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Thread: Modbus over tcp/ip with teensy 4.1 (MMXRT1060)

  1. #1
    Junior Member
    Join Date
    Jan 2022
    Posts
    2

    Modbus over tcp/ip with teensy 4.1 (MMXRT1060)

    This is my first posting on this site so please forgive me as I am new to this support process.

    I have used teensy for years (I used to coach a high school robotics team). Currently I am an electronics technician attempting to utilize a teensy 4.1 (I bought several of them, along with the magjack ethernet kits) for calibration of a quad encoder with a valve positioner. I need the teensy to feed encoder count values over modbus (ideally through tcp/ip ethernet) to an HMI with an embedded version of windows 7. Currently I pieced together the following code from the examples. It does work to feed encoder values to an internet explorer webpage on the HMI. I am not finding a good example for modbus over tcp/ip for the teensy4.1 that works to get the data I need into the right location.

    Here is the code that works as a webserver for the encoder values:

    #include "QuadEncoder.h"
    #include <SPI.h>
    #include <NativeEthernet.h>
    byte mac[] = {
    0x04, 0xe9, 0xe5, 0x0f, 0xb9, 0xcd
    };
    IPAddress ip(192, 168, 111, 44);
    EthernetServer server(80);

    uint32_t mCurPosValue;
    uint32_t old_position = 0;
    uint32_t mCurPosValue1;
    uint32_t old_position1 = 0;
    QuadEncoder myEnc1(1, 0, 1, 0);

    QuadEncoder myEnc2(2, 2, 3, 0);


    void setup()
    {
    while(!Serial && millis() < 4000);

    /* Initialize the ENC module. */
    myEnc1.setInitConfig(); //
    myEnc1.EncConfig.revolutionCountCondition = ENABLE;
    myEnc1.EncConfig.enableModuloCountMode = ENABLE;
    myEnc1.EncConfig.positionModulusValue = 20;
    // with above settings count rev every 20 ticks
    // if myEnc1.EncConfig.revolutionCountCondition = ENABLE;
    // is not defined or set to DISABLE, the position is zeroed every
    // 20 counts, if enabled revolution counter is incremented when
    // phaseA ahead of phaseB, and decrements from 65535 when reversed.
    myEnc1.init();

    myEnc2.setInitConfig(); //
    myEnc2.EncConfig.positionInitialValue = 160;
    myEnc2.EncConfig.positionMatchMode = ENABLE;
    myEnc2.EncConfig.positionCompareValue = 200;
    myEnc2.EncConfig.filterCount = 5;
    myEnc2.EncConfig.filterSamplePeriod = 255;
    myEnc2.init();
    Serial.begin(9600);
    Serial.println("Ethernet WebServer Example");
    Ethernet.begin(mac, ip);

    // Check for Ethernet hardware present
    if (Ethernet.hardwareStatus() == EthernetNoHardware) {
    Serial.println("Ethernet shield was not found. Sorry, can't run without hardware. ");
    while (true) {
    delay(1); // do nothing, no point running without Ethernet hardware
    }
    }
    if (Ethernet.linkStatus() == LinkOFF) {
    Serial.println("Ethernet cable is not connected.");
    }

    // start the server
    server.begin();
    Serial.print("server is at ");
    Serial.println(Ethernet.localIP());

    }

    void loop(){
    EthernetClient client = server.available();
    if (client) {
    Serial.println("new client");
    // an http request ends with a blank line
    boolean currentLineIsBlank = true;
    while (client.connected()) {
    if (client.available()) {
    char c = client.read();
    Serial.write(c);
    // if you've gotten to the end of the line (received a newline
    // character) and the line is blank, the http request has ended,
    // so you can send a reply
    if (c == '\n' && currentLineIsBlank) {
    // send a standard http response header
    client.println("HTTP/1.1 200 OK");
    client.println("Content-Type: text/html");
    client.println("Connection: close"); // the connection will be closed after completion of the response
    client.println("Refresh: 5"); // refresh the page automatically every 5 sec
    client.println();
    client.println("<!DOCTYPE HTML>");
    client.println("<html>");
    // output the value of each analog input pin


    client.print(" Encoder count is ");
    client.print(mCurPosValue1);
    client.println("<br />");

