HIMC Modbus TCP
User Guide
www.hiwinmikro.tw
HIWIN Modbus TCP User Guide Revision History
Release Date
Version
Applicable Software Version
Revision Contents
April 10th, 2018
0.1
iA Studio 1.0.2461.0
First edition.
Revision History
HIWIN Modbus TCP User Guide Table of Contents
Table of Contents
1. Overview ··············································································································· 1-1
1.1 Introduction of HIMC Modbus TCP ········································································ 1-2
2. Communication interface of HIMC Modbus TCP ····························································· 2-1
2.1 Communication interface ····················································································· 2-2
3. Functions of HIMC Modbus TCP ················································································· 3-1
3.1 Data storage ···································································································· 3-2
3.2 Function codes ································································································· 3-2
3.3 Exception codes ································································································ 3-3
3.4 Data type ········································································································· 3-3
4. Register Map ·········································································································· 4-1
4.1 Coils ··············································································································· 4-2
4.2 Discrete inputs ·································································································· 4-2
4.3 Input registers ··································································································· 4-2
4.4 Holding registers ······························································································· 4-2
4.4.1 Axis ············································································································· 4-3
4.4.2 System call ··································································································· 4-5
4.4.3 Controller inform at ion ······················································································ 4-6
4.4.4
GPIO ··········································································································· 4-7
4.4.5 HMPL task ···································································································· 4-8
4.4.6 User table ····································································································· 4-9
4.4.7 User-defined parameters ················································································ 4-10
4.4.8 Undefined registers ······················································································· 4-10
HIWIN Modbus TCP User Guide Table of Contents
(This page is intentionally left blank.)
1. Overview
00 000
1. Overview ··············································································································· 1-1
1.1 Introduction of HIMC Modbus TCP ········································································ 1-2
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1.1 Introduction of HIMC Modbus TCP
HIWIN Motion Controller (HIMC) supports Modbus TCP communication protocol. Users ar e allowed to
access HIMC via Modbus TCP to read or write parameters of axis, system call, controller information, e tc.
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2. Communication interface of HIMC Modbus TCP
0000000 00000000000
2. Communication interface of HIMC Modbus TCP ····························································· 2-1
2.1 Communication interface ····················································································· 2-2
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HIWIN Modbus TCP User Guide Communication Interface Of HIMC Modbus TCP
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CN3
CN4
Setting
Simulator*1
2.1 Communication interface
Connectors CN3 and CN4 are provided for communication with PC or human machine in terface (H MI) via
Modbus TCP.
CN3
CN4
Figure 2.1.1
Information of connectors CN3 and CN4 is as below.
Table 2.1.1
Item
IP Address 169.254.188.21 169.254.188.20
Port 502
Setting
The simulator provided in HIMC can also be accessed via Modbus TCP. Information needed when
accessing HIMC simulator is as below.
Table 2.1.2
Item
IP Address 127.0.0.1
Port 502
Note:
1. Before accessing HIMC simulator via Modbus TCP , please ensure the connection with HIMC simulator is
established. For how to connect to HIMC simulator, please refer to section 2.1.3 Connecting to the simulator
in iA Studio User Guide.
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3. Functions of HIMC Modbus TCP
000 00
3. Functions of HIMC Modbus TCP ················································································· 3-1
3.1 Data storage ···································································································· 3-2
3.2 Function codes ································································································· 3-2
3.3 Exception codes ································································································ 3-3
3.4 Data type ········································································································· 3-3
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Table Name
Coil/Register Address
Data Size
Attribute
Function Code
Description
3.1 Data storage
Data in standard Modbus are stored in four different tables. Register assignment of HIMC is as below.
Table 3.1.1
Coils 0x00000 - 0x65535 1 bit Read/Write
Discrete Inputs 1x00000 - 1x65535 1 bit Read-only
Input Registers 3x00000 - 3x65535 16 bits Read-only
Holding Registers 4x00000 - 4x65535 16 bits Read/Write
3.2 Function codes
Supported function codes in HIMC are as below.
01 (01 hex) Reads coils.
02 (02 hex) Reads discrete inputs.
03 (03 hex) Reads input registers.
04 (04 hex) Reads holding registers.
05 (05 hex) Writes single coil.
06 (06 hex) Writes single holding register.
15 (0F hex) Writes multiple coils.
16 (10 hex) Writes multiple holding registers.
Table 3.2.1
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Exception Code
Definition
Description
For example, function
2 if a
Data Type
Data Size
Range
3.3 Exception codes
When a request is received but cannot be processed, an exception response with an exception code will
be sent from HIMC. Supported exception codes in HIMC are as below.
