rotork Modbus - 6 Modbus Communication; Electrical Specification; Outer Protocol; Repeaters

Modbus Communication
Publication PUB091-004-00_0918 39 of 64
6 MODBUS COMMUNICATION
6.1 Electrical Specification
Line Electrical Specification: RS-485, two wire, half duplex
6.2 Outer Protocol
Modbus Transmission Mode RTU (8 bit Binary data)
Supported Baud Rates 300, 600, 1k2, 2k4, 4k8, 9k6, 19k2, 38k4, 57k6, 115k2
Number of bits per character
Start bits 1
Data bits (LSB first) 8
Parity (configurable) Odd, Even, None
Stop bits (configurable) 1 or 2
Error checking CRC
Message turn round time/delay time
Minimum period between request and response:
Data Speed
(Baud)
300
600
1k2
2k4
4k8
9k6
19k2
38k4
57k6
115k2
Turn Round
Time (ms)
188
100
60
40
28
24
20
20
20
20
Repeater
Delay①(μs)
3.5
3.5
3.5
3.5
3.5
3.5
3.5
3.5
3.5
3.5
Inter-
Character
timeout
(t
1.5
)(ms)
55.04
27.52
13.76
6.88
3.44
1.72
0.860
0.750
0.750
0.750
Inter-frame
delay
(t
3.5
)(ms)
128.3
64.16
32.08
16.04
8.02
4.01
2.00
1.750
1.750
1.750
Note ①– In the Single Highway with Internal Repeater Modbus Module option there is a
propagation delay in the repeater.
Maximum period between request and response: 190 ms
6.3 Repeaters
A single segment supports up to 32 nodes, one of which is usually the PLC. The addition of repeaters
allows the segment to be extended in length or to increase the number of nodes connected to the
network, or both. The maximum lengths at different speeds are discussed in section 4.2. The number
of repeaters in a single highway should be kept to a minimum, as this can seriously extend the delay
between a message being sent and the response arriving at the PLC.