10 MODBUS
If you have not changed the IP address of your robot, the corresponding addresses are already entered
in the default values. In the structure
Data
all entries from the Modbus mapping are accessible.
ð
Nomenclature
All data to send to the robot are marked with
CMD
or
OUT
. All data, from the robot
to the controller, are marked with
Info
or
IN
.
10.3.2 Inserting the Robot Communication FB
The FB
CPR_Robot
is responsible for communication with the robot. This function block requires the
following input signals.
Signal
Data Type
Explanation
Request_MB
Bool
Retrieve data from the robot. As long as this input is
set, the FB maintains active communication with the
robot.
Disconnect_MB
Bool
Disconnects the TCP/IP connection with the robot,
can be used for resetting errors
Reset
Bool
Resets the robot
Enable
Bool
Enables the robot
Reference
Bool
References all robot joints
StartProgram
Bool
Starts the robot program
StopProgram
Bool
Stops the robot program
Robot_Data
CPR_ROBOT_MODBUS
In/Out for the robot data block
The
Robot_Data
input provides the function block with all the data it needs to communicate with the
robot. By using several data blocks and
CPR_Robot
FB’s it is possible to communicate with several
robots at the same time. The following signals are available as outputs.
Signal
Data Type
Explanation
Enabled
Bool
Robot is enabled
Referenced
Bool
Robot is referenced
ProgrammRunning
Bool
The robot program is running
10.3.3 Data Access
To access the robot data, the data in the robot DB can be manipulated. These are then automatically
transferred to the robot and processed.
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