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ModBus Server Data

The document outlines the memory address mapping for a robotic system, detailing input and output bits, analog inputs and outputs, robot state, joint angles, and TCP parameters. It specifies read/write capabilities and the range of values for various parameters, including joint modes and tool states. Additionally, it includes reserved addresses for future system variables and general purpose registers.

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esauog2006
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2 views9 pages

ModBus Server Data

The document outlines the memory address mapping for a robotic system, detailing input and output bits, analog inputs and outputs, robot state, joint angles, and TCP parameters. It specifies read/write capabilities and the range of values for various parameters, including joint modes and tool states. Additionally, it includes reserved addresses for future system variables and general purpose registers.

Uploaded by

esauog2006
Copyright
© All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd

R=Read, W=Write

Address Pre 3.0 3.0 3.1 R W

0 x x x * Inputs, bits 0-15 [BBBBBBBBTTxxxxxx] x=undef, T=tool, B=box


1 x x x * * Outputs, bits 0-15 [BBBBBBBBTTxxxxxx] x=undef, T=tool, B=box
2 x x x * SetOutputsBitsMask 0-15 [BBBBBBBBTTxxxxxx] x=undef, T=tool, B=box
3 x x x * ClearOutputsBitsMask 0-15 [BBBBBBBBTTxxxxxx] x=undef, T=tool, B=box
4 x x x * Analog input 0 (0-65535)
5 x x x * * Analog input 0 domain e {0=current[mA], 1=voltage[mV]}
6 x x x * Analog input 1 (0-65535)
7 x x x * * Analog input 1 domain e {0=current[mA], 1=voltage[mV]}
8 x x x * Analog input 2 (tool) (0-65535)
9 x x x * * Analog input 2 (tool) domain e {0=current[mA], 1=voltage[mV]}
10 x x x * Analog input 3 (tool) (0-65535)
11 x x x * * Analog input 3 (tool) range e {0=current[mA], 1=voltage[mV]}
16 x x x * * Analog output 0 output (0-65535)
17 x x x * * Analog output 0 output domain e {0=current[mA], 1=voltage[mV]}
18 x x x * * Analog output 1 output (0-65535)
19 x x x * * Analog output 1 output domain {0=current[mA], 1=voltage[mV]}
20 x x x * * Tool output voltage (V) e {0V, 12V, 24V}
21 x x x * Tool digital input bits
22 x x x * * Tool digital output bits
24 x x x * Euromap67 input bits (0-15)
25 x x x * Euromap67 input bits (16-32)
26 x x x * Euromap67 output bits (0-15) (read only!)
27 x x x * Euromap67 output bits (16-32) (read only!)
28 x x x * Euromap 24V voltage
29 x x x * Euromap 24V current
30 - x x * Configurable inputs, bits [BBBBBBBBxxxxxxxx] x=undef, T=tool, B=box
31 - x x * * Configurable outputs, bits [BBBBBBBBxxxxxxxx] x=undef, T=tool, B=box
32 - x x * Bit mask configurable outputs, bits [BBBBBBBBxxxxxxxx] x=undef, T=tool, B=b
33 - x x * Clear configurable outputs, bits [BBBBBBBBxxxxxxxx] x=undef, T=tool, B=box

34-127 x x x Reserved for future system variables

128-255 x x x * * General purpose 16 bit registers


256- x x x * Robot state
512- x x x * Program state (not implemented)
768- x x x * Tool states
1024- x x x * GUI state (not implemented)
2048- x x - * RT Machine control

Robot state

256 x x x Controller version high nuber


257 x x x Controller version low number
258 x x x Robot mode
CB3 and 3.1 Disconnected=0, Confirm_safety=1, Bootin
CB2 No_controller=-1, Running=0, Freedrive=1,
260 x x x isPowerOnRobot
261 x x x isSecurityStopped
262 x x x isEmergencyStopped
263 x x x isTeachButtonPressed
264 x x x isPowerPuttonPressed
265 x x x isSafetySignalSuchThatWeShouldStop

270 x x x Base joint angle (in mrad)


271 x x x Shoulder joint angle (in mrad)
272 x x x Elbow joint angle (in mrad)
273 x x x Wrist1 joint angle (in mrad)
274 x x x Wrist2 joint angle (in mrad)
275 x x x Wrist3 joint angle (in mrad)

280 x x x Base joint angle velocity (in mrad/s)


281 x x x Shoulder joint angle velocity (in mrad/s)
282 x x x Elbow joint angle velocity (in mrad/s)
283 x x x Wrist1 joint angle velocity (in mrad/s)
284 x x x Wrist2 joint angle velocity (in mrad/s)
285 x x Wrist3 joint angle velocity (in mrad/s)

290 x x x Base joint current (in mA)


291 x x x Shoulder joint current (in mA)
292 x x x Elbow joint current (in mA)
293 x x x Wrist1 joint current (in mA)
294 x x x Wrist2 joint current (in mA)
295 x x x Wrist3 joint current (in mA)

300 x x x Base joint temperature (in C)


