Franka Modbus的TurnonTech
TurnonModbusTC的Python项目详细描述
TurnonModBusCP
Python3.X:导入TurnonModbusTCP
清除打印（）
type: < Operation >
request type: {}
result type: {}
Explanation: Clear the command line.
获取\我的IP（）
^{pr2}$设置客户端（）
type: < Operation >
request type: { ServerIP= [string] , ServerPORT= [int] }
result type: {}
Explanation: Set up for connect to Modbus server.
客户端启动（）
type: < Operation >
request type: {}
result type: {}
Explanation: Connect to Modbus server.
状态（）
type: < Event >
request type: { address= [int] }
result type: { [int] }
Explanation: Get Modbus's value.
状态（）
type: < Event >
request type: { address= [int] , ID= [int] }
result type: { [bool] }
Explanation: Get Modbus's value.
机器人控制（）
type: < Operation >
request type: { control_mode= [int] , data_X= [float] , data_Y= [float] , data_Z= [float] , data_Xrot= [float] , data_Yrot= [float] , data_Zrot= [float] , wait_for_robot_done = [bool(true)]}
result type: {}
Explanation: Control Franka robot by Modbus.
control_mode=0 : Just write the data into Modbus whith out moving.
control_mode=1 : Write the data into Modbus then move.
data_X, data_Y, data_Z : -1.5mm ~ 1.5mm
data_Xrot, data_Yrot, data_Zrot : -359.9deg ~ 359.9deg
旋转控制机械手（）
type: < Operation >
request type: { control_mode= [int] , data_Xrot= [float] , data_Yrot= [float] , data_Zrot= [float] , wait_for_robot_done = [bool(true)] }
result type: {}
Explanation: Control Franka robot by Modbus.
control_