4.6 Register Information

Overview

The Registers class provides a unified entry for host-side register access on the controller, supporting operations for multiple register types.

Core Features

Read/write numeric registers (R)
Read/write motion registers (MR)
Read/write string registers (SR)
Read/write pose registers (PR)
Read/write Modbus registers (MH holding, MI input)

Use Cases

Runtime parameter passing
Robot state synchronization
Configuration sharing with external systems
Host-device interaction control

4.6.1 R Numeric Register Operations

4.6.1.1 Reading the Value of an R Register

Method Name	Registers.Read_R(int `index` )
Description	Reads the value of an R numeric register.
Request Parameters	`index` : int R register number to read
Return Value	double: Register value StatusCode: Operation execution result
Compatible robot software version	Collaborative robot: 7.6.0.1 Industrial robot: 7.6.0.0

4.6.1.2 Reading the Value of an R Register (with Metadata)

Method Name	Registers.Read_R(int `index` , bool `withMeta` )
Description	Reads the value of an R numeric register, with optional metadata (name/comment).
Request Parameters	`index` : int Register number to read `withMeta` : bool Whether to return metadata (returns register object when true)
Return Value	Register: Register object (id/name/comment/value) StatusCode: Operation execution result
Compatible robot software version	Collaborative robot: 7.7.0.0+ Industrial robot: 7.7.0.0+

4.6.1.3 Writing the Value of an R Register

Method Name	Registers.Write_R(int `index` , double `value` )
Description	Writes the value of an R numeric register.
Request Parameters	`index` : int Register number to write `value` : double Register numeric value to write
Return Value	StatusCode: Operation execution result
Compatible robot software version	Collaborative robot: 7.6.0.1 Industrial robot: 7.6.0.0

4.6.1.4 Writing an R Register with Metadata

Method Name	Registers.Write_R(Register `register` )
Description	Writes an R register using a Register object, including name and comment.
Request Parameters	`register` : Register object (id/name/comment/value)
Return Value	StatusCode: Operation execution result
Compatible robot software version	Collaborative robot: 7.7.0.0+ Industrial robot: 7.7.0.0+

4.6.1.5 Deleting an R Register

Method Name	Registers.Delete_R(int `index` )
Description	Deletes the specified R numeric register.
Request Parameters	`index` : int R register number to delete
Return Value	StatusCode: Operation execution result
Compatible robot software version	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

Example Code

Registers/RRegisterOperations.cs

using Agilebot.IR;
using Agilebot.IR.Types;

public class RRegisterOperations
{
    public static StatusCode Run(string controllerIP, bool useLocalProxy = true)
    {
        // [ZH] 初始化捷勃特机器人
        // [EN] Initialize the Agilebot robot
        Arm controller = new Arm(controllerIP, useLocalProxy);

        // [ZH] 连接捷勃特机器人
        // [EN] Connect to the Agilebot robot
        StatusCode code = controller.ConnectSync();
        Console.WriteLine(code != StatusCode.OK ? code.GetDescription() : "连接成功/Successfully connected.");

        if (code != StatusCode.OK)
        {
            return code;
        }

        try
        {
            // [ZH] 设置寄存器索引和值
            // [EN] Set register index and value
            int index = 1;
            double value = 9.9;

            // [ZH] 写入R寄存器
            // [EN] Write R register
            code = controller.Registers.Write_R(index, value);
            if (code == StatusCode.OK)
            {
                Console.WriteLine("写入R寄存器成功/Write R Register Success");
            }
            else
            {
                Console.WriteLine($"写入R寄存器失败/Write R Register Failed: {code.GetDescription()}");
            }

            // [ZH] 读取R寄存器
            // [EN] Read R register
            double readValue;
            (readValue, code) = controller.Registers.Read_R(index);
            if (code == StatusCode.OK)
            {
                Console.WriteLine($"读取R寄存器成功/Read R Register Success: 值/Value = {readValue}");
            }
            else
            {
                Console.WriteLine($"读取R寄存器失败/Read R Register Failed: {code.GetDescription()}");
            }

