ICS TRIPLEX T8640机器人模块卡件
存储器映射的命令区域中列出的命令编号对应于功能代码05的操作代码。操作命令也可以通过使用功能代码16写入存储器映射的命令区域来启动。请参阅第6-13页第6.2.8节：功能代码16：存储多个设定值，以了解完整的详细信息。支持的操作：重置469（操作代码1）电机启动（操作代码2）电机停止（操作代码3）波形触发（操作代码4）消息格式和示例重置469。主传输：BYTES示例/描述从机11的从机地址1 0B消息功能代码1 05执行操作操作代码2 00 01重置命令（操作代码1）代码值2 FF 00执行功能CRC 2 DD 50主从机响应计算的CRC：BYTES示例/描述从属机11的从属机地址1 0B响应消息功能代码105执行操作操作CODE 2 00 01重置命令（操作代码1）CODE VALUE 2 FF 00执行功能CRC 2 DD 50 CRC，由从设备计算6-10 469电机管理继电器GE Power Management 6.2 SUPPORTED MODBUS FUNCTIONS 6 COMMUNICATIONS 6 6.2.5 function CODE 06：STORE SINGLE SETPOINT MODBUS Implementation：预设单寄存器469 Implementation:存储单设定点此命令允许主设备存储将单个设置点存储到469的存储器中。从属设备对该功能代码的响应是响应整个主传输。消息格式和示例请求从设备11将值01F4存储在设定点地址1180中。在本示例中的传输完成后，设定点地址1180将包含值01F4。主传输：BYTES示例/描述从机11功能代码1 06的从机地址1 0B消息存储单个设置点数据起始地址2 11 80设置点地址1180数据2 01 F4数据地址1180 CRC 2 8D A3 CRC由主从机响应计算：BYTES示例/描述从属机11功能码1 06的从属机地址1 0B响应消息存储单个设定点数据起始地址2 11 80设定点地址1180数据2 01 F4数据，地址1180 CRC 2 8D A3 CRC，由从属GE Power Management 469电机管理继电器6-11 6通信6.2支持的MODBUS功能6 6.2.6功能代码07：读取设备状态MODBUS实现：读取异常状态469实现：读取设备状况这是一个用于快速读取所选设备的状态。短消息长度允许快速读取状态。根据从属设备的状态，返回的状态字节将具有设置为1或0的单个位。469一般状态字节：如果状态既没有停止也没有运行，则电机正在启动。消息格式和示例从设备11请求状态。钻头编号。说明B0 R1跳闸继电器操作=1 B1 R2辅助继电器操作=2 B2 R3辅助继电器操作=1 B3 R4报警继电器操作=4 B4 R5块启动继电器操作=5 B5 R6服务继电器操作=6 B6停止=1 B7运行=1主传输：BYTES示例/描述从属11功能代码1 07读取设备状态CRC 2 47 42 CRC计算由主从设备响应：BYTES示例/描述从设备11功能代码1 07读取设备状态设备状态1 59状态=01011001，二进制CRC 2 C2 08 CRC，由从设备计算。注释6-12 469电机管理继电器GE电源管理6.2支持MODBUS功能6通信6 6.2.7功能代码08：回路测试MODBUS实施：环回测试469实施：环返回测试此功能用于测试通信链路的完整性。
The command numbers listed in the Commands area of the memory map correspond to operation code for function code 05. The operation commands can also be initiated by writing to the Commands area of the memory map using function code 16. Refer to Section 6.2.8: FUNCTION CODE 16: STORE MULTIPLE SETPOINTS on page 6– 13 for complete details. Supported Operations: Reset 469 (operation code 1) Motor Start (operation code 2) Motor Stop (operation code 3) Waveform Trigger (operation code 4) MESSAGE FORMAT AND EXAMPLE Reset 469 (operation code 1). MASTER TRANSMISSION: BYTES EXAMPLE / DESCRIPTION SLAVE ADDRESS 1 0B message for slave 11 FUNCTION CODE 1 05 execute operation OPERATION CODE 2 00 01 reset command (operation code 1) CODE VALUE 2 FF 00 perform function CRC 2 DD 50 CRC calculated by the master SLAVE RESPONSE: BYTES EXAMPLE / DESCRIPTION SLAVE ADDRESS 1 0B response message from slave 11 FUNCTION CODE 1 05 execute operation OPERATION CODE 2 00 01 reset command (operation code 1) CODE VALUE 2 FF 00 perform function CRC 2 DD 50 CRC calculated by the slave 6-10 469 Motor Management Relay GE Power Management 6.2 SUPPORTED MODBUS FUNCTIONS 6 COMMUNICATIONS 6 6.2.5 FUNCTION CODE 06: STORE SINGLE SETPOINT Modbus Implementation: Preset Single Register 469 Implementation: Store Single Setpoint This command allows the master to store a single setpoint into the memory of an 469. The slave response to this function code is to echo the entire master transmission. MESSAGE FORMAT AND EXAMPLE Request slave 11 to store the value 01F4 in Setpoint address 1180. After the transmission in this example is complete, setpoints address 1180 will contain the value 01F4. MASTER TRANSMISSION: BYTES EXAMPLE / DESCRIPTION SLAVE ADDRESS 1 0B message for slave 11 FUNCTION CODE 1 06 store single setpoint DATA STARTING ADDRESS 2 11 80 setpoint address 1180 DATA 2 01 F4 data for address 1180 CRC 2 8D A3 CRC calculated by the master SLAVE RESPONSE: BYTES EXAMPLE / DESCRIPTION SLAVE ADDRESS 1 0B response message from slave 11 FUNCTION CODE 1 06 store single setpoint DATA STARTING ADDRESS 2 11 80 setpoint address 1180 DATA 2 01 F4 data for address 1180 CRC 2 8D A3 CRC calculated by the slave GE Power Management 469 Motor Management Relay 6-11 6 COMMUNICATIONS 6.2 SUPPORTED MODBUS FUNCTIONS 6 6.2.6 FUNCTION CODE 07: READ DEVICE STATUS Modbus Implementation: Read Exception Status 469 Implementation: Read Device Status This is a function used to quickly read the status of a selected device. A short message length allows for rapid reading of status. The status byte returned will have individual bits set to 1 or 0 depending on the status of the slave device. 469 General Status Byte: If status is neither stopped or running, motor is starting. MESSAGE FORMAT AND EXAMPLE Request status from slave 11. Bit No. Description B0 R1 Trip relay operated = 1 B1 R2 Auxiliary relay operated = 1 B2 R3 Auxiliary relay operated = 1 B3 R4 Alarm relay operated = 1 B4 R5 Block start relay operated = 1 B5 R6 Service relay operated = 1 B6 Stopped = 1 B7 Running = 1 MASTER TRANSMISSION: BYTES EXAMPLE / DESCRIPTION SLAVE ADDRESS 1 0B message for slave 11 FUNCTION CODE 1 07 read device status CRC 2 47 42 CRC calculated by the master SLAVE RESPONSE: BYTES EXAMPLE / DESCRIPTION SLAVE ADDRESS 1 0B response message from slave 11 FUNCTION CODE 1 07 read device status DEVICE STATUS 1 59 status = 01011001 in binary CRC 2 C2 08 CRC calculated by the slave NOTE 6-12 469 Motor Management Relay GE Power Management 6.2 SUPPORTED MODBUS FUNCTIONS 6 COMMUNICATIONS 6 6.2.7 FUNCTION CODE 08: LOOPBACK TEST Modbus Implementation: Loopback Test 469 Implementation: Loopback Test This function is used to test the integrity of the communication link.
