def __init__(self, device):
self.device = device + 9
self.rPR = 0
self.rSP = 255
self.rFR = 150
self.rARD = 1
self.rATR = 0
self.rGTO = 0
self.rACT = 0
self.gSTA = 0
self.gACT = 0
self.gGTO = 0
self.gOBJ = 0
self.gFLT = 0
self.gPO = 0
self.gPR = 0
self.gCU = 0
self.act_cmd = [0] * 0x19
self.act_cmd[:7] = [self.device, 0x10, 0x03, 0xE8, 0x00, 0x08, 0x10]
self.act_cmd_bytes = ""
self._update_cmd()
# Description from Manual:
# self.device = SlaveID
# 0x03 = Function Code 03, Read Holding Registers
# 0x07D0 = Address of the first requested register
# 0x0008 = Number of registers requested
# Note that there isn't a Cyclic Redundance Check (adds 0xC5CE to the end)
self.stat_cmd = [self.device, 0x03, 0x07, 0xD0, 0x00, 0x08]
compute_modbus_rtu_crc(self.stat_cmd)
self.stat_cmd_bytes = array.array('B', self.stat_cmd).tostring()
def __init__(self, device):
self.device = device + 9
self.rPR = 0
self.rSP = 255
self.rFR = 150
self.rARD = 1
self.rATR = 0
self.rGTO = 0
self.rACT = 0
self.gSTA = 0
self.gACT = 0
self.gGTO = 0
self.gOBJ = 0
self.gFLT = 0
self.gPO = 0
self.gPR = 0
self.gCU = 0
self.act_cmd = [0] * 0x19 # we need 25 bytes to fill a package
self.act_cmd[:7] = [self.device, 0x10, 0x03, 0xE8, 0x00, 0x08,
0x10] # we will send 16 bytes at payload
self.act_cmd_bytes = ""
self._update_cmd()
self.stat_cmd = [self.device, 0x03, 0x07, 0xD0, 0x00, 0x08]
compute_modbus_rtu_crc(self.stat_cmd)
self.stat_cmd_bytes = array.array(
'B', self.stat_cmd).tostring() # for asking the gripper states
def initialize_communication_variables(self):
# Comunication registers
self.rPR = 0
self.rSP = 255
self.rFR = 150
self.rARD = 1
self.rATR = 0
self.rGTO = 0
self.rACT = 0
self.gSTA = 0
self.gACT = 0
self.gGTO = 0
self.gOBJ = 0
self.gFLT = 0
self.gPO = 0
self.gPR = 0
self.gCU = 0
self.act_cmd = [0] * 0x19
self.act_cmd[:7] = [self.device_id, 0x10, 0x03, 0xE8, 0x00, 0x08, 0x10]
self.act_cmd_bytes = ""
self._update_cmd()
self.stat_cmd = [self.device_id, 0x03, 0x07, 0xD0, 0x00, 0x08]
compute_modbus_rtu_crc(self.stat_cmd)
self.stat_cmd_bytes = array.array('B', self.stat_cmd).tostring()
self._max_force = 100.0 # [%]
def _update_cmd(self):
self._update_action_req()
self.act_cmd = self.act_cmd[:len(self.act_cmd) - 2]
self.act_cmd[ACTION_REQ_IDX] = self._act_req & 0x39
self.act_cmd[POS_INDEX] = self.rPR & 0xFF
self.act_cmd[SPEED_INDEX] = self.rSP & 0xFF
self.act_cmd[FORCE_INDEX] = self.rFR & 0xFF
compute_modbus_rtu_crc(self.act_cmd)
def _update_cmd(self):
self._update_action_req()
self.act_cmd = self.act_cmd[:len(self.act_cmd) - 2]
self.act_cmd[ACTION_REQ_IDX] = self._act_req & 0x39
self.act_cmd[POS_INDEX] = self.rPR & 0xFF
self.act_cmd[SPEED_INDEX] = self.rSP & 0xFF
self.act_cmd[FORCE_INDEX] = self.rFR & 0xFF
compute_modbus_rtu_crc(self.act_cmd) # add the last crc check bytes
self.act_cmd_bytes = array.array('B', self.act_cmd).tostring()
def _update_cmd(self):
self._update_action_req()
self.act_cmd = self.act_cmd[:len(self.act_cmd)-2]
self.act_cmd[ACTION_REQ_IDX] = self._act_req & 0x39
self.act_cmd[POS_INDEX] = self.rPR & 0xFF
self.act_cmd[SPEED_INDEX] = self.rSP & 0xFF
self.act_cmd[FORCE_INDEX] = self.rFR & 0xFF
compute_modbus_rtu_crc(self.act_cmd)
self.act_cmd_bytes = array.array('B',self.act_cmd).tostring()
def __init__(self, device):
self.device = device + 9
self.rPR = 0
self.rSP = 255
self.rFR = 150
self.rARD = 1
self.rATR = 0
self.rGTO = 0
self.rACT = 0
self.gSTA = 0
self.gACT = 0
self.gGTO = 0
self.gOBJ = 0
self.gFLT = 0
self.gPO = 0
self.gPR = 0
self.gCU = 0
self.act_cmd = [0] * 0x19
self.act_cmd[:7] = [self.device, 0x10, 0x03, 0xE8, 0x00, 0x08, 0x10]
self._update_cmd()
self.stat_cmd = [self.device, 0x03, 0x07, 0xD0, 0x00, 0x08]
compute_modbus_rtu_crc(self.stat_cmd)
def __init__(self,device):
self.device = device+9
self.rPR = 0
self.rSP = 255
self.rFR = 150
self.rARD = 1
self.rATR = 0
self.rGTO = 0
self.rACT = 0
self.gSTA = 0
self.gACT = 0
self.gGTO = 0
self.gOBJ = 0
self.gFLT = 0
self.gPO = 0
self.gPR = 0
self.gCU = 0
self.act_cmd = [0] * 0x19
self.act_cmd[:7] = [self.device, 0x10, 0x03, 0xE8, 0x00,0x08, 0x10]
self.act_cmd_bytes = ""
self._update_cmd()
self.stat_cmd = [self.device, 0x03, 0x07, 0xD0, 0x00, 0x08]
compute_modbus_rtu_crc(self.stat_cmd)
self.stat_cmd_bytes = array.array('B',self.stat_cmd).tostring()
