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MONITORING_MBUS_SLAVE_HOILDING_REGISTER

This is a structure information to monitor Modbus slave holding registers, which include analog/digital I/O values, controller version, and robot state/joint information. It provides detailed Modbus-based data for both the robot controller and tool interface.

BYTE#	Field Name	Data Type	Value	Remarks
0	_nCtrlDigitalInput	unsigned short		Controller digital input
2	_nCtrlDigitalOutput	unsigned short		Controller digital output
4	_nCtrlAnalogInput1	unsigned short		Analog input channel 1 value
6	_nCtrlAnalogInput1Type	unsigned short		Analog input 1 type (voltage/current)
8	_nCtrlAnalogInput2	unsigned short		Analog input channel 2 value
10	_nCtrlAnalogInput2Type	unsigned short		Analog input 2 type (voltage/current)
12	_nCtrlAnalogOutput1	unsigned short		Analog output channel 1 value
14	_nCtrlAnalogOutput1Type	unsigned short		Analog output 1 type (voltage/current)
16	_nCtrlAnalogOutput2	unsigned short		Analog output channel 2 value
18	_nCtrlAnalogOutput2Type	unsigned short		Analog output 2 type (voltage/current)
20	_nCtrlToolDigitalInput	unsigned short		Tool digital input
22	_nCtrlToolDigitalOutput	unsigned short		Tool digital output
24	_nGPR	unsigned short[128]		General purpose registers (GPR)
280	_nCtrlMajorVer	unsigned short		Controller major version
282	_nCtrlMinorVer	unsigned short		Controller minor version
284	_nCtrlPatchVer	unsigned short		Controller patch version
286	_nRobotState	unsigned short		Robot state code
288	_nServoOnRobot	unsigned short		Servo ON state
290	_nEmergencyStopped	unsigned short		Emergency stop flag
292	_nSafetyStopped	unsigned short		Safety stop flag
294	_nDirectTeachButtonPressed	unsigned short		Direct teaching button state
296	_nPowerButtonPressed	unsigned short		Power button pressed
298	_nJointPosition[6]	unsigned short[6]		Joint position values
310	_nJointVelocity[6]	unsigned short[6]		Joint velocity values
322	_nJointMotorCurrent[6]	unsigned short[6]		Motor current feedback
334	_nJointMotorTemp[6]	unsigned short[6]		Motor temperature
346	_nJointTorque[6]	unsigned short[6]		Joint torque feedback
358	_nTaskPosition[6]	unsigned short[6]		TCP position
370	_nTaskVelocity[6]	unsigned short[6]		TCP velocity
382	_nToolOffsetLength[6]	unsigned short[6]		Tool offset length
394	_nTaskExternalForce[6]	unsigned short[6]		External force values in task space

Total size: 406 bytes

Defined in: DRFS.h

typedef struct _MONITORING_MBUS_SLAVE_HOILDING_REGISTER
{
    unsigned short  _nCtrlDigitalInput;
    unsigned short  _nCtrlDigitalOutput;
    unsigned short  _nCtrlAnalogInput1;
    unsigned short  _nCtrlAnalogInput1Type;
    unsigned short  _nCtrlAnalogInput2;
    unsigned short  _nCtrlAnalogInput2Type;
    unsigned short  _nCtrlAnalogOutput1;
    unsigned short  _nCtrlAnalogOutput1Type;
    unsigned short  _nCtrlAnalogOutput2;
    unsigned short  _nCtrlAnalogOutput2Type;
    unsigned short  _nCtrlToolDigitalInput;
    unsigned short  _nCtrlToolDigitalOutput;
    unsigned short  _nGPR[128];
    unsigned short  _nCtrlMajorVer;
    unsigned short  _nCtrlMinorVer;
    unsigned short  _nCtrlPatchVer;
    unsigned short  _nRobotState;
    unsigned short  _nServoOnRobot;
    unsigned short  _nEmergencyStopped;
    unsigned short  _nSafetyStopped;
    unsigned short  _nDirectTeachButtonPressed;
    unsigned short  _nPowerButtonPressed;
    unsigned short  _nJointPosition[6];
    unsigned short  _nJointVelocity[6];
    unsigned short  _nJointMotorCurrent[6];
    unsigned short  _nJointMotorTemp[6];
    unsigned short  _nJointTorque[6];
    unsigned short  _nTaskPosition[6];
    unsigned short  _nTaskVelocity[6];
    unsigned short  _nToolOffsetLength[6];
    unsigned short  _nTaskExternalForce[6];

} MONITORING_MBUS_SLAVE_HOILDING_REGISTER;