10 MODBUS
Position values (X, Y, Z, A, B, C, joint angles) are given as 32 bit values where necessary
and therefore occupy 2 registers. The first register contains the lower bits, the second
register the upper bits. For negative values both registers must be set accordingly.
The following link shows an example on how to calculate these values and move the
robot to a target position.
https://wik i.cpr-robots .com/index.p hp/Moving_Rob
ots_via_Modbus
The following tables describe the Modbus address assignment version 1 (see input register 3).
10.4.1 Coils and Discrete Inputs - 1 Bit, Read Only
Via coils and discrete inputs 1-bit accesses are possible. This is used here to query inputs and outputs
as well as simple states and to trigger actions.
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Read access to 1-bit data is possible both as coils and as discrete inputs so that fewer
Modbus messages have to be sent for reading both. Reading values that were previously
written as coil via discrete inputs should be avoided. Therefore it is recommended to
use only the coil access.
Addresses Type Description
10 Info Has robot axes
11 Info Has external axes
12 Info Has gripper axes
13 Info Has platform axes
14 Info Has digital input/output modules
20 Info Modules - No error
21 Info Module error - Temperature
22 Info Module error - Emergency stop / undervoltage
23 Info Module error - Motor not activated
24 Info Module error - communication
25 Info Module error - contouring error
26 Info Module error - encoder error
27 Info Module error - overcurrent
28 Info Module error - driver error
29 Info Module error - Bus dead
30 Info Module error - module dead
31-36 Info Module error - reserved for future errors
37 Info Kinematics - no error
38 Info Kinematics - axis limit min
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