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TABLE OF CONTENTS
MM300 MOTOR MANAGEMENT SYSTEM – COMMUNICATIONS GUIDE 1
Table of Contents
COMMUNICATIONS GUIDE ............................................................................................................................ i
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
MM300 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 ......................................................................................................................................... 8
Function Code 08H ......................................................................................................................................... 9
Function Code 10H ......................................................................................................................................... 9
Error Responses..............................................................................................................................................10
Modbus memory map.................................................................................................................................11
Format codes .................................................................................................................................................. 34
Performing Commands Using Function Code 10H ....................................................................... 49
Using the User Definable Memory Map ..............................................................................................50
Ethernet interface ........................................................................................................52
Fieldbus interface.........................................................................................................53
Profibus protocol (DP V0) ........................................................................................................................... 53
Profibus Output Data ...................................................................................................................................53
Profibus DP-Diagnostics.............................................................................................................................54
Profibus Input Data.......................................................................................................................................54
DeviceNet protocol.......................................................................................................................................57
DeviceNet Communications.....................................................................................................................57
Identity Object (Class Code 01H).............................................................................................................58
Message Router (Class Code 02H) .........................................................................................................58
DeviceNet Object (Class Code 03H).......................................................................................................58
DeviceNet Connection Object (Class Code 05H) .............................................................................59
DeviceNet Motor Data - Poll, Explicit Object (Class Code A0H).................................................60
DeviceNet - Explicit Motor Analog Data Object, Class Code B0H, Services........................62
DeviceNet - Explicit Motor Object, Class Code B1H.......................................................................65