This MODBUS stack is only used with the Gen3 and Gen3 lite robots. Refer to Link 6 documentation for details on how to setup MODBUS communication with a Link 6 robot.
- Modbus example
- Setup (pymodbus)
- How to use the examples
- Modbus ICD documentation
- Reference - useful links
- Python >= 3.5
- pip
- pymodbus
You can either install the modules manually or use the requirements.txt file that is inside the modbus example folder.
python3 -m pip install -r requirements.txtRefer to the main README for Python installation details: parent readme
We assume the robot is using its default IP address: 192.168.1.10
Before starting, ensure that you run the test in a safe area with some examples that contain movement. Also, verify that your robot is correctly afixed to the working surface.
Prerequisites:
- The examples require a wired network connection to your computer
- Configure a static IP address on your network interface (e.g.
192.168.1.11/24)
Now you're ready to run the examples. Each Python example has its own __main__ instruction. You need only to cd into the example directory and invoke the Python file using the command:
- On Linux:
python3 <example-file>.py- On Windows:
python <example-file>.pyHere's a link to the ICD documentation of the modbus slave. Modbus slave ICD
| Modbus technical resources | https://modbus.org/tech.php |
| Modbus Wikipedia: | link |