Adding KbusModbusPFCSlave to the PFC
Before doing anything please read this: https://www.ptxdist.org/doc/dev_manual.html#adding-new-packages
This HowTo shows how to build and install the Kbus Modbus Slave application "kbusmodbusslave" who acting like a Modbus-Coupler 750-352. It also acting as counter part for WAGO-IO-Check.
The application "kbusmodbusslave" can be interessting for two reason:
- Direct access to KBus-IO-Modules for any third party process (Mono, PHP, Node.js, ...) who's able to send modbus requests.
- As an extensive real world example for coding with ADI/DAL-Interface.
Take care that there is no other ADI/DAL-Application(like PLC-Runtime) active while using this application. Because ADI/DAL-Interface offer a single process support only!
This HowTo is / based on a clean installation of Ubuntu LTS, with an installed and working WAGO Board-Support Package for PFC200. Working means that you successfully built the standard image “sd.hdimg”. Please check https://github.com/WAGO/pfc-firmware-sdk for further information.
- Copy attached rule file and sources for "kbusmodbusslave" to given folder:
$cp ./ptxproj/rules/kbusmodbusslave.in ~/wago/ptxproj-2.5.23/rules/
$cp ./ptxproj/rules/kbusmodbusslave.make ~/wago/ptxproj-2.5.23/rules/
$cp ./ptxproj/src/kbusmodbusslave-1.4.0.tar.bz2 ~/wago/ptxproj-2.5.23/src/
- Select "kbusmodbusslave" package for build
$cd ~/wago/ptxproj-2.5.23/
$ptxdist menuconfig
Wago Specific ---> [ENTER]
DAL - Device Abstraction Layer ---> [ENTER]
[*] Modbus-PFC-Slave
<Exit>, <Exit>, <Exit> and <Yes>
- Clean the package
$cd ~/wago/ptxproj-2.5.23
$ptxdist clean kbusmodbusslave
-
Build package or complete image
- Build package only
$ptxdist targetinstall kbusmodbusslaveAfterwards you should find the IPKG installer package file: ~/wago/ptxproj-2.5.23/platform-wago-pfcXXX/packages/kbusmodbusslave_1.4.0_armhf.ipk
-
Build complete firmware image "sd.hdimg" (optional)
$cd ~/wago/ptxproj-2.5.23/
$ptxdist clean
$ptxdist go -q
$ptxdist images
Afterwards you should find the firmware image "sd.hdimg": ~/wago/ptxproj-2.5.23/platform-wago-pfcXXX/images/sd.hdimg #The firmware image
As usual, you can:
- copy image file "sd.hdimg" with command "dd" to SD-Card and boot PFC200 from it.
- transfer package "kbusmodbusslave_1.4.0_armhf.ipk" into PFC's file system and call "ipkg install .ipk"
- utilize Web-Based-Management(WBM) feature "Software-Upload".
Using Web-Based-Management(WBM) feature "Software-Upload" for upload and installing OPKG packages
- Start your local browser, and navigate of PFC's default homepage(WBM)
https://192.168.1.17
Ignore Cert-Warning ...
- Select "Software-Upload" in left hand "Navigation" pane, You will be requested to authenticate!
Login as "admin" with password "wago" (default)
- Press button [Browser] to open the local file dialogue.
Browse to attached folder "./packages/"
Select package to install or update, here "kbusmodbusslave_1.4.0_armhf.ipk".
-
Click on button [Start Upload].
Transfer selected file into PFC file system and press button [Submit].
-
In newly shown section "Activate new software", press button [Submit] to install the package.
Internally WBM just calls:
>cd /home/
>opkg install kbusmodbusslave_1.4.0_armhf.ipk
- Open a (ssh or serial) terminal session to PFC
Login as "root" with password "wago" (default)
- Kill possible running CoDeSys2 runtime "plclinux_rt" or e!COCKPIT runtime "codesys3" (Because ADI/DAL can only be used by ONE application)
$/etc/init.d/runtime stop
- Run application with option "--nodaemon -v7", to see some output on console. Starts program not as background daemon and let it be most verbose.
$kbusmodbusslave --nodaemon -v7
======= CONFIGURATION =======
ORDER NUMBER: 352
PORT: 502
MAX CONNECTIONS: 5
COUPLER MODE: 0
MODBUS DELAY MS: 0
KBUS CYCLE TIME MS: 50
KBUS PRIORITY: 60
==============================
verbosity level is 7
kbusmodbusslave running...
