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RI FB/i Automation V1.0

Fronius RI FB/i Automation V1.0 Operating Instruction [EN]

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Operating Instructions
RI FB/i Automation V1.0 RI MOD/i CC Powerlink RI MOD/i CC ProfiNet IO-2P RI MOD/i CC Modbus TCP-2P
EN-US
42,0426,0231,EA 016-27092022
Table of contents
General 5
Safety 5 Device Concept 5 Block diagram 6 Scope of supply 6 Required Tools and Materials 6 Installation Requirements 6
Connection Sockets and Indicators on the Robot Interface 7
Connections on the Robot Interface 7 LEDs on Robot Interface PCB 7 LEDs for Power Supply Diagnosis 8 LEDs for Network Connection Diagnosis 9
Connections and indicators on the bus module - Powerlink 10
Connections and indicators 10
Connections and indicators on the bus module - ProfiNet IO-2P 12
Connections and indicators on RJ 45 module 12
Connections and indicators on the bus module - Modbus TCP-2P 14
Connections and indicators on RJ 45 module 14
Powerlink technical data 16
Environmental Conditions 16 Robot Interface Technical Data 16 Data transfer properties 16 Configuration parameters 16
ProfiNet IO-2P technical data 18
Environmental Conditions 18 Robot Interface Technical Data 18 Data transfer properties 18 Configuration parameters 18
Modbus TCP-2P technical data 20
Environmental Conditions 20 Robot Interface Technical Data 20 Data transfer properties 20 Configuration parameters 20
Configuring the robot interface - Powerlink 22
General 22 Setting the process image 22 Setting the node address with dip switch(example) 22 Configure node address 23
Configuring the robot interface - ProfiNet IO-2P 24
General 24 Setting the process image 24 Setting the node address with dip switch(example) 24 IP Settings 25
Configuring the robot interface - Modbus TCP-2P 26
General 26 Setting the process image 26 Setting the IP address 26
Installing the Robot Interface 28
Safety 28 Preparation 28 Routing the Data Cable 29 Installing the Robot Interface 30 Final Tasks 30
Installing the Bus Module 31
Safety 31 Installing the Bus Module 31
Input and output signals - standard image Automation V1.0 32
Data types 32 Availability of input signals 32 Input signals (from robot to power source) 32
EN-US
3
Value range for Working mode 39 Value Range for TWIN Mode 40 Value range for Documentation mode 40 Availability of the output signals 41 Output signals (from power source to robot) 41 Assignment of Sensor Statuses 1–4 46 Value range for Function status 46 Value range Safety status 46 Value Range for Process Bit 46 TAG Table 47 Value range for TAG number 1 (Cooling unit mode) 49 Value range for TAG number 11 (Arc break monitoring) 49 Value range for TAG number 35 (Language) 49 Value range for TAG number 36 (Unit - metric/imperial) 50 Value range for TAG number 37 (Welding standard - AWS/EU) 50
Input and output signals Weldcom V2.0 51
Data types 51 Input Signals 51 Value range Process line selection 54 Value Range for TWIN Mode 54 Value Range for Documentation mode 55 Value range for Working mode 55 Value Range for Command value selection 55 Output Signals 56 Value range for welding process and process image 58 Assignment of Sensor Statuses 1–4 59 Value range Safety status 59 TAG table 59
Input and output signals - retrofit image Weldcom TPS series 62
Input signals 62 Value Range for Operating Mode 64 Output signals 65 TAG Table 66
Modbus – General Information 68
Protocol Description 68 Data Coding 68 Application Data Unit (ADU) 69
Modbus Functions 70
03 (03) Read Holding Register 70 06 (06) Write Single Register 71 16 (10) Write Multiple Register 73 23 (17) Read/Write Multiple Register 75 103 (67) Read Holding Register Float 76 104 (68) Write Single Register Float 77
4
General
(3)(1) (2) (5)(4)
Robot Control
(6) (7) (8)
EN-US
Safety
WARNING!
Danger from incorrect operation and work that is not carried out properly.
This can result in serious personal injury and damage to property.
All the work and functions described in this document must only be carried
▶
out by technically trained and qualified personnel. Read and understand this document in full.
▶
Read and understand all safety rules and user documentation for this equip-
▶
ment and all system components.
WARNING!
Danger from electrical current.
This can result in serious personal injury and damage to property.
Before starting work, switch off all the devices and components involved and
▶
disconnect them from the grid. Secure all devices and components involved so they cannot be switched back
▶
on.
WARNING!
Danger from unplanned signal transmission.
This can result in serious personal injury and damage to property.
Do not transfer safety signals via the interface.
▶
Device Concept The robot interface serves as an interface between the power source and stand-
ardized bus modules supporting a wide range of communication protocols. Fronius may factory-fit the robot interface in the power source but it can also be retrofitted by appropriately trained and qualified personnel.
(1) Robot control system
(2) SpeedNet data cable
(3) Robot interface
5
Block diagram
Spider NT241
RI FB/i Automation V1.0
Data
24 V
Module
(1)
(2)
(3)
(4) Power source
(5) Cooling unit
(6) Interconnecting hosepack
(7) Wirefeeder
(8) Robot
Scope of supply
Required Tools and Materials
Screwdriver TX8
-
Screwdriver TX20
-
Screwdriver TX25
-
Diagonal cutting pliers
-
(1) RI FB/i Automation V1.0
(2) Data cable
4-pin
(3) 2x cable ties
(4) These Operating Instructions
(not pictured)
Installation Re­quirements
The robot interface may only be installed in the designated opening on the rear of the power source.
6
Connection Sockets and Indicators on the Robot
(2) (3)
(1)
(14)
(13)
(12)
(11)
(2)
(1)
(9)
(10)
(8)
(7)
(3) (4)
(5) (6)
Interface
Connections on the Robot Inter­face
LEDs on Robot Interface PCB
EN-US
(1) Power supply connection
2-pin
(2) SpeedNet data cableconnec-
tion 4-pin
(3) Bus module connection
7
(1) ETH1 LED Green For diagnosing the network connec-
tion.
(2) ETH2 LED Orange
For details, see section below titled "LEDs for Network Connection Dia­gnosis"
(3) LED 3 Green
(4) LED 4 Green
(5) LED 5 Green
(6) LED 6 Red
(7) +3V3 LED Green For diagnosing the power supply.
(8) +24V LED Green
(9) DIG OUT 2 LED Green
(10) DIG OUT 1 LED Green
(11) LED 11 Green
No function
Flashes at 4 Hz = No SpeedNet
-
connection Flashes at 20 Hz = Establishing
-
SpeedNet connection Flashes at 1 Hz = SpeedNet con-
-
nection established
Lights up when an internal error oc­curs. Remedy: Restart the robot interface. If this does not resolve the issue, in­form the service team.
For details, see section below titled "LEDs for Power Supply Diagnosis"
Digital output 2. LED lights up when active
Digital output 1. LED lights up when active
LEDs for Power Supply Diagnosis
(12) LED 12 Green
(13) LED 13 Green
(14) LED 14 Green
LED Indicat-orMeaning Cause
Off
+24V
Lights up
Off
+3V3
Lights up
No supply voltage available for interface
24 VDC supply voltage present on robot interface
No operating voltage present on robot interface
3 VDC operating voltage present on robot interface
No function
Robot interface power
-
supply not established Power supply cable
-
faulty
24 VDC supply voltage
-
not present Robot interface power
-
supply unit is faulty
8
LEDs for Net­work Connection Diagnosis
LED Indicat-orMeaning Cause
No network connection
-
established for inter­face Network cable faulty
-
ETH1
Off No network connection
Lights up
Flashes Data transfer in progress
Network connection estab­lished
EN-US
ETH2
Off
Lights up
Transmission speed 10 Mbit/s
Transmission speed 100 Mbit/s
9
Connections and indicators on the bus module -
(12)(11)(10)
(14)(13)
(9)
(1)
(2)
(3)
(4)
(5)
(6)
(7)
(8)
Powerlink
Connections and indicators
(1) TX+
(2) TX-
(3) RX+
(6) RX-
(4) Not normally used; to ensure
(5)
(7)
(8)
(9) Connection/activity at con-
(10) LED Error (network status)
(11) RJ45 connection 2
(12) RJ45 connection 1
(13) Connection/activity at connection 1 LED
(14) LED Status (module status)
signal completeness, these pins must be interconnected and, after passing through a filter circuit, must terminate at the ground conductor (PE).
nection 2 LED
LED Status (module status)
Status Meaning
Off Not initialized / not active
Flashes green quickly
Flashes green (once) NMT_CS_PRE_OPERATIONAL_1
Flashes green (twice) NMT_CS_PRE_OPERATIONAL_2
Flashes green (three times)
Lights up green NMT_CS_OPERATIONAL
NMT_CS_BASIC_ETHERNET No data traffic
Asynchronous data only
Asynchronous and synchronous data. No PDO data: all process data are invalid. Received data are ignored.
NMT_CS_READY_TO_OPERATE Ready for operation. Asynchronous and synchronous data. No PDO data: all process data are invalid. Received data are ignored.
Normal operation. Asynchronous and synchronous data. PDO data are received and sent.
10
LED Status (module status)
Status Meaning
Flashes green slowly NMT_CS_STOPPED
Module stopped (for example, for decommissioning) Asynchronous and synchronous data. No PDO data: all process data are invalid. Received data are ignored.
Lights up red Exception state, serious fault, etc.
LED Error (network status)
Status Meaning
Off No error
Lights up red Exception state, serious fault, etc.
Lights up Error
Connection/activityLED
Status Meaning
Off No connection
Lights up red Connection established, no data traffic
EN-US
Lights up Connection established, data traffic present
11
Connections and indicators on the bus module -
(12)(11)(10)
(14)(13)
(9)
(1)
(2)
(3)
(4)
(5)
(6)
(7)
(8)
ProfiNet IO-2P
Connections and indicators on RJ 45 module
(1) TX+
(2) TX-
(3) RX+
(6) RX-
(4) Not normally used; to ensure
(5)
(7)
(8)
(9) Connection/activity LED,
(10) MS LED (module status)
(11) RJ-45 Ethernet connection 2
(12) RJ-45 Ethernet connection 1
(13) Connection/activity LED, connection 1
(14) NS LED (network status)
signal completeness, these pins must be interconnected and, after passing through a filter circuit, must terminate at the ground conductor (PE).
connection 2
Network Status LED
Status Meaning
Off Offline; no power supply or no connection with IO Con-
troller
Lights up green Online (RUN); connection with IO Controller estab-
lished, IO Controller in operation
Flashes green (once) Online (STOP); connection with IO Controller estab-
lished, IO Controller not in operation, IO data defect­ive, IRT synchronization not ready
Flashes green (per­manently)
Lights up red The module has identified a serious internal fault
Flashes red (once) Station name not set
Flashes red (twice) IP address not set
Flashes red (three times)
Module Status LED
In use by engineering tools in order to identify network nodes
Configuration error; expected identification does not match the actual identification
12
Status Meaning
Off No supply voltage or
module in the setup or initialization mode
Module Status LED
Status Meaning
Lights up green Normal operation
Flashes green (once) Diagnosis process running
Lights up red Emergency situation, serious fault, etc.
