Configuring via Modbus TCP
This controller is equipped with a Modbus TCP interface. All messages are sent to port 502 of the controller via TCP; only one connection is supported. No CRC (as it is used with Modbus RTU) takes place.
The I/O data with any preconfigured drive values (see Process data objects (PDO)) can be sent with the standard Modbus function codes. To configure your own I/O data, however, function code 2Bh (CAN Encapsulation) must be supported by the Modbus master in order for the parameters to be read and written independent of the process image.
If the master does not support this function code, the I/O image can be configured and stored using Plug & Drive Studio. The master can then access the data using the standard Modbus function codes.
Read chapter Modbus TCP for further details.
Before commissioning, we recommend reading chapter Pin assignment.
- Connect the supply voltage to connector X6 (see chapter Connector X6 – voltage supply).
- Connect the Modbus master to connection X1 of the controller (see chapter Connector X1 – Modbus TCP).
To test the interface, send bytes
00 00 00 00 00 0D 00 2B 0D 00 00 01 60 41 00 00 00 00 02to the controller (you can find a detailed description of the Modbus function codes in chapter Modbus TCP).Statusword (6041h) was read; you receive this response:
00 00 00 00 0F 00 2B 0D 00 00 01 60 41 00 00 00 00 XX XX 06.