Doosan A0509, Руководство пользователя

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Doosan Robotics User Manual v2.6.1 220
12.6 Network Setting
To set the network, follow these steps:
1
Tap the Settings button of the main menu and select Network .
2
Select the Controller or Modbus tab.

Controller : Ethernet network settings for external connections such as the controller or
Modbus can be configured.

Modbus : Additional settings for user-defined Modbus including Modbus TCP/RTU and
additional settings for Preset Modbus used by some Workcell items can be set.
3
Select the network method and tap the Confirm button.

To be able to set and use DHCP in A-Series models, it is necessary to purchase an external
router and configure a network.
12.6.1 User-defined Modbus Support Function Code
The Modbus Master of Doosan Robotics can be used for I/O expansion or data exchanges through
connections with other devices.
The Function Codes supported by Doosan Robotics are as follows:
Function Code Description
1 Read Coils
2 Read Discrete Inputs
3 Read Multiple Holding Registers
4 Read Input Registers
5 Write Single Coil
6 Write Single Holding Register
15 Multiple Coils (FC15)
16 Multiple Holding Registers (FC16)
*DRL (set_modbus_outputs()) is configured to internally call FC5 and FC6 multiple times.
Note

Up to five Modbus Slave devices can be connected.

Each device can register up to 50 registers.

The total number of registers cannot exceed 100.