EN-US
Lights up green and red alternately
Connection/Activity LED
Status Meaning
Off No connection, no activity
Lights up green Connection established, no activity
Flickers green Connection established, activity present
Firmware update. Do not disconnect the module from the power supply during the update—this could result in damage to the module.
13
Connections and indicators on the bus module -
(12)(11)(10)
(14)(13)
(9)
(1)
(2)
(3)
(4)
(5)
(6)
(7)
(8)
Modbus TCP-2P
Connections and indicators on RJ 45 module
(11) RJ-45 Ethernet connection 2
(12) RJ-45 Ethernet connection 1
(13) Link/Activity LED 1
(14) Network status LED
(1) TX+
(2) TX-
(3) RX+
(6) RX-
(4) Not normally used; to ensure
(5)
(7)
(8)
(9) Link/Activity LED 2
(10) Module status LED
signal completeness, these pins must be interconnected and, after passing through a filter circuit, must terminate at the ground conductor (PE).
Network Status LED:
Status Meaning
Off No IP address or exception state
Lights up green At least one Modbus message received
Flashes green Waiting for first Modbus message
Lights up red IP address conflict, serious error
Flashes red Connection timeout. No Modbus message was received
within the period defined for the "Process active timeout"
Module Status LED:
Status Meaning
Off No supply voltage
Lights up green Normal operation
Lights up red Major error (exception state, serious fault, etc.)
Flashes red Minor error
Alternates between red and green
Firmware update in progress
14
Link/Activity LED:
Status Meaning
Off No connection, no activity
Lights up green Connection established (100 Mbit/s)
Flickers green Activity (100 Mbit/s)
Lights up yellow Connection established (10 Mbit/s)
Flickers yellow Activity (10 Mbit/s)
EN-US
15
Powerlink technical data
Environmental Conditions
Robot Interface Technical Data
CAUTION!
A risk is posed by prohibited environmental conditions.
This can result in severe damage to equipment.
Only store and operate the device under the following environmental condi-
▶
tions.
Temperature range of ambient air:
During operation: -10 °C to +40 °C (14 °F to 104 °F)
-
During transport and storage: -20 °C to +55 °C (-4 °F to 131 °F)
-
Relative humidity:
Up to 50% at 40 °C (104 °F)
-
Up to 90% at 20 °C (68 °F)
-
Ambient air: free of dust, acids, corrosive gases or substances, etc.
Altitude above sea level: up to 2000 m (6500 ft).
Power supply Internal (24 V)
Degree of protection IP 23
Data transfer properties
Configuration parameters
Transfer technology:
Ethernet
Medium:
When selecting the cable, plug, and terminating resistors, the Powerlink as­sembly guideline for the planning and installation of Powerlink systems must be observed.
Transmission speed:
100 Mbit/s, half duplex mode
Bus connection:
Ethernet RJ45
In some robot control systems, it may be necessary to state the configuration parameters described here so that the bus module can communicate with the ro­bot.
Parameter Value
Vendor-ID 000002C1
Product-Code 00010341
hex
hex
16
Manufacture Device Name Fronius FB-Automation-1-0-Powerlink
Parameter Value
Device Type 0000000C
hex
Manufacturer Name Fronius International GmbH
EN-US
17
ProfiNet IO-2P technical data
Environmental Conditions
Robot Interface Technical Data
CAUTION!
A risk is posed by prohibited environmental conditions.
This can result in severe damage to equipment.
Only store and operate the device under the following environmental condi-
▶
tions.
Temperature range of ambient air:
During operation: -10 °C to +40 °C (14 °F to 104 °F)
-
During transport and storage: -20 °C to +55 °C (-4 °F to 131 °F)
-
Relative humidity:
Up to 50% at 40 °C (104 °F)
-
Up to 90% at 20 °C (68 °F)
-
Ambient air: free of dust, acids, corrosive gases or substances, etc.
Altitude above sea level: up to 2000 m (6500 ft).
Power supply Internal (24 V)
Degree of protection IP 23
Data transfer properties
Configuration parameters
Transfer technology:
Ethernet
Medium:
When selecting the cable, plug, and terminating resistors, the Profinet as­sembly guideline for the planning and installation of Profinet systems must be observed.
The EMC tests were carried out by the manufacturer with the cable IEC-C5D­D4UGG0150A20A20-E.
Transmission speed:
100 Mbit/s, full duplex mode
Bus connection:
Ethernet RJ45/SCRJ (fiber optic)
In some robot control systems, it may be necessary to state the configuration parameters described here so that the bus module can communicate with the ro­bot.
Parameter Value
18
Device ID 0341
hex
(833
) Fronius ProfiNet IO 2-port
dec
Parameter Value
Vendor ID 01B0
hex
(432
) Fronius International GmbH
dec
Station Type fronius-fb-automation-1-0-pn
The following parameters provide detailed information about the bus module. The ProfiNet master can access the data using acyclic read/write services.
Parameter Value
IM Manufacturer ID 01B0
hex
(432
) Fronius International GmbH
dec
IM Order ID 4.044.034
IM Revision Counter 0000
IM Profile ID F600
IM Profile Specific Type 0004
IM Version 0101
IM Supported 0000
hex
hex
hex
hex
hex
(257
(0
)
dec
(62976
(4
(0
dec
) No profile
dec
)
dec
) IM0 supported
dec
) Generic Device
EN-US
19
Modbus TCP-2P technical data
Environmental Conditions
Robot Interface Technical Data
CAUTION!
A risk is posed by prohibited environmental conditions.
This can result in severe damage to equipment.
Only store and operate the device under the following environmental condi-
▶
tions.
Temperature range of ambient air:
During operation: -10 °C to +40 °C (14 °F to 104 °F)
-
During transport and storage: -20 °C to +55 °C (-4 °F to 131 °F)
-
Relative humidity:
Up to 50% at 40 °C (104 °F)
-
Up to 90% at 20 °C (68 °F)
-
Ambient air: free of dust, acids, corrosive gases or substances, etc.
Altitude above sea level: up to 2000 m (6500 ft).
Power supply Internal (24 V)
Degree of protection IP 23
Data transfer properties
Configuration parameters
RJ45 connection
Transmission technology: Ethernet
Medium: (4 x 2 twisted-pair copper cable)
Transmission speed: 10 Mbit/s or 100 Mbit/s
Bus connection: RJ45 Ethernet
In some robot control systems, it may be necessary to state the configuration parameters described here so that the bus module can communicate with the ro­bot.
Parameter Value
Vendor Name Fronius International GmbH
Product Code 0303
Vendor URL www.fronius.com
Product Name fronius-fb-automation-1-0-modbus-tcp
hex
(771
dec
)
Category 3 (10 Mbit/s)
Category 5 (100 Mbit/s)
20
Model Name Fronius Modbus TCP
Parameter Value
User Application Name
Fronius welding controller for the TPS/i with Fronius Automation 1.0
EN-US
21
Configuring the robot interface - Powerlink
(1)
(2)
General
The DIP switch on the robot interface is used to configure:
The process image (standard im-
-
age) The node address
-
Default setting for process image: Positions 7 and 8 of DIP switch set to OFF (1) = standard image = Automa­tion V1.0
Default setting for node address =
192.168.010.000: Positions 6, 5, 3, and 1 of DIP
-
switch set to OFF (1) Positions 2 and 4 of DIP switch set
-
to ON (2)
NOTE!
Whenever changes are made to the DIP switch settings, the interface must be restarted in order for the changes to take effect.
(Re-start = disconnect and reconnect the power supply or execute the corresponding function on the power source website)
Setting the pro­cess image
Setting the node address with dip switch (example)
Dip switch
8 7 6 5 4 3 2 1 Configuration
OFF OFF
- - - - - - Standard image (Automation V1.0)
OFF ON
ON OFF
ON ON
- - - - - - Not used
- - - - - - Not used
- - - - - - Not used
Dip switch
8 7 6 5 4 3 2 1 Node address
- -
- -
- -
- -
OFF OFF OFF OFF OFF ON
OFF OFF OFF OFF ON OFF
OFF OFF OFF OFF ON ON
ON ON ON ON ON OFF
1
2
3
62
22
The node address is set with positions 1 to 6 of the dip switch. The configuration is carried out in binary format. This results in a configuration range of 1 to 63 in decimal format.
Configure node address
Upon delivery the configured node address is 0. The node address can be con­figured in two ways:
Node addresses in the range of 1 to 63 can be configured with the dip switch.
-
If node address 0 is kept on the dip switch, the node addresses in the range
-
of 1 to 63 can also be configured with the following configuration tools:
the website of the power source
-
NOTE!
If the node address is set to higher than 0 with the dip switch, the relevant node address will be configured to the range of 1 to 63 after restarting the robot in­terface.
A node address that has been previously configured by a configuration tool will be overwritten.
NOTE!
If configurations have already been made, the network configurations can be restored to factory settings in two ways:
set all dip switches back to 0 and restart interface
▶
or with the button Restore factory settings on the website of the power source
▶
EN-US
23
Configuring the robot interface - ProfiNet IO-2P
(1)
(2)
General
The DIP switch on the robot interface is used to configure:
The process image
-
The IP address
-
Default setting for process image: Positions 7 and 8 of DIP switch set to OFF (1) = standard image = Automa­tion V1.0
NOTE!
Whenever changes are made to the DIP switch settings, the interface must be restarted in order for the changes to take effect.
(Re-start = disconnect and reconnect the power supply or execute the corresponding function on the power source website)
Setting the pro­cess image
Setting the node address with dip switch (example)
Dip switch
8 7 6 5 4 3 2 1 Configuration
OFF OFF
- - - - - - Standard image (Automation V1.0)
OFF ON
ON OFF
ON ON
- - - - - - Not used
- - - - - - Not used
- - - - - - Not used
The process image defines the volume of data transferred and the system com­patibility.
Dip switch
8 7 6 5 4 3 2 1 Node address
- -
- -
- -
OFF OFF OFF OFF OFF ON
OFF OFF OFF OFF ON OFF
OFF OFF OFF OFF ON ON
1
2
3
24
- -
ON ON ON ON ON OFF
62
The node address is set with positions 1 to 6 of the dip switch. The configuration is carried out in binary format. This results in a configuration range of 1 to 63 in decimal format.
