Autonics TR1D Series Use and care manual

TR1D Series
Communication Manual ÊÊÊ MCT-TR1DC1-V2.0_EN

Contents
Preface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê5
Manual Guide . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê7
Common Symbols in the Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê9
1. Modbus RTU and ASCII Protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê11
1.1. Modbus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê11
1.2. Frame Structure of Modbus RTU and ASCII . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê12
1.2.1. Read Coil Status (Func 01-01H). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê12
1.2.2. Read Input Status (Func 02-02H) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê13
1.2.3. Read Holding Registers (Func 03-03H) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê14
1.2.4. Read Input Registers (Func 04-04H). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê15
1.2.5. Force Single Coil (Func 05-05H) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê16
1.2.6. Preset Single Register (Func 06-06H). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê17
1.2.7. Preset Multiple Registers (Func 16-10H). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê18
1.2.8. Exception Response - Error Code . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê19
1.3. Autonics Modbus Address System. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê20
2. Modbus Mapping Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê21
2.1. Read Coil Status.(Func 01) / Force Single Coil(Func 05) [Func:01/05, R/W : R/W] . . . . . . . . . . . . . Ê21
2.2. Read Discrete Inputs.(Func 02) [Func:02, R/W : R] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê22
2.3. Read Input Registers (Func 04)[Func:04, R/W : R]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê23
2.4. Read Holding Register(Func 03) / Preset Single Register(Func 06) / Preset Multiple
Registers(Func 16). [Func:03/06/16, R/W : R/W]
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê25
2.4.1. SV setting group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê25
2.4.2. Parameter 1 group. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê26
2.4.3. Parameter 2 group. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê28

Preface
Thank you for purchasing Autonics products.
Be sure to read and follow the Safety Precautions thoroughly before use.
This manual contains information about the product and how to use it properly, so keep it in a place
where users can easily find it.
Preface 5

6 Autonics | TR1D Series

Manual Guide
•Use the product after fully reading the contents of the manual.
•The manual explains the product functions in detail and does not guarantee the contents other than
the manual.
•Any or all of the manual may not be edited or copied without permission.
•The manual is not provided with the product.
•Download and use from our website (www.autonics.com).
•The contents of the manual are subject to change without prior notice according to the improvement
of the product’s performance, and upgrade notices are provided through our website.
•We put a lot of effort to make the contents of the manual a little easier and more accurate.
Nevertheless, if you have any corrections or questions, please feel free to comment through our
website.
Manual Guide 7

8 Autonics | TR1D Series

Common Symbols in the Manual
Failure to follow instructions may result in serious injury or death.
Failure to follow instructions may result in injury or product damage.
Supplementary explanation of the function
Example of that function
Important information about the feature
Common Symbols in the Manual 9

10 Autonics | TR1D Series

1. Modbus RTU and ASCII Protocol
1.1. Modbus
The Modbus industrial protocol was developed in 1979 to make communication possible between
automation devices. The protocol has expanded to include implementations over serial, TCP/IP, and
the user datagram protocol (UDP). Today, it is a common protocol used by countless devices for simple,
reliable, and efficient communication across a variety of modern networks.
Refer to the reference document of developer for the details.
1.1. Modbus 11

1.2. Frame Structure of Modbus RTU and ASCII
1.2.1. Read Coil Status (Func 01-01H)
Reads output (0X reference, Coil) ON/OFF status in the Slave device.
Query (Master)
Field Name RTU ASCII
Header None : (Colon, 0x3A)
Slave Address 1-byte 2-Char
Function 1-byte 2-Char
Starting Address 2-byte 4-Char
No. of Points/Registers 2-byte 4-Char
Error Check 01) CRC (16-bit) LRC (2-Char)
Trailer None CRLF (0x0D 0x0A)
01) Error Check
* Calculation range of CRC: Slave Address to No. of Points
* Calculation range of LRC: Slave Address to No. of Registers
Response (Slave)
Field Name RTU ASCII
Header None : (Colon, 0x3A)
Slave Address 1-byte 2-Char
Function 1-byte 2-Char
Byte Count 1-byte 2-Char
Data 1-byte 2-Char
Data 1-byte 2-Char
Data 1-byte 2-Char
Error Check 01) CRC (16-bit) LRC (2-Char)
Trailer None CRLF (0x0D 0x0A)
01) Error Check
* Calculation range of CRC/LRC: Slave Address to Data
12 Autonics | TR1D Series

