Danaher Motion s200 User Manual
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Contents
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539.0 SERIAL COMMUNICATIONS ANDMODBUS RTU9.1 GENERAL INFORMATIONThe serial communications port on the S200 Position Node product uses an RS232 physical layerand communicates using a protocol known as Modbus RTU. The Modbus protocolimplementation of the S200 -CNS/ -DNS options is based on the documents:z MODBUS over Serial Line V1.0z MODBUS Application Protocol Specification V1.1Details of the protocol itself are not covered in this document. Both aforementioned documentscan be obtained at www.modbus.org.This documents assumes that the user is knowledgeable about the information contained in thosedocuments and has some level of knowledge about serial communications, in general. It is notthe intent of this document to provide that basic information.Section 7.6 will reiterate this but the Modbus strategy is kept simple: always 2-16 bit wordtransfers (Defined by most interfaces as the ‘swapped mode’) using either integer or floating pointdata types. The tables at the end of this section identify the data types for each variable.9.1.1 AbbreviationsAbbreviation DescriptionUA Unit AddressThe unit address of the option cardconfigured through the rotary switches; S11and S12.FC ModBus Function Code (Defined bystandard)CRC 16bit Cyclic Redundancy Check Value9.2 RS232 SERIAL PORT C ONFIGURATIONThe S200 Position Node defaults the serial port settings as follows:Baud rate: 38400Data bit: 8Stop bit: 1Parity: Odd (can be changed to Even using S13 Switch 3)8.3 EXCEPTION M ESSAGESThe Modbus protocol defines exceptions (error identification methods). The S200 implementsexceptions according to the requirements and defines additional exception codes. The followingtable lists all proprietary codes. |
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