Experimental Physics and
Industrial Control System

Hello Mark,

Can Modbus R2-11 be used on the Pilz 4000 PLC?

I am using the PILZ 4000 PLC, but an error exception=2 occurred while debugging Modbus TCP communication.

The IOC has been able to read multiple register (function code 3),

But cannot write to a single register and write to multiple registers（function code 6 and function code 16），Error: exception=2.

Examples of Pilz PLC's command and return value formats are as follows:

(Confirmed with LabVIEW program)

Function code 6:

command: 0000 0000 0006 0106 0000 6262,

Note: 12 bytes in total.

Function code 16: Write three words

command: 0000 0000 000D 0110 0000 0003 0662 6263 6364 64

Note: 19 bytes in total.

PLC(server) read-write register address allocation during test is as follows: (data type:word)

4x0001 to 4x0003 are the write addresses(0x0 to 0x2), （computer writes to the PLC）,

4x0004 to 4x0006 are read addresses(0x3 to 0x5), （computer reads from the PLC）

Here is Koyo1.cmd file:

dbLoadDatabase("../../dbd/modbus.dbd")

modbus_registerRecordDeviceDriver(pdbbase)

#drvAsynIPPortConfigure("Koyo1","164.54.160.158:502",0,0,1)

drvAsynIPPortConfigure("Koyo1","192.168.70.40:502",0,0,1)

asynSetOption("Koyo1",0, "disconnectOnReadTimeout", "Y")

modbusInterposeConfig("Koyo1",0,5000,0)

# The DL205 has word access to the Xn inputs at Modbus offset 40400 (octal)

# Read 8 words (128 bits).  Function code=3.

#drvModbusAsynConfigure("K1_Xn_Word",     "Koyo1", 0, 3, 040400, 010,    0,  100, "Koyo")

drvModbusAsynConfigure("K1_Xn_Word",     "Koyo1", 255, 3, 0x3,0x3,   0,  100, "Koyo")

# Write 8 words (128 bits).  Function code=6.

#drvModbusAsynConfigure("K1_Yn_Out_Word", "Koyo1", 0, 6, 040500, 010,    0,  100, "Koyo")

drvModbusAsynConfigure("K1_Yn_Out_Word", "Koyo1", 255, 6, 0x0, 0x03,  0,  100, "Koyo")

# We access the same 16 words (C0-C377) as array outputs (256 bits). Function code=16.

#drvModbusAsynConfigure("K1_Cn_Out_Word_Array", "Koyo1", 0, 16, 040600, 020,    0,   1, "Koyo")

drvModbusAsynConfigure("K1_Cn_Out_Word_Array", "Koyo1", 255, 16, 0x0, 0x3,    0,   1, "Koyo")

asynSetTraceIOMask("Koyo1",0,4)   

asynSetTraceMask("Koyo1",0,9)

dbLoadTemplate("Koyo1.substitutions")

iocInit

Here is Koyo1.substitutions file:

# These are the Yn outputs done with word access.  Y0-Y7

file "../../db/bo_word.template" { pattern

{P,           R,          PORT,               OFFSET,   MASK,      ZNAM,   ONAM}

{KOYO1:,    Y0OutW,     K1_Yn_Out_Word,     0,        0x0001,    Low,    High}

{KOYO1:,    Y1OutW,     K1_Yn_Out_Word,     0,        0x0002,    Low,    High}

{KOYO1:,    Y2OutW,     K1_Yn_Out_Word,     0,        0x0004,    Low,    High}

{KOYO1:,    Y3OutW,     K1_Yn_Out_Word,     0,        0x0008,    Low,    High}

{KOYO1:,    Y4OutW,     K1_Yn_Out_Word,     0,        0x0010,    Low,    High}

{KOYO1:,    Y5OutW,     K1_Yn_Out_Word,     0,        0x0020,    Low,    High}

{KOYO1:,    Y6OutW,     K1_Yn_Out_Word,     0,        0x0040,    Low,    High}

{KOYO1:,    Y7OutW,     K1_Yn_Out_Word,     0,        0x0080,    Low,    High}

}

file "../../db/intarray_out.template" { pattern

{P,           R,            PORT,                  NELM}

{KOYO1:,    CnOutWArray,  K1_Cn_Out_Word_Array,    3}

}

Here is bo_word.template file:

Here is intarray_out.template file:

Why is INP here instead of OUT?

drvModbusAsynConfigure function with function code 6: starting address 0x0, length 0x3.

--

BSRF(Beijing Synchrotron Radiation Facility)

Email:gaozh at ihep.ac.cn

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