58
217
y position (base)
，
low 16 bits
218
y position (base)
，
high 16 bits
219
z position (base)
，
low 16 bits
220
z position (base)
，
high 16 bits
221
rx position (base)
，
low 16 bits
222
rx position (base)
，
high 16 bits
223
ry position (base)
，
low 16 bits
224
ry position (base)
，
high 16 bits
225
rz position (base)
，
low 16 bits
226
rz position (base)
，
high 16 bits
227
robot status,hundrads place represent Home
status."1" represent home position.
The number as ones place represent as follow:
Unconnected = 0,
Power = 1,
Initial = 2,
Disable = 3,
Enable = 4,
Standstill = 5,
Running = 6,
Stopping = 7,
Estop = 8,
Error = 9,
Pause = 10
Attention
：
Every address of “register in” read 16bits, joint position and manipulator
end position are represented by float (which is 32 bits). Here we use 2 modbus
nodes information to combine as 1 node information. There is an example below.
unsigned short
Short1
;
// decimal part
low
16
位
short
Short2
;
// integer part
high16
位
// merge two parts into float
Int
My32Int
= (
Short2
<<
16
) |
Short1
;
float
MyFloat
;
memcpy
(&
MyFloat
, &
My32Int
,
32
);
MyFloat is the result.