            // [ZH] 删除R寄存器
            // [EN] Delete R register
            code = controller.Registers.Delete_R(index);
            if (code == StatusCode.OK)
            {
                Console.WriteLine("删除R寄存器成功/Delete R Register Success");
            }
            else
            {
                Console.WriteLine($"删除R寄存器失败/Delete R Register Failed: {code.GetDescription()}");
            }
        }
        catch (Exception ex)
        {
            Console.WriteLine($"执行过程中发生异常/Exception occurred during execution: {ex.Message}");
            code = StatusCode.OtherReason;
        }
        finally
        {
            // [ZH] 关闭连接
            // [EN] Close the connection
            StatusCode disconnectCode = controller.Disconnect();
            if (disconnectCode != StatusCode.OK)
            {
                Console.WriteLine(disconnectCode.GetDescription());
                if (code == StatusCode.OK)
                    code = disconnectCode;
            }
        }

        return code;
    }
}

4.6.2 MR Motion Register Operations

4.6.2.1 Reading the Value of an MR Register

Method Name	Registers.Read_MR(int `index` )
Description	Reads the value of an MR motion register.
Request Parameters	`index` : int MR register number to read
Return Value	int: Register value StatusCode: Operation execution result
Compatible robot software version	Collaborative robot: 7.6.0.1 Industrial robot: 7.6.0.0

4.6.2.2 Reading the Value of an MR Register (with Metadata)

Method Name	Registers.Read_MR(int `index` , bool `withMeta` )
Description	Reads the value of an MR motion register, with optional metadata (name/comment).
Request Parameters	`index` : int Register number to read `withMeta` : bool Whether to return metadata (returns register object when true)
Return Value	MotionRegister: Register object (id/name/comment/value) StatusCode: Operation execution result
Compatible robot software version	Collaborative robot: 7.7.0.0+ Industrial robot: 7.7.0.0+

4.6.2.3 Writing the Value of an MR Register

Method Name	Registers.Write_MR(int `index` , int `value` )
Description	Writes the value of an MR motion register.
Request Parameters	`index` : int Register number to write `value` : int Register numeric value to write
Return Value	StatusCode: Operation execution result
Compatible robot software version	Collaborative robot: 7.6.0.1 Industrial robot: 7.6.0.0

4.6.2.4 Writing an MR Register with Metadata

Method Name	Registers.Write_MR(MotionRegister `register` )
Description	Writes an MR register using a MotionRegister object, including name and comment.
Request Parameters	`register` : MotionRegister object (id/name/comment/value)
Return Value	StatusCode: Operation execution result
Compatible robot software version	Collaborative robot: 7.7.0.0+ Industrial robot: 7.7.0.0+

4.6.2.5 Deleting an MR Register

Method Name	Registers.Delete_MR(int `index` )
Description	Deletes the specified MR motion register.
Request Parameters	`index` : int MR register number to delete
Return Value	StatusCode: Operation execution result
Compatible robot software version	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

Example Code

Registers/MRRegisterOperations.cs

using Agilebot.IR;
using Agilebot.IR.Types;

public class MRRegisterOperations
{
    public static StatusCode Run(string controllerIP, bool useLocalProxy = true)
    {
        // [ZH] 初始化捷勃特机器人
        // [EN] Initialize the Agilebot robot
        Arm controller = new Arm(controllerIP, useLocalProxy);

        // [ZH] 连接捷勃特机器人
        // [EN] Connect to the Agilebot robot
        StatusCode code = controller.ConnectSync();
        Console.WriteLine(code != StatusCode.OK ? code.GetDescription() : "连接成功/Successfully connected.");

        if (code != StatusCode.OK)
        {
            return code;
        }

        try
        {
            // [ZH] 设置寄存器索引和值
            // [EN] Set register index and value
            int index = 1;
            int value = 9;