1.2.2. Read Input Status (Func 02-02H)
Reads Input ON/OFF status (1X reference) in Slave device.
Query (Master)
Field Name RTU ASCII
Header None : (Colon, 0x3A)
Slave Address 1-byte 2-Char
Function 1-byte 2-Char
Starting Address 2-byte 4-Char
No. of Points/Registers 2-byte 4-Char
Error Check 01) CRC (16-bit) LRC (2-Char)
Trailer None CRLF (0x0D 0x0A)
01) Error Check
* Calculation range of CRC: Slave Address to No. of Points
* Calculation range of LRC: Slave Address to No. of Registers
Response (Slave)
Field Name RTU ASCII
Header None : (Colon, 0x3A)
Slave Address 1-byte 2-Char
Function 1-byte 2-Char
Byte Count 1-byte 2-Char
Data 1-byte 2-Char
Data 1-byte 2-Char
Data 1-byte 2-Char
Error Check 01) CRC (16-bit) LRC (2-Char)
Trailer None CRLF (0x0D 0x0A)
01) Error Check
* Calculation range of CRC/LRC: Slave Address to Data
1.2. Frame Structure of Modbus RTU and ASCII 13

1.2.3. Read Holding Registers (Func 03-03H)
Reads the Binary data of Holding Registers (4X reference) in Slave device.
Query (Master)
Field Name RTU ASCII
Header None : (Colon, 0x3A)
Slave Address 1-byte 2-Char
Function 1-byte 2-Char
Starting Address 2-byte 4-Char
No. of Points/Registers 2-byte 4-Char
Error Check 01) CRC (16-bit) LRC (2-Char)
Trailer None CRLF (0x0D 0x0A)
01) Error Check
* Calculation range of CRC: Slave Address to No. of Points
* Calculation range of LRC: Slave Address to No. of Registers
Response (Slave)
Field Name RTU ASCII
Header None : (Colon, 0x3A)
Slave Address 1-byte 2-Char
Function 1-byte 2-Char
Byte Count 1-byte 2-Char
Data 2-byte 4-Char
Data 2-byte 4-Char
Data 2-byte 4-Char
Error Check 01) CRC (16-bit) LRC (2-Char)
Trailer None CRLF (0x0D 0x0A)
01) Error Check
* Calculation range of CRC/LRC: Slave Address to Data
14 Autonics | TR1D Series

1.2.4. Read Input Registers (Func 04-04H)
Reads the Binary data of Input Registers (3X reference) in Slave device.
Query (Master)
Field Name RTU ASCII
Header None : (Colon, 0x3A)
Slave Address 1-byte 2-Char
Function 1-byte 2-Char
Starting Address 2-byte 4-Char
No. of Points/Registers 2-byte 4-Char
Error Check 01) CRC (16-bit) LRC (2-Char)
Trailer None CRLF (0x0D 0x0A)
01) Error Check
* Calculation range of CRC: Slave Address to No. of Points
* Calculation range of LRC: Slave Address to No. of Registers
Response (Slave)
Field Name RTU ASCII
Header None : (Colon, 0x3A)
Slave Address 1-byte 2-Char
Function 1-byte 2-Char
Byte Count 1-byte 2-Char
Data 1-byte 2-Char
Data 1-byte 2-Char
Data 1-byte 2-Char
Error Check 01) CRC (16-bit) LRC (2-Char)
Trailer None CRLF (0x0D 0x0A)
01) Error Check
* Calculation range of CRC/LRC: Slave Address to Data
1.2. Frame Structure of Modbus RTU and ASCII 15

1.2.5. Force Single Coil (Func 05-05H)
Turns ON (FF00 H) or OFF (0000 H) of single coil (0X reference) status in Slave device.
Query (Master)
Field Name RTU ASCII
Header None : (Colon, 0x3A)
Slave Address 1-byte 2-Char
Function 1-byte 2-Char
Coil Address 2-byte 4-Char
Force Data 2-byte 4-Char
Error Check 01) CRC (16-bit) LRC (2-Char)
Trailer None CRLF (0x0D 0x0A)
01) Error Check
* Calculation range of CRC/LRC: Slave Address to Force Data
Response (Slave)
Field Name RTU ASCII
Header None : (Colon, 0x3A)
Slave Address 1-byte 2-Char
Function 1-byte 2-Char
Coil Address 2-byte 4-Char
Force Data 2-byte 4-Char
Error Check 01) CRC (16-bit) LRC (2-Char)
Trailer None CRLF (0x0D 0x0A)
01) Error Check
* Calculation range of CRC/LRC: Slave Address to Force Data
16 Autonics | TR1D Series

