection switch to 0 and the x1 switch to 3
4.
Switch on the coupler's 24 V supply again
The coupler indicates the set baud rate via the LEDs.
3 x flashes of the I/O RUN and I/O ERR LEDs means 9600 baud
WD,RX,TX,ERROR LEDs
1
2
3
I/O Run, I/O ERR
If a parameter is set that the Modbus coupler does not recognize, this is
indicated by a constant even flashing of the I/O RUN and I/O ERR LEDs,
while all the other LEDs remain off.
KS2000
The parameterization settings can also be carried out with the KS2000
software.
Parameterization Table
Parameter x 10
0
Modbus 1
Default
1
x1
1..9
1
2
1
2
3
4
5
6
7
8
9
10
11
12
1
2
3
4
5
6
7
8
9
0..9
Watchdog 100 ms 5
Watchdog 1000 ms 6
Factory setting 9
0..9
0..9
9
0
1
Frame 2
Baud rate 3
18
Parameter value
Indicates the parameter of the x 10 function
RTU mode
ASCII mode
8 data bits, no parity
one stop bit
8 data bits even Parity
one stop bit
8 data bits odd Parity
one stop bit
7 data bits even Parity
one stop bit
7 data bits odd Parity
one stop bit
one stop bit
2 stop bits
8 data bits, no parity
two stop bits
8 data bits even Parity
two stop bits
8 data bits odd Parity
two stop bits
7 data bits even Parity
two stop bits
7 data bits odd Parity
two stop bits
38400 baud
19200 baud
9600 baud
4800 baud
2400 baud
1200 baud
600 baud
300 baud
150 baud
In ms for RTU mode (0 dependent on the baud
rate)
In seconds for ASCII mode (0 EOF time switched
off)
Watchdog x 100 ms
Watchdog x 1000 ms
BK7300
MODBUS
Protocol
ASCII
In ASCII mode the telegram starts with a colon ( : ) character (0x3A), and
ends with a carriage return and a line feed (CRLF) (0x0D, 0x0A). The
characters transferred are represented in the ASCII code.
start
addres function
data
LRC
END
s
1
2
2
n
2
2
charact charact charact charact charact charact
er
ers
ers
ers
ers
ers
:
CRLF
ASCII frame
RTU
In RTU mode the protocol starts with a pause of 3.5 character times, and
finishes in the same way (illustrated in the diagram with T1-T2-T3-T4). The
characters permitted for transmission in all fields are hexadecimal 0... 9,
A..., F.
start
RTU frame
T1-T2T3-T4
addres function
data
CRC
s
Check
1
1
n
2
charact charact charact charact
er
er
ers
ers
END
T1-T2T3-T4
Functions
In the MODBUS protocol, the functions determine whether data are to be
read or written, and what kind of data is involved. In the ASCII protocol the
fourth and fifth bytes are function bytes, while in the RTU protocol it is the
second byte.
The Beckhoff MODBUS coupler supports the following functions:
Function
Read coil status
Read input status
Read holding registers
Read input registers
Force single coil
Preset single register
Code
1
2
3
4
5
6
Diagnostics 8
Force multiple coils 15
Preset multiple registers 16
Read / Write Registers 23
Description
Read digital outputs
Read digital inputs
Read analogue outputs / GPR
Read analogue inputs / GPR
Write one digital output
Write one analogue output / GPR
Read the MODBUS diagnostic register
Write a number of digital outputs
Write a number of analogue outputs / GPR
Write and read a number of process data outputs / GPRs
BK7300
19
MODBUS
11
1
0
0
0
10
RTU
0x0B
0x01
0x00
0x00
0x00
0x0A
0xBC
0xA7
t1-t2-t3
ASCII
:
0x3A
0B
01
00
00
00
10
E4
0x30, 0x42
0x30, 0x31
0x30, 0x30
0x30, 0x30
0x30, 0x30
0x31, 0x30
0x45, 0x34
CRLF
0xD, 0xA
Response
The coupler answers with byte count 2, i.e. 2 bytes of data are returned.
