電動執(zhí)行機(jī)構(gòu)的MODBUS RTU接口使用說明書

SIPOS 5 Flash
電動執(zhí)行機(jī)構(gòu)的 使用說明書
Modbus RTU 接口
2007年2月版 版權(quán)所有！ 訂購號：E20185-P920-B706-X-5D00
? SIPOS Aktorik GmbH 2007內(nèi)容 頁碼
1 安全須知······················································································································3
1.1 和安全有關(guān)的術(shù)語·····················································································································3
2 SIPOS 5 Flash電動執(zhí)行機(jī)構(gòu)的Modbus總線接口······················································3
2.1 概述··········································································································································3
2.2 Modbus總線接口······················································································································4
2.3 Modbus RTU – 基本功能··········································································································4
2.3.1 報文結(jié)構(gòu)·······················································································································································4
2.3.2 Modbus串行通訊的消息幀···························································································································5
2.3.3 三種PDU類型 – 通訊過程·····························································································································5
2.3.4 數(shù)據(jù)模型·······················································································································································6
2.3.5 功能碼 – 支持的服務(wù)····································································································································6
3 技術(shù)數(shù)據(jù)及功能···········································································································7
3.1 帶Modbus RTU總線接口的SIPOS 5 Flash電動執(zhí)行機(jī)構(gòu)··························································7
3.2 帶Modbus 總線接口的SIPOS 5 Flash電動執(zhí)行機(jī)構(gòu) – 基本功能···············································8
3.3 帶Modbus總線接口的SIPOS 5 Flash電動執(zhí)行機(jī)構(gòu) – 附加的功能··········································10
3.4 電氣連接（銅纜或光纖）········································································································11
4 設(shè)置Modbus RTU的通訊參數(shù)···················································································13
4.1 Modbus RTU的通訊參數(shù)········································································································13
4.2 可選項∕設(shè)定工具···················································································································13
5 使用帶Modbus 總線接口的SIPOS 5 Flash電動執(zhí)行機(jī)構(gòu)········································14
5.1 通過Modbus總線進(jìn)行控制······································································································14
5.2 禁止就地控制單元···················································································································14
5.3 顯示的故障信息（專業(yè)型PROFITRON）···············································································14
6 廣播方式及安全功能··································································································15
6.1 廣播信息·································································································································15
6.2 Modbus的安全功能·················································································································15
7 Modbus RTU的冗余型·····························································································15
