Modbus Slave
WARNING
Only available in version 3.1.8 and above
Modbus TCP
- Port:
3050. Controls robot in virtual environment. - Port:
3051. Controls robot in real environment.
Modbus RTU
Need to install and configure the 'modbus_rtu_stave' plugin in UI 3.0
System Control
Coils
| Address | Definition | Note |
|---|---|---|
| 100 | Robot Enable/Disable | |
| 101 | Stop Motion | Writing 0 invalid |
| 102 | Emergency Stop | Writing 0 invalid |
| 110 | Shutdown | Writing 0 invalid |
| 111 | Restart | Writing 0 invalid |
Robot Configuration
Holding Registers
| Address | Definition | Note |
|---|---|---|
| 200 | Speed Factor | Unit: Percentage(%) |
| 210 | TCP Position X-axis Offset Relative to Flange | Unit: Millimeter(mm) |
| 211 | TCP Position Y-axis Offset Relative to Flange | Unit: Millimeter(mm) |
| 212 | TCP Position Z-axis Offset Relative to Flange | Unit: Millimeter(mm) |
| 213 | TCP Orientation X-axis Offset Relative to Flange | [-32768,32768) represents [-180°,180°) |
| 214 | TCP Orientation Y-axis Offset Relative to Flange | [-32768,32768) represents [-180°,180°) |
| 215 | TCP Orientation Z-axis Offset Relative to Flange | [-32768,32768) represents [-180°,180°) |
| 220 | End Load Mass | Unit: Gram(g) |
| 221 | End Load Center of Mass X-axis Offset Relative to Flange | Unit: Millimeter(mm) |
| 222 | End Load Center of Mass Y-axis Offset Relative to Flange | Unit: Millimeter(mm) |
| 223 | End Load Center of Mass Z-axis Offset Relative to Flange | Unit: Millimeter(mm) |
| 230 | Gravity Direction X Component in Base Frame | Unit: Millimeter/second² (mm/s²) |
| 231 | Gravity Direction Y Component in Base Frame | Unit: Millimeter/second² (mm/s²) |
| 232 | Gravity Direction Z Component in Base Frame | Unit: Millimeter/second² (mm/s²) |
Pose and Motion
Input Registers
| Address | Definition | Note |
|---|---|---|
| 300 | Current Joint 1 Turns | |
| 301 | Current Joint 1 Position | [0,65536) represents [0°,360°) |
| 302 | Current Joint 2 Turns | |
| 303 | Current Joint 2 Position | [0,65536) represents [0°,360°) |
| 304 | Current Joint 3 Turns | |
| 305 | Current Joint 3 Position | [0,65536) represents [0°,360°) |
| 306 | Current Joint 4 Turns | |
| 307 | Current Joint 4 Position | [0,65536) represents [0°,360°) |
| 308 | Current Joint 5 Turns | |
| 309 | Current Joint 5 Position | [0,65536) represents [0°,360°) |
| 310 | Current Joint 6 Turns | |
| 311 | Current Joint 6 Position | [0,65536) represents [0°,360°) |
| 320 | Current Space Position X Relative to Base | Unit: Millimeter(mm) |
| 321 | Current Space Position Y Relative to Base | Unit: Millimeter(mm) |
| 322 | Current Space Position Z Relative to Base | Unit: Millimeter(mm) |
| 323 | Current Space Orientation X Relative to Base | [-32768,32768) represents [-180°,180°) |
| 324 | Current Space Orientation Y Relative to Base | [-32768,32768) represents [-180°,180°) |
| 325 | Current Space Orientation Z Relative to Base | [-32768,32768) represents [-180°,180°) |
Holding Registers
| Address | Definition | Note |
|---|---|---|
| 300 | Target Joint 1 Turns | |
| 301 | Target Joint 1 Position | [0,65536) represents [0°,360°) |
| 302 | Target Joint 2 Turns | |
| 303 | Target Joint 2 Position | [0,65536) represents [0°,360°) |
| 304 | Target Joint 3 Turns | |
| 305 | Target Joint 3 Position | [0,65536) represents [0°,360°) |
| 306 | Target Joint 4 Turns | |
| 307 | Target Joint 4 Position | [0,65536) represents [0°,360°) |
| 308 | Target Joint 5 Turns | |
| 309 | Target Joint 5 Position | [0,65536) represents [0°,360°) |
| 310 | Target Joint 6 Turns | |
| 312 | Target Joint 6 Position | [0,65536) represents [0°,360°) |
| 320 | Target Space Position X Relative to Base | Unit: Millimeter(mm) |
| 321 | Target Space Position Y Relative to Base | Unit: Millimeter(mm) |
| 322 | Target Space Position Z Relative to Base | Unit: Millimeter(mm) |
| 323 | Target Space Orientation X Relative to Base | [-32768,32768) represents [-180°,180°) |
| 324 | Target Space Orientation Y Relative to Base | [-32768,32768) represents [-180°,180°) |