IP Settings Node address 0 is set via the DIP switch on delivery. This corresponds to the fol-
lowing IP settings:
IP address: 0.0.0.0
-
Subnet mask: 0.0.0.0
-
Default gateway: 0.0.0.0
-
In the case of ProfiNet, the assignment of the IP address, the subnet mask, and the default gateway is carried out by the master. A device name is also assigned to the interface by the master. As soon as the master has applied all the settings on the interface, the IP ad­dress that was set using the dip‑switch is no longer valid. The communication takes place via the IP address assigned by the master.
As long as the interface is not connected to a master, the IP settings can be set in the following ways:
Using the DIP switch within the range defined by 192.168.0.xx
-
(xx = DIP switch setting = 1 to 63) If the dip switch is set to 0, using the following configuration tools:
-
Using the website of the power source
-
EN-US
NOTE!
If configurations have already been made, the network configurations can be restored to factory settings in two ways:
set all dip switches back to 0 and restart interface
▶
or with the button Restore factory settings on the website of the power source
▶
25
Configuring the robot interface - Modbus TCP-2P
(1)
(2)
General
The DIP switch on the robot interface is used to configure:
The process image (standard im-
-
age) The IP address
-
Default setting for process image: Positions 7 and 8 of DIP switch set to OFF (1) = standard image = Automa­tion V1.0
Default setting for IP address =
192.168.255.200: Positions 6, 5, 3, and 1 of DIP
-
switch set to OFF (1) Positions 2 and 4 of DIP switch set
-
to ON (2)
NOTE!
Whenever changes are made to the DIP switch settings, the interface must be restarted in order for the changes to take effect.
(Re-start = disconnect and reconnect the power supply or execute the corresponding function on the power source website)
Setting the pro­cess image
Setting the IP address
Dip switch
8 7 6 5 4 3 2 1 Configuration
OFF OFF
- - - - - - Standard image (Weldcom V2.0)
OFF ON
ON OFF
- - - - - - Not used
- - - - - - Retrofit image (Weldcom TPS series)
ON ON
- - - - - - Not used
The process image defines the volume of data transferred and the system com­patibility.
You can set the IP address as follows:
Via the DIP switches within the range defined by 192.168.255.200
-
(xx = DIP switch setting = 01 to 55)
Dip switch
8 7 6 5 4 3 2 1 IP address
- -
OFF OFF OFF OFF OFF ON
192.168.255.201
26
Dip switch
8 7 6 5 4 3 2 1 IP address
- -
OFF OFF OFF OFF ON OFF
192.168.255.202
:
- -
ON ON OFF ON ON OFF
192.168.255.254
EN-US
- -
ON ON OFF ON ON ON
192.168.255.255
The IP address can be set via positions 1 to 6 of the DIP switch. The configuration is carried out in binary format. In decimal format, the setting range is 01 through 55.
27
Installing the Robot Interface
Safety
Preparation
WARNING!
Electrical current hazard.
This can result in serious injuries or death.
Before starting work, switch off all the devices and components involved and
▶
disconnect them from the grid. Secure all the devices and components involved to prevent unintentional re-
▶
starting. After opening the device, use a suitable measuring instrument to check that
▶
electrically charged components (such as capacitors) have been discharged.
WARNING!
Electrical current hazard caused by an inadequate ground conductor connec­tion.
This can result in severe personal injury and damage to property.
Always use the original housing screws in the original quantity.
▶
1 2
28
3 4
5
EN-US
Routing the Data Cable
1 2
3
29
Installing the Robot Interface
1 2
Final Tasks
1 2
30
Installing the Bus Module
EN-US
Safety
Installing the Bus Module
WARNING!
Danger from electrical current.
Serious injuries or death may result.
Before starting work, switch off all devices and components involved, and
▶
disconnect them from the grid. Secure all devices and components involved so that they cannot be switched
▶
back on.
WARNING!
Danger from electrical current due to inadequate ground conductor connection.
Serious personal injury and property damage may result.
Always use the original housing screws in the quantity initially supplied.
▶
1 2
3
31
Input and output signals - standard image Auto­mation V1.0
Data types The following data types are used:
UINT16 (Unsigned Integer)
-
Whole number in the range from 0 to 65535 SINT16 (Signed Integer)
-
Whole number in the range from -32768 to 32767
Conversion examples:
for a positive value (SINT16)
-
e.g. desired wire speed x factor
12.3 m/min x 100 = 1230
for a negative value (SINT16)
-
e.g. arc correction x factor
-6.4 x 10 = -64
= FFC0
dec
= 04CE
dec
hex
hex
Availability of in­put signals
Input signals (from robot to power source)
The input signals listed below are available from firmware V3.2.30 of the TPS/i power source.
32
Address
Relative Absolute
BIT
WORD
BYTE
BIT
0 0 Welding Start
1 1 Robot ready High
2 2 Working mode Bit 0 High
3 3 Working mode Bit 1 High
0
4 4 Working mode Bit 2 High
5 5 Working mode Bit 3 High
6 6 Working mode Bit 4 High
7 7 —
Signal
Activity/
data type
Increas-
ing
Range
See table Value range for
Working mode on page
39
Factor
EN-US
0
0 8 Gas on
1 9 Wire forward
2 10 Wire backward
1
3 11 Error quit
4 12 Touch sensing High
5 13 Torch blow out
6 14 Processline selection Bit 0 High
7 15 Processline selection Bit 1 High
Increas-
ing
Increas-
ing
Increas-
ing
Increas-
ing
Increas-
ing
33
Address
Relative Absolute
BIT
WORD
BYTE
BIT
0 16 Welding simulation High
1 17 Synchro pulse on High
2 18 SFI on High
3 19 —
2
4 20 —
5 21 Booster manual High
6 22 Wire brake on High
7 23 Torchbody Xchange High
Signal
Activity/
data type
Range
Factor
1
0 24 —
1 25 Teach mode High
2 26 Valve on High
3 27 —
4 28 —
3
5 29 Wire sense start
6 30 Wire sense break
7 31 —
0 32 TWIN mode bit 0 High See table Value Range
1 33 TWIN mode bit 1 High
2 34 —
3 35 —
4 36 —
4
5 37 Documentation mode High
Increas-
ing
Increas-
ing
for TWIN Mode on page
See table Value range for
Documentation mode on
page 40
40
34
6 38 —
2
7 39 —
0 40 —
1 41 —
2 42 —
3 43 —
5
4 44 —
5 45 —
6 46 —
7 47 —
Address
Relative Absolute
BIT
WORD
BYTE
BIT
0 48 —
1 49 —
2 50 —
3 51 —
6
4 52 —
5 53 —
6 54 —
Signal
EN-US
Activity/
data type
Range
Factor
3
4
10,
5
11
7 55 —
0 56 ExtInput1 => OPT_Output 1 High
1 57 ExtInput2 => OPT_Output 2 High
2 58 ExtInput3 => OPT_Output 3 High
3 59 ExtInput4 => OPT_Output 4 High
7
4 60 ExtInput5 => OPT_Output 5 High
5 61 ExtInput6 => OPT_Output 6 High
6 62 ExtInput7 => OPT_Output 7 High
7 63 ExtInput8 => OPT_Output 8 High
8 0–7 64–71
9 0–7 72–79
0–7 80–95
Welding characteristic- / Job number
For the welding processes MIG/MAG pulse synergic, MIG/MAG standard synergic, MIG/MAG standard manual, MIG/MAG PMC, MIG/MAG LSC, CMT, ConstantWire:
Wire feed speed command value
UINT16 0 to 65535 1
SINT16
-327.68 to 327.67 [m/min]
100
For job mode:
Power correction
SINT16
-20.00 to 20.00 [%]
100
35
Address
Relative Absolute
BIT
WORD
BYTE
BIT
Signal
For the welding processes MIG/MAG pulse synergic, MIG/MAG standard synergic, MIG/MAG PMC, MIG/MAG LSC, CMT:
Arclength correction
Activity/
data type
SINT16
Range
-10.0 to 10.0 [steps]
Factor
10
12,
6
7
0–7 96–111
13
14,
0–7 112–127
15
For the welding process MIG/MAG standard manual:
Welding voltage
For job mode:
Arclength correction
For the welding process Con­stantWire:
Hotwire current
For the welding processes MIG/MAG pulse synergic, MIG/MAG standard synergic, MIG/MAG PMC, MIG/MAG LSC, CMT:
Pulse-/dynamic correction
For the welding process MIG/MAG standard manual:
Dynamic
UINT16
SINT16
UINT16
SINT16
UINT16
0.0 to 6553.5 [V]
-10.0 to 10.0 [steps]
0.0 to 6553.5 [A]
-10.0 to 10.0 [steps]
0.0 to 10.0 [steps]
10
10
10
10
10
36
16 0–7 128–135
8
17 0–7 136–143
18 0–7 144–151
9
19 0–7 152–159
20 0–7 160–167
10
21 0–7 168–175
22 0–7 176–183
11
23 0–7 184–191
24 0–7 192–199
12
25 0–7 200–207
26 0–7 208–215
13
27 0–7 216–223
Wire retract correction UINT16 0.0 to 10.0 10
Welding speed UINT 16
—
—
—
—
0 to 6553.5
[cm/min]
10
Address
Relative Absolute
BIT
WORD
BYTE
BIT
28 0–7 224–231
14
29 0–7 232–239
Signal
—
Activity/
data type
Range
EN-US
Factor
30 0–7 240–247
15
31 0–7 248–255
32 0–7 256–263
16
33 0–7 264–271
34 0–7 272–279
17
35 0–7 280–287
36 0–7 288–295
18
37 0–7 296–303
38 0–7 304–311
19
39 0–7 312–319
0 320 Disable Start-End-Parameter High
1 321 Disable SFI-Parameter High
2 322 Disable SP-Parameter High
3 323 Disable Process-Mix-Parameter High
4 324 Disable gas-settings High
40
5 325
Wire forward / backward length UINT16
Wire sense edge detection UINT16
—
—
Seam number UINT16 0 to 65535 1
Disable components setup (TAG)
High
OFF / 1 to
65535[mm]
OFF / 0.5 to 20
[mm]
10
1
20
41
