User-defined Modbus Support Function Code
The Modbus Master of Doosan Robotics can be used for I/O expansion or data exchanges through connections with other devices.
The Function Codes supported by Doosan Robotics are as follows:
Function Code | Description |
1 | Read Coils |
2 | Read Discrete Inputs |
3 | Read Multiple Holding Registers |
4 | Read Input Registers |
5 | Write Single Coil |
6 | Write Single Holding Register |
15 | Multiple Coils (FC15) |
16 | Multiple Holding Registers (FC16) |
DRL (set_modbus_outputs()) is configured to internally call FC5 and FC6 multiple times.
Note
Up to five Modbus Slave devices can be connected.
Each device can register up to 50 registers.
The total number of registers cannot exceed 100.