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ABB robots do not natively support the Modbus TCP slave function (external devices reading and writing robot registers or coils).
The following code can be used to implement this:
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It is recommended that the robot use multi-tasking functions and run the following code in the background.
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Users can associate the robot’s system outputs and system input signals with the corresponding registers or coils based on their needs, enabling external operations on the robot based on Modbus.
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A pers type variable can be created in the foreground task to synchronize the register data from the background to the foreground, allowing external devices to read and write the robot’s registers (while the robot can also use these registers).
The implemented function codes include:
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0x01 Read Multiple Coils,
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0x03 Read Holding Registers,
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0x05 Write Single Coil,
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0x06 Write Single Register
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0x0F Write Multiple Coils
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0x10 Write Multiple Registers
External devices can use Modbus Poll software for testing. Note: All ABB registers and coil starting addresses are 1.
MODULE modbusTCP_slave !author: Liao Chen, [email protected] ! Aug.21, 2023 !!!!!!! register start_address is 1!!!! !!!!!!! coil start_add is 1!!!!! !!!!!!! support holding register !!!!!!! support holding coil !!!!!!! support 0x03 0x06 0x10 0x01 0x05 0x0F function !!!!!!! if robot receives wrong data, robot will not send feedback VAR socketdev temp_socket; VAR socketdev client_socket; VAR string received_string; VAR bool keep_listening:=TRUE; VAR rawbytes recv_raw; VAR rawbytes send_raw; !!!!!! data need to be modified PERS string rb_ip:="127.0.0.1"; PERS num holdingReg{100}:=[563,2567,868,0,0,0,0,0,0,0, 0,0,0,0,0,0,0,0,0,0, 0,0,0,0,0,0,0,0,0,0, 0,0,0,0,0,0,0,0,0,0, 0,0,0,0,0,0,0,0,0,0, 0,0,0,0,0,0,0,0,0,0, 0,0,0,0,0,0,0,0,0,0, 0,0,0,0,0,0,0,0,0,0, 0,0,0,0,0,0,0,0,0,0]; PERS num coils{100}:=[1,1,1,1,0,1,1,1,1,0, 1,1,1,1,0,1,1,1,1,0, 0,0,0,0,0,0,0,0,0,0, 0,0,0,0,0,0,0,0,0,0, 0,0,0,0,0,0,0,0,0,0, 0,0,0,0,0,0,0,0,0,0, 0,0,0,0,0,0,0,0,0,0, 0,0,0,0,0,0,0,0,0,0, 0,0,0,0,0,0,0,0,0,0]; PROC main() SocketClose temp_socket; SocketClose client_socket; SocketCreate temp_socket; SocketBind temp_socket,rb_ip,502; SocketListen temp_socket; SocketAccept temp_socket,client_socket; WHILE keep_listening DO SocketReceive client_socket\RawData:=recv_raw\Time:=WAIT_MAX; modbusHandle; ENDWHILE SocketClose temp_socket; ERROR IF ERRNO=ERR_SOCK_TIMEOUT THEN TRYNEXT; ELSEIF ERRNO=ERR_SOCK_CLOSED THEN SocketClose temp_socket; SocketClose client_socket; SocketCreate temp_socket; SocketBind temp_socket,rb_ip,502; SocketListen temp_socket; SocketAccept temp_socket,client_socket; RETRY; ELSE TPWrite "ERRNO = "\Num:=ERRNO; Stop; ENDIF ENDPROC PROC modbusHandle() VAR num pro_len; VAR num data_len; VAR num raw_len; VAR num funNo; VAR num regAdd; ClearRawBytes send_raw; raw_len:=RawBytesLen(recv_raw); IF raw_len<=0 THEN goto END; ENDIF UnPackRawBytes recv_raw\Network,5,pro_len\IntX:=UINT; IF pro_len<>(raw_len-6) THEN goto END; ENDIF UnPackRawBytes recv_raw\Network,9,regAdd\IntX:=UINT; IF regAdd<=0 THEN goto END; ENDIF UnPackRawBytes recv_raw\Network,8,funNo\IntX:=USINT; ! get FunNo TEST funNo CASE 3: readMultiReg regAdd; CASE 6: writeSingReg regAdd; CASE 16: writeMultiReg regAdd; CASE 1: readMultiCoil regAdd; CASE 5: writeSingCoil regAdd; CASE 15: writeMultiCoil