Dobot CR5 - Modbus

DOBOT CR5 User Guide 6 Program Language
Issue V3.5.3.1 (2020-05-09) User Guide Copyright © Yuejiang Technology Co., Ltd
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end
else
print("Create failed ".. err)
end
Modbus
Modbus Register Description
Modbus protocol is a serial communication protocol. The robot system can communicate with
external equipment by this protocol. Here, External equipment such as a PLC is set as the Modbus
master, and the robot system is set as the salve.
Modbus data is most often read and written as registers. Based on our robot memory space, we
also define four types of registers: coil, discrete input, input, and holding registers for data
interaction between the external equipment and robot system. Each register has 4096 addresses. For
details, please see as follows.
 Coil register
Table 6.53 Coil register description
Coil register address
(e.g.: PLC)
Coil register address
(Robot system)
Data type
Description
00001
0
Bit
Start
00002
1
Bit
Pause
00003
2
Bit
Continue
00004
3
Bit
Stop
00005
4
Bit
Emergency stop
00006
5
Bit
Clear alarm
00007-0999
6-998
Bit
Reserved
01001-04096
999-4095
Bit
User-defined
 Discrete input register
Table 6.54 Discrete input register description
Discrete input register
address (e.g.: PLC)
Discrete input register
address(Robot system)
Data type
Description
10001
0
Bit
Automated exit
10002
1
Bit
Ready state
10003
2
Bit
Paused state