Lexium 32M - Ethernet TCP - IP Modbus

LXM32M
0198441113843 07/2020
LXM32M
Ethernet TCP/IP Module (Protocol Modbus-
TCP)
Fieldbus manual
07/2020
0198441113843.00
www.schneider-electric.com
The information provided in this documentation contains general descriptions and/or technical character-
istics of the performance of the products contained herein. This documentation is not intended as a
substitute for and is not to be used for determining suitability or reliability of these products for specific user
applications. It is the duty of any such user or integrator to perform the appropriate and complete risk
analysis, evaluation and testing of the products with respect to the relevant specific application or use
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© 2020 Schneider Electric. All rights reserved.
2 0198441113843 07/2020
Table of Contents
Safety Information. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
About the Book . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Chapter 1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Fieldbus Devices on the Modbus TCP Network . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Chapter 2 Basics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
2.1 Modbus TCP Fieldbus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Modbus TCP Technology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Modbus TCP Protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
2.2 Modbus TCP Communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Connection management . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Modbus Response to a Modbus Request . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Reading and Writing Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
I/O Scanning to "Drive Profile Lexium" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
I/O Scanning - Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
I/O Scanning - Input. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
I/O Scanning - Parameter Channel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
2.3 Modbus Services - "Function Code" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
"Function Code" 3 (Read Multiple Registers) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
"Function Code" 8 (Diagnostics) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
"Function Code" 16 (Write Multiple Registers) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
"Function Code" 23 (ReadWrite Multiple Registers) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
"Function Code" 43 (Encapsulated Interface Transport) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
Example of "Function Code" 3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
Example of "Function Code" 16. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
Chapter 3 Installation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Installation of the Module. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Chapter 4 Commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Preparation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
Performing a “First Setup” . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
Network Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
Settings for Communication with I/O Scanning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
Settings for Communication without I/O Scanning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
Chapter 5 Operating States and Operating Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
5.1 Operating States . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
Indication of the Operating State via Fieldbus. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
Changing the Operating State via Fieldbus. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
5.2 Operating Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
Indicating an Operating Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
Starting and Changing an Operating Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
Overview of Operating Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
Operating Mode Jog . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
Operating Mode Electronic Gear . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
Operating Mode Profile Torque . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
Operating Mode Profile Velocity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
Operating Mode Profile Position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
Operating Mode Homing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
Operating Mode Motion Sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
0198441113843 07/2020 3
Chapter 6 Diagnostics and Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
Fieldbus Communication Error Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
Fieldbus Test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
Fieldbus Status LEDs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
Error Indication. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
Glossary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
4 0198441113843 07/2020
Safety Information
Important Information
NOTICE
Read these instructions carefully, and look at the equipment to become familiar with the device before
trying to install, operate, service, or maintain it. The following special messages may appear throughout
this documentation or on the equipment to warn of potential hazards or to call attention to information that
clarifies or simplifies a procedure.
PLEASE NOTE
Electrical equipment should be installed, operated, serviced, and maintained only by qualified personnel.
No responsibility is assumed by Schneider Electric for any consequences arising out of the use of this
material.
A qualified person is one who has skills and knowledge related to the construction and operation of
electrical equipment and its installation, and has received safety training to recognize and avoid the
hazards involved.
QUALIFICATION OF PERSONNEL
Only appropriately trained persons who are familiar with and understand the contents of this manual and
all other pertinent product documentation are authorized to work on and with this product. These persons
must have sufficient technical training, knowledge and experience and be able to foresee and detect
potential hazards that may be caused by using the product, by modifying the settings and by the
mechanical, electrical and electronic equipment of the entire system in which the product is used.
The qualified person must be able to detect possible hazards that may arise from parameterization,
modifying parameter values and generally from mechanical, electrical, or electronic equipment.
The qualified person must be familiar with the standards, provisions, and regulations for the prevention of
industrial accidents, which they must observe when designing and implementing the system.
0198441113843 07/2020 5
INTENDED USE
The products described or affected by this document are, along with software, accessories and options,
servo-drive systems for three-phase servo motors. The products are intended for industrial use according
to the instructions, directions, examples and safety information contained in the present user guide and
other supporting documentation.
The product may only be used in compliance with all applicable safety regulations and directives, the
specified requirements and the technical data.
Prior to using the products, you must perform a risk assessment in view of the planned application. Based
on the results, the appropriate safety-related measures must be implemented.
Since the products are used as components in an overall machine or process, you must ensure the safety
of persons by means of the design of this overall machine or process.
Operate the products only with the specified cables and accessories. Use only genuine accessories and
spare parts.
Any use other than the use explicitly permitted as described herein is prohibited and may result in
unanticipated hazards.
6 0198441113843 07/2020
About the Book
At a Glance
Document Scope
The information provided in this manual supplements the user guide of the drive LXM32M.
The functions described in this manual are only intended for use with the associated product. You must
read and understand the appropriate user guide.
Validity Note
This manual applies to the module Ethernet TCP/IP (protocol Modbus-TCP) for the product LXM32M,
module identification ETH (VW3A3616).
For product compliance and environmental information (RoHS, REACH, PEP, EOLI, etc.), go to
www.schneider-electric.com/green-premium.
The technical characteristics of the devices described in the present document also appear online. To
access the information online, go to the Schneider Electric home page
https://www.se.com/ww/en/download/.
The characteristics that are described in the present document should be the same as those character-
istics that appear online. In line with our policy of constant improvement, we may revise content over time
to improve clarity and accuracy. If you see a difference between the document and online information, use
the online information as your reference.
Related Documents
Title of documentation Reference number

LXM32M - Ethernet TCP/IP Module (Protocol Modbus-TCP) - Fieldbus 0198441113843 (eng)
manual (this manual) 0198441113844 (fre)
0198441113842 (ger)
Lexium 32M - Servo Drive - User Guide 0198441113767 (eng)
0198441113768 (fre)
0198441113766 (ger)
0198441113770 (spa)
0198441113769 (ita)
0198441113771 (chi)
You can download these technical publications and other technical information from our website at
www.schneider-electric.com/en/download.
Product Related Information
WARNING
LOSS OF CONTROL
 The designer of any control scheme must consider the potential failure modes of control paths and,
for certain critical control functions, provide a means to achieve a safe state during and after a path
failure. Examples of critical control functions are emergency stop and overtravel stop, power outage
and restart.
 Separate or redundant control paths must be provided for critical control functions.
 System control paths may include communication links. Consideration must be given to the
implications of unanticipated transmission delays or failures of the link.
 Observe all accident prevention regulations and local safety guidelines.1
 Each implementation of this equipment must be individually and thoroughly tested for proper operation
before being placed into service.
Failure to follow these instructions can result in death, serious injury, or equipment damage.
0198441113843 07/2020 7
1
For additional information, refer to NEMA ICS 1.1 (latest edition), “Safety Guidelines for the Application,
Installation, and Maintenance of Solid State Control” and to NEMA ICS 7.1 (latest edition), “Safety
Standards for Construction and Guide for Selection, Installation and Operation of Adjustable-Speed Drive
Systems” or their equivalent governing your particular location.
For reasons of Internet security, TCP/IP forwarding is disabled by default. Therefore, you must manually
enable TCP/IP forwarding. However, doing so may expose your network to possible cyberattacks if you do
not take additional measures to protect your enterprise. In addition, you may be subject to laws and
regulations concerning cybersecurity.
WARNING
UNAUTHENTICATED ACCESS AND SUBSEQUENT NETWORK INTRUSION
 Observe and respect any and all pertinent national, regional and local cybersecurity and/or personal
data laws and regulations when enabling TCP/IP forwarding on an industrial network.
 Isolate your industrial network from other networks inside your company.
 Protect any network against unintended access by using firewalls, VPN, or other, proven security
measures.
Consult the Schneider Electric Cybersecurity Best Practices for additional information.
Use the latest firmware version. Visit https://www.se.com or contact your Schneider Electric representative
for information on firmware updates that may involve Ethernet connections.
Terminology Derived from Standards

