Doosan M0609, Руководство пользователя

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12.6 Network Setting
To set the system network and settings, follow these steps:
1
Tap the Settings button of the main menu and select Network .
2
Select the Control Box , Modbus TCP, Modbus RTU, or Predefined Modbus tab.

Controller : Ethernet network settings for external connections such as the controller or
Modbus can be configured.

Modbus TCP : Additional settings of the Modbus Slave for the Modbus TCP network can
be configured.

Modbus RTU : Additional settings of the Modbus Slave for the Modbus RTU can be
configured.

Predefined Modbus : Modbus setting to be used with some Workcell Items can be
configured.
3
Select the network method and tap the Confirm button.
12.6.1 Modbus TCP/RTU Setting
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
*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.