UR FAMILY – COMMUNICATIONS GUIDE iii
UR Family
Table of contents
1INTRODUCTION 1.1 Products................................................................................................................... 1-1
1.2 Features per product............................................................................................. 1-1
1.3 Communication ports ......................................................................................... 1-14
1.4 Safety symbols and definitions ......................................................................... 1-14
1.5 For further assistance......................................................................................... 1-14
2MODBUS
COMMUNICATION
2.1 Modbus RTU protocol ............................................................................................ 2-1
2.1.1 Introduction............................................................................................................................. 2-1
2.1.2 Configuration.......................................................................................................................... 2-1
2.1.3 Physical layer.......................................................................................................................... 2-1
2.1.4 Data link layer ........................................................................................................................ 2-2
2.1.5 Modbus RTU CRC-16 algorithm..................................................................................... 2-3
2.2 Modbus function codes......................................................................................... 2-4
2.2.1 Supported function codes................................................................................................ 2-4
2.2.2 Read actual values or settings (function code 03/04h)...................................... 2-4
2.2.3 Execute operation (function code 05h) ...................................................................... 2-5
2.2.4 Store single setting (function code 06h) .................................................................... 2-5
2.2.5 Store multiple settings (function code 10h) ............................................................. 2-6
2.2.6 Exception responses........................................................................................................... 2-6
2.3 File transfers ........................................................................................................... 2-7
2.3.1 Obtaining relay files using Modbus.............................................................................. 2-7
2.4 Memory map ......................................................................................................... 2-12
2.4.1 Modbus memory map......................................................................................................2-12
2.4.2 Data formats .....................................................................................................................2-184
3 IEC 61850
COMMUNICATION
3.1 Overview.................................................................................................................. 3-1
3.1.1 Introduction............................................................................................................................. 3-1
3.1.2 Abstract Communication Service Interface (ASCI)................................................ 3-3
3.1.3 Datasets.................................................................................................................................... 3-6
3.1.4 TxGOOSE................................................................................................................................... 3-7
3.1.5 RxGOOSE .................................................................................................................................. 3-9
3.1.6 Reports ....................................................................................................................................3-10
3.1.7 Commands............................................................................................................................3-12
3.1.8 Substation Configuration Language (SCL)..............................................................3-12
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