ModbusTCP Slave Setup

The ModbusTCP Slave function of Doosan Robotics supports robot parameter monitoring, and General Purpose Register (GPR) (refer to Using General Purpose Register(GPR)) function. 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.
• Unsurpported Function Code
  • 0x07 Read Exception Status (Serial Line only)
  • 0x0F Write Multiple Coils
  • 0x10 Write Multiple registers
  • 0x11 Report Server ID (Serial Line only)