Doosan H2017 - Network Setting; User-Defined Modbus Support Function Code

Doosan Robotics User Manual v2.6.1
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12.6 Network Setting
To set the network, follow these steps:
1 Tap the Settings button of the main menu and select Network.
2 Select the Controller or Modbus tab.
 Controller: Ethernet network settings for external connections such as the controller or
Modbus can be configured.
 Modbus: Additional settings for user-defined Modbus including Modbus TCP/RTU and
additional settings for Preset Modbus used by some Workcell items can be set.
3 Select the network method and tap the Confirm button.
 To be able to set and use DHCP in A-Series models, it is necessary to purchase an external
router and configure a network.
12.6.1 User-defined Modbus Support Function Code
The Modbus Master of Doosan Robotics can be used for I/O expansion or data exchanges through
connections with other devices.
The Function Codes supported by Doosan Robotics are as follows:
Function Code
Description
1
Read Coils
2
Read Discrete Inputs
3
Read Multiple Holding Registers
4
Read Input Registers
5
Write Single Coil
6
Write Single Holding Register
15
Multiple Coils (FC15)
16
Multiple Holding Registers (FC16)
*DRL (set_modbus_outputs()) is configured to internally call FC5 and FC6 multiple times.
Note
 Up to five Modbus Slave devices can be connected.
 Each device can register up to 50 registers.
 The total number of registers cannot exceed 100.