10 MODBUS
10 Modbus
The Modbus TCP protocol enables the control and retrieval of configuration and status information
from TinyCtrl-based integrated robot controllers. This allows robots to be easily controlled by pro-
grammable logic controllers (PLCs) and integrated into processes with other devices.
10.1 Licensing
The use of the Modbus functions requires a license. The functions can be used freely for test pur-
poses for 30 minutes, after which another test period can be started by restarting the controller. The
installation of a license file is described in the iRC documentation. Further information is available at
https://shop.cpr-robots.com/?product=modbus-tcp-
ip-schnittstelle
10.2 Configuration of the Modbus Server
The Modbus server can be configured via the configuration area in iRC. To do this, connect iRC to the
robot and open the Modbus configuration (file → Interface configuration → Modbus). The Modbus
server becomes active when the "Active" box is checked and "Apply" or "Save Project" is clicked. If
required, the port (default: 502) and the maximum number of connections can be changed.
10.3 TIA-Portal Library
For the implementation of the PLC side with a S7-1200 or S7-1500 CPU a library is available to the
user. The library contains data types and communication blocks. The download of the library can be
done via the following link.
https://wik i.cpr-robots .com/index.p hp/Modbus_Ser
ver
For including the library please contact the Siemens support.
https://support .industr y.siemens.com/cs/ww/de/ vi
ew/37364723
10.3.1 Creating the Robot Data Block
At first the insertion of a robot data block of type "CPR_ROBOT_MODBUS" is started. This data block
contains all important information and help for the later communication with the robot. The follow-
ing figure shows the robot data type. In the first place it contains a "TCON_IP_v4" object. This object
can be used to set the IP address of the robot and the port to use. The connection ID can also be set.
©2022 igus® GmbH 51
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