Register Map
The following table provides the register map for Modbus TCP Standard Interface.
| Address (decimal) | Address (hexadecimal) | Description | Length (in words) | Read/Write | Note | Holding registers (4x) |
|---|---|---|---|---|---|---|
0 |
0x0000 |
Command trigger |
1 |
Write |
0: Not trigger the command. 1: trigger the command. |
40001–40053: Write into Communication Component |
1 |
0x0001 |
Command |
1 |
Write |
Command code |
|
2 |
0x0002 |
Pose type |
1 |
Write |
||
3 |
0x0003 |
Number of poses |
1 |
Write |
||
4 |
0x0004 |
Mech-Vision project ID |
1 |
Write |
||
5 |
0x0005 |
Parameter recipe ID |
1 |
Write |
||
6 |
0x0006 |
Joint positions |
12 |
Write |
Unit: degree |
|
18 |
0x0012 |
TCP |
12 |
Write |
Unit: mm (coordinates) and degree (Euler angles) |
|
30 |
0x001E |
Step ID of the “Branch by Msg” Step |
1 |
Write |
||
31 |
0x001F |
Exit port number of the “Branch by Msg” Step |
1 |
Write |
||
32 |
0x0020 |
Step ID of the Step with the Current Index parameter |
1 |
Write |
||
33 |
0x0021 |
Current Index value |
1 |
Write |
||
34 |
0x0022 |
Object dimensions from external input |
6 |
Write |
Unit: mm |
|
40 |
0x0028 |
TCP from external input |
12 |
Write |
Unit: mm (coordinates) and degree (Euler angles) |
|
52 |
0x0034 |
Robot motion status |
1 |
Write |
||
53 |
0x0035 |
Reserved field |
44 |
Read |
40054–40728: Read from Communication Component |
|
97 |
0x0061 |
Trigger confirmation |
1 |
Read |
0: Not triggered. 1: Triggered. |
|
98 |
0x0062 |
Notification |
1 |
Read |
||
99 |
0x0063 |
Heartbeat |
1 |
Read |
1 Hz |
|
100 |
0x0064 |
Status code |
1 |
Read |
||
101 |
0x0065 |
Pose data status |
1 |
Read |
0: Received command 999 (Clear Register Data) 1: Newly arrived data. |
|
102 |
0x0066 |
Number of poses sent |
1 |
Read |
||
103 |
0x0067 |
Position of “Vision Move” in planned path |
1 |
Read |
||
104 |
0x0068 |
Pose data |
480 |
Read |
||
584 |
0x0248 |
Labels corresponding to the poses |
40 |
Read |
||
624 |
0x0270 |
Velocity percentage value |
40 |
Read |
||
664 |
0x0298 |
DO signal list |
64 |
Read |
|
Modbus TCP is a simple bus protocol. It is recommended to read or write about 100 words at a time. The communication cycle for a single read or write is about 70 ms. When possible, choose instead real-time Ethernet protocols, such as PROFINET and Ethernet/IP, Siemens Snap7 (corresponding to Siemens PLC Client in the Standard Interface communication), or Mitsubishi MELSEC (the MC protocol). |