Appendix Cmodbus Communication Protocol Description; Communication Setup; Sensor Startup Timing; General Error Messages - Bosch Rexroth CIMSmart Instruction Manual

Appendix C MODBUS
Connected with a PC, using a separate USB converter, or when connected to e.g. a PLC, the
following diagnostic information can be read: sensor identification number, production date, sensor
status, operating time of sensor, current position (since last power up). Besides, the following
monitoring data can be read: movement history, stroke length distribution, maximum velocity,
acceleration and deceleration, extreme sensor temperatures and sensor temperature time
distribution.
The CIMSmart Sensor uses the MODBUS to read and write information and to configure the
sensor. The MODBUS implementation follows these specifications:
[1] MODBUS over Serial Line specification and implementation guide V1.02, December 20,
2006, www.modbus.org
[2] MODBUS Application Protocol Specification V1.1b, December 28, 2006, www.modbus.org
Please pay attention that the physical MODBUS configuration should follow the chapter 3.3.2
Two-Wire MODBUS Definition in [1].
C.1 C
OMMUNICATION
The following communication parameters are permanently set. Currently is it not possible to
change one of these parameters.
Communication Parameter
Transmission Mode
Data Rate
Sensor Slave Address
Response Timeout
Message format
C.2 S
ENSOR
After power up the CIMSmart sensor starts in the Bootloader. After some checks the Bootloader
switches automatically to the Application. This checks needs up to 1 second wait time.
After switching into Application the CIMSmart sensor send out the current measurement signals
over the RS422 line.
C.3 G
ENERAL
If the request cannot be recognized, the sensor sends an Error Message back to the master. The
following table shows all general error codes. All error codes regarding the different services are
listed in the chapter below.
To get more details about the occurred error it is possible to read out some detailed error
information by using the service Get Last Debug Detail (10h, ED00h – ED03h) as described in
C.5.5.
For more information regarding Error Messages please see chapter 7 MODBUS Exception
Responses in [2].
F037 300 069 (2015.09.02)
COMMUNICATION PROTOCOL DESCRIPTION
S
ETUP
Value
RTU
19200 Baud
0xA2 (= 162dec)
1000 ms
1 start bit
8 data bits, least significant bit sent first
1 bit even Parity
1 stop bit
S T
TARTUP IMING
E M
RROR ESSAGES
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