For more content, please click on the above ABB Robot Practical Skills to follow us.
You can also click on the official account below Classic Articles to browse more content.
Please leave a message in the background first to support original content, so we can promote the use and development of robots together.
This official account provides technical support for various ABB robot applications, simulations, and graduation projects. For details, leave a message in the background.
This official account sincerely hopes to cooperate with various robot training institutions and robot user units to provide technical support. For details, leave a message in the background.
1. ABB robots do not directly provide ModbusTCP master functionality. Users need to write their own definitions.
2. The ModbusTCP master generally includes reading and writing coils and registers from slaves. The following code implements the function codes:
-
0x01 Read Multiple Coils,
-
0x03 Read Holding Registers,
-
0x05 Write Single Coil,
-
0x06 Write Single Register
-
0x0F Write Multiple Coils
-
0x10 Write Multiple Registers
MODULE modbusTCP_Master ！ author: Liao Chen, [email protected] !!!!!!! support holding register !!!!!!! support holding coil !!!!!!! support 0x03 0x06 0x10 0x01 0x05 0x0F function
VAR socketdev sock_mod; VAR rawbytes recv_raw; VAR rawbytes send_raw; !!!!!! data need to be modified PERS bool bBigEndian:=TRUE; PERS string slave_ip:="127.0.0.1"; PERS num slave_ID:=1; PERS num write_data{2}:=[10,20]; var num read_data{2}:=[0,0]; PERS num write_coils{20}:=[1,1,1,1,0,1,1,1,1,0,1,1,1,1,0,1,1,1,1,0]; var num read_coils{20}; PERS num regAdd:=1; VAR num outValue{50};
PROC main() writeMultiReg regAdd,2,write_data; ! Write data from write_data to 2 registers starting from address 1 readMultiReg 1,2,read_data; ! Read data from 2 registers starting from address 1 and store in read_data stop;
writeSingReg regAdd,99; ! Write data 99 to the register at regAdd readMultiReg 1,1,read_data; ! Read 1 register from address 1 and store in read_data stop; writeMultiCoil regAdd,10,write_coils; ! Write values to 10 coils starting from address regAdd readMultiCoil regAdd,10,read_coils; ! Read values from 10 coils starting from regAdd and store in read_coils stop; writeSingCoil regAdd,0; ! Write value 0 to the coil at regAdd readMultiCoil regAdd,1,read_coils; ! Read 1 coil from regAdd and store in the first element of read_coils stop; ENDPROC
PROC checkSocket() if SocketGetStatus(sock_mod)<>SOCKET_CONNECTED THEN SocketClose sock_mod; SocketCreate sock_mod; SocketConnect sock_mod,slave_ip,502\Time:=10; endif ENDPROC
PROC writeMultiCoil(num regAdd,num coilCount,num coils{*}) ! 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_count byte_len byte1 byte2 ! robot feedback: 0000 0000 0006 01 0F 0005 000A ! ttl data len slaveID funNo add coil_num !VAR num outValue{50}; VAR num byteCount:=1; VAR num b{100}; checkSocket; b{1}:=0x00; b{2}:=0x00; b{3}:=0x00; b{4}:=0x00; ! b{5}:=0x00; ! b{6}:=0x06; b{7}:=slave_ID; b{8}:=0x0F;
ClearRawBytes send_raw; FOR i FROM 1 TO 8 DO PackRawBytes b{i},send_raw,i\IntX:=1; ENDFOR PackRawBytes regAdd,send_raw\Network,9\IntX:=2; PackRawBytes coilCount,send_raw\Network,11\IntX:=2;
FOR i FROM 1 TO coilCount DO outValue{byteCount}:=outValue{byteCount}+coils{i}*pow(2,(i-1) mod 8); IF (i mod 8)=0 THEN byteCount:=byteCount+1; ENDIF ENDFOR
FOR i FROM 1 TO byteCount DO PackRawBytes outValue{i},send_raw\Network,13+i\IntX:=1; ENDFOR PackRawBytes byteCount,send_raw\Network,13\IntX:=1; PackRawBytes 7+byteCount,send_raw\Network,5\IntX:=2; sendAndReceive; ENDPROC
PROC sendAndReceive() SocketSend sock_mod\RawData:=send_raw; SocketReceive sock_mod\RawData:=recv_raw; ENDPROC
PROC writeSingCoil(num regAdd,num data\switch bSiemens) ! 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 b{100}; checkSocket; b{1}:=0x00; b{2}:=0x00; b{3}:=0x00; b{4}:=0x00; b{5}:=0x00; b{6}:=0x06; b{7}:=slave_ID; b{8}:=0x05;
ClearRawBytes send_raw; FOR i FROM 1 TO 8 DO PackRawBytes b{i},send_raw,i\IntX:=1; ENDFOR PackRawBytes regAdd,send_raw\Network,9\IntX:=2; IF data>0 THEN data:=0xFF00; ENDIF
IF Present(bSiemens) THEN PackRawBytes data,send_raw,11\IntX:=2; ELSE PackRawBytes data,send_raw\Network,11\IntX:=2; ENDIF sendAndReceive; ENDPROC
PROC readMultiCoil(num regAdd,num coilCount,inout num coils{*}) ! 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 byte inValue; VAR num byteCount:=1; VAR num tmpValue; VAR num b{100}; checkSocket; b{1}:=0x00; b{2}:=0x00; b{3}:=0x00; b{4}:=0x00; b{5}:=0x00; b{6}:=0x06; b{7}:=slave_ID; b{8}:=0x01;
ClearRawBytes send_raw; FOR i FROM 1 TO 8 DO PackRawBytes b{i},send_raw,i\IntX:=1; ENDFOR PackRawBytes regAdd,send_raw\Network,9\IntX:=2; PackRawBytes coilCount,send_raw\Network,11\IntX:=2; sendAndReceive; FOR i FROM 1 TO coilCount DO IF (i mod 8)=1 THEN UnPackRawBytes recv_raw\Network,9+byteCount,tmpValue\IntX:=USINT; inValue:=tmpValue; byteCount:=byteCount+1; ENDIF coils{i}:=bitand(inValue,1); inValue:=BitRSh(inValue,1); ENDFOR ENDPROC
PROC readMultiReg(num regAdd,num regCount,inout num data{*}\switch bSiemens) ! 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 b{100}; VAR num dataByteLen; checkSocket; b{1}:=0x00; b{2}:=0x00; b{3}:=0x00; b{4}:=0x00; b{5}:=0x00; b{6}:=0x06; b{7}:=slave_ID; b{8}:=0x03;
ClearRawBytes send_raw; FOR i FROM 1 TO 8 DO PackRawBytes b{i},send_raw,i\IntX:=1; ENDFOR PackRawBytes regAdd,send_raw\Network,9\IntX:=2; PackRawBytes regCount,send_raw\Network,11\IntX:=2; sendAndReceive;
UnPackRawBytes recv_raw\Network,9,dataByteLen\IntX:=UsINT; FOR i FROM 1 TO dataByteLen/2 DO IF present(bSiemens) THEN UnPackRawBytes recv_raw,9+(2*i-1),data{i}\IntX:=UINT; ELSE UnPackRawBytes recv_raw\Network,9+(2*i-1),data{i}\IntX:=UINT; ENDIF ENDFOR ENDPROC
PROC writeMultiReg(num regAdd,num regCount,num data{*}\Switch bSiemens) ! 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 b{100}; VAR num value; VAR num dataByteLen; checkSocket; b{1}:=0x00; b{2}:=0x00; b{3}:=0x00; b{4}:=0x00; ! b{5}:=0x00; ! b{6}:=0x06; b{7}:=slave_ID; b{8}:=0x10;
ClearRawBytes send_raw; FOR i FROM 1 TO 8 DO PackRawBytes b{i},send_raw,i\IntX:=1; ENDFOR PackRawBytes regAdd,send_raw\Network,9\IntX:=2; PackRawBytes regCount,send_raw\Network,11\IntX:=2; PackRawBytes regCount*2,send_raw\Network,13\IntX:=1;
FOR i FROM 1 TO regCount DO IF Present(bSiemens) THEN PackRawBytes data{i},send_raw,13+(2*i-1)\IntX:=2; ELSE PackRawBytes data{i},send_raw\Network,13+(2*i-1)\IntX:=2; ENDIF
ENDFOR PackRawBytes 7+regCount*2,send_raw\Network,5\IntX:=2; sendAndReceive; ENDPROC
PROC writeSingReg(num regAdd,num data\switch bSiemens) ! 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 b{100}; VAR num value; VAR num dataByteLen; checkSocket; b{1}:=0x00; b{2}:=0x00; b{3}:=0x00; b{4}:=0x00; b{5}:=0x00; b{6}:=0x06; b{7}:=slave_ID; b{8}:=0x06;
ClearRawBytes send_raw; FOR i FROM 1 TO 8 DO PackRawBytes b{i},send_raw,i\IntX:=1; ENDFOR PackRawBytes regAdd,send_raw\Network,9\IntX:=2; IF Present(bSiemens) THEN PackRawBytes data,send_raw,11\IntX:=2; ELSE PackRawBytes data,send_raw\Network,11\IntX:=2; endif sendAndReceive; ENDPROC
ENDMODULE********************************
How to Get More Classic Articles?
Follow the official account ABB Robot Practical Skills, click the bottom of the page for Classic Articles and Configuration to see more classic content.
Click Read Original to learn about RobotStudio simulation and obtain complete teaching videos.
More content
★ How to Search Historical Articles
★ Transferring files to HOME and loading based on pcsdk.
Sending real numbers and negative integers via bus.
★ Using timed interrupts to send robot positions to PLC.
★ Accurate early triggering of signals.
★ Calibration of positioners.
★ Secrets of zero position calibration for ABB robots.
★ Creating UDP communication.
★ Left and right multiplication of rotation posture.
★ Controlling robot start and stop via socket.
Real-time display of robot speed on the upper computer dashboard.
★ Drawing Doraemon with the robot.
Real-time control of robot motion via EGM on the upper computer.
Controlling ABB robot motion with Python.
Batch modification of EIO files through Excel.
Kinematic calculations for robots with links.
Creating a four-link mechanism.
PROFINET for robots acting as both CONTROLLER and DEVICE.
★ Voice control of ABB robots.
★ Accessing web control for robots via mobile.
★ Custom servo welding gun.
★ Creating a conveyor chain for picking, handling, and stacking stations.
★ Random material generation and grabbing.
★ Defining TCP for four-axis robots.
★ Custom external axes – positioners.
★ Teaching four points to complete stacking.
★ Multimove with dual robots and positioners.
Enabling and disabling collision prediction in Robotware 6.08.
SMB board pin explanation.
Coupling limits for six and four joints.
Calculating distance between two points.
New I/O DSQC1030 configuration.
Configuring servo welding guns for ABB robots.
Setting for angle path faults not to prompt.
External PLC selecting robot programs.
One-click return to HOME program.
Modifying the upper and lower limits of each axis of the robot.
Interpreting Wobjdata data.
Connecting conveyor tracking with vision.
Wiring for emergency stop and automatic stop.
For more expert tutorial videos, you can search for ABB Robot Practical Skills on WeChat or scan the following QR code to follow us.