The request was for 10 bits, and these are now distributed over 2 bytes.
The third bit in the output process image of the BK7300 is set, and the
coupler returns a "4" in the first data byte.
Byte Name
Start frame
Slave address
Function code
Byte Count
Data bits 0..7
Data bits 8..15
Error Check
LRC / CRC
End of frame
20
Example
RTU
11
1
2
4
0
0x0B
0x01
0x02
0x04
0x00
0x23
0x3D
t1-t2-t3
ASCII
:
0B
01
02
04
00
EE
0x3A
0x30, 0x42
0x30, 0x31
0x30, 0x32
0x30, 0x34
0x30, 0x30
0x45, 0x45
CRLF
0xD, 0xA
BK7300
MODBUS
11
2
0
0
0
10
RTU
0x0B
0x02
0x00
0x00
0x00
0x0A
0xF8
0xA7
t1-t2-t3
ASCII
:
0x3A
0B
02
00
00
00
10
E3
0x30, 0x42
0x30, 0x32
0x30, 0x30
0x30, 0x30
0x30, 0x30
0x31, 0x30
0x45, 0x33
CRLF
0xD, 0xA
Response
The coupler answers with byte count 2, i.e. 2 bytes of data are returned.
The request was for 10 bits, and these are now distributed over 2 bytes.
The first bit in the input process image of the BK7300 is set, and the
coupler returns a "1" in the first data byte.
Byte Name
Start frame
Slave address
Function code
Byte Count
Data 0..7
Data 8..15
Error Check
LRC / CRC
End of frame
BK7300
Example
RTU
11
2
2
1
0
0x0B
0x02
0x02
0x01
0x00
0x20
0x29
t1-t2-t3
ASCII
:
0B
02
02
01
00
F0
0x3A
0x30, 0x42
0x30, 0x32
0x30, 0x32
0x30, 0x31
0x30, 0x30
0x46, 0x30
CRLF
0xD, 0xA
21
MODBUS
Function 3 can be used to read the output words and the registers.
In this example the first two analogue outputs of slave number 11 are read.
The analogue outputs begin at offset 0x800 (hex). The length indicates the
number of channels to be read.
Query
Byte Name
Start frame
Slave address
Function code
Start address high
Start address low
Count high
Count low
Error Check
LRC / CRC
End of frame
Example
RTU
11
3
8
0
0
2
0x0B
0x03
0x08
0x00
0x00
0x02
0xC6
0xC1
t1-t2-t3
ASCII
:
0B
03
08
00
00
02
E8
0x3A
0x30, 0x42
0x30, 0x33
0x30, 0x38
0x30, 0x30
0x30, 0x30
0x30, 0x32
0x45, 0x38
CRLF
0xD, 0xA
Response
The coupler answers with byte count 4, i.e. 4 bytes of data are returned.
The request was for 2 analogue channels, and these are now distributed
over 2 words. In the analogue output process image, the first channel has
the value 0x3FFF, while the second channel has the value 0x0.
Byte Name
Start frame
Slave address
Function code
Count byte
Data 1 high byte
Data 1 low byte
Data 2 high byte
Data 2 low byte
Error Check
LRC / CRC
End of frame
22
Example
RTU
11
3
4
63
255
0
0
0x0B
0x03
0x04
0x3F
0xFF
0x00
0x00
0xC6
0xC1
t1-t2-t3
ASCII
:
0B
03
04
3F
FF
00
00
B0
0x3A
0x30, 0x42
0x30, 0x31
0x30, 0x30
0x33, 0x46
0x46, 0x46
0x30, 0x30
0x30, 0x30
0x42, 0x30
CRLF
0xD, 0xA
BK7300
MODBUS
Example
RTU
11
4
0
0
0
2
0x0B
0x04
0x00
0x00
0x00
0x02
0x71
0x61
t1-t2-t3
ASCII
:
0B
04
00
00
00
02
EF
0x3A
0x30, 0x42
0x30, 0x34
0x30, 0x30
0x30, 0x30
0x30, 0x30
0x30, 0x32
0x45, 0x46
CRLF
0xD, 0xA
Response
The coupler answers with byte count 4, i.e. 4 bytes of data are returned.
