NetCOM PACS MODBUS REFERENCE

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T-DOC NetCOM MODBUS Reference

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TABLE OF CONTENTS

LICENSE AGREEMENT ................................................................................... 3

Copyright ......................................................................................................................................................................... 3

Disclaimer and Limitation of Liability ........................................................................................................................... 3

PACS NETCOM MODBUS SOLUTION ............................................................ 4

Overview .......................................................................................................................................................................... 4

Background ..................................................................................................................................................................... 4

Implementation ............................................................................................................................................................... 4 Data Update Interval ............................................................................................................................................. 5 Function mapping .................................................................................................................................................. 5 Objects spanning multiple registers .................................................................................................................... 11 Error handling...................................................................................................................................................... 13

APPENDIX A – EXAMPLE MODBUS FUNCTION MAPPING ........................ 14

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LICENSE AGREEMENT

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PACS NETCOM MODBUS SOLUTION Overview The Getinge NetCOM enables the PACS family of PLCs to be integrated with third-party applications such as SCADA (Supervisory Control and Data Acquisition) software, historians, and building automation systems utilizing MODBUS TCP/IP communication.

The interface allows capable systems to read information from PACS via MODBUS TCP/IP. There is no provision to write data, parameters, or otherwise control the equipment.

The Equipment may or may not be equipped with a Supervisor unit (a secondary PACS PLC for monitoring purposes only). Supported PACS versions are 2000/300/350/3000/3500.

Figure 1 - Typical Application

Background MODBUS® Protocol is a messaging structure developed in 1979 by Modicon, and is used to establish master-slave/client-server communication between intelligent devices.

The protocol, originally written for serial communication, was adapted for network in 1999 with the release of the MODBUS TCP/IP specification.

For more information please refer to the http://www.modbus.org web site.

Implementation The T-DOC Log ranges of products uses the MODBUS TCP/IP specification v1.0.

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Following the MODBUS Application Protocol Specification 1.1, the following functions are implemented in the interface for the PACS

Function Code: Modbus function PACS Mapping

1 Read Coils DO Digital Output

UF User Flags

2 Read Discrete Inputs DI Digital Input

LED Indicators

Process / PLC Status

SF System Flags

3 Read Holding Registers AO Analogue Output

Program Parameters

4 Read Input Registers AI Analogue Input

Process / PLC Status

Program Parameters

The Unit Identifier (Device ID) in the MBAP header must be equal to the PACS Address (Normally 1).

As default TCP port 502 will be used, but this may be configured.

Data Update Interval

The data update interval depends on the data type. This allows the driver to most effectively use the bandwidth available on the PACS communication channel as well as to maximize the sample rate of the most dynamic register values. The data types are grouped into a number of poll types which are described in the following table. The poll types are indicated for each data type in Table 1 - PACS Function Mapping below.

Poll Type Description Fast (F) Normally read approximately every 1 second

Slow (S) Normally read at least once every 15-30 seconds

Triggered (T) Read at the start of a process, when an object becomes active, or other related event occurs

Note: Update intervals are nominal and can vary between firmware versions or as a result of different configurations. In addition, they can be adversely affected by communication errors or PACS systems with higher than usual response times.

Function mapping

PACS data registers are mapped to MODBUS registers according to the list in Table 1 - PACS Function Mapping (below).

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MODBUS Function PACS Signal Description Poll Type

Read Coil (1) DO Digital output 0-63 DO00-63 Equipment specific. See App. A. S/F i

Read Discrete Inputs (2) DI Digital Input 0-63 DI00-63 Equipment specific. See App. A. S/F i Read Input Registers (4) AI Analogue Input 0-31 AI00-31 Equipment specific. See App. A. F Read Discrete Inputs (2) LED LED Indicators 64 0 DOORS CLOSED F

