![]() ![]() The server responds error messages with exception codes: The server will send a response to all requests 0x10: WRITE_MULTIPLE_REGISTERS (write multiple output registers).0x0F: WRITE_MULTIPLE_COILS (write multiple output bits).0x06: WRITE_SINGLE_REGISTER(write output register).0x05: WRITE_SINGLE_COIL (write output bit).0x04: READ_INPUT_REGISTERS (read input registers).0x03: READ_HOLDING_REGISTERS (read output registers).0x02: READ_DISCRETE_INPUTS (read input bits).The server can respond to the following function codes: ![]() Several clients can connect to the server at the same time However, note that the UR controller can be both a server and a client Typically the external IO device is going to be a server and the robot is going to behave as the client (requesting and consuming messages from the server). ![]() Some Modbus device manufacturers use the terms Master (client) and Slave (server). The server is available at the IP address of the controller which can be found and modified in PolyScope (SETUP Robot → Setup NETWORK) For more information about MODBUS, see of MODBUS messages can be found at The robot controller acts as a Modbus TCP server (port 502), clients can establish connections to it and send standard MODBUS requests to it. Give read and write access to data in the robot controller for other devices #Modbus server as application server software#Note that older or newer software versions may behave differently. ![]()
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