The request was for 2 analogue channels, and these will now be
distributed over 2 words. In the analogue input process image, the first
channel has the value 0x0038, while the second channel has the value
0x3F1B.
Byte Name
Start frame
Slave address
Function code
Count byte
Data 1 high byte
Data 1 low byte
Data 2 high byte
Data 2 low byte
Error Check
LRC / CRC
End of frame
BK7300
Example
RTU
11
4
4
0
56
63
11
0x0B
0x04
0x04
0x00
0x38
0x3F
0x0B
0x80
0x7E
t1-t2-t3
ASCII
:
0B
04
04
00
38
3F
0B
6A
0x3A
0x30, 0x42
0x30, 0x34
0x30, 0x30
0x30, 0x30
0x33, 0x38
0x33, 0x46
0x30, 0x42
0x36, 0x41
CRLF
0xD, 0xA
23
MODBUS
Function 5 can be used to write a digital output. In this example the third
digital output of slave number 11 is written. The digital outputs begin at
offset 0x0000 (hex). The digital value is located in the high byte of the data.
To switch the output on, "Data high" must contain 0xFF (hex), while 0x00
(hex) is used to switch the output off again. "Data low" must contain 0x00
(hex).
Query
Byte Name
Start frame
Slave address
Function code
Start address high
Start address low
Data high
Data low
Error Check
LRC / CRC
End of frame
Example
RTU
11
5
0
2
255
0
0x0B
0x05
0x00
0x02
0xFF
0x00
0x2D
0x50
t1-t2-t3
ASCII
:
0B
05
00
02
FF
00
EF
0x3A
0x30, 0x42
0x30, 0x35
0x30, 0x30
0x30, 0x32
0x46, 0x46
0x30, 0x32
0x45, 0x46
CRLF
0xD, 0xA
ASCII
:
0B
05
00
02
FF
00
EF
0x3A
0x30, 0x42
0x30, 0x35
0x30, 0x30
0x30, 0x32
0x46, 0x46
0x30, 0x32
0x45, 0x46
CRLF
0xD, 0xA
Response
The coupler answers with the same telegram.
Byte Name
Start frame
Slave address
Function code
Start address high
Start address low
Data high
Data low
Error Check
LRC / CRC
End of frame
24
Example
RTU
11
5
0
2
255
0
0x0B
0x05
0x00
0x02
0xFF
0x00
0x2D
0x50
t1-t2-t3
BK7300
MODBUS
Function 6 can be used to access the output process image and the
interface.
The first analogue output of slave number 11 is written with function 6. The
analogue outputs begin at offset 0x0800 (hex). Here again the offset
always describes a word. This means offset 0x0803 refers to the fourth
word in the output process image.
Query
Byte Name
Start frame
Slave address
Function code
Start address high
Start address low
Data high
Data low
Error Check
LRC / CRC
End of frame
Example
RTU
11
6
8
0
63
255
0x0B
0x06
0x08
0x00
0x3F
0xFF
0xDA
0xB0
t1-t2-t3
ASCII
:
0B
06
08
00
3F
FF
A9
0x3A
0x30, 0x42
0x30, 0x36
0x30, 0x38
0x30, 0x30
0x33, 0x46
0x46, 0x46
0x41, 0x39
CRLF
0xD, 0xA
ASCII
:
0B
06
08
00
3F
FF
A9
0x3A
0x30, 0x42
0x30, 0x36
0x30, 0x38
0x30, 0x30
0x33, 0x46
0x46, 0x46
0x41, 0x39
CRLF
0xD, 0xA
Response
The coupler answers with the same telegram.