6 326
7 327
0 328
1 329 —
2 330 —
3 331 —
4 332
5 333
6 334
7 335 CMT cycle step High
Disable Language/Units/Stand­ards (TAG)
Disable Penetration/Arclength­stabilizer
Disable CMT cycle step para­meter
Contact tip short circuit detec­tion
Pulse synchronization ratio Bit 0
Pulse synchronization ratio Bit 1
High
High
High
High
High
High
37
Address
Relative Absolute
BIT
WORD
BYTE
BIT
0 336 Command value selection Bit 0 High
1 337 —
2 338 Enable resistance overwrite High
Signal
Activity/
data type
Range
Factor
42
21
43 0 344–351 —
44 0–7 352–359
22
45 0–7 360–367
46 0–7 368–375
23
47 0–7 376–383
48 0–7 384–391 TAG Command 1 UINT 8 1 to 2 1
24
49 0–7 392–399 —
50 0–7 400–407
25
51 0–7 408–415
52 0–7 416–423
26
53 0–7 424–431
54 0–7 432–439 TAG Command 2 UINT 8 1 to 2 1
27
55 0–7 440–447 —
3 339 Set resistance value High
4 340 Enable inductance overwrite High
5 341 Set inductance value High
6 342 —
7 343 —
TAG Address 1 UINT 16 0 to 65535 1
TAG Value 1 UINT 16 0 to 65535 1
TAG Address 2 UINT 16 0 to 65535 1
TAG Value 2 UINT 16 0 to 65535 1
56 0–7 448–455
28
57 0–7 456–463
58 0–7 464–471
29
59 0–7 472–479
60 0–7 480–487
30
61 0–7 488–495
62 0–7 496–503
31
63 0–7 504–511
64 0–7 512–519
32
65 0–7 520–527
66 0–7 528–535
33
67 0–7 536–543
68 0–7 544–551
34
69 0–7 552–559
Command value gas UINT 16
S2T-Starting current UINT 16
S2T-Starting current time UINT 16
S2T End current UINT 16
S2T End current time UINT 16
PM High power time corr. SINT 16 -10 to +10 10
PM Low power time corr. SINT 16 -10 to +10 10
5 to 30
[l/min]
0 to 200
[%]
Off (0.0)/
0.1 to 10.0
[s]
0 to 200
[%]
Off (0.0)/
0.1 to 10.0
[s]
10
1
10
1
10
38
Address
Relative Absolute
BIT
WORD
BYTE
BIT
70 0–7 560–567
35
71 0–7 568–575
Signal
PM Low power corr. SINT 16 -10 to +10 10
Activity/
data type
Range
EN-US
Factor
72 0–7 576–583
36
73 0–7 584–591
74 0–7 592–599
37
75 0–7 600–607
76 0–7 608–615
38
77 0–7 616–623
78 0–7 624–631
39
79 0–7 632–639
80 0–7 640–647
40
81 0–7 648–655
82 0–7 656–663
41
83 0–7 664–671
84 0–7 672–679 Phase shift Lead / Trail UINT 8
42
85 0–7 680–687 Ignition delay Trail UINT 8
86 0–7 688–695
43
87 0–7 696–703
CMT Cycle Step - Cycles (Spot size)
CMT Cycle Step - Interval break time
CMT Cycle Step - Interval cycles
Spot welding time SINT 16
Penetration stabilizer SINT 16 0.0 to 5 10
Arc length stabilizer SINT 16 0.0 to 5 10
—
SINT 16 1 to 2000 1
SINT 16
SINT 16
0.01 to 2.00 [s]
Permanent/1 to
2000
0.1 to 10 [s]
Auto/0 to 95
[s]
Auto/Off/0.00 to
2.00 [s]
10
100
1
1
1
88 0–7 704–711
44
89 0–7 712–719
90 0–7 720–727
45
91 0–7 728–735
92 0–7 736–743
46
93 0–7 744–751
94 0–7 752–759
47
95 0–7 760–767
Value range for Working mode
—
—
Resistance UINT 16
Inductance UINT 16
Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Description
0 0 0 0 0 Internal welding parameter selection
0 0 0 0 1 Special 2-step mode characteristics
0 0 0 1 0 Job mode
0 1 0 0 0 2-step mode characteristics
0 to +400
[mOhm]
0 to +250
[microhenries]
10
10
39
Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Description
0 1 0 0 1 MIG/MAG standard manual
1 0 0 0 0 Disable Booster
1 1 0 0 0 R/L measurement
1 1 0 0 1 R/L alignment
Value range for operating mode
Value Range for TWIN Mode
Value range for Documentation mode
Bit 1 Bit 0 Description
0 0 TWIN Single mode
0 1 TWIN Lead mode
1 0 TWIN Trail mode
1 1 Reserved
Value range for TWIN mode
Bit 0 Documentation generator
0 Power source
1 Robot (Word 19)
Value range for documentation mode
40
Availability of the output sig­nals
Output signals (from power source to robot)
Address
Relative Absolute
WORD
BYTE
BIT
0 0 Heartbeat Powersource
1 1 Power source ready High
2 2 Warning High
3 3 Process active High
0
4 4 Current flow High
The output signals listed below are available from firmware V3.2.30 of the TPS/i power source.
BIT
Signal
Activity/
High /
Low
data type
Range
EN-US
Factor
5 5 Arc stable- / touch signal High
6 6 Main current signal High
0
7 7 Touch signal High
0 8 Collisionbox active Low
1 9 Robot Motion Release High
2 10 Wire stick workpiece High
3 11 —
1
4 12 Short circuit contact tip High
5 13 Parameter selection internally High
6 14 Characteristic number valid High
7 15 Torch body gripped High
0 = collision or
cable break
41
Address
Relative Absolute
BIT
WORD
BYTE
BIT
0 16 Command value out of range High
1 17 Correction out of range High
2 18 —
3 19 Limit Signal High
2
4 20 —
5 21 Standby active High
6 22 Main supply status Low
Signal
Activity/
data type
Range
Factor
1
7 23 —
0 24 Sensor status 1 High
1 25 Sensor status 2 High
2 26 Sensor status 3 High
3 27 Sensor status 4 High
3
4 28 —
5 29 —
6 30 —
7 31 —
0 32 Function status Bit 0 High See table Value range for
1 33 Function status Bit 1 High
2 34 —
3 35 Safety status Bit 0 High See table Value range
4
4 36 Safety status Bit 1 High
5 37 —
6 38 Notification High
See table Assignment of
Sensor Statuses 1–4 on
page 46
Function status on page
46
Safety status on page
46
42
2
7 39 System not ready High
0 40 —
1 41 —
2 42 —
3 43 —
5
4 44 —
5 45 —
6 46 —
7 47 —
Address
Relative Absolute
BIT
WORD
BYTE
BIT
0 48 Process Bit 0 High
Signal
EN-US
Activity/
data type
Range
Factor
1 49 Process Bit 1 High
2 50 Process Bit 2 High
3 51 Process Bit 3 High
6
4 52 Process Bit 4 High
5 53 —
6 54 Gas nozzle touched High
7 55 TWIN synchronisation active High
3
0 56 ExtOutput1 <= OPT_Input1 High
1 57 ExtOutput2 <= OPT_Input2 High
2 58 ExtOutput3 <= OPT_Input3 High
3 59 ExtOutput4 <= OPT_Input4 High
7
4 60 ExtOutput5 <= OPT_Input5 High
5 61 ExtOutput6 <= OPT_Input6 High
6 62 ExtOutput7 <= OPT_Input7 High
7 63 ExtOutput8 <= OPT_Input8 High
8 0–7 64–71
4
9 0–7 72–79
See table Value Range
for Process Bit on page
46
Welding voltage UINT16 0.0 to 327.67 [V] 100
10 0–7 80–87
5
11 0–7 88–95
12 0–7 96–103
6
13 0–7 104–111
14 0–7 112–119
7
15 0–7 120–127
16 0–7 128–135
8
17 0–7 136–143
18 0–7 144–151
9
19 0–7 152–159
20 0–7 160–167
10
21 0–7 168–175
22 0–7 176–183
11
23 0–7 184–191
24 0–7 192–199
12
25 0–7 200–207
26 0–7 208–215
13
27 0–7 216–223
Welding current UINT16 0.0 to 327.67 [A] 10
Wire feed speed SINT16
Actual real value for seam tracking
Error number UINT16 0 to 65535 1
Warning number UINT16 0 to 65535 1
Motor current M1 SINT16
Motor current M2 SINT16
Motor current M3 SINT16
—
UINT16 0 to 65535
-327.68 to 327.67 [m/min]
-327.68 to 327.67
[A]
-327.68 to 327.67
[A]
-327.68 to 327.67
[A]
100
1000
0
100
100
100
43
Address
Relative Absolute
BIT
WORD
BYTE
BIT
28 0–7 224–231
14
29 0–7 232–239
30 0–7 240–247
15
31 0–7 248–255
Signal
—
—
Activity/
data type
Range
Factor
32 0–7 256–263
16
33 0–7 264–271
34 0–7 272–279
17
35 0–7 280–287
36 0–7 288–295
18
37 0–7 296–303
38 0–7 304–311
19
39 0–7 312–319
40 0 320–327
20
41 0 328–335
42 0–7 336–343
21
43 0–7 344–351
44 0–7 352–359
22
45 0–7 360–367
46 0–7 368–375
23
47 0–7 376–383
48 0–7 384–391 TAG Command 1 UINT8 1 to 2 1
24
49 0–7 392–399 —
Wire position SINT16
—
—
—
—
—
TAG Address 1 UINT16 1
TAG Value 1 UINT16 1
-327.68 to 327.67
[mm]
100
44
50 0–7 400–407
25
51 0–7 408–415
52 0–7 416–423
26
53 0–7 424–431
54 0–7 432–439 TAG Command 2 UINT8 1 to 2 1
27
55 0–7 440–447 —
56 0–7 448–455
28
57 0–7 456–463
58 0–7 464–471
29
59 0–7 472–479
60 0–7 480–487
30
61 0–7 488–495
62 0–7 496–503
31
63 0–7 504–511
TAG Address 2 UINT16 1
TAG Value 2 UINT16 1
Cooler temperature SINT16
Cooler flow rate SINT16
Real energy actual value UINT16
Power actual value UINT16
-100.00 to
+100.00 [°C]
-100.00 to
+100.00 [l/min]
0 to 6553.5
[kJ]
0 to 6553.5
[kW]
10
100
10
100
Address
Relative Absolute
BIT
WORD
BYTE
BIT
64 0–7 512–519
32
65 0–7 520–527
Signal
Gas real rate UINT16
Activity/
data type
Range
0.0 to +100.0 [l/min]
EN-US
Factor
10
66 0–7 528–535
33
67 0–7 536–543
68 0–7 544–551
34
69 0–7 552–559
70 0–7 560–567
35
71 0–7 568–575
72 0–7 576–583
36
73 0–7 584–591
74 0–7 592–599
37
75 0–7 600–607
76 0–7 608–615
38
77 0–7 616–623
78 0–7 624–631
39
79 0–7 632–639
80 0–7 640–647
40
81 0–7 648–655
82 0–7 656–663
41
83 0–7 664–671
Resistance UINT 16
Inductance UINT 16
Real value - Welding voltage UINT16
Real value - Welding current UINT16
Real value - Wire feed speed UINT16
—
—
—
—
0.0 to +400 [mOhm]
0.0 to +250
[microhenries]
0.0 to 327.67 [V]
0.0 to 3276.7
[A]
-327.68 to
+327.67 [m/min]
100
10
10
10
10
84 0–7 672–679
42
85 0–7 680–687
86 0–7 688–695
43
87 0–7 696–703
88 0–7 704–711
44
89 0–7 712–719
90 0–7 720–727
45
91 0–7 728–735
92 0–7 736–743
46
93 0–7 744–751
94 0–7 752–759
47
95 0–7 760–767
—
—
—
—
—
—
45
Assignment of Sensor Statuses 1–4
Signal Description
Sensor status 1 OPT/i WF R wire end (4,100,869)
Sensor status 2 OPT/i WF R wire drum (4,100,879)
Sensor status 3 OPT/i WF R ring sensor (4,100,878)
Sensor status 4 Wire buffer set CMT TPS/i (4,001,763)
