CIP-Modbus Integration

Todd A. Snide

Hannover Messe 2008 April 21-25, 2008 page 1 [Link] [Link]

Schneider/Modbus-IDA /ODVA Relationship

Value of ODVA to Schneider Value of Schneider to ODVA

Agenda

Current CIP Modbus Status Purpose and major requirements Technical solution requirements & goals Technical solution summary Technical solution details
Modbus Features CIP Functions supported with Modbus Explicit message Implicit I/O CIP object representing Modbus/TCP device New Modbus TCP CIP object EDS Impact on CIP

Brief Modbus/TCP tutorial

Hannover Messe 2008 April 21-25, 2008 page 2

Schneider Electric/Modbus-IDA/ODVA Cooperation

The Modbus protocol and the EtherNet/IP protocol make up the majority of the installed device level products to date Both are widely accepted standards with outstanding membership and participation There is a large overlap of membership between Modbus-IDA and the ODVA Seamless integration between the protocols is now available A larger installed base is available to both Modbus-IDA and ODVA members through CIP connectivity to other protocols Suppliers benefit from this cooperation through the ability to reach new markets

Hannover Messe 2008 April 21-25, 2008 page 3

Schneider Electric/Modbus-IDA/ODVA Cooperation

Customers want a cost-effective, coherent networking solution from plant floor to boardroom Customers want an industrial Ethernet solution that provides interoperability of multi-vendor systems and protects their investment. Schneider Electric has formed a new cooperation with ODVA to combine the two most successful Industrial Ethernet solutions into a defacto standard This alliance delivers on the promise of a broad, standard and unmodified Ethernet-based fieldbus for the plant floor and access to that information for the rest of the enterprise Multi-vendor, standard solution to compete with closed solutions, like Profinet.

Hannover Messe 2008 April 21-25, 2008 page 4

Cooperation to Accelerate Transparent Ready

Schneider Electric wants to accelerate customer adoption of Transparent Ready.
Reduce the risk of making a decision to use todays Industrial Ethernet solutions. Protect investment for existing users

To achieve this, Schneider Electric has decided to pursue a partnership agreement Key partner criteria:
Shares philosophy around standard Ethernet Collaborative organization not single vendor driven Appreciation for Schneider Electrics commitment to installed base and forward migration
Hannover Messe 2008 April 21-25, 2008 page 5

Why a Network Cooperation with ODVA

Cooperation combines Modbus and EtherNet/IP
Brings together the market power of the two most successful protocols. Both protocols are based on standard Ethernet technology

ODVA will take advantage of Modbus

Leverages Modbus installed base & market share

Schneider Electric can easily take advantage of EtherNet/IP services

No custom hardware required Existing products can be migrated Unique values of EtherNet/IP complement simplicity of Modbus

Hannover Messe 2008 April 21-25, 2008 page 6

Nature of Cooperation
ODVA announces that Schneider Electric will be invited to become an ODVA Principal Member, joining Rockwell, Eaton, Omron, and CISCO, and provide individuals to serve on the ODVA Board of Directors and the Technical Review Board along with active participants in other key ODVA activities. Schneider Electric has expanded its Transparent Ready architecture by supporting both Modbus TCP and EtherNet/IP protocol and services. ODVAs EtherNet/IP technology is being enhanced to support the Modbus TCP protocol and the Modbus Serial protocol. ODVAs technical work will protect the investment of existing Modbus TCP. Modbus Serial and EtherNet/IP device vendors and customers.
Hannover Messe 2008 April 21-25, 2008 page 7

Technical Solution Summary

CIP standard has been enhanced to provide seamless access to Modbus devices Solution Requirements and Commitments:
The solution fits within the ODVA framework No change for Modbus target devices No change for EtherNet/IP target devices

Schneider Electric will upgrade its PLC modules to incorporate EtherNet/IP protocol while ensuring compatibility with existing Modbus devices and systems

Hannover Messe 2008 April 21-25, 2008 page 8

Agenda
Schneider /Modbus-IDA / ODVA Relationship
Value of ODVA to Schneider Value of Schneider to ODVA

