Rainbow Robotics모드버스 TCP 서버
주의
- 본 매뉴얼은 모드버스 서버(slave)에 관한 설명입니다.
- 모드버스 클라이언트 기능에 관한 설명은 6단원을 참고해 주십시오.
1. 개요
RB Series의 모드버스 TCP 서버(slave)는 포트번호 502로 고정되어 있습니다.
IP 주소는 UI를 통한 네트워크 설정에 따라 변경됩니다. (초기 IP 주소: 10.0.2.7)
RB Series의 모드버스 서버는 다중 client의 접속을 허용하고, 아래와 같은 동작 명령에 대해 수행합니다.
| Function Code | Function Name | |
|---|---|---|
| Bit Address | 2 | Read Discrete Inputs |
| 1 | Read Coils | |
| 5 | Write Single Coil | |
| 15 | Write Multiple Coils | |
| 16-bit (Word) Address | 4 | Read Input Registers |
| 3 | Read Multiple Holding Registers | |
| 6 | Write Single Holding Register | |
| 16 | Write Multiple Holding Registers |
2. Exception Code
잘못된 주소에 대해 접근하거나 값의 범위가 잘못 되었거나 혹은 잘못된 명령어를 보냈을 경우에 아래와 같은 에러 메시지를 반환합니다.
| Exception Code | Exception Name |
|---|---|
| 1 | Illegal Function |
| 2 | Illegal Data Address |
| 3 | Illegal Value |
3. Bit Address Map
| Bit Address | |||
|---|---|---|---|
| Address | Function | Read | Write |
| 0 | Box digital input 0 | O | X |
| 1 | Box digital input 1 | O | X |
| 2 | Box digital input 2 | O | X |
| 3 | Box digital input 3 | O | X |
| 4 | Box digital input 4 | O | X |
| 5 | Box digital input 5 | O | X |
| 6 | Box digital input 6 | O | X |
| 7 | Box digital input 7 | O | X |
| 8 | Box digital input 8 | O | X |
| 9 | Box digital input 9 | O | X |
| 10 | Box digital input 10 | O | X |
| 11 | Box digital input 11 | O | X |
| 12 | Box digital input 12 | O | X |
| 13 | Box digital input 13 | O | X |
| 14 | Box digital input 14 | O | X |
| 15 | Box digital input 15 | O | X |
| 16 | Box digital output 0 | O | O |
| 17 | Box digital output 1 | O | O |
| 18 | Box digital output 2 | O | O |
| 19 | Box digital output 3 | O | O |
| 20 | Box digital output 4 | O | O |
| 21 | Box digital output 5 | O | O |
| 22 | Box digital output 6 | O | O |
| 23 | Box digital output 7 | O | O |
| 24 | Box digital output 8 | O | O |
| 25 | Box digital output 9 | O | O |
| 26 | Box digital output 10 | O | O |
| 27 | Box digital output 11 | O | O |
| 28 | Box digital output 12 | O | O |
| 29 | Box digital output 13 | O | O |
| 30 | Box digital output 14 | O | O |
| 31 | Box digital output 15 | O | O |
| 32 | Tool digital input 0 | O | X |
| 33 | Tool digital input 1 | O | X |
| 34 | Tool digital output 0 | O | O |
| 35 | Tool digital output 1 | O | O |
| 36 | Extend I/O digital input 0 | O | X |
| 37 | Extend I/O digital input 1 | O | X |
| 38 | Extend I/O digital input 2 | O | X |
| 39 | Extend I/O digital input 3 | O | X |
| 40 | Extend I/O digital input 4 | O | X |
| 41 | Extend I/O digital input 5 | O | X |
| 42 | Extend I/O digital input 6 | O | X |
| 43 | Extend I/O digital input 7 | O | X |
| 44 | Extend I/O digital input 8 | O | X |
| 45 | Extend I/O digital input 9 | O | X |
| 46 | Extend I/O digital input 10 | O | X |
| 47 | Extend I/O digital input 11 | O | X |
| 48 | Extend I/O digital input 12 | O | X |
| 49 | Extend I/O digital input 13 | O | X |