65 1 DOORS LOCKED F

66 2 IN PROCESS F

67 3 READY, NOT OK F

68 4 READY, OK F

69 5 ALARM F

70 6 CLOSE DOOR F

71 7 OPEN DOOR F

73 9 START F

74 10 P1 F

75 11 P2 F

76 12 P3 F

77 13 P4 F

78 14 P5 F

79 15 P6 F Read Coil (1) UF User Flag 64-319 UF000-255 Equipment specific. See App. A. S/F i

Read Discrete Inputs (2) SF System Flag 256-511 SF000-255 Equipment specific. See App. A. S/F ii Read Holding Registers (3) AO Analogue Output 0-7 AO00-07 Equipment specific. See App. A. S/F ii

Read Input Registers (4) Other Program/Phase info 64 0 Program Number F

65 1 Program Sequence Number F

66 2 Phase F

67 3 Sub phase F

68 4 Cycle number F iii

69 5 Error number (See note 3 below)

T

70 6 Cycle timer – Low Word (sec) F

71 7 Phase timer - Low Word (sec) F

72 8 Information number (See note 3 below)

T

73 9 Cycle timer – High Word (sec) F

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MODBUS Function PACS Signal Description Poll Type

74 10 Phase timer – High Word (sec) F Read Holding Registers (3) Program Parameters See note 1 below 1000-1095 TI00-TI95 Set Value, Low Word Timer 0-95, Set Value, Low Word T iv

2000-2089 LI00-LI89 Set Value Limit 0-89, Set Value T iv

3000-3015 CT00-CT15 Set Value Counter 0-15, Set Value T iv

4000-4031 CR00-CR31 Set Value Controller 0-31, Set Value T iv

12000-12095 TI00-TI95 Set Value, High Word Timer 0-95, Set Value, High Word T iv Read Input Registers (4) Program Parameters See note 1 below 1200-1295 TI00-TI95 Min Value, Low Word Timer 0-95, Minimum Value T iv

1400-1495 TI00-TI95 Max Value, Low Word Timer 0-95, Maximum Value T iv

1800-1895 TI00-TI95 Type Timer 0-95, Parameter type T iv

12200-12295 TI00-TI95 Min Value, High Word Timer 0-95, Minimum Value T iv

12400-12495 TI00-TI95 Max Value, High Word Timer 0-95, Maximum Value T iv

2200-2289 LI00-LI89 Min Value Limit 0-89, Minimum Value T iv

2400-2489 LI00-LI89 Max Value Limit 0-89, Maximum Value T iv

2600-2689 LI00-LI89 Decimals Limit 0-89, Decimals T iv

2800-2889 LI00-LI89 Type Limit 0-89, Parameter type T iv

3200-3215 CT00-CT15 Min Value Counter 0-15, Minimum Value T iv

3400-3415 CT00-CT15 Max Value Counter 0-15, Maximum Value T iv

3600-3615 CT00-CT15 Decimals Counter 0-15, Decimals T iv

3800-3815 CT00-CT15 Type Counter 0-15, Parameter type T iv

4200-4231 CR00-CR31 Min Value Controller 0-31, Min Value T iv

4400-4431 CR00-CR31 Max Value Controller 0-31, Max Value T iv

4600-4631 CR00-CR31 Decimals Controller 0-31, Decimals T iv

4800-4831 CR00-CR31 Type Controller 0-31, Param type T iv

25000-25031 Parameter Value As defined in PACS T iv

25200-25231 Parameter Min Value As defined in PACS T iv

25400-25431 Parameter Max Value As defined in PACS T iv

25600-25631 Parameter Decimals As defined in PACS T iv

25800-25831 Parameter Type As defined in PACS T iv Read Input Registers (4) Normal Process Picture See note 2 below

5000-5023 F000-F023 Value F-Zero

6000-6003 TP00-TP03 Value Temperature Pressure conv. S

7000-7015 FC00-FC15 Value Function Calculation S

8000-8007 CP00-CP07 Value Comparator S

9000-9063 SV00-SV63 Value Store value S

10000-10095 TI00-TI95 Live Value, Low Word Timer S

11000-11015 CT00-CT15 Live Value Counter S

13000-13095 TI00-TI95 Live Value, High Word Timer S

26000-26044 Process Picture Value As defined in PACS S 5600-5623 F000-F023 Decimals F-Zero

