MODBUS SERVER v6.10

WARNING

This manual is about MODBUS server(slave).

1. Outline

The Modbus TCP server (slave) of the RB Series is fixed to port number 502. The IP address changes depending on the network settings through the UI (initial IP address: 10.0.2.7).

The Modbus server of the RB Series allows multiple clients to connect and performs the following operation commands.

	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

If an incorrect address is accessed, the value range is incorrect, or an incorrect command is sent, the error message below is returned.

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