FOREWORD
Section 1 - MODBUS Application Protocol Specification V1.1a
1 MODBUS
1.1 Introduction
1.1.1 Scope of this section
1.1.2 Normative references
1.2 Abbreviations
1.3 Context
1.4 General description
1.4.1 Protocol description
1.4.2 Data Encoding
1.4.3 MODBUS data model
1.4.4 MODBUS Addressing model
1.4.5 Define MODBUS Transaction
1.5 Function Code Categories
1.5.1 Public Function Code Definition
1.6 Function codes descriptions
1.6.1 01 (0x01) Read Coils
1.6.2 02 (0x02) Read Discrete Inputs
1.6.3 03 (0x03) Read Holding Registers
1.6.4 04 (0x04) Read Input Registers
1.6.5 05 (0x05) Write Single Coil
1.6.6 06 (0x06) Write Single Register
1.6.7 07 (0x07) Read Exception Status (Serial Line only)
1.6.8 08 (0x08) Diagnostics (Serial Line only)
1.6.9 11 (0x0B) Get Comm Event Counter (Serial Line only)
1.6.10 12 (0x0C) Get Comm Event Log (Serial Line only)
1.6.11 15 (0x0F) Write Multiple Coils
1.6.12 16 (0x10) Write Multiple registers
1.6.13 17 (0x11) Report Slave ID (Serial Line only)
1.6.14 20/6 (0x14/0x06) Read File Record
1.6.15 21/6 (0x15/0x06) Write File Record
1.6.16 22 (0x16) Mask Write Register
1.6.17 23 (0x17) Read/Write Multiple registers
1.6.18 24 (0x18) Read FIFO Queue
1.6.19 43 ( 0x2B) Encapsulated Interface Transport
1.6.20 43/13 (0x2B/0x0D) CANopen General Reference
Request and Response PDU
1.6.21 43/14 (0x2B/0x0E) Read Device Identification
1.7 MODBUS Exception Responses
Annex A of Section 1 (informative) MODBUS MESSAGING ON TCP/IP
IMPLEMENTATION GUIDE
A.1 INTRODUCTION
A.1.1 OBJECTIVES
A.1.2 CLIENT/SERVER MODEL
A.1.3 REFERENCE DOCUMENTS
A.2 ABBREVIATIONS
A.3 CONTEXT
A.3.1 PROTOCOL DESCRIPTION
A.3.2 MODBUS FUNCTIONS CODES DESCRIPTION
A.4 FUNCTIONAL DESCRIPTION
A.4.1 MODBUS COMPONENT ARCHITECTURE MODEL
A.4.2 TCP CONNECTION MANAGEMENT
A.4.3 USE of TCP/IP STACK
A.4.4 COMMUNICATION APPLICATION LAYER
A.5 IMPLEMENTATION GUIDELINE
A.5.1 OBJECT MODEL DIAGRAM
A.5.2 IMPLEMENTATION CLASS DIAGRAM
A.5.3 SEQUENCE DIAGRAMS
A.5.4 CLASSES AND METHODS DESCRIPTION
Annex B of Section 1 (Informative) MODBUS RESERVED FUNCTION
CODES, SUBCODES AND MEI TYPES
Annex C of Section 1 (Informative) CANOPEN GENERAL REFERENCE
COMMAND
Section 2 - Real-Time Publish-Subscribe (RTPS) Wire Protocol
Specification Version 1.0
2 RTPS
2.1 Basic Concepts
2.1.1 Introduction
2.1.2 The RTPS Object Model
2.1.3 The Basic RTPS Transport Interface
2.1.4 Notational Conventions
2.2 Structure Definitions
2.2.1 Referring to Objects: the GUID
2.2.2 Building Blocks of RTPS Messages
2.3 RTPS Message Format
2.3.1 Overall Structure of RTPS Messages
2.3.2 Submessage Structure
2.3.3 How to Interpret a Message
2.3.4 Header
2.3.5 ACK
2.3.6 GAP
2.3.7 HEARTBEAT
2.3.8 INFO_DST
2.3.9 INFO_REPLY
2.3.10 INFO_SRC
2.3.11 INFO_TS
2.3.12 ISSUE
2.3.13 PAD
2.3.14 VAR
2.3.15 Versioning and Extensibility
2.4 RTPS and UDP/IPv4
2.4.1 Concepts
2.4.2 RTPS Packet Addressing
2.4.3 Possible Destinations for Specific Submessages
2.5 Attributes of Objects and Metatraffic
2.5.1 Concept
2.5.2 Wire Format of the ParameterSequence
2.5.3 ParameterID Definitions
2.5.4 Reserved Objects
2.5.5 Examples
2.6 Publish-Subscribe Protocol
2.6.1 Publication and Subscription Objects
2.6.2 Representation of User Data
2.7 CST Protocol
2.7.1 Object Model
2.7.2 Structure of the Composite State (CS)
2.7.3 CSTWriter
2.7.4 CSTReader
2.7.5 Overview of Messages used by CST
2.8 Discovery with the CST Protocol
2.8.1 Overview
2.8.2 Managers Keep Track of Their Managees
2.8.3 Inter-Manager Protocol
2.8.4 The Registration Protocol
2.8.5 The Manager-Discovery Protocol
2.8.6 The Application Discovery Protocol
2.8.7 Services Discovery Protocol
Annex A of Section 2 (informative) CDR for RTPS
A.1 Primitive Types
A.1.1 Semantics
A.1.2 Encoding
A.1.3 octet
A.1.4 boolean
A.1.5 unsigned short
A.1.6 short
A.1.7 unsigned long
A.1.8 long
A.1.9 unsigned long long
A.1.10 long long
A.1.11 float
A.1.12 double
A.1.13 cha
A.1.14 wchar
A.2 Constructed Types
A.2.1 Alignment
A.2.2 Identifiers
A.2.3 List of constructed types
A.2.4 Struct
A.2.5 Enumeration
A.2.6 Sequence
A.2.7 Array
A.2.8 String
A.2.9 Wstring