10 MODBUS
Addresses Type Unit Description
180 int16 0.1 Velocity for MoveTo (percent or mm/s)
181-186 int32 0.1 Target velocity of ext. axes in velocity mode
187 uint16 0.01% Velocity override
188 enum Jog mode
260 enum Robot program RunState
261 enum Robot program Replay mode
267-298 string Name of loaded robot program / load on write
299-330 string Name of the loaded logic program / load on write
332 uint16 Number of the selected directory entry
200-206 bit field Global signals
207-210 bit field Digital outputs
440-455 int16 Number variables mn_num_w1 - mb_num_w16
456-711 int16 0.1 Position variables mb_pos_w1 - mb_pos_w16 (see sec.
10.4.4)
Table 26: Assignment of the Holding Registers
10.4.4 Number and Position Variables
For communication with robot and logic programs, predefined program variables can be used in
addition to the global signals. For this purpose, 16 readable and 16 writable number and position
variables are available in each case.
Name Type Access via Modbus
mb_num_r1 - mb_num_r16 Number variable read only (input register)
mb_num_w1 - mb_num_w16 Number variable read and write (holding register)
mb_pos_r1 - mb_pos_r16 Position variable read only (input register)
mb_pos_w1 - mb_pos_w16 Position variable read and write (holding register)
Table 27: Program variables for communication via Modbus
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When using the PLC function blocks, only use the writable variables to send values from
the PLC to the robot. Do not change these variables in the robot program, as they are
regularly overwritten by the PLC.
Unlike normal program variables, the Modbus variables are always available. No pro-
gram has to be started and the variables do not have to be declared with the store state-
ment.
Each number variable is mapped in a register. Since only integers are supported here, the robot pro-
gram must convert to the desired value range by multiplication or division if necessary (Math instruc-
tion).
Position variables consist of 16 registers each, whose values are specified in tenth precision:
©2022 igus® GmbH 58
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