HIMA HSD9044工控模塊機(jī)器人備件
在該示例中的傳輸完成之后，469從機(jī)11將存儲(chǔ)以下設(shè)置點(diǎn)信息：地址數(shù)據(jù)1180 01F4 1181 01DE主傳輸：字節(jié)示例/描述從機(jī)11的從機(jī)地址1 0B消息功能代碼1 10存儲(chǔ)設(shè)置點(diǎn)數(shù)據(jù)起始地址2 11 80設(shè)置點(diǎn)地址1180設(shè)置點(diǎn)數(shù)量2 00 02 2設(shè)置點(diǎn)（共4字節(jié)）字節(jié)計(jì)數(shù)1 04 4字節(jié)數(shù)據(jù)數(shù)據(jù)1 2 01 F4地址數(shù)據(jù)1180 DATA 2 2 01 DE數(shù)據(jù)地址1181 CRC 2 DB B1 CRC由主從機(jī)響應(yīng)計(jì)算：BYTES示例/描述從機(jī)11功能代碼1 10存儲(chǔ)設(shè)置點(diǎn)DATA STARTING address 2 11 80設(shè)置點(diǎn)地址1180 NUMBER OF setpoint 2 00 02 2設(shè)置點(diǎn)CRC 2 45 B6 CRC由從機(jī)GE Multilin 469電機(jī)管理繼電器6-9 6計(jì)算通信6.2 MODBUS功能6 6.2.9功能代碼16：執(zhí)行命令某些PLC可能不支持使用功能代碼5執(zhí)行命令，但支持使用功能碼16存儲(chǔ)多個(gè)設(shè)置點(diǎn)。要使用功能代碼16（10H）執(zhí)行此操作，必須同時(shí)向469寫入特定的命令序列。序列包括：命令功能寄存器、命令操作寄存器和命令數(shù)據(jù)（如果需要）。命令函數(shù)寄存器必須寫入值5，表示請(qǐng)求執(zhí)行操作。然后，命令操作寄存器必須寫入內(nèi)存映射中顯示的命令列表中的有效命令操作編號(hào)。如果命令操作需要數(shù)據(jù)，則必須使用有效數(shù)據(jù)寫入命令數(shù)據(jù)寄存器。所選命令將在收到有效傳輸后立即執(zhí)行。消息格式和示例：對(duì)469（操作代碼1）執(zhí)行重置6.2.10錯(cuò)誤響應(yīng)當(dāng)469檢測(cè)到CRC錯(cuò)誤以外的錯(cuò)誤時(shí)，將向主機(jī)發(fā)送響應(yīng)。功能碼字節(jié)的MSbit將被設(shè)置為1（即，從從機(jī)發(fā)送的功能碼將等于從主機(jī)發(fā)送的功能代碼加上128）。以下字節(jié)將是一個(gè)異常代碼，指示發(fā)生的錯(cuò)誤類型。469將忽略從具有CRC錯(cuò)誤的主機(jī)接收的傳輸。從機(jī)對(duì)錯(cuò)誤（CRC錯(cuò)誤除外）的響應(yīng)為：?從機(jī)地址：1字節(jié)?功能代碼：1字節(jié)（MSbit設(shè)置為1）?異常代碼：1個(gè)字節(jié)?CRC：2字節(jié)469實(shí)現(xiàn)以下異常響應(yīng)代碼。01：非法功能傳輸?shù)墓δ艽a不是469支持的功能之一。02：非法數(shù)據(jù)地址主機(jī)發(fā)送的數(shù)據(jù)字段中引用的地址不是469的允許地址。03：非法數(shù)據(jù)值主機(jī)傳輸?shù)臄?shù)據(jù)字段中引用的值不在所選數(shù)據(jù)地址的范圍內(nèi)。主傳輸：字節(jié)示例/描述從機(jī)11的從機(jī)地址1 0B消息功能代碼1 10存儲(chǔ)設(shè)置點(diǎn)數(shù)據(jù)起始地址2 00 80設(shè)置點(diǎn)地址0080設(shè)置點(diǎn)數(shù)量2 00 02 2個(gè)設(shè)置點(diǎn)（總共4字節(jié)）字節(jié)計(jì)數(shù)1 04 2寄存器=4字節(jié)命令功能2 00 05地址0080命令操作2 00 01地址0081 CRC 2 0B D6 CRC數(shù)據(jù)主從機(jī)響應(yīng)：BYTES示例/描述從機(jī)11的從機(jī)地址1 0B響應(yīng)消息功能代碼1 10存儲(chǔ)設(shè)置點(diǎn)數(shù)據(jù)起始地址2 00 80設(shè)置點(diǎn)地址0080設(shè)置點(diǎn)數(shù)量2 00 02 2個(gè)設(shè)置點(diǎn)（總共4字節(jié)）CRC 2 40 8A由從機(jī)6-10 469電機(jī)管理繼電器GE Multilin 6.3存儲(chǔ)器映射6通信6 6.3存儲(chǔ)器映射6.3.1存儲(chǔ)器映射計(jì)算信息469中存儲(chǔ)的數(shù)據(jù)分為設(shè)定值和實(shí)際值。設(shè)置點(diǎn)可由主計(jì)算機(jī)讀取和寫入。實(shí)際值為只讀。所有設(shè)定值和實(shí)際值存儲(chǔ)為雙字節(jié)值。也就是說(shuō)，每個(gè)寄存器地址都是兩字節(jié)值的地址。地址以十六進(jìn)制列出。數(shù)據(jù)值（設(shè)定點(diǎn)范圍、增量、出廠值）以十進(jìn)制表示。許多Modbus通信驅(qū)動(dòng)程序?qū)?0001d添加到寄存器地址的實(shí)際地址。例如：如果要讀取地址0h，則40001d將是Modbus通信驅(qū)動(dòng)程序所需的地址；如果要讀取地址320h（800d），則40801d將是Modbus通信驅(qū)動(dòng)程序所需的地址。6.3.2用戶自定義內(nèi)存映射區(qū)469具有一個(gè)強(qiáng)大的功能，稱為用戶
After the transmission in this example is complete, 469 slave 11 will have the following Setpoints information stored: Address Data 1180 01F4 1181 01DE MASTER TRANSMISSION: BYTES EXAMPLE / DESCRIPTION SLAVE ADDRESS 1 0B message for slave 11 FUNCTION CODE 1 10 store setpoints DATA STARTING ADDRESS 2 11 80 setpoint address 1180 NUMBER OF SETPOINTS 2 00 02 2 setpoints (4 bytes total) BYTE COUNT 1 04 4 bytes of data DATA 1 2 01 F4 data for address 1180 DATA 2 2 01 DE data for address 1181 CRC 2 DB B1 CRC calculated by the master SLAVE RESPONSE: BYTES EXAMPLE / DESCRIPTION SLAVE ADDRESS 1 0B response message from slave 11 FUNCTION CODE 1 10 store setpoints DATA STARTING ADDRESS 2 11 80 setpoint address 1180 NUMBER OF SETPOINTS 2 00 02 2 setpoints CRC 2 45 B6 CRC calculated by the slave GE Multilin 469 Motor Management Relay 6-9 6 COMMUNICATIONS 6.2 MODBUS FUNCTIONS 6 6.2.9 FUNCTION CODE 16: PERFORMING COMMANDS Some PLCs may not support execution