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Manual - Help - MiR600

The document provides a Modbus register reference for robot communication with external PLC devices via Modbus TCP/IP. It includes status messages, PLC triggers, mission triggers, and action commands, detailing their descriptions, permissions, data types, and associated registers or coils. Each entry specifies whether the data is read-only or read/write, along with the corresponding register or coil addresses.

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19 views2 pages

Manual - Help - MiR600

The document provides a Modbus register reference for robot communication with external PLC devices via Modbus TCP/IP. It includes status messages, PLC triggers, mission triggers, and action commands, detailing their descriptions, permissions, data types, and associated registers or coils. Each entry specifies whether the data is read-only or read/write, along with the corresponding register or coil addresses.

Uploaded by

romdhaneamine00
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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27/03/2025 10:35 Modbus register reference

You are here: Modbus register reference

Modbus register reference


The tables in this chapter list the possibilities for the robot to communicate with external PLC devices
through Modbus TCP/IP.

Status messages
Title Description Permission Data type Registers
Software version Robot software version R int16array [4001, 4002,
4003]
Mode The current mode of the R int16 [4004]
robot
State The current state of the robot R int16 [4005]
Error code The last error registered on R int16 [4006]
the robot. 0 if no errors were
detected.
Battery level Remaining charge [%] R int16 [4008]
Uptime The robot’s uptime R int32 [4009, 40010]
Distance run The distance run by the robot R float32 [40011, 40012]
from the beginning of time.
Position X Position X in global R float32 [40013, 40014]
coordinates
Position Y Position Y in global R float32 [40015, 40016]
coordinates
Position Orientation Orientation of the robot in R float32 [40017, 40018]
global coordinates [degrees]
Length of mission Number of missions pending R int16 [40019]
queue or executing

PLC triggers
Title Description Permission Data type Registers
PLC integer Value of PLC R/W int32 [41001,41002]...[41199, 41200]
register
PLC float Value of PLC R/W float32 [42001,42002]...[42199, 42200]
register

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27/03/2025 10:35 Modbus register reference

Mission triggers
Title Description Permission Data type Coils
Trigger Description of R/W Boolean [1001]...[2000]
name trigger

Action commands
Title Description Permission Data type Coils
Continue robot Address of the coil used to trigger the R/W Boolean [1]
Continue action on the robot
Pause robot Address of the coil used to trigger the R/W Boolean [2]
Pause action on the robot
Cancel current Address of the coil used to cancel the R/W Boolean [3]
mission ongoing mission, if any
Clear mission queue Address of the coil used to clear the R/W Boolean [4]
entire mission queue
Clear error Address of the coil used to clear the R/W Boolean [5]
errors on the robot
Continue robot Address of the coil used to trigger the R/W Boolean [6]
Continue action on the robot

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