Modbus
1. Host Sets Modbus Master Parameters
Command: 0x7300
Parameter List
| Parameter | Type | Required | Description |
|---|---|---|---|
| masterStation | object | Yes | Master station parameters, including RTU and TCP parameters |
| startAddress | bool | No | Address offset; true means address unchanged, false means address auto-decrement by 1 |
masterStation Parameters
| Parameter | Type | Required | Description |
|---|---|---|---|
| type | string | Yes | Master station type; values "TCP", "RTU" |
| processNumber | int | Yes | Process number to set; range [1,9] |
| RTU | object | No | RTU parameters |
| TCP | object | No | TCP parameters |
RTU Parameters
| Parameter | Type | Required | Description |
|---|---|---|---|
| baudrate | int | Yes | Baud rate |
| checkBit | string | Yes | Check bit; values "N", "E", "O" |
| dataBit | int | Yes | Data bit; range [5,8] |
| port | int | Yes | Port number |
| slaveId | int | Yes | Slave ID; range [0,65535] |
| stopBit | int | Yes | Stop bit; range [0,1] |
TCP Parameters
| Parameter | Type | Required | Description |
|---|---|---|---|
| IP | string | Yes | IP address |
| endian_type | int | Yes | Float endianness; 0 means AB CD, 1 means CD AB, 2 means BA DC, 3 means DC BA |
| port | int | Yes | Port number; range [0,65535] |
Request Example
json
{
"masterStation": {
"RTU": {
"baudrate": 115200,
"checkBit": "E",
"dataBit": 5,
"port": 2,
"slaveId": 1,
"stopBit": 1
},
"TCP": {
"IP": "192.168.1.14",
"endian_type": 1,
"port": 503
},
"processNumber": 1,
"type": "TCP"
},
"startAddress": false
}2. Host Queries Modbus Parameters
Command: 0x7301
Parameter List
| Parameter | Type | Required | Description |
|---|---|---|---|
| processNumber | int | Yes | Process number to query; range [1,9] |
Request Example
json
{
"processNumber": 1
}3. Controller Replies Host Modbus Parameters
Command: 0x7302
Parameter List
| Parameter | Type | Required | Description |
|---|---|---|---|
| type | string | Yes | Master station type; values "TCP", "RTU" |
| RTU | object | No | RTU parameters |
| TCP | object | No | TCP parameters |
| modbus_state | bool | Yes | Modbus connection status; true means connected, false means not connected |
| response_time_out | int | Yes | Read/write response time; unit ms |
| startAddress | bool | Yes | Address offset; true means address unchanged, false means address auto-decrement by 1 |
RTU Parameters
| Parameter | Type | Required | Description |
|---|---|---|---|
| baudrate | int | Yes | Baud rate |
| checkBit | string | Yes | Check bit; values "N", "E", "O" |
| dataBit | int | Yes | Data bit; range [5,8] |
| port | int | Yes | Port number |
| slaveId | int | Yes | Slave ID; range [0,65535] |
| stopBit | int | Yes | Stop bit; range [0,1] |
TCP Parameters
| Parameter | Type | Required | Description |
|---|---|---|---|
| IP | string | Yes | IP address |
| endian_type | int | Yes | Float endianness; 0 means AB CD, 1 means CD AB, 2 means BA DC, 3 means DC BA |
| port | int | Yes | Port number; range [0,65535] |
Response Example
json
{
"RTU": {
"baudrate": 115200,
"checkBit": "E",
"dataBit": 5,
"port": 2,
"slaveId": 1,
"stopBit": 1
},
"TCP": {
"IP": "192.168.1.14",
"endian_type": 1,
"port": 503
},
"modbus_state": false,
"response_time_out": 100,
"startAddress": false,
"type": "TCP"
}4. Host Queries Modbus Connection Status
Command: 0x7303
Request Example
json
{}5. Controller Replies Host Modbus Connection Status
Command: 0x7304
Parameter List
| Parameter | Type | Required | Description |
|---|---|---|---|
| ModbusConnect | bool | Yes | Modbus connection status; true means connected, false means not connected |
Response Example
json
{
"ModbusConnect": false
}6. Host Sets Modbus Slave Parameters
Command: 0x7305
Parameter List
| Parameter | Type | Required | Description |
|---|---|---|---|
| type | string | Yes | Communication method; values "TCP", "RTU" |
| RTU | object | No | RTU parameters |
| TCP | object | No | TCP parameters |
| master-slave | int | Yes | Modbus communication master/slave mode; 0 means master, 1 means slave |
| scancycle | int | Yes | Scan cycle; range [8,1000]ms |
| stoprun | int | Yes | Operation on communication disconnect; 0 means no stop, 1 means stop |