| 50 | Extend I/O digital input 14 | O | X |
| 51 | Extend I/O digital input 15 | O | X |
| 52 | Extend I/O digital output 0 | O | O |
| 53 | Extend I/O digital output 1 | O | O |
| 54 | Extend I/O digital output 2 | O | O |
| 55 | Extend I/O digital output 3 | O | O |
| 56 | Extend I/O digital output 4 | O | O |
| 57 | Extend I/O digital output 5 | O | O |
| 58 | Extend I/O digital output 6 | O | O |
| 59 | Extend I/O digital output 7 | O | O |
| 60 | Extend I/O digital output 8 | O | O |
| 61 | Extend I/O digital output 9 | O | O |
| 62 | Extend I/O digital output 10 | O | O |
| 63 | Extend I/O digital output 11 | O | O |
| 64 | Extend I/O digital output 12 | O | O |
| 65 | Extend I/O digital output 13 | O | O |
| 66 | Extend I/O digital output 14 | O | O |
| 67 | Extend I/O digital output 15 | O | O |
| 68 | Tool digital input 2 | O | X |
| 69 | Tool digital input 3 | O | X |
| 70 | Tool digital input 4 | O | X |
| 71 | Tool digital input 5 | O | X |
4. Word(16 bit) Address Map
| Word Address | ||||
|---|---|---|---|---|
| Address | Function | Read | Write | Comments |
| 0 | Box digital input 0 ~ 15 | O | X | [BBBB BBBB BBBB BBBB] |
| 1 | Box digital output 0 ~ 15 | O | O | [BBBB BBBB BBBB BBBB] |
| 2 | Box analog input 0 | O | X | 1mV unit |
| 3 | Box analog input 1 | O | X | 1mV unit |
| 4 | Box analog input 2 | O | X | 1mV unit |
| 5 | Box analog input 3 | O | X | 1mV unit |
| 6 | Box analog output 0 | O | O | 1mV unit |
| 7 | Box analog output 1 | O | O | 1mV unit |
| 8 | Box analog output 2 | O | O | 1mV unit |
| 9 | Box analog output 3 | O | O | 1mV unit |
| 10 | Extend digital input 0 ~ 15 | O | X | [BBBB BBBB BBBB BBBB] |
| 11 | Extend digital output 0 ~ 15 | O | O | [BBBB BBBB BBBB BBBB] |
| 12 | Extend analog input 0 | O | X | 1mV unit |
| 13 | Extend analog input 1 | O | X | 1mV unit |
| 14 | Extend analog input 2 | O | X | 1mV unit |
| 15 | Extend analog input 3 | O | X | 1mV unit |
| 16 | Extend analog output 0 | O | O | 1mV unit |
| 17 | Extend analog output 1 | O | O | 1mV unit |
| 18 | Extend analog output 2 | O | O | 1mV unit |
| 19 | Extend analog output 3 | O | O | 1mV unit |
| 20 | Reserved (Box I/O) | X | X | |
| 21 | Reserved (Box I/O) | X | X | |
| 22 | Reserved (Box I/O) | X | X | |
| 23 | Reserved (Box I/O) | X | X | |
| 24 | Reserved (Box I/O) | X | X | |
| 25 | Reserved (Box I/O) | X | X | |
| 26 | Reserved (Box I/O) | X | X | |
| 27 | Reserved (Box I/O) | X | X | |
| 28 | Reserved (Box I/O) | X | X | |
| 29 | Reserved (Box I/O) | X | X | |
| 30 | Tool output voltage | O | O | 0, 12, 24 |
| 31 | Tool digital input 0~1 (or 0~5) | O | X | [TTEE EExx xxxx xxxx] |
| 32 | Tool digital output 0~1 | O | O | [TTxx xxxx xxxx xxxx] |
| 33 | Tool analog input 0 | O | X | 1mV unit |
| 34 | Tool analog input 1 | O | X | 1mV unit |
| 35 | Reserved (Tool I/O) | X | X | |
| 36 | Reserved (Tool I/O) | X | X | |
| 37 | Reserved (Tool I/O) | X | X | |