S

6600-6603 TP00-TP03 Decimals Temperature Pressure conv. S

7600-7615 FC00-FC15 Decimals Function Calculation S

8600-8607 CP00-CP07 Decimals Comparator S

9600-9663 SV00-SV63 Decimals Store value S

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MODBUS Function PACS Signal Description Poll Type

10600-10695 TI00-TI95 Decimals Timer S

11600-11615 CT00-CT15 Decimals Counter S

26600-26644 Process Picture Decimals As defined in PACS S Read Discrete Inputs (2) SCADA Flags PACS Derived Flags

80 SCADA Flag 0 Panel is Master F

81 SCADA Flag 1 System Mode F

82 SCADA Flag 2 DB Changed F

83 SCADA Flag 3 Need password F

84 SCADA Flag 4 Standby F

85 SCADA Flag 5 Occupied F

86 SCADA Flag 6 Buzzer active F

87 SCADA Flag 7 Not used -

88 SCADA Flag 8 In Idle F

89 SCADA Flag 9 Logging active T

90 SCADA Flag 10 Printing active T

91 SCADA Flag 11 Parameters updated T

Table 1 - PACS Function Mapping

i Fast Poll Rate on PACS 3000 V3.10 and newer, PACS3500 V5.00 and newer. ii Fast Poll Rate on PACS 3000 V3.11 and newer, PACS3500 V5.02 and newer. iii In order to be read, cycle count must appear on the normal process picture on PACS2000 machines. iv Read at power-up and the start of a process.

Note 1: Program parameters

Only the first 32 parameters marked as Info or Adjustable (I or A) in the PACS are accessible.

The parameter registers will be populated with the parameters of the currently selected program. They are updated (re-read) at the start of each process. Wait for the SCADA Flag 11, Parameters updated, to be set after a process has started (which can be determined by monitoring the SCADA Flag 9, Logging active) before reading the program parameters. If you do not modify the parameters, you may read them immediately at process start.

The parameters included in this list can vary based on the selected program – ensure that the interfacing application can accommodate this behavior.

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Note 2: Values from the Normal Process Picture

All the values listed here are only accessible if the value is listed in the Normal Process Picture in the PACS. It is limited to first Picture buffer in PACS350/3500 – so for all PACS Versions limited to 45 values.

The input register mapping uses a four or five-digit addressing scheme: aABCC, where aA = Parameter category.

• 1 = Timer Set Value (Low Word) • 2 = Limit • 3 = Counter • 4 = Controller • 5 = F-Zero • 6 = Temp-Pressure converter • 7 = Function Calculation • 8 = Comparator • 9 = Store Value • 10 = Live Timer • 11 = Live Counter • 12 = Timer Set Value (High Word) • 13 = Live Timer (High Word)

B = Value category

• 0 = Value • 2 = Minimum value • 4 = Maximum value • 6 = Decimals • 8 = Parameter type.

CC = Parameter index

• (0-99) Function dependent object index

Parameter type

• 1 = A/Adjustable • 2 = I/Info

NOTE: Decimals are not supported for any PACS2000-based machines and PACS300-based equipment from Getinge Skärhamm.

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Examples:

1. To get the Set Value of Limit LI04, A=2, B=0 and CC = 04. The resulting register to read is 2004. As it is the Set Value use Function 3, Read Holding Register.

2. To get the Minimum Value of Counter 12, A=3, B=2 and CC = 12. The resulting register to read is 3212. As it is not the Set Value use Function 4, Read Input Register.