ADI Device[0]: libcanlayer2
Modbus: Wait for KBUS to be initialized
ADI Device[1]: libpbdpm
ADI Device[2]: libpackbus
Found kbus device on: 2
KBUS device open OK
KBUS set to application state: 1
.KbusBitCount: 224
.TerminalCount: 8
.ErrorCode: 0
.ErrorArg: 0
.ErrorPos: 0
.BitCountAnalogInput: 288
.BitCountAnalogOutput: 224
.BitCountDigitalInput: 12
.BitCountDigitalOutput: 6
Offset: IN: 36 - OUT: 28
Pos:1: Type: 750-5XX / 4DO-DIAG BitOffsetOut:224; BitSizeOut:4; BitOffsetIn:288; BitSizeIn:4; Channels:0; PiFormat:0;
Pos:2: Type: 750-4XX / 4DI BitOffsetOut:0; BitSizeOut:0; BitOffsetIn:292; BitSizeIn:4; Channels:0; PiFormat:0;
Pos:3: Type: 750-453 / 0-0 BitOffsetOut:0; BitSizeOut:0; BitOffsetIn:0; BitSizeIn:64; Channels:4; PiFormat:0;
Pos:4: Type: 750-478 / 0-0 BitOffsetOut:0; BitSizeOut:0; BitOffsetIn:64; BitSizeIn:32; Channels:2; PiFormat:0;
Pos:5: Type: 750-4XX / 4DI BitOffsetOut:0; BitSizeOut:0; BitOffsetIn:296; BitSizeIn:4; Channels:0; PiFormat:0;
Pos:6: Type: 753-647 / 0-0 BitOffsetOut:0; BitSizeOut:192; BitOffsetIn:96; BitSizeIn:192; Channels:1; PiFormat:0;
Pos:7: Type: 750-5XX / 2DO BitOffsetOut:228; BitSizeOut:2; BitOffsetIn:0; BitSizeIn:0; Channels:0; PiFormat:0;
Pos:8: Type: 753-556 / 0-0 BitOffsetOut:192; BitSizeOut:32; BitOffsetIn:0; BitSizeIn:0; Channels:2; PiFormat:0;
Watchdog Init
Modbus config Init
Modbus Config MAC Init
Modbus KBUS Info Init
Modbus const Init
Modbus ShortDesctiption Init
Modbus-Init complete - Ready for take off
- Alternatively you can use netstat to check that modbus port 502 is open root@PFC200-405C59:~ netstat -tl Active Internet connections (only servers) Proto Recv-Q Send-Q Local Address Foreign Address State tcp 0 0 localhost:8000 (null):* LISTEN tcp 0 0 (null):wago-serv-ser (null):* LISTEN tcp 0 0 (null):wago-serv-tcp (null):* LISTEN tcp 0 0 (null):www (null):* LISTEN tcp 0 0 (null):502 (null):* LISTEN tcp 0 0 (null):ssh (null):* LISTEN tcp 0 0 (null):https (null):* LISTEN
To start kbusmodbusslave on start-up apply following steps.
- Copy the start-up script to PFC via ssh.
$scp ~/Downloads/HowTo_AddModbusPFCSlave/pfc/etc_init.d/kbusmodbusslave root@<IP-PFCX00>:/etc/init.d/kbusmodbusslave
You need to enter the root password
- Create symbolic link in /etc/rc.d/ for start-up kbusmodbusslave on power-on.
Open a terminal session to PFC
$ssh root@<IP-PFCX00>
You need to enter the root password
Now on PFC side, create the sym-link
$ln -s /etc/init.d/kbusmodbusslave /etc/rc.d/S90_kbusmodbusslave
- Make /etc/init.d/kbusmodbusslave executable
$chmod a+x /etc/init.d/kbusmodbusslave
-
Check for any ADI/DAL-Application(like PLC-Runtime) to be not started during start-up
Check for link to start up PLC-Runtime
$cd /etc/rc.d/ $llIf link S98_runtime is present delete it
$rm S98_runtime -
Reboot PFC to test the autostart
$reboot
The file contains configuration information for kbusmodbusslave. The configuration file is a free-form ASCII text file. Keywords in the file are case-sensitive. Comments an be placed on every line beginning and has to start with '#'.
