Register Map

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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 code

1

Write

2

0x0002

Pose type

1

Write

3

0x0003

Expected number of vision points or waypoints

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

Flange pose

12

Write

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

30

0x001E

Branch by Msg Step ID

1

Write

31

0x001F

Number of the exit port of the Branch by Msg Step

1

Write

32

0x0020

Step ID of the index-type Step

1

Write

33

0x0021

Value of the Current Index parameter of the index-type Step

1

Write

34

0x0022

Object dimensions (length, width, height) to be input to the Mech-Vision project

6

Write

Unit: mm

40

0x0028

External robot TCP to be input to the Mech-Viz project

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

Message from the Notify Step

1

Read

99

0x0063

Heartbeat value

1

Read

1 Hz

100

0x0064

Status code

1

Read

101

0x0065

Whether all vision points or waypoints have been obtained

1

Read

0 : Not all vision points or waypoints obtained

1 : All vision points or waypoints obtained

102

0x0066

Number of vision points or waypoints

1

Read

103

0x0067

Position of “Vision Move” in the planned path

1

Read

104

0x0068

Poses of all waypoints or vision points obtained this time

480

Read

584

0x0248

Labels of all waypoints or vision points obtained this time

40

Read

624

0x0270

Tool IDs of all waypoints obtained this time

40

Read

664

0x0298

64 DO signals returned by the vision system

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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