JakaModbusCommunication

JakaModbusCommunication is a lightweight Python library for communicating with JAKA collaborative robots over Modbus TCP. It wraps common register reads and writes behind a small, task-focused API for digital I/O, analog values, and robot status data.

PyPI package

Highlights

• Connect to a JAKA controller over Modbus TCP
• Read general, cabinet, and tool digital inputs
• Write digital outputs and analog outputs
• Read integer and floating-point register values
• Query robot telemetry such as joint voltage, temperature, current, position, speed, and TCP data
• Read controller status flags including power, enable, emergency stop, in-position state, and error indicators

Installation

Install from PyPI:

pip install JakaModbusCommunication

The package depends on pymodbus, which is installed automatically.

Quick Start

from JakaModbusCommunication import Jaka_Coms

jaka = Jaka_Coms(host="192.168.1.186", port=502)

try:
    powered_on = jaka.get_power_on_status()
    joint_1_voltage = jaka.get_joint_voltage(1)
    tcp_x = jaka.get_tcp_position("X")

    print(f"Powered on: {bool(powered_on)}")
    print(f"Joint 1 voltage: {joint_1_voltage:.2f} V")
    print(f"TCP X: {tcp_x:.3f}")
finally:
    jaka.close()

Common Operations

Read digital inputs

input_state = jaka.read_modbus_input_state(input_number=1)
cab_input = jaka.read_jaka_cab_input_state_mini(input_number=3)
tool_input = jaka.read_jaka_tool_input_state(input_number=1)

Write digital outputs

jaka.write_digital_modbus_output(output_number=5, state=True)
jaka.write_digital_cab_mini_output(output_number=2, state=False)

Read analog values

unsigned_value = jaka.read_int16(ao_number=3)
signed_value = jaka.read_sign16(ao_number=7)
float_value = jaka.read_float32(address=150)

Write analog values

jaka.write_analog_output_int(ao_number=4, value=1234)
jaka.write_analog_output_sign(ao_number=6, value=-123)
jaka.write_analog_output_float32(ao_number=2, value=12.34)

Read robot status

joint_voltage = jaka.get_joint_voltage(joint=1)
joint_position = jaka.get_joint_position(joint=3)
joint_temperature = jaka.get_joint_temperature(joint=2)
movement_mode = jaka.get_movement_mode()

API Notes

• Joint-based methods accept joint numbers 1 through 6.
• Axis-based TCP methods accept "X", "Y", "Z", "RX", "RY", and "RZ".
• Analog-output helper methods accept analog output numbers 1 through 16.
• Floating-point values are encoded as big-endian 32-bit floats.
• The class connects automatically by default. Pass auto_connect=False if you want to control connection timing manually.

Error Handling

The library raises:

• ValueError for invalid joint numbers, axis names, and analog output numbers
• pymodbus.exceptions.ModbusException when a Modbus request fails

Example:

from pymodbus.exceptions import ModbusException

try:
    speed = jaka.get_joint_speed(joint=1)
except ValueError as exc:
    print(f"Invalid input: {exc}")
except ModbusException as exc:
    print(f"Modbus request failed: {exc}")

Development

Clone the repository and install the package in editable mode:

pip install -e .

Run the tests:

python -m unittest discover -s tests

License

This project is licensed under the MIT License. See LICENSE.