    client.println("</html>");
    break;
    }
    if (c == '\n') {
    // you're starting a new line
    currentLineIsBlank = true;
    } else if (c != '\r') {
    // you've gotten a character on the current line
    currentLineIsBlank = false;
    }
    }
    }
    // give the web browser time to receive the data
    delay(1);
    // close the connection:
    client.stop();
    Serial.println("client disconnected");
    }
    /* This read operation would capture all the position counter to responding hold registers. */
    mCurPosValue = myEnc1.read();

    if(mCurPosValue != old_position){
    /* Read the position values. */
    Serial.printf("Current position value1: %ld\r\n", mCurPosValue);
    Serial.printf("Position differential value1: %d\r\n", (int16_t)myEnc1.getHoldDifference());
    Serial.printf("Position HOLD revolution value1: %d\r\n", myEnc1.getHoldRevolution());
    Serial.println();
    }

    old_position = mCurPosValue;

    mCurPosValue1 = myEnc2.read();

    if(myEnc2.compareValueFlag == 1) {
    //myEnc2.init();
    //resets counter to positionInitialValue so compare
    //will hit every 200
    myEnc2.write(myEnc2.EncConfig.positionInitialValue );
    Serial.print("Compare Value Hit for Encoder 2: ");
    Serial.println(myEnc2.compareValueFlag);
    Serial.println();
    myEnc2.compareValueFlag = 0;
    }

    if(mCurPosValue1 != old_position1){
    /* Read the position values. */
    Serial.printf("Current position value2: %ld\r\n", mCurPosValue1);
    Serial.printf("Position differential value2: %d\r\n", (int16_t)myEnc2.getHoldDifference());
    Serial.printf("Position revolution value2: %d\r\n", myEnc2.getHoldRevolution());
    Serial.println();
    }

    old_position1 = mCurPosValue1;

    }





    What I need is the Modbus portion instead of the webserver. I also need a way to divine the appropriate memory address for the data tag (encoder count integer value represented by "mCurPosValue1" in the above program) to interface with the HMI visualization program.

    Any help would be greatly appreciated!

  2. #2
    Senior Member
    Join Date
    Feb 2020
    Posts
    136
    Start here

    https://forum.arduino.cc/t/arduino-m...ample/590585/3

    Replace ethernet with nativeethermet or qnethernet.

  3. #3
    Senior Member BriComp's Avatar
    Join Date
    Apr 2014
    Location
    Cheltenham, UK
    Posts
    716
    Code:
    #include "QuadEncoder.h"
    #include <SPI.h>
    #include <NativeEthernet.h>
    byte mac[] = {
    0x04, 0xe9, 0xe5, 0x0f, 0xb9, 0xcd
    };
    IPAddress ip(192, 168, 111, 44);
    EthernetServer server(80);
    
    uint32_t mCurPosValue;
    uint32_t old_position = 0;
    uint32_t mCurPosValue1;
    uint32_t old_position1 = 0;
    QuadEncoder myEnc1(1, 0, 1, 0);
    
    QuadEncoder myEnc2(2, 2, 3, 0);
    
    
    void setup()
    {
    	while (!Serial && millis() < 4000);
    
    	/* Initialize the ENC module. */
    	myEnc1.setInitConfig(); //
    	myEnc1.EncConfig.revolutionCountCondition = ENABLE;
    	myEnc1.EncConfig.enableModuloCountMode = ENABLE;
    	myEnc1.EncConfig.positionModulusValue = 20;
    	// with above settings count rev every 20 ticks
    	// if myEnc1.EncConfig.revolutionCountCondition = ENABLE;
    	// is not defined or set to DISABLE, the position is zeroed every
    	// 20 counts, if enabled revolution counter is incremented when
    	// phaseA ahead of phaseB, and decrements from 65535 when reversed.
    	myEnc1.init();
    
    	myEnc2.setInitConfig(); //
    	myEnc2.EncConfig.positionInitialValue = 160;
    	myEnc2.EncConfig.positionMatchMode = ENABLE;
    	myEnc2.EncConfig.positionCompareValue = 200;
    	myEnc2.EncConfig.filterCount = 5;
    	myEnc2.EncConfig.filterSamplePeriod = 255;
    	myEnc2.init();
    	Serial.begin(9600);
    	Serial.println("Ethernet WebServer Example");
    	Ethernet.begin(mac, ip);
    