Table 3.3.1
01 (01 hex) Illegal function code
02 (02 hex) Illegal data address
03 (03 hex) Illegal data value
An unsupported function code is requested.
code 20 (14 hex) is specified in a request.
The requested regis ter is not allowable. For exam ple, for a contr oller
with 100 registers, the controller will reply exception code 0
request with starting address 96 and register length 5 is received.
The value specifie d in a request is not allowab le. For example, the
initial address of a param eter is 0 and it occup ies two registers. If a
request with starting address 1, or starting address 0 and register
length 1 is received to read or write the parameter, the controller will
reply exception code 03.
3.4 Data type
Parameters in HIMC are of different data types. Data types in HIMC are as below.
Table 3.4.1
int8_t 8 bits –128 ~ 127
uint8_t 8 bits 0 ~ 255
int16_t 16 bits –32,768 ~ 32,767
uint16_t 16 bits 0 ~ 65,535
int32 32 bits –2,147,483,648 ~ 2,147,48 3,64 7
uint32 32 bits 0 ~ 4,294,967,295
float 32 bits 3.4E +/- 38 (7-digit)
double 64 bits 1.7E +/- 308 (15-digit)
Parameter data are stored i n respective registers according to data types. Users need to follow the
instructions described below to read parameter data.
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Value
Register N
Value
Register N (Start)
Register N+1 (End)
Value
Register N (Start)
Register N+1 (End)
Value
Register N (Start)
Register N+1
Register N+2
Register N+3 (End)
int8_t, uint8_t, int16_t and uint16_t
Parameters of data types int8_t, uint8_t, int16_t and uint16_t are used for digital inputs or outputs
and controller status. The parameter data are stored as below.
17 (0x0011)
( 00000000 00010001 )
( 00000000 00010001 )
0x0011
int32_t and uint32_t
Parameters of data types int32_t and uint32_t are used for digital inputs or outputs and controller
status. The parameter data are stored as below.
2097169 (0x00200011)
( 00000000 00100000 00000000 00010001 )
( 00000000 00010001 )
0x0011
0x0020
( 00000000 00100000 )
float
If parameter data types are float, the parameter data are stored as below.
0.85
(0x3F59999A)
0x999A 0x3F59
double
If parameter data types are double, the parameter data are stored as below.
0.85
(0x3FEB333333333333)
0x3333 0x3333 0x3333 0x3FEB
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4. Register Map
00000000 0000000000
4. Register Map ·········································································································· 4-1
4.1 Coils ··············································································································· 4-2
4.2 Discrete inputs ·································································································· 4-2
4.3 Input registers ··································································································· 4-2
4.4 Holding registers ······························································································· 4-2
4.4.1 Axis ············································································································· 4-3
4.4.2 System call ··································································································· 4-5
4.4.3 Controller information ······················································································ 4-6
4.4.4 GPIO ··········································································································· 4-7
4.4.5 HMPL task ···································································································· 4-8
4.4.6 User table ····································································································· 4-9
4.4.7 User-defined parameters ················································································ 4-10
4.4.8 Undefined registers ······················································································· 4-10
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Category
Description
4.1 Coils
Registers for coils are not defined. Users are allowed to use these registers freely.
4.2 Discrete inputs
Registers for discrete inputs are not defined. Users are allowed to use these registers freely.
4.3 Input registers
Registers for input registers are not defined yet. Users are allowed to use these registers freely.
4.4 Holding registers
Registers for holding registers are used for parameters described as below.
Table 4.4.1
Axis Monitors status and sets parameters of each axis.
System Call Executes system calls, such as emergency stop, jog, relative motion, etc.
Controller Information Controller information
GPIO Controls general-purpose inputs or outputs (GPIO).
HMPL Task Reads task status and runs task.
User T able Reads HIMC User Table.
User-defined Parameters
Undefined Registers
Note:
Some registers are reserved for user-defined parameters.
desired parameters to registers.
Some registers are not defined yet. Users are allowed to use these registers
freely.
Users can assign
For assigning desired parameters to registers, please refer to 4.10 Modbus manager in iA Studio User Guide.
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Register
Address*1
Data
Type*2
4
10
4.4.1 Axis
Users can monitor status and set parameters of each axis by reading or writing the registers assigned for
Axis. There are 32 axes in Axis.
Table 4.4.1.1
Parameter
Attribute Description Unit*3
Displays the motion status of axis N.
0
Motion status uint32_t Read-only
1
Bit 0 The axis is enabled.
Bit 1 The axis is moving.
Bit 2 The axis is in-position.
