Modbus 통신을 이용한 프로그램 실행 방법 v6.5

Word Address
Address	Function	Read	Write	Comments
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

[ State of the robot arm ]

Word Address
Address	Function	Read	Write	Comments
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

[ Basic command for operating the robot arm ]

1. Activating the robot arm

   • Modbus Address 107(Robot Arm activation) Write
     ⇒ Modbus Address 50(Is Robot Activated) Read

2. Converting to Real-mode

   • Modbus Address 108(Change to Real-mode) Write
     ⇒ Modbus Address 51(Is Real-mode) Read

3. Start Program

   • Modbus Address 100(Start Program Once) Write (In case of executing the program once)
     ⇒ Modbus Address 58(Is Program Run) Read
   • Modbus Address 101(Start Program Repeat) Write (In case of executing the program repeatedly)
     ⇒ Modbus Address 58(Is Program Run) Read

4. Stop Program

   • Modbus Address 103(Stop Program) Write
     ⇒ Modbus Address 58(Is Program Run) Read

5. Power off the robot arm

   • Modbus Address 109(Power off the robot arm) Write
     ⇒ Modbus Address 50(Is Robot Activated) Read

DANGER

In case of writing addresses 100 to 109, you must write the same value as the address.
In case of re-writing a command that has already been written, it must be overwritten with a different value before sending.