The technical terms, terminology, symbols and the corresponding descriptions in this manual, or that
appear in or on the products themselves, are generally derived from the terms or definitions of international
standards.
In the area of functional safety systems, drives and general automation, this may include, but is not limited
to, terms such as safety, safety function, safe state, fault, fault reset, malfunction, failure, error, error
message, dangerous, etc.
Among others, these standards include:
Standard Description
IEC 61131-2:2007 Programmable controllers, part 2: Equipment requirements and tests.
ISO 13849-1:2015 Safety of machinery: Safety related parts of control systems.
General principles for design.
EN 61496-1:2013 Safety of machinery: Electro-sensitive protective equipment.
Part 1: General requirements and tests.
ISO 12100:2010 Safety of machinery - General principles for design - Risk assessment and risk
reduction
EN 60204-1:2006 Safety of machinery - Electrical equipment of machines - Part 1: General
requirements
ISO 14119:2013 Safety of machinery - Interlocking devices associated with guards - Principles
for design and selection
ISO 13850:2015 Safety of machinery - Emergency stop - Principles for design
IEC 62061:2015 Safety of machinery - Functional safety of safety-related electrical, electronic,
and electronic programmable control systems
IEC 61508-1:2010 Functional safety of electrical/electronic/programmable electronic safety-
related systems: General requirements.
related systems: Requirements for electrical/electronic/programmable
electronic safety-related systems.
related systems: Software requirements.
IEC 61784-3:2016 Industrial communication networks - Profiles - Part 3: Functional safety
fieldbuses - General rules and profile definitions.
2006/42/EC Machinery Directive
2014/30/EU Electromagnetic Compatibility Directive
8 0198441113843 07/2020
2014/35/EU Low Voltage Directive
In addition, terms used in the present document may tangentially be used as they are derived from other
standards such as:
IEC 60034 series Rotating electrical machines
IEC 61800 series Adjustable speed electrical power drive systems
IEC 61158 series Digital data communications for measurement and control – Fieldbus for use in
industrial control systems
Finally, the term zone of operation may be used in conjunction with the description of specific hazards, and
is defined as it is for a hazard zone or danger zone in the Machinery Directive (2006/42/EC) and
ISO 12100:2010.
NOTE: The aforementioned standards may or may not apply to the specific products cited in the present
documentation. For more information concerning the individual standards applicable to the products
described herein, see the characteristics tables for those product references.
0198441113843 07/2020 9
10 0198441113843 07/2020
LXM32M
Introduction
0198441113843 07/2020
Chapter 1
Introduction
Introduction
Fieldbus Devices on the Modbus TCP Network
Overview
Different products with a Modbus TCP interface can be operated via a fieldbus. Modbus TCP is a fieldbus
that allows multiple devices to be networked.
Features
The product supports the following functions via Modbus TCP:
 Automatic IP address assignment via BOOTP/DHCP or manual IP address
 Commissioning via commissioning software
 Reading and writing parameters
 Controlling the drive with or without motion libraries
 Monitoring inputs and outputs
 Diagnostics and monitoring functions
0198441113843 07/2020 11
Introduction
12 0198441113843 07/2020
LXM32M
Basics
0198441113843 07/2020
Chapter 2
Basics
Basics
The information contained in this chapter provides a general overview of the various protocols of the
fieldbus as it applies to the equipment in the present document. It is not intended as a thorough treatment
of the subject, nor is it a sufficient basis to design and deploy a fieldbus network in any given application.
The following information is intended to be consulted in an as needed, as is basis. Only appropriately
trained persons who are familiar with and have the education and training necessary to understand the
contents of this information, as well as all other pertinent product documentation, are authorized to work
on and with this equipment.
What Is in This Chapter?

This chapter contains the following sections:
Section Topic Page
2.1 Modbus TCP Fieldbus 14
2.2 Modbus TCP Communication 17
2.3 Modbus Services - "Function Code" 27
0198441113843 07/2020 13
Basics
Section 2.1
Modbus TCP Fieldbus
Modbus TCP Fieldbus
What Is in This Section?

This section contains the following topics:
Topic Page
Modbus TCP Technology 15
Modbus TCP Protocol 16
14 0198441113843 07/2020
Basics
Modbus TCP Technology
Function Principle
Modbus TCP is an Ethernet fieldbus. Modbus TCP describes the transmission of the Modbus protocol via
the Ethernet interface and the TCP/IP transport and network layers.
The Modbus TCP client (master) connects to the Modbus TCP server (slave). Once the connection is
established, the client sends Modbus requests to the server. These requests are processed by the server.
The result is returned to the client as a Modbus response.
The Modbus TCP services are identical to the Modbus RTU services.
Bus Topology
Modbus TCP allows for the use of hubs or switches. Use switches in the case of high bus loads with many
devices.
The maximum length of a segment is 100 m (328 ft). A segment consists of devices and hubs. A network
can be subdivided into several segments by means of gateways or switches. For a fast bus cycle, keep the
cables short and use a star topology.
The transmission rate is 10 or 100 MBit/s in half-duplex mode. If switches are used, transmission is also
possible in full duplex mode.
Client-Server Model
The Modbus messaging service implements client-server communication between devices connected by
means of a TCP/IP network. Modbus TCP does not use an object dictionary.
The client-server model is based on four types of messages:
 Request: Message sent by the client to initiate a transaction.
 Indication: Request as received by the server.
 Response: Response message to the request sent by the server.
 Confirmation: Response as received by the client.
A communication cycle consists of the request from the client (request from the fieldbus master) and a
response from the server (response from the fieldbus slave). Modbus request and Modbus response have
the same structure. If an error is detected on receipt of the Modbus request or if the slave cannot execute
the action, the slave sends an error message in the Modbus response.
The drive analyzes the Modus requests received. Depending on the Modbus request, the drive triggers
actions or provides requested data.
Network Service SNMP

The Network Management System can exchange data with SNMP devices. The tasks of the network
management system comprise monitoring, control, and configuration of network components as well as
error detection and error messaging.
The product supports SNMP version 1.0. An SNMP agent must be used to monitor a network with SNMP.
0198441113843 07/2020 15
Basics
Modbus TCP Protocol
Overview
The Modbus protocol defines a Modbus PDU (Protocol Data Unit) which is independent of the underlying
communication layers. This Modbus PDU consists of the fields “Function Code” and “Data”. Depending on
the mapping to the different network protocols, the Modbus PDU is extended by additional fields in the
Modbus ADU (Application Data Unit). The Modbus PDU and the Modbus ADU constitute the Modbus
message, also referred to as “Frame”.
Structure of a Modbus message
The “Function Code” of a message specifies the Modbus service to be triggered. The “Data” field can
contain additional information, depending on the “Function Code”.
Due to the encapsulation of “Function Code” and “Data” in the Modbus PDU, different Modbus versions
can use same Modbus services and object model.
The maximum size of a Modbus ADU is 260 bytes. The size of an embedded Modbus PDU is 253 bytes.
MBAP Header
The MBAP header contains the information allowing the recipient to uniquely identify a message.
The MBAP header has a length of seven bytes and contains the following fields:
Field Length Description

Transaction Identifier 2 bytes Identification of a Modbus request or Modbus response.
Protocol Identifier 2 bytes Value 0 means Modbus protocol.
Length 2 bytes Byte counter for the subsequent fields (“Unit Identifier”,
“Function Code” and "Data").
Unit Identifier 1 byte Identification of a slave connected to another bus via a serial
line.
16 0198441113843 07/2020
Basics
Section 2.2
Modbus TCP Communication
Modbus TCP Communication

Topic Page
Connection management 18
Modbus Response to a Modbus Request 19
Reading and Writing Parameters 20
I/O Scanning to "Drive Profile Lexium" 21
I/O Scanning - Output 22
I/O Scanning - Input 23
I/O Scanning - Parameter Channel 25
0198441113843 07/2020 17
Basics
Connection management
Establishing of a Connection
The Modbus TCP server allows for TCP connections via the default port 502. A client can establish a new
connection via this port. If the client is to exchange data with a remote server, a new client connection via
remote port 502 must be established.
Closing a Connection
After the Modbus communication between the client and a server is finished, the client causes the
connection used to be closed.
The server does not close the connection under normal circumstances.
However, when errors are detected, the server closes the connection, for example:
 Communication error detected
 Communication inactivity
 Maximum number of connections reached
The product can manage up to 8 TCP connections. If an attempt is made to establish a further connection
beyond this maximum, the oldest unused connection is closed. If it is impossible to close the oldest unused
connection, a new connection cannot be established.
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Basics
Modbus Response to a Modbus Request
Overview
The Modus server generates a Modbus response after having processed a Modbus request.
Two types of Modbus responses are possible:
 Positive Modbus response
 The "Function Code" in the Modbus response corresponds to the "Function Code" in the Modbus
request.
 Negative Modbus response
 The client receives pertinent information on error detection during processing;
request + 80h.
 The "Exception Code" indicates the cause of the error.
If a syntactically incorrect Modbus PDU (Protocol Data Unit) is transmitted, the connection is terminated.
In the case of other errors, a negative Modbus response is sent.
Exception Modbus name (as per Modbus Description

