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UR ModBus Server Data

MAPA MODBUS ROBO UNUVERSAL ROBOT

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Douglas Costa
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90 views4 pages

UR ModBus Server Data

MAPA MODBUS ROBO UNUVERSAL ROBOT

Uploaded by

Douglas Costa
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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REGISTER ADDRESS

R=Read, W=Write
Address Pre 3.0 3.0 3.1 R W
0 x x x * Inputs, bits 0-15 [BBBBBBBBTTxxxxxx] x=undef, T=tool, B=box
1 x x x * * Outputs, bits 0-15 [BBBBBBBBTTxxxxxx] x=undef, T=tool, B=box
2 x x x * SetOutputsBitsMask 0-15 [BBBBBBBBTTxxxxxx] x=undef, T=tool, B=box
3 x x x * ClearOutputsBitsMask 0-15 [BBBBBBBBTTxxxxxx] x=undef, T=tool, B=box
4 x x x * Analog input 0 (0-65535)
5 x x x * * Analog input 0 domain e {0=current[mA], 1=voltage[mV]}
6 x x x * Analog input 1 (0-65535)
7 x x x * * Analog input 1 domain e {0=current[mA], 1=voltage[mV]}
8 x x x * Analog input 2 (tool) (0-65535)
9 x x x * * Analog input 2 (tool) domain e {0=current[mA], 1=voltage[mV]}
10 x x x * Analog input 3 (tool) (0-65535)
11 x x x * * Analog input 3 (tool) range e {0=current[mA], 1=voltage[mV]}
16 x x x * * Analog output 0 output (0-65535)
17 x x x * * Analog output 0 output domain e {0=current[mA], 1=voltage[mV]}
18 x x x * * Analog output 1 output (0-65535)
19 x x x * * Analog output 1 output domain {0=current[mA], 1=voltage[mV]}
20 x x x * * Tool output voltage (V) e {0V, 12V, 24V}
21 x x x * Tool digital input bits
22 x x x * * Tool digital output bits
24 x x x * Euromap67 input bits (0-15)
25 x x x * Euromap67 input bits (16-32)
26 x x x * Euromap67 output bits (0-15) (read only!)
27 x x x * Euromap67 output bits (16-32) (read only!)
28 x x x * Euromap 24V voltage
29 x x x * Euromap 24V current
30 - x x * Configurable inputs, bits [BBBBBBBBxxxxxxxx] x=undef, T=tool, B=box
31 - x x * * Configurable outputs, bits [BBBBBBBBxxxxxxxx] x=undef, T=tool, B=box
32 - x x * Bit mask configurable outputs, bits [BBBBBBBBxxxxxxxx] x=undef, T=tool, B=box
33 - x x * Clear configurable outputs, bits [BBBBBBBBxxxxxxxx] x=undef, T=tool, B=box

34-127 x x x Reserved for future system variables

128-255 x x x * * General purpose 16 bit registers


256- x x x * Robot state
512- x x x * Reserved
768- x x x * Tool states
1024- x x x * Reserved
2048- x x - * RT Machine control

Robot state

256 x x x Controller version high nuber


257 x x x Controller version low number
258 x x x Robot mode:
CB3 and 3.1: Disconnected=0, Confirm_safety=1, Booting=2, Power_off=3, Power_on=4, Idle=5, Backdrive=6, Running=7
CB2: No_controller=-1, Running=0, Freedrive=1,Ready=2, Initializing=3, Security_stoppde=4, Emergency_stopped=5, Fault=6, Not_connected=8, Shoutdown=9
260 x x x isPowerOnRobot
261 x x x isSecurityStopped
262 x x x isEmergencyStopped
263 x x x isTeachButtonPressed
264 x x x isPowerPuttonPressed
265 x x x isSafetySignalSuchThatWeShouldStop

270 x x x Base joint angle (in mrad)


271 x x x Shoulder joint angle (in mrad)
272 x x x Elbow joint angle (in mrad)
273 x x x Wrist1 joint angle (in mrad)
274 x x x Wrist2 joint angle (in mrad)
275 x x x Wrist3 joint angle (in mrad)

280 x x x Base joint angle velocity (in mrad/s)


281 x x x Shoulder joint angle velocity (in mrad/s)
282 x x x Elbow joint angle velocity (in mrad/s)
283 x x x Wrist1 joint angle velocity (in mrad/s)
284 x x x Wrist2 joint angle velocity (in mrad/s)
285 x x Wrist3 joint angle velocity (in mrad/s)

290 x x x Base joint current (in mA)


291 x x x Shoulder joint current (in mA)
292 x x x Elbow joint current (in mA)
293 x x x Wrist1 joint current (in mA)
294 x x x Wrist2 joint current (in mA)
295 x x x Wrist3 joint current (in mA)

300 x x x Base joint temperature (in C)