Current CIP Modbus Status Purpose and major requirements Technical solution requirements & goals Technical solution summary Technical solution details
Modbus Features CIP Functions supported with Modbus Explicit message Implicit I/O CIP object representing Modbus/TCP device new Modbus/TCP CIP object EDS Impact on CIP

Brief Modbus TCP tutorial

Hannover Messe 2008 April 21-25, 2008 page 9

Current Modbus Integration Status

Formed the Modbus Integration jSIG within the ODVA
20 different companies are members Have held over 40 meetings since inception Ongoing topics to enhance and improve the new Volume 7

Volume 7: Integration of Modbus Devices into CIP

Version 1.0 has been published by the ODVA. Covers Modbus TCP and hooks for Modbus Serial An updated version is expected in the next publication cycle from the ODVA. The next version will include Modbus Serial requirements.

ODVA Conformance Testing

Updating ODVA conformance tests with Modbus translator capabilities.
Hannover Messe 2008 April 21-25, 2008 page 10

Agenda
Schneider/Modbus-IDA/ ODVA Relationship
Value of ODVA to Schneider Value of Schneider to ODVA

Current CIP Modbus Status Purpose and major requirements Technical solution requirements & goals Technical solution summary Technical solution details
Modbus Features CIP Functions supported with Modbus Explicit message Implicit I/O CIP object representing Modbus/TCP device New Modbus/TCP CIP object EDS Impact on CIP

Brief Modbus/TCP tutorial

Hannover Messe 2008 April 21-25, 2008 page 11

Purpose & Requirement

Extend the CIP standard to provide seamless access to Modbus devices Requirements The solution fits within the ODVA framework The solution is consistent with the existing CIP model The solution has significant technical merit, as viewed from outside ODVA No change for the Modbus target devices No change for the EtherNet/IP target devices Constraints Minimize impact to existing EtherNet/IP originator

Hannover Messe 2008 April 21-25, 2008 page 12

Agenda
Schneider/Modbus-IDA/ODVA Relationship
Value of ODVA to Schneider Value of Schneider to ODVA

Current CIP Modbus Status Purpose and major requirements Technical solution requirements & goals Technical solution summary Technical solution details
Modbus Features CIP Functions supported with Modbus Explicit message Implicit I/O CIP object representing Modbus/TCP device New Modbus/TCP CIP object EDS Impact on CIP

Brief Modbus TCP tutorial

Hannover Messe 2008 April 21-25, 2008 page 13

Technical Solution Requirements 1/2

Technical requirement The solution allows Modbus devices to be integrated and accessed from CIP originators and software tools The solution allows CIP originators basic read/write access to data in Modbus devices The solution allows the CIP originator to bring Modbus data into the CIP application in a way that is consistent with the CIP communications model Support all existing devices that can function as a Modbus server device ( including simple devices and complex such as a programmable controller)
Hannover Messe 2008 April 21-25, 2008 page 14

Technical Solution Requirements 2/2

Technical requirement Integration of Modbus devices is consistent with the existing CIP application and communication models Minimize impact to existing CIP originator devices No impact to existing CIP target devices No Impact to existing Modbus server devices Allow existing vendor specific CIP Modbus gateway products to work without change. Desirable that the new mechanism be feasible for implementation in existing products.
Hannover Messe 2008 April 21-25, 2008 page 15

Agenda
Schneider /Modbus-IDA / ODVA Relationship
Value of ODVA to Schneider Value of Schneider to ODVA

Current CIP Modbus Status Purpose and major requirements Technical solution requirements & goals Technical solution summary Technical solution details
Modbus Features CIP Functions supported with Modbus Explicit message Implicit I/O CIP object representing Modbus/TCP device new Modbus/TCP CIP object EDS Impact on CIP

