Register Map

The register map table for Modbus TCP in Mech-Center is shown below.

Address		Length (in words)	Read/write	Note	Holding registers (4x)
0x0000	Command trigger	1	Write	0: Not trigger the command. 1: Trigger the command.	40001–40053: Write into Mech-Center
	Command	1	Write	Command code
	Pose type	1	Write
	Number of poses	1	Write
	Mech-Vision project number	1	Write
0x0005	Recipe number	1	Write
	JPs	12	Write	Unit: degree
	TCP	12	Write	Units: mm and degree (Euler angles)
0x001E		1	Write
0x001F	Brach exit	1	Write
0x0020	Index name	1	Write
0x0021	Index value	1	Write
0x0022	Box dimensions from external input	6	Write	Unit: mm
0x0028	Pose from external input	12	Write	Units: mm and degree (Euler angles)
0x0033	Robot motion status	1	Write	Only for camera calibration
0x0034	Reserved field	44	Read		40054–40728: Read from Mech-Center
0x0061	Trigger confirmation	1	Read	0: Not triggered. 1: Triggered.
0x0062	Notification	1	Read
0x0063	Heatbeat	1	Read	1 Hz
0x0064	Status code	1	Read
0x0065	Pose data status	1	Read	0: Received command 999 (Clear Register Data) 1: The data has newly arrived.
0x0066	Number of poses sent	1	Read
0x0067	Position of vision point in planned path	1	Read
0x0068	Target	480	Read
0x0248	Target label	40	Read
0x0270	Velocity percentage value	40	Read
0x0298	Do signal list	64	Read

Note

Modbus TCP is a simple bus protocol. It is recommended to read or write about 100 words at a time. The communication cycle for a single read or write is about 70 ms. When available, choose as much as possible real-time Ethernet protocols such as PROFINET and Ethernet/IP, Siemens Snap7 (Standard Interface Siemens PLC Client in Mech-Center corresponding), or Mitsubishi MELSEC (referred to as MC protocol).