301 x x x Shoulder joint temperature (in C)
302 x x x Elbow joint temperature (in C)
303 x x x Wrist1 joint temperature (in C)
304 x x x Wrist2 joint temperature (in C)
305 x x x Wrist3 joint temperature (in C)

Joint modes From version 1.7


310 x x x Base joint mode
311 x x x Shoulder joint mode
312 x x x Elbow joint mode
313 x x x Wrist1 joint mode
314 x x x Wrist2 joint mode
315 x x x Wrist3 joint mode

List of Joint Modes:


JOINT_SHUTTING_DOWN_MODE = 236;
JOINT_PART_D_CALIBRATION_MODE = 237;
JOINT_BACKDRIVE_MODE = 238;
JOINT_POWER_OFF_MODE = 239;
JOINT_NOT_RESPONDING_MODE = 245;
JOINT_MOTOR_INITIALISATION_MODE = 246;
JOINT_BOOTING_MODE = 247;
JOINT_PART_D_CALIBRATION_ERROR_MODE = 248;
JOINT_BOOTLOADER_MODE = 249;
JOINT_CALIBRATION_MODE = 250;
JOINT_FAULT_MODE = 252;
JOINT_RUNNING_MODE = 253;
JOINT_IDLE_MODE = 255;

320 - - x Base joint revolution count (number of full turns, typically 0 or 1)


321 - - x Shoulder joint revolution count
322 - - x Elbow joint revolution count
323 - - x Wrist1 joint revolution count
324 - - x Wrist2 joint revolution count
325 - - x Wrist3 joint revolution count

TCP
400 x x x TCP-x in tenth of mm (in base frame)
401 x x x TCP-y in tenth of mm (in base frame)
402 x x x TCP-z in tenth of mm (in base frame)
403 x x x TCP-rx in mrad (in base frame)
404 x x x TCP-ry in mrad (in base frame)
405 x x x TCP-rz in mrad (in base frame)

410 x x x TCP-x speed in mm/s (in base frame)


411 x x x TCP-y speed in mm/s (in base frame)
412 x x x TCP-z speed in mm/s (in base frame)
413 x x x TCP-rx speed in mrad/s (in base frame)
414 x x x TCP-ry speed in mrad/s (in base frame)
415 x x x TCP-rz speed in mrad/s (in base frame)

420 x x x TCP-x offset in mm (in tool frame)


421 x x x TCP-y offset in mm (in tool frame)
422 x x x TCP-z offset in mm (in tool frame)
423 x x x TCP-rx offset in mrad (in tool frame)
424 x x x TCP-ry offset in mrad (in tool frame)
425 x x x TCP-rz offset in mrad (in tool frame)

450 x x x Robot current (in mA)


451 x x x I/O current (in mA)

768 x x x Tool state


769 x x x Tool temperature (in C)
770 x x x Tool current (in mA)

GUI state

1024 x x x Reserved

RTMachine

2048 x x - * Split time (latches the actual time to the registers 2049-2053) calculates the time from last time the controller was restarted
2049 x x - * Milliseconds
2050 x x - * Seconds
2051 x x - * Minutes
2052 x x - * Hours
2053 x x - * Days
COIL ADDRESS
Address Pre 3.0 3.0 3.1 R W

0-15 x x x * Inputs, bits 0-15 [BBBBBBBBTTxxxxxx] x=undef, T=tool, B=box


16-31 x x x * * Outputs, bits 0-15 [BBBBBBBBTTxxxxxx] x=undef, T=tool, B=box
32-47 x x x * SetOutputsBitsMask 0-15 [BBBBBBBBTTxxxxxx] x=undef, T=tool, B=box
48-63 x x x * ClearOutputsBitsMask 0-15 [BBBBBBBBTTxxxxxx] x=undef, T=tool, B=box
64-79 x x x * Euromap67 input bits (0-15)
80-95 x x x * Euromap67 input bits (16-32)
96-111 x x x * Euromap67 output bits (0-15) (read only!)
112-127 x x x * Euromap67 output bits (16-32) (read only!)
128-135 x x x * Configurable inputs, bits [BBBBBBBBxxxxxxxx] x=undef, T=tool, B=box
136-143 x x x * * Configurable outputs, bits [BBBBBBBBxxxxxxxx] x=undef, T=tool, B=box
144-151 x x x * Bit mask configurable outputs, bits [BBBBBBBBxxxxxxxx] x=undef, T=tool, B=box
152-159 x x x * Clear configurable outputs, bits [BBBBBBBBxxxxxxxx] x=undef, T=tool, B=box

260 x x x * isPowerOnRobot
261 x x x * isProtectiveStopped
262 x x x * isEmergencyStopped
263 x x x * isTeachButtonPressed
264 x x x * isPowerPuttonPressed
265 x x x * isSafetySignalSuchThatWeShouldStop

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