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