| 38 | Reserved (Tool I/O) | X | X | |
| 39 | Reserved (Tool I/O) | X | X | |
| 40 | Reserved (Tool I/O) | X | X | |
| 41 | Reserved (Tool I/O) | X | X | |
| 42 | Reserved (Tool I/O) | X | X | |
| 43 | Reserved (Tool I/O) | X | X | |
| 44 | Reserved (Tool I/O) | X | X | |
| 45 | Reserved (Tool I/O) | X | X | |
| 46 | Reserved (Tool I/O) | X | X | |
| 47 | Reserved (Tool I/O) | X | X | |
| 48 | Reserved (Tool I/O) | X | X | |
| 49 | Reserved (Tool I/O) | X | X | |
| 50 | Is Robot Activated | O | X | 0 or 1 |
| 51 | Is Real-mode | O | X | 0 or 1 |
| 52 | Is Collision Detected | O | X | 0 or 1 |
| 53 | Is Robot arm power engaged | O | X | 0 or 1 |
| 54 | Is Direct teaching mode | O | X | 0 or 1 |
| 55 | Is Robot moving | O | X | 0 or 1 |
| 56 | Is Pause state | O | X | 0 or 1 |
| 57 | Is Teaching pendant is connected | O | X | 0 or 1 |
| 58 | Is Program Run | O | X | 0 or 1 |
| 59 | Is No-Arc mode is on | O | X | 0 or 1 |
| 60 | Is EMG button released | O | X | 0 or 1 |
| 61 | Is First Program Run | O | X | 0 or 1 |
| 62 | Is Last Program Load Done | O | X | 0 or 1 |
| 63 | Control Box Amphere | O | X | 0.02A unit |
| 64 | Is Under Activation | O | X | 0 or 1 |
| 65 | Collision On/Off State | O | X | 0 or 1 |
| 66 | Collision Threshold | O | X | % unit |
| 67 | TCP Px | O | X | 0.1mm unit / Signed |
| 68 | TCP Py | O | X | 0.1mm unit / Signed |
| 69 | TCP Pz | O | X | 0.1mm unit / Signed |
| 70 | TCP Rx | O | X | 0.02deg unit / Signed |
| 71 | TCP Ry | O | X | 0.02deg unit / Signed |
| 72 | TCP Rz | O | X | 0.02deg unit / Signed |
| 73 | Mass m | O | X | 0.1kg unit / Signed |
| 74 | Is System SOS | O | X | Arm SOS Flag |
| 75 | Is Home Is Begin | O | X | 0 or 1 |
| 76 | Control Box Heart Beat (0 or 1) | O | X | 0 or 1 (Every 1 second) |
| 77 | Speed Bar Value | O | X | % unit |
| 78 | N/A | O | X | |
| 79 | N/A | O | X | |
| 80 | RB->MBUS Welder Weld Start Cmd | O | X | 0 or 1 |
| 81 | RB->MBUS Welder Gas on off | O | X | 0 or 1 |
| 82 | RB->MBUS Welder Inching | O | X | 0 or 1 |
| 83 | RB->MBUS Welder Re Inching | O | X | 0 or 1 |
| 84 | RB->MBUS Welder Touch Start Cmd | O | X | 0 or 1 |
| 85 | RB->MBUS Welder Control parameter 1 | O | X | - |
| 86 | RB->MBUS Welder Control parameter 2 | O | X | - |
| 87 | RB->MBUS Welder Control parameter 3 | O | X | - |
| 88 | RB->MBUS Welder Control parameter 4 | O | X | - |
| 89 | RB->MBUS Welder Control parameter 5 | O | X | - |
| 90 | Reserved (Future System) | X | X | |
| 91 | Reserved (Future System) | X | X | |
| 92 | Reserved (Future System) | X | X | |
| 93 | Reserved (Future System) | X | X | |
| 94 | Reserved (Future System) | X | X | |
| 95 | Reserved (Future System) | X | X | |
| 96 | Reserved (Future System) | X | X | |
| 97 | Reserved (Future System) | X | X | |
| 98 | Reserved (Future System) | X | X | |
| 99 | Reserved (Future System) | X | X | |
| 100 | Command: Start Program Once | O | O | Rising Edge is command |
