Modbus TCP Server#
This chapter describes the interoperable data when the robot is acting as a Modbus/TCP server port. Coil (Colis) : read (function code: 1) Write (function code: 5 single /15 more)
Addr |
Object Description |
Quantity |
Read and write permission |
Feature |
|---|---|---|---|---|
0-15 |
Function bool Register input |
16 |
R/W |
External modification register ,trigger function |
16-31 |
Function bool Register output |
16 |
R |
The change of the register value indicates the corresponding system status |
32-95 |
bool register input |
64 |
R/W |
External modification register , read in script |
96-159 |
bool register output |
64 |
R |
Modify register in script or UI, output to external |
160-167 |
Features digital IO input |
8 |
R |
External physical I/O input triggers the function |
168-175 |
Function digital IO output |
8 |
R |
Physical I/O output, indicating the corresponding system status |
176-191 |
Digital IO input |
16 |
R |
External physical IO input, read in (script /UI/ external port) |
192-207 |
Digital IO output |
16 |
R/W |
(Script /UI/ External port) to modify I/ OS and output to external physical I/ OS |
208-215 |
Tool IO input |
8 |
R |
External physical IO input, read in (script /UI/ external port) |
216-223 |
Tool IO output |
8 |
R/W |
(Script /UI/ External port) to modify I/ OS and output to external physical I/ OS |
224-231 |
Tool end button |
8 |
R |
Enter the button at the end of the tool to trigger the function |
Holding Registers: read (function code: 3) Write (function code: 6 single /16 multiple)
Addr |
Node description |
Read and write permissi |
|---|---|---|
0 |
Units: Robot operation mode 0: kManual 1: kAuto 2: kRemote Hundred: Emulation/real machine mode 0: real mode 1: Simulation mode |
R |
1 |
Robot state 0：SR_Start 1：SR_Initialize 2：SR_Logout 3：SR_Login 4：SR_PowerOff 5：SR_Disable/SR_PowerOn（Power-on
|
R |
2 |
Program state 0：SP_Stopped 1：SP_Stopping 2：SP_Running 3：SP_Paused 4：SP_Pausing 5：SP_TaskRunning |
R |
3 |
Robot safety state 0：SS_INIT 2：SS_WAIT 3：SS_CONFIG 4：SS_POWER_OFF 5：SS_RUN 6：SS_RECOVERY 7：SS_STOP2 8：SS_STOP1 9：SS_STOP0 10：SS_MODEL 12：SS_REDUCE 13：SS_BOOT 14：SS_FAIL 15：SS_UPDATE |
R |
4-6 |
reserve |
R |
7 |
Terminal closing velocity |
R |
8-39 |
World input register |
R/W |
40-71 |
World output register |
R |
72-79 |
The analog input of the control cabinet is represented by count. The actual current value is count/100 and the voltage value is count/1000. |
R |
80-81 |
The analog current output of the control cabinet is represented by count, and the actual current value is count/100. |
R/W |
82-83 |
reserve |
R/W |
84-85 |
The analog voltage output of the control cabinet is represented by count, and the actual voltage is count/1000. |
R/W |
86-87 |
reserve |
R/W |
88-89 |
The end analog input is represented by count, the actual current value is count/100, and the voltage value is count/1000. |
R |
90 |
Global velocity percentage |
R/W |
91 |
Percent Jog speed |
R |
92-98 |
The actual position of the joint. The value is -32767-32767, in 1/1000rad. |
|
99-105 |
Actual joint velocity: -32767-32767, unit 1/1000rad/s. |
R |
106-111 |
The value can be -32767-32767, unit 1/10000m. 1/10000 rad |
R |
112-117 |
The actual space velocity, the value -32767-32767, unit 1/10000(m/s); 1/10000(rad/s) |
R |