Modbus Slave

WARNING

Only available in version 3.1.8 and above

Modbus TCP

• Port: 3050. Controls virtual environment robot.
• Port: 3051. Controls real robot environment.

Modbus RTU

Requires installing and configuring modbus_rtu_slave plugin in UI3.0

System Control

Coils

Address	Definition	Notes
100	Arm enable/disable
101	Stop motion	Writing 0 has no effect
102	Emergency stop	Writing 0 has no effect
103	Pause/resume
110	Power down	Writing 0 has no effect
111	Reboot	Writing 0 has no effect

Input Registers

Address	Definition	Notes
100	Current Robot State

Robot Configuration

Holding Registers

Address	Definition	Notes
200	Velocity factor	Unit: percentage (%)
210	TCP position relative to flange x-axis offset	Unit: millimeters (mm)
211	TCP position relative to flange y-axis offset	Unit: millimeters (mm)
212	TCP position relative to flange z-axis offset	Unit: millimeters (mm)
213	TCP orientation relative to flange x-axis offset	[-32768,32768) represents [-180°,180°)
214	TCP orientation relative to flange y-axis offset	[-32768,32768) represents [-180°,180°)
215	TCP orientation relative to flange z-axis offset	[-32768,32768) represents [-180°,180°)
220	End-effector payload mass	Unit: grams (g)
221	End-effector payload center of gravity relative to flange x-axis offset	Unit: millimeters (mm)
222	End-effector payload center of gravity relative to flange y-axis offset	Unit: millimeters (mm)
223	End-effector payload center of gravity relative to flange z-axis offset	Unit: millimeters (mm)
230	Gravity direction component on base x-axis	Unit: millimeters per second squared (mm/s²)
231	Gravity direction component on base y-axis	Unit: millimeters per second squared (mm/s²)
232	Gravity direction component on base z-axis	Unit: millimeters per second squared (mm/s²)

Pose and Motion

Input Registers

Address	Definition	Notes
300	Current joint 1 lap count
301	Current joint 1 position	[0,65536) represents [0°,360°)
302	Current joint 2 lap count
303	Current joint 2 position	[0,65536) represents [0°,360°)
304	Current joint 3 lap count
305	Current joint 3 position	[0,65536) represents [0°,360°)
306	Current joint 4 lap count
307	Current joint 4 position	[0,65536) represents [0°,360°)
308	Current joint 5 lap count
309	Current joint 5 position	[0,65536) represents [0°,360°)
310	Current joint 6 lap count
311	Current joint 6 position	[0,65536) represents [0°,360°)
320	Current spatial position relative to base x-axis offset	Unit: millimeters (mm)
321	Current spatial position relative to base y-axis offset	Unit: millimeters (mm)
322	Current spatial position relative to base z-axis offset	Unit: millimeters (mm)
323	Current spatial orientation relative to base x-axis offset	[-32768,32768) represents [-180°,180°)
324	Current spatial orientation relative to base y-axis offset	[-32768,32768) represents [-180°,180°)
325	Current spatial orientation relative to base z-axis offset	[-32768,32768) represents [-180°,180°)

Holding Registers

Address	Definition	Notes
300	Target joint 1 lap count
301	Target joint 1 position	[0,65536) represents [0°,360°)
302	Target joint 2 lap count
303	Target joint 2 position	[0,65536) represents [0°,360°)
304	Target joint 3 lap count
305	Target joint 3 position	[0,65536) represents [0°,360°)
306	Target joint 4 lap count
307	Target joint 4 position	[0,65536) represents [0°,360°)
308	Target joint 5 lap count
309	Target joint 5 position	[0,65536) represents [0°,360°)
310	Target joint 6 lap count
311	Target joint 6 position	[0,65536) represents [0°,360°)
320	Target spatial position relative to base x-axis offset	Unit: millimeters (mm)
321	Target spatial position relative to base y-axis offset	Unit: millimeters (mm)
322	Target spatial position relative to base z-axis offset	Unit: millimeters (mm)
323	Target spatial orientation relative to base x-axis offset	[-32768,32768) represents [-180°,180°)
324	Target spatial orientation relative to base y-axis offset	[-32768,32768) represents [-180°,180°)
325	Target spatial orientation relative to base z-axis offset	[-32768,32768) represents [-180°,180°)
330	Waypoint spatial position relative to base x-axis offset	Unit: millimeters (mm)
331	Waypoint spatial position relative to base y-axis offset	Unit: millimeters (mm)
332	Waypoint spatial position relative to base z-axis offset	Unit: millimeters (mm)
333	Waypoint spatial orientation relative to base x-axis offset	[-32768,32768) represents [-180°,180°)
334	Waypoint spatial orientation relative to base y-axis offset	[-32768,32768) represents [-180°,180°)
335	Waypoint spatial orientation relative to base z-axis offset	[-32768,32768) represents [-180°,180°)
350	Load shortcut position to target joint position and target spatial pose	Always 0 when read
351	Motion maximum acceleration	Unit: millimeters per second squared (mm/s²)
352	Motion maximum velocity	Unit: millimeters per second (mm/s)
353	Motion minimum time	Unit: milliseconds (ms)
354	Motion blending radius	Unit: millimeters (mm)
355	Circular motion angle	Unit: degrees (°)

Coils

Address	Definition	Notes
300	Forward kinematics, fill target Cartesian position from target joint position	Writing 0 has no effect
301	Inverse kinematics, fill target joint position from target Cartesian position	Writing 0 has no effect
350	Joint motion to target joint position	Writing 0 has no effect
351	Linear motion to target spatial pose	Writing 0 has no effect
352	Circular motion via temporary Cartesian position to target Cartesian position	Writing 0 has no effect
353	Joint servo to target joint position	Writing 0 has no effect
354	Enter/exit teaching mode

Program Control

Holding Registers

Address	Definition	Notes
400	Queue execute shortcut scene	Always 0 when read

Coils

Address	Definition	Notes
400	Cancel serial task	Writing 0 has no effect
401	Serial task pause/resume

IO Control

Input Registers

Address	Definition	Notes
500	Control box AI0
501	Control box AI1
520	Extension AI0
521	Extension AI1

Holding Registers

Address	Definition	Notes
500	Control box AO0
501	Control box AO1
520	Extension AO0
521	Extension AO1

Discrete Inputs

Address	Definition	Notes
500	Control box DI0
501	Control box DI1
502	Control box DI2
503	Control box 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	Notes
500	Control box DO0
501	Control box DO1
502	Control box DO2
503	Control box 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	Notes
600	Current gripper force	Unit: percentage (%)
601	Current gripper amplitude	Unit: percentage (%)

Holding Registers

Address	Definition	Notes
600	Target gripper force	Unit: percentage (%)
601	Target gripper amplitude	Unit: percentage (%)

LED Board Control

Holding Registers

Address	Definition	Notes
700	Light pattern
701	Light speed
702	Light color	Every 4 bits as a group
710	Sound pattern	Always 0 when read
711	Sound volume

Coils

Address	Definition	Notes
720	Fan toggle

Semaphore Control

Holding Registers

Address	Definition	Notes
1000	Semaphore 0 low 16 bits
1001	Semaphore 1 low 16 bits
...	...
1255	Semaphore 255 low 16 bits