Code specifications)
01 Illegal Function The "Function Code" cannot be processed by the server.
02 Illegal Data Address Depends on the Modbus request
03 Illegal Data Value Depends on the Modbus request
04 Server Failure The server was unable to properly process the request.
05 Acknowledge The server has accepted the Modbus request. However,
the execution takes a relatively long time. The server
therefore only returns an acknowledgement confirming
receipt of the service request.
06 Server Busy The server was unable to accept the Modbus request. It is
the responsibility of the application on the client to
determine whether and when to re-send the request.
0A Gateway Problem The gateway path is unavailable.
0B Gateway Problem The targeted device does not respond. This condition is
detected by the gateway.
0198441113843 07/2020 19
Basics
Reading and Writing Parameters
Overview
Parameters are processed as 32 bit values. 16 bit values must also be processed as 32 bit values. Two
consecutive 16 bit parameters must be read or written to process a 16 bit parameter. The Modbus address
of the first 16-bit parameter must be used.
If several consecutive parameters are to be processed, a single Modbus command with the corresponding
Modbus address and the length indication is sufficient.
NOTE: This does not apply to reading and writing parameters with addresses in the range from 17408
(4400 hex) to 17663 (44FF hex).
In this range, only a single parameter can be addressed with one Modbus command.
Example
Reading the parameter CTRL1_KPp "Position controller P gain".
Modbus address: 4614
When the parameter CTRL1_KPp with the Modbus parameter address 4614 and length 2 is read, the two
parameter addresses 4614 and 4615 are read. Result:
Address Value
4614 0000 hex
4615 00C8 hex
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Basics
I/O Scanning to "Drive Profile Lexium"
Overview
I/O scanning is used for cyclic interchange of data between master and slave.
I/O scanning must be configured on the master. The master can use 2 different approaches for I/O
scanning:
 "Function Code" 23 (17h), Read-Write Multiple Registers
 "Function Code" 3 (03h), Read Multiple Registers and "Function Code" 16 (10h), Write Multiple
Registers
The read value is 0 until the first write command is executed.
Settings
The following setting must be made on the master before you can use I/O scanning:
 The "Unit Identifier" is 255.
 The Modbus parameter address is 0.
 The data length is 13.
In addition, you can use up to 3 mappable parameters. If these parameters are used, the data length
changes to 15, 17 or 19.
The Modbus addresses for I/O scanning do not differ from the addresses for normal Modbus access.
Output - Input
Output and input refer to the direction of data transmission from the perspective of the master.
 Output: Commands from the master to the slave
 Input: Status messages from the slave to the master
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Basics
I/O Scanning - Output
Overview
The table below shows the structure of the cyclic data for the commands from the master to the product.
See the user guide of the drive for a description of the parameters.
Byte Name Parameter address

0 ... 3 PCTRLms -
4 ... 7 PVms -
8 ... 9 dmControl -
10 ... 13 RefA32 -
14 ... 17 RefB32 -
18 ... 21 Ramp_v_acc Parameter Ramp_v_acc, Modbus 1556
22 ... 25 Ramp_v_dec Parameter Ramp_v_dec, Modbus 1558
26 ... 29 EthOptMapOut1 Parameter EthOptMapOut1, Modbus 17500
Double Words “PCTRLms” and “PVms”

The two double words "PCTRLms" and "PVms" are used to read and write parameters, see chapter I/O
Scanning - Parameter Channel (see page 25).
Word “dmControl”
The word "dmControl" is used to set the operating state and the operating mode.
See chapters Changing the Operating State via Fieldbus (see page 54) and Starting and Changing an
Operating Mode (see page 57) for a detailed description of the bits.
Double Words “RefA32” and “RefB32”

The two double words "RefA32" and "RefB32" are used to set two operating mode-specific values. The
meaning is described in the chapters on the individual operating modes.
Double Words “Ramp_v_acc” and “Ramp_v_dec”

The double words "Ramp_v_acc" and "Ramp_v_dec" are used to set the acceleration and the deceleration.
They correspond to the parameters of the same name.
Double Words “EthOptMapOut1 ... EthOptMapOut3”

The double words EthOptMapOut1 ... EthOptMapOut3 contain selectable parameters, see chapter Setting
the Mapping for I/O Scanning (see page 46).
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Basics
I/O Scanning - Input
Overview
The table below shows the structure of the cyclic data for the status messages from the product to the
master. See the user guide for a description of the parameters.
Byte Name Parameter address

0 ... 3 PCTRLsm -
4 ... 7 PVsm -
8 ... 9 driveStat -
10 ... 11 mfStat -
12 ... 13 motionStat -
14 ... 15 driveInput -
16 ... 19 _p_act Parameter _p_act, Modbus 7706
20 ... 23 _v_act Parameter _v_act, Modbus 7744
24 ... 25 _I_act Parameter _I_act, Modbus 7686
26 ... 29 EthOptMapInp1 Parameter EthOptMapInp1, Modbus 17512
Double Words “PCTRLsm” and “PVsm”

The two double words "PCTRLsm" and "PVsm" are used to read and write parameters, see chapter I/O
Scanning - Parameter Channel (see page 25).
Word “driveStat”
The current operating state is indicated with the "driveStat" word.
For a detailed description of the bits, see chapter Indication of the Operating State via Fieldbus
(see page 53).
Word “mfStat”
The word "mfStat" is used to indicate the current operating mode.
For a detailed description of the bits, see chapter Indicating an Operating Mode (see page 56).
Word “motionStat”
The word "motionStat" is used to provide information on the motor and profile generator.
Bit Meaning
0 Positive limit switch triggered(1)
1 Negative limit switch triggered(1)
2 ... 5 Reserved
6 MOTZ: Motor at a standstill
7 MOTP: Motor movement in positive direction
8 MOTN: Motor movement in negative direction
9 Setting via parameter DS402intLim
10 Setting via parameter DPL_intLim
11 TAR0: Profile generator at standstill
12 DEC: Profile generator decelerates
13 ACC: Profile generator accelerates
14 CNST: Profile generator moves at constant velocity
15 Reserved
(1) With firmware version ≥V01.14
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Basics
Word “driveInput”
The word "driveInput" is used to indicate the state of the digital signal inputs.
Bit Signal Factory setting

0 DI0 Signal input function Freely Available
1 DI1 Signal input function Reference Switch (REF)
2 DI2 Signal input function Positive Limit Switch (LIMP)
3 DI3 Signal input function Negative Limit Switch (LIMN)
6 ... 7 - Reserved
8 DI11 (module IOM1) Signal input function Freely Available
12 ... 15 - Reserved
Double Word “_p_act”

The double word "_p_act" indicates the actual position. The value corresponds to the parameter _p_act.
Double Word “_v_act”

The double word "_v_act" indicates the actual velocity. The value corresponds to the parameter _v_act.
Word “_I_act”
The word "_I_act" indicates the actual current. The value corresponds to the parameter _I_act.
Double Words “EthOptMapInp1 ... EthOptMapInp3”

The double words EthOptMapInp1 ... EthOptMapInp3 contain selectable parameters, see chapter Setting
the Mapping for I/O Scanning (see page 46).
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I/O Scanning - Parameter Channel
Overview
The master can request a parameter value from the slave or modify a parameter value via the parameter
channel. Each parameter can be addressed via the index and subindex.
Byte Name Description

0 ... 3 PCTRLms and Bits 0 ... 15: Word “Index”
PCTRLsm Bits 16 ... 23: Byte “Subindex”
Bits 24 ... 31: Byte “Ctrl”
4 ... 7 PVms and PVsm Double Word “ParameterValue”
Word “Index”
The word "Index" contains the parameter address.
See the user guide of the drive for a list of the parameters.
Byte “Subindex”
The byte "Subindex" must be set to the value 00 hex.
Byte “Ctrl”
Byte "Ctrl" contains the request to read or write a parameter.
The transmit data contains the information whether a parameter is to be read or written. The receive data
contains the information whether the read request or the write request were successful.
Transmit data:
Ctrl Function
02 hex No request
12 hex Read request
22 hex Write request (word)
32 hex Write request (double word)
Receive data:
Ctrl Function
02 hex Request not yet completed
12 hex Read request or write request successfully completed (word)
22 hex Read request or write request successfully completed (double word)
72 hex Error message
Only one request can be processed at a time. The slave provides the response until the master sends a
new request. If a response includes parameter values, the slave responds with the current value in the
case of a repetition.
Read requests are only executed by the slave if the value changes from 02 hex to 12 hex. Write requests
requests are only executed by the slave if the value changes from 02 hex to 22 hex or to 32 hex.
Double Word “ParameterValue”

The double word "ParameterValue" contains the parameter value.
In the case of a read request, the value in the transmit data has no significance. The receive data contains
the parameter value.
In the case of a write request, the transmit data contains the value to be written to the parameter. The
receive data contains the parameter value.
If a read request or a write request were not successful, the double word "ParameterValue" contains the
error number of the error.
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Basics
Example: Reading a Parameter

In the example, the program number of the product is read from the parameter _prgNoDEV. The parameter
_prgNoDEV has the parameter address 258 (01 02 hex).
The parameter value read has the decimal value 91200 which corresponds to 01 64 40 hex.
Transmit data:
Byte Ctrl Byte Subindex Word Index Double word ParameterValue

