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Turnon-Tech for Franka Modbus

Project description

TurnonModbusTCP

Python3.X : import TurnonModbusTCP

clear_print()

type: < Operation >
request type: {}
result type: {}

Explanation: Clear the command line.

get_my_IP()

type: < Event >
request type: {}
result type: { [string] }

Explanation:  Get your IP.

set_client()

type: < Operation >
request type: { ServerIP= [string] , ServerPORT= [int] }
result type: {}

Explanation: Set up for connect to Modbus server.

client_start()

type: < Operation >
request type: {}
result type: {}

Explanation: Connect to Modbus server.

state()

type: < Event >
request type: { address= [int] }
result type: { [int] }

Explanation: Get Modbus's value.

state()

type: < Event >
request type: { address= [int] , ID= [int] }
result type: { [bool] }

Explanation: Get Modbus's value.

mode()

type: < Event >
request type: {}
result type: { [int] }

Explanation: It will return Franka arm's mode which are working.

ECHO_FRANKA_STATE()

type: < Event >
request type: {}
result type: {}

Explanation: Repeat output Modbus's value and print on command line.

visual_command_Read()

type: < Event >
request type: {}
result type: { [string] }

Explanation: Get command from Franka apps by Modbus.

visual_wait_command()

type: < Event >
request type: {}
result type: { [string] }

Explanation: Waiting for Franka apps command and then return it.

visual_output_Write()

type: < Operation >
request type: { [string] }
result type: {}

Explanation: Send the information to Franka arm by Modbus.

Project details


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