3. To get the 32-bit live value to Timer TI02, two reads must be performed. To read the low word, aA=10, B=0, and CC=02. To read the high word, aA=13, B=0, and CC=02. The resulting registers to be read are 10002 and 130002. The high word should be shifted 16 bits to the left and bitwise-OR’ed with the low word to obtain the actual timer value in seconds.

Note 3: Information/Error Texts

Information and error text values are offset by a value of 1. For example, reading a value of 1 from input register 69 indicates that ET00 is active. A register value of 0 indicates that no text is currently active.

The information and error text registers contain the value of the most recent text to be activated in that case that multiple texts are active simultaneously.

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Objects spanning multiple registers

A number of PACS object types (ie. Timers) require multiple registers to be accessed in order to receive all pertinent object data. An addressing scheme is used to easily determine the register address of any available PACS object data.

Figure 2 – Mapping Example: Limit Object (below) shows an example of the registers required to access two limit objects.

Figure 2 – Mapping Example: Limit Object

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Figure 3 – Mapping Example: Timer Object (below) shows an example of the registers required to access two timers. Timers registers in PACS are 32 bit values and require reading two 16-bit registers in order to retrieve both the high and low words of the various timer values. The low word is sufficient for timers that do not exceed 18 hours.

Figure 3 – Mapping Example: Timer Object

The assignment of the function mapping to specific PACS inputs, outputs, parameters, etc. are dependent upon the PACS program (PLC programming) provided with the equipment. This mapping can potentially be unique for each machine. Please refer to your configuration and program listing or consult with your service representative or local Getinge supplier to establish a list of function mappings relevant to your specific application. In Appendix A there is an example of the mapping for a specific piece of equipment.

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Error handling

Invalid PACS address

If the given UnitID is not the same at the configured PACS address the system will return a MODBUS Exception with the mbExGatewayUnavailable error.

Invalid function mapping

If a particular function mapping is not valid, the system will return a MODBUS Exception with either the mbExIllegalFunction or the mbExIllegalAddress error indicating that the value could not be read. This can occur if the address describes a register that doesn’t map to the associated PACS object. Note that program parameters registers may be valid when one program is selected but not when a different program is selected.

No communication, data not updated

If the MODBUS Server is not updated, typically caused by the communication between the PACS and the NetCOM is not working correctly, then the system will return a MODBUS Exception with the mbExGatewayNotResponding error.

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APPENDIX A – EXAMPLE MODBUS FUNCTION MAPPING The following example is for a typical default configured Sterilizer for Life Science.

This table serves as an example of the equipment-dependent mapping between PACS signals and MODBUS signals for a select list of PACS signals. Please note that only Digital Output, Digital Input, Analogue Input and User Flags are included in the example.

MODBUS PACS Signal Description Read Coil (1) DO00-63 Digital output 0 0 OPEN DOOR 1 1 1 OPEN DOOR 2 2 2 DRAIN GASKET 1 3 3 DRAIN GASKET 2 4 4 CLOSE DOOR 1 5 5 CLOSE DOOR 2 6 6 AIR CHAMBER 7 7 STEAM CHAMBER 8 8 VACUUM PUMP 9 9 STEAM JACKET 10 10 MIN COOL COND. 11 11 MAX COOL COND. 12 12 DRAIN CHAMBER 13 13 DRAIN BYPASS 15 15 CAVIT.PROTECTION 16 16 SERVICE WATER 17 17 CONDENS. JACKET 20 20 AIR DOORGASKET 1 21 21 AIR DOORGASKET 2 22 22 AIR JACKET 24 24 RESET TMP.INTERL 25 25 DRAIN COOL.WATER 26 26 COOL.WATER JACK. 27 27 DRAIN JACKET 31 31 SWITCH RELAY Read Discrete Inputs (2) DI00-63 Digital Input 0 0 DOOR1 NOT CLOSED 1 1 DOOR2 NOT CLOSED 3 3 VACUUM PUMP 4 4 STEPPING 5 5 LEVEL STEAM-GEN. 6 6 PROGRAM STOP 7 7 GASKET PRESSURE 8 8 CONDENSATE DRAIN 10 10 DOOR 1 NOT STOP. 11 11 LOAD TEMP.INTERL 12 12 FAULT DIAGNOSTIC 13 13 DOOR 2 NOT STOP. 14 14 DOOR 1 OPEN 15 15 DOOR 2 OPEN

