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.