301 x x x Shoulder joint temperature (in C)
302 x x x Elbow joint temperature (in C)
303 x x x Wrist1 joint temperature (in C)
304 x x x Wrist2 joint temperature (in C)
305 x x x Wrist3 joint temperature (in C)

Joint modes From version 1.7


310 x x x Base joint mode
311 x x x Shoulder joint mode
312 x x x Elbow joint mode
313 x x x Wrist1 joint mode
314 x x x Wrist2 joint mode
315 x x x Wrist3 joint mode

List of Joint Modes


JOINT_SHUTTING_DOWN_MODE = 236;
JOINT_PART_D_CALIBRATION_MODE = 237;
JOINT_BACKDRIVE_MODE = 238;
JOINT_POWER_OFF_MODE = 239;
JOINT_NOT_RESPONDING_MODE = 245;
JOINT_MOTOR_INITIALISATION_MODE = 246;
JOINT_BOOTING_MODE = 247;
JOINT_PART_D_CALIBRATION_ERROR_MODE = 248;
JOINT_BOOTLOADER_MODE = 249;
JOINT_CALIBRATION_MODE = 250;
JOINT_FAULT_MODE = 252;
JOINT_RUNNING_MODE = 253;
JOINT_IDLE_MODE = 255;

320 - - x Base joint revolution count (number of full turns, typically 0 or 1)


321 - - x Shoulder joint revolution count
322 - - x Elbow joint revolution count
323 - - x Wrist1 joint revolution count
324 - - x Wrist2 joint revolution count
325 - - x Wrist3 joint revolution count

TCP
400 x x x TCP-x in tenth of mm (in base frame)
401 x x x TCP-y in tenth of mm (in base frame)
402 x x x TCP-z in tenth of mm (in base frame)
403 x x x TCP-rx in mrad (in base frame)
404 x x x TCP-ry in mrad (in base frame)
405 x x x TCP-rz in mrad (in base frame)

410 x x x TCP-x speed in mm/s (in base frame)


411 x x x TCP-y speed in mm/s (in base frame)
412 x x x TCP-z speed in mm/s (in base frame)
413 x x x TCP-rx speed in mrad/s (in base frame)
414 x x x TCP-ry speed in mrad/s (in base frame)
415 x x x TCP-rz speed in mrad/s (in base frame)

420 x x x TCP-x offset in mm (in tool frame)


421 x x x TCP-y offset in mm (in tool frame)
422 x x x TCP-z offset in mm (in tool frame)
423 x x x TCP-rx offset in mrad (in tool frame)
424 x x x TCP-ry offset in mrad (in tool frame)
425 x x x TCP-rz offset in mrad (in tool frame)

450 x x x Robot current (in mA)


451 x x x I/O current (in mA)

768 x x x Tool state


769 x x x Tool temperature (in C)
770 x x x Tool current (in mA)

GUI state

1024 x x x GUI state not implemented

RTMachine
2048 x x - * Split time (latches the actual time to the registers 2049-2053) calculates the t
2049 x x - * Milliseconds
2050 x x - * Seconds
2051 x x - * Minutes
2052 x x - * Hours
2053 x x - * Days

Address Pre 3.0 3.0 3.1 R W

0-15 x x x * Inputs, bits 0-15 [BBBBBBBBTTxxxxxx] x=undef, T=tool, B=box


16-31 x x x * * Outputs, bits 0-15 [BBBBBBBBTTxxxxxx] x=undef, T=tool, B=box
32-47 x x x * SetOutputsBitsMask 0-15 [BBBBBBBBTTxxxxxx] x=undef, T=tool, B=box
48-63 x x x * ClearOutputsBitsMask 0-15 [BBBBBBBBTTxxxxxx] x=undef, T=tool, B=box
64-79 x x x * Euromap67 input bits (0-15)
80-95 x x x * Euromap67 input bits (16-32)
96-111 x x x * Euromap67 output bits (0-15) (read only!)
112-127 x x x * Euromap67 output bits (16-32) (read only!)
128-135 x x x * Configurable inputs, bits [BBBBBBBBxxxxxxxx] x=undef, T=tool, B=box
136-143 x x x * * Configurable outputs, bits [BBBBBBBBxxxxxxxx] x=undef, T=tool, B=box
144-151 x x x * Bit mask configurable outputs, bits [BBBBBBBBxxxxxxxx] x=undef, T=tool, B=b
152-159 x x x * Clear configurable outputs, bits [BBBBBBBBxxxxxxxx] x=undef, T=tool, B=box

260 x x x * isPowerOnRobot
261 x x x * isProtectiveStopped
262 x x x * isEmergencyStopped
263 x x x * isTeachButtonPressed
264 x x x * isPowerPuttonPressed
265 x x x * isSafetySignalSuchThatWeShouldStop
_controller=-1, Running=0, Freedrive=1,Ready=2, Initializing=3, Security_stoppde=4, Emergency_stopped=5, Fault=6, Not_connected=8, Shoutdown=9
d=5, Fault=6, Not_connected=8, Shoutdown=9

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