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 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). |