{ "MODBUS": [ { "property": { "device_name": "autotest", "endian": 1 }, "regs": { "rd": [ { "addr": 40000, "addr_1st": 0, "addr_2nd": 0, "bit_bias": 0, "byte_bias": 0, "function": "ctrl_clear_alarm", "len": 1, "name": "r_clear_alarm", "retain": false, "type": "bool" }, { "addr": 40001, "addr_1st": 0, "addr_2nd": 0, "bit_bias": 0, "byte_bias": 0, "function": "ctrl_estop_reset", "len": 1, "name": "r_estop_reset", "retain": false, "type": "bool" }, { "addr": 40002, "addr_1st": 0, "addr_2nd": 0, "bit_bias": 0, "byte_bias": 0, "function": "ctrl_estop_reset_clear_alarm", "len": 1, "name": "r_onekey_reset", "retain": false, "type": "bool" }, { "addr": 40003, "addr_1st": 0, "addr_2nd": 0, "bit_bias": 0, "byte_bias": 0, "function": "ctrl_jjwc_A", "len": 1, "name": "r_jjwc_A", "retain": false, "type": "bool" }, { "addr": 40004, "addr_1st": 0, "addr_2nd": 0, "bit_bias": 0, "byte_bias": 0, "function": "ctrl_motor_on", "len": 1, "name": "r_motor_on", "retain": false, "type": "bool" }, { "addr": 40005, "addr_1st": 0, "addr_2nd": 0, "bit_bias": 0, "byte_bias": 0, "function": "ctrl_motor_off", "len": 1, "name": "r_motor_off", "retain": false, "type": "bool" }, { "addr": 40006, "addr_1st": 0, "addr_2nd": 0, "bit_bias": 0, "byte_bias": 0, "function": "ctrl_motor_on_off", "len": 1, "name": "r_motor_on_off", "retain": false, "type": "bool" }, { "addr": 40007, "addr_1st": 0, "addr_2nd": 0, "bit_bias": 0, "byte_bias": 0, "function": "ctrl_motoron_pptomain_start", "len": 1, "name": "r_motoron_p2m_start", "retain": false, "type": "bool" }, { "addr": 40008, "addr_1st": 0, "addr_2nd": 0, "bit_bias": 0, "byte_bias": 0, "function": "ctrl_motoron_start", "len": 1, "name": "r_motoron_start", "retain": false, "type": "bool" }, { "addr": 40009, "addr_1st": 0, "addr_2nd": 0, "bit_bias": 0, "byte_bias": 0, "function": "ctrl_pause_motoroff", "len": 1, "name": "r_pause_motoroff", "retain": false, "type": "bool" }, { "addr": 40010, "addr_1st": 0, "addr_2nd": 0, "bit_bias": 0, "byte_bias": 0, "function": "ctrl_pptomain", "len": 1, "name": "r_pptomain", "retain": false, "type": "bool" }, { "addr": 40011, "addr_1st": 0, "addr_2nd": 0, "bit_bias": 0, "byte_bias": 0, "function": "ctrl_program_start", "len": 1, "name": "r_prog_start", "retain": false, "type": "bool" }, { "addr": 40012, "addr_1st": 0, "addr_2nd": 0, "bit_bias": 0, "byte_bias": 0, "function": "ctrl_program_stop", "len": 1, "name": "r_prog_stop", "retain": false, "type": "bool" }, { "addr": 40013, "addr_1st": 0, "addr_2nd": 0, "bit_bias": 0, "byte_bias": 0, "function": "ctrl_program_start_stop", "len": 1, "name": "r_prog_start_stop", "retain": false, "type": "bool" }, { "addr": 40014, "addr_1st": 0, "addr_2nd": 0, "bit_bias": 0, "byte_bias": 0, "function": "ctrl_set_program_speed", "len": 1, "name": "r_set_prog_speed", "retain": false, "type": "int16" }, { "addr": 40015, "addr_1st": 0, "addr_2nd": 0, "bit_bias": 0, "byte_bias": 0, "function": "ctrl_soft_estop", "len": 1, "name": "r_soft_estop", "retain": false, "type": "bool" }, { "addr": 