UR Family
Table of contents
UR FAMILY - COMMUNICATIONS GUIDE
1.1
Products................................................................................................................... 1-1
1.2
Features per product............................................................................................. 1-1
1.3
Communication ports ......................................................................................... 1-14
1.4
1.5
For further assistance......................................................................................... 1-14
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
2.2
Modbus function codes......................................................................................... 2-4
2.2.1
Supported function codes................................................................................................ 2-4
2.2.2
2.2.3
2.2.4
2.2.5
2.2.6
Exception responses........................................................................................................... 2-6
2.3
File transfers ........................................................................................................... 2-7
2.3.1
2.4
Memory map ......................................................................................................... 2-12
2.4.1
Modbus memory map......................................................................................................2-12
2.4.2
Data formats .....................................................................................................................2-183
3.1
Overview.................................................................................................................. 3-1
3.1.1
Introduction............................................................................................................................. 3-1
3.1.2
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
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