Default configuration file: /etc/kbusmodbusslave.conf
#CONFIGURATION FILE FOR MODBUSPFCSLAVE DAEMON
#ORDER NUMBER (Default: 352)
order_number 352
#MODBUS SLAVE PORT (Default: 502)
modbus_port 502
#MAXIMUM ALLOWED TCP CONNECTIONS (Default: 5)
max_tcp_connections 5
#SET MODBUSMODE ASYNCHRONUS MODE (Default: 0)
#OR AS SYNCHRONUS MODE (MODE 1)
operation_mode 0
#SET MODBUS RESPONSE DELAY (Default: 0)
modbus_delay_ms 0
#SET KBUS PRIORITY (Default: 60)
kbus_priority 60
#SET KBUS CYCLE MS (Default: 50)
kbus_cycle_ms 50
- Synchronus-Mode: On a incomming modbus request a KBUS cycle is initiated. So that new data will be written synchronously. The response will deliver updated KBUS-data. Also the KBUS and modbus data is updated cyclically, just to keep the output alive. (kbus_cycle_ms)
+ +
| | KBUS & modbus update
| |
Req(WD, RD) | |
+------------>+ |
| |
+++ |
| |Modbus Write |
+++ |
| |
+--------------------------------------> +++
KBUS Write/Read | | KBUS Cycle
+<-------------------------------------+ +++
| |
+++ |
| |Modbus Read |
+++ |
| |
<-------------+ |
Resp | |
| |
| | t
+ v
PRO: Low Jitter
CONTRA: Higher response time, because of Modbus+KBUS execution time. More CPU power is needed.
- Asynchronus-Mode: On an incomming modbus request a KBUS a response is done immediately. The data will be updated on every KBUS cycle. (kbus_cycle_ms)
+ +
| | Cyclic Execution
| | of KBUS update
Req(WD, RD) | +++
+------------>+ | | KBUS Cycle
| +++
+++ |
| |Modbus Write/Read |
+++ +++
| | | KBUS Cycle
<-------------+ +++
Resp | |
| |
| | t
+ v
PRO: Minimal response time with minimal CPU load.
CONTRA: High Jitter in the range of +/- kbus_cycle_ms
To be able to communicate with WAGO-IO-CHECK please make sure to switch the operation manual switch (OMS) to position "STOP". Otherwise WAGO-IO-CHECK will recognize that an PFC applikation is running and will not allow to communicate.
OMS Positions: RUN: kbusmodbusslave is running and will answer incomming modbus telegrams. STOP: kbusmodbusslave is stoped and incomming modbus telegrams will be answered with the exception code 06 "Slave Device Busy". RESET: If you hold for minimum 3 seconds the switch in that position, kbusmodbuslave will be restarted and initialized.
For further details about modbus, please refer to the WAGO 750-352 chapter Modbus.
| dec | hex | |
|---|---|---|
| 0..255 | 0x0000..0x00FF | Physical-Input-Area 1 - First 256 Words of physical input data |
| 512..767 | 0x0200..0x02FF | Physical-Output-Area 1 - First 256 Words of physical output data |
| 4096..12287 | 0x1000..0x2FFF | Configuration-Register (see. Configuration Register) |
| 24576..25339 | 0x6000..0x62FB | Physical-Input-Area 2 - Additional 764 Words of physical input data |
| 28672..29435 | 0x7000..0x72FB | Physical-Output-Area 2 - Additional 764 Words of physical output data |
| dec | hex | |
|---|---|---|
| 0..255 | 0x0000..0x00FF | Physical-Output-Area 1 - First 256 Words of physical output data |
| 512..767 | 0x0200..0x02FF | Physical-Output-Area 1 - First 256 Words of physical output data - Mirror |
| 4096..12287 | 0x1000..0x2FFF | Configuration-Register (see. Configuration Register) |
| 24576..25339 | 0x6000..0x62FB | Physical-Output-Area 2 - Additional 764 Words of physical output data |
| 28672..29435 | 0x7000..0x72FB | Physical-Output-Area 2 - Additional 764 Words of physical output data - Mirror |
| dec | hex | |
|---|---|---|
