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MM200 MOTOR MANAGEMENT SYSTEM – COMMUNICATIONS GUIDE i
Table of Contents
Communications interfaces ........................................................................................1
RS485 interface (Modbus RTU) ....................................................................................2
Modbus Protocol ..............................................................................................................................................2
Electrical Interface ......................................................................................................................................... 2
Data Frame Format and Data Rate ....................................................................................................... 2
Data Packet Format ...................................................................................................................................... 2
Error Checking .................................................................................................................................................. 3
CRC-16 Algorithm ........................................................................................................................................... 3
Timing ................................................................................................................................................................... 4
MM200 supported functions ..................................................................................................................... 4
Modbus Functions ..........................................................................................................................................4
Function Code 03H ........................................................................................................................................ 4
Function Code 04H ........................................................................................................................................ 5
Function Code 05H ........................................................................................................................................ 6
Function Code 06H ........................................................................................................................................ 7
Function Code 07H ........................................................................................................................................ 7
Function Code 08H ........................................................................................................................................ 8
Function Code 10H ........................................................................................................................................ 9
Performing Commands Using Function Code 10H .......................................................................10
Using the User Definable Memory Map .............................................................................................10
Error Responses ............................................................................................................................................11
Modbus memory map ...............................................................................................................................11
Format codes .................................................................................................................................................20
Fieldbus interface 28
Profibus protocol (DP V0) ..........................................................................................................................28
Profibus Output Data .................................................................................................................................... 8
Profibus DP-Diagnostics ............................................................................................................................28
Profibus Input Data ......................................................................................................................................29
DeviceNet protocol ......................................................................................................................................32
DeviceNet Communications ....................................................................................................................32
Identity Object (Class Code 01H) ...........................................................................................................33
Message Router (Class Code 02H) ........................................................................................................33
DeviceNet Object (Class Code 03H) ......................................................................................................33
DeviceNet Connection Object (Class Code 05H) ............................................................................34
I/O Data Polled Object (Class Code 64H) ............................................................................................35
DeviceNet Motor Data - Poll, Explicit Object (Class Code A0H) ...............................................36
DeviceNet - Explicit Motor Analog Data Object, Class Code B0H, Services ......................37
DeviceNet - Explicit Motor Object, Class Code B1H ......................................................................39