/vojext_uc1_punching_machine_driver

Fork of vojext_uc1_scale_driver containing important CMake fix

Primary LanguagePython

Punching machine driver

ROS driver for UC1 punching PEMU machine

Note: It is needed to install the pyModbusTCP library as follows (this version is required):

sudo pip install pyModbusTCP==v0.1.10

MODBUS-TCP address

test punching machine PLC1 IP addrress is: 192.168.17.195 (testing) PLC2 IP addrress is: 192.168.17.196

Launch

By default the IP is 192.168.17.195 and takes the data from "modbusSignals.yaml"

    roslaunch punching_machine_driver punching_driver.launch

If we want to connect with two devices we need to launch

            roslaunch punching_machine_driver two_punching_driver.launch enable_pm2:=true

this launcher will take the registers from the "modbusSignalsPM1.yaml" and "modbusSignalsPM2.yaml"

Registers

The registers are available at config/modbusSignals.yaml

Topics

~punching_state (punching_machine_driver/punching_data)

will provide a list with the name of the registers and a list with the values

Services

~set_named_signal (punching_machine_driver/set_named_modbus)

Example
    rosservice call /punching_machine_driver/set_named_signal "name: 'pillowCanBeTaken'
    value: [0]"

~set_modbus_register (robotnik_msgs/set_modbus_register)

Example
    rosservice call /punching_machine_driver/set_modbus_register "address: 1    
    value: 65535"

~get_modbus_register (robotnik_msgs/get_modbus_register)

Example
    rrosservice call /punching_machine_driver/get_modbus_register "address: 1"

~set_modbus_coil (punching_machine_driver/set_modbus_coil)

Example
    rosservice call /punching_machine_driver/set_modbus_coil "address: 16384
    value: false"

~get_modbus_coil (punching_machine_driver/get_modbus_coil)

Example
    rosservice call /punching_machine_driver/get_modbus_coil "address: 16389"

msg

modbus_input_output

            string name
            float32[] value

named_modbus_inputs_outputs

            punching_machine_driver/modbus_input_output[] named_registers

srv

get_modbus_coil

            int32 address
            ---
            bool ret 
            bool value

set_modbus_coil

            int32 address
            bool value
            ---
            bool ret

set_named_modbus

            string name
            float32[] value
            ---
            bool ret
            string msg