In the previous article, I showed how to build the Ethernet/IP Network from FESTO’s CPX-AP-I-EP module, but this time we use Modbus TCP Mode , Mitsubishi’s IQ-R CPU and its built-in Ethernet Port / Predefined Protocol function to build the network.

In addition, we will also introduce the diagnostic functions of FESTO’s CPX-AP-I-EP module.

Let’s start!

Reference Link

Festo#Let’s use Festo CPX-AP-I-EC EtherCAT Module

Festo#CPX-AP-I-EP EtherNet/IP Module with Keyence KV8000

Festo Side

First, I will introduce the Modbus TCP Mode of the Festo module.

Rotary Switch

Since Modbus TCP Mode is used this time, please set the Rotary switch to 745.

The IP address is 192.168.1.145 and uses the built in Modbus TCP Function.

Status

You can check the communication status of the module by accessing the Web Server.

Information

You can check detailed information of each module by clicking the tool ICON.

Process Data

You can check the IO data of each module from the Process Data item.

It is possible to check each module’s raw data.

Supply Voltages

Supply Voltages item allows you to check the power supply status of each module.

Cable Information

You can check the length of the cable connected between each module.

Assembly View

Using Modbus TCP Mode will disable the Ethernet/IP functionality and you will not be able to see anything from the Assembly View.

Modbus TCP Function

Instead of disabling the Assembly View, you can check the Modbus TCP function now.

Support Functions

Modbus TCP>Support Function Codesをクリックします。

You can also view the list of Function Codes that the module supports.

Holding Register

From the Holding Register View, you can check the details of the meaning of each module’s output, register number, etc.

Input Register

From the Input Register View, you can check the details such as the meaning of each module’s input, Register number, etc.

Mitsubishi Side

New Project

Start GXWORKS3 and create a new project with Project>New.

Select CPU Type etc. and create a project with OK.

Configure IP Address

Set the IP address of the CPU by clicking CPU>Module Parameters.

Search IP from Setting Item List.

Set the IP address of the built-in LAN Port and save with Apply.

Setup

We need to configure the Modbus TCP Connections.

Click External Device Configuration>Detailed Settings.

Add Connection

The Ethernet Configuration screen is displayed.

Drop “Active Connection Module” from the Module List on the right.

Done! Active Connection Module is added into your configuration.

PLC Side

Communication Method

Set Communication Method to “Predefined Protocol”.

Port

It is OK if you enter a Port number that is not used appropriately inside your Application.

Festo Side

Now we can add the Festo Module. As you see,there is a Sensor/Device item.

Set the IP Address and Port No. In this article, IP=192.168.1.159, Port uses Default 502.

Save it

Save the settings with Ethernet Configuration>Close with Reflecting the Setting.

Predefined Protocol Support Function

Open Tools>Predefined protocol support functions.

You can select the module type.

Select the build-in Ethernet CPU from the Drop list.

Confirm with Ok.

The Predefined protocol support function screen is displayed.

New Project

Open a new project with File>New.

A new predefined protocol support project has been added.

Add Protocol

Add a new Predefined Protocol with “Add”.

The Protocol setting screen is displayed.

Protocol No.1

Select MODBUS/TCP from the Model item.

Set 04: RD IN Register to Protocol Name, It means Function Code04.

Added Protocol No.1. is added.

Request

04: Set the absolute address corresponding to each part to the Request of RD IN Register.

D100: Transaction ID
D101: Module ID
D102: Start number of Input Register to read
D103: Number of Registers to read

Normal Response

Next, set the absolute address corresponding to each part in the normal Response of 04: RD IN Register.

D110:Transaction ID
D111: Module ID
D1000, D1001-D1125: Transfer destination of read data

Error Response

Finally, set the absolute address corresponding to the Error response of each part in 04: RD IN Register.

Protocol No2.

Create the second Protocol just like Protocol No1. The Protocol type is 16:WR Multi Register, It means Function Code 16.

Request

16: Set the absolute address corresponding to each part to the Request of WR Multi Register.

D200: Transaction ID
D201: Module ID
D202: Start number of Holding Register to write
D203: Number of Holding Registers to write
D1200: Totol size for writing (in bytes)
D1201-D1323: data to write

Normal Response

Next, set the absolute address corresponding to each part of Request – 16:WR Multi Register.

D210:Transaction ID
D211: Module ID
D212: Head Holding Register number
D213: Number of Registers written

Error Response

Finally, set the absolute address corresponding to the Error response of each part in 16:WR Multi Register.

Write to Module

Press Write to Module to download the configuration to CPU.

Execute it.

Done!

Program

Function

Before introducing the program, I will first introduce the functions used in this tutorial.

SP_SOCOPEN

This function can open a Connection.

Parameters

Operand	Descirption
U	Dummy
s1	Connection Number
s2	Control Data
d	The status of function execution

s2

s2+0	Whether the function uses control data or Open Settings0000H=Open Settings・8000H=Use control data
s2+1	function execution result, 0=success
s2+2	Connections setting
s2+3	Source port number
s2+4、s2+5	IP address
s2+6	Destination port number

SP_ECPRTCL

This function uses the Pre-definedProtocol to send the request to the destination.