Byte Name
Start frame
Slave address
Function code
Start address high
Start address low
Data high
Data low
Error Check
LRC / CRC
End of frame
BK7300
Example
RTU
11
6
8
0
63
255
0x0B
0x06
0x08
0x00
0x3F
0xFF
0xDA
0xB0
t1-t2-t3
25
MODBUS
Example
RTU
11
15
0
0
0
20
3
255
255
0
0x0B
0x0F
0x00
0x00
0x00
0x14
0x03
0xFF
0xFF
0x00
0x01
0x95
t1-t2-t3
ASCII
:
0B
0F
00
00
00
14
03
FF
FF
00
D1
0x3A
0x30, 0x42
0x30, 0x46
0x30, 0x30
0x30, 0x30
0x30, 0x30
0x31, 0x34
0x30, 0x33
0x46, 0x46
0x46, 0x46
0x30, 0x30
0x44, 0x31
CRLF
0xD, 0xA
ASCII
:
0B
06
08
00
3F
FF
A9
0x3A
0x30, 0x42
0x30, 0x36
0x30, 0x38
0x30, 0x30
0x33, 0x46
0x46, 0x46
0x41, 0x39
CRLF
0xD, 0xA
Response
The coupler answers with the same telegram.
Byte Name
Start frame
Slave address
Function code
Start address high
Start address low
Data high
Data low
Error Check
LRC / CRC
End of frame
26
Example
RTU
11
6
8
0
63
255
0x0B
0x06
0x08
0x00
0x3F
0xFF
0xDA
0xB0
t1-t2-t3
BK7300
MODBUS
Example
RTU
11
16
8
0
0
2
4
127
255
63
255
0x0B
0x10
0x08
0x00
0x00
0x02
0x04
0x7F
0xFF
0x3F
0xFF
0xCD
0xE3
t1-t2-t3
ASCII
:
0B
10
08
00
00
02
04
7F
FF
3F
FF
1B
0x3A
0x30, 0x42
0x31, 0x30
0x30, 0x38
0x30, 0x30
0x30, 0x30
0x30, 0x32
0x30, 0x34
0x37, 0x46
0x46, 0x46
0x33, 0x46
0x46, 0x46
0x31, 0x42
CRLF
0xD, 0xA
Response
The coupler replies with the start address and the length of the transmitted
words.
Byte Name
Start frame
Slave address
Function code
Start address high
Start address low
Length high
Length low
Error Check
LRC / CRC
End of frame
BK7300
Example
RTU
11
16
8
0
0
2
0x0B
0x10
0x08
0x00
0x00
0x02
0x43
0x02
t1-t2-t3
ASCII
:
0B
10
08
00
00
02
DB
0x3A
0x30, 0x42
0x31, 0x30
0x30, 0x38
0x30, 0x30
0x30, 0x30
0x30, 0x32
0x44, 0x42
CRLF
0xD, 0xA
27
MODBUS
Example
RTU
0x0B
0x17
0x00
ASCII
:
0B
17
00
11
23
0
0x3A
0x30, 0x42
0x31, 0x37
0x30, 0x30
0x00
00
0x30, 0x30
0
2
8
0x00
0x02
0x08
00
02
08
0x30, 0x30
0x30, 0x32
0x30, 0x38
0x00
00
0x30, 0x30
0
2
4
63
255
127
255
0x00
0x02
0x04
0x3F
0xFF
0x7F
0xFF
0x76
0xD3
T1-t2-t3
00
02
04
3F
FF
7F
FF
12
0x30, 0x30
0x30, 0x32
0x30, 0x34
0x33, 0x46
0x46, 0x46
0x37, 0x46
0x46, 0x46
0x31, 0x32
CRLF
0xD, 0xA
Response
The coupler replies with the start address and the length of the bytes to be
transferred in "Byte count". The data information follows. In this example
the first word contains 0x0038 (hex) while the second word contains
0x3F0B.