            // [ZH] 写入MR寄存器
            // [EN] Write MR register
            code = controller.Registers.Write_MR(index, value);
            if (code == StatusCode.OK)
            {
                Console.WriteLine("写入MR寄存器成功/Write MR Register Success");
            }
            else
            {
                Console.WriteLine($"写入MR寄存器失败/Write MR Register Failed: {code.GetDescription()}");
            }

            // [ZH] 读取MR寄存器
            // [EN] Read MR register
            int readValue;
            (readValue, code) = controller.Registers.Read_MR(index);
            if (code == StatusCode.OK)
            {
                Console.WriteLine($"读取MR寄存器成功/Read MR Register Success: 值/Value = {readValue}");
            }
            else
            {
                Console.WriteLine($"读取MR寄存器失败/Read MR Register Failed: {code.GetDescription()}");
            }

            // [ZH] 删除MR寄存器
            // [EN] Delete MR register
            code = controller.Registers.Delete_MR(index);
            if (code == StatusCode.OK)
            {
                Console.WriteLine("删除MR寄存器成功/Delete MR Register Success");
            }
            else
            {
                Console.WriteLine($"删除MR寄存器失败/Delete MR Register Failed: {code.GetDescription()}");
            }
        }
        catch (Exception ex)
        {
            Console.WriteLine($"执行过程中发生异常/Exception occurred during execution: {ex.Message}");
            code = StatusCode.OtherReason;
        }
        finally
        {
            // [ZH] 关闭连接
            // [EN] Close the connection
            StatusCode disconnectCode = controller.Disconnect();
            if (disconnectCode != StatusCode.OK)
            {
                Console.WriteLine(disconnectCode.GetDescription());
                if (code == StatusCode.OK)
                    code = disconnectCode;
            }
        }

        return code;
    }
}

4.6.3 SR String Register Operations

4.6.3.1 Reading the Value of an SR Register

Method Name	Registers.Read_SR(int `index` )
Description	Reads the value of an SR string register.
Request Parameters	`index` : int SR register number to read
Return Value	string: Register string value StatusCode: Operation execution result
Compatible robot software version	Collaborative robot: 7.6.0.1 Industrial robot: 7.6.0.0

4.6.3.2 Reading the Value of an SR Register (with Metadata)

Method Name	Registers.Read_SR(int `index` , bool `withMeta` )
Description	Reads the value of an SR string register, with optional metadata (name/comment).
Request Parameters	`index` : int Register number to read `withMeta` : bool Whether to return metadata (returns register object when true)
Return Value	StringRegister: Register object (id/name/comment/value) StatusCode: Operation execution result
Compatible robot software version	Collaborative robot: 7.7.0.0+ Industrial robot: 7.7.0.0+

4.6.3.3 Writing the Value of an SR Register

Method Name	Registers.Write_SR(int `index` , string `value` )
Description	Writes the value of an SR string register.
Request Parameters	`index` : int Register number to write `value` : string Register string value to write
Return Value	StatusCode: Operation execution result
Compatible robot software version	Collaborative robot: 7.6.0.1 Industrial robot: 7.6.0.0

4.6.3.4 Writing an SR Register with Metadata

Method Name	Registers.Write_SR(StringRegister `register` )
Description	Writes an SR register using a StringRegister object, including name and comment.
Request Parameters	`register` : StringRegister object (id/name/comment/value)
Return Value	StatusCode: Operation execution result
Compatible robot software version	Collaborative robot: 7.7.0.0+ Industrial robot: 7.7.0.0+

4.6.3.5 Deleting an SR Register

Method Name	Registers.Delete_SR(int `index` )
Description	Deletes the specified SR string register.
Request Parameters	`index` : int SR register number to delete
Return Value	StatusCode: Operation execution result
Compatible robot software version	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

Example Code

Registers/SRRegisterOperations.cs

using Agilebot.IR;
using Agilebot.IR.Types;

public class SRRegisterOperations
{
    public static StatusCode Run(string controllerIP, bool useLocalProxy = true)
    {
        // [ZH] 初始化捷勃特机器人
        // [EN] Initialize the Agilebot robot
        Arm controller = new Arm(controllerIP, useLocalProxy);