Brief Modbus/TCP tutorial

Hannover Messe 2008 April 21-25, 2008 page 16

Summary of Technical Solution 1/5

The Modbus Integration mechanism: The Modbus translator translates CIP objects and services to Modbus messages. The translator can be implemented in the CIP originator or a CIP router . Defined CIP objects and services that provide read and write access to Modbus data. Allows Modbus function code execution via the Modbus Object. Explicit and implicit messaging from the CIP originator to the Modbus target device. Conversion of CIP messaging to Modbus requests and Modbus responses to CIP messages. EDS files that describe the Modbus capabilities in CIP terms. A generic Modbus file or optionally a device specific file.
Hannover Messe 2008 April 21-25, 2008 page 17

Summary of Technical Solution 2/5

The Target Audience: Developers of CIP originators who wish to implement the Modbus Translator in their device, or wish to allow their devices to communicate via a CIP-to-Modbus router. Developers of CIP router devices who wish to implement the Modbus Translator in a CIP-to-Modbus router (e.g., an EtherNet/IP to Modbus Serial router). Modbus device vendors who wish to understand how their device can be integrated into the CIP to Modbus integration solution (e.g., to be able to create EDS files for Modbus devices).
Hannover Messe 2008 April 21-25, 2008 page 18

Summary of Technical Solution 3/5

Device architecture view: CIP originator to Modbus TCP
Application functions

App can send CIP messages to native EIP devices

Object Library Explicit Messages, I/O Messages Connection Management, Routing

CIP-Modbus translation

App can send CIP messages to Modbus devices via the CIPModbus translation

EtherNet/IP

Modbus/TCP TCP/IP Stack

Ethernet data link & physical layers

Hannover Messe 2008 April 21-25, 2008 page 19

Summary of Technical Solution 4/5

Modbus TCP translation End device Identify through CIP path Translation layer translating Modbus requests in CIP object New CIP Modbus Objects

CIP Originator View

Hannover Messe 2008 April 21-25, 2008 page 20

Summary of Technical Solution 5/5

New CIP communication mechanisms allow existing, unmodified Modbus devices to be seamlessly accessed from a CIP-originator devices
Controller
Application functions Object Library Explicit Messages, I/O Messages Connection Management, Routing CIP-Modbus translation EtherNet/IP Modbus/TCP TCP/IP Stack Ethernet data link & physical layers Backplane EIP Config

Prog tool

Download

Scanner Config

EtherNet/IP Device

Modbus/TCP Device
Hannover Messe 2008 April 21-25, 2008 page 21

Agenda
Schneider/Modbus-IDA/ODVA Relationship
Value of ODVA to Schneider Value of Schneider to ODVA

Current CIP Modbus Status Purpose and major requirements Technical solution requirements & goals Technical solution summary Technical solution details
Modbus Features CIP Functions supported with Modbus Explicit message Implicit I/O CIP object representing Modbus TCP device New Modbus TCP CIP object EDS Impact on CIP

Brief Modbus/TCP tutorial

Hannover Messe 2008 April 21-25, 2008 page 22

Modbus Features Used with CIP 1/4

There are no required Modbus function codes for use with CIP
Modbus devices do not share common function codes. Required to work with any Modbus device

Recommended Modbus function codes are:

FC FC FC FC 03 Read Holding Registers 16 Write Multiple Registers 23 Read/Write Multiple Registers 43/14 Read Device Identification

Use would allow a Modbus device to more easily integrate with CIP.
Vendors designing new Modbus products or updating existing firmware are strongly encouraged to support at least this recommended function list
Hannover Messe 2008 April 21-25, 2008 page 23

Modbus Features Used with CIP 2/4

CIP does not specify a configuration method. For Modbus TCP configuration BootP, DHCP, integrated HMI or an external port could be used. DHCP is recommended since this is the method recommended by Ethernet/IP For device configuration use of contiguous registers is recommended as then the device can receive configuration upon the opening of a CIP I/O connection. Vendors are encouraged not to mix read-only and readwrite registers or to create holes of unsupported registers within configuration areas. Use of an EDS file is recommended to help CIP-based configuration tools.
Hannover Messe 2008 April 21-25, 2008 page 24

