Register Map

The following table provides the register map for Modbus TCP Standard Interface.

Address (decimal) Address (hexadecimal) Description Length (in words) Read/Write Note Holding registers (4x)

0

0x0000

Command trigger

1

Write

0: Not trigger the command.

1: trigger the command.

40001–40054: From PLC to Vision System

1

0x0001

Command

1

Write

Command code

2

0x0002

Pose type

1

Write

3

0x0003

Number of poses

1

Write

4

0x0004

Mech-Vision project ID

1

Write

5

0x0005

Parameter recipe ID

1

Write

6

0x0006

Joint positions

12

Write

Unit: degree

18

0x0012

TCP

12

Write

Unit: mm (coordinates) and degree (Euler angles)

30

0x001E

Step ID of the “Branch by Msg” Step

1

Write

31

0x001F

Exit port number of the “Branch by Msg” Step

1

Write

32

0x0020

Step ID of the Step with the Current Index parameter

1

Write

33

0x0021

Current Index value

1

Write

34

0x0022

Object dimensions from external input

6

Write

Unit: mm

40

0x0028

TCP from external input

12

Write

Unit: mm (coordinates) and degree (Euler angles)

52

0x0034

Robot motion status

1

Write

53

0x0035

Number of vacuum gripper sections

1

Write

54

0x0036

Reserved field

43

Read

40055–40728: From Vision System to PLC

97

0x0061

Trigger confirmation

1

Read

0: Not triggered.

1: Triggered.

98

0x0062

Notification

1

Read

99

0x0063

Heartbeat

1

Read

1 Hz

100

0x0064

Status code

1

Read

101

0x0065

Pose data status

1

Read

0: Received command 999 (Clear Register Data)

1: Newly arrived data.

102

0x0066

Number of poses sent

1

Read

103

0x0067

Position of “Vision Move” in planned path

1

Read

104

0x0068

Pose data

480

Read

584

0x0248

Labels corresponding to the poses

40

Read

624

0x0270

Tool ID

40

Read

664

0x0298

DO signal list

64

Read

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 possible, choose instead real-time Ethernet protocols, such as PROFINET and Ethernet/IP, Siemens Snap7 (corresponding to Mech-Vision Siemens PLC Client in the Standard Interface communication), or Mitsubishi MELSEC (the MC protocol).

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