28
BK7300
MODBUS
Byte Name
Start frame
Slave address
Function code
Byte Count
Data 1 high
Data 1 low
Data 2 high
Data 2 low
Error Check
LRC / CRC
End of frame
Example
RTU
11
23
4
0
56
63
11
0x0B
0x17
0x04
0x00
0x38
0x3F
0x0B
0x82
0xDD
t1-t2-t3
ASCII
:
0B
17
04
00
38
3F
0B
58
0x3A
0x30, 0x42
0x31, 0x37
0x30, 0x34
0x30, 0x30
0x33, 0x38
0x33, 0x46
0x30, 0x42
0x35, 0x38
CRLF
0xD, 0xA
Diagnostics
In the Modbus, function 08 provides a series of tests for examination of the
communication system between the master and the slave and for
inspection of a variety of internal error states within the slave. A broadcast
telegram is not supported.
The function uses a two-byte sub-function code field in the query to define
the test that is to be carried out. The slave outputs the function code and
the sub-function code as an answer.
EXAMPLE
The diagnostic queries use a two-byte data field to send diagnostics data
or control information to the slave.
Query
Byte Name
Start frame
Slave address
Function code
Subfunction high
Subfunction low
Data high
Data low
Error Check
LRC / CRC
End of frame
Example
RTU
11
8
0
0
2
3
0x0B
0x08
0x00
0x00
0x02
0x03
0xA1
0xC0
t1-t2-t3
ASCII
:
0B
08
00
00
02
03
E8
0x3A
0x30, 0x42
0x30, 0x38
0x30, 0x30
0x30, 0x30
0x30, 0x32
0x30, 0x33
0x45, 0x38
CRLF
0xD, 0xA
ASCII
:
0B
08
00
00
02
03
E8
0x3A
0x30, 0x42
0x30, 0x38
0x30, 0x30
0x30, 0x30
0x30, 0x32
0x30, 0x33
0x45, 0x38
CRLF
0xD, 0xA
Response
Byte Name
Start frame
Slave address
Function code
Subfunction high
Subfunction low
Data high
Data low
Error Check
LRC / CRC
End of frame
Example
RTU
11
8
0
0
2
3
0x0B
0x08
0x00
0x00
0x02
0x03
0xA1
0xC0
t1-t2-t3
BK7300
29
MODBUS
30
BK7300
MODBUS
Example
When the user sends the slave either a request or information that the
coupler does not understand, the BK7300 responds with an error report.
This answer contains the function and the error code. 0x80 is added to the
value returned by the function.
Code
1
2
3
Name
ILLEGAL FUNKTION
ILLEGAL DATA ADDRESS
ILLEGAL DATA VALUE
Meaning
Function not implemented
Invalid address or length
Invalid parameter
Diagnostic functions
Incorrect number of read/write
accesses to the register
Watchdog or K-bus error
Contents
Slave address
Function
Start address high
Start address low
Data high
Data low
LRC
Example
0B
01
0D
FF
FF
01
The slave's answer contains the function plus 0x80, together with error
code "02", i.e. an invalid address.
Response
s
BK7300
BYTE
1
2
3
4
Contents
Slave address
Function
Error code
LRC
Example
0B
81
02
31
Appendix
Appendix
MODBUS Interface
address
0x0000
0x00FF
0x0800
0x08FF
0x10000x1006
0x100A
0x100B
0x100C
0x1010
0x1011
0x1012
0x1013
0x1020
0x110A
0x110B
0x1120
0x1121
0x1122
Description
Process data interface
inputs
Process data interface
outputs
Bus coupler identification
Only Read
Read/Write
1000
1000
Watchdog
The watchdog is active under the factory settings. After the first write telegram the watchdog timer is
initiated, and is triggered each time a write telegram is received from this device. Other devices have no
effect on the watchdog. A second approach is for the watchdog only to be re-triggered after each
telegram. To do this, write a one into register 0x1122 (default value "0").
