igus ReBeL - Holding Registers - 16 Bit, Read and Write

10 MODBUS
Addresses Type Unit Description
76-81 uint16 mA Currents robot axes
82-84 uint16 mA Currents external axes
85-87 uint16 mA Currents gripper axes
88-91 uint16 mA Currents platform axes
92 uint16 0.01V Voltage
93 uint16 mA Total Current
94 uint16 0.1% Battery charge (not in TinyCtrl)
95 uint16 enum Kinematics - error code
96 uint16 enum Operating mode
130-135 int32 0.01mm Current Cartesian position
136-141 int16 0.01° Actual cartesian orientation
142-153 int32 0.01 Actual robot axis position
154-159 int32 0.01 Actual axis position ext. axes
160-165 int32 0.01 Actual axis position of gripper axes
166-173 int32 0.01 Actual axis position platform
262 uint16 Number of loaded robot programs
263 int16 Number of current program, 0 for main program
264 uint16 Number of instructions in current program
265 int16 Number of current instruction, -1 if program is not running
266 enum Reason for last program stop or pause
331 uint16 Number of entries in current directory
333-364 string Name of the selected directory entry
365-396 string Name of the current directory
207-210 bit field Digital inputs
400-431 string Info/error message short (as on manual control unit)
440-455 int16 Number variables mb_num_r1 - mb_num_r16
456-711 int16 0.1 Position variables mb_pos_r1 - mb_pos_r16 (see sec. 10.4.4)
Table 25: Assignment of the Input Registers
10.4.3 Holding Registers - 16 Bit, Read and Write
Target positions and variables as well as the name of a program to be loaded can be written via the
holding registers.
Addresses Type Unit Description
130-135 int32 0.01mm Target position cartesian
136-141 int32 0.01° Target orientation cartesian
142-153 int32 0.01 Target position robot axes
154-159 int32 0.01 Target position external axes
174-177 int32 0.01mm Target position platform
178-179 int32 0.01° Target orientation platform
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