Value range for Function status
Value range Safety status
Value Range for Process Bit
Bit 1 Bit 0 Description
0 0 inactive
0 1 idle
1 0 finished
1 1 Error
Value range for function status
Bit 1 Bit 0 Description
0 0 Reserve
0 1 Hold
1 0 Stop
1 1 Not installed / active
Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Description
0 0 0 0 0 No internal parameter selection or
process
46
0 0 0 0 1 MIG/MAG pulse synergic
0 0 0 1 0 MIG/MAG standard synergic
0 0 0 1 1 MIG/MAG PMC
0 0 1 0 0 MIG/MAG LSC
0 0 1 0 1 MIG/MAG standard manual
0 0 1 1 0 Electrode
0 0 1 1 1 TIG
0 1 0 0 0 CMT
0 1 0 0 1 ConstantWire
TAG Table
TAG
number Description Reading/writing Range Unit Factor
EN-US
1 Cooling unit mode Reading & writing See Value
range for TAG
number 1 (Cool-
ing unit mode)
on page 49
2 Delay time flow sensor Reading & writing 5 to 25 s 1
3 Touch sensing sensitivity Reading & writing 0 to 10 - 1
4 Ignition timeout Reading & writing less than 5 =
off;
5 to 100
10 Arc break monitoring Reading & writing See Value
range for TAG
number 11 (Arc
break monitor-
ing) on page
49
11 Arc break monitoring Reading & writing 0 to 2.00 s 100
15 Wire stick contact tip Reading & writing 1/2
1 = ignore
2 = error
- 1
mm 1
- 1
- 1
16 Wire stick filter time Reading & writing 0.5 to 5.0 s 10
20 Wire stick workpiece Reading & writing 1/2
1 = ignore
2 = error
25 Wire end ring sensor Reading & writing 1/2/3
1 = ignore
2 = after seam
end
3 = error
26 Wire end drum sensor Reading & writing 1/2/3
1 = ignore
2 = after seam
end
3 = error
27 Wire end wirespool Reading & writing 1/2/3
1 = ignore
2 = after seam
end
3 = error
- 1
- 1
- 1
- 1
30 Lower gasflow limit Reading & writing 0.5 to 30.0 l/min 10
47
TAG
number Description Reading/writing Range Unit Factor
31 Maximum time of gas devi-
ation
32 Sensor gas factor Reading & writing less than 0.90 =
35 Language Reading & writing See Value
36 Unit (metric/imperial) Reading & writing See Value
37 Welding standard (AWS/EU) Reading & writing See Value
Reading & writing 0.1 to 10.0 s 10
auto;
0.90 to 20.00
range for TAG
number 35
(Language) on
page 49
range for TAG
number 36
(Unit - metric/
imperial) on
page 50
range for TAG
number 37
(Welding stand-
ard - AWS/EU)
on page 50
- 100
-
-
-
40 DHCP Reading & writing 1/2
1 = off
2 = on
105 Gas preflow Reading & writing 0 to 9.9 s 10
106 Gas postflow Reading & writing 0 to 60.0 s 10
107 Gas factor Reading & writing auto/
0.90 to 20.00
110 S2T - Slope 1 Reading & writing 0 to 9.9 s 10
111 S2T - Slope 2 Reading & writing 0 to 9.9 s 10
112 Start Arclength correction Reading & writing -10.0 to +10.0 - 10
113 End Arclength correction Reading & writing -10.0 to +10.0 - 10
114 SFI Hotstart Reading & writing less than 0.01 =
off;
0.01 to 2.00
120 SP Delta wire feed Reading & writing 0.1 to 6.0 m/min 10
121 SP Frequency Reading & writing 0.5 to 10.0 Hz 10
122 SP Dutycycle Reading & writing 10 to 90 % 1
123 SP Arc length correction high Reading & writing -10.0 to +10.0 - 10
- 1
- 100
- 100
124 SP Arc length correction low Reading & writing -10.0 to +10.0 - 10
130 Inching value Reading & writing 0.5 to 25.0 (vD-
max Process-
line)
205 Hour meter power on [0] Read only 0 to 100000 h 1
206 Hour meter power on [1] Read only 0 to 100000 h 1
48
m/min 100
TAG
number Description Reading/writing Range Unit Factor
210 Hour meter arc on time [0] Read only 0 to 100000 h 1
211 Hour meter arc on time [1] Read only 0 to 100000 h 1
215 Wire speed minimum Read only 0 to 100.0 m/min 10
216 Wire speed maximum Read only 0 to 100.0 m/min 10
Value range for TAG number 1 (Cooling unit mode)
Value range for TAG number 11 (Arc break mon­itoring)
Value Description
0 -
1 eco
2 auto
3 on
4 off
Value Description
0 -
1 Ignore
EN-US
Value range for TAG number 35 (Language)
2 Error
Value Description
1 English
2 German
3 Japanese
4 Chinese
5 Spanish
6 French
7 Czech
8 Hungarian
9 Italian
10 Norwegian
11 Polish
12 Portuguese
13 Slovakian
14 Turkish
15 Russian
16 Swedish
49
Value Description
17 Estonian
18 Finnish
19 Lithuanian
20 Latvian
21 Dutch
22 Slovenian
23 Romanian
24 Croatian
25 Ukrainian
26 Korean
27 Icelandic
28 Vietnamese
29 Thai
30 Indonesian
31 Serbian
32 Hindi
Value range for TAG number 36 (Unit - metric/ imperial)
Value range for TAG number 37 (Welding stand­ard - AWS/EU)
33 Tamil
34 Danish
35 Bulgarian
Value Description
0 -
1 Imperial
2 Metric
Value Description
0 -
1 AWS
2 EN
50
Input and output signals Weldcom V2.0
Data types The following data types are used:
UINT16 (Unsigned Integer)
-
Whole number in the range from 0 to 65535 SINT16 (Signed Integer)
-
Whole number in the range from -32768 to 32767
Conversion examples:
for a positive value (SINT16)
-
e.g. desired wire speed x factor
12.3 m/min x 100 = 1230
for a negative value (SINT16)
-
e.g. arc correction x factor
-6.4 x 10 = -64
Input Signals From robot to power source
Applicable to firmware V3.5.0 and higher
= FFC0
dec
= 04CE
dec
hex
hex
EN-US
HEX
address Signal Type Unit/Area Factor
F000
F001
Control Flag Group 1
Bits 0 to 7 Process active timeout Byte ms 10
Bits 8–15 Reserved
Control Flag Group 2
Bit 0 Welding start Boolean
Bit 1 Robot ready Boolean
Bit 2 Source error reset Boolean
Bit 3 Gas on Boolean
Bit 4 Wire inching Boolean
Bit 5 Wire retract Boolean
Bit 6 Torch blow out Boolean
Bit 7 Welding simulation Boolean
Bit 8 Touch sensing Boolean
Bit 9 Booster manual Boolean
Bit 10 SFI ON Boolean
Bit 11 Synchro pulse on Boolean
Bit 12 WireBrake Boolean
Bit 13 Torch XChange Boolean
Bit 14 Teach mode Boolean
Bit 15 Reserved
51
HEX
address Signal Type Unit/Area Factor
F002 Control Flag Group 3
Bit 0 Process line selection Bit 0
Bit 1 Process line selection Bit 1
Bit 2 TWIN mode Bit 0 Boolean
Bit 3 TWIN mode Bit 1
Bits 4 to 9 Reserved
Bit 10 Active heat control Boolean
Bit 11 Wire sense start Boolean
Bit 12 Wire sense break Boolean
Bits 13 to15Reserved Boolean
F003 Control Flag Group 4
Bit 0 Documentation mode Boolean See Value
Boolean
See Value range
Process line se-
Boolean
Boolean
lection on page
54
See Value
Range for TWIN
Mode on page
54
Range for Docu­mentation mode
on page 55
Bits 1–15 Reserved
F004 Control Flag Group 5
Bits 0–15 Reserved
F005 Control Flag Group 6
Bits 0–15 Reserved
F006 Control Flag Group 7
Bit 0 CMT Cycle Step on Boolean
Bits 1–7 Reserved
Bit 8 Enable CMT Cycle Step Boolean
Bit 9 Enable PMC Mix Boolean
Bit 10 Disable Start-End-Parameter Boolean
52
HEX
address Signal Type Unit/Area Factor
F007 Control Flag Group 8
Bit 0 ExtInput1 => OPT_Output 1 Boolean
Bit 1 ExtInput2 => OPT_Output 2 Boolean
Bit 2 ExtInput3 => OPT_Output 3 Boolean
Bit 3 ExtInput4 => OPT_Output 4 Boolean
Bit 4 ExtInput5 => OPT_Output 5 Boolean
Bit 5 ExtInput6 => OPT_Output 6 Boolean
Bit 6 ExtInput7 => OPT_Output 7 Boolean
Bit 7 ExtInput8 => OPT_Output 8 Boolean
Bits 8–15 Reserved
F008
Working mode
Bit 0 Working Mode Bit 0
Bit 1 Working Mode Bit 1
Bit 2 Working Mode Bit 2
Bit 3 Working Mode Bit 3
Bit 4 Working Mode Bit 4
Bits 5–13 Reserved
See Value range
for Working
mode on page
55
EN-US
Bit 14 Command value selection Boolean See Value
Range for Com-
mand value se­lection on page
55
Bit 15 Reserved
F009 Job number UINT16 0 to 1000
F00A Program number (xml-file) UINT16 0 to 65535
F00B Feeder command value SINT16 -327.68 to
327.67
m/min
F00C Arc length correction SINT16 -10 to +10 10
F00D Puls/Dynamik correction SINT16 -10 to +10 10
F00E Wire retract SINT16 0 to +10 10
F00F Welding speed UINT16 0 to 65535
(0 to 6553.5
m/min)
F010 Penetration stabilizer SINT16 0 to +10 10
F011 Arc length stabilizer UINT16 0 to +10 10
100
10
F012 Reserved
F013 Reserved
F014 Reserved
F015 Reserved
F016 Reserved
53
HEX
address Signal Type Unit/Area Factor
F017 Reserved
F018 Reserved
F019 Reserved
F01A Wire forward / backward length UINT16 OFF/1 to
1
65535 mm
F01B Wire sense edge detection UINT16 OFF/0.5 to
10
20.0 mm
F01C Reserved
F01D Seam number UINT16 0 to 65535 1
F01E Process-Mix High power time correction SINT16 -10 to 10 10
F01F Process-Mix Low power time correction SINT16 -10 to 10 10
F020 Low power time correction CMT SINT16 1 to 100 1
F021 Process-Mix Low power correction SINT16 -10 to 10 10
F022 CMT Cycle Step Cycles (Spot size) SINT16 0 to 2000 1
F023 CMT Cycle Step Interval break time SINT16 0.01 to 2.00 100
F024 CMT Cycle Step Interval cycles SINT16 Permanent
1
(=0)/1 to 2000
F025-
Reserved
F031
Value range Pro­cess line selec­tion
Value Range for TWIN Mode
Bit 1 Bit 0 Description
0 0 Process line 1 (default)
0 1 Process line 2
1 0 Process line 3
1 1 Reserved
Value range for process line selection
Bit 1 Bit 0 Description
0 0 TWIN Single mode
0 1 TWIN Lead mode
1 0 TWIN Trail mode
1 1 Reserved
Value range for TWIN mode
54