Modbus Features Used with CIP 3/4

CIP is not aware of Modbus timeouts. Mismatched timeout lengths between CIP and Modbus need to be considered. The Modbus Translator will handle byte swapping to the Modbus device. CIP is Little Endian and Modbus is Big Endian, the translator takes care of this for the user. For I/O Connections the connection size indicates how many registers will be read or written on the device. This is indicated by the Instance ID. For best use in CIP, detailed data map of the Modbus tables on the Modbus device from the vendor is important.
Hannover Messe 2008 April 21-25, 2008 page 25

Modbus Features Used with CIP 4/4

Care is needed to be sure CIP refresh rate is not faster than the rate at the target Modbus device can consume the corresponding writes.
Mismatched timeout lengths between CIP and Modbus need to be considered. It is possible to have multiple writes from the CIP side through the Modbus translator to the target Modbus device. There is no correlation between the CIP sequence number and the Modbus transaction identifier .

Modbus devices require an independent read function in order to work with CIP I/O connections.
Devices that otherwise would use Function Code 23 (FC23) only are recommended to also implement the read Function Code 03. Schneider does not have devices using only FC23.
Hannover Messe 2008 April 21-25, 2008 page 26

Agenda
Schneider/Modbus-IDA/ODVA Relationship
Value of ODVA to Schneider Value of Schneider to ODVA

Current CIP Modbus Status Purpose and major requirements Technical solution requirements & goals Technical solution summary Technical solution details
Modbus Features CIP Functions supported with Modbus Explicit message Implicit I/O CIP object representing Modbus TCP device New Modbus TCP CIP object EDS Impact on CIP

Brief Modbus TCP tutorial

Hannover Messe 2008 April 21-25, 2008 page 27

CIP Functions Supported with Modbus 1/2

Unconnected Explicit Messaging Connected Class 3 Explicit Messaging Connected Class 1 Implicit Messaging With Cyclic triggering Connected Implicit works with transport class 3 32-bit Run/Idle headers for O->T Modeless in the T->O direction Unicast in the T->O and O->T directions
Hannover Messe 2008 April 21-25, 2008 page 28

CIP Functions Supported with Modbus 2/2

Multicast for T->O (with RPI matching) Data Segment For Modbus devices with their configuration data in a contiguous item block Implicit ExclusiveOwner and InputOnly There is no notion of redundant ownership Parameter Objects Assembly Objects Identity Object Modbus Object
Hannover Messe 2008 April 21-25, 2008 page 29

Agenda
Schneider/Modbus-IDA/ODVA Relationship
Value of ODVA to Schneider Value of Schneider to ODVA

Current CIP Modbus Status Purpose and major requirements Technical solution requirements & goals Technical solution summary Technical solution details
Modbus Features CIP Functions supported with Modbus Explicit message Implicit I/O CIP object representing Modbus TCP device New Modbus TCP CIP object EDS Impact on CIP

Brief Modbus TCP tutorial

Hannover Messe 2008 April 21-25, 2008 page 30

Explicit Message : What the CIP Originator Sees

Explicit messaging Explicit messages support connected and unconnected mode . Modbus TCP is identified CIP connection via the path Both Modbus TCP and Modbus Serial have specific CIP Port Types. The port number signifies connection to a Modbus target. Each Modbus device appears as a CIP device with CIP application objects and native CIP communications. List of CIP objects (parameter object or Modbus object) and services exposed for the Modbus TCP device are referred in CIP Object translation. The Modbus Translator provides the CIP capability.
Hannover Messe 2008 April 21-25, 2008 page 31

Explicit Connected Message to Modbus TCP

CIP Originator
FwdOpen request Open TCP connection FwdOpen reply Explicit msg request, class=Param or MB object CIP reply TCP connection opened

Translator

Modbus TCP Target

Modbus request Modbus reply

FwdClose Request Close TCP connection FwdClose reply TCP connection closed
Hannover Messe 2008 April 21-25, 2008 page 32

