![]() The mapping provides registers for motion target positions (joint angles or cartesian positions). ![]() Position variables: Write your position as joint angles or cartesian position to a position variable, then use a robot program with a Join-by-Variable or Linear-by-Variable command to move to the position.The Modbus server offers two approaches for moving the robot: Please refer to the user manual for more information. 32 position variables (mb_pos1 - mb_pos32) are defined as a combination of 16 registers each on addresses 512-1023.The Modbus server defines 32 number variables (mb_num1 - mb_num32) which can be read or written as 16 bit integers on addresses 480-511.Global signals work similar to the digital outputs: They can be read or changed on coils 200-299 or as bit sets on holding registers 200-206.The Modbus server enables communication with the robot program using global signals, number variables and position variables: Digital outputs can be read or changed on coils 300-363 and as bitsets on holding registers 207-210.Digital inputs can be read on discrete inputs 300-363 and as bitsets on input registers 207-210.To test whether the Modbus connection is successful the input registers on addresses 0-3 can be read: These contain the Tin圜trl version and mapping version, e.g. Status information can be read from discrete inputs and input registers, states can be changed by writing to coils and holding registers, actions can be startet by writing to coils.Ī complete mapping table can be found in the user manual. Our mapping uses these depending on what access type is appropriate for what information. The Modbus protocol defines 4 access types that generally refer to distinct sets of parameters: The Modbus interface can also be used with different PLC types, the necessary information are found below and in the documentation. If your application requires only few variables in low cycle times we recommend to adapt the function block to your needs, especially reduce the number of transferred variables. The block covers most of the available data, this leads to longer communication times. Therefore it provided with access to the code so that it can be adapted to the use case. This block is generic and will not fit to every application. If you are updating the block please also update the DataTypes in the block. The library contains a function block that covers the communication with the robot control. The Modbus server will start immediately.Īs demonstration and example for operation with Siemens S7 1200/1500 a program block can be downloaded. Click "Apply" or "Save Project" below the configuration to apply the changes.Change the port and maximum number of connections if necessary.Check the box "Enabled" to enable the server.Click File -> Configure Interfaces -> Modbus. ![]()
0 Comments
Leave a Reply. |
AuthorWrite something about yourself. No need to be fancy, just an overview. ArchivesCategories |