def __init__(self, host, sim=True, rate=50):
"""
:param host: Contains the IP adress of the modbus server
:type host: string
:param rate: How often the registers on the modbusserver should be read per second
:type rate: float
:param reset_registers: Defines if the holding registers should be reset to 0 after they have been read. Only possible if they are writeable
:type reset_registers: bool
"""
print(
"Use the appropriate Cognex Insight Project to enable the Modbus Server"
)
self.sim = sim
ModbusWrapperClient.__init__(self,
host,
502,
rate,
reset_registers=False)
# All registers
self.write_start = 50000
self.setReadingRegisters(30010, 30127 - 30010)
# Use only a few registers for writing
self.setWritingRegisters(self.write_start, 2)
# Note: Listener not started as reading is requested manually, but a heartbeat is required to keep the modbus server alive
self.startHeartbeat()
def __init__(self, host, port=502, rate=50, reset_registers=True):
"""
:param host: Contains the IP adress of the modbus server
:type host: string
:param rate: How often the registers on the modbusserver should be read per second
:type rate: float
:param reset_registers: Defines if the holding registers should be reset to 0 after they have been read. Only possible if they are writeable
:type reset_registers: bool
"""
# print("Use the appropriate Step7 Project to enable the Modbus Server on your Siemens S1200 PLC")
ModbusWrapperClient.__init__(self, host, port, rate, reset_registers)
self.setReadingRegisters(0, 8)
self.setWritingRegisters(8, 9)
def __init__(self,host,port=502,rate=50,reset_registers=True):
"""
:param host: Contains the IP adress of the modbus server
:type host: string
:param rate: How often the registers on the modbusserver should be read per second
:type rate: float
:param reset_registers: Defines if the holding registers should be reset to 0 after they have been read. Only possible if they are writeable
:type reset_registers: bool
"""
print("Use the appropriate Step7 Project to enable the Modbus Server on your Siemens S1200 PLC")
ModbusWrapperClient.__init__(self,host,port,rate,reset_registers)
self.setReadingRegisters(0,8)
self.setWritingRegisters(8,6)
self.startListening()
def __init__(self,host,sim=True,rate=50):
"""
:param host: Contains the IP adress of the modbus server
:type host: string
:param rate: How often the registers on the modbusserver should be read per second
:type rate: float
:param reset_registers: Defines if the holding registers should be reset to 0 after they have been read. Only possible if they are writeable
:type reset_registers: bool
"""
print("Use the appropriate Cognex Insight Project to enable the Modbus Server")
self.sim = sim
ModbusWrapperClient.__init__(self,host,502,rate,reset_registers=False)
# All registers
self.write_start = 50000
self.setReadingRegisters(30010,30127-30010)
# Use only a few registers for writing
self.setWritingRegisters(self.write_start,2)
# Note: Listener not started as reading is requested manually, but a heartbeat is required to keep the modbus server alive
self.startHeartbeat()
def __init__(self,
host,
port=502,
rate=50,
reset_registers=True,
disable_topics=False):
"""
:param host: Contains the IP adress of the modbus server
:type host: string
:param rate: How often the registers on the modbusserver should be read per second
:type rate: float
:param reset_registers: Defines if the holding registers should be reset to 0 after they have been read. Only possible if they are writeable
:type reset_registers: bool
:param disable_topics: Disables ROS subscriber/publisher if True, disabling automatic reading and writing. Voids startListening and stopListening, will raise exception if called.
:type disable_topics: bool
"""
# print("Use the appropriate Step7 Project to enable the Modbus Server on your Siemens S1200 PLC")
ModbusWrapperClient.__init__(self, host, port, rate, reset_registers,
disable_topics)
self.setReadingRegisters(0, 8)
self.setWritingRegisters(8, 9)
if rospy.has_param("~ip"):
host = rospy.get_param("~ip")
else:
rospy.loginfo(
"For not using the default IP %s, add an arg e.g.: '_ip:=\"192.168.0.199\"'",
host)
if rospy.has_param("~port"):
port = rospy.get_param("~port")
else:
rospy.loginfo(
"For not using the default port %d, add an arg e.g.: '_port:=1234'",
port)
# setup modbus client
modclient = ModbusWrapperClient(host,
port=port,
rate=50,
reset_registers=False,
sub_topic="modbus_wrapper/output",
pub_topic="modbus_wrapper/input")
modclient.setReadingRegisters(ADDRESS_READ_START, NUM_REGISTERS)
modclient.setWritingRegisters(ADDRESS_WRITE_START, NUM_REGISTERS)
rospy.loginfo("Setup complete")
# start listening to modbus and publish changes to the rostopic
modclient.startListening()
rospy.loginfo("Listener started")
