Dobot CR5 - Command Description

DOBOT CR5 User Guide 6 Program Language
Issue V3.5.3.1 (2020-05-09) User Guide Copyright © Yuejiang Technology Co., Ltd
103
Discrete input register
address (e.g.: PLC)
Discrete input register
address(Robot system)
Data type
Description
10004
3
Bit
Running state
10005
4
Bit
Alarm state
10006-10999
5-998
Bit
Reserved
11000-14096
999-4095
Bit
User-defined
 Input register
Table 6.55 Input register description
Input register address
(e.g.: PLC)
Input register address
(Robot system)
Data type
Description
30001-34096
0-4095
Byte
Reserved
 Holding register
Table 6.56 Holding register description
Holding register
address
(e.g.: PLC)
Holding register
address
(Robot system)
Data type
Description
40001-41000
0-999
Byte
Reserved
41001-44095
1000-4095
Byte
User-defined
Command Description
Table 6.57 Rea coil register command
Function
GetCoils(addr, count)
Description
Read the coil value from the Modbus slave
Parameter
addr: Starting address of the coils to read. Value range: 0 - 4095
count: Number of the coils to read. Value range: 0 to 4096-addr
Return
Return a table, each with the value 1 or 0, where the first value in the table corresponds to the coil
value at the starting address