Tool Modbus RTU URCap question

Technical Questions Robot Communication
1

Hi!

I have a question about this URCap that enables communication via Modbus RTU.

I’ve managed to use the script functions in the programNode when the program is running.

But I wish to use the init_tool_modbus() script before the program is started so that one can read gripper temp, position and so on. I also wish to be able to run a homing sequence before the program can start.
But when I use the function (init_tool_modbus()) in a installationNode, it fails and gives fail code “init_tool_modbus(1) is not initialized to a value”.

please help!

// Oliver

2

Hi Oliver,

This Project is demonstrating how to send URScript from the frontend. I hope that will help you on your way! Please be aware that installation configuration is set in the URScript generated by Polyscope.

Ebbe

3

Hi Ebbe!
Thank you for the quick reply!

I tried to create a script from the InstallationNode with these commands.

// Set tool voltage and communication
writer.appendLine(“set_tool_voltage(12)”);
writer.appendLine(“set_tool_communication(True, 57600, 2, 1, 1.5, 3.5)”);
// Connect with motor at specified address
writer.appendLine(“init_tool_modbus(1)”);

and afterwards I tried to read/write values from the gripper…
But it doesn’t work.

I don’t know how to start the communication between the gripper and Polyscope without putting
the init_tool_modbus(1) inside the ProgramNode generateScript() function.

// Oliver

4

I would suggest that your InstallationNodeContribution add it in its generateScript() method.

Did you try from the loaded Polyscope program or did you also sent that directly to the controller?

Ebbe

5

I’m now able to read/write data to the motors register, from the InstallationNode!

I used while loop inside the scriptSender but as soon as I removed it from the script, the gripper started to move.
I had to define the Modbus script functions tool_modbus_read() & tool_modbus_write() in every Send URScript commands from the ScriptCommunicator URCap.

Thanks for the help Ebbe!

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