#################
# Example 1
# Sets an individual register using the python interface, which can automatically be reset, if a timeout is given.
register = 40020
value = 1
sub_topic = rospy.get_param('~sub_topic', 'output')
pub_topic = rospy.get_param('~pub_topic', 'input')
address_read_start = int(rospy.get_param('~address_read_start', 0))
address_write_start = int(rospy.get_param('~address_write_start', 0))
num_registers = int(rospy.get_param('~num_registers', 20))
rospy.loginfo('Modbus server: {}:{}'.format(host, port))
rospy.loginfo('Modbus id: {}'.format(str(unit)))
rospy.loginfo('address_read_start: {}'.format(address_read_start))
rospy.loginfo('address_write_start: {}'.format(address_write_start))
rospy.loginfo('num_registers: {}'.format(num_registers))
nh = ModbusWrapperClient(
host, port=port, unit=unit, reset_registers=False,
sub_topic=sub_topic, pub_topic=pub_topic
)
nh.setReadingRegisters(address_read_start, num_registers)
nh.setWritingRegisters(address_write_start, num_registers)
rospy.loginfo('Setup complete')
# start listening to modbus and publish changes to the rostopic
nh.startListening()
rospy.loginfo('Listener started')
rospy.spin()
# modclient.stopListening()
To see the read registers of the modbus server use: rostopic echo /modbus_wrapper/input
To see sent something to the modbus use a publisher on the topic /modbus_wrapper/output
This file contains a sample publisher.
""")
host = "192.168.0.123"
port = 502
if rospy.has_param("~ip"):
host = rospy.get_param("~ip")
else:
rospy.loginfo("For not using the default IP %s, add an arg e.g.: '_ip:=\"192.168.0.199\"'",host)
if rospy.has_param("~port"):
port = rospy.get_param("~port")
else:
rospy.loginfo("For not using the default port %d, add an arg e.g.: '_port:=1234'",port)
# setup modbus client
modclient = ModbusWrapperClient(host,port=port,rate=50,reset_registers=False,sub_topic="modbus_wrapper/output",pub_topic="modbus_wrapper/input")
modclient.setReadingRegisters(ADDRESS_READ_START,NUM_REGISTERS)
modclient.setWritingRegisters(ADDRESS_WRITE_START,NUM_REGISTERS)
rospy.loginfo("Setup complete")
# start listening to modbus and publish changes to the rostopic
modclient.startListening()
rospy.loginfo("Listener started")
#################
# Example 1
# Sets an individual register using the python interface, which can automatically be reset, if a timeout is given.
register = 40020
value = 1
timeout = 0.5
modclient.setOutput(register,value,timeout)
rospy.init_node("modbus_client")
host = "172.16.7.4"
port = 502
if rospy.has_param("~ip"):
host = rospy.get_param("~ip")
else:
rospy.loginfo("For not using the default IP %s, add an arg e.g.: '_ip:=\"192.168.0.199\"'",host)
if rospy.has_param("~port"):
port = rospy.get_param("~port")
else:
rospy.loginfo("For not using the default port %d, add an arg e.g.: '_port:=1234'",port)
# setup modbus client
modclient = ModbusWrapperClient(host, port=port, rate=1, reset_registers=False, sub_topic="modbus_wrapper/output", pub_topic="modbus_wrapper/input")
modclient.setReadingRegisters(ADDRESS_READ_START, NUM_REGISTERS)
modclient.setWritingRegisters(ADDRESS_WRITE_START, NUM_REGISTERS)
rospy.loginfo("Setup complete")
# start listening to modbus and publish changes to the rostopic
modclient.startListening()
rospy.loginfo("Listener started")
# Create a listener that show us a message if anything on the readable modbus registers change
rospy.loginfo("All done. Listening to inputs... Terminate by Ctrl+c")
sub_fanuc = rospy.Subscriber("modbus_wrapper/input", HoldingRegister, showUpdatedRegisters, queue_size=500)
sub_robotiq = rospy.Subscriber("SModelRobotInput", inputMsg.SModel_robot_input, statusInterpreter, queue_size=500)
# Spins ROS