    	// Check for Ethernet hardware present
    	if (Ethernet.hardwareStatus() == EthernetNoHardware) {
    		Serial.println("Ethernet shield was not found. Sorry, can't run without hardware. ");
    		while (true) {
    			delay(1); // do nothing, no point running without Ethernet hardware
    		}
    	}
    	if (Ethernet.linkStatus() == LinkOFF) {
    		Serial.println("Ethernet cable is not connected.");
    	}
    
    	// start the server
    	server.begin();
    	Serial.print("server is at ");
    	Serial.println(Ethernet.localIP());
    
    }
    
    void loop() {
    	EthernetClient client = server.available();
    	if (client) {
    		Serial.println("new client");
    		// an http request ends with a blank line
    		boolean currentLineIsBlank = true;
    		while (client.connected()) {
    			if (client.available()) {
    				char c = client.read();
    				Serial.write(c);
    				// if you've gotten to the end of the line (received a newline
    				// character) and the line is blank, the http request has ended,
    				// so you can send a reply
    				if (c == '\n' && currentLineIsBlank) {
    					// send a standard http response header
    					client.println("HTTP/1.1 200 OK");
    					client.println("Content-Type: text/html");
    					client.println("Connection: close"); // the connection will be closed after completion of the response
    					client.println("Refresh: 5"); // refresh the page automatically every 5 sec
    					client.println();
    					client.println("<!DOCTYPE HTML>");
    					client.println("<html>");
    					// output the value of each analog input pin
    
    
    					client.print(" Encoder count is ");
    					client.print(mCurPosValue1);
    					client.println("<br />");
    
    					client.println("</html>");
    					break;
    				}
    				if (c == '\n') {
    					// you're starting a new line
    					currentLineIsBlank = true;
    				}
    				else if (c != '\r') {
    					// you've gotten a character on the current line
    					currentLineIsBlank = false;
    				}
    			}
    		}
    		// give the web browser time to receive the data
    		delay(1);
    		// close the connection:
    		client.stop();
    		Serial.println("client disconnected");
    	}
    	/* This read operation would capture all the position counter to responding hold registers. */
    	mCurPosValue = myEnc1.read();
    
    	if (mCurPosValue != old_position) {
    		/* Read the position values. */
    		Serial.printf("Current position value1: %ld\r\n", mCurPosValue);
    		Serial.printf("Position differential value1: %d\r\n", (int16_t)myEnc1.getHoldDifference());
    		Serial.printf("Position HOLD revolution value1: %d\r\n", myEnc1.getHoldRevolution());
    		Serial.println();
    	}
    
    	old_position = mCurPosValue;
    
    	mCurPosValue1 = myEnc2.read();
    
    	if (myEnc2.compareValueFlag == 1) {
    		//myEnc2.init();
    		//resets counter to positionInitialValue so compare
    		//will hit every 200
    		myEnc2.write(myEnc2.EncConfig.positionInitialValue);
    		Serial.print("Compare Value Hit for Encoder 2: ");
    		Serial.println(myEnc2.compareValueFlag);
    		Serial.println();
    		myEnc2.compareValueFlag = 0;
    	}
    
    	if (mCurPosValue1 != old_position1) {
    		/* Read the position values. */
    		Serial.printf("Current position value2: %ld\r\n", mCurPosValue1);
    		Serial.printf("Position differential value2: %d\r\n", (int16_t)myEnc2.getHoldDifference());
    		Serial.printf("Position revolution value2: %d\r\n", myEnc2.getHoldRevolution());
    		Serial.println();
    	}
    
    	old_position1 = mCurPosValue1;
    
    }
    Hi, welcome to the world of Teensy.
    Could you in future enclose your code between code tags by pressing the # key, as I have done for your code as shown above.

  4. #4
    Junior Member
    Join Date
    Jan 2022
    Posts
    2
    I have gotten the code to work successfully for modbus communication over tcp/ip however there is a lot of latency from the request from Qmodbusmaster before I can make another request without throwing an error from the teensy 4.1
    The response from the teensy states address 200 (when it is really 1) with erroneous data (25600 coils)
    Click image for larger version. 