| 101 | Command: Start Program Repeat | O | O | Rising Edge is command |
| 102 | Command: Pause Program | O | O | Rising Edge is command |
| 103 | Command: Stop Program | O | O | Rising Edge is command |
| 104 | Command: Resume from pause | O | O | Rising Edge is command |
| 105 | Command: Resume from collision | O | O | Rising Edge is command |
| 106 | Command: Load default Program | O | O | Rising Edge is command |
| 107 | Command: Robot Arm activation | O | O | Rising Edge is command |
| 108 | Command: Change to Real-mode | O | O | Rising Edge is command |
| 109 | Command: Power off the robot arm | O | O | Rising Edge is command |
| 110 | Command: Load Program Table | O | O | # |
| 111 | Command: Reset SOS Flag | O | O | |
| 112 | Command: Speed Bar Chage | O | O | % unit |
| 113 | N/A | O | O | |
| 114 | N/A | O | O | |
| 115 | N/A | O | O | |
| 116 | N/A | O | O | |
| 117 | N/A | O | O | |
| 118 | MBUS Welder->RB Info Arc ON | O | O | 0 or 1 |
| 119 | MBUS Welder->RB Welder ERROR | O | O | 0 or 1 |
| 120 | MBUS Welder->RB Touch Sensed | O | O | 0 or 1 |
| 121 | MBUS Welder->RB INFO parameter 1 | O | O | - |
| 122 | MBUS Welder->RB INFO parameter 2 | O | O | - |
| 123 | MBUS Welder->RB INFO parameter 3 | O | O | - |
| 124 | MBUS Welder->RB INFO parameter 4 | O | O | - |
| 125 | MBUS Welder->RB INFO parameter 5 | O | O | - |
| 126 | N/A | O | O | |
| 127 | N/A | O | O | |
| 128 ~ 255 | User General Purpose Register (User can read/write this area for program) SD_MOD_USER_# | O | O | User Define Area |
| 256 | Joint reference 0 | O | X | 0.02deg unit / Signed |
| 257 | Joint reference 1 | O | X | 0.02deg unit / Signed |
| 258 | Joint reference 2 | O | X | 0.02deg unit / Signed |
| 259 | Joint reference 3 | O | X | 0.02deg unit / Signed |
| 260 | Joint reference 4 | O | X | 0.02deg unit / Signed |
| 261 | Joint reference 5 | O | X | 0.02deg unit / Signed |
| 262 | Joint angle 0 | O | X | 0.02deg unit / Signed |
| 263 | Joint angle 1 | O | X | 0.02deg unit / Signed |
| 264 | Joint angle 2 | O | X | 0.02deg unit / Signed |
| 265 | Joint angle 3 | O | X | 0.02deg unit / Signed |
| 266 | Joint angle 4 | O | X | 0.02deg unit / Signed |
| 267 | Joint angle 5 | O | X | 0.02deg unit / Signed |
| 268 | Joint current 0 | O | X | 10mA unit / Signed |
| 269 | Joint current 1 | O | X | 10mA unit / Signed |
| 270 | Joint current 2 | O | X | 10mA unit / Signed |
| 271 | Joint current 3 | O | X | 10mA unit / Signed |
| 272 | Joint current 4 | O | X | 10mA unit / Signed |
| 273 | Joint current 5 | O | X | 10mA unit / Signed |
| 274 | Joint information 0 | O | X | |
| 275 | Joint information 1 | O | X | |
| 276 | Joint information 2 | O | X | |
| 277 | Joint information 3 | O | X | |
| 278 | Joint information 4 | O | X | |
| 279 | Joint information 5 | O | X | |
| 280 | Joint temperature 0 | O | X | celcius unit |
| 281 | Joint temperature 1 | O | X | celcius unit |
| 282 | Joint temperature 2 | O | X | celcius unit |
