Modbus TCP communication

[Azizjon]

Dears,

I would like to read data from Omron TMFlow for cobot TM5-900 using python. If someone tried to obtain data like x,y,z positions, could you please share the code? This is my code, where I have connected, but the Y position shows 0.0 . How can I get the data by connecting modbus tcp.

from pymodbus.client import ModbusTcpClient

import struct

 

# Define the IP and port of the Omron TM robot

ROBOT_IP = '192.168.81.164'  # Replace with your robot's IP address

PORT = 502  # Standard Modbus TCP port

 

# Initialize the Modbus client

client = ModbusTcpClient(ROBOT_IP, port=PORT)

 

# Connect to the Modbus server

client.connect()

 

# Example: Reading the Y position from two holding registers

# Replace `100` with the actual starting address for the Y position

start_register_address = 7003  # Starting address of the holding register for Y position

response = client.read_holding_registers(start_register_address, 10)

 

# Check if the response is valid and process the Y position value

if not response.isError():

    # Combine the two registers into a 32-bit float (little-endian format)

    registers = response.registers

    y_position = struct.unpack('<f', struct.pack('<HH', registers[0], registers[1]))[0]

    print(f"Y Position: {y_position}")

else:

    print(f"Error reading Y position: {response}")

 

# Disconnect when done

client.close()

[Troy Shaw]

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