IO Control on the Control Box(131-138)

Get controller digital input

Register:131 (0x83)

// Request:
00 01 00 02 00 01 83  

Request 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 FD

Response 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 84  

Request 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 12

Response 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 85  

Request 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 15

Response 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 00  

Request 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 00

Response 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 00  

Request 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 00

Response 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 00  

Request 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 00

Response 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 00

Request 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 00

Response 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 00  

Request 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 00

Response Description

//00 01    U16, Transaction ID
//00 02    U16, Protocol Identifier
//00 02    U16, Length 
//8A       U8, Register
//00       U8, State