12 hex 00 hex 01 02 hex 00 00 00 00 hex
Receive data:

22 hex 00 hex 01 02 hex 00 01 64 40 hex
Example: Writing of an Invalid Parameter

In this example, the value of a non-existent parameter is to be modified. The parameter has the parameter
address 101 (00 65 hex). The value of the parameters is to be modified to 222 (DE hex).
Before the slave can accept a new request, the value 02 hex must be transmitted in byte "Ctrl".
Since the slave cannot address the parameter, a synchronous error message is transmitted with the
receive data. Byte "Ctrl" is set to 72 hex. Double word "PV" is set to the error number (error number
11 01 hex: Parameter does not exist).
Transmit data:

32 hex 00 hex 00 65 hex 00 00 00 DE hex
Receive data:

72 hex 00 hex 00 65 hex 00 00 11 01 hex
See the user guide of the drive for information on the error numbers.
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Section 2.3
Modbus Services - "Function Code"
Modbus Services - "Function Code"

Topic Page
"Function Code" 3 (Read Multiple Registers) 28
"Function Code" 8 (Diagnostics) 29
"Function Code" 16 (Write Multiple Registers) 30
"Function Code" 23 (ReadWrite Multiple Registers) 31
"Function Code" 43 (Encapsulated Interface Transport) 32
Example of "Function Code" 3 33
Example of "Function Code" 16 34
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Basics
"Function Code" 3 (Read Multiple Registers)
Description
The "Function Code" 3 (Read Multiple Registers) allows you to read several consecutive parameters,
starting at any address.
Modbus Request
Structure of the Modbus request:
Field Bytes Value Meaning

Function Code 1 3 = 03 hex Read Multiple Registers
Starting Address 2 (various) Address of the first parameter to be read
Quantity Of 2 2*n Number of 16 bit values to be read
Registers (1 parameter has the value 2 since a parameter
consists of a 32 bit value)
Modbus Response
Structure of the positive Modbus response:

Function Code 1 3 = 03 hex Read Multiple Registers
Byte Count 1 4*n Number of data bytes
Registers Value 4*n (various) Parameter values
Structure of the negative Modbus response

Function Code 1 03 hex + 80 hex = 83 hex Read Multiple Registers
Exception Code 1 01 hex ... 04 hex See chapter Modbus Response to a Modbus
Request (see page 19)
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"Function Code" 8 (Diagnostics)
Description
The "Function Code" 8 (Diagnostics) allows you to read diagnostics data of the slave.
Modbus Request

Function Code 1 8 = 08 hex Diagnostics
Sub-function Code 2 (various) Diagnostics function
Data 2 (various) Data (depending on diagnostics function)
Modbus Response

Function Code 1 8 = 08 hex Diagnostics
Sub-function Code 2 (various) Diagnostics function
Data 2 (various) Diagnostics data

Function Code 1 08 hex + 80 hex = 88 hex Diagnostics
Sub-Function Code
The following diagnostics functions are available:
Sub-function Code Diagnostics function

00 Return Query Data Return request as a response
01 Restart Communication Re-initialize the communication port
Option
02 Return Diagnostic Register Return the error number in the case of synchronous errors
03 (reserved) –
04 Force Listen Only Mode Force "Listen Only" mode of slave
05 ... 09 (reserved) –
10 Clear Counters and Clear the statistical counters
Diagnostic Register
11 Return Bus Message Count Return number of detected "Bus Message"s
12 Return Bus Communication Return number of detected "Bus Communication Error"s
Error Count
13 Return Bus Exception Error Return number of detected "Bus Exception Error"s
Count
14 ... 15 (reserved) –
16 Return Slave NAK Count Return number of detected "Slave Not-Acknowledged"s
17 Return Slave Busy Count Return number of detected "Slave Busy"s
18 Return Bus Char Overrun Return number of detected "Bus Char Overrun"s
Count
>18 (reserved) –
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Basics
"Function Code" 16 (Write Multiple Registers)
Description
The "Function Code" 16 (Write Multiple Registers) allows you to write several consecutive parameters,
starting at any address.
Modbus Request

Function Code 1 16 = 10 hex Write Multiple Registers
Starting Address 2 (various) Address of the first parameter to be written
Quantity Of 2 2*m Number of 16 bit values to be written
Registers (1 parameter has the value 2 since a parameter
Byte Count 1 4*m Number of data bytes
Registers Value 2*m (various) Parameter values
Modbus Response

Function Code 1 16 = 10 hex Write Multiple Registers
Starting Address 2 (various) Corresponds to the Modbus request
Quantity Of 2 2*m Corresponds to the Modbus request
Registers

Function Code 1 10 hex + 80 hex = 90 hex Write Multiple Registers
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"Function Code" 23 (ReadWrite Multiple Registers)
Description
The "Function Code" 23 (ReadWrite Multiple Registers) allows you to read and write several consecutive
parameters, starting at any address.
Modbus Request

Function Code 1 23 = 17 hex Read/Write Multiple Registers
Read Starting 2 (various) Address of the first parameter to be read
Address
Quantity To Read 2 2*n Number of 16 bit values to be read
(1 parameter has the value 2 since a parameter
Write Starting 2 (various) Address of the first parameter to be written
Address
Quantity To Write 2 2*m Number of 16 bit values to be written
(1 parameter has the value 2 since a parameter
Write Byte Count 1 4*m Number of data bytes
Write Registers 4*m (various) Parameter values
Value
Modbus Response

Function Code 1 23 = 17 hex Read/Write Multiple Registers
Byte Count 1 2*n Number of data bytes
Read Registers 2*n (various) Parameter values
Value

Function Code 1 17 hex + 80 hex = 97 hex Read/Write Multiple Registers
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Basics
"Function Code" 43 (Encapsulated Interface Transport)
Description
The "Function Code" 43 / 14 (Read Device Identification) allows you to read device-specific data.
Modbus Request

Function Code 1 43 = 2B hex Encapsulated Interface Transport
Modbus 1 14 = 0E hex Fixed value 14 (Read Device Identification)
Encapsulated
Interface Type
Read Device ID 1 01 Read the objects
Code
Object ID 1 0 x 00 Object ID
Modbus Response

Function Code 1 43 = 2B hex Encapsulated Interface Transport
Modbus 1 14 = 0E hex Fixed value 14 (Read Device Identification)
Encapsulated
Interface Type
Read Device ID 1 01 Corresponds to the Modbus request
Code
Conformity Level 1 02 Fixed value
More Follows 1 00 Fixed value
Next Object ID 1 00 Fixed value
Number Of Objects 1 03 Number of objects
Object ID 1 Object ID (see page 32)
Object Length 1 Object length
Object Value (various) Object data (various)

Function Code 1 2B hex + 80 hex = AB hex Encapsulated Interface Transport
Object ID
The following object IDs are available:
Object ID Object name Value

00 hex vendor name Manufacturer name
01 hex product code „xxxxxxxxxxxx“ (see type code of the drive)
03 hex revision "Vxx.yyy" (for example "V02.001")
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Example of "Function Code" 3
Description
Reading an error memory entry. Since the Modbus addresses of the parameters of an error memory entry
are contiguous (ascending order), a single Modbus request is sufficient.
Parameters _ERR_number (15362), _ERR_class (15364), _ERR_time (15366) and _ERR_qual
(15368).
Modbus Request

Function Code 1 3 Read Multiple Registers
Starting Address 2 15362 (3C02 hex) Address of the first parameter to be read
Quantity Of 2 8 Number of the 16 bit values to be read = 8
Registers
Modbus Response

Function Code 1 3 Read Multiple Registers
Byte Count 1 16 Number of bytes: 8 bytes of data
Registers Value 16 32 bit value _ERR_number, 15362 (error number)
32 bit value _ERR_class, 15364 (error class)
32 bit value _ERR_time, 15366 (error time)
32 bit value _ERR_qual, 15368 (error qualifier)
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Example of "Function Code" 16
Description
Writing of the software limit switches. Since these parameters have consecutive addresses, a single
Modbus request is sufficient:
Parameters MON_swLimP (1544) and MON_swLimN (1546).
Modbus Request

Function Code 1 16 Write Multiple Registers
Starting Address 2 1544 (608 hex) Address of the first parameter to be written
Quantity Of 2 4 Number of parameters = 4 (8 bytes of data)
Registers
Byte Count 1 8 Number of bytes: 8 bytes of data
Registers Value 8 32 bit value MON_swLimP, 1544
32 bit value MON_swLimN, 1546
Modbus Response