Bit 3 The axis is synchronized.
Bit 4 The axis is grouped.
-
Displays the fault status of axis N.
2
Fault status uint32_t Read-only
3
Bit 0 Error stop
Bit 1 Drive fault
Bit 2 Position error too big
Bit 3 Right hardware limit is reached.
Bit 4 Left hardware limit is reached.
Bit 5 Right software limit is reached.
Bit 6 Left software limit is reached.
-
5
6
7
8
9
11
12
13
14
15
16
17
18
19
20
21
22
23
Position feedback float Read-only Displays the feedback position of axis N. m or rad
Velocity feedback float Read-only Displays the feedback velocity of axis N.
Acceleration
feedback
float Read-only Displays the feedback acceleration of axis N.
Max. profile velocity float Read/Write Sets or displays the velocity of axis N.
Max. profile
acceleration
Max. profile
deceleration
float Read/Write Sets or displays the acceleration of axis N.
float Read/Write Sets or displays the deceleration of axis N.
Max. profile jerk float Read/Write Sets or displays the jerk of axis N.
m/s
or rad/s
m/s2
or rad/s2
m/s
or rad/s
m/s
or rad/s
m/s
or rad/s
m/s3
or rad/s
Smooth time float Read/Write Sets or displays the smooth factor of axis N. sec
P2P dwell time float Read/Write Sets or displays the dwell time of axis N. sec
P2P position 1 float Read/Write
Sets or displays position 1 of axis N.
Note: Position 1 of point-to-point motion
m or rad
2
2
2
2
3
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Register
Address*1
Data
Type*2
Parameter
Attribute Description Unit*3
24
P2P position 2 float Read/Write
25
26
Relative distance float Read/Write
27
28 P2P repeat int8_t Read/Write
29 Select axis int8_t Read/Write
Sets or displays position 2 of axis N.
Note: Position 2 of point-to-point motion
Sets or displays the relative distance of axis N.
Note: Relative distance is the moving distance
when performing relative motion.
Use system call to perform relative motion.
Sets to perform point-to-point motion repeatedly
on axis N. Or displays if point-to-point motion is
repeatedly performed on axis N.
0: Do not repeat point-to-point motion.
Bit 0
1: Repeats point-to-point motion.
Note: Use system call to perform point-to-point
motion.
Sets axis N a s sele cte d axis or displays if ax is N i s
selected.
0: Cancels the selected axis.
Bit 0
1: Selects axis.
Note: When using system call to perform motion
control, motion control will only be performed on
the selected axis.
m or rad
m or rad
-
-
Enables or disables axis N. Or displays if axis N is
enabled or disabled.
30 Axis enable/disable int8_t Read/Write
0: Axis N is disabled.
Bit 0
1: Axis N is enabled.
Clears the fault status of axis N.
31 Clear error stop int8_t Write
Bit 0 1: Clears fault status.
Sets the current position of axis N as zero
32 Set zero int8_t Write
position.
Bit 0 1: Sets current position as zero position.
Note:
1. The register address of the parameters of each axis: Register address + 256 * N (N
2. The default data types of some parameters are float.
3. The unit, linear unit or r ot ary unit is decided according to the setting in iA Studio.
max
-
-
-
= 31)
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Register
Address
Performs emergency stop on all axes and disables all
1: Performs jog in positive direction on the
selected axis.
1: Performs jog in negative direction on the
selected axis.
1: Performs relative motion on the selected
axis.
1. (This function is
2. (This function is
4.4.2 System call
Users can perform motion control on axes by writing the registers assigned for System Call. System Call
includes motion control functions such as emergency stop, jog, relative motion, etc. The registers
assigned for System Call are as below.
Table 4.4.2.1
Parameter Data Type Attribute Description*1
8192 Emergency stop int8_t Write
8193 Stop all int8_t Write
8194 Stop int8_t Write
8195 Jog + int8_t Write
8196 Jogs - int8_t Write
8197 Move relative int8_t Write
axes.
Bit 0 1: Eme rgency stop
Stops motions on all axes.
Bit 0 1: Stops motions on all axes.
Stops motion on the selected axis.
Bit 0 1: Stops motion on the selec ted axis.
Performs jog in positive direction on the selected axis.
Bit 0
Performs jog in negative direction on the selected axis.
Bit 0
Performs relative motion on the selected axis.
Bit 0
8198 P2P P1 int8_t Write
8199 P2P P2 int8_t Write
Note:
To perform functions mentioned in table 4.4.2.1 on the selected axis, please first select axis by writing the assigned
register. Motion control parameters of each axis can be set by writing registers assigned for Axis.
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Moves the selected axis to position
currently not available.)
Bit 0 1: Moves the selected axis to position 1.
Moves the selected axis to position
currently not available.)
Bit 0 1: Moves the selected axis to position 2.
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Register
Address
8210
8211
4.4.3 Controller information
Users can monitor controller information such as controller status and error code by reading the registers
assigned for Controller Information. The registers assigned for Controller Information are as below.
Table 4.4.3.1
Parameter Data Ty pe Attribute Description
Displays controller status . F or wha t each value means,
please refer to below.
8208
8209
Controller
status
*1
uint32_t Read-only
0 Initializing
1 Busy
Synchronous
2
Controller is ready to perform motion control.
Asynchronous
3
Controller is not ready to perform motion control.
4 An error occurs in the controller.
Error code*2 uint32_t Read-only Displays the latest HIMC error code.
Note:
1. For related information of controller status, please refer to section 1.4 Main screen in iA Studio User Guide.
For how the LED indicator reacts to each status, please refer to section 1.6 LED indicator in HIMC Installation
Guide.
2. The error code is stored in decimal format. Please convert to hexadecimal format to search for its description in
section 5. Appendix in iA Studio User Guide.
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Register
Address
0: GPI1 is OFF.
4.4.4 GPIO
Users can monitor the statuses of general-purpose inputs or outputs (GPIO) or set general-purpose
outputs by reading or writing the r egisters assigned for GPIO. HIMC provides 8 general-purpose inputs
(GPI1~GPI8) and 8 general-purpose outputs (GPO1~GPO8). The registers assigned for GPIO are as
below.
Table 4.4.4.1
Parameter Data Type Attribute Description
Displays the status of GPI (1~8).
8272 GPI status int8_t Read-only
8273 GPO status int8_t Read/Write
Bit 0
…
Bit 7
1: GPI1 is ON.
…
0: GPI8 is OFF.
1: GPI8 is ON.
Sets GPO (1~8) or displays the status of GPO (1~8).
Bit 0
…
Bit 7
0: GPO1 is OFF.
1: GPO1 is ON.
…
0: GPO8 is OFF.
1: GPO8 is ON.
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Register
Address*1
Bit 3
Task is paused.
1: Runs task.
4.4.5 HMPL task
Users can monitor HMPL task status or run HMPL task by reading or writing the registers assigned for
HMPL T ask. HIMC provides 64 tasks (task 0 to task 63). The registers assigned for HMPL Task are as
below.
Table 4.4.5.1
Parameter Data Size Attribute Description
Displays the status of task.
Bit 0 Task is imported to RAM.
Bit 1 Task is running.
8448
Task status
(Task 0)
int8_t Read-only
Bit 2 Task is running in debug mode.
Bit 4 Error occurs when running task.
Bit 5 Task has been modified.
Bit 6 Error occurs when importing task.
Runs or stops task.
8449
Task start/stop
(Task 0)
int8_t Read/Write
Bit 0
0: Stops task.
Note:
1. The register address of the parameters of each task: register address + N * 2 (N
max
= 63)
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Register
Address*1
Register
Address*1
4.4.6 User table
Users can access the index values in User Table*1 by reading or writing the registers assigned for User
Table. There are 128 indexes
Note:
1. User Table is stored in the memory of HIMC.
2. If the data type is float, users can access 128 indexes. If the data type is double, users can only access 64
indexes.
When the data type is float, the assigned registers are as below.
Parameter Data Type Type Description
*2
in User Tabl e.
Table 4.4.6.1
8704
8705
index 0 float Read/Write
Sets index 0 or displ ays the value of index 0 in User
Table.
Note:
1. Register address of index N = register address + N * 2 (N
= 127)
max
When the data type is double, the assigned registers are as below.
Table 4.4.6.2
Parameter Data Type Attribute Description
8704
8705
index 0 double Read/Write
8706
8707
Note:
1. Register address of index N = register address + N * 4 (
Sets index 0 or displ ays the value of index 0 in Us er
Table.
= 63)
Nmax
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4.4.7 User-defined parameters
Users can access the user-defined parameters by reading and writing the registers assigned for
User-defined Parameters. The range of register address is from 4x12288 to 4x20479. Users need to
define the desired parameters in iA Studio first.
Figure 4.4.7.1 Modbus Manager
Note:
For how to set user-defined parameters, please refer to section 4.10 Modbus manager in iA Studio User Guide.
4.4.8 Undefined registers
Register addresses from 4x32768 to 4x65535 are not defined. Users are allowed to use these registers
freely.
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