Name:	modbuserror.jpg 
Views:	16 
Size:	100.5 KB 
ID:	27389
    Code:
    //call for ethernet and modbus configuration libraries
    
    #include <NativeEthernet.h>
    #include <ArduinoModbus.h>
    bool _1s;
    unsigned long TimeAct, TimePrev, HoldingResult, InputResult, StartingAddr;
    long Cmd;
    EthernetServer EthServer(502);
    ModbusTCPServer modbusTCPServer;
    
    
    // call for encoder configuration libraries
    #include "QuadEncoder.h"
    
    
    uint32_t mCurPosValue;
    uint32_t old_position = 0;
    uint32_t mCurPosValue1;
    uint32_t old_position1 = 0;
    QuadEncoder myEnc1(1, 0, 1, 0);  // Encoder on channel 1 of 4 available
                                     // Phase A (pin0), PhaseB(pin1), Pullups Req(0)
    QuadEncoder myEnc2(2, 2, 3, 0);  // Encoder on channel 2 of 4 available
                                     //Phase A (pin2), PhaseB(pin3), Pullups Req(0)
    
    void setup() {
        while(!Serial && millis() < 4000);
    
      /* Initialize the ENC module. */
      myEnc1.setInitConfig();  //
      myEnc1.EncConfig.revolutionCountCondition = ENABLE;
      myEnc1.EncConfig.enableModuloCountMode = ENABLE;
      myEnc1.EncConfig.positionModulusValue = 4000; 
      // with above settings count rev every 20 ticks
      // if myEnc1.EncConfig.revolutionCountCondition = ENABLE;
      // is not defined or set to DISABLE, the position is zeroed every
      // 20 counts, if enabled revolution counter is incremented when 
      // phaseA ahead of phaseB, and decrements from 65535 when reversed.
      myEnc1.init();
      
      myEnc2.setInitConfig();  //
      myEnc2.EncConfig.positionInitialValue = 100;
      myEnc2.EncConfig.positionMatchMode = ENABLE;
      myEnc2.EncConfig.positionCompareValue = 200;
      myEnc2.EncConfig.filterCount = 5;
      myEnc2.EncConfig.filterSamplePeriod = 255;
      myEnc2.init();
    
      
      // call for ip address, mac, subnet mask for comm on ip network
    byte mac[] = { 0x04, 0xe9, 0xe5, 0x0f, 0xb9, 0xcd };  // Define MAc address
      byte ip[] = { 192, 168, 111, 44 };                      // Define IP address
      byte subnet[] = { 255, 255, 255, 0 };                 // Define SubNEt mask
    
      // initialize the ethernet device
      Ethernet.begin(mac, ip, subnet);                      // Assign MAC, IP, and subnet mask
      //Serial.begin(9600);
      EthServer.begin();          // start listening for clients
      modbusTCPServer.begin();    // start listening for clients
    
      // Define Holding register:
      HoldingResult = modbusTCPServer.configureHoldingRegisters(0, 100);
      InputResult = modbusTCPServer.configureInputRegisters(0, 100);
    
      //Serial.print("Holding Reg init result =");
      //Serial.print(HoldingResult);
      //Serial.print("\n");
    
      //Serial.print("Input Reg init result =");
      //Serial.print(InputResult);
      //Serial.print("\n");
    
      //Serial.print("Modbus server address=");
      //Serial.println(Ethernet.localIP());
      //Serial.print("\n");
    
    
    }
    
    void loop() {
     EthernetClient client = EthServer.available();
    
      if (client.connected()) {
        modbusTCPServer.accept(client);
        // poll for Modbus TCP requests, while client connected
        modbusTCPServer.poll();
        // Serial.print("poll");
      }
    
      //---------------------------------------------------------------------------------
      // TIME  clock 1s
      TimeAct = millis();      // Millis value between  0 and  655535
    
      _1s = false;
      if (  ( (TimeAct > TimePrev) and (TimeAct - TimePrev) > 1000) or ((TimeAct < TimePrev) and (65535 - TimePrev + TimeAct) > 1000 )  ) {
        _1s = true;
        TimePrev = TimeAct;
      }
        /* This read operation would capture all the position counter to responding hold registers. */
      mCurPosValue = myEnc1.read();
    
      if(mCurPosValue != old_position){
        /* Read the position values. */
        //Serial.printf("Current position value1: %ld\r\n", mCurPosValue);
        //Serial.printf("Position differential value1: %d\r\n", (int16_t)myEnc1.getHoldDifference());
        //Serial.printf("Position HOLD revolution value1: %d\r\n", myEnc1.getHoldRevolution());
        //Serial.println();
      }
    
      old_position = mCurPosValue;
    
      mCurPosValue1 = myEnc2.read();
    
