469 MOTOR MANAGEMENT RELAY – COMMUNICATIONS GUIDE TOC-2Table of ContentsMODBUS PROTOCOL Electrical Interface ...........................................................................................................................................1Modbus RTU Protocol .....................................................................................................................................1Data Frame Format and Data Rate.........................................................................................................2Data Packet Format ........................................................................................................................................2CRC-16 Algorithm.............................................................................................................................................3Timing ....................................................................................................................................................................4MODBUS FUNCTIONS Supported Functions ......................................................................................................................................5Read Relay Coil / Digital Input Status .....................................................................................................5Read Setpoints and Actual Values ...........................................................................................................7Execute Operation ...........................................................................................................................................8Store Single Setpoint.......................................................................................................................................8Read Device Status..........................................................................................................................................9Loopback Test................................................................................................................................................. 10Store Multiple Setpoints.............................................................................................................................. 10Performing Commands .............................................................................................................................. 11Error Responses ............................................................................................................................................. 12MODBUS MEMORYMAPMemory Map Information......................................................................................................................... 13User-Definable Memory Map Area ....................................................................................................... 13Event Recorder ............................................................................................................................................... 15Waveform Capture....................................................................................................................................... 15469 Memory Map.......................................................................................................................................... 19Format Codes............................................................................................................................................... 109DEVICENETPROTOCOLOverview......................................................................................................................................................... 124Poll Data.......................................................................................................................................................... 124Change of State (COS) .............................................................................................................................. 124DeviceNet Objects...................................................................................................................................... 125469 Specific Objects.................................................................................................................................. 131DeviceNet Data Formats ........................................................................................................................ 140