40016, "addr_1st": 0, "addr_2nd": 0, "bit_bias": 0, "byte_bias": 0, "function": "ctrl_switch_auto_motoron", "len": 1, "name": "r_sw_auto_motoron", "retain": false, "type": "bool" }, { "addr": 40017, "addr_1st": 0, "addr_2nd": 0, "bit_bias": 0, "byte_bias": 0, "function": "ctrl_switch_operation_auto", "len": 1, "name": "r_sw_mode_auto", "retain": false, "type": "bool" }, { "addr": 40018, "addr_1st": 0, "addr_2nd": 0, "bit_bias": 0, "byte_bias": 0, "function": "ctrl_switch_operation_manu", "len": 1, "name": "r_sw_mode_manual", "retain": false, "type": "bool" }, { "addr": 40019, "addr_1st": 0, "addr_2nd": 0, "bit_bias": 0, "byte_bias": 0, "function": "ctrl_switch_operation_auto_manu", "len": 1, "name": "r_sw_auto_manual", "retain": false, "type": "bool" }, { "addr": 40020, "addr_1st": 0, "addr_2nd": 0, "bit_bias": 0, "byte_bias": 0, "function": "ctrl_reduced_mode", "len": 1, "name": "r_reduced_mode", "retain": false, "type": "bool" }, { "addr": 40021, "addr_1st": 0, "addr_2nd": 0, "bit_bias": 0, "byte_bias": 0, "function": "enable_safe_region01", "len": 1, "name": "r_safe_region01", "retain": false, "type": "bool" }, { "addr": 40022, "addr_1st": 0, "addr_2nd": 0, "bit_bias": 0, "byte_bias": 0, "function": "enable_safe_region02", "len": 1, "name": "r_safe_region02", "retain": false, "type": "bool" }, { "addr": 40023, "addr_1st": 0, "addr_2nd": 0, "bit_bias": 0, "byte_bias": 0, "function": "enable_safe_region03", "len": 1, "name": "r_safe_region03", "retain": false, "type": "bool" }, { "addr": 40024, "addr_1st": 0, "addr_2nd": 0, "bit_bias": 0, "byte_bias": 0, "function": "enable_safe_region04", "len": 1, "name": "r_safe_region04", "retain": false, "type": "bool" }, { "addr": 40025, "addr_1st": 0, "addr_2nd": 0, "bit_bias": 0, "byte_bias": 0, "function": "enable_safe_region05", "len": 1, "name": "r_safe_region05", "retain": false, "type": "bool" }, { "addr": 40026, "addr_1st": 0, "addr_2nd": 0, "bit_bias": 0, "byte_bias": 0, "function": "enable_safe_region06", "len": 1, "name": "r_safe_region06", "retain": false, "type": "bool" }, { "addr": 40027, "addr_1st": 0, "addr_2nd": 0, "bit_bias": 0, "byte_bias": 0, "function": "enable_safe_region07", "len": 1, "name": "r_safe_region07", "retain": false, "type": "bool" }, { "addr": 40028, "addr_1st": 0, "addr_2nd": 0, "bit_bias": 0, "byte_bias": 0, "function": "enable_safe_region08", "len": 1, "name": "r_safe_region08", "retain": false, "type": "bool" }, { "addr": 40029, "addr_1st": 0, "addr_2nd": 0, "bit_bias": 0, "byte_bias": 0, "function": "enable_safe_region09", "len": 1, "name": "r_safe_region09", "retain": false, "type": "bool" }, { "addr": 40030, "addr_1st": 0, "addr_2nd": 0, "bit_bias": 0, "byte_bias": 0, "function": "enable_safe_region10", "len": 1, "name": "r_safe_region10", "retain": false, "type": "bool" }, { "addr": 40031, "addr_1st": 0, "addr_2nd": 0, "bit_bias": 0, "byte_bias": 0, "function": "ext_cmd_set", "len": 1, "name": "r_ext_cmd_set", "retain": false, "type": "bool" }, { "addr": 40032, "addr_1st": 0, "addr_2nd": 