【ECEN005】How to Read Elibot Status and Position through Modbus


Introduction

PC or other device can read/write robot specified M coil and read robot status, joint position, Cartesian pose, joint speed, Cartesian speed, input/output through modbus

Elibot Modbus manual download link:

https://www.elibot.cn/upload/elibotEn/Download/20220210172418.pdf

How to start and setting robot ModBus slave

click "Process"- "Modbus", Select Modbus/TCP or Modbus RTU and set parameter

Press "save" and restart robot controller

ModBus Slave

Elibot support Modbus/TCP and Modbus RTU

M0-M399: system input (read only)

M400-M527: system output (read only)

M528-M1471: for user(read / write)




  1. M variable starts from M0, and every 8 consecutive M variables form a register address, such as MO-M7, the register address is 0x0000; M8-M15, the register address is 0x0001, and so on.
  2. In the Modbus protocol, a register is a 16-bit variable, so when operating on a register address of the M variable, the actual operation is a continuous 16 M variables.

Read robot joint position through ModBus/TCP

User can read robot joint position, speed and other information from register200.

User can refer to Elibot Modbus manual https://www.elibot.cn/upload/elibotEn/Download/20220210172418.pdf




Read robot Cartesian position through ModBus/TCP


ModBus RTU

ELIBOT RS485 : pin2 - GND,pin4- 485+,pin3 : 485-


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