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CS UserManual Modbus Server Data

This document describes the Modbus register and coil addresses for reading and writing data on a robot controller. It includes sections for register addresses that provide information about robot states, joints, TCP values, and versions. Coil addresses provide access to digital and analog inputs and outputs. The remarks section provides details on the data type and units for each address.

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Nghiem Thư
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31 views

CS UserManual Modbus Server Data

This document describes the Modbus register and coil addresses for reading and writing data on a robot controller. It includes sections for register addresses that provide information about robot states, joints, TCP values, and versions. Coil addresses provide access to digital and analog inputs and outputs. The remarks section provides details on the data type and units for each address.

Uploaded by

Nghiem Thư
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as XLSX, PDF, TXT or read online on Scribd
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Modbus Slave Registers

Address Read Write


0 *
1 *
2 * *
3 * *
4 *
5 * *
6 *
7 * *
8 *
9 * *
10 * *
11 * *
12 * *
13 * *
14 * *
15 * *
16 * *
17-62
63-255 *
256-383 * *
384-448 *
449-511

Robot States
63 *
64 *
65 *
66 *

67 *
68 *
69 *
70 *

73 *
74 *
75 *
76 *
77 *
78 *

84 *
85 *
86 *
87 *
88 *
89 *

95 *
96 *
97 *
98 *
99 *
100 *

105 *
106 *
107 *
108 *
109 *
110 *

TCP
384 *
385 *
386 *
387 *
388 *
389 *

400 *
401 *
402 *
403 *
404 *
405 *

410 *
411 *
412 *
413 *
414 *
415 *

Modbus Slave COIL


Address Read Write
0-15 *
16-23 *
24-31
32-47 * *
48-55 * *
56-59 * *
60-127
Modbus Slave Registers
Remarks
Standard inputs, bits[BBBBBBBBBBBBBBBB]{B = Standard}
Config inputs and Tool digit, bits[XXXXTTTTCCCCCCCC]{C = Config T = Tool X = Undef}
Standard outpus, bits[BBBBBBBBBBBBBBBB]{B = Standard}
Config outputs and Tool digit, bits[XXXXTTTTCCCCCCCC]{C = Config T = Tool X = Undef}
Analog input[0], Unit: mA or mV
Analog input domain[0]{0 = Current[mA], 1 = Voltage[mV]}
Analog input[1], Unit: mA or mV
Analog input domain[1]{0 = Current[mA], 1 = Voltage[mV]}
Analog input[2] (Tool), Unit: mA or mV
Analog input domain[2] (Tool),{0 = Current[mA], 1 = Voltage[mV]}
Analog output[0], Unit: mA or mV
Analog output domain[0]{0 = Current[mA], 1 = Voltage[mV]}
Analog output[1], Unit: mA or mV
Analog output domain[1]{0 = Current[mA], 1 = Voltage[mV]}
Analog output[2] (Tool), Unit: mA or mV
Analog output domain[2] (Tool){0 = Current[mA], 1 = Voltage[mV]}
Tool output voltage, Unit: V, {0V, 12V, 24V}
Reserved
Robot States (See "Robot States")
General purpose registers
TCP (See "TCP")
Reserved

Controller major version


Controller minor version
Controller bugfix version
Robot mode
ROBOT_MODE_POWER_OFF = 3
ROBOT_MODE_IDLE = 5
ROBOT_MODE_RUNNING = 7
ROBOT_MODE_UPDATING_FIRMWARE = 8
Is robot power on
Is protective stopped
Is emergency stopped
Is in reduced mode

Base joint position, Unit: mRad


Shoulder joint position
Elbow joint position
Wrist 1 joint position
Wrist 2 joint position
Wrist 3 joint position

Base joint speed, Unit: mRad/s


Shoulder joint speed
Elbow joint speed
Wrist 1 joint speed
Wrist 2 joint speed
Wrist 3 joint speed

Base joint current, Unit: mA


Shouler joint current
Elbow joint current
Wrist 1 joint current
Wrist 2 joint current
Wrist 3 joint current

Base joint temperature, Unit: ℃


Shoulder joint temperature
Elbow joint temperature
Wrist 1 joint temperature
Wrist 2 joint temperature
Wrist 3 joint temperature

TCP X (in base frame), Unit: 0.1mm


TCP Y (in base frame), Unit: 0.1mm
TCP Z (in base frame), Unit: 0.1mm
TCP Rx (in base frame), Unit: mRad
TCP Ry (in base frame), Unit: mRad
TCP Rz (in base frame), Unit: mRad

TCP X speed (in base frame), Unit: mm/s


TCP Y speed (in base frame), Unit: mm/s
TCP Z speed (in base frame), Unit: mm/s
TCP Rx speed (in base frame), Unit: mRad/s
TCP Ry speed (in base frame), Unit: mRad/s
TCP Rz speed (in base frame), Unit: mRad/s

TPC offset X, Unit: mm


TPC offset Y, Unit: mm
TPC offset Z, Unit: mm
TPC offset Rx, Unit: mRad
TPC offset Ry, Unit: mRad
TPC offset Rz, Unit: mRad

Modbus Slave COIL


Remarks
Standard inputs, bits[BBBBBBBBBBBBBBBB]{B = Standard}
Config inputs[CCCCCCCC]{C = Config}
Reserved
Standard outputs, bits[BBBBBBBBBBBBBBBB]{B = Standard}
Config inputs[CCCCCCCC]{C = Config}
Tool digits, bits[TTTT]{T = Tool}, Note: Only a valid output Tool io can be written.
Reserved

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