Register Map

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

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.	40001–40053: Write into Mech-Center
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 number	1	Write
5	0x0005	Recipe number	1	Write
6	0x0006	JPs	12	Write	Unit: degree
18	0x0012	TCP	12	Write	Units: mm and degree (Euler angles)
30	0x001E	ID of the branch Step	1	Write
31	0x001F	Branch exit	1	Write
32	0x0020	ID of Step containing Index parameter	1	Write
33	0x0021	Index value	1	Write
34	0x0022	Box dimensions from external input	6	Write	Unit: mm
40	0x0028	Pose from external input	12	Write	Units: mm and degree (Euler angles)
52	0x0034	Robot motion status	1	Write
53	0x0035	Reserved field	44	Read		40054–40728: Read from Mech-Center
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: The data has newly arrived.
102	0x0066	Number of poses sent	1	Read
103	0x0067	Position of vision point in planned path	1	Read
104	0x0068	Target	480	Read
584	0x0248	Target label	40	Read
624	0x0270	Velocity percentage value	40	Read
664	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 (corresponding to Siemens PLC Client in Mech-Mind Standard Interface communication), or Mitsubishi MELSEC (referred to as MC protocol).