1.2.6. Preset Single Register (Func 06-06H)
Writes the Binary data of single Holding Registers (4X reference) in Slave device.
Query (Master)
Field Name RTU ASCII
Header None : (Colon, 0x3A)
Slave Address 1-byte 2-Char
Function 1-byte 2-Char
Register Address 2-byte 4-Char
Preset Data 2-byte 4-Char
Error Check 01) CRC (16-bit) LRC (2-Char)
Trailer None CRLF (0x0D 0x0A)
01) Error Check
* Calculation range of CRC/LRC: Slave Address to Preset Data
Response (Slave)
Field Name RTU ASCII
Header None : (Colon, 0x3A)
Slave Address 1-byte 2-Char
Function 1-byte 2-Char
Register Address 2-byte 4-Char
Preset Data 2-byte 4-Char
Error Check 01) CRC (16-bit) LRC (2-Char)
Trailer None CRLF (0x0D 0x0A)
01) Error Check
* Calculation range of CRC/LRC: Slave Address to Preset Data
1.2. Frame Structure of Modbus RTU and ASCII 17

1.2.7. Preset Multiple Registers (Func 16-10H)
Writes the Binary data of Holding Registers (4X reference) consecutively in Slave device.
Query (Master)
Field Name RTU ASCII
Header None : (Colon, 0x3A)
Slave Address 1-byte 2-Char
Function 1-byte 2-Char
Starting Address 2-byte 4-Char
No. of Registers 2-byte 4-Char
Byte Count 1-byte 2-Char
Data 2-byte 4-Char
Data 2-byte 4-Char
Error Check 01) CRC (16-bit) LRC (2-Char)
Trailer None CRLF (0x0D 0x0A)
01) Error Check
* Calculation range of CRC/LRC: Slave Address to Data
Response (Slave)
Field Name RTU ASCII
Header None : (Colon, 0x3A)
Slave Address 1-byte 2-Char
Function 1-byte 2-Char
Starting Address 2-byte 4-Char
No. of Registers 2-byte 4-Char
Error Check 01) CRC (16-bit) LRC (2-Char)
Trailer None CRLF (0x0D 0x0A)
01) Error Check
* Calculation range of CRC/LRC: Slave Address to No. of Registers
It is recommended to use the Single Register Write function rather than Multi Register
Write function if you use the slave (device) connecting with external devices such as
PLC, Graphic Panel, except in the case of download that presets the
minimum/maximum or basic value of parameter by Input specifications in PC Loader
Program.
18 Autonics | TR1D Series

1.2.8. Exception Response - Error Code
If occurs an error, send a response command and transmit each Exception Code after set(1) the highest
level bit of received command(Function).
Field Name RTU ASCII
Header None : (Colon, 0x3A)
Slave Address 1-byte 2-Char
Function + 80H 1-byte 2-Char
Exception Code 1-byte 2-Char
Error Check 01) CRC (16-bit) LRC (2-Char)
Trailer None CRLF (0x0D 0x0A)
01) Error Check
* Calculation range of CRC/LRC: Slave Address to Exception Code
1.2.8.1. Exception Codes
When the exception response situation, the device do not respond data, but send exception code only.
Exception Codes Name Descriptions
01 ILLEGAL FUNCTION When a command is not supported.
02 ILLEGAL DATA ADDRESS When Reserved area is read.
03 ILLEGAL DATA VALUE When data write to out of setting range is
requested.
04 SLAVE DEVICE FAILURE When the parameter is locked or communication
write is disable.
06 SLAVE DEVICE BUSY When the device status cannot perform the
requested order.
1.2. Frame Structure of Modbus RTU and ASCII 19

1.3. Autonics Modbus Address System
Parameter address structure
The parameter address is written in form 'Reference number - Decimal address (Hexadecimal
address).' For example, if the parameter address is 30 1001 (03E8), it means that 3is Reference
number, 1001 is Decimal address (DEC), 03E8 is Hexadecimal address (HEX).
Reference number per each FUNC
Reference Function
0FUNC 01 [R], FUNC 05 [W], FUNC 15 [MW]
1FUNC 02 [R]
3FUNC 04 [R]
4FUNC 03 [R], FUNC 06 [W], FUNC 16 [MW]
Correlation between decimal address and hexadecimal address
The parameter address can be somewhat different for each manufacturer because the regulation for
a starting number is not defined.
Autonics Modbus address is started at ‘1’ for decimal (DEC) address, and at ‘0’ for hexadecimal (HEX).
So, decimal (DEC) address values are +1 for Hex (HEX) address values.
03E8 (HEX) → 1001 (DEC) (1000 + 1)
07D0 (HEX) → 2001 (DEC) (2000 + 1)
157C (HEX) → 5501 (DEC) (5500 + 1)
20 Autonics | TR1D Series