Explicit Connected Message to Modbus TCP with No Modbus Reply

CIP Originator
FwdOpen request Open TCP connection FwdOpen reply Explicit msg request, class=Param or MB object Start inactivity timer (e.g. 4*RPI) CIP retry at each RPI CIP retry at each RPI CIP retry at each RPI Modbus request CIP retry at each RPI Modbus request No CIP reply Inactivity timer expires Delete CIP connection Inactivity timer expires Delete CIP connection TCP Retransmission finished; TCP connection is reset
Hannover Messe 2008 April 21-25, 2008 page 33

Translator

Modbus TCP Target

TCP connection opened

Modbus request TCP retransmission algorithm started Reset and restart Inactivity timer (e.g. 4*RPI) at each reception of a CIP message. Modbus request Modbus request

Explicit Unconnected Message to Modbus TCP

CIP Originator
UnconnectedSend

Translator
Open TCP connection

Modbus TCP Target

TCP connection opened Modbus request Modbus reply

UnconnectedSend reply Close TCP connection TCP connection closed

Hannover Messe 2008 April 21-25, 2008 page 34

Explicit Unconnected Message to Modbus TCP with No Modbus Reply

CIP Originator
UnconnectedSend

Translator
Open TCP connection

Modbus TCP Target

TCP connection opened Modbus request Start Modbus Response Timer = CIP Request Timeout (provided by CIP Request) and TCP retransmission

No Modbus reply Request Time-out Timer expires UnconnectedSend reply indicating a Routing Error TCP Retransmission finished: TCP connection is reset
Hannover Messe 2008 April 21-25, 2008 page 35

Explicit Message : CIP Object to Modbus TCP

The Parameter Object instances are used for explicit messaging Get/Set single Attribute service for reading/writing one data items New Modbus TCP application object allows access to multiple data items and additional Modbus TCP function codes Services for read and write of multiple data items (Holding Registers, Coils, etc.) Service to allow explicit pass through of any Modbus TCP function code Appropriate EDS constructs if needed to support the new object (in the translation device and/or the Modbus TCP device EDS)
Hannover Messe 2008 April 21-25, 2008 page 36

Explicit Connection Example

to read 4 contiguous input registers starting at index 11
calling the service Get_Member, for Class ID = 0x04 (Assembly Class ID), Instance ID = 0x0001000B with the parameter Member ID = 1, Using the Member Services Multiple Sequential Member protocol, specify 4 members

Hannover Messe 2008 April 21-25, 2008 page 37

Explicit Connection Example: Alternatives

to read 4 contiguous input registers starting at index 11, Using the Modbus Object.
calling the service Read Input Registers (0x4D), for Class ID = 0x?? (Modbus Class ID), Instance ID = 1, with the Starting Address parameter = 11 and the Quantity of Input Registers parameter = 4,

Can also be accessed one at a time with the Parameter object. Using the GetAttributeSingle service.
Hannover Messe 2008 April 21-25, 2008 page 38

Agenda
Schneider/Modbus-IDA/ODVA Relationship
Value of ODVA to Schneider Value of Schneider to ODVA

Current CIP Modbus Status Purpose and major requirements Technical solution requirements & goals Technical solution summary Technical solution details
Modbus Features CIP Functions supported with Modbus Explicit message Implicit I/O CIP object representing Modbus TCP device New Modbus TCP CIP object EDS Impact on CIP

Brief Modbus/TCP tutorial

Hannover Messe 2008 April 21-25, 2008 page 39

Implicit I/O : Modbus TCP Translation 1/4

Assembly Objects point to 250 byte blocks within the four Modbus data items tables Parameter Objects point to individual data item in the tables Each Modbus data table is assigned a block of Assembly and Parameter Instances
Holding Registers (table of 0x10000 data) => accessible through Assembly Instance #0x00001, to instance #0x10000 Input Registers ( table of 0x10000 data) => accessible through Assembly instance #0x10001 to instance #0x20000 Coils ( table of 0x10000 data) => accessible through Assembly instance #0x20001 to instance #0x30000 Discrete Input ( table of 0x10000 data) => accessible through Assembly instance #0x30001 to instance #0x40000