regAdd; DEFAULT: goto END; ENDTEST SocketSend client_socket\RawData:=send_raw; END: ENDPROC PROC writeMultiCoil(num regAdd) ! funNo: 0x0F: write multi Coil ! device send: 00 01 00 00 00 09 01 0F 0005 000A 02 CD 01 ! ttl data len slaveID funNo add coil_num byte_len byte1 byte2 ! robot feedback: 0000 0000 0006 01 0F 0005 000A ! ttl data len slaveID funNo add coil_num VAR num coilCount; VAR num tmpValue; VAR byte inValue; VAR num byteCount:=1; CopyRawBytes recv_raw,1,send_raw,1\NoOfBytes:=12; UnPackRawBytes recv_raw\Network,11,coilCount\IntX:=UINT; FOR i FROM 1 TO coilCount DO IF (i mod 8)=1 THEN UnPackRawBytes recv_raw\Network,13+byteCount,tmpValue\IntX:=USINT; inValue:=tmpValue; byteCount:=byteCount+1; ENDIF coils{regAdd+i-1}:=bitand(inValue,1); inValue:=BitRSh(inValue,1); ENDFOR PackRawBytes 6,send_raw\Network,5\IntX:=uint; ENDPROC PROC writeSingCoil(num regAdd) ! funNo: 0x05: write single coil ! device send: 0000 0000 0006 01 05 0002 FF00 ! ttl data len slaveID funNo add data(FF00:ON, 0000:OFF) ! robot feedback: 0000 0000 0006 01 05 0002 FF00 ! ttl data len slaveID funNo add data VAR num value; CopyRawBytes recv_raw,1,send_raw,1\NoOfBytes:=12; UnPackRawBytes recv_raw\Network,11,value\IntX:=UsINT; IF value=255 THEN coils{regAdd}:=1; ELSE coils{regAdd}:=0; ENDIF ENDPROC PROC readMultiCoil(num regAdd) ! funNo: 0x01: read multi Coil ! device send: 00 00 00 00 00 06 01 01 0002 0002 ! ttl data len slaveID funNo add coil_num ! robot feedback: 0000 0000 0004 01 01 01 01 ! ttl data len slaveID funNo rest_data_len data VAR num coilCount; VAR num outValue{50}; VAR num byteCount:=1; VAR num tmpValue; ClearRawBytes send_raw; CopyRawBytes recv_raw,1,send_raw,1\NoOfBytes:=8; UnPackRawBytes recv_raw\Network,11,coilCount\IntX:=UINT; FOR i FROM 1 TO coilCount DO outValue{byteCount}:=outValue{byteCount}+coils{regAdd+i-1}*pow(2,(i-1) mod 8); IF (i mod 8)=0 THEN byteCount:=byteCount+1; ENDIF ENDFOR FOR i FROM 1 TO byteCount DO tmpValue:=outValue{i}; PackRawBytes tmpValue,send_raw\Network,9+i\IntX:=1; ENDFOR PackRawBytes byteCount,send_raw\Network,9\IntX:=usint; PackRawBytes byteCount+3,send_raw\Network,5\IntX:=uint; ENDPROC PROC readMultiReg(num regAdd) ! funNo: 0x03: read multi holding register ! device send: 0000 0000 0006 01 03 0001 0001 ! ttl data len slaveID funNo add data_num ! robot feedback: 0000 0000 0005 01 03 02 0001 ! ttl data len slaveID funNo rest_data_len data VAR num regCount; CopyRawBytes recv_raw,1,send_raw,1\NoOfBytes:=8; UnPackRawBytes recv_raw\Network,11,regCount\IntX:=UINT; FOR i FROM 1 TO regCount DO PackRawBytes holdingReg{regAdd+i-1},send_raw\Network,9+(2*i-1)\IntX:=uint; ENDFOR PackRawBytes regCount*2,send_raw\Network,9\IntX:=usint; PackRawBytes regCount*2+3,send_raw\Network,5\IntX:=uint; ENDPROC PROC writeMultiReg(num regAdd) ! funNo: 0x10: write multi holding register ! device send: 0000 0000 000B FF 10 0002 0002 04 0021 002A ! ttl_data_len id funNo add data_num rest_data_len data1 data2 ! robot feedback: 0000 0000 0006 FF 10 0002 00 02 ! ttl_data_len id funNo add data_num VAR num regCount; VAR num value; CopyRawBytes recv_raw,1,send_raw,1\NoOfBytes:=12; UnPackRawBytes recv_raw\Network,11,regCount\IntX:=UINT; FOR i FROM 1 TO regCount DO unPackRawBytes recv_raw\Network,13+(2*i-1),value\IntX:=uint; holdingReg{regAdd+i-1}:=value; ENDFOR PackRawBytes 6,send_raw\Network,5\IntX:=uint; ENDPROC PROC writeSingReg(num regAdd) ! funNo: 0x06: write single holding register ! device send: 0000 0000 0006 01 06 0001 0001 ! ttl data len slaveID funNo add data ! robot feedback: 0000 0000 0006 01 06 0001 0001 ! ttl data len slaveID funNo add data VAR num value; CopyRawBytes recv_raw,1,send_raw,1\NoOfBytes:=12; UnPackRawBytes recv_raw\Network,11,value\IntX:=UINT; holdingReg{regAdd}:=value; ENDPROCENDMODULE********************************
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