Function Code 1 16 Write Multiple Registers
Starting Address 2 1544 (608 hex) Address of the parameter
Quantity Of 2 4 Number of parameters = 4 (8 bytes of data)
Registers
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LXM32M
Installation
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Chapter 3
Installation
Installation
Installation of the Module
Mechanical Installation
Electrostatic discharge (ESD) may permanently damage the module either immediately or over time.
NOTICE
EQUIPMENT DAMAGE DUE TO ESD
 Use suitable ESD measures (for example, ESD gloves) when handling the module.
 Do not touch internal components.
Failure to follow these instructions can result in equipment damage.
Install the module according to the instructions in the user guide of the drive.
Cable Specifications
Shield: Required
Twisted Pair: Required
PELV: Required
Cable composition: 8 x 0.25 mm2 (8 x AWG 22)
Maximum cable length: 100 m (328 ft)
 Note the pertinent information on equipotential bonding conductors in the user guide of the drive.
 Use pre-assembled cables to reduce the risk of wiring errors.
Pin Assignment
A Port A
B Port B
Pin Signal Meaning

1 Tx+ Ethernet transmit signal +
2 Tx- Ethernet transmit signal -
3 Rx+ Ethernet receive signal +
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Installation
Pin Signal Meaning

4 - -
5 - -
6 Rx- Ethernet receive signal -
7 - -
8 - -
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LXM32M
Commissioning
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Chapter 4
Commissioning
Commissioning

This chapter contains the following topics:
Topic Page
Preparation 38
Performing a “First Setup” 39
Network Settings 42
Settings for Communication with I/O Scanning 45
Settings for Communication without I/O Scanning 49
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Commissioning
Preparation
This chapter describes how to commission the product.

The product is unable to detect an interruption of the network link if connection monitoring is not active.
WARNING
LOSS OF CONTROL
 Ensure that connection monitoring is enabled.
 Set the shortest, practical monitoring time cycles to detect communication interruptions as quickly as
possible.
WARNING
UNINTENDED EQUIPMENT OPERATION
 Only start the system if there are no persons or obstructions in the zone of operation.
 Do not write values to reserved parameters.
 Do not write values to parameters unless you fully understand the function.
 Run initial tests without coupled loads.
 Verify correct word order for fieldbus communication.
 Do not establish a fieldbus connection unless you have fully understood the communication principles.
Required Components
The following is required for commissioning:
 Commissioning software “Lexium32 DTM Library”
https://www.se.com/ww/en/download/document/Lexium_DTM_Library/
 Fieldbus converter for the commissioning software for connection via the commissioning interface
 Modbus TCP master
 User guide of the drive LXM32M
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Commissioning
Performing a “First Setup”
Powering on the Drive

A "First Setup" is required when the controller supply is powered on for the first time or after the factory
settings have been restored.
 Disconnect the drive from the fieldbus during commissioning in order to avoid conflicts by simultaneous
access.
 Power on the controller supply.
The drive goes through an initialization routine, the LEDs are tested, the segments of the 7-segment
display and the status LEDs light up.
After the initialization, the fieldbus interface must be configured. The drive can be configured via the
integrated HMI or the commissioning software.
First Setup via HMI

First Setup via the integrated HMI
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Commissioning
Type of Network Address Assignment

 Select the type of network address assignment.
The type of network address assignment is set via the parameter EthIpMode (iPMd).
Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
EthIpMode Type of obtaining IP address. - UINT16 CANopen 3044:5h
ConF → 0 / Manual / MAnu: Manual 0 R/W Modbus 17418
CoM- 1 / BOOTP / boot: BOOTP 2 per. Profibus 17418
iPMd 2 / DHCP / dhcP: DHCP 2 - CIP 168.1.5
Modified settings become active ModbusTCP
immediately. 17418
EtherCAT 3044:5h
PROFINET 17418
Manual Assignment of the Network Address (EthIpMode = manu)

Set the network addresses consisting of the IP address and the subnet mask.
The IP address is set via the parameters EthIPmodule1 ... EthIPmodule4. The subnet mask is set via
the parameters EthIPmask1 ... EthIPmask4.

EthIPmodule1 IP address Ethernet module, byte 1. - UINT16 CANopen 3044:7h
ConF → Byte 1 (x.0.0.0) of the IP address of the 0 R/W Modbus 17422
CoM- Ethernet module. 0 per. Profibus 17422
iPc1 Modified settings become active the next 255 - CIP 168.1.7
time the product is powered on. ModbusTCP
17422
EtherCAT 3044:7h
PROFINET 17422
ConF → Modified settings become active the next 0 R/W Modbus 17424
CoM- time the product is powered on. 0 per. Profibus 17424
iPc2 255 - CIP 168.1.8
ModbusTCP
17424
EtherCAT 3044:8h
PROFINET 17424
iPc3 255 - CIP 168.1.9
ModbusTCP
17426
EtherCAT 3044:9h
PROFINET 17426
EthIPmodule4 IP address Ethernet module, byte 4. - UINT16 CANopen 3044:Ah
iPc4 255 - CIP 168.1.10
ModbusTCP
17428
EtherCAT 3044:Ah
PROFINET 17428
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Commissioning

EthIPmask1 IP address subnet mask, byte 1. - UINT16 CANopen 3044:Bh
iPM1 255 - CIP 168.1.11
ModbusTCP
17430
EtherCAT 3044:Bh
PROFINET 17430
EthIPmask2 IP address subnet mask, byte 2. - UINT16 CANopen 3044:Ch
iPM2 255 - CIP 168.1.12
ModbusTCP
17432
EtherCAT 3044:Ch
PROFINET 17432
EthIPmask3 IP address subnet mask, byte 3. - UINT16 CANopen 3044:Dh
iPM3 255 - CIP 168.1.13
ModbusTCP
17434
EtherCAT 3044:Dh
PROFINET 17434
EthIPmask4 IP address subnet mask, byte 4. - UINT16 CANopen 3044:Eh
iPM4 255 - CIP 168.1.14
ModbusTCP
17436
EtherCAT 3044:Eh
PROFINET 17436
Assignment of the Network Address via BOOTP (EthIpMode = boot)

Verify that an accessible BOOTP server is available on the network.
Assignment of the Network Address via DHCP (EthIpMode = dhcp)

 Verify that an accessible DHCP server is available on the network.
 Set a number that is unique in the network via dhcn.
The number is entered at the 13th, 14th and 15th digit of the device name.
Example: LEXIUM_SERVO001
In the commissioning software, the full device name can be displayed and modified.
Restarting the Drive

A restart of the drive is required for the modifications to become effective. After the restart, the drive is
ready for operation. The drive is in the operating mode Jog.
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Commissioning
Network Settings
Setting the Transmission Rate

Set the transmission rate with the parameter EthRateSet.

EthRateSet Transmission rate setting. - UINT16 CANopen 3044:2h
0 / Autodetect: Autodetect 0 R/W Modbus 17412
1 / 10 Mbps Full: 10 Mbps full duplex 0 per. Profibus 17412
2 / 10 Mbps Half: 10 Mbps half duplex 4 - CIP 168.1.2
3 / 100 Mbps Full: 100 Mbps full duplex ModbusTCP
4 / 100 Mbps Half: 100 Mbps half duplex 17412
Modified settings become active EtherCAT 3044:2h
immediately. PROFINET 17412
Setting the Protocol

The protocol is set by means of the parameter EthMode.
Set the parameter EthMode to "Modbus TCP".

EthMode Protocol. - UINT16 CANopen 3044:1h
ConF → 0 / Modbus TCP / MtCP: Modbus TCP 0 R/W Modbus 17410
CoM- I/O scanning is enabled 1 per. Profibus 17410
EtMd 1 / EtherNet/IP / EtiP: EtherNet/IP 1 - CIP 168.1.1
communication is enabled ModbusTCP
Modbus TCP parameter access is possible 17410
irrespective of the selected setting. EtherCAT 3044:1h
Modified settings become active the next PROFINET 17410
time the product is powered on.
Setting the Gateway

Set the IP address of the gateway with the parameters EthIPgate1 ... EthIPgate4.

EthIPgate1 IP address gateway, byte 1. - UINT16 CANopen 3044:Fh
iPG1 255 - CIP 168.1.15
ModbusTCP
17438
EtherCAT 3044:Fh
PROFINET 17438
EthIPgate2 IP address gateway, byte 2. - UINT16 CANopen
ConF → Modified settings become active the next 0 R/W 3044:10h
CoM- time the product is powered on. 0 per. Modbus 17440
iPG2 255 - Profibus 17440
CIP 168.1.16
ModbusTCP
17440
EtherCAT
3044:10h
PROFINET 17440
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Commissioning

CIP 168.1.17
ModbusTCP
17442
EtherCAT
3044:11h
PROFINET 17442
CIP 168.1.18
ModbusTCP
17444
EtherCAT
3044:12h
PROFINET 17444
Master with Word Swap

The IP address of a master with Word Swap is set by means of the parameters EthMbIPswap1 ...
EthMbIPswap4.
You may not set an IP address for a master without Word Swap.
 Check whether or not the master uses Word Swap.
 If the master uses Word Swap, set the IP address of the master with the parameters EthMbIPswap1
... EthMbIPswap4.

