10 MODBUS
Addresses Type Description
39 Info Kinematics - axis limit max
40 Info Kinematics - Central axis singularity
41 Info Kinematics - Out of range
42 Info Kinematics - wrist singularity
43 Info Kinematics - Virtual box reached
44 Info Kinematics - Movement not allowed
45-49 Info Kinematics - reserved for future errors
50 Is CAN bus connected? / Connect (1) / Disconnect (0) (Connect / Dis-
connect not possible with TinyCtrl)
51 Shutdown control computer
52 Robot reset
53 Are the motors active? / Enable motors (1) / Disable motors (0)
54 Info Normal operation (see operation mode, table 30)
60 Are all axes referenced? / reference
61-66 Is robot axis referenced? / reference
67-69 Is external axis referenced? / reference
70-72 Is gripper axis referenced? / reference
73
Set all axes to 0
100 Start MoveTo - cartesian
101 Start MoveTo - Cartesian relative base coordinates
102 Start MoveTo - Cartesian relative tool coordinates
103 Start MoveTo - joint movement
104 Start MoveTo - joint movement relative
110 Info Is Zero-Torque (manual guidance mode) available?
111 boolean Is Zero-Torque enabled? / enable (1) / disable (0)
112 Info Is the robot moving?
120 Info Is a robot program loaded?
121 Info Is a logic program loaded?
122 Is the robot program running? / start / continue
123 Is robot program paused? / pause
124 Is the robot program stopped? / stop
130 Select next directory entry
131 Select previous directory entry
132 Info Is the selected directory entry a program file
133 Load selected directory entry as robot program / open directory
134 Go to the base directory (.../Data/Programs)
135 Unload robot program
136 Unload logic program
200-299 boolean Global signals
300-363 boolean Digital outputs
©2022 igus® GmbH 55
To Next Page
Loading...