| 325 | Target Space Orientation Z Relative to Base | [-32768,32768) represents [-180°,180°) |
| 330 | Via Point Space Position X Relative to Base | Unit: Millimeter(mm) |
| 331 | Via Point Space Position Y Relative to Base | Unit: Millimeter(mm) |
| 332 | Via Point Space Position Z Relative to Base | Unit: Millimeter(mm) |
| 333 | Via Point Space Orientation X Relative to Base | [-32768,32768) represents [-180°,180°) |
| 334 | Via Point Space Orientation Y Relative to Base | [-32768,32768) represents [-180°,180°) |
| 335 | Via Point Space Orientation Z Relative to Base | [-32768,32768) represents [-180°,180°) |
| 350 | Load Quick Position to Target Joint Position and Space Pose | Always 0 when reading |
| 351 | Maximum Motion Acceleration | Unit: Millimeter/second² (mm/s²) |
| 352 | Maximum Motion Speed | Unit: Millimeter/second (mm/s) |
| 353 | Minimum Motion Time | Unit: Millisecond(ms) |
| 354 | Motion Blending Radius | Unit: Millimeter(mm) |
| 355 | Arc Motion Angle | Unit: Degree(°) |
Coils
| Address | Definition | Note |
|---|---|---|
| 300 | Forward Kinematics, Fill Target Cartesian Position from Target Joint Position | Writing 0 invalid |
| 301 | Inverse Kinematics, Fill Target Joint Position from Target Cartesian Position | Writing 0 invalid |
| 350 | Joint Motion to Target Joint Position | Writing 0 invalid |
| 351 | Linear Motion to Target Space Pose | Writing 0 invalid |
| 352 | Arc Motion, via Temporary Cartesian Position to Target Cartesian Position | Writing 0 invalid |
| 353 | Joint Servoing to Target Joint Position | Writing 0 invalid |
| 354 | Enter/Exit Teaching Mode |
Program Control
Holding Registers
| Address | Definition | Note |
|---|---|---|
| 400 | Queue Execute Quick Scene | Always 0 when reading |
Coils
| Address | Definition | Note |
|---|---|---|
| 400 | Cancel Serial Task | Writing 0 invalid |
| 401 | Serial Task Pause/Resume |
IO Control
Input Registers
| Address | Definition | Note |
|---|---|---|
| 500 | Cabinet AI0 | |
| 501 | Cabinet AI1 | |
| 520 | Extension AI0 | |
| 521 | Extension AI1 |
Holding Registers
| Address | Definition | Note |
|---|---|---|
| 500 | Cabinet AO0 | |
| 501 | Cabinet AO1 | |
| 520 | Extension AO0 | |
| 521 | Extension AO1 |
Discrete Inputs
| Address | Definition | Note |
|---|---|---|
| 500 | Cabinet DI0 | |
| 501 | Cabinet DI1 | |
| 502 | Cabinet DI2 | |
| 503 | Cabinet DI3 | |
| 510 | Flange DI0 | |
| 511 | Flange DI1 | |
| 520 | Extension DI0 | |
| 521 | Extension DI1 | |
| 522 | Extension DI2 | |
| 523 | Extension DI3 | |
| 524 | Extension DI4 | |
| 525 | Extension DI5 | |
| 526 | Extension DI6 | |
| 527 | Extension DI7 | |
| 528 | Extension DI8 | |
| 529 | Extension DI9 | |
| 530 | Extension DI10 | |
| 531 | Extension DI11 |
Coils
| Address | Definition | Note |
|---|---|---|
| 500 | Cabinet DO0 | |
| 501 | Cabinet DO1 | |
| 502 | Cabinet DO2 | |
| 503 | Cabinet DO3 | |
| 510 | Flange DO0 | |
| 511 | Flange DO1 | |
| 520 | Extension DO0 | |
| 521 | Extension DO1 | |
| 522 | Extension DO2 | |
| 523 | Extension DO3 | |
| 524 | Extension DO4 | |
| 525 | Extension DO5 | |
| 526 | Extension DO6 | |
| 527 | Extension DO7 | |
| 528 | Extension DO8 | |
| 529 | Extension DO9 | |
| 530 | Extension DO10 | |
| 531 | Extension DO11 |
Gripper Control
Input Registers
| Address | Definition | Note |
|---|---|---|
| 600 | Current Gripper Force | Unit: Percentage(%) |
| 601 | Current Gripper Opening | Unit: Percentage(%) |
Holding Registers
| Address | Definition | Note |
|---|---|---|
| 600 | Target Gripper Force | Unit: Percentage(%) |
| 601 | Target Gripper Opening | Unit: Percentage(%) |
Light Panel Control
Holding Registers
| Address | Definition | Note |
|---|---|---|
| 700 | Light Pattern | |
| 701 | Light Speed | |
| 702 | Light Color | 4 bits per group |
| 710 | Sound Pattern | Always 0 when reading |
| 711 | Sound Volume |
Coils
| Address | Definition | Note |
|---|---|---|
| 720 | Fan Switch |
Semaphore Control
Holding Registers
| Address | Definition | Note |
|---|---|---|
| 1000 | Semaphore 0 Low 16bit | |
| 1001 | Semaphore 1 Low 16bit | |
| ... | ... | |
| 1255 | Semaphore 255 Low 16bit |