        // [ZH] 连接捷勃特机器人
        // [EN] Connect to the Agilebot robot
        StatusCode code = controller.ConnectSync();
        Console.WriteLine(code != StatusCode.OK ? code.GetDescription() : "连接成功/Successfully connected.");

        if (code != StatusCode.OK)
        {
            return code;
        }

        try
        {
            // [ZH] 设置寄存器索引和值
            // [EN] Set register index and value
            int index = 1;
            string value = "test";

            // [ZH] 写入SR寄存器
            // [EN] Write SR register
            code = controller.Registers.Write_SR(index, value);
            if (code == StatusCode.OK)
            {
                Console.WriteLine("写入SR寄存器成功/Write SR Register Success");
            }
            else
            {
                Console.WriteLine($"写入SR寄存器失败/Write SR Register Failed: {code.GetDescription()}");
            }

            // [ZH] 读取SR寄存器
            // [EN] Read SR register
            string readValue;
            (readValue, code) = controller.Registers.Read_SR(index);
            if (code == StatusCode.OK)
            {
                Console.WriteLine($"读取SR寄存器成功/Read SR Register Success: 值/Value = {readValue}");
            }
            else
            {
                Console.WriteLine($"读取SR寄存器失败/Read SR Register Failed: {code.GetDescription()}");
            }

            // [ZH] 删除SR寄存器
            // [EN] Delete SR register
            code = controller.Registers.Delete_SR(index);
            if (code == StatusCode.OK)
            {
                Console.WriteLine("删除SR寄存器成功/Delete SR Register Success");
            }
            else
            {
                Console.WriteLine($"删除SR寄存器失败/Delete SR Register Failed: {code.GetDescription()}");
            }
        }
        catch (Exception ex)
        {
            Console.WriteLine($"执行过程中发生异常/Exception occurred during execution: {ex.Message}");
            code = StatusCode.OtherReason;
        }
        finally
        {
            // [ZH] 关闭连接
            // [EN] Close the connection
            StatusCode disconnectCode = controller.Disconnect();
            if (disconnectCode != StatusCode.OK)
            {
                Console.WriteLine(disconnectCode.GetDescription());
                if (code == StatusCode.OK)
                    code = disconnectCode;
            }
        }

        return code;
    }
}

4.6.4 PR Pose Register Operations

4.6.4.1 Reading the Value of a PR Register

Method Name	Registers.Read_PR(int `index` )
Description	Reads the value of a PR pose register.
Request Parameters	`index` : int PR register number to read
Return Value	PoseRegister: Pose data StatusCode: Operation execution result
Compatible robot software version	Collaborative robot: 7.6.0.1 Industrial robot: 7.6.0.0

4.6.4.2 Reading the Value of a PR Register (with Metadata)

Method Name	Registers.Read_PR(int `index` , bool `withMeta` )
Description	Reads the value of a PR pose register, with optional metadata (name/comment).
Request Parameters	`index` : int Register number to read `withMeta` : bool Whether to return metadata (includes name/comment when true)
Return Value	PoseRegister: Pose data (includes name/comment when withMeta=true) StatusCode: Operation execution result
Compatible robot software version	Collaborative robot: 7.7.0.0+ Industrial robot: 7.7.0.0+

4.6.4.3 Writing the Value of a PR Register

Method Name	Registers.Write_PR(PoseRegister `pose` )
Description	Writes the value of a PR pose register.
Request Parameters	`pose` : PoseRegister Pose data to write
Return Value	StatusCode: Operation execution result
Compatible robot software version	Collaborative robot: 7.6.0.1 Industrial robot: 7.6.0.0

4.6.4.4 Writing a PR Register with Metadata

Method Name	Registers.Write_PR(PoseRegister `pose` , bool `withMeta` )
Description	Writes the value of a PR pose register, with control over whether to write metadata (name/comment).
Request Parameters	`pose` : PoseRegister Pose data to write `withMeta` : bool Whether to write metadata (writes name/comment when true)
Return Value	StatusCode: Operation execution result
Compatible robot software version	Collaborative robot: 7.7.0.0+ Industrial robot: 7.7.0.0+