      if(myEnc2.compareValueFlag == 1) {
        //myEnc2.init();
        //resets counter to positionInitialValue so compare 
        //will hit every 200
        myEnc2.write(myEnc2.EncConfig.positionInitialValue);
        //Serial.print("Compare Value Hit for Encoder 2:  ");
        //Serial.println(myEnc2.compareValueFlag);
        //Serial.println();
        myEnc2.compareValueFlag = 0;
      }
    
      if(mCurPosValue1 != old_position1){
        /* Read the position values. */
        //Serial.printf("Current position value2: %ld\r\n", mCurPosValue);
        //Serial.printf("Position differential value2: %d\r\n", (int16_t)myEnc2.getHoldDifference());
        //Serial.printf("Position revolution value2: %d\r\n", myEnc2.getHoldRevolution());
        //Serial.println();
      }
    
      old_position1 = mCurPosValue1;
    
       // Modbus server  :
    
      // holding resgiter 40001: heartbeat (FC3)
      modbusTCPServer.holdingRegisterWrite(0x00, mCurPosValue);
        modbusTCPServer.holdingRegisterWrite(0x01, mCurPosValue1);
            modbusTCPServer.holdingRegisterWrite(0x02, 200);
    modbusTCPServer.holdingRegisterWrite(0x03, 300);
    modbusTCPServer.holdingRegisterWrite(0x04, 400);
    modbusTCPServer.holdingRegisterWrite(0x05, 500);
    modbusTCPServer.holdingRegisterWrite(0x06, 600);
    modbusTCPServer.holdingRegisterWrite(0x07, 700);
    modbusTCPServer.holdingRegisterWrite(0x08, 800);
    modbusTCPServer.holdingRegisterWrite(0x09, 900);
    modbusTCPServer.holdingRegisterWrite(0x0A, 1000);
    modbusTCPServer.holdingRegisterWrite(0x0B, 1100);
    modbusTCPServer.holdingRegisterWrite(0x0C, 1200);
    modbusTCPServer.holdingRegisterWrite(0x0D, 1300);
    modbusTCPServer.holdingRegisterWrite(0x0E, 1400);
    modbusTCPServer.holdingRegisterWrite(0x0f, 1500);
    modbusTCPServer.holdingRegisterWrite(0x010, 1600);
    modbusTCPServer.holdingRegisterWrite(0x011, 1700);
    modbusTCPServer.holdingRegisterWrite(0x012, 1800);
    modbusTCPServer.holdingRegisterWrite(0x013, 1900);
    modbusTCPServer.holdingRegisterWrite(0x014, 2000);
    modbusTCPServer.holdingRegisterWrite(0x015, 2100);
    modbusTCPServer.holdingRegisterWrite(0x016, 2200);
    modbusTCPServer.holdingRegisterWrite(0x017, 2300);
    modbusTCPServer.holdingRegisterWrite(0x018, 2400);
    modbusTCPServer.holdingRegisterWrite(0x019, 2500);
    modbusTCPServer.holdingRegisterWrite(0x1A, 2600);
    modbusTCPServer.holdingRegisterWrite(0x01B, 2700);
    modbusTCPServer.holdingRegisterWrite(0x01C, 2800);
    modbusTCPServer.holdingRegisterWrite(0x01D, 2900);
    modbusTCPServer.holdingRegisterWrite(0x01E, 3000);
    modbusTCPServer.holdingRegisterWrite(0x01F, 3100);
    modbusTCPServer.holdingRegisterWrite(0x20, 3200);
    modbusTCPServer.holdingRegisterWrite(0x21, 3300);
    modbusTCPServer.holdingRegisterWrite(0x22, 3400);
    modbusTCPServer.holdingRegisterWrite(0x23, 3500);
    modbusTCPServer.holdingRegisterWrite(0x24, 3600);
    modbusTCPServer.holdingRegisterWrite(0x25, 3700);
    modbusTCPServer.holdingRegisterWrite(0x26, 3800);
    modbusTCPServer.holdingRegisterWrite(0x27, 3900);
    modbusTCPServer.holdingRegisterWrite(0x28, 4000);
    modbusTCPServer.holdingRegisterWrite(0x29, 4100);
    modbusTCPServer.holdingRegisterWrite(0x2A, 4200);