0, "bit_bias": 0, "byte_bias": 0, "function": "ext_reset", "len": 1, "name": "r_ext_reset", "retain": false, "type": "bool" }, { "addr": 40033, "addr_1st": 0, "addr_2nd": 0, "bit_bias": 0, "byte_bias": 0, "function": "ext_resp_get", "len": 1, "name": "r_ext_resp_get", "retain": false, "type": "bool" }, { "addr": 40034, "addr_1st": 0, "addr_2nd": 0, "bit_bias": 0, "byte_bias": 0, "function": "ext_request_data", "len": 8, "name": "r_ext_request_data", "retain": false, "type": "int16" } ], "rdwr": [ { "addr": 41000, "addr_1st": 0, "addr_2nd": 0, "bit_bias": 0, "byte_bias": 0, "function": "sta_alarm", "len": 1, "name": "sta_alarm", "retain": false, "type": "bool" }, { "addr": 41001, "addr_1st": 0, "addr_2nd": 0, "bit_bias": 0, "byte_bias": 0, "function": "sta_collision", "len": 1, "name": "sta_collision", "retain": false, "type": "bool" }, { "addr": 41002, "addr_1st": 0, "addr_2nd": 0, "bit_bias": 0, "byte_bias": 0, "function": "sta_collision_alarm", "len": 1, "name": "sta_collision_alarm", "retain": false, "type": "bool" }, { "addr": 41003, "addr_1st": 0, "addr_2nd": 0, "bit_bias": 0, "byte_bias": 0, "function": "sta_collision_open", "len": 1, "name": "sta_collision_open", "retain": false, "type": "bool" }, { "addr": 41004, "addr_1st": 0, "addr_2nd": 0, "bit_bias": 0, "byte_bias": 0, "function": "sta_controller_is_running", "len": 1, "name": "sta_ctl_is_running", "retain": false, "type": "bool" }, { "addr": 41005, "addr_1st": 0, "addr_2nd": 0, "bit_bias": 0, "byte_bias": 0, "function": "sta_encoder_low_battery", "len": 1, "name": "sta_encoder_low", "retain": false, "type": "bool" }, { "addr": 41006, "addr_1st": 0, "addr_2nd": 0, "bit_bias": 0, "byte_bias": 0, "function": "sta_error_code", "len": 1, "name": "sta_error_code", "retain": false, "type": "int16" }, { "addr": 41007, "addr_1st": 0, "addr_2nd": 0, "bit_bias": 0, "byte_bias": 0, "function": "sta_estop", "len": 1, "name": "sta_estop", "retain": false, "type": "bool" }, { "addr": 41008, "addr_1st": 0, "addr_2nd": 0, "bit_bias": 0, "byte_bias": 0, "function": "sta_heartbeat", "len": 1, "name": "sta_heartbeat", "retain": false, "type": "bool" }, { "addr": 41009, "addr_1st": 0, "addr_2nd": 0, "bit_bias": 0, "byte_bias": 0, "function": "sta_home", "len": 1, "name": "sta_home", "retain": false, "type": "bool" }, { "addr": 41010, "addr_1st": 0, "addr_2nd": 0, "bit_bias": 0, "byte_bias": 0, "function": "sta_jjwc_B", "len": 1, "name": "sta_jjwc_B", "retain": false, "type": "bool" }, { "addr": 41011, "addr_1st": 0, "addr_2nd": 0, "bit_bias": 0, "byte_bias": 0, "function": "sta_motor", "len": 1, "name": "sta_motor", "retain": false, "type": "bool" }, { "addr": 41012, "addr_1st": 0, "addr_2nd": 0, "bit_bias": 0, "byte_bias": 0, "function": "sta_operation_mode", "len": 1, "name": "sta_operation_mode", "retain": false, "type": "bool" }, { "addr": 41013, "addr_1st": 0, "addr_2nd": 0, "bit_bias": 0, "byte_bias": 0, "function": "sta_program", "len": 1, "name": "sta_program", "retain": false, "type": "bool" }, { "addr": 