IO Control on the Control Box(131-138)
Register:131 (0x83)
// Request:
00 01 00 02 00 01 83
// Response:
00 01 00 02 00 04 83 00 FF FD
//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.
Register:132 (0x84)
// Request:
00 01 00 02 00 01 84
// Response:
00 01 00 02 00 04 84 00 00 12
Register:133 (0x85)
// Request:
00 01 00 02 00 01 85
// Response:
00 01 00 02 00 04 85 00 00 15
Register:134 (0x86)
// Request:
00 01 00 02 00 05 86 80 00 80 00
// Response:
00 01 00 02 00 02 86 00
Register:135 (0x87)
// Request:
00 01 00 02 00 03 87 00 00
// Response:
00 01 00 02 00 02 87 00
Register:136 (0x88)
// Request:
00 01 00 02 00 03 88 00 00
// Response:
00 01 00 02 00 02 88 00
Register:137 (0x89)
// Request:
00 01 00 02 00 03 89 0F 00
// Response:
00 01 00 02 00 02 89 00
Register:138 (0x8A)
// Request:
00 01 00 02 00 03 8A 0F 00
//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 00
Last modified 1mo ago