SICK Flexi Compact User Manual

13.3 Data exchange in the network
13.3.1 Modbus® TCP
Overview
The safety controller supports a Modbus® TCP server without a safety protocol.
Important information
NOTE
•
T
he safety controller supports only the querying and writing of whole memory
blocks. Individual items of information must be extracted from the overall informa‐
tion.
•
The PDUs (Protocol Data Units) are limited to 256 bytes (252 bytes of user data).
Large information fields, for example the safety controller configuration, are there‐
fore spread across multiple messages.
•
Modbus® TCP transmits the data in big endian format. The data is organized into
16-bit words and can only be addressed as words.
•
The main module processes data internally in little endian format. The sequence
of bytes may need to be adjusted when assigning the process data on a byte-wise
basis.
Supported commands
•
03 (0x03) R
ead holding registers
•
04 (0x04) Read input registers
•
06 (0x06) Write single holding register (for address 356 only: Find Me function
can be used)
•
16 (0x10) Write multiple holding registers
Memory spaces
The safety controller provides a memory space with input registers and internal regis‐
ters as an interface to external Modbus® TCP controllers.
Structure of the readable input register (Modbus® TCP input register):
•
Memory space from 0 – Device Identify Information
•
Memory space from 256 – Results
•
Memory space from 2,000 – Status
Structure of the readable and writable register (Modbus® TCP holding register):
•
Memory space from 256 – Commands
13.3.1.1 Modbus® TCP input register
13.3.1.1.1 Device
Table 159: Modbus® TCP – Device identification
Address Contents Data type Size Description
0 Manufacturer name STRING 4 words
(8 b
ytes)
SICK AG
(4) Product code STRING 4 words
(8 bytes)
SICK part number
(8) MajorMinorRevision STRING 6 words
(12 bytes)
Firmware version
(14) Manufacturer URL STRING 6 words
(12 b
ytes)
www.sick.com
13 TECHNICAL DATA
138
O P E R A T I N G I N S T R U C T I O N S | Flexi Compact 8024589/2020-11-10 | SICK
Subject to change without notice

SICK Flexi Compact Specifications

General

Brand	SICK
Model	Flexi Compact
Category	Controller
Language	English