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Adding KbusModbusPFCSlave to the PFC

Every package is bundled to a specific firmware version: For Version 14 - FW:03.02.02(99)

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:

  1. Direct access to KBus-IO-Modules for any third party process (Mono, PHP, Node.js, ...) who's able to send modbus requests.
  2. As an extensive real world example for coding with ADI/DAL-Interface.

CAUTION

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!

PREREQUISITES

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”.

Build package "kbusmodbusslave" on development host:

  1. Copy attached rule file and sources for "kbusmodbusslave" to given folder:
$cp ./ptxproj/rules/kbusmodbusslave.in    ~/wago/ptxproj/rules/
$cp ./ptxproj/rules/kbusmodbusslave.make  ~/wago/ptxproj/rules/
$cp ./ptxproj/src/kbusmodbusslave-1.4.1.tar.bz2 ~/wago/ptxproj/src/
  1. Select "kbusmodbusslave" package for build
$cd ~/wago/ptxproj/
$ptxdist menuconfig
      Wago Specific                   ---> [ENTER]
      DAL - Device Abstraction Layer  ---> [ENTER]
          [*]     Modbus-PFC-Slave

      <Exit>, <Exit>, <Exit> and <Yes>
  1. Clean the package
$cd ~/wago/ptxproj
$ptxdist clean kbusmodbusslave

  1. Build package or complete image

    1. Build package only
        $ptxdist targetinstall kbusmodbusslave

    Afterwards you should find the IPKG installer package file: ~/wago/ptxproj/platform-wago-pfcXXX/packages/kbusmodbusslave_1.4.1_arm.ipk

  2. Build complete firmware image "sd.hdimg" (optional)

      $cd ~/wago/ptxproj/
      $ptxdist clean
      $ptxdist go -q
      $ptxdist images

Afterwards you should find the firmware image "sd.hdimg": ~/wago/ptxproj/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_1.4.1_arm.ipk" into PFC's file system and call "opkg install .ipk"
  • utilize Web-Based-Management(WBM) feature "Software-Upload".

Using SSH for upload and installing OPKG package

  1. On development host
    $cd ~/wago/ptxroj/platform-wago-pfcXXX/packages/
    $scp kbusmodbusslave_1.4.1_armhf.ipk root@<IP-of-PFC>:/root
    root@<IP-of-PFC>'s password:  # Enter the root password (default: wago)
    kbusmodbusslave_1.4.1_armhf.ipk               100%   23KB  23.3KB/s   00:00
  1. On PFC Connect to PFC via SSH
    $ssh root@<IP-of-PFC>
    root@<IP-of-PFC>'s password: #Enter the root password (default: wago)

    WAGO Linux Terminal on PFC200V3-AABBCC

    root@PFC200V3-AABBCC:

You are now connected to the PFC. Install kbusmodbusslave:

    $ opkg install kbusmodbusslave_1.4.1_armhf.ipk
    Installing kbusmodbusslave (1.4.1) on root.
    Configuring kbusmodbusslave.

Contratulations kbusmodbusslave is now installed on the PFC. Test it on PFC:

    $ /etc/init.d/runtime stop
    Terminate CoDeSys v2.3...1403
    Terminating CoDeSys v2.3, killing runtime ...done
    $ kbusmodbusslave -v 7 --nodaemon

    ======= CONFIGURATION =======
    PORT: 502
    MAX CONNECTIONS: 5
    OPERATION MODE: 0
    MODBUS DELAY MS: 0
    KBUS CYCLE TIME MS: 50
    KBUS PRIORITY: 60
    ==============================
    verbosity level is 7
    Not running in background
    kbusmodbusslave running...
    ADI Device[0]: libpbdpm
    Modbus: Wait for KBUS to be initialized
    ADI Device[1]: libpackbus
    Found kbus device on: 1
    KBUS device open OK
    KBUS set to application state: 1
    [...]

Using Web-Based-Management(WBM) feature "Software-Upload" for upload and installing OPKG packages

  1. Start your local browser, and navigate of PFC's default homepage(WBM)
        https://192.168.1.17

Ignore Cert-Warning ...
  1. Select "Software-Upload" in left hand "Navigation" pane, You will be requested to authenticate!
    Login as "admin" with password "wago" (default)
  1. Press button [Browser] to open the local file dialogue.
    Browse to attached folder "./packages/"
    Select package to install or update, here "kbusmodbusslave_1.4.1_armhf.ipk".

  1. Click on button [Start Upload].

    Transfer selected file into PFC file system and press button [Submit].

  2. In newly shown section "Activate new software", press button [Submit] to install the package.

    Internally WBM just calls:
        >cd /home/
        >opkg install kbusmodbusslave_1.4.1_armhf.ipk
  1. Open a (ssh or serial) terminal session to PFC
        Login as "root" with password "wago" (default)
  1. 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
  1. 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 =======
    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
  1. 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

Enable auto start for "kbusmodbusslave"

To start kbusmodbusslave on start-up apply following steps.

  1. 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

  1. 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/S98_kbusmodbusslave
  1. Make /etc/init.d/kbusmodbusslave executable
$chmod a+x /etc/init.d/kbusmodbusslave

  1. 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/
$ll

    If link S98_runtime is present delete it

    $rm S98_runtime

  2. Reboot PFC to test the autostart

    $reboot

Configuration file "/etc/kbusmodbusslave.conf"

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 KBUSMODBUSSLAVE DAEMON

#DEFAULT PORT IS 502
modbus_port 502

#MAXIMUM ALLOWED TCP CONNECTIONS
max_tcp_connections 5

#SET MODBUSMODE ASYNCHRONUS MODE (MODE 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

Debug Modes

Via Parameter "verbose" you are able to generate some debug information. A higher value will generate noisier output.

Currently the following stages are implemented:

Name Value
VERBOSE_STD 1
VERBOSE_INFO 2
VERBOSE_GOSSIPY 3
VERBOSE_DEBUG 7

Special Information

In VERBOS_DEBUG mode the raw modbus telegram for RX and TX will be shown for debug purpose.

Operration Mode

  1. 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.

  1. 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                       |
               +++                                       +++
  Resp          |                                        | | KBUS Cycle
  <-------------+                                        +++
                |                                         | t
                +                                         v

PRO: Minimal response time with minimal CPU load.

CONTRA: High Jitter in the range of +/- kbus_cycle_ms

WAGO-IO-CHECK / Operation Manual Switch

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.

Modus register definition

For further details about modbus, please refer to the WAGO 750-352 chapter Modbus.

READ (FC3 and FC4)

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

WRITE (FC6 and FC16)

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

Bit access read (FC1 and FC2)

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

Bit access write (FC5 and FC15)

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

CONFIGURATION - REGISTER

Modbus Watchdog

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)

Process Image Information

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)

MAC-ID

hex [R/W] [Words] [Description]
0x1031 R 1 MAC-Address of device

Constants

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

Short description

hex [R/W] [Words] [Description]
0x2020 R 1..16 Short description of device. (ASCII-coded values)

I/O Modules

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)

FILESYSTEM ACCESS

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;

Compatibility list:

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

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