Setting ModbusTCP Slave

Doosan Robotics' ModbusTCP Slave function supports robotic parameter monitoring and General Purpose Register(GPR) function (refer to Using the General Purpose Register(GPR)) .

This function automatically starts when the robot controller boots up normally. Therefore, the user can use it after matching the Master IP of the robot controller with the same bandwidth.

Note

The related I/O table is provided as a separate file.
Please refer to the Programming Manual for DRL to use the GPR function.
Unsupported Function Code
- 0x07 Read Exception Status (Serial Line only)
- 0x0F Write Multiple Coils
- 0x10 Write Multiple registers
- 0x11 Report Server ID (Serial Line only)

Robot Error Code Information

When it is difficult to check the error code of the robot, such as in an environment without TP (HMI), the robot's error code information can be obtained by communicating with the robot controller Modbus Slave function.

Address	Description
440	Major (Error Code#1)
441	Minor (Error Code#1)
442	Milli-second (Error Code#1)
443	Second & Minute (Error Code#1) Upper 8bit: Second Lower 8bit: Minute
444	Hour & Day (Error Code#1) Upper 8bit: Hour Lower 8bit: Day
445	Month & Year (Error Code#1) Upper 8bit: Month Lower 8bit: Year
446	Major (Error Code#2)
447	Minor (Error Code#2)
448	Milli-second (Error Code#2)
449	Second & Minute (Error Code#2) Upper 8bit: Second Lower 8bit: Minute
450	Hour & Day (Error Code#2) Upper 8bit: Hour Lower 8bit: Day
451	Month & Year (Error Code#2) Upper 8bit: Month Lower 8bit: Year
452	Major (Error Code#3)
453	Minor (Error Code#3)
454	Milli-second (Error Code#3)
455	Second & Minute (Error Code#3) Upper 8bit: Second Lower 8bit: Minute
456	Hour & Day (Error Code#3) Upper 8bit: Hour Lower 8bit: Day
457	Month & Year (Error Code#3) Upper 8bit: Month Lower 8bit: Year