4.6.4.5 Deleting a PR Register

Method Name	Registers.Delete_PR(int `index` )
Description	Deletes the specified PR pose register.
Request Parameters	`index` : int PR register number to delete
Return Value	StatusCode: Operation execution result
Compatible robot software version	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

Example Code

Registers/PRRegisterOperations.cs

using Agilebot.IR;
using Agilebot.IR.Registers;
using Agilebot.IR.Types;

public class PRRegisterOperations
{
    public static StatusCode Run(string controllerIP, bool useLocalProxy = true)
    {
        // [ZH] 初始化捷勃特机器人
        // [EN] Initialize the Agilebot robot
        Arm controller = new Arm(controllerIP, useLocalProxy);

        // [ZH] 连接捷勃特机器人
        // [EN] Connect to the Agilebot robot
        StatusCode code = controller.ConnectSync();
        Console.WriteLine(code != StatusCode.OK ? code.GetDescription() : "连接成功/Successfully connected.");

        if (code != StatusCode.OK)
        {
            return code;
        }

        try
        {
            // [ZH] 设置寄存器索引
            // [EN] Set register index
            int index = 1;

            // [ZH] 生成位姿寄存器
            // [EN] Generate pose register
            var pose = new PoseRegister
            {
                Id = 1,
                Name = "Test",
                Comment = "Test",
                PoseRegisterData = new PoseRegisterData
                {
                    Pt = PoseType.Joint,
                    Joint = new Joint
                    {
                        J1 = 6.6,
                        J2 = 6.6,
                        J3 = 6.6,
                        J4 = 6.6,
                        J5 = 6.6,
                        J6 = 6.6,
                    },
                    CartData = null,
                },
            };

            // [ZH] 写入PR寄存器
            // [EN] Write PR register
            code = controller.Registers.Write_PR(pose);
            if (code == StatusCode.OK)
            {
                Console.WriteLine("写入PR寄存器成功/Write PR Register Success");
            }
            else
            {
                Console.WriteLine($"写入PR寄存器失败/Write PR Register Failed: {code.GetDescription()}");
            }

            // [ZH] 读取PR寄存器
            // [EN] Read PR register
            PoseRegister readValue;
            (readValue, code) = controller.Registers.Read_PR(index);
            if (code == StatusCode.OK)
            {
                Console.WriteLine($"读取PR寄存器成功/Read PR Register Success: ID = {readValue.Id}");
            }
            else
            {
                Console.WriteLine($"读取PR寄存器失败/Read PR Register Failed: {code.GetDescription()}");
            }

            // [ZH] 删除PR寄存器
            // [EN] Delete PR register
            code = controller.Registers.Delete_PR(index);
            if (code == StatusCode.OK)
            {
                Console.WriteLine("删除PR寄存器成功/Delete PR Register Success");
            }
            else
            {
                Console.WriteLine($"删除PR寄存器失败/Delete PR Register Failed: {code.GetDescription()}");
            }
        }
        catch (Exception ex)
        {
            Console.WriteLine($"执行过程中发生异常/Exception occurred during execution: {ex.Message}");
            code = StatusCode.OtherReason;
        }
        finally
        {
            // [ZH] 关闭连接
            // [EN] Close the connection
            StatusCode disconnectCode = controller.Disconnect();
            if (disconnectCode != StatusCode.OK)
            {
                Console.WriteLine(disconnectCode.GetDescription());
                if (code == StatusCode.OK)
                    code = disconnectCode;
            }
        }

        return code;
    }
}

4.6.5 Modbus Registers (MH Holding Registers, MI Input Registers)

4.6.5.1 Reading the Value of an MH Register

Method Name	Registers.Read_MH(int `index` )
Description	Reads the value of an MH holding register.
Request Parameters	`index` : int Register number to read
Return Value	int: Register value StatusCode: Operation execution result
Compatible robot software version	Collaborative robot: 7.6.0.0 Industrial robot: 7.6.0.0

