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

[ 로봇 팔 운용을 위한 기본 명령어 ]

로봇 팔 활성화
- Modbus Address 107(Robot Arm activation) Write
  ⇒ Modbus Address 50(Is Robot Activated) Read
리얼 모드로 전환
- Modbus Address 108(Change to Real-mode) Write
  ⇒ Modbus Address 51(Is Real-mode) Read
프로그램 시작
- 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
프로그램 정지
- Modbus Address 103(Stop Program) Write
  ⇒ Modbus Address 58(Is Program Run) Read
로봇 팔 전원 끄기
- Modbus Address 109(Power off the robot arm) Write
  ⇒ Modbus Address 50(Is Robot Activated) Read

DANGER

주소 100번부터 109번까지에 값을 기록하는 경우, 주소 값과 동일한 값을 기록해야 합니다.
이미 기록된 명령을 다시 기록할 경우에는, 이전에 기록된 값과 다른 값으로 덮어쓴 후 전송해야 합니다.

Modbus 통신을 이용한 프로그램 실행 방법 v6.5 ​