Dobot CR5 - Page 61

DOBOT CR5 User Guide 5 Function Description of Software
Issue V3.5.3.1 (2020-05-09) User Guide Copyright © Yuejiang Technology Co., Ltd
56
Table 5.3 Specific Modbus register description
Register address (Take a PLC
as an example)
Register address (Robot
system)
Description
Coil register
00001
0
Start running in the remote Modbus
mode
00002
1
Pause running in the remote
Modbus mode
00003
2
Continue to run
00004
3
Stop to run and exit the remote
Modbus mode
00005
4
Emergency stop and exit the remote
Modbus mode
00006
5
Clear alarm
Discrete input register
10001
0
Auto-exit
10002
1
Ready status
10003
2
Pause status
10004
3
Running status
10005
4
Alarm status
Prerequisites
 The project to be running in the remote mode has been prepared.
 The robot has been connected to the external equipment with the ethernet interface. You
can connect them directly or via a router, please select based on site requirements.
The IP address of the robot system must be in the same network segment of the external
equipment without conflict. The default IP address is 192.168.5.1.
 The robot has been powered on.
NOTE
The details on how to connect external equipment and use it are not described in this
topic.
Procedure