4.6.5.2 Reading the Value of an MI Register

Method Name	Registers.Read_MI(int `index` )
Description	Reads the value of an MI input register.
Request Parameters	`index` : int Register number to read
Return Value	int: Register value StatusCode: Operation execution result
Compatible robot software version	Collaborative robot: 7.6.0.0 Industrial robot: 7.6.0.0

4.6.5.3 Writing the Value of an MH Register

Method Name	Registers.Write_MH(int `index` , int `value` )
Description	Writes the value of an MH holding register.
Request Parameters	`index` : int Register number to write `value` : int Register numeric value to write
Return Value	StatusCode: Operation execution result
Compatible robot software version	Collaborative robot: 7.6.0.0 Industrial robot: 7.6.0.0

4.6.5.4 Writing the Value of an MI Register

Method Name	Registers.Write_MI(int `index` , int `value` )
Description	Writes the value of an MI input register.
Request Parameters	`index` : int Register number to write `value` : int Register numeric value to write
Return Value	StatusCode: Operation execution result
Compatible robot software version	Collaborative robot: 7.6.0.0 Industrial robot: 7.6.0.0

Example Code

Registers/ModbusRegisterOperations.cs

using Agilebot.IR;
using Agilebot.IR.Types;

public class ModbusRegisterOperations
{
    public static StatusCode Run(string controllerIP, bool useLocalProxy = true)
    {
        // [ZH] 初始化捷勃特机器人
        // [EN] Initialize the Agilebot robot
        Arm controller = new Arm(controllerIP, useLocalProxy);

        // [ZH] 连接捷勃特机器人
        // [EN] Connect to the Agilebot robot
        StatusCode code = controller.ConnectSync();
        Console.WriteLine(code != StatusCode.OK ? code.GetDescription() : "连接成功/Successfully connected.");

        if (code != StatusCode.OK)
        {
            return code;
        }

        try
        {
            // [ZH] 设置寄存器索引和值
            // [EN] Set register index and value
            int index = 1;
            int writeValue = 8;

            // [ZH] 写入MH保持寄存器
            // [EN] Write MH holding register
            code = controller.Registers.Write_MH(index, writeValue);
            if (code == StatusCode.OK)
            {
                Console.WriteLine("写入MH保持寄存器成功/Write MH Holding Register Success");
            }
            else
            {
                Console.WriteLine($"写入MH保持寄存器失败/Write MH Holding Register Failed: {code.GetDescription()}");
            }

            // [ZH] 写入MI输入寄存器
            // [EN] Write MI input register
            code = controller.Registers.Write_MI(index, writeValue + 1);
            if (code == StatusCode.OK)
            {
                Console.WriteLine("写入MI输入寄存器成功/Write MI Input Register Success");
            }
            else
            {
                Console.WriteLine($"写入MI输入寄存器失败/Write MI Input Register Failed: {code.GetDescription()}");
            }

            // [ZH] 读取MH保持寄存器
            // [EN] Read MH holding register
            int mhValue;
            (mhValue, code) = controller.Registers.Read_MH(index);
            if (code == StatusCode.OK)
            {
                Console.WriteLine($"读取MH保持寄存器成功/Read MH Holding Register Success: 值/Value = {mhValue}");
            }
            else
            {
                Console.WriteLine($"读取MH保持寄存器失败/Read MH Holding Register Failed: {code.GetDescription()}");
            }