41014, "addr_1st": 0, "addr_2nd": 0, "bit_bias": 0, "byte_bias": 0, "function": "sta_program_full", "len": 1, "name": "sta_program_full", "retain": false, "type": "int16" }, { "addr": 41015, "addr_1st": 0, "addr_2nd": 0, "bit_bias": 0, "byte_bias": 0, "function": "sta_program_not_run", "len": 1, "name": "sta_program_not_run", "retain": false, "type": "bool" }, { "addr": 41016, "addr_1st": 0, "addr_2nd": 0, "bit_bias": 0, "byte_bias": 0, "function": "sta_program_reset", "len": 1, "name": "sta_program_reset", "retain": false, "type": "bool" }, { "addr": 41017, "addr_1st": 0, "addr_2nd": 0, "bit_bias": 0, "byte_bias": 0, "function": "sta_program_speed", "len": 1, "name": "sta_program_speed", "retain": false, "type": "int16" }, { "addr": 41018, "addr_1st": 0, "addr_2nd": 0, "bit_bias": 0, "byte_bias": 0, "function": "sta_reduced_mode", "len": 1, "name": "sta_reduced_mode", "retain": false, "type": "bool" }, { "addr": 41019, "addr_1st": 0, "addr_2nd": 0, "bit_bias": 0, "byte_bias": 0, "function": "sta_robot_is_busy", "len": 1, "name": "sta_robot_is_busy", "retain": false, "type": "bool" }, { "addr": 41020, "addr_1st": 0, "addr_2nd": 0, "bit_bias": 0, "byte_bias": 0, "function": "sta_robot_moving", "len": 1, "name": "sta_robot_moving", "retain": false, "type": "bool" }, { "addr": 41021, "addr_1st": 0, "addr_2nd": 0, "bit_bias": 0, "byte_bias": 0, "function": "sta_safe_door", "len": 1, "name": "sta_safe_door", "retain": false, "type": "bool" }, { "addr": 41022, "addr_1st": 0, "addr_2nd": 0, "bit_bias": 0, "byte_bias": 0, "function": "sta_safe_jnt_pos1", "len": 1, "name": "sta_safe_jnt_pos1", "retain": false, "type": "bool" }, { "addr": 41023, "addr_1st": 0, "addr_2nd": 0, "bit_bias": 0, "byte_bias": 0, "function": "sta_safe_jnt_pos2", "len": 1, "name": "sta_safe_jnt_pos2", "retain": false, "type": "bool" }, { "addr": 41024, "addr_1st": 0, "addr_2nd": 0, "bit_bias": 0, "byte_bias": 0, "function": "sta_safe_jnt_pos3", "len": 1, "name": "sta_safe_jnt_pos3", "retain": false, "type": "bool" }, { "addr": 41025, "addr_1st": 0, "addr_2nd": 0, "bit_bias": 0, "byte_bias": 0, "function": "sta_safe_jnt_pos4", "len": 1, "name": "sta_safe_jnt_pos4", "retain": false, "type": "bool" }, { "addr": 41026, "addr_1st": 0, "addr_2nd": 0, "bit_bias": 0, "byte_bias": 0, "function": "sta_safe_jnt_pos5", "len": 1, "name": "sta_safe_jnt_pos5", "retain": false, "type": "bool" }, { "addr": 41027, "addr_1st": 0, "addr_2nd": 0, "bit_bias": 0, "byte_bias": 0, "function": "sta_safe_jnt_pos6", "len": 1, "name": "sta_safe_jnt_pos6", "retain": false, "type": "bool" }, { "addr": 41028, "addr_1st": 0, "addr_2nd": 0, "bit_bias": 0, "byte_bias": 0, "function": "sta_safe_jnt_pos7", "len": 1, "name": "sta_safe_jnt_pos7", "retain": false, "type": "bool" }, { "addr": 41029, "addr_1st": 0, "addr_2nd": 0, "bit_bias": 0, "byte_bias": 0, "function": "sta_safe_jnt_pos8", "len": 1, "name": "sta_safe_jnt_pos8", "retain": false, "type": "bool" }, { "addr": 41030, "addr_1st": 0, "addr_2nd": 0, "bit_bias": 0, "byte_bias": 