of commands using function code 5 but do support storing multiple setpoints using function code 16. To perform this operation using function code 16 (10H), a certain sequence of commands must be written at the same time to the 469. The sequence consists of: command function register, command operation register and command data (if required). The command function register must be written with the value of 5 indicating an execute operation is requested. The command operation register must then be written with a valid command operation number from the list of commands shown in the memory map. The command data registers must be written with valid data if the command operation requires data. The selected command will execute immediately upon receipt of a valid transmission. MESSAGE FORMAT AND EXAMPLE: Perform a reset on 469 (operation code 1) 6.2.10 ERROR RESPONSES When an 469 detects an error other than a CRC error, a response will be sent to the master. The MSbit of the Function Code byte will be set to 1 (i.e. the function code sent from the slave will be equal to the function code sent from the master plus 128). The following byte will be an exception code indicating the type of error that occurred. Transmissions received from the master with CRC errors will be ignored by the 469. The slave response to an error (other than CRC error) will be: ? SLAVE ADDRESS: 1 byte ? FUNCTION CODE: 1 byte (with MSbit set to 1) ? EXCEPTION CODE: 1 byte ? CRC: 2 bytes The 469 implements the following exception response codes. 01: ILLEGAL FUNCTION The function code transmitted is not one of the functions supported by the 469. 02: ILLEGAL DATA ADDRESS The address referenced in the data field transmitted by the master is not an allowable address for the 469. 03: ILLEGAL DATA VALUE The value referenced in the data field transmitted by the master is not within range for the selected data address. MASTER TRANSMISSION: BYTES EXAMPLE / DESCRIPTION SLAVE ADDRESS 1 0B message for slave 11 FUNCTION CODE 1 10 store setpoints DATA STARTING ADDRESS 2 00 80 setpoint address 0080 NUMBER OF SETPOINTS 2 00 02 2 setpoints (4 bytes total) BYTE COUNT 1 04 2 registers = 4 bytes COMMAND FUNCTION 2 00 05 data for address 0080 COMMAND OPERATION 2 00 01 data for address 0081 CRC 2 0B D6 CRC calculated by the master SLAVE RESPONSE: BYTES EXAMPLE / DESCRIPTION SLAVE ADDRESS 1 0B response message from slave 11 FUNCTION CODE 1 10 store setpoints DATA STARTING ADDRESS 2 00 80 setpoint address 0080 NUMBER OF SETPOINTS 2 00 02 2 setpoints (4 bytes total) CRC 2 40 8A CRC calculated by the slave 6-10 469 Motor Management Relay GE Multilin 6.3 MEMORY MAP 6 COMMUNICATIONS 6 6.3MEMORY MAP 6.3.1 MEMORY MAP INFORMATION The data stored in the 469 is grouped as Setpoints and Actual Values. Setpoints can be read and written by a master computer. Actual Values are read only. All Setpoints and Actual Values are stored as two-byte values. That is, each register address is the address of a two-byte value. Addresses are listed in hexadecimal. Data values (setpoint ranges, increments, factory values) are in decimal. Many Modbus communications drivers add 40001d to the actual address of the register addresses. For example: if address 0h was to be read, 40001d would be the address required by the Modbus communications driver; if address 320h (800d) was to be read, 40801d would be the address required by the Modbus communications driver. 6.3.2 USER-DEFINABLE MEMORY MAP AREA The 469 has a powerful feature, called the User
