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.
Description - Modbus TCP server¶
It has been built on top of the pymodbus library.
- All 4 Modbus datastores are implemented:
- Coil.
- Discrete Input.
- Holding Register.
- Input Register.
Each datastore has a different set of functionalities. Note that each datastore contains a completely different set of data.
Address tables start at 0.
Coil¶
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:
- 0x01: READ_COILS
- 0x05: WRITE_SINGLE_COIL
This datastore can be used to set Digital I/O mode and state.
- Digital I/O numbers used for Modbus:
- 0/100: 1A
- 1/101: 1B
- 2/102: 1C
- 3/103: 2A
- 4/104: 2B
- 5/105: 2C
| 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 |
Discrete input¶
Each address contains a 1bit value.
READ-ONLY
- Accepted Modbus functions:
- 0x02: READ_DISCRETE_INPUTS
- Digital I/O numbers used for Modbus:
- 0/100: 1A
- 1/101: 1B
- 2/102: 1C
- 3/103: 2A
- 4/104: 2B
- 5/105: 2C
| 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.
Holding register¶
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:
- 0x03: READ_HOLDING_REGISTERS
- 0x06: WRITE_SINGLE_REGISTER
| Address | Description |
|---|---|
| 0-5 | Joints (mrad) |
| 10-12 | Position x,y,z (mm) |
| 13-15 | Orientation roll, pitch, yaw (mrad) |
| 100 | Sends Joint Move command with stored joints |
| 101 | Sends Pose Move command with stored position and orientation |
| 102 | Sends Pose Linear Move command with stored position and orientation |
| 110 | Stops 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) |
| 153 - 158 | Vision - Target pose result |
| 159 | Vision - Shape of the object found (-1: ANY, 1: CIRCLE, 2: SQUARE, 3: TRIANGLE, 0: NONE) |
| 160 | Vision - Color of the object found (-1: ANY, 1: BLUE, 2: RED, 3: GREEN, 0: NONE) |
| 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 | Requests new calibration |
| 311 | Starts auto calibration |
| 312 | Starts manual calibration |
| 401 | Gripper open speed (100-1000) |
| 402 | Gripper close speed (100-1000) |
| 500 | Updates the tool id according to the gripper plugged (gripper 1: 11, gripper 2: 12, gripper 3: 13, vaccum pump: 31) |
| 501 | Stores the tool id |
| 510 | Opens gripper previously updated |
| 511 | Closes gripper with given id |
| 512 | Pulls air vacuum pump from given id |
| 513 | Pushes air vacuum pump from given id |
| 520 | Enables a Conveyor Belt newly connected [on success: store its ID at 152] |
| 521 | Detaches / disables 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] | Stores the Conveyor Belt ID for all related command |
| 526 | Stops Conveyor Belt with the Conveyor Belt ID given at 525 |
| 600 | TCP - Enables or disables the TCP function (Tool Center Point). |
| 601 | Activates the TCP function (Tool Center Point) and defines the transformation between the tool_link frame and the TCP frame. |
| 610 | Vision - Gets target pose from relative pose, with stored relative pose and height_offset |
| 611 | Vision - Gets target pose from camera, with stored workspace name, height offset, shape and color |
| 612 | Vision - Vision pick, with stored workspace name, height offset, shape and color |
| 613 | Vision - Moves to object, with stored workspace name, height offset, shape and color |
| 614 | Vision - Detects object, with stored workspace name, shape and color |
| 620 | Vision - Stores workspace’s height offset |
| 621 | Vision - Stores relative pose x_rel |
| 622 | Vision - Stores relative pose y_rel |
| 623 | Vision - Stores relative pose yaw_rel |
| 624 | Vision - Stores requested shape (-1: ANY, 1: CIRCLE, 2: SQUARE, 3: TRIANGLE) |
| 625 | Vision - Stores requested color (-1: ANY, 1: BLUE, 2: RED, 3: GREEN) |
| 626 - max 641 | Vision - Stores workspace’s name, as a string encoded in 16 bits hex (see examples on how to store a workspace name from a client) |
Input Register¶
Each address contains a 16bits value.
READ-ONLY
- Accepted Modbus functions:
- 0x04: READ_INPUT_REGISTERS
| 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) |