EthMbIPswap1 IP address of master for Modbus word - UINT16 CANopen
swap, byte 1. 0 R/W 3044:50h
IP address of a Modbus master device. For 0 per. Modbus 17568
this master, the word order is swapped to 255 - Profibus 17568
"Low word first", instead of the default CIP 168.1.80
"High word first". ModbusTCP
17568
High word first: Modicon Quantum EtherCAT
Low word first: Premium, HMI (Schneider 3044:50h
Electric) PROFINET 17568
Modified settings become active
immediately.
swap, byte 2. 0 R/W 3044:51h
Modified settings become active 0 per. Modbus 17570
immediately. 255 - Profibus 17570
CIP 168.1.81
ModbusTCP
17570
EtherCAT
3044:51h
PROFINET 17570
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Commissioning

swap, byte 3. 0 R/W 3044:52h
CIP 168.1.82
ModbusTCP
17572
EtherCAT
3044:52h
PROFINET 17572
swap, byte 4. 0 R/W 3044:53h
CIP 168.1.83
ModbusTCP
17574
EtherCAT
3044:53h
PROFINET 17574
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Commissioning
Settings for Communication with I/O Scanning
Activating I/O Scanning

I/O scanning is activated/deactivated by means of the parameter EthMbScanner.
If you do not want to use I/O scanning, set the parameter EthMbScanner to "Off".

EthMbScanner Modbus TCP I/O scanning. - UINT16 CANopen
0 / Off: Modbus TCP I/O scanning off 0 R/W 3044:28h
1 / On: Modbus TCP I/O scanning on 1 per. Modbus 17488
I/O scanning only works if the parameter 1 - Profibus 17488
EthMode is set to Modbus TCP. CIP 168.1.40
immediately. 17488
EtherCAT
3044:28h
PROFINET 17488
Setting the Master for I/O Scanning

Entering the IP address of a master reserves I/O scanning for this master. This means that no other master
on the network can perform I/O scanning.
If the IP addresses are not set correctly, any network device may control the system or access by the
master may be blocked.
WARNING
UNINTENDED EQUIPMENT OPERATION DUE TO UNLIMITED ACCESS
Verify that you have set the correct master IP address.
Set the IP address of the master for I/O scanning with the parameters EthIPmaster1 ... EthIPmaster4.

EthIPmaster1 IP address master, byte 1. - UINT16 CANopen
IP address of the master that is permitted to 0 R/W 3044:29h
perform Modbus TCP I/O scanning. 0 per. Modbus 17490
If set to 0.0.0.0 (default), any master can 255 - Profibus 17490
perform I/O scanning. CIP 168.1.41
Setting can only be modified if power stage ModbusTCP
is disabled. 17490
Modified settings become active EtherCAT
immediately. 3044:29h
PROFINET 17490
Setting can only be modified if power stage 0 R/W 3044:2Ah
is disabled. 0 per. Modbus 17492
Modified settings become active 255 - Profibus 17492
immediately. CIP 168.1.42
ModbusTCP
17492
EtherCAT
3044:2Ah
PROFINET 17492
0198441113843 07/2020 45
Commissioning

Setting can only be modified if power stage 0 R/W 3044:2Bh
ModbusTCP
17494
EtherCAT
3044:2Bh
PROFINET 17494
Setting can only be modified if power stage 0 R/W 3044:2Ch
ModbusTCP
17496
EtherCAT
3044:2Ch
PROFINET 17496
Setting the Mapping for I/O Scanning

The input mapping is set by means of the parameters EthOptMapInp1 ... EthOptMapInp3.
The output mapping is set by means of the parameters EthOptMapOut1 ... EthOptMapOut3.
Set the desired mapping values with the parameters EthOptMapInp1 ... EthOptMapInp3 and
EthOptMapOut1 ... EthOptMapOut3.

EthOptMapInp1 Optionally mapped input parameter 1 - UINT16 CANopen
(drive to controller). - R/W 3044:34h
Modbus address of parameter which is 0 per. Modbus 17512
optionally mapped to Ethernet/IP assembly - - Profibus 17512
or Modbus TCP I/O scanner data (drive to CIP 168.1.52
controller). ModbusTCP
Modified settings become active 17512
immediately. EtherCAT
3044:34h
PROFINET 17512
3044:35h
PROFINET 17514
46 0198441113843 07/2020
Commissioning

3044:36h
PROFINET 17516
EthOptMapOut1 Optionally mapped output parameter 1 - UINT16 CANopen
(controller to drive). - R/W 3044:2Eh
or Modbus TCP I/O scanner data CIP 168.1.46
(controller to drive). ModbusTCP
3044:2Eh
PROFINET 17500
(controller to drive). - R/W 3044:2Fh
3044:2Fh
PROFINET 17502
(controller to drive). - R/W 3044:30h
3044:30h
PROFINET 17504
Setting Communication Monitoring for I/O Scanning
WARNING
LOSS OF CONTROL
possible.
Set communication monitoring for I/O scanning with the parameter EthMbScanTimeout.
0198441113843 07/2020 47
Commissioning

EthMbScanTimeo Modbus TCP I/O scanning timeout. s UINT16 CANopen
ut Communication monitoring timeout for 0.0 R/W 3044:2Dh
Modbus TCP. 2.0 per. Modbus 17498
Value 0: Timeout monitoring disabled 60.0 - Profibus 17498
In increments of 0.1 s. CIP 168.1.45
immediately. 17498
EtherCAT
3044:2Dh
PROFINET 17498
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Commissioning
Settings for Communication without I/O Scanning
Overview
It is also possible to establish communication without I/O scanning.
The following settings must be made to establish communication without I/O scanning:
 Activation of communication monitoring
 Exclusive use of access channel
Setting Communication Monitoring
WARNING
LOSS OF CONTROL
possible.
Communication monitoring must be activated via the parameter MBnode_guard.

 Set communication monitoring with the parameter MBnode_guard.

MBnode_guard Modbus Node Guarding. ms UINT16 CANopen 3016:6h
Value 0: Node Guarding inactive 0 R/W Modbus 5644
Value >0: Monitoring time 0 - Profibus 5644
10000 - CIP 122.1.6
A read request or a write request must be ModbusTCP 5644
performed during the monitoring time. EtherCAT 3016:6h
Modified settings become active PROFINET 5644
immediately.
Communication monitoring triggers an error of error class 2 if communication is interrupted. After the error
message is reset, communication monitoring is active again.
Exclusive Use of Access Channel

In addition, the access channel must be used exclusively. Only after this it is possible to change operating
states and start operating modes.
Once the access channel is used exclusively, it is no longer possible to change operating states and start
operating modes via another access channel.
Writing the parameter AccessExcl sets the access channel to exclusive access.
0198441113843 07/2020 49
Commissioning

AccessExcl Get exclusive access to access channel. - UINT16 CANopen 3001:Dh
Write parameter: - R/W Modbus 282
Value 0: Release access channel - - Profibus 282
Value 1: Use exclusive access for access - - CIP 101.1.13
channel ModbusTCP 282
EtherCAT 3001:Dh
Read parameter: PROFINET 282
Value 0: Access channel is not used
exclusively
Value 1: Access channel is used
exclusively (access channel used for
reading)
Modified settings become active
immediately.
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LXM32M
Operating States and Operating Modes
0198441113843 07/2020
Chapter 5

This chapter contains the following sections:
Section Topic Page
5.1 Operating States 52
5.2 Operating Modes 55
0198441113843 07/2020 51
Section 5.1
Operating States
Operating States

Topic Page
Indication of the Operating State via Fieldbus 53
Changing the Operating State via Fieldbus 54
52 0198441113843 07/2020
Indication of the Operating State via Fieldbus
The operating state is indicated with the word "driveStat".
bit Name Meaning

0 ... 3 STATE Operating state (binary coded)
1 Start
2 Not Ready To Switch On
3 Switch On Disabled
4 Ready To Switch On
5 Switched On
6 Operation Enabled
7 Quick Stop Active
8 Fault Reaction Active
9 Fault
4 ... 5 - Reserved
6 ERROR Error detected (error classes 1 ... 3)
7 WARN Error detected (error class 0)
8 HALT "Halt" is active
9 RF Homing valid
10 QS "Quick Stop" is active
13 X_ADD1 Operating mode-specific information
14 X_END Operating mode terminated
15 X_ERR Operating mode terminated with error
0198441113843 07/2020 53
Changing the Operating State via Fieldbus
Bits 8 ... 15 of the word "dmControl" are used to set the operating state.
Bit Name Meaning Operating state