Value Range for Documentation mode
Bit 0 Description
0 Seam number of power source (internal)
1 Seam number of robot
Value range for documentation mode
EN-US
Value range for Working mode
Value Range for Command value selection
Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Description
0 0 0 0 0 Internal welding parameter selection
0 0 0 0 1 Special 2-step mode characteristics
0 0 0 1 0 Job mode
0 1 0 0 0 2-step mode characteristics
1 0 0 0 1 Stop cooling unit
0 1 0 0 1 2-Step manual mode
Value range for operating mode
Bit14Description
0 Wirefeeder set value
1 Welding current set value
Value range for set value
55
Output Signals From power source to robot
Applicable to firmware V3.5.0 and higher
HEX
address Signal Type Unit/Area Factor
F100 Status Flag Group 1
Bits 0–15 Reserved
F101
Status Flag Group 2
Bit 0 Heartbeat Powersource Boolean 1 Hz
Bit 1 Power source ready Boolean
Bit 2 Arc stable Boolean
Bit 3 Current flow Boolean
Bit 4 Main current signal Boolean
Bit 5 Torch collision protection Boolean
Bit 6 Reserved
Bit 7 Reserved
Bit 8 Touch signal Boolean
Bit 9 Torchbody connected Boolean
Bit 10 Command value out of range Boolean
Bit 11 Correction out of range Boolean
Bit 12 Process active Boolean
Bit 13 RobotMotionRelease Boolean
Bit 14 Wire stick workpiece Boolean
Bit 15 Reserved
F102
Status Flag Group 3
Bit 0 Welding Mode Bit 0 Boolean
Bit 1 Welding Mode Bit 1 Boolean
Bit 2 Welding Mode Bit 2 Boolean
Bit 3 Welding Mode Bit 3 Boolean
Bit 4 Welding Mode Bit 4 Boolean
Bits 5–7 Reserved
Bit 8 Parameter selection internally Boolean
Bit 9 Characteristic number valid Boolean
Bits 10– 13
Bit 14 Process image Bit 0 Boolean See Value range
Bit 15 Process image Bit 1 Boolean
Reserved
See Value range
for welding pro-
cess and pro-
cess image on
page 58
for welding pro-
cess and pro-
cess image on
page 58
56
HEX
address Signal Type Unit/Area Factor
F103 Status Flag Group 4
Bit 0 Penetration stabilizier Boolean
Bit 1 Arclength stabilizier Boolean
Bits 2–13 Reserved
Bit 14 Short circuit contact tip Boolean
Bit 15 Gas nozzle touched Boolean
F104 Status Flag Group 5
Bit 0 Sensor status 1 High Boolean See Assignment
Bit 1 Sensor status 2 High Boolean
Bit 2 Sensor status 3 High Boolean
Bit 4 Sensor status 4 High Boolean
Bits 4–10 Reserved
Bit 11 Safety status Bit 0 Boolean See Value range
Bit 12 Safety status Bit 1 Boolean
Bit 13 Reserved
Bit 14 Notification Boolean
of Sensor
Statuses 1–4 on
page 59
Safety status on
page 59
EN-US
Bit 15 System not ready Boolean
F105 Status Flag Group 6
Bit 0 Limit Signal Boolean
Bits 1–7 Reserved
Bit 8 Reserved
Bit 9 TWIN synchronization active Boolean
Bit 10 Main supply status Boolean
Bits 11– 13
Bit 14 Warning Boolean
Bit 15 Reserved
F106 Status Flag Group 7
Bits 0–15 Reserved Boolean
F107 Status Flag Group 8
Bit 0 ExtOutput1 <= OPT_Input1 Boolean
Bit 1 ExtOutput2 <= OPT_Input2 Boolean
Bit 2 ExtOutput3 <= OPT_Input3 Boolean
Reserved
Bit 3 ExtOutput4 <= OPT_Input4 Boolean
Bit 4 ExtOutput5 <= OPT_Input5 Boolean
Bit 5 ExtOutput6 <= OPT_Input6 Boolean
Bit 6 ExtOutput7 <= OPT_Input7 Boolean
Bit 7 ExtOutput8 <= OPT_Input8 Boolean
Bits 8–15 Reserved Boolean
57
HEX
address Signal Type Unit/Area Factor
F108 Main error number UINT16 0 to 65535
F109 Warning number UINT16 0 to 65535 1
F10A Welding voltage actual value UINT16 0.0 to 327.67
100
volts
F10B Welding current actual value UINT16 0.0 to 3276.7
10
amperes
F10C Motor current actual value M1 SINT16 -327.68 to
100
327.67 amperes
F10D Motor current actual value M2 SINT16 -327.68 to
100
327.67 amperes
F10E Motor current actual value M3 SINT16 -327.68 to
100
327.67 amperes
F10F Reserved
F110 Wire speed actual value SINT16 -327.68 to
100
327.67 m/min
F111 Seam tracking actual value UINT16 0 to 6.5535 10000
F112 Real energy actual value UINT16 0 to 6553.5 kilo-
10
joules
F113 Wire position SINT16 -327.68 to
100
327.67 mm
F114-
Reserved
F131
Value range for welding process and process im­age
Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Description
0 0 0 0 0 Internal mode selection
0 0 0 0 1 MIG/MAG pulsed synergic
0 0 0 1 0 MIG/MAG standard synergic
0 0 0 1 1 MIG/MAG PMC
0 0 1 0 0 MIG/MAG LSC
0 0 1 0 1 MIG/MAG standard manual
0 0 1 1 0 Electrode
0 0 1 1 1 TIG
0 1 0 0 0 CMT
Value range for welding process
Bit 15 Bit 14 Description
0 0 Standard image (Weldcom V2.0)
1 0 Retrofit image (Weldcom TPS series)
Value range for process image
58
Assignment of Sensor Statuses 1–4
Signal Description
Sensor status 1 OPT/i WF R wire end (4,100,869)
Sensor status 2 OPT/i WF R wire drum (4,100,879)
Sensor status 3 OPT/i WF R ring sensor (4,100,878)
Sensor status 4 Wire buffer set CMT TPS/i (4,001,763)
EN-US
Value range
Bit 1 Bit 0 Description
Safety status
0 0 Reserve
0 1 Hold
1 0 Stop
1 1 Not installed / active
TAG table
To read the following TAGs, use the mode function 03dec (03hex) - see section 103
-
dec
(67
Read Holding Register Float from page 76
To edit the following TAGs, use the mode function 06dec (06hex) - see section 104
-
dec
(68
Write Single Register Float from page 77
HEX
address Signal Access Type Range Unit Step size
hex
hex
)
)
E064 Gas preflow [Gpr] Reading &
FLOAT 0.0 to 9.9 s 0.1
writing
E065 Gas postflow [Gpo] Reading &
FLOAT 0.0 to 9.9 s 0.1
writing
F10B Error number Reading FLOAT 0 to
65,535
E062 Min. feeder value Reading FLOAT 0.0 to
100.0
E063 Max. feeder value Reading FLOAT 0.0 to
100.0
E0A3 Inching speed [Fdi] Reading &
writing
E032 SynchroPulse
DeltaWireFeed
Reading &
writing
E031 SynchroPulse Frequency Reading &
writing
E033 SynchroPulse DutyCycle Reading &
FLOAT 0.5 to vD-
max
FLOAT 0.1 to 6.0 m/min 10
FLOAT 0.5 to
10.0
FLOAT 10 to 90 % 1
writing
1
m/min 0.1
m/min 0.1
m/min 0.1
Hz 10
59
HEX
address Signal Access Type Range Unit Step size
E034 SynchroPulse
ArcLength Correction High
E035 SynchroPulse
ArcLength Correction Low
E06A Starting current [I-S] Reading &
E06B Slope 1 Reading &
E06C Slope 2 Reading &
E06D End current [I-E] Reading &
E056 Starting Current Time [t-
S]
E057 End Current Time [t-e] Reading &
E02E SFI HotStart Reading &
Reading &
writing
Reading &
writing
writing
writing
writing
writing
Reading &
writing
writing
writing
FLOAT -10.0 to
10.0
FLOAT -10.0 to
10.0
FLOAT 0.0 to
200.0
FLOAT 0.0 to 9.9 s 10
FLOAT 0.0 to 9.9 s 10
FLOAT 0.0 to
200.0
FLOAT 0.0 to
10.0
FLOAT 0.0 to
10.0
FLOAT 0.01 to
2.00
10
10
% 1
% 1
s 10
s 10
s 100
E06F Language Reading &
writing
E0A6 Hourmeter Current flow Reading FLOAT 0.0 to
E0A7 Hourmeter Power on Reading FLOAT 0.0 to
E0AA Power value Reading FLOAT 0.0 to
E0AB Real energy value Reading FLOAT 0.0 to
E0BB Coolertemperature Reading FLOAT -100 to
E0BC Coolerflow Reading FLOAT -100 to
Table Language
Value Language
FLOAT
1,000,00
1,000,00
1,000,00
1,000,00
200
100
See the following table
h 0.1
0
h 0.1
0
kW 0.1
0
kJ 0.1
0
°C 0.1
l/min 0.1
8E+34 English
9E+34 German
58e34 Japanese
10e34 Chinese
23e34 Spanish
60
Table Language
Value Language
24e34 French
25e34 Czech
26e34 Hungarian
27e34 Italian
28e34 Norwegian
29e34 Polish
30e34 Portuguese
31e34 Slovak
32e34 Turkish
33e34 Russian
34e34 Swedish
35e34 Estonian
36e34 Finnish
39e34 Lithuanian
40e34 Latvian
EN-US
41e34 Dutch
42e34 Slovenian
43e34 Romanian
44e34 Croatian
59e34 Ukrainian
61e34 Korean
66e34 Icelandic
67e34 Vietnamese
70e34 Thai
71e34 Indonesian
75e34 Serbian
76e34 Hindi
130e34 Tamil
151e34 Danish
156e34 Bulgarian
61
Input and output signals - retrofit image Weld­com TPS series
Input signals From robot to power source
Applicable to firmware V1.9.0 and higher
HEX
address Signal Type Range / Unit Factor
F000
F001
Control Flag Group 1
Bits 0 to 7 Process active timeout Byte [ms] 10
Bits 8 to 15
Control Flag Group 2
Bit 0 Welding start Boolean
Bit 1 Robot ready Boolean
Bit 2 Source error reset Boolean
Bit 3 Gas test Boolean
Bit 4 Wire inching Boolean
Bit 5 Wire retract Boolean
Bit 6 Torch blow out Boolean
Bit 7 Welding simulation Boolean
Bit 8 Touch sensing Boolean
Bit 9 Reserved
Bit 10 SFI on Boolean
Bit 11 Synchro pulse on Boolean
Reserved
Bits 12 to13Reserved
Bit 14 Power full range Boolean
Bit 15 Reserved
F002 Control Flag Group 3
Bits 0 to 15
F003 Control Flag Group 4
Bits 0 to 15
F004 Control Flag Group 5
Bits 0 to 15
F005 Control Flag Group 6
Bits 0 to 15
Reserved
Reserved
Reserved
Reserved
62
HEX
address Signal Type Range / Unit Factor
F006 Control Flag Group 7
Bits 0 to 15
F007 Control Flag Group 8
Bits 0 to 15
F008
F009 Job number Byte 0 to 255
F00A Program number Byte 0 to 127
F00B Power Word 0 to 65,535
F00C Arc length correction Word 0 to 65,535
Operating mode
Bit 0 Operating mode 0 Boolean
Bit 1 Operating mode 1 Boolean
Bit 2 Operating mode 2 Boolean
Bit 3 Operating mode 3 Boolean
Bits 4 to 15
Reserved