Each Modbus TCP data items offset in a table is represented by an instance number (1 based offset)

Hannover Messe 2008 April 21-25, 2008 page 40

Implicit I/O: Modbus TCP Translation 2/4

The number of data items to be read/written is determined by the produced/consumed connection size within the ForwardOpen. Example: to write 4 Holding Registers, starting at register number 20 (table offset 19): O->T Connection path of Class Assembly, Instance 20 O->T Connection size of 8 I/O connection to read 8 Input Registers, starting at register number 4 (table offset 3): T->O Connection path of Class Assembly, Instance 0x10004 T->O Connection size of 16 (connection size is specified in bytes)
Hannover Messe 2008 April 21-25, 2008 page 41

Implicit I/O: Modbus TCP Translation 3/4

CIP Originator Translator
Open TCP connection FwdOpen request : assembly , instance xx, connection size

Modbus/TCP Target

TCP connection opened FwdOpen reply

Output packet (originator-to-target) Note: Output packet triggers Modbus write. Timer triggers Modbus read. Reply triggers Input packet.

Modbus write request (FC 16) Modbus reply

Modbus read request (FC 03) This sequence is repeated indefinitely. Input packet (target-to-originator) Fwd Close request Fwd Close reply
Hannover Messe 2008 April 21-25, 2008 page 42

Modbus reply

Close TCP connection TCP connection closed

CIP Originator

Implicit I/O: Modbus TCP Translation with No Modbus Reply 4/4

Translator
Modbus read request (FC 03)

Modbus/TCP Target

Modbus reply input packet (target-to-originator)

Output packet (originator-to-target) Start inactivity timer (e.g. 4*RPI) Modbus write request (FC 16) TCP retransmission algorithm started Output packet (originator-to-target) Reset Inactivity timer (e.g. 4*RPI) at each reception of a CIP message.

Output packet (originator-to-target)

No Modbus reply

No Input Packet Inactivity timer expires Delete CIP connection (T->O and O->T)

Inactivity timer expires Delete CIP connection (T->O and O->T) TCP Retransmission finished: TCP connection is reset

Hannover Messe 2008 April 21-25, 2008 page 43

Agenda
Schneider/Modbus-IDA/ODVA Relationship
Value of ODVA to Schneider Value of Schneider to ODVA

Current CIP Modbus Status Purpose and major requirements Technical solution requirements & goals Technical solution summary Technical solution details
Modbus Features CIP Functions supported with Modbus Explicit message Implicit I/O CIP object representing Modbus TCP device New Modbus TCP CIP object EDS Impact on CIP

Brief Modbus/TCP tutorial

Hannover Messe 2008 April 21-25, 2008 page 44

CIP Object Representing a Modbus Device 1/4

Minimum CIP Objects Required:

Object Class Optional / Required # of Instances Note

Identity Message Router Connection Manager Modbus Parameter Assembly

Required Required Required Required Required Required

1 1 1 1 1 .. n 1 .. n Device Specific Device Specific

Hannover Messe 2008 April 21-25, 2008 page 45

CIP Object Representing a Modbus Device 2/4

Identity :
A minimum set of attributes, populated with data from the Modbus device

Message Router : supported

behavior will be managed by the translator

Connection manager : supported

behavior will be managed by the translator

Modbus :
Provides Modbus Table specific services

Parameter:
Provides access to an individual data item within the Modbus data tables

Assembly:
Provides a translation into the Modbus data item tables
Hannover Messe 2008 April 21-25, 2008 page 46

CIP Object Representing a Modbus Device 3/4

Identity Object translation

Attributes of the Identity Object will be populated using data obtained through Modbus Services.
An example is FC 43/14

Device Identification Objects not supported by the Modbus device are represented by zero length strings. If a Modbus device does not support the Read Device Identification function then it returns Unknown Modbus Device.
Hannover Messe 2008 April 21-25, 2008 page 47