0, "function": "sta_soft_estop", "len": 1, "name": "sta_soft_estop", "retain": false, "type": "bool" }, { "addr": 41031, "addr_1st": 0, "addr_2nd": 0, "bit_bias": 0, "byte_bias": 0, "function": "sta_safe_region01", "len": 1, "name": "sta_safe_region01", "retain": false, "type": "bool" }, { "addr": 41032, "addr_1st": 0, "addr_2nd": 0, "bit_bias": 0, "byte_bias": 0, "function": "sta_safe_region02", "len": 1, "name": "sta_safe_region02", "retain": false, "type": "bool" }, { "addr": 41033, "addr_1st": 0, "addr_2nd": 0, "bit_bias": 0, "byte_bias": 0, "function": "sta_safe_region03", "len": 1, "name": "sta_safe_region03", "retain": false, "type": "bool" }, { "addr": 41034, "addr_1st": 0, "addr_2nd": 0, "bit_bias": 0, "byte_bias": 0, "function": "sta_safe_region04", "len": 1, "name": "sta_safe_region04", "retain": false, "type": "bool" }, { "addr": 41035, "addr_1st": 0, "addr_2nd": 0, "bit_bias": 0, "byte_bias": 0, "function": "sta_safe_region05", "len": 1, "name": "sta_safe_region05", "retain": false, "type": "bool" }, { "addr": 41036, "addr_1st": 0, "addr_2nd": 0, "bit_bias": 0, "byte_bias": 0, "function": "sta_safe_region06", "len": 1, "name": "sta_safe_region06", "retain": false, "type": "bool" }, { "addr": 41037, "addr_1st": 0, "addr_2nd": 0, "bit_bias": 0, "byte_bias": 0, "function": "sta_safe_region07", "len": 1, "name": "sta_safe_region07", "retain": false, "type": "bool" }, { "addr": 41038, "addr_1st": 0, "addr_2nd": 0, "bit_bias": 0, "byte_bias": 0, "function": "sta_safe_region08", "len": 1, "name": "sta_safe_region08", "retain": false, "type": "bool" }, { "addr": 41039, "addr_1st": 0, "addr_2nd": 0, "bit_bias": 0, "byte_bias": 0, "function": "sta_safe_region09", "len": 1, "name": "sta_safe_region09", "retain": false, "type": "bool" }, { "addr": 41040, "addr_1st": 0, "addr_2nd": 0, "bit_bias": 0, "byte_bias": 0, "function": "sta_safe_region10", "len": 1, "name": "sta_safe_region10", "retain": false, "type": "bool" }, { "addr": 41041, "addr_1st": 0, "addr_2nd": 0, "bit_bias": 0, "byte_bias": 0, "function": "sta_on_path", "len": 1, "name": "sta_on_path", "retain": false, "type": "bool" }, { "addr": 41042, "addr_1st": 0, "addr_2nd": 0, "bit_bias": 0, "byte_bias": 0, "function": "sta_near_path", "len": 1, "name": "sta_near_path", "retain": false, "type": "bool" }, { "addr": 41043, "addr_1st": 0, "addr_2nd": 0, "bit_bias": 0, "byte_bias": 0, "function": "sta_cart_pose", "len": 7, "name": "sta_cart_pose", "retain": false, "type": "float" }, { "addr": 41057, "addr_1st": 0, "addr_2nd": 0, "bit_bias": 0, "byte_bias": 0, "function": "sta_cart_vel", "len": 7, "name": "sta_cart_vel", "retain": false, "type": "float" }, { "addr": 41071, "addr_1st": 0, "addr_2nd": 0, "bit_bias": 0, "byte_bias": 0, "function": "sta_jnt_pose", "len": 7, "name": "sta_jnt_pose", "retain": false, "type": "float" }, { "addr": 41085, "addr_1st": 0, "addr_2nd": 0, "bit_bias": 0, "byte_bias": 0, "function": "sta_jnt_trq", "len": 7, "name": "sta_jnt_trq", "retain": false, "type": "float" }, { "addr": 41099, "addr_1st": 