The first time that SYBERA has developed a TCP Realtime Master for MODBus as extension to the existing Realtime Ethernet Core. The Realtime Master allows the deterministic control of MODBus telegrams over a closed TCP/IP communication network. This master library is comfortably realized for programming of MODBus telegrams. The master library is comfortably realized for programming of MODBus telegrams. SYBERA provides therefore a library called SHAMODTCP for mastering the MODBus TCP states and sending and receiving of MODBus TCP frames in realtime. The Open MODBus TCP Realtime library allows handling of MODBus TCP data in realtime, without the need of an complex MODBus TCP management, nevertheless with the ability of interfacing all MODBus TCP interface levels. The MODBus TCP Library is based on 4 Realtime Tasks, for sending (TX) and receiving (RX) of MODBus TCP frames, error handling and the realtime application task. The tasks are syncronized by an internal state machine. Thereby the error task recognizes framing errors and hardware latencies.

The direct control of the field bus devices with a PC and the operating system windows became relevant with the introduction of so-called realtime extensions. An example therefor is the realtime extension of SYBERA that enables ethernet update cycles upto 50 μsec. The Ethernet based bus-communication differs not only through a different protocol-specification, but rather also through the bus-topology. While EtherCAT realizes a ring-topology, MODBus TCP realizes a star topology. Similar to EtherCAT, MODBus TCP enables the typical Master/Slave-principle between control and devices. The MODBus TCP realtime communication prefaces a defined Master/Slave-relation.With the new realtime MODBus TCP master the necessity of a separate controller-hardware falls. The MODBus TCP control can be realized simply by the PC by standard Ethernet adapters

Mod/Tcp Master Technology

The communication principle is based characteristically on a deterministic process of data-exchange and requires therefore for control and devices deterministic Soft- and hardware. The MODBus TCP Realtime Master allows the deterministic control of MODBus telegrams over a closed TCP/IP communication network. This has been realized by a deterministic controlled Master/Slave handshaking. All TCP messages are controlled by a special developed TCP realtime state machine. Thereby the TCP connect, as well as the realtime controlled TCP disconnect is realized in realtime. The realtime master allows a star based network connection of MODBus participants, whereby the MAC- and IP-Adress of the buscoupplers are used for separation.

Mod/Tcp Master Life

SYBERA offers the unique opportunity to experience the field bus system directly in the realtime simulator in Holzgerlingen. The simulator unites digital and analogous Sensorik and Aktorik in a complicated pneumatics machine. A passenger's cell can be controlled with lift movements, rolling movements, pitching movements and rotary movements. To the EtherCAT modules connected devices enclose laser distance sensors, inductive sensors, pressure sensors, incremental sensors, and valves, reflecting therefore the known sphere of the control technology. The passenger has the possibility to change the parameters and to influence therefore the latency and jitter of the controlling system. The realtime simulator helps all prospective customers to be able to estimate the field bus system for the industrial use.