            // [ZH] 读取MI输入寄存器
            // [EN] Read MI input register
            int miValue;
            (miValue, code) = controller.Registers.Read_MI(index);
            if (code == StatusCode.OK)
            {
                Console.WriteLine($"读取MI输入寄存器成功/Read MI Input Register Success: 值/Value = {miValue}");
            }
            else
            {
                Console.WriteLine($"读取MI输入寄存器失败/Read MI Input Register Failed: {code.GetDescription()}");
            }
        }
        catch (Exception ex)
        {
            Console.WriteLine($"执行过程中发生异常/Exception occurred during execution: {ex.Message}");
            code = StatusCode.OtherReason;
        }
        finally
        {
            // [ZH] 关闭连接
            // [EN] Close the connection
            StatusCode disconnectCode = controller.Disconnect();
            if (disconnectCode != StatusCode.OK)
            {
                Console.WriteLine(disconnectCode.GetDescription());
                if (code == StatusCode.OK)
                    code = disconnectCode;
            }
        }

        return code;
    }
}

4.6 Register Information ​

Overview ​

Core Features ​

Use Cases ​

4.6.1 R Numeric Register Operations ​

4.6.1.1 Reading the Value of an R Register ​

4.6.1.2 Reading the Value of an R Register (with Metadata) ​

4.6.1.3 Writing the Value of an R Register ​

4.6.1.4 Writing an R Register with Metadata ​

4.6.1.5 Deleting an R Register ​

4.6.2 MR Motion Register Operations ​

4.6.2.1 Reading the Value of an MR Register ​

4.6.2.2 Reading the Value of an MR Register (with Metadata) ​

4.6.2.3 Writing the Value of an MR Register ​

4.6.2.4 Writing an MR Register with Metadata ​

4.6.2.5 Deleting an MR Register ​

4.6.3 SR String Register Operations ​

4.6.3.1 Reading the Value of an SR Register ​

4.6.3.2 Reading the Value of an SR Register (with Metadata) ​

4.6.3.3 Writing the Value of an SR Register ​

4.6.3.4 Writing an SR Register with Metadata ​

4.6.3.5 Deleting an SR Register ​

4.6.4 PR Pose Register Operations ​

4.6.4.1 Reading the Value of a PR Register ​

4.6.4.2 Reading the Value of a PR Register (with Metadata) ​

4.6.4.3 Writing the Value of a PR Register ​

4.6.4.4 Writing a PR Register with Metadata ​

4.6.4.5 Deleting a PR Register ​

4.6.5 Modbus Registers (MH Holding Registers, MI Input Registers) ​

4.6.5.1 Reading the Value of an MH Register ​

4.6.5.2 Reading the Value of an MI Register ​

4.6.5.3 Writing the Value of an MH Register ​

4.6.5.4 Writing the Value of an MI Register ​

4.6 Register Information

Overview

Core Features

Use Cases

4.6.1 R Numeric Register Operations

4.6.1.1 Reading the Value of an R Register

4.6.1.2 Reading the Value of an R Register (with Metadata)

4.6.1.3 Writing the Value of an R Register

4.6.1.4 Writing an R Register with Metadata

4.6.1.5 Deleting an R Register

4.6.2 MR Motion Register Operations

4.6.2.1 Reading the Value of an MR Register

4.6.2.2 Reading the Value of an MR Register (with Metadata)

4.6.2.3 Writing the Value of an MR Register

4.6.2.4 Writing an MR Register with Metadata

4.6.2.5 Deleting an MR Register

4.6.3 SR String Register Operations

4.6.3.1 Reading the Value of an SR Register

4.6.3.2 Reading the Value of an SR Register (with Metadata)

4.6.3.3 Writing the Value of an SR Register

4.6.3.4 Writing an SR Register with Metadata

4.6.3.5 Deleting an SR Register

4.6.4 PR Pose Register Operations

4.6.4.1 Reading the Value of a PR Register

4.6.4.2 Reading the Value of a PR Register (with Metadata)

4.6.4.3 Writing the Value of a PR Register

4.6.4.4 Writing a PR Register with Metadata

4.6.4.5 Deleting a PR Register

4.6.5 Modbus Registers (MH Holding Registers, MI Input Registers)

4.6.5.1 Reading the Value of an MH Register

4.6.5.2 Reading the Value of an MI Register

4.6.5.3 Writing the Value of an MH Register

4.6.5.4 Writing the Value of an MI Register