    modbusTCPServer.holdingRegisterWrite(0x2B, 4300);
    modbusTCPServer.holdingRegisterWrite(0x2C, 4400);
    modbusTCPServer.holdingRegisterWrite(0x2D, 4500);
    modbusTCPServer.holdingRegisterWrite(0x2E, 4600);
    modbusTCPServer.holdingRegisterWrite(0x2F, 4700);
    modbusTCPServer.holdingRegisterWrite(0x30, 4800);
    modbusTCPServer.holdingRegisterWrite(0x31, 4900);
    modbusTCPServer.holdingRegisterWrite(0x32, 5000);
    modbusTCPServer.holdingRegisterWrite(0x33, 5100);
    modbusTCPServer.holdingRegisterWrite(0x34, 5200);
    modbusTCPServer.holdingRegisterWrite(0x35, 5300);
    modbusTCPServer.holdingRegisterWrite(0x36, 5400);
    modbusTCPServer.holdingRegisterWrite(0x37, 5500);
    modbusTCPServer.holdingRegisterWrite(0x38, 5600);
    modbusTCPServer.holdingRegisterWrite(0x39, 5700);
    modbusTCPServer.holdingRegisterWrite(0x3A, 5800);
    modbusTCPServer.holdingRegisterWrite(0x3B, 5900);
    modbusTCPServer.holdingRegisterWrite(0x3C, 6000);
    modbusTCPServer.holdingRegisterWrite(0x3D, 6100);
    modbusTCPServer.holdingRegisterWrite(0x3E, 6200);
    modbusTCPServer.holdingRegisterWrite(0x3F, 6300);
    modbusTCPServer.holdingRegisterWrite(0x40, 6400);
    modbusTCPServer.holdingRegisterWrite(0x41, 6500);
    modbusTCPServer.holdingRegisterWrite(0x42, 6600);
    modbusTCPServer.holdingRegisterWrite(0x43, 6700);
    modbusTCPServer.holdingRegisterWrite(0x44, 6800);
    modbusTCPServer.holdingRegisterWrite(0x45, 6900);
    modbusTCPServer.holdingRegisterWrite(0x46, 7000);
    modbusTCPServer.holdingRegisterWrite(0x47, 7100);
    modbusTCPServer.holdingRegisterWrite(0x48, 7200);
    modbusTCPServer.holdingRegisterWrite(0x49, 7300);
    modbusTCPServer.holdingRegisterWrite(0x4A, 7400);
    modbusTCPServer.holdingRegisterWrite(0x4B, 7500);
    modbusTCPServer.holdingRegisterWrite(0x4C, 7600);
    modbusTCPServer.holdingRegisterWrite(0x4D, 7700);
    modbusTCPServer.holdingRegisterWrite(0x4E, 7800);
    modbusTCPServer.holdingRegisterWrite(0x4F, 7900);
    modbusTCPServer.holdingRegisterWrite(0x50, 8000);
    modbusTCPServer.holdingRegisterWrite(0x51, 8100);
    modbusTCPServer.holdingRegisterWrite(0x52, 8200);
    modbusTCPServer.holdingRegisterWrite(0x53, 8300);
    modbusTCPServer.holdingRegisterWrite(0x54, 8400);
    modbusTCPServer.holdingRegisterWrite(0x55, 8500);
    modbusTCPServer.holdingRegisterWrite(0x56, 8600);
    modbusTCPServer.holdingRegisterWrite(0x57, 8700);
    modbusTCPServer.holdingRegisterWrite(0x58, 8800);
    modbusTCPServer.holdingRegisterWrite(0x59, 8900);
    modbusTCPServer.holdingRegisterWrite(0x5A, 9000);
    modbusTCPServer.holdingRegisterWrite(0x5B, 9100);
    modbusTCPServer.holdingRegisterWrite(0x5C, 9200);
    modbusTCPServer.holdingRegisterWrite(0x5D, 9300);
    modbusTCPServer.holdingRegisterWrite(0x5E, 9400);
    modbusTCPServer.holdingRegisterWrite(0x5F, 9500);
    modbusTCPServer.holdingRegisterWrite(0x60, 9600);
    modbusTCPServer.holdingRegisterWrite(0x61, 9700);
    modbusTCPServer.holdingRegisterWrite(0x62, 9800);
    modbusTCPServer.holdingRegisterWrite(0x63, 9900);
    
    
                      
     
                    
    
      // holding resgiter 40500: Command Word (FC6)
     // Cmd = modbusTCPServer.holdingRegisterRead(90);
    
    
    
    }

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