OnRobot VG10 - Registers

VG10 User Manual 1.1.0
Page 18 of 40
16 / 0x10, Write Multiple Registers:
Use this function code to set the values of multiple consecutive registers. Please
refer to MODBUS Application Protocol for frame and response details.
23 / 0x17, Read/Write Multiple Registers:
Use this function code to set the values of- and read out one or multiple consecutive
registers. Note that the registers to be set are set before the registers to be read are
read. Please refer to MODBUS Application Protocol for frame and response details.
Registers
The table below provides an overview of the available MODBUS registers in the VG10.
All writable registers can be accessed using function codes 6, 16 or 23. All readable
registers can be accessed using function codes 3 or 23.
Address
Register
Access
0
0x0000
Channel A Control
Read + Write
1
0x0001
Channel B Control
Read + Write
2
0x0002
Current limit
Read + Write
18
0x0012
Channel A actual vacuum
Read only
19
0x0013
Channel B actual vacuum
Read only
20
0x0014
Supply current
Read only
21
0x0015
Supply voltage
Read only
22
0x0016
Internal 5V voltage
Read only
23
0x0017
Temperature
Read only
24
0x0018
Pump speed
Read only
0 / 0x0000, Channel A Control (Read + write)
This register allows for control of channel A. The register is split in two 8-bit fields:
Bits 15-8
Bits 7-0
Control mode
Target vacuum
The control mode field must assume one of these three values:
0 / 0x00, Release. Commands the channel to release any work item and stop the
pump, if not required by the other channel.
1 / 0x01, Grip. Commands the channel to build up and maintain vacuum on this
channel.
2 / 0x02, Idle. Commands the channel to neither release nor grip. Workpieces may
‘stick’ to the channel if physically pressed towards its vacuum cups, but the VG10 will
use slightly less power.
The target vacuum field sets the level of vacuum to be build up and maintained by the
channel. It is used only when the control mode is 1 (0x01) / Grip. The target vacuum
should be provided in % vacuum. It should never exceed 80.
Examples:
Setting the register value 0 (0x0000) will command the VG10 to release the work