Dobot CR5 - Page 110

DOBOT CR5 User Guide 6 Program Language
Issue V3.5.3.1 (2020-05-09) User Guide Copyright © Yuejiang Technology Co., Ltd
105
Table 6.60 Read input register command
Function
GetinRegs(addr, count, type)
Description
Read the input register value with the specified data type from the Modbus slave
Parameter
addr: Starting address of the input registers. Value range: 0 - 4095
count: Number of the input registers to read. Value range: 0 ~ 4096-addr
type: Data type
 Empty: Read 16-bit unsigned integer ( two bytes, occupy one register)
 “U16”: Read 16-bit unsigned integer ( two bytes, occupy one register)
 “U32”: Read 32-bit unsigned integer (four bytes, occupy two registers)
 “F32”: Read 32-bit single-precision floating-point number (four bytes, occupy two
registers)
 “F64”: Read 64-bit double-precision floating-point number (eight bytes, occupy four
registers)
Return
Return a table, the first value in the table corresponds to the input register value at the starting
address
Example
Example 1: Read a 16-bit unsigned integer starting at address 2048
data = GetInRegs(2048,1)
Example 2: Read a 32-bit unsigned integer starting at address 2048
data = GetInRegs(2048, 1, “U32”)
Table 6.61 Read holding register command
Function
GetHoldRegs(addr, count, type)
Description
Read the holding register value from the Modbus slave according to the specified data type
Parameter
addr: Starting address of the holding registers. Value range: 0 - 4095
count: Number of the holding registers to read. Value range: 0 to 4096-addr
type: Datatype
 Empty: Read 16-bit unsigned integer ( two bytes, occupy one register)
 “U16”: Read 16-bit unsigned integer ( two bytes, occupy one register)
 “U32”: Read 32-bit unsigned integer (four bytes, occupy two registers)
 “F32”: Read 32-bit single-precision floating-point number (four bytes, occupy two
registers)
 “F64”: Read 64-bit double-precision floating-point number (eight bytes, occupy four
registers)
Return
Return a table, the first value in the table corresponds to the input register value at the starting
address