Reserved
See table Value
Range for Oper-
ating Mode on
page 64
Reserved Boolean
(0 to 100%)
(-10 to +10%)
EN-US
F00D Pulse-/dynamic correction Byte 0 to 255
(-5 to +5%)
F00E Reserved
F00F Reserved
F010 Reserved
F011 Reserved
F012 Reserved
F013 Reserved
F014 Reserved
F015 Reserved
F016 Reserved
F017 Reserved
F018 Reserved
F019 Reserved
F01A Reserved
F01B Reserved
F01C Reserved
F01D Reserved
F01E Reserved
63
Value Range for Operating Mode
Bit
4-15
- 0 0 0 0 MIG standard
- 0 0 0 1 MIG pulse
- 0 0 1 0 Job mode
Bit 3 Bit 2 Bit 1 Bit 0 Description
- 0 0 1 1
- 0 1 0 0
- 0 1 0 1
- 0 1 1 0 MIG standard manual
- 0 1 1 1
- 1 0 0 0 MIG LSC
- 1 0 0 1 MIG PMC
Internal parameter selection/special 2-step mode
Synergic operation/special 2-step mode
Synergic operation/special 2-step mode
Synergic operation/special 2-step mode
64
Output signals From power source to robot
Applicable to firmware V1.9.0 and higher
HEX
address Signal Type Range / Unit Factor
F100 Status Flag Group 1
EN-US
F101
Bits 0 to 15
Status Flag Group 2
Bit 0 Communication ready Boolean
Bit 1 Power source ready Boolean
Bit 2 Arc stable Boolean
Bit 3 Process active Boolean
Bit 4 Main current signal Boolean
Bit 5 Torch collision protection Boolean
Bit 6 Wire stick control Boolean
Bit 7 Wire available Boolean
Bit 8 Short circuit timeout Boolean
Bit 9 Power out of Range Boolean
Bits 10 to11- Boolean
Bit 12 Limit signal High Boolean
Bits 13 to15- Boolean
Reserved Boolean
F102 Status Flag Group 3
Bits 0 to 13
Bit 14 Process image Bit 0 Boolean
Bit 15 Process image Bit 1 Boolean
F103 Status Flag Group 4
Bits 0 to 15
F104 Status Flag Group 5
Bits 0 to 15
F105 Status Flag Group 6
Bits 0 to 15
F106 Status Flag Group 7
Bits 0 to 15
Reserved
Reserved
Reserved
Reserved
Reserved
65
HEX
address Signal Type Range / Unit Factor
F107 Status Flag Group 8
Bits 0 to
Reserved
15
F108 Main error number Word
F109 Reserved
F10A Welding voltage actual value Word 0 to 65,535
(0 to 100 V)
F10B Welding current actual value Word 0 to 65,535
(0 to 1000 A)
F10C Motor current actual value Byte 0 to 255
(0 to 5 A)
F10D Reserved
F10E Reserved
F10F Reserved
F110 Wire speed actual value Word 0 to vDmax 100
F111 Reserved
F112 Reserved
TAG Table
To read the following TAGs, use the mode function 03dec (03hex) - see section 03
-
dec
(03
Read Holding Register from page 70
To edit the following TAGs, use the mode function 06dec (06hex) or 16
-
06
dec
(06
) Write Single Register from page 71 / section 16
hex
dec
(10
(10
dec
) Write Multiple Re-
hex
) - see section
hex
gister from page 73
HEX
address Description Reading / writing Unit Type Step size
E011 Gas preflow [Gpr] Reading / writing s Word 0.001
E012 Gas postflow [Gpo] Reading / writing s Word 0.001
E000 Error number Read only 1
E072 Min. feeder value Read only m/min Word 0.01
E073 Max. feeder value Read only m/min Word 0.01
E013 Inching speed [Fdi] Reading / writing m/min Word 0.01
E015 Power offset [dFd] Reading / writing m/min Word 0.01
hex
)
E016 SynchroPulse Frequency Reading / writing Hz Word 0.1
E01D Starting current [I-S] Reading / writing % Word 0.1
E01F Slope 1 + Slope 2 Reading / writing s Word 0.001
E020 End current [I-E] Reading / writing % Word 0.1
66
HEX
address Description Reading / writing Unit Type Step size
E01E Starting Current Time [t-S] Reading / writing s Word OFF = 0.0
E021 End Current Time [t-e] Reading / writing s Word
E007 Arc length correction 2 (Al2) Reading / writing % Word 0.1
and 0.1
EN-US
67
Modbus – General Information
Protocol De­scription
The MODBUS ADU is constructed by the client that initiates the MODBUS trans­action. The function tells the server which action is to be performed. The MOD­BUS application protocol defines the format of a client-initiated request.
The function code field of a MODBUS data unit is coded in one byte. Valid codes are in the range of 1 ... 255 decimal (the range 128-255 is reserved for exception responses). When the server receives a message from a client, the function code field tells the server which action to perform.
If several actions are to be performed, subfunction codes are added to some function codes. When messages are sent to servers by a client, the data field in the message contains additional information that the server uses to perform the action defined by the function code. This can include elements such as discrete addresses, register addresses, the quantity to be handled, or the number of actu­al data bytes contained within the field.
With certain types of request, there might not be a data field (length: zero). In this case, the server does not require any additional information because the ac­tion is specified by the function code alone.
If a MODBUS ADU is correctly received without any errors occurring in connec­tion with the requested MODBUS function, the requested data will be included in the data field when a server responds to a client. If an error does occur in con­nection with the requested MODBUS function, the field will contain an exception code that the server application can use to determine what action to perform next.
For instance, a client can read the ON/OFF statuses of a group of discrete inputs or outputs, or it can read/write the data contents of a group of registers.
When sending a response to the client, the server uses the function code field either to indicate that the response is normal (free of errors) or that an error has occurred (this kind of response is called an "exception response"). In the case of a normal response, the server simply echoes the original function code.
Data Coding For addresses and data elements, MODBUS uses a big-endian format. When a
number larger than a single byte is transmitted, this means that the most signi­ficant byte is sent first.
Register Size Value
16 bits, 1234
hex
12
is sent as the first byte and then 34
hex
hex
68
Application Data Unit (ADU)
This section describes the encapsulation method used for a MODBUS request or response when it is transmitted over a MODBUS TCP network.
MPAP header Function code Data
Description of MPAP header:
Transaction Identifier
Used to allocate the transaction. The MODBUS server copies the Transaction Identifier of the request into the response.
Transaction Identifier
This is used for transaction pairing. The MODBUS server copies the transaction identifier from the request into the response.
Length: 2 bytes
Description: For identifying a MODBUS request/response transac-
tion
Client: Initialized by the client
Server: Copied back by the server from the request received
Protocol Identifier
This is used for multiplexing within the system. The MODBUS protocol is iden­tified by the value 0.
EN-US
Length: 2 bytes
Description: 0 = Modbus protocol
Client: Initialized by the client
Server: Copied back by the server from the request received
Length
This field is used to specify the number of bytes in the field to follow, including the unit identifier, function code, and data field.
Length: 2 bytes
Description: Number of bytes to follow
Client: Initialized by the client
Server: -
Unit Identifier
This field is used for routing within the system. It is usually used for communic­ation with a serially connected MODBUS- or MODBUS+ slave where commu­nication takes place via a gateway between an Ethernet network and a serial MODBUS line. The field value is set in the request by the MODBUS client and must be replicated exactly in the response from the server.
Length: 1 byte
Description: For identifying a remote slave that is connected via a
serial line or other type of bus.
Client: Initialized by the client
All MODBUS/TCP ADUs are sent via TCP on registered port 502.
69
Modbus Functions
03
(03
dec
Read Holding Register
hex
)
This code is used to read the contents of a contiguous block of holding registers in a remote device. The request PDU determines the starting register address and the number of registers. The registers are addressed in the PDU starting at zero. This means registers numbered 1-16 will be addressed using 0-15.
The register data in the response message is packed as two bytes per register, with the binary contents precisely aligned/justified within each byte. Within the individual registers, the first byte contains the high-order bits and the second byte the low-order bits.
Request
Function code 1 byte 03
Start address 2 bytes 0000
Number of registers 2 bytes 1 to 125 (7D
hex
to FFFF
hex
hex
hex
)
Response
Function code 1 byte 03
hex
Number of bytes 2 bytes 2 x N*
Register value N* x 2 bytes -
N* = Number of registers
Errors
Error code 1 byte 83
hex
Exception code 1 byte 01 or 02 or 03 or 04
Example Example of a read request for register F009 (job number).