RTU Parameters
| Parameter | Type | Required | Description |
|---|---|---|---|
| baudrate | int | Yes | Baud rate |
| port | int | Yes | Port number |
| slaveId | int | Yes | Slave ID; range [0,65535] |
TCP Parameters
| Parameter | Type | Required | Description |
|---|---|---|---|
| IP | string | Yes | IP address (default value) |
| endian_type | int | Yes | Float endianness; 0 means AB CD, 1 means CD AB, 2 means BA DC, 3 means DC BA |
| port | int | Yes | Port number; range [0,65535] |
Request Example
json
{
"RTU": {
"baudrate": 115200,
"port": 2,
"slaveId": 1
},
"TCP": {
"IP": "192.168.1.11",
"endian_type": 0,
"port": 502
},
"master-slave": 1,
"scancycle": 100,
"stoprun": 0,
"type": "TCP"
}7. Host Queries Modbus Slave Parameters
Command: 0x7306
Request Example
json
{}8. Controller Replies Host Modbus Slave Parameters
Command: 0x7307
Parameter List
| Parameter | Type | Required | Description |
|---|---|---|---|
| type | string | Yes | Communication method; values "TCP", "RTU" |
| RTU | object | No | RTU parameters |
| TCP | object | No | TCP parameters |
| enable | bool | Yes | Connection enable |
| master-slave | int | Yes | Modbus communication master/slave mode; 0 means master, 1 means slave |
| scancycle | int | Yes | Scan cycle; range [8,1000]ms |
| stoprun | int | Yes | Operation on communication disconnect; 0 means no stop, 1 means stop |
RTU Parameters
| Parameter | Type | Required | Description |
|---|---|---|---|
| baudrate | int | Yes | Baud rate |
| port | int | Yes | Port number |
| slaveId | int | Yes | Slave ID; range [0,65535] |
TCP Parameters
| Parameter | Type | Required | Description |
|---|---|---|---|
| IP | string | Yes | IP address (default value) |
| endian_type | int | Yes | Float endianness; 0 means AB CD, 1 means CD AB, 2 means BA DC, 3 means DC BA |
| port | int | Yes | Port number; range [0,65535] |
Response Example
json
{
"RTU": {
"baudrate": 115200,
"port": 2,
"slaveId": 1
},
"TCP": {
"IP": "192.168.1.11",
"endian_type": 0,
"port": 502
},
"enable": false,
"master-slave": 1,
"scancycle": 100,
"stoprun": 0,
"type": "TCP"
}9. Host Sets Modbus Slave Connection Enable
Command: 0x7308
Parameter List
| Parameter | Type | Required | Description |
|---|---|---|---|
| enable | bool | Yes | Modbus slave connection enable |
Request Example
json
{
"enable": true
}10. Host Sets Modbus Slave Heartbeat Detection Enable
Command: 0x7309
Parameter List
| Parameter | Type | Required | Description |
|---|---|---|---|
| checkheart | bool | Yes | Heartbeat detection enable |
Request Example
json
{
"checkheart": true
}11. Host Queries Modbus Slave Heartbeat Detection Enable
Command: 0x703A
Request Example
json
{}12. Controller Replies Host Modbus Slave Heartbeat Detection Enable
Command: 0x703B
Parameter List
| Parameter | Type | Required | Description |
|---|---|---|---|
| checkheart | bool | Yes | Heartbeat detection enable |
Response Example
json
{
"checkheart": true
}13. Host Sets Modbus Program
Command: 0x703C
Parameter List
| Parameter | Type | Required | Description |
|---|---|---|---|
| jobname | string | Yes | Selected program name |
| programid | int | Yes | Program number; range [1,300] |
| robot | int | Yes | Current robot number |
Request Example
json
{
"jobname": "AA",
"programid": 1,
"robot": 1
}14. Host Queries Modbus Program
Command: 0x703D
Parameter List
| Parameter | Type | Required | Description |
|---|---|---|---|
| num | int | Yes | Query count; fixed at 10 |
| robot | int | Yes | Current robot number |
| startprogramid | int | Yes | Starting program number for query sequence; range [1,30] |
Request Example
json
{
"num": 10,
"robot": 1,
"startprogramid": 1
}15. Controller Replies Host Modbus Program
Command: 0x703E
Parameter List
| Parameter | Type | Required | Description |
|---|---|---|---|
| jobnamelist | array | Yes | Program name list; length 10 |
| robot | int | Yes | Current robot number |
| startprogramid | int | Yes | Starting program number for sequence; range [1,30] |
| sum | int | Yes | Total number of available programs |
Response Example
json
{
"jobnamelist": ["AA", "", "", "", "", "", "", "", "", ""],
"robot": 1,
"startprogramid": 1,
"sum": 300
}