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ModbusRTU Demo ​

1. Project introduction ​

This project, via the RealMan Python development package, configures the ModbusRTU mode of the communication port, writes single coil data, reads single coil data, writes a single register, reads holding registers, and closes the communication port in ModbusRTU mode.

2. Code structure ​

RMDemo_ModbusRTU/
│
├── README.md        <- Core project document
├── requirements.txt    <- List of project dependencies
├── setup.py        <- Project installation script
│
├── src/          <- Project source code
│  ├── main.py       <- Main procedure entry
│  └── core/        <- Core function or business logic code
│└── demo_modbus_rtu.py<- Demo that configures the ModbusRTU mode of the communication port, writes single coil data, reads single coil data, writes a single register, reads holding registers, and closes the communication port in ModbusRTU mode.
└── Robotic_Arm/      <- RealMan robotic arm secondary development package

3. Project download ​

Download RM_API2 locally via the link: development package download. Then, navigate to the RM_API2\Demo\RMDemo_Python directory, where you will find RMDemo_ModbusRTU.

4. Environment configuration ​

Required environment and dependencies for running in Windows and Linux environments:

ItemLinuxWindows
System architecturex86 architecture-
python3.9 or higher3.9 or higher
Specific dependency--

Linux configuration ​

  1. Refer to the python official website - linux to download and install python3.9.

  2. After entering the project directory, open the terminal and run the following command to install dependencies:

bash
pip install -r requirements.txt

Windows configuration ​

  1. Refer to the python official website - Windows to download and install python3.9.

  2. After entering the project directory, open the terminal and run the following command to install dependencies:

bash
pip install -r requirements.txt

5. Notes ​

This demo uses the RM65-B robotic arm as an example. Please modify the data in the code according to your actual situation.

6. User guide ​

6.1 Quick run ​

Follow these steps to quickly run the code:

  1. Configuration of the IP address of the robotic arm: open the demo_modbus_rtu.py file and modify the initialization parameters of the RobotArmController class in the main function to the current IP address of the robotic arm. The default IP address is "192.168.1.18".

    python
    # Create a robot arm controller instance and connect to the robot arm
robot_controller = RobotArmController("192.168.1.18", 8080, 3)

  2. Running via command line: navigate to the RMDemo_ModbusRTU directory in the terminal and enter the following command to run the Python script:

    bash
    python ./src/main.py

  3. Running result: Upon successful execution, the running state of the robotic arm will be displayed in the terminal.

After running the script, the output result is as follows:

current api version:  0.2.9

Successfully connected to the robot arm: 1

API Version:  0.2.9

Successfully set the Modbus mode

Successfully wrote the single coil

Successfully read the coils, data: [1]

Successfully wrote the single register

Successfully read the holding registers, data: [180]

Successfully closed the Modbus mode

Successfully disconnected from the robot arm

6.2 Code description ​

The following are the main functions of the demo_modbus_rtu.py file:

  • Connect the robotic arm

    python
    robot_controller = RobotArmController("192.168.1.18", 8080, 3)

    Connect the robotic arm to the specified IP address and port.

  • Get the API version

    python
    print("\nAPI Version: ", rm_api_version(), "\n")

    Get and display the API version.

  • Configure ModbusRTU mode.

    python
    robot_controller.set_modbus_mode()

  • Write single coil data

    python
    robot_controller.write_single_coil(1)

  • Read single coil data

    python
    robot_controller.read_coils()

  • Write a single register

    python
    robot_controller.write_single_register(180)

  • Read holding registers

    python
    robot_controller.read_holding_registers()

  • Close ModbusRTU mode

    python
    robot_controller.close_modbus_mode()

  • Disconnect from the robotic arm

    python
    robot_controller.disconnect()

7. License information ​

  • This project is subject to the MIT license.

8. Controller and end effector interface diagram ​

Controller IO Interface Diagram ​

The voltage of digital I/O is determined based on the reference voltage connected, and the 16-core extension interface cable of robotic arm provides only 12 V and 24 V power supply voltages. If other output voltages are required for the digital I/O, then reference voltages need to be led in from the pins OUT_P_OUT+, OUT_P_IN+, and OUT_P_GND. For detailed interface definitions, please refer to 16-Pin Aviation Connector Cable.

End Effector IO Interface Diagram ​

The multiplexing functions in the table above are switched by program commands. Pin 3 and pin 4 are digital input channels (DI1 and DI2) by default before delivery, and the power output of pin 6 is 0 V (programmed). For detailed interface definitions, please refer to 6-Pin Aviation Connector Cable.