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Hiwin HIMC Modbus TCP User Manual

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Summary of Contents for Hiwin HIMC Modbus TCP

  • Page 1 HIMC Modbus TCP User Guide www.hiwinmikro.tw...
  • Page 2 HIWIN Modbus TCP User Guide Revision History Revision History Release Date Version Applicable Software Version Revision Contents April 10 , 2018 iA Studio 1.0.2461.0 First edition.

  • Page 3: Table Of Contents

    Table of Contents Table of Contents Overview ··············································································································· 1-1 Introduction of HIMC Modbus TCP ········································································ 1-2 Communication interface of HIMC Modbus TCP ····························································· 2-1 Communication interface ····················································································· 2-2 Functions of HIMC Modbus TCP ················································································· 3-1 Data storage ···································································································· 3-2 Function codes ································································································· 3-2 Exception codes ································································································...
  • Page 4 HIWIN Modbus TCP User Guide Table of Contents (This page is intentionally left blank.)

  • Page 5: Overview

    Overview Overview ··············································································································· 1-1 Introduction of HIMC Modbus TCP ········································································ 1-2 HIWIN MIKROSYSTEM Corp.

  • Page 6: Introduction Of Himc Modbus Tcp

    Overview 1.1 Introduction of HIMC Modbus TCP HIWIN Motion Controller (HIMC) supports Modbus TCP communication protocol. Users are allowed to access HIMC via Modbus TCP to read or write parameters of axis, system call, controller information, etc. HIWIN MIKROSYSTEM Corp.

  • Page 7: Communication Interface Of Himc Modbus Tcp

    Communication interface of HIMC Modbus TCP 0000000 00000000000 Communication interface of HIMC Modbus TCP ····························································· 2-1 Communication interface ····················································································· 2-2 HIWIN MIKROSYSTEM Corp.

  • Page 8: Communication Interface

    MH02UE01-1804 HIWIN Modbus TCP User Guide Communication Interface Of HIMC Modbus TCP 2.1 Communication interface Connectors CN3 and CN4 are provided for communication with PC or human machine interface (HMI) via Modbus TCP. Figure 2.1.1 Information of connectors CN3 and CN4 is as below.

  • Page 9: Functions Of Himc Modbus Tcp

    Functions of HIMC Modbus TCP Functions of HIMC Modbus TCP ················································································· 3-1 Data storage ···································································································· 3-2 Function codes ································································································· 3-2 Exception codes ································································································ 3-3 Data type ········································································································· 3-3 HIWIN MIKROSYSTEM Corp.

  • Page 10: Data Storage

    MH02UE01-1804 HIWIN Modbus TCP User Guide Functions Of HIMC Modbus TCP 3.1 Data storage Data in standard Modbus are stored in four different tables. Register assignment of HIMC is as below. Table 3.1.1 Table Name Coil/Register Address Data Size Attribute...

  • Page 11: Exception Codes

    MH02UE01-1804 HIWIN Modbus TCP User Guide Functions Of HIMC Modbus TCP 3.3 Exception codes When a request is received but cannot be processed, an exception response with an exception code will be sent from HIMC. Supported exception codes in HIMC are as below.
  • Page 12 MH02UE01-1804 HIWIN Modbus TCP User Guide Functions Of HIMC Modbus TCP  int8_t, uint8_t, int16_t and uint16_t Parameters of data types int8_t, uint8_t, int16_t and uint16_t are used for digital inputs or outputs and controller status. The parameter data are stored as below.

  • Page 13: Register Map

    4.4.1 Axis ············································································································· 4-3 4.4.2 System call ··································································································· 4-5 4.4.3 Controller information ······················································································ 4-6 4.4.4 GPIO ··········································································································· 4-7 4.4.5 HMPL task ···································································································· 4-8 4.4.6 User table ····································································································· 4-9 4.4.7 User-defined parameters ················································································ 4-10 4.4.8 Undefined registers ······················································································· 4-10 HIWIN MIKROSYSTEM Corp.

  • Page 14: Coils

    MH02UE01-1804 HIWIN Modbus TCP User Guide Register Map 4.1 Coils Registers for coils are not defined. Users are allowed to use these registers freely. 4.2 Discrete inputs Registers for discrete inputs are not defined. Users are allowed to use these registers freely.

  • Page 15: Axis

    MH02UE01-1804 HIWIN Modbus TCP User Guide Register Map 4.4.1 Axis Users can monitor status and set parameters of each axis by reading or writing the registers assigned for Axis. There are 32 axes in Axis. Table 4.4.1.1 Register Data Parameter...
  • Page 16 MH02UE01-1804 HIWIN Modbus TCP User Guide Register Map Register Data Parameter Attribute Description Unit Address Type Sets or displays position 2 of axis N. P2P position 2 float Read/Write m or rad Note: Position 2 of point-to-point motion Sets or displays the relative distance of axis N.

  • Page 17: System Call

    MH02UE01-1804 HIWIN Modbus TCP User Guide Register Map 4.4.2 System call Users can perform motion control on axes by writing the registers assigned for System Call. System Call includes motion control functions such as emergency stop, jog, relative motion, etc. The registers assigned for System Call are as below.

  • Page 18: Controller Information

    MH02UE01-1804 HIWIN Modbus TCP User Guide Register Map 4.4.3 Controller information Users can monitor controller information such as controller status and error code by reading the registers assigned for Controller Information. The registers assigned for Controller Information are as below.

  • Page 19: Gpio

    MH02UE01-1804 HIWIN Modbus TCP User Guide Register Map 4.4.4 GPIO Users can monitor the statuses of general-purpose inputs or outputs (GPIO) or set general-purpose outputs by reading or writing the registers assigned for GPIO. HIMC provides 8 general-purpose inputs (GPI1~GPI8) and 8 general-purpose outputs (GPO1~GPO8). The registers assigned for GPIO are as below.

  • Page 20: Hmpl Task

    MH02UE01-1804 HIWIN Modbus TCP User Guide Register Map 4.4.5 HMPL task Users can monitor HMPL task status or run HMPL task by reading or writing the registers assigned for HMPL Task. HIMC provides 64 tasks (task 0 to task 63). The registers assigned for HMPL Task are as below.

  • Page 21: User Table

    MH02UE01-1804 HIWIN Modbus TCP User Guide Register Map 4.4.6 User table Users can access the index values in User Table by reading or writing the registers assigned for User Table. There are 128 indexes in User Table. Note: User Table is stored in the memory of HIMC.

  • Page 22: User-Defined Parameters

    MH02UE01-1804 HIWIN Modbus TCP User Guide Register Map 4.4.7 User-defined parameters Users can access the user-defined parameters by reading and writing the registers assigned for User-defined Parameters. The range of register address is from 4x12288 to 4x20479. Users need to define the desired parameters in iA Studio first.

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