CIP Object Representing a Modbus Device 4/4

Modbus Specific Instance Attributes
All information in ASCII string with no standardization about the content
ID 1 2 3 4 5 6 7 8-17 18 All others Name Vendor ID Device Type Product Code Revision Status Serial Number Product Name Not allowed Modbus ID info Not allowed
Hannover Messe 2008 April 21-25, 2008 page 48

Data Type ASCII String ASCII String ASCII String ASCII String ASCII String ASCII String ASCII String Required Required Required Required Required Required

Required/Conditional

Required: returns unknown Modbus device w/o FC 43/14 Conditional: required for FC 43/14

Device dependent

Agenda
Schneider/Modbus-IDA/ODVA Relationship
Value of ODVA to Schneider Value of Schneider to ODVA

Current CIP Modbus Status Purpose and major requirements Technical solution requirements & goals Technical solution summary Technical solution details
Modbus Features CIP Functions supported with Modbus Explicit message Implicit I/O CIP object representing Modbus/TCP device new Modbus/TCP CIP object EDS Impact on CIP

Brief Modbus/TCP tutorial

Hannover Messe 2008 April 21-25, 2008 page 49

EDS files
Modbus devices are not required to have EDS files
GenericModbusDevice EDS files allow EDS-based originators to connect to Modbus target devices Indicate use of the Assembly Object instances for I/O connections

Modbus devices may, if desired, provide an EDS file to better describe the devices specific data
E.g., indicate which Modbus data items are in the device; use Param entries to detail device-specific parameters

The GenericModbusDevice EDS file provides a starting point for a configuration tool to create the I/O Connection setup for a Modbus device represented by a CIP model.
Defines the potential CIP capability in any Modbus device.
Hannover Messe 2008 April 21-25, 2008 page 50

Agenda
Schneider/Modbus-IDA/ODVA Relationship
Value of ODVA to Schneider Value of Schneider to ODVA

Current CIP Modbus Status Purpose and major requirements Technical solution requirements & goals Technical solution summary Technical solution details
Modbus Features CIP Functions supported with Modbus Explicit message Implicit I/O CIP object representing Modbus TCP device New Modbus TCP CIP object EDS Impact on CIP

Brief Modbus/TCP tutorial

Hannover Messe 2008 April 21-25, 2008 page 51

Impact on CIP
The goal was to minimize the impact of incorporating Modbus into CIP. There is some impact on CIP because of Modbus. CIP Common Specification Enhancement CIPSE001-078 was approved by the ODVA to support these changes. The possible and likely sharing of a physical Ethernet port by EtherNet/IP and Modbus TCP creates the need for the changes.
Hannover Messe 2008 April 21-25, 2008 page 52

Impact on CIP: Port Object

There are two new port types to the Port Object (Port Object Instance Attributes): Modbus/TCP Modbus/SL ModbusTCP indicates it is a Modbus TCP port. Indicated by the semantic 201 ModbusSL indicates it is a Modbus Serial port. Indicated by the semantic 202

Hannover Messe 2008 April 21-25, 2008 page 53

Impact on CIP: Port Object Updated the fourth attribute to the Port Object called the Port Name.
Requires all CIP Ports that share the same physical network to have the same Port Name. SHORT _STRING which names the Physical Network Port. (maximum of 64 characters, example Port A). Must be unique for each port. One cannot apply the same Port Name to two (or more) Physical Network Ports.

Hannover Messe 2008 April 21-25, 2008 page 54

Impact on CIP: Object Library

The Modbus Object has been added to the Object Specifications in the CIP Object Library
The Class Code is 44 Hex.

Addition of the Modbus Identity Info attribute to the Identity Object Instance Attributes.
A conditional attribute for Modbus devices only.

Hannover Messe 2008 April 21-25, 2008 page 55

Impact on CIP: EDS

Write Only parameter added to the Device Profiles
Added to the Parameter Object Descriptor Attribute. Indicate the Parameter Value attribute can be set and NOT read.

Two new Device Classifications:

Modbus/TCP Modbus/SL

The Port Name field is now conditional.