Request Response
Field name Hex Field name Hex
70
Transaction Identifier Hi 00 Transaction Identifier Hi 00
Transaction Identifier Lo 01 Transaction Identifier Lo 01
Protocol Identifier Hi 00 Protocol Identifier Hi 00
Protocol Identifier Lo 00 Protocol Identifier Lo 00
Length Hi 00 Length Hi 00
Length Lo 06 Length Lo 05
Unit Identifier 00 Unit Identifier 00
Function code 03 Function code 03
Starting Address Hi F0 Byte Count 02
Starting Address Lo F9 Register value Hi (108) 02
No. of Registers Hi 00 Register value Lo (108) 37
Example Example of a read request for register F009 (job number).
06
dec
(06
hex
)
Write Single Re­gister
Request Response
Field name Hex Field name Hex
No. of Registers Lo 01
The contents of register F009 (job number) are displayed in the form of the two­byte values 237
or 567
hex
dec
.
This function code is used to write a single holding register in a remote device. The request PDU specifies the address of the register to be written. Registers are addressed starting at zero. This means that the register that has been numbered as 1 will be addressed using 0. The normal response is an echo of the request, which is returned after the re­gister contents are written.
Request
Function code 1 byte 06
Register address 2 bytes 0000
Register value 2 bytes 0000
hex
to FFFF
hex
or FFFF
hex
hex
hex
EN-US
Response
Function code 1 byte 06
Register address 2 bytes 0000
Register value 2 bytes 0000
hex
to FFFF
hex
or FFFF
hex
hex
hex
Errors
Error code 1 byte 86
hex
Exception code 1 byte 01 or 02 or 03 or 04
Example Example request for writing the value 237
hex
(567
) to register F009 (job
dec
number).
Request Response
Field name Hex Field name Hex
Transaction Identifier Hi 00 Transaction Identifier Hi 00
Transaction Identifier Lo 01 Transaction Identifier Lo 01
Protocol Identifier Hi 00 Protocol Identifier Hi 00
Protocol Identifier Lo 00 Protocol Identifier Lo 00
Length Hi 00 Length Hi 00
Length Lo 06 Length Lo 06
Unit Identifier 00 Unit Identifier 00
Function code 06 Function code 06
Register Address Hi F0 Register Address Hi F0
71
Example Example request for writing the value 237
hex
(567
) to register F009 (job
dec
number).
Request Response
Field name Hex Field name Hex
Register Address Lo 09 Register Address Lo 09
Register Value Hi 02 Register Value Hi 02
Register Value Lo 37 Register Value Lo 37
72
16
dec
(10
hex
)
Write Multiple Register
This function code is used to write a block of contiguous registers in a remote device. The requested written values are specified in the request data field. Data is packed as two bytes per register. The normal response returns the function code, the starting address, and the number of registers written.
Request
EN-US
Function code 1 byte 10
Starting address 2 bytes 0000
Number of registers 2 bytes 0001
hex
to FFFF
hex
or 0078
hex
hex
hex
Number of bytes 1 byte 2 x N*
Register values N* x 2 bytes Value
N* = number of registers to be written
Response
Function code 1 byte 10
Starting address 2 bytes 0000
Number of registers 2 bytes 1 to 123 (7B
hex
to FFFF
hex
hex
hex
)
Errors
Error code 1 byte 90
hex
Exception code 1 byte 01 or 02 or 03 or 04
Example Example request for writing two registers (F00B
– F00C
hex
hex
).
Request Response
Field name Hex Field name Hex
Transaction Identifier Hi 00 Transaction Identifier Hi 00
Transaction Identifier Lo 01 Transaction Identifier Lo 01
Protocol Identifier Hi 00 Protocol Identifier Hi 00
Protocol Identifier Lo 00 Protocol Identifier Lo 00
Length Hi 00 Length Hi 00
Length Lo 11 Length Lo 11
Unit Identifier 00 Unit Identifier 00
Function code 10 Function code 10
Starting Address Hi F0 Starting Address Hi F0
Starting Address Lo 0B Starting Address Lo 0B
Quantity of Registers Hi 00 Quantity of Registers Hi 00
Quantity of Registers Lo 02 Quantity of Registers Lo 02
Byte Count 04
Register Value Hi 04
Register Value Lo CE
73
Example Example request for writing two registers (F00B
– F00C
hex
hex
).
Request Response
Field name Hex Field name Hex
Register Value Hi FF
Register Value Lo C0
74
23
dec
(17
hex
)
Read/Write Mul­tiple Register
This function code performs a combination of one read operation and one write operation in a single MODBUS transaction. The write operation is performed be­fore the read operation. Holding registers are addressed starting at zero. This means that holding re­gisters 1-16 will be addressed in the PDU using 0-15.
The request PDU specifies:
The starting address and number of holding registers to be read
-
The starting address, number of holding registers, and data for the write op-
-
eration.
The byte count field specifies the number of bytes to follow in the write data field.
The normal response contains the data from the group of registers read. The byte count field specifies the number of bytes to follow in the read data field.
Request
EN-US
Function code 1 byte 17
Read starting ad-
2 bytes 0000
hex
dress
Number of registers
2 bytes 0001
to read
Write starting ad-
2 bytes 0000
dress
Number of registers
2 bytes 0001
to write
Write number of
1 byte 2 x N*
bytes
Write register values N* x 2 bytes
N* = number of registers to be written
Response
Function code 1 byte 17
hex
Number of bytes 1 byte 2 x N*
Write register values N* x 2 bytes
to FFFF
hex
to approx. 0076
hex
to FFFF
hex
to approx. 0076
hex
hex
hex
hex
hex
N* = number of registers to be read
Errors
Error code 1 byte 97
hex
Exception code 1 byte 01 or 02 or 03 or 04
Example Example request for reading 2 registers and writing 2 registers.
Request Response
Field name Hex Field name Hex
Transaction Identifier Hi 00 Transaction Identifier Hi 00
75
Example Example request for reading 2 registers and writing 2 registers.
Request Response
Field name Hex Field name Hex
Transaction Identifier Lo 01 Transaction Identifier Lo 01
Protocol Identifier Hi 00 Protocol Identifier Hi 00
Protocol Identifier Lo 00 Protocol Identifier Lo 00
Length Hi 00 Length Hi 00
Length Lo 11 Length Lo 7
Unit Identifier 00 Unit Identifier 00
Function code 17 Function code 17
Read Starting Address Hi F1 Byte Count 2
Read Starting Address Lo 0A Read Registers Value Hi 04
Quantity to Read Hi 00 Read Registers Value Lo 08
Quantity to Read Lo 2 Read Registers Value Hi 0A
Write Starting Address Hi F0 Read Registers Value Lo C8
Write Starting Address Lo 0B
103
dec
(67
hex
Read Holding Register Float
Quantity to Write Hi 00
Quantity to Write Lo 04
Write Byte Count 2
Write Registers Value Hi 04
Write Registers Value Lo CE
Write Registers Value Hi FF
Write Registers Value Lo C0
Transaction Identifier Hi 00
)
This function is used to read the contents of a contiguous block of registers in the TAG tables contained in this document. The register uses floating-point format (32 bits). The request PDU determines the starting register address and the number of registers. The registers are addressed in the PDU starting at zero. This means registers numbered 1-16 will be addressed using 0-15.
The register data in the response message is packed as two bytes per register, with the binary contents precisely aligned/justified within each byte. Within the individual registers, the first byte contains the high-order bits and the second byte the low-order bits.
76
Requirement
Function code 1 byte xx
Starting address 2 bytes xxxx
hex
to xxxx
hex
Number of registers 2 bytes 1 to 125 (7D
hex
hex
)
Response
Function code 1 byte 03
hex
Number of bytes 2 bytes 2 x N*
Register value N* x 2 bytes -
N* = number of registers
Error
Error code 1 bytes 83
hex
Exception code 1 byte 01 or 02 or 03 or 04
Example Example read request for register E064
(gas pre-flow):
hex
Requirement Response
Field Name Hex Field Name Hex
Transaction Identifier Hi 00 Transaction Identifier Hi 00
Transaction Identifier Lo 01 Transaction Identifier Lo 01
Protocol Identifier Hi 00 Protocol Identifier Hi 00
Protocol Identifier Lo 00 Protocol Identifier Lo 00
EN-US
104
dec
(68
hex
)
Write Single Re­gister Float
Length Hi 00 Length Hi 00
Length Lo 06 Length Lo 05
Unit Identifier 00 Unit Identifier 00
Function code 67 Function code 67
Starting Address Hi E0 Byte Count 02
Starting Address Lo 64 Register Value High Hi 3F
No. of Registers Hi 00 Register Value High Lo C0
No. of Registers Lo 01 Register Value Low Hi 00
Register Value Low Lo 00
The contents of register E064 two-byte values 3FC00000 or 1.5
(gas pre-flow) are displayed in the form of the
hex
.
dec
This function is used to edit registers in the TAG tables contained in this docu­ment. The register uses floating-point format (32 bits). The request PDU spe- cifies the address of the register to be written. Registers are addressed starting at zero. This means that the register that has been numbered as 1 will be ad­dressed using 0. The normal response is an echo of the request, which is returned after the re­gister contents are written.
Requirement
Function code 1 byte 68
hex
Register address 2 bytes E000
Register value 2 bytes 0000
to Exxx
hex
or FFFFFFFF
hex
hex
hex
77
Response
Function code 1 byte 68
Register address 2 bytes E000
Register value 2 bytes 0000
hex
to Exxx
hex
or FFFFFFFF
hex
hex
hex
Error
Error code 1 bytes E8
hex
Exception code 1 byte 01 or 02 or 03
Example Example request for writing the value 3FC00000
E064
(gas pre-flow):
hex
hex
(1.5
) to register
dec
Requirement Response
Field Name Hex Field Name Hex
Transaction Identifier Hi 00 Transaction Identifier Hi 00
Transaction Identifier Lo 01 Transaction Identifier Lo 01
Protocol Identifier Hi 00 Protocol Identifier Hi 00
Protocol Identifier Lo 00 Protocol Identifier Lo 00
Length Hi 00 Length Hi 00
Length Lo 08 Length Lo 08
Unit Identifier 00 Unit Identifier 00
Function code 68 Function code 68
Register Address Hi E0 Register Address Hi E0
Register Address Lo 64 Register Address Lo 64
Register Value High Hi 3F Register Value Hi 45
Register Value High Lo C0 Register Value Lo 09
Register Value Low Hi 00 Register Value Hi 80
Register Value Low Lo 00 Register Value Lo 00
78
EN-US
79
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