8 DS Disabling the power stage 6 Operation Enabled -> 4 Ready To Switch On
9 EN Enabling the power stage 4 Ready To Switch On -> 6 Operation Enabled
10 QS Perform "Quick Stop" 6 Operation Enabled -> 7 Quick Stop Active
11 FR Perform "Fault Reset" 7 Quick Stop Active -> 6 Operation Enabled
9 Fault -> 4 Ready To Switch On
12 - Reserved Reserved
13 SH Execute "Halt" 6 Operation Enabled
14 CH Clear "Halt" 6 Operation Enabled
15 CU Resume operating mode interrupted by 6 Operation Enabled
"Halt"
In the case of an access, the bits respond to a 0->1 change to trigger the corresponding function.
If a request for changing the operating state is not successful, this request is ignored. There is no error
response.
If the bits 8 ... 15 are set to 0, the power stage will be disabled.
Ambivalent bit combinations are treated in accordance with the following priority list (highest priority bit 8,
lowest priority bit 14 and bit 15):
 Bit 8 (disable power stage) prior to bit 9 (enable power stage)
 Bit 10 ("Quick Stop") prior to bit 11 ("Fault Reset")
 Bit 13 (execute "Halt") prior to bit 14 (clear "Halt") and bit 15 (resume operating mode interrupted by
"Halt")
In the case of an error of error class 2 or error class 3, a "Fault Reset" can only be performed when bit 9
(enable power stage) is no longer set.
54 0198441113843 07/2020
Section 5.2
Operating Modes
Operating Modes

Topic Page
Indicating an Operating Mode 56
Starting and Changing an Operating Mode 57
Overview of Operating Modes 58
Operating Mode Jog 59
Operating Mode Electronic Gear 60
Operating Mode Profile Torque 61
Operating Mode Profile Velocity 62
Operating Mode Profile Position 63
Operating Mode Homing 64
Operating Mode Motion Sequence 65
0198441113843 07/2020 55
Indicating an Operating Mode
Indicating an Operating Mode

The word “mfStat” is used to indicate the set operating mode.
bit Name Description

0 ... 4 MODE Indicates the set operating mode
Value 01h: Profile Position
Value 03h: Profile Velocity
Value 04h: Profile Torque
Value 06h: Homing
Value 1Dh: Motion Sequence
Value 1Eh: Electronic Gear
Value 1Fh: Jog
5 DE The bit “DE” (Data Error) relates to parameters that are independent of the bit “MT”
(Mode Toggle). The bit “DE” (Data Error) is set if a data value in the process data
channel is invalid.
6 ME The bit “ME” (Mode Error) relates to parameters that are dependent on the bit “MT”
(Mode Toggle). The bit “ME” (Mode Error) is set if a request (for example, starting an
operating mode) was rejected.
7 MT Bit “MT” (Mode Toggle)
8 ... 9 CAP1 Bit 0 and bit 1 of parameter _Cap1Count
10 ... 11 CAP2 Bit 0 and bit 1 of parameter _Cap2Count
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Starting and Changing an Operating Mode
Starting and Changing an Operating Mode

Bits 0 ... 7 in the word “dmControl” are used to set the operating mode.
bit Name Description

0 ... 4 MODE Operating Mode
Value 01h: Profile Position
Value 03h: Profile Velocity
Value 04h: Profile Torque
Value 06h: Homing
Value 1Dh: Motion Sequence
Value 1Eh: Electronic Gear
Value 1Fh: Jog
5 ... 6 ACTION Operating mode-dependent
7 MT Bit “MT” (Mode Toggle)
Via the following values the operating mode can be activated or target values can be changed:
 Target values, depending on required operating mode
 Operating mode in “dmControl”, bits 0 ... 4 (MODE).
 Action for this operating mode in bit 5 and bit 6 (ACTION)
 Toggle bit 7 (MT)
The following chapters describe the possible operating modes, functions and the corresponding target
values.
0198441113843 07/2020 57
Overview of Operating Modes
Operating Mode dmControl RefA32 RefB32

Bits 0 ... 6
MODE+ACTION
JOG 1Fh Value 0: No movement -
Value 1: Slow movement
in positive direction
in negative direction
Value 5: Fast movement
Electronic Gear: Position 1Eh As GEARdenom As GEARnum
synchronization without compensation
movement
Electronic Gear: Position 3Eh As GEARdenom As GEARnum
synchronization with compensation
movement
Electronic Gear: Velocity 5Eh As GEARdenom As GEARnum
synchronization
Profile Torque: Via analog input 04h - -
Profile Torque: Via parameter 24h As PTtq_target As RAMP_tq_slope
Profile Torque: Via PTI interface 44h - -
Profile Velocity: Via analog input 03h - -
Profile Velocity: Via parameter 23h As PVv_target -
Profile Position: Absolute 01h As PPv_target As PPp_target
Profile Position: Relative with reference 21h As PPv_target As PPp_target
to the currently set target position
Profile Position: Relative with reference 41h As PPv_target As PPp_target
to the motor position
Homing: Position setting 06h - As HMp_setP
Homing: Reference Movement 26h As HMmethod -
Motion Sequence: Start sequence 1Dh Data set number Value 1: Use data set
number
Motion Sequence: Start individual data 3Dh Data set number -
set
58 0198441113843 07/2020
Operating Mode Jog
Starting the Operating Mode

The operating mode is set and started in the process data channel with the output data.
dmControl RefA32 RefB32

Bits 0 ... 6
MODE+ACTION
1Fh Value 0: No movement -
Status Information
The word "driveStat" provides information on the operating mode.
bit Name Meaning

13 X_ADD1 Reserved
14 X_END 0: Operating mode started
1: Operating mode terminated
15 X_ERR 0: No error detected
1: Error detected
Terminating the Operating Mode

The operating mode is terminated when the motor is at a standstill and one of the following conditions is
met:
 Value 0 RefA
 Stop caused by "Halt" or "Quick Stop"
 Stop caused by a detected error
0198441113843 07/2020 59
Operating Mode Electronic Gear

Method dmControl RefA32 RefB32

Bits 0 ... 6
MODE+ACTION
Position synchronization without 1Eh As GEARdenom As GEARnum
compensation movement
Position synchronization with 3Eh As GEARdenom As GEARnum
compensation movement
Velocity synchronization 5Eh As GEARdenom As GEARnum
Status Information
bit Name Meaning

13 X_ADD1 1: Reference velocity reached(1)

1: Error detected
(1) Only with method Velocity synchronization and with active velocity
window.

met:
60 0198441113843 07/2020
Operating Mode Profile Torque


Bits 0 ... 6
MODE+ACTION
Via analog input 04h - -
Via parameter 24h As PTtq_target As RAMP_tq_slope
Via PTI interface 44h - -
Status Information
bit Name Meaning

13 X_ADD1 0: Target torque not reached
1: Target torque reached
1: Error detected

met:
0198441113843 07/2020 61
Operating Mode Profile Velocity


Bits 0 ... 6
MODE+ACTION
Via analog input 03h - -
Via parameter 23h As PVv_target -
Status Information
bit Name Meaning

13 X_ADD1 0: Target velocity not reached
1: Target velocity reached
1: Error detected

met:
62 0198441113843 07/2020
Operating Mode Profile Position
Starting the operating mode


Bits 0 ... 6
MODE+ACTION
Absolute 01h As PPv_target As PPp_target
Relative with reference to the currently 21h As PPv_target As PPp_target
set target position
Relative with reference to the current 41h As PPv_target As PPp_target
motor position
Status Information
bit Name Meaning

13 X_ADD1 0: Target position not reached
1: Target position reached
1: Error detected

met:
 Target position reached
0198441113843 07/2020 63
Operating Mode Homing


Bits 0 ... 6
MODE+ACTION
Position setting 06h - As HMp_setP
Reference movement 26h As HMmethod -
Status Information
bit Name Meaning

13 X_ADD1 Reserved
1: Error detected

met:
 Homing successful
64 0198441113843 07/2020
Operating Mode Motion Sequence


Bits 0 ... 6
MODE+ACTION
Start sequence 1Dh Data set number Value 1: Use data set
number
Start individual data set 3Dh Data set number -
Status Information
bit Name Meaning

13 X_ADD1 1: End of a sequence
1: Error detected

met:
 Individual data set terminated
 Individual data set of a sequence terminated (waiting for transition condition to be fulfilled)
 Sequence terminated
0198441113843 07/2020 65
66 0198441113843 07/2020
LXM32M
Diagnostics and Troubleshooting
0198441113843 07/2020
Chapter 6

This chapter contains the following topics:
Topic Page
Fieldbus Communication Error Diagnostics 68
Fieldbus Test 69
Fieldbus Status LEDs 70
Error Indication 71
0198441113843 07/2020 67
Fieldbus Communication Error Diagnostics
Verifying Connections
A properly operating fieldbus is essential for evaluating status and error messages.
If the product cannot be addressed via the fieldbus, first verify the connections.
Verify the following connections:
 System power supply
 Supply connections
 Fieldbus cables and wiring
 Fieldbus connection
Fieldbus Function Test