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16 16 COOLING WATER 18 18 INSTRUMENT AIR 20 20 PROCESS STEAM 21 21 STEAM 22 22 AIR 23 23 WATER 24 24 KEY SWITCH DOOR 25 25 BURSTING DISC 31 31 SERVICE WATER Read Input Registers (4) AI00-31 Analogue Input 0 0 CHAMBER TEMP. 1 1 JACKET TEMP. 2 2 DRAIN TEMP. 3 3 CHAMBER PRESSURE 4 4 LOAD TEMP. 5 5 CONDENSOR TEMP. 6 6 DRN TEMP. JACKET Read Coil (1) UF000-255 User Flag 64 0 STEPPING OK 65 1 IN PROCESS 66 2 DOORS CLOSED 67 3 PRESSURE TIMEOUT 68 4 ALARM DELAY 69 5 PROCESS READY,OK 70 6 JACKET 71 7 PROCESS STEPPED 72 8 OSR CLOSE DOOR 1 73 9 OSR CLOSE DOOR 2 74 10 ALARM 76 12 LEAKTEST ERROR 77 13 START OK 78 14 DOORS SEALED 79 15 GASKET ERROR 80 16 DRAIN CHAMBER 81 17 COND. ERROR 82 18 MASSIVE LEAK ER. 83 19 START ALARM 84 20 LED OPEN 1 85 21 LED CLOSE 1 86 22 LED OPEN 2 87 23 LED CLOSE 2 88 24 VACUUM TIMEOUT 89 25 HEAT TIMEOUT 90 26 FIRST COND.ERROR 92 28 READY, NOT OK 93 29 TEST PROCESS 94 30 BU CLOSE DOOR 1 95 31 BU CLOSE DOOR 2

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96 32 BU OPEN DOOR 1 97 33 BU OPEN DOOR 2 98 34 BU STEP 99 35 BU ACKNOW. 100 36 BU START 101 37 TEMP SENS ERROR 102 38 PRE SENS ERROR 103 39 STERIL TIMEOUT 104 40 COOLING TIMEOUT 105 41 INIT DRAIN PULSE 106 42 WATER TIMEOUT 108 44 JACKET CONTROL 109 45 DOOR 1 CLEAN 110 46 DOOR 2 CLEAN 114 50 A OPEN DOOR 1 115 51 A OPEN DOOR 2 116 52 A DRAIN DOOR 1 117 53 A CLOSE DOOR 1 118 54 A CLOSE DOOR 2 119 55 A DRAIN DOOR 2 120 56 A AIR GASKET 1 121 57 A AIR GASKET 2 123 59 A MIN COOL. COND 124 60 PULS GASKET 133 69 BUSTING DISK 134 70 PROCESS ENDING 135 71 POSTTREATMENT 136 72 ALWAYS TRUE 137 73 ABORT PROCESS 138 74 LOW TEMP ERROR 139 75 HIGH TEMP ERROR 140 76 STERIL TEMP ERR. 142 78 HIGH PRESSURE 143 79 DOOR INTERLOCK 144 80 GASKET INTERLOCK 145 81 PRESS. INTERLOCK 146 82 TEMP. INTERLOCK 147 83 CHECK PR.INTERL. 148 84 CHECK TMP.INTERL 149 85 AUTOMATIC DOOR 156 92 INTERLOCK ERROR 157 93 STANDBY PHASE 158 94 DRAIN BYPASS 163 99 STEAMGEN. ERROR 164 100 OPEN DRAIN AIRF. 165 101 PROCESS HOLD 169 105 PRINT HIGH/LOW

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