The watchdog can be deactivated by writing a zero to offset 0x1120. The watchdog register can only be
written if the watchdog is not active. The data in this register is retained.
32
BK7300
Appendix
Watchdog register
If the watchdog timer on your slave has elapsed it can be reset by writing twice to register 0x1121. The
following must be written to the register: 0xBECF 0xAFFE. This can be done either with function 6 or with
function 16.
FB:
KB:
CNF:
15
14
13
12
11
FB
10
1
0
CN KB
F
Registers in the complex terminals and bus coupler registers can both be
read or written using the 2 byte PLC interface. The complex terminal
registers are described in the associated terminal documentation. The bus
coupler registers can be used, for example, to read terminal bus
diagnostics data, the terminal composition or the cycle times, and the
programmed configuration can be written. It is also possible for a manual
terminal bus reset to be carried out. The 2-byte PLC interface requires two
bytes each of output and input data. They are handled using a special
protocol. A description of the 2 byte PLC interface, the registers available
in the bus couplers and of function blocks for various PLC that implement
the 2 byte PLC interface can be supplied on request.
The terminals' error messages can be sent over the 2-byte diagnostic
interface. Terminal bus diagnostics must however be activated for this
purpose. The 2-byte diagnostic interface occupies two bytes each of output
and input data. They are handled using a special protocol. A description of
the 2 byte-diagnostic interface can be supplied on request.
BK7300
33
Appendix
Terminal Mapping
The precise assignment of the byte-oriented bus terminals may be found in
the bus terminal configuration guide.
The documentation is available on the product CD or on the Internet under
www.beckhoff.de.
Byte oriented bus terminals
KL1501
KL2502
KL3XXX
KL4XXX
KL5XXX
KL6XXX
KL9110, KL9160, KL9210, KL9260
List of References
Modicon: MODBUS Protocol Reference Guide
http://www.modicon.com
Software Win-TECH
http://www.win-tech.com
34
BK7300
Index
Index
Answer counter................................................ 29
ASCII ............................................................... 20
Blink code ........................................................ 13
Broadcast......................................................... 16
Bus Communication Error ............................... 28
Bus termination................................................ 17
Coupler reset ................................................... 28
Data consistency ............................................. 13
Delete All Counter Contents ............................ 28
Diagnostic LEDs .............................................. 13
Diagnostics ...................................................... 27
Error Answer Counter...................................... 28
Error answers .................................................. 29
Exception Response........................................ 29
List of references ............................................. 31
Parameterisation Table ................................... 19
Parametrisation ............................................... 18
Process Data ................................................... 17
RTU ................................................................. 20
Setting up for operation ................................... 13
Technical data ................................................. 11
Unsent Slave Answers .................................... 29
BK7300
35
Beckhoff Headquarters
Beckhoff Automation GmbH
Eiserstr. 5
33415 Verl
Germany
phone:
+ 49 (0) 5246/963-0
fax:
+ 49 (0) 5246/963-198
e-mail:
[email protected]
web:
www.beckhoff.com
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Support offers you comprehensive technical assistance, helping you no only with the application of
individual Beckhoff products, but also with other, wide-ranging services:
support
design, programming and commissioning of complex automation systems
and extensive training program for Beckhoff system components
hotline:
fax:
e-mail:
+ 49 (0) 5246/963-157
+ 49 (0) 5246/963-9157
[email protected]
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The Beckhoff Service Center supports you in all matters of after-sales service:
on-site service
repair service
spare parts servive
hotline service
hotline:
fax:
e-mail:
36
+ 49 (0) 5246/963-460
+ 49 (0) 5246/963-479
[email protected]
BK7300