Was optional Required if the CIP port shares a physical network with another CIP port
Hannover Messe 2008 April 21-25, 2008 page 56

Impact on CIP: EDS

Scaling Offset field was changed
A Field in the Parameter Section, Field Number 16 Was a data type INT Changed to data type DINT Increases the range to accommodate Modbus, the mapping is hidden in the translator.

Hannover Messe 2008 April 21-25, 2008 page 57

Impact on CIP: General

A new general error code added for Modbus Integration
Unknown Modbus Error hex code 2B When an unknown Modbus Exception code is seen be the Modbus translator.

Hannover Messe 2008 April 21-25, 2008 page 58

Agenda
Schneider/Modbus-IDA/ODVA Relationship
Value of ODVA to Schneider Value of Schneider to ODVA

Current CIP Modbus Status Purpose and major requirements Technical solution requirements & goals Technical solution summary Technical solution details
Modbus Features CIP Functions supported with Modbus Explicit message Implicit I/O CIP object representing Modbus TCP device New Modbus TCP CIP object EDS Impact on CIP

Brief Modbus/TCP tutorial

Hannover Messe 2008 April 21-25, 2008 page 59

Modbus TCP Tutorial: The Modbus Protocol 1/6

MODBUS Protocol is a messaging structure introduced to the market by Modicon in 1979, used to establish masterslave/client-server communication between intelligent devices. Since Modbus protocol is just a messaging structure, it is independent of the underlying physical layer. It is usually implemented using
RS232, RS422, RS485, TCP IP over Ethernet Over a variety of other media (e.g. wireless, fiber, radio, cellular, etc.) Modbus Plus, a high speed token passing network

MODBUS is a de facto standard and open. Schneider Electric has transferred the Specifications for Modbus and MODBUS TCP protocols to Modbus-IDA.
Hannover Messe 2008 April 21-25, 2008 page 60

Modbus TCP Tutorial: Technology Overview 2/6

MODBUS APPLICATION LAYER
Modbus Application protocol specification

MODBUS MAPPING ON Modbus TCP/IP messaging on TCP/IP

Implementation guide

TCP
IETF RFC 793

IP
IETF RFC 791

Other

SERIAL LINE MASTER / SLAVE

Modbus messaging on Serial line implementation guide (Under dev.) TIA/EIA-232 -F TIA/EIA-485 -A
Hannover Messe 2008 April 21-25, 2008 page 61

Ethernet II / 802.3 IEEE 802.2

Ethernet Physical Layer

Other

Modbus TCP Tutorial: Application Layer 3/6

Modbus is a simple Master (Client) / Slave (Server) Application protocol
The Client prepares and sends a Request to the server The Server analyses the request, processes the request, and sends an answer to the Client.

Modbus is a scalable protocol

A server can implement a subset of Modbus protocol

Modbus comprises Public and User Defined function codes Modbus application protocol proposes a list of function codes to read or write data or to activate remote processing on a remote server
Read / Write list of data words, Read/Write list of bits Diagnostic, Identification
Hannover Messe 2008 April 21-25, 2008 page 62

Modbus TCP Tutorial: Application Data Unit 4/6

The MODBUS protocol defines a simple protocol data unit (PDU) independent of the underlying communication layers. The translation of MODBUS protocol on specific buses or network can introduce some additional fields on the application data unit (ADU). ADU
Additionaladdress Function code Data Error check

PDU For Ethernet TCP/IP

MODBUS TCP/IP ADU

MBAP Header

Function code

Data

MBAP (Modbus Application Protocol ) TCP/IP Hannover Messe 2008 April 21-25, 2008 encapsulation header
page 63

MODBUS PDU

Modbus TCP Tutorial: Function Codes Read & Write Data 5/6
MODBUS uses a big-Endian representation for some addresses and data items. MODBUS bases its data on a series of tables. The four primary tables are:

Hannover Messe 2008 April 21-25, 2008 page 64

Modbus TCP Tutorial : All Public Function Code Definitions 6/6

Public function codes:
cover both Modbus TCP and Modbus SL cover Read/write data and other command/services

Hannover Messe 2008 April 21-25, 2008 page 65