USC329AE01 3BHB002483R0001 ABB module controller DCS module inventory

Description

Modbus is a serial communication protocol, which was published by Modicon Company (now Schneider Electric) in 1979 for communication using programmable logic controller (PLC). Modbus has become the industry standard (De facto) of USC329AE01 communication protocol in the industrial field, and is now a common connection mode between industrial electronic devices.
Modbus protocol is currently available for serial port, Ethernet and other networks supporting Internet protocol.
The Modbus RTU communication is conducted through the serial port EIA-485 physical layer. Namely, Modbus RTU is based on 485 transmission mode. If the device has only one 232 serial port interface, it can also be used after purchasing 485 to 232 interface.
This paper introduces that ABB robot USC329AE01 uses Modbus RTU to communicate with equipment. ABB robot does not need option to use serial port communication.

1. ABB robot control cabinet provides com1 port as the serial port for robot to communicate with external equipment, as shown in the figure below. If Modbus RTU communication is used, 485 to 223 interfaces need to be purchased. The robot side uses 232. Pay attention to cross wiring when using serial port lines.
In the control panel – configuration – topic communication serial port of the teaching pendant, set the robot serial port parameters according to the requirements of the Modbus RTU master station equipment
2. Modbus rtu reads and writes the corresponding single coil/multiple registers of USC329AE01 through different function codes. For example, use 0x03 function code to read the data of multiple holding registers. The format of the data sent and returned is as follows:
The picture uses 0x10 function code to write data of multiple holding registers, send data and return data formats
3. Other function codes are as follows:
picture
4. When using Modbus RTU to read and write data, the slave station needs to send CRC check code. The CRC check content is all the data before the CRC check code. The calculation method of Modbus RTU CRC check code is as follows:
Only 8 data bits, start bit and stop bit are used in CRC calculation. The parity bit, if any, also includes the parity bit, which is not involved in CRC calculation.
1. Load a 16 bit register with a value of 0XFFFF, which is a CRC register.
2. The XOR result of the first 8-bit binary data (i.e. the first byte of the communication information frame) and the 16 bit CRC register is still stored in the CRC register.
3. Move the CRC register to the right by one bit, fill the highest bit with 0, and detect whether the shifted bit is 0 or 1.
4. If the shift out position is zero, repeat the third step (move one position to the right again); If the shift out bit is 1, the CRC register is XOR with 0XA001.
5. Repeat steps 3 and 4 until it is shifted to the right for 8 times, so that the entire 8-bit data is processed.
6. Repeat steps 2 and 5 to process the next byte of communication information frame.
7. After all bytes of the communication information frame are calculated according to the above steps, the high and low bytes of the 16 bit CRC register are exchanged
8. The final CRC register content is: CRC check code

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