0, "addr_2nd": 0, "bit_bias": 0, "byte_bias": 0, "function": "sta_jnt_vel", "len": 7, "name": "sta_jnt_vel", "retain": false, "type": "float" }, { "addr": 41113, "addr_1st": 0, "addr_2nd": 0, "bit_bias": 0, "byte_bias": 0, "function": "sta_tcp_pose", "len": 7, "name": "sta_tcp_pose", "retain": false, "type": "float" }, { "addr": 41127, "addr_1st": 0, "addr_2nd": 0, "bit_bias": 0, "byte_bias": 0, "function": "sta_tcp_vel", "len": 7, "name": "sta_tcp_vel", "retain": false, "type": "float" }, { "addr": 41141, "addr_1st": 0, "addr_2nd": 0, "bit_bias": 0, "byte_bias": 0, "function": "sta_tcp_vel_mag", "len": 1, "name": "sta_tcp_vel_mag", "retain": false, "type": "float" }, { "addr": 41143, "addr_1st": 0, "addr_2nd": 0, "bit_bias": 0, "byte_bias": 0, "function": "sta_ext_jnt_pose", "len": 6, "name": "sta_ext_jnt_pose", "retain": false, "type": "float" }, { "addr": 41155, "addr_1st": 0, "addr_2nd": 0, "bit_bias": 0, "byte_bias": 0, "function": "sta_sys_stop_di", "len": 1, "name": "sta_sys_stop_di", "retain": false, "type": "bool" }, { "addr": 41156, "addr_1st": 0, "addr_2nd": 0, "bit_bias": 0, "byte_bias": 0, "function": "sta_board_DI0", "len": 16, "name": "sta_board_DI0", "retain": false, "type": "bool" }, { "addr": 41172, "addr_1st": 0, "addr_2nd": 0, "bit_bias": 0, "byte_bias": 0, "function": "sta_board_DI1", "len": 16, "name": "sta_board_DI1", "retain": false, "type": "bool" }, { "addr": 41188, "addr_1st": 0, "addr_2nd": 0, "bit_bias": 0, "byte_bias": 0, "function": "sta_board_DI2", "len": 16, "name": "sta_board_DI2", "retain": false, "type": "bool" }, { "addr": 41204, "addr_1st": 0, "addr_2nd": 0, "bit_bias": 0, "byte_bias": 0, "function": "sta_board_DI3", "len": 16, "name": "sta_board_DI3", "retain": false, "type": "bool" }, { "addr": 41220, "addr_1st": 0, "addr_2nd": 0, "bit_bias": 0, "byte_bias": 0, "function": "sta_board_DO0", "len": 16, "name": "sta_board_DO0", "retain": false, "type": "bool" }, { "addr": 41236, "addr_1st": 0, "addr_2nd": 0, "bit_bias": 0, "byte_bias": 0, "function": "sta_board_DO1", "len": 16, "name": "sta_board_DO1", "retain": false, "type": "bool" }, { "addr": 41252, "addr_1st": 0, "addr_2nd": 0, "bit_bias": 0, "byte_bias": 0, "function": "sta_board_DO2", "len": 16, "name": "sta_board_DO2", "retain": false, "type": "bool" }, { "addr": 41268, "addr_1st": 0, "addr_2nd": 0, "bit_bias": 0, "byte_bias": 0, "function": "sta_board_DO3", "len": 16, "name": "sta_board_DO3", "retain": false, "type": "bool" }, { "addr": 41284, "addr_1st": 0, "addr_2nd": 0, "bit_bias": 0, "byte_bias": 0, "function": "ext_resp_set", "len": 1, "name": "ext_resp_set", "retain": false, "type": "bool" }, { "addr": 41285, "addr_1st": 0, "addr_2nd": 0, "bit_bias": 0, "byte_bias": 0, "function": "ext_response_data", "len": 8, "name": "ext_response_data", "retain": false, "type": "int16" }, { "addr": 41293, "addr_1st": 0, "addr_2nd": 0, "bit_bias": 0, "byte_bias": 0, "function": "ext_error_code", "len": 1, "name": "ext_error_code", "retain": false, "type": "int16" } ] } } ] }