How to send variables with decimal point REAL (MF`s) over Modbus-TCP/IP?

[Robots]

Hi,

 

Would someone explain me how can I send correctly variables type REAL (MF`s) over Modbus-TCP?

 

I am working with a PLC V1210 with Internet card V200-19-ET2, it talks to an Anybus X-gateway ( AB7629-F) which is Profibus-Master and Modbus Slave then the Anybus will send the data to a Nachi Robot CFD controller. I already set the comms between all devices and I can send/receive data to each other.

 

My problem starts when I try to send the variable with decimal point (i.e 1.5) to the robot. But let me explain where I have got so far.

 

Before send it to the robot I get the MF0 and copied to a DW0 variable with COPY MEMORY function with the following parameters:

COPY MEMORY FUNCTION

MF0 = A

0 = B

DW0 = C

0 = D

4 = E

 

When I store the value 1 to MF0 my DW0 displays the value 16256 and the Robot gets the same value 16256. However when I start to change the values into MF0 the robot starts receive different values. I have tried many things but I believe I have missed some information in terms how to convert these variables type.

 

Obs:

The robot program side gets block of 32 bits and then convert to a DINT variable and after that /100 and store the result into a variable type REAL with decimal point.

 

If there is anyone who could give me a explanation how to deal with this problem would be great.

 

Thanks for now and this is my first topic.

 

 

 

 

 

I already set the comms between all devices and I can send/receive data to each other.