8 連接狀態(tài)和故障信號··································································································16
8.1 連接狀態(tài)·································································································································16
8.2 總線通訊故障∕和校驗故障····································································································16
9 參考文獻(xiàn)····················································································································34
附錄
A 輸入寄存器······················································································································17-22
B 保持寄存器······················································································································23-30
C 離散量輸入····························································································································31
D 線圈·······································································································································32
E 電報：“讀取異常狀態(tài)”，“報告從站標(biāo)識”及“讀取設(shè)備標(biāo)識” ·····································33
第2頁 E20185-P920-B706-X-5D001 安全須知
警告標(biāo)識，表明如果操作不正確，會影響人身或設(shè)備的安全。
1.1 和安全有關(guān)的術(shù)語
本手冊描述了SIPOS 5 Flash電動執(zhí)行機(jī)構(gòu)的Modbus總線接口。你還可以在中文使用說明書E20185-P920-B701-X-5D00（ 專
業(yè)型PROFITRON）及E20185-P920-B700-X-5D00（經(jīng)濟(jì)型ECOTRON）中找到更多的關(guān)于SIPOS 5 Flash電動執(zhí)行機(jī)構(gòu)詳細(xì)信
息，包括電氣和機(jī)械連接，參數(shù)設(shè)置和調(diào)試等。
出廠前，所有具有Modbus總線通訊能力的執(zhí)行機(jī)構(gòu)都預(yù)先安裝了Modbus總線接口，并進(jìn)行了測試。
本手冊必須同執(zhí)行機(jī)構(gòu)相應(yīng)的使用說明書結(jié)合在一起來使用。
當(dāng)進(jìn)行同執(zhí)行機(jī)構(gòu)有關(guān)的工作時，必須遵守包含在使用說明書中的安全準(zhǔn)則。本手冊只包含有Modbus總線接口的有關(guān)內(nèi)容！
建議由SIPOS AKTORIK服務(wù)中心的服務(wù)和支持人員進(jìn)行所有的計劃、安裝、調(diào)試和服務(wù)的工作。
2 SIPOS 5 Flash電動執(zhí)行機(jī)構(gòu)的 Modbus總線接口
2.1 概述
? 關(guān)于Modbus RTU的一般知識
為了在自動化系統(tǒng)之間、自動化系統(tǒng)和所連接的分散的現(xiàn)場設(shè)備之間進(jìn)行信息交換，如今串行現(xiàn)場總線被主要用作通訊系
統(tǒng)。成千上萬的應(yīng)用已經(jīng)強(qiáng)烈地證明了通過使用現(xiàn)場總線技術(shù)，可以節(jié)省多至40％的接線、調(diào)試及維護(hù)的費用。
僅僅使用兩根電線就可以傳送現(xiàn)場設(shè)備的所有相關(guān)信息，比如輸入和輸出數(shù)據(jù)、參數(shù)、診斷數(shù)據(jù)。過去使用的現(xiàn)場總線往
往是制造商的特定現(xiàn)場總線，并且同其它現(xiàn)場總線不兼容。如今使用的現(xiàn)場總線幾乎是完全公開和標(biāo)準(zhǔn)化的。這就意味者用戶
可以以最合理的價格選擇最好的產(chǎn)品，而不用依賴于每個獨立的制造商。
Modbus RTU是一種國際的、開放的現(xiàn)場總線標(biāo)準(zhǔn)。作為一種很容易實現(xiàn)的現(xiàn)場總線協(xié)議，在全世界范圍內(nèi)，Modbus得到
了成功的應(yīng)用。應(yīng)用領(lǐng)域包括生產(chǎn)過程中的自動化、過程控制和樓宇自控。
? 基本特征
Modbus RTU決定了一個由它把分散的數(shù)字自動化設(shè)備連接在一起的、串行現(xiàn)場總線系統(tǒng)的技術(shù)和功能特點。它被設(shè)計成
在現(xiàn)場級以極高的速度傳遞數(shù)據(jù)。這里的中央控制設(shè)備，比如PLC或PC機(jī)，通過有關(guān)高速的串行接口同外圍的現(xiàn)場站進(jìn)行開關(guān)
量及∕或模擬量的輸入輸出數(shù)據(jù)通訊。
基本的是非循環(huán)通訊服務(wù)。
Modbus區(qū)別主站設(shè)備和從站設(shè)備。
主站設(shè)備 控制總線上的數(shù)據(jù)交換。主站被允許毋需一個外部請求就可以發(fā)送信息。
從站設(shè)備 諸如SIPOS 5 Flash電動執(zhí)行機(jī)構(gòu)等的外圍設(shè)備。典型的從站設(shè)備是輸入輸出設(shè)備，閥門，執(zhí)行機(jī)構(gòu)和測量變送
器。它們不具備訪問總線的能力，也就是說，它們僅僅可以確認(rèn)已經(jīng)接受到的信息，或者，在主站的要求下發(fā)送信息到主站。
從站通常也被稱作被動站。
一般適用下列規(guī)則：
o 在一條總線上，只允許有1個主站可以在工作狀態(tài)（單主站總線系統(tǒng)）。
o 最多可以有247個從站被連接到一條總線上。
o 總是由主站啟動通訊，從站只能是響應(yīng)主站的請求。
o 保護(hù)特點：“和校驗”及奇偶校驗位。
E20185-P920-B706-X-5D00 第3頁主站同現(xiàn)場設(shè)備（從站）的通訊有兩種方式：
o 單獨通訊方式 – 直接向一個特定的現(xiàn)場
設(shè)備發(fā)出請求。
（從站地址不能為“0”）：
“正常”操作： 主站
主站向某個現(xiàn)場設(shè)備發(fā)出請求，該設(shè)備隨 請求 響應(yīng)
后作出響應(yīng)。
從站
從站
從站
o 廣播方式 – 針對所有現(xiàn)場設(shè)備的總的請
求。
（從站地址為“0”）：
主站發(fā)送一個請求（報文）給所有的總線 主站
站。例如，發(fā)送一個“緊急”命令，而不 請求
需要任何從站的響應(yīng)。
更進(jìn)一步的說明，請參考第6.1節(jié)。
從站
從站
從站
2.2 Modbus總線接口
? 1通道或2通道（冗余型）。
? 適用于所有的多回轉(zhuǎn)、直行程或角行程電動執(zhí)行機(jī)構(gòu)，以及兩種控制單元，經(jīng)濟(jì)型（ECOTRON）和專業(yè)型（PROFITRON）。