| 283 | Joint temperature 3 | O | X | celcius unit |
| 284 | Joint temperature 4 | O | X | celcius unit |
| 285 | Joint temperature 5 | O | X | celcius unit |
| 286 | Joint 0 Estimated Current | O | X | 10mA unit / Signed |
| 287 | Joint 1 Estimated Current | O | X | 10mA unit / Signed |
| 288 | Joint 2 Estimated Current | O | X | 10mA unit / Signed |
| 289 | Joint 3 Estimated Current | O | X | 10mA unit / Signed |
| 290 | Joint 4 Estimated Current | O | X | 10mA unit / Signed |
| 291 | Joint 5 Estimated Current | O | X | 10mA unit / Signed |
| 292 | Joint 0 Gap(Esti.-Meas.) Current | O | X | 10mA unit / Signed |
| 293 | Joint 1 Gap(Esti.-Meas.) Current | O | X | 10mA unit / Signed |
| 294 | Joint 2 Gap(Esti.-Meas.) Current | O | X | 10mA unit / Signed |
| 295 | Joint 3 Gap(Esti.-Meas.) Current | O | X | 10mA unit / Signed |
| 296 | Joint 4 Gap(Esti.-Meas.) Current | O | X | 10mA unit / Signed |
| 297 | Joint 5 Gap(Esti.-Meas.) Current | O | X | 10mA unit / Signed |
| 298 | Joint 0 Gap(Esti.-Meas.) Curr+LPF | O | X | 10mA unit / Signed |
| 299 | Joint 1 Gap(Esti.-Meas.) Curr+LPF | O | X | 10mA unit / Signed |
| 300 | Joint 2 Gap(Esti.-Meas.) Curr+LPF | O | X | 10mA unit / Signed |
| 301 | Joint 3 Gap(Esti.-Meas.) Curr+LPF | O | X | 10mA unit / Signed |
| 302 | Joint 4 Gap(Esti.-Meas.) Curr+LPF | O | X | 10mA unit / Signed |
| 303 | Joint 5 Gap(Esti.-Meas.) Curr+LPF | O | X | 10mA unit / Signed |
| 304 | External FT Sensor Data FX | O | X | 0.02 unit / Signed |
| 305 | External FT Sensor Data FY | O | X | 0.02 unit / Signed |
| 306 | External FT Sensor Data FZ | O | X | 0.02 unit / Signed |
| 307 | External FT Sensor Data MX | O | X | 0.02 unit / Signed |
| 308 | External FT Sensor Data MY | O | X | 0.02 unit / Signed |
| 309 | External FT Sensor Data MZ | O | X | 0.02 unit / Signed |
| 310 | External Axis Reference 0 | O | X | 0.5 unit / Signed |
| 311 | External Axis Reference 1 | O | X | 0.5 unit / Signed |
| 312 | External Axis Reference 2 | O | X | 0.5 unit / Signed |
| 313 | External Axis Reference 3 | O | X | 0.5 unit / Signed |
| 314 | External Axis Reference 4 | O | X | 0.5 unit / Signed |
| 315 | External Axis Reference 5 | O | X | 0.5 unit / Signed |
| 316 | External Axis Encoder 0 | O | X | 0.5 unit / Signed |
| 317 | External Axis Encoder 1 | O | X | 0.5 unit / Signed |
| 318 | External Axis Encoder 2 | O | X | 0.5 unit / Signed |
| 319 | External Axis Encoder 3 | O | X | 0.5 unit / Signed |
| 320 | External Axis Encoder 4 | O | X | 0.5 unit / Signed |
| 321 | External Axis Encoder 5 | O | X | 0.5 unit / Signed |
| 322 | Reserved (Future System) | X | X | |
| 323 | Reserved (Future System) | X | X | |
| 324 | Reserved (Future System) | X | X | |
| 325 | Reserved (Future System) | X | X | |
| 326 | Reserved (Future System) | X | X | |
| 327 | Reserved (Future System) | X | X | |
| 328 | Reserved (Future System) | X | X | |
| 329 | Reserved (Future System) | X | X | |