| 0..511 | 0x0000..0x01FF | Physical-Input-Area 1 - First 512 digital input |
| 512..1023 | 0x0200..0x03FF | Physical-Output-Area 1 - First 512 digital output |
| 32768..34295 | 0x8000..0x8f57 | Physical-Input-Area 2 - Bit 513 to Bit 2039 input |
| 36864..38391 | 0x9000..0x9f57 | Physical-Output-Area 2 - Bit 513 to Bit 2039 output |
| dec | hex | |
|---|---|---|
| 0..511 | 0x0000..0x01FF | Physical-Input-Area 1 - First 512 digital output |
| 512..1023 | 0x0200..0x03FF | Physical-Input-Area 1 - First 512 digital output - Mirror |
| 32768..34295 | 0x8000..0x8f57 | Physical-Input-Area 2 - Bit 513 to Bit 2039 output |
| 36864..38391 | 0x9000..0x9f57 | Physical-Input-Area 2 - Bit 513 to Bit 2039 output - Mirror |
| hex | [R/W] | [Words] | [Description] |
|---|---|---|---|
| 0x1000 | R/W | 1 | Watchdog time read/write |
| 0x1003 | R/W | 1 | Watchdog trigger / Watchdog start |
| 0x1004 | R | 1 | Minimum trigger time |
| 0x1006 | R | 1 | Watchdog status (0:off 1:on) |
| 0x1008 | R/W | 1 | Stop watchdog (Write sequence 0x55AA or 0xAA55) |
| hex | [R/W] | [Words] | [Description] |
|---|---|---|---|
| 0x1022 | R | 1 | Count of analogue process-image output data (bits) |
| 0x1023 | R | 1 | Count of analogue process-image input data (bits) |
| 0x1024 | R | 1 | Count of digital process-image output data (bits) |
| 0x1025 | R | 1 | Count of digital process-image input data (bits) |
| hex | [R/W] | [Words] | [Description] |
|---|---|---|---|
| 0x1031 | R | 1 | MAC-Address of device |
| hex | [R/W] | [Words] | [Description] |
|---|---|---|---|
| 0x2000 | R | 1 | Constant 0x0000 |
| 0x2001 | R | 1 | Constant 0xFFFF |
| 0x2002 | R | 1 | Constant 0x1234 |
| 0x2003 | R | 1 | Constant 0xAAAA |
| 0x2004 | R | 1 | Constant 0x5555 |
| 0x2005 | R | 1 | Constant 0x7FFF |
| 0x2006 | R | 1 | Constant 0x8000 |
| 0x2007 | R | 1 | Constant 0x3FFF |
| 0x2008 | R | 1 | Constant 0x4000 |
| hex | [R/W] | [Words] | [Description] |
|---|---|---|---|
| 0x2020 | R | 1..16 | Short description of device. (ASCII-coded values) |
| hex | [R/W] | [Words] | [Description] |
|---|---|---|---|
| 0x2030 | R | 1..65 | Description of the connected I/O modules (module 0....64) |
| 0x2031 | R | 1..64 | Description of the connected I/O modules (module 64...129) |
| 0x2030 | R | 1..64 | Description of the connected I/O modules (module 130..194) |
| 0x2030 | R | 1..64 | Description of the connected I/O modules (module 195..255) |
In /tmp/KBUS/ those files could be found:
- termCount: Count of connected I/O-modules
- termInfo: Textfile wich mirrors the I/O-module assembly
e.g:
Pos:1: Type: 750-5XX / 4DO-DIAG BitOffsetOut:224; BitSizeOut:4; BitOffsetIn:288; BitSizeIn:4; Channels:0; PiFormat:0;
Pos:2: Type: 750-4XX / 4DI BitOffsetOut:0; BitSizeOut:0; BitOffsetIn:292; BitSizeIn:4; Channels:0; PiFormat:0;
Pos:3: Type: 750-453 / 0-0 BitOffsetOut:0; BitSizeOut:0; BitOffsetIn:0; BitSizeIn:64; Channels:4; PiFormat:0;
Pos:4: Type: 750-478 / 0-0 BitOffsetOut:0; BitSizeOut:0; BitOffsetIn:64; BitSizeIn:32; Channels:2; PiFormat:0;
Pos:5: Type: 750-4XX / 4DI BitOffsetOut:0; BitSizeOut:0; BitOffsetIn:296; BitSizeIn:4; Channels:0; PiFormat:0;
| PFC | Compatible |
|---|---|
| PFC 100 | |
| 750-8100 | Y |
| 750-8101 | Y |
| 750-8102 | Y |
| PFC 200 | |
| 750-8202 | Y |
| 750-8203 | Y |
| 750-8204 | Y |
| 750-8206 | Y |
| 750-8207 | Y |
| 750-8208 | Y |
| PFC 200 G2 | |
| 750-8212 | Y |
| 750-8213 | Y |
| 750-8214 | Y |
| 750-8216 | Y |