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.