| 330 | TCP reference X | O | X | 0.1mm unit / Signed |
| 331 | TCP reference Y | O | X | 0.1mm unit / Signed |
| 332 | TCP reference Z | O | X | 0.1mm unit / Signed |
| 333 | TCP reference RX | O | X | 0.02deg unit / Signed |
| 334 | TCP reference RY | O | X | 0.02deg unit / Signed |
| 335 | TCP reference RZ | O | X | 0.02deg unit / Signed |
| 336 | TCP position X | O | X | 0.1mm unit / Signed |
| 337 | TCP position Y | O | X | 0.1mm unit / Signed |
| 338 | TCP position Z | O | X | 0.1mm unit / Signed |
| 339 | TCP position RX | O | X | 0.02deg unit / Signed |
| 340 | TCP position RY | O | X | 0.02deg unit / Signed |
| 341 | TCP position RZ | O | X | 0.02deg unit / Signed |
| 342 | TCP Speed X | O | X | 0.5 unit / Signed |
| 343 | TCP Speed Y | O | X | 0.5 unit / Signed |
| 344 | TCP Speed Z | O | X | 0.5 unit / Signed |
| 345 | TCP Speed Norm | O | X | 0.5 unit / Signed |
| 346 | Reserved (Future System) | X | X | |
| 347 | Reserved (Future System) | X | X | |
| 348 | Reserved (Future System) | X | X | |
| 349 | Reserved (Future System) | X | X | |
| 350 | Reserved (Future System) | X | X | |
| 351 | Reserved (Future System) | X | X | |
| 352 | Reserved (Future System) | X | X | |
| 353 | Reserved (Future System) | X | X | |
| 354 | Reserved (Future System) | X | X | |
| 355 | Reserved (Future System) | X | X | |
| 356 | Reserved (Future System) | X | X | |
| 357 | Reserved (Future System) | X | X | |
| 358 | Reserved (Future System) | X | X | |
| 359 | Reserved (Future System) | X | X | |
| 360 | Reserved (Future System) | X | X | |
| 361 | Reserved (Future System) | X | X | |
| 362 | Reserved (Future System) | X | X | |
| 363 | Reserved (Future System) | X | X | |
| 364 | Reserved (Future System) | X | X | |
| 365 | Reserved (Future System) | X | X | |
| 366 | Reserved (Future System) | X | X | |
| 367 | Reserved (Future System) | X | X | |
| 368 | Reserved (Future System) | X | X | |
| 369 | Reserved (Future System) | X | X | |
| 370 | Reserved (Future System) | X | X | |
| 371 | Reserved (Future System) | X | X | |
| 372 | Reserved (Future System) | X | X | |
| 373 | Reserved (Future System) | X | X | |
| 374 | Reserved (Future System) | X | X | |
| 375 | Motion Generator: Parameter 0 | O | O | |
| 376 | Motion Generator: Parameter 1 | O | O | |
| 377 | Motion Generator: Parameter 2 | O | O | |
| 378 | Motion Generator: Parameter 3 | O | O | |
| 379 | Motion Generator: Parameter 4 | O | O | |
| 380 | Motion Generator: Parameter 5 | O | O | |
| 381 | Motion Generator: Parameter Speed | O | O | |
| 382 | Motion Generator: Parameter Accel. | O | O | |
| 383 | Motion Generator: - | O | O | |
| 384 | Motion Generator: - | O | O | |
| 385 | Motion Generator: - | O | O | |
| 386 | Motion Generator: - | O | O | |
| 387 | Motion Generator: - | O | O | |
| 388 | Motion Generator: Motion Command | O | O | |
| 389 | Motion Generator: Error Report | O | O | |
| EOT | ||||