igus ReBeL - Input Registers - 16 Bit, Read Only

10 MODBUS
Addresses Type Description
364-427 Info Digital inputs
Table 24: Assignment of coils and discrete inputs
10.4.2 Input Registers - 16 Bit, Read Only
The input registers provide read access to configuration, status and statistical information. To convert
numerical values into the correct unit, multiply by the factor specified under Unit. The meaning of
the state registers with data type enum is described in section 10.4.5.
Addresses Type Unit Description
0 uint16 Software ID (902=iRC, 980=TinyCtrl)
1 uint16 Software major version (e.g. 12)
2 uint16 Software minor version (e.g. 6)
3 uint16 Modbus mapping version
4-5 uint32 minutes Uptime complete
6-7 uint32 minutes Uptime last
8-9 uint32 minutes Uptime enabled
10-11 uint32 minutes Uptime movement
12 uint16 Program starts
13 uint16 0.1ms Cycle time target
14 uint16 0.1ms Cycle time max (last 50 cycles)
15 uint16 0.01Hz Cycle frequency (average)
16 uint16 0.01% Workload
20 uint16 Number of robot axes
21 uint16 Number of external axes
22 uint16 Number of gripper axes
23 uint16 Number of platform axes
24 uint16 Number of input/output modules
25-30 bit field Module error codes robot axes
31-33 Bit field Module error codes external axes
34-36 bit field module error codes gripper axes
37-40 bit field module error codes platform axes
41-43 bit field module error codes input/output modules
44-49 int16 0.1°C Temperature electronics robot axes
50-52 int16 0.1°C Temperature electronics external axes
53-55 int16 0.1°C Temperature electronics gripper axes
56-59 int16 0.1°C Temperature electronics platform axes
60-65 int16 0.1°C Temperature motors robot axes
66-68 int16 0.1°C Temperature motors external axes
69-71 int16 0.1°C Temperature motors gripper axes
72-75 int16 0.1°C Temperature motors platform axes
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