Use the Modbus TCP server¶

Ned is permanently running a Modbus TCP Server that enables Ned to communicate with a PLC, or another computer in the same network.

Connection - Modbus TCP server¶

The Modbus TCP server is running on port 5020 by default.

It has been built on top of the pymodbus library.

All 4 Modbus datastores are implemented:

Each datastore has a different set of functionalities. Note that each datastore contains a completely different set of data.

Address tables start at 0.

Each address contains a 1bit value.

READ/WRITE (the stored values correspond to the last given command, not the current robot state).

Accepted Modbus functions:

This datastore can be used to set Digital I/O mode and state.

Digital I/O numbers used for Modbus:

Address	Description
0-5	Digital I/O mode (Input = 1, Output = 0)
100-105	Digital I/O state (High = 1, Low = 0)
200-299	Can be used to store your own variables

Each address contains a 1bit value.

READ-ONLY

Accepted Modbus functions:

Digital I/O numbers used for Modbus:

Address	Description
0-5	Digital I/O mode (Input = 1, Output = 0)
100-105	Digital I/O state (High = 1, Low = 0)

This datastore can be used to read Digital I/O mode and state of the robot. See Coil above for digital I/O number mapping.

Each address contains a 16bits value.

READ/WRITE (the stored values correspond to the last given command, not the current robot state)

Accepted Modbus functions:

Address	Description
0-5	Joints (mrad)
10-12	Position x,y,z (mm)
13-15	Orientation roll, pitch, yaw (mrad)
100	Send Joint Move command with stored joints
101	Send Pose Move command with stored position and orientation
110	Stop current command execution
150	Is executing command flag
151	Last command result (status of the last command)
152	Contains data retrieved from last cmd (depends of the cmd)
200-299	Can be used to store your own variables
300	Learning Mode (On = 1, Off = 0)
301	Joystick Enabled (On = 1, Off = 0)
310	Request new calibration
311	Start auto calibration
312	Start manual calibration
401	Gripper open speed (100-1000)
402	Gripper close speed (100-1000)
500	Select tool from given id
510	Open gripper with given id
511	Close gripper with given id
512	Pull air vacuum pump from given id
513	Push air vacuum pump from given id
520	Enable a Conveyor Belt newly connected [on success: store it’s ID at 152]
521	Detach / disable Conveyor Belt with the Conveyor Belt ID given at 525
522	Control Conveyor Belt with the Conveyor Belt ID given at 525
523 [related to 522]	Conveyor Belt direction (backward = -1 , forward = 1)
524 [related to 522]	Conveyor Belt speed (0-100)(%)
525 [related to 520/521/522/526]	Store the Conveyor Belt ID for all related command
526	Stop Conveyor Belt with the Conveyor Belt ID given at 525

Each address contains a 16bits value.

READ-ONLY

Accepted Modbus functions:

Address	Description
0-5	Joints (mrad)
10-12	Position x,y,z (mm)
13-15	Orientation roll, pitch, yaw (mrad)
200	Selected tool ID (0 for no tool)
300	Learning Mode activated
400	Motors connection up (Ok = 1, Not ok = 0)
401	Calibration needed flag
402	Calibration in progress flag
403	Raspberry Pi temperature
404	Raspberry Pi available disk size
405	Raspberry Pi ROS log size
406	RPI software version n.1
407	RPI software version n.2
408	RPI software version n.3
409	Hardware version (1 or 2)
530	Conveyor 1 connection state (Connected = 1 , Not connected = 0)
531	Conveyor 1 control status ( On = 0, Off = 1)
532	Conveyor 1 Speed (0-100 (%))
533	Conveyor 1 direction (Backward = -1, Forward = 1)
540	Conveyor 2 connection state (Connected = 1 , Not connected = 0)
541	Conveyor 2 control status ( On = 0, Off = 1)
542	Conveyor 2 Speed (0-100 (%))
543	Conveyor 2 direction (Backward = -1, Forward = 1)