If the connections are correct, verify that you can address the product on the fieldbus.
68 0198441113843 07/2020
Fieldbus Test
Fieldbus Function Test

If the connections are correct, check the settings for the fieldbus addresses. After correct configuration of
the transmission data, test fieldbus mode.
In addition to the master, a bus monitor can be installed that, as a passive device, displays messages.
 Switch the supply voltage of the drive system off and on.
 Observe the network messages that are generated briefly after the supply voltage is switched on. A bus
monitor can be used to record the elapsed time between messages and the relevant information in the
messages.
Possible Errors: Addressing

If it is impossible to connect to a device, verify the following:
 Addressing: Each network device must have a unique IP address.
0198441113843 07/2020 69
Fieldbus Status LEDs
Overview
The status of the module is indicated by four LEDs.
Overview of the LEDs at the module
1 Network activity interface A

2 Module status
3 Network activity interface B
4 Network status
Network Activity LED 1 and LED 3

The table below shows the meaning of the flashing signals for network activity.
Color Status Meaning

- Off No connection
Green On Connection with 100 MB/s
Yellow On Connection with 10 MB/s
Green Flashing Activity with 100 MB/s
Yellow Flashing Activity with 10 MB/s
Module Status LED 2

The table below shows the meaning of the flashing signals for the module status.
Color LED Meaning for Modbus TCP

- Off No IP address or no power supply
Green/red Flashing Start-up
Green On Ready for operation
Green Flashing Not ready (no connection, ...)
Red Flashing Recoverable error
Red On Irrecoverable error
Network Status LED 4

The table below shows the meaning of the flashing signals for the network status.
Color LED Meaning for Modbus TCP

- Off No IP address or no power supply
Green/red Flashing Start-up
Green On At least 1 port is connected and the IP address has been
set
Green Flashing 3 times No connection, IP address has been set
Green Flashing 4 times IP address conflict
Green Flashing 5 times BOOTP or DHCP active
70 0198441113843 07/2020
Error Indication
Asynchronous Errors
Asynchronous errors are triggered by internal monitoring (for example, temperature) or by external
monitoring (for example, limit switch). An error response is initiated if an asynchronous error is detected.
Asynchronous errors are indicated in the following way:
 Transition to operating state 7 Quick Stop Active or to operating state 9 Fault.
 Information in the words "driveStat", "mfStat", "motionStat" and "driveInput" during I/O scanning, see
chapter I/O Scanning - Input (see page 23)
 Error number is written to parameter _LastError
The parameters _LastError or _LastWarning can be used in the input mapping for I/O scanning. This
way, error numbers are easy to read out.
Modbus Response
Depending on the type of processing, two types of Modbus responses are possible:
 Positive Modbus response
request.
 Negative Modbus response
 The client receives pertinent information on error detection during processing;
 The "Function Code" in Modbus response corresponds to the "Function Code" in the Modbus request
+ 80h.
 The "Exception Code" indicates the cause of the error.
If a syntactically incorrect Modbus PDU (Protocol Data Unit) is transmitted, the connection is terminated.
In the case of other other error, a negative Modbus response is sent.
Exception Modbus Name Description

Code
01 Illegal Function The "Function Code" cannot be processed by the server.
02 Illegal Data Address Depends on the Modbus request
03 Illegal Data Value Depends on the Modbus request
04 Server Failure The server was unable to properly terminate processing.
05 Acknowledge The server has accepted the Modbus request. However,
the execution takes a relatively long time. The server
therefore only returns an acknowledgement confirming
receipt of the service request.
06 Server Busy The server was unable to accept the Modbus request. It is
the responsibility of the application on the client to
determine whether and when to re-send the request.
0A Gateway Problem The gateway path is unavailable.
0B Gateway Problem The targeted device does not respond. The gateway
generates this error.
0198441113843 07/2020 71
72 0198441113843 07/2020
LXM32M
Glossary
0198441113843 07/2020
Glossary
C
CIP
Common Industrial Protocol, general specification for communication between fieldbus devices.
Client
First transmitter, then recipient of fieldbus messages in the client-server relationship. Starts transmission
with a transmission to the server; the reference point is the server object dictionary.
D
DOM
Date of manufacturing: The nameplate of the product shows the date of manufacture in the format
DD.MM.YY or in the format DD.MM.YYYY. For example:
31.12.19 corresponds to December 31, 2019
31.12.2019 corresponds to December 31, 2019
E
Error
Discrepancy between a detected (computed, measured or signaled) value or condition and the specified
or theoretically correct value or condition.
Error class
Classification of errors into groups. The different error classes allow for specific responses to errors, for
example by severity.
F
Factory setting
Factory settings when the product is shipped
Fault
Fault is a state that can be caused by an error. Further information can be found in the pertinent standards
such as IEC 61800-7, ODVA Common Industrial Protocol (CIP).
Fault reset
A function used to restore the drive to an operational state after a detected error is cleared by removing
the cause of the error so that the error is no longer active.
I
Input
Output and input refer to the direction of data transmission from the perspective of the master. Input: Status
messages from the slave to the master, see also Output.
M
Master
Active bus device that controls the data traffic on the network.
O
Output
Output and input refer to the direction of data transmission from the perspective of the master. Output:
Commands from the master to the slave, see also Input.
0198441113843 07/2020 73
Glossary
P
Parameter
Device data and values that can be read and set (to a certain extent) by the user.
Persistent
Indicates whether the value of the parameter remains in the memory after the device is switched off.
Q
Quick Stop
The Quick Stop function can be used for fast deceleration of a movement in the case of an error or via a
command.
U
User-defined unit
Unit whose reference to motor movement can be determined by the user via parameters.
74 0198441113843 07/2020
LXM32M
Index
0198441113843 07/2020
Index
B Q
before you begin qualification of personnel, 5
safety information, 5
I
intended use, 6
M
Modbus TCP
ADU, 16
client-server model, 15
function principle, 15
MBAP header, 16
PDU, 16
protocol, 16
SNMP, 15
topology, 15
O
operating states, 52
P
parameter AccessExcl, 50
parameter EthIPgate1, 42
parameter EthIPmask1, 41
parameter EthIPmaster1, 45
parameter EthIpMode, 40
parameter EthIPmodule1, 40
parameter EthMbIPswap1, 43
parameter EthMbScanner, 45
parameter EthMbScanTimeout, 48
parameter EthMode, 42
parameter EthOptMapInp1, 46
parameter EthOptMapOut1, 47
parameter EthRateSet, 42
parameter MBnode_guard, 49
0198441113843 07/2020 75

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LXM32M

Title of documentation Reference number

Product Related Information

Terminology Derived from Standards

Fieldbus Devices on the Modbus TCP Network

What Is in This Chapter?

Modbus TCP Fieldbus

What Is in This Section?

Modbus TCP Technology

Network Service SNMP

Modbus TCP Protocol

Field Length Description

Modbus TCP Communication

What Is in This Section?

Modbus Response to a Modbus Request

Exception Modbus name (as per Modbus Description

Reading and Writing Parameters

I/O Scanning to "Drive Profile Lexium"

I/O Scanning - Output

Byte Name Parameter address

Double Words “PCTRLms” and “PVms”

Double Words “RefA32” and “RefB32”

Double Words “Ramp_v_acc” and “Ramp_v_dec”

Double Words “EthOptMapOut1 ... EthOptMapOut3”

I/O Scanning - Input

Byte Name Parameter address

Double Words “PCTRLsm” and “PVsm”

Bit Signal Factory setting

Double Word “_p_act”

Double Word “_v_act”

Double Words “EthOptMapInp1 ... EthOptMapInp3”

I/O Scanning - Parameter Channel

Byte Name Description

Double Word “ParameterValue”

Example: Reading a Parameter

Byte Ctrl Byte Subindex Word Index Double word ParameterValue

Byte Ctrl Byte Subindex Word Index Double word ParameterValue

Example: Writing of an Invalid Parameter

Byte Ctrl Byte Subindex Word Index Double word ParameterValue

Byte Ctrl Byte Subindex Word Index Double word ParameterValue

Modbus Services - "Function Code"

What Is in This Section?

"Function Code" 3 (Read Multiple Registers)

Field Bytes Value Meaning

Field Bytes Value Meaning

Structure of the negative Modbus response

Field Bytes Value Meaning

"Function Code" 8 (Diagnostics)

Field Bytes Value Meaning

Field Bytes Value Meaning

Structure of the negative Modbus response

Field Bytes Value Meaning

Sub-function Code Diagnostics function

"Function Code" 16 (Write Multiple Registers)

Field Bytes Value Meaning

Field Bytes Value Meaning

Structure of the negative Modbus response