IO Control on the Control Box(131-140)
Get controller digital input
Register:131 (0x83)
//Request
00 01 00 02 00 01 83Request Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 01 U16, Length
//83 U8, Register
// Response:
00 01 00 02 00 04 83 00 FF FDResponse Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 04 U16, Length
//83 U8, Register
//00 U8, State
//FF FD U16, Parameter 1, input status of controller.
Bit0 to Bit15 correspond to signals of input 0 to input 15.
FF FD, is 1111 1111 1111 1101 in binary, means input 1 is low.
Get controller analog input AI 0
Register:132 (0x84)
//Request
00 01 00 02 00 01 84Request Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 01 U16, Length
//84 U8, Register
// Response:
00 01 00 02 00 04 84 00 00 12Response Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 04 U16, Length
//84 U8, Register
//00 U8, State
//00 12 U16, value of controller analog input 0, Range 0~4095 corresponding to 0~10V
Get controller analog input AI 1
Register:133 (0x85)
//Request
00 01 00 02 00 01 85Request Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 01 U16, Length
//85 U8, Register
// Response:
00 01 00 02 00 04 85 00 00 15Response Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 04 U16, Length
//85 U8, Register
//00 U8, State
//00 15 U16, controller analog input 1, Range 0~4095, corresponding to0~10V
Set controller digital output
Register:134 (0x86)
//Request
00 01 00 02 00 05 86 80 00 80 00Request Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 05 U16, Length
//86 U8, Register
//80 00 U16, Set controller output 7 to 0.
//80 00 U16, Set controller output 15 to 0.
// Response:
00 01 00 02 00 02 86 00Response Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 02 U16, Length
//86 U8, Register
//00 U8, State
Set controller analog output AO 0
Register:135 (0x87)
//Request
00 01 00 02 00 03 87 00 00Request Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 03 U16, Length
//87 U8, Register
//00 00 U16, output voltage value, range 0~4095, corresponding to 0~10V.
// Response:
00 01 00 02 00 02 87 00Response Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 02 U16, Length
//87 U8, Register
//00 U8, State
Set controller analog output AO 1
Register:136 (0x88)
//Request
00 01 00 02 00 03 88 00 00Request Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 03 U16, Length
//88 U8, Register
//00 00 u16, output voltage value, range 0~4095, corresponding to 0~10V.
// Response:
00 01 00 02 00 02 88 00Response Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 02 U16, Length
//88 U8, Register
//00 U8, State
Set controller digital input function
Register:137 (0x89)
//Request
00 01 00 02 00 03 89 0F 00Request Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 03 U16, Length
//89 U8, Register
//07 U8, Controller digital input number,0~15
//00 U8, Function number
0: General input
1: Stop moving
2: Safeguard reset
11: Offline task
12: Manual mode
13: Reduced mode
14: Enable robot
// Response:
00 01 00 02 00 02 89 00Response Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 02 U16, Length
//89 U8, Register
//00 U8, State
Set controller digital output function
Register:138 (0x8A)
//Request
00 01 00 02 00 03 8A 0F 00Request Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 03 U16, Length
//8A U8, Register
//0F U8, Controller digital output number, 0~15
//00 U8, Function number
0: General output
1: Motion stopped
2: Robot moving
11: Erroring
12: Warning
13: Collision
14: Manual mode
15: Offline task running
16: Reduced mode
17: Robot enabled
18: Emergency stop is pressed
// Response:
00 01 00 02 00 02 8A 00Response Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 02 U16, Length
//8A U8, Register
//00 U8, State