Parameters

Operand	Descirption
U	Dummy
s1	Connection Number
s2	Protocol function to process
s3	Control data
d	Function execution state

s2

s2+0	Number of protocols successfully executed
s2+1	function execution result, 0=success
s2+2-s2+9	Protocol number to execute
s2+10-s2+17	0=Applicable protocol is receive only

SP_SOCCLOSE

こちらの関数を使用し、Connectionを閉じることができます。

Parameters

Operand	Descirption
U	Dummy
s1	Connection Number
s2	Control data
d	Function execution state

Add Module Label

Right-click Element Selection>Module Label>R00CPU and add a CPU label with>Add Module Label.

MAIN

Local Label

This is the local label used in this project.

DUT_SMART_IDWx_MxMM_NMS_A0

This is a Contrinex smart sensor state struct.

OB100

This ST is a program that resets all flags in the CPU when the CPU goes from STOP>RUN.

//Init the Parameters
IF RCPU.stSM.bAfter_RUN1_Scan_ON THEN

bSocOK:=FALSE;
bSocError:=FALSE;
bSocketOpen:=FALSE;

bPredefineConnError:=FALSE;
bPredefineConnOK:=FALSE;

bSocketClose:=FALSE;
bSocketCloseError:=FALSE;

stECPRTCL_s3[2]:=1; //we will only use this control word and change it dynaimiclly
stECPRTCL_s3[3]:=0;
stECPRTCL_s3[4]:=0;
stECPRTCL_s3[5]:=0;

//Protocol Number1
D100:=1; //Transaction ID
D101:=1; //Slave ID
D102:=0; //Starting Register Number
D103:=39; //Your Reading Points
//Protocol Number2
D200:=2; //TransactionID
D201:=1; //Slave ID
D202:=0; //Starting Register Number
D203:=33; //Write Points
D1200:=66; //Totol writing bytes – 33 words
END_IF;
;

Open Socket Connection

This program opens the Connection1 connection.

bSocOK=Connection successful and bSocError=Connection failed.

Trigger the Pre-definedProtocol

This program sends a Pre-definedProtocol request to the connection destination of Connection1 (Festo module in this article).

s2は常に１を入れていますが、実際はその関数の制御データを変更し異なるPre-definedProtocolをFestoモジュールに送信します。そしてSTB_1にはそのPre-definedProtocolを切り替えと入出力データをEncodeするプログラムが入っています。s2 always puts 1, but actually we change the control data of that function and send a different Pre-definedProtocol to the Festo module,and STB_1 contains a program that switches the Pre-defined Protocol and encodes the input/output data.

STB_1

stECPRTCL_s3[2] is a Register to switch the Pre-definedProtocol number. It then encodes the IOLINK Sensor data into the correct format.

//
fbTON1(IN:= NOT fbTON1.Q ,PT:= T#1s);

D1:= stECPRTCL_s3[2];

IF bDataProcessOK THEN
CASE D1 OF
//Protocol 1
1:
D0:=1;
stECPRTCL_s3[2]:=2;
ScalingValue[0]:= (INT_TO_REAL(D1036)/32000.0)*10.0;
ScalingValue[1]:= (INT_TO_REAL(D1037)/32000.0)*10.0;
ScalingValue[2]:= (INT_TO_REAL(D1038)/32000.0)*10.0;
ScalingValue[3]:= (INT_TO_REAL(D1039)/32000.0)*10.0;

//
SMART_IDWx_MxxMM_NMS_A0_ScalingValue:=D1002 & 16#00FF;
//SMART_IDWx_MxxMM_NMS_A0_MeasureValue:=
//(INT_TO_REAL(SWAP(EN:=TRUE ,d=>D1001 ))/16383.0)*110.0;

M0:=SWAP(EN:=TRUE ,d=>D1001 );
SMART_IDWx_MxxMM_NMS_A0_MeasureValue:=
(INT_TO_REAL(D1001 )/16383.0)*110.0;

SMART_IDWx_MxxMM_NMS_A0_Status.OSS1:=D1002.8;
SMART_IDWx_MxxMM_NMS_A0_Status.OSS2:=D1002.9;
SMART_IDWx_MxxMM_NMS_A0_Status.TSS:=D1002.A;
SMART_IDWx_MxxMM_NMS_A0_Status.SSC1:=D1002.B;
SMART_IDWx_MxxMM_NMS_A0_Status.SSC2:=D1002.C;
SMART_IDWx_MxxMM_NMS_A0_Status.ALR1:=D1002.D;
SMART_IDWx_MxxMM_NMS_A0_Status.ALR2:=D1002.E;
SMART_IDWx_MxxMM_NMS_A0_Status.ALR3:=D1002.F;

DigtialInputs[0]:=D1035.0;
DigtialInputs[1]:=D1035.1;
DigtialInputs[2]:=D1035.2;
DigtialInputs[3]:=D1035.3;

//Protocol 2
//Holding Register
2:
D0:=1;
stECPRTCL_s3[2]:=1;
IF D1233.0 = TRUE THEN
D1233.0:=FALSE;
D1233.1:=FALSE;
D1233.2:=TRUE;
D1233.3:=TRUE;
ELSE
D1233.0:=TRUE;
D1233.1:=TRUE;
D1233.2:=FALSE;
D1233.3:=FALSE;
END_IF;

END_CASE;
END_IF;
;

Actually trigger the program of STB_1 and executes STB_1 each time while the transmission succeeds.