IEC PAS 62030:2004
(Main)Digital data communications for measurement and control - Fieldbus for use in industrial control systems - Section 1: MODBUS® Application Protocol Specification V1.1a - Section 2: Real-Time Publish-Subscribe (RTPS) Wire Protocol Specification Version 1.0
Digital data communications for measurement and control - Fieldbus for use in industrial control systems - Section 1: MODBUS® Application Protocol Specification V1.1a - Section 2: Real-Time Publish-Subscribe (RTPS) Wire Protocol Specification Version 1.0
This PAS has been divided into two sections. Section 1 deals with MODBUS® Application Protocol Specification V1.1a while Section 2 covers the Real-Time Publish-Subscribe (RTPS) Wire Protocol Specification Version 1.0. It is intended that the content of this PAS will be incorporated in the future new editions of the various parts of IEC 61158 series according to the structure of this series.
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PAS 62030
SPECIFICATION
First edition
Pre-Standard
2004-11
Digital data communications
for measurement and control –
Fieldbus for use in industrial
control systems –
Section 1:
MODBUS® Application Protocol
Specification V1.1a –
Section 2:
Real-Time Publish-Subscribe (RTPS)
Wire Protocol Specification Version 1.0
Reference number
IEC/PAS 62030:2004(E)
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60000 series. For example, IEC 34-1 is now referred to as IEC 60034-1.
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PUBLICLY
IEC
AVAILABLE
PAS 62030
SPECIFICATION
First edition
Pre-Standard
2004-11
Digital data communications
for measurement and control –
Fieldbus for use in industrial
control systems –
Section 1:
MODBUS® Application Protocol
Specification V1.1a –
Section 2:
Real-Time Publish-Subscribe (RTPS)
Wire Protocol Specification Version 1.0
© IEC 2004 ⎯ Copyright - all rights reserved
No part of this publication may be reproduced or utilized in any form or by any means, electronic or
mechanical, including photocopying and microfilm, without permission in writing from the publisher.
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Международная Электротехническая Комиссия
For price, see current catalogue
– 2 – PAS 62030 © IEC:2004 (E)
CONTENTS
FOREWORD.5
Section 1 – MODBUS® Application Protocol Specification V1.1a . 7
1 MODBUS . 7
1.1 Introduction . 7
1.1.1 Scope of this section. 7
1.1.2 Normative references. 8
1.2 Abbreviations . 8
1.3 Context . 8
1.4 General description . 9
1.4.1 Protocol description . 9
1.4.2 Data Encoding .11
1.4.3 MODBUS data model .12
1.4.4 MODBUS Addressing model.13
1.4.5 Define MODBUS Transaction .14
1.5 Function Code Categories .16
1.5.1 Public Function Code Definition.17
1.6 Function codes descripitons .17
1.6.1 01 (0x01) Read Coils .17
1.6.2 02 (0x02) Read Discrete Inputs .19
1.6.3 03 (0x03) Read Holding Registers.21
1.6.4 04 (0x04) Read Input Registers.22
1.6.5 05 (0x05) Write Single Coil.23
1.6.6 06 (0x06) Write Single Register.24
1.6.7 07 (0x07) Read Exception Status (Serial Line only) .26
1.6.8 08 (0x08) Diagnostics (Serial Line only) .27
1.6.9 11 (0x0B) Get Comm Event Counter (Serial Line only).30
1.6.10 12 (0x0C) Get Comm Event Log (Serial Line only).32
1.6.11 15 (0x0F) Write Multiple Coils .34
1.6.12 16 (0x10) Write Multiple registers.35
1.6.13 17 (0x11) Report Slave ID (Serial Line only).37
1.6.14 20 / 6 (0x14 / 0x06 ) Read File Record .37
1.6.15 21 / 6 (0x15 / 0x06 ) Write File Record .39
1.6.16 22 (0x16) Mask Write Register .41
1.6.17 23 (0x17) Read/Write Multiple registers.43
1.6.18 24 (0x18) Read FIFO Queue .45
1.6.19 43 ( 0x2B) Encapsulated Interface Transport.46
1.6.20 43 / 13 (0x2B / 0x0D) CANopen General Reference Request and
Response PDU .47
1.6.21 43 / 14 (0x2B / 0x0E) Read Device Identification .48
1.7 MODBUS Exception Responses.52
Annex A of Section 1 (informative) MODBUS MESSAGING ON TCP/IP IMPLEMENTATION GUIDE.54
A.1 INTRODUCTION .54
A.1.1 OBJECTIVES .54
A.1.2 CLIENT / SERVER MODEL.54
PAS 62030 © IEC:2004 (E) – 3 –
A.1.3 REFERENCE DOCUMENTS .55
A.2 ABBREVIATIONS .55
A.3 CONTEXT .55
A.3.1 PROTOCOL DESCRIPTION .55
A.3.2 MODBUS FUNCTIONS CODES DESCRIPTION .57
A.4 FUNCTIONAL DESCRIPTION.58
A.4.1 MODBUS COMPONENT ARCHITECTURE MODEL.58
A.4.2 TCP CONNECTION MANAGEMENT .61
A.4.3 USE of TCP/IP STACK .65
A.4.4 COMMUNICATION APPLICATION LAYER .71
A.5 IMPLEMENTATION GUIDELINE .82
A.5.1 OBJECT MODEL DIAGRAM .83
A.5.2 IMPLEMENTATION CLASS DIAGRAM.87
A.5.3 SEQUENCE DIAGRAMS.89
A.5.4 CLASSES AND METHODS DESCRIPTION .92
Annex B of Section 1 (Informative) MODBUS RESERVED FUNCTION CODES, SUBCODES
AND MEI TYPES .96
Annex C of Section 1 (Informative) CANOPEN GENERAL REFERENCE COMMAND .96
Section 2 – Real-Time Publish-Subscribe (RTPS) Wire Protocol Specification Version 1.0 .97
2 RTPS .97
2.1 Basic Concepts .97
2.1.1 Introduction.97
2.1.2 The RTPS Object Model.98
2.1.3 The Basic RTPS Transport Interface .99
2.1.4 Notational Conventions .100
2.2 Structure Definitions .101
2.2.1 Referring to Objects: the GUID.101
2.2.2 Building Blocks of RTPS Messages .102
2.3 RTPS Message Format.105
2.3.1 Overall Structure of RTPS Messages .105
2.3.2 Submessage Structure.105
2.3.3 How to Interpret a Message .106
2.3.4 Header .107
2.3.5 ACK.108
2.3.6 GAP.109
2.3.7 HEARTBEAT .110
2.3.8 INFO_DST .112
2.3.9 INFO_REPLY.112
2.3.10 INFO_SRC.113
2.3.11 INFO_TS .114
2.3.12 ISSUE .114
2.3.13 PAD.115
2.3.14 VAR.116
2.3.15 Versioning and Extensibility .117
2.4 RTPS and UDP/IPv4.118
2.4.1 Concepts .118
2.4.2 RTPS Packet Addressing .118
2.4.3 Possible Destinations for Specific Submessages .121
– 4 – PAS 62030 © IEC:2004 (E)
2.5 Attributes of Objects and Metatraffic .122
2.5.1 Concept .122
2.5.2 Wire Format of the ParameterSequence .124
2.5.3 ParameterID Definitions .125
2.5.4 Reserved Objects .126
2.5.5 Examples.130
2.6 Publish-Subscribe Protocol.132
2.6.1 Publication and Subscription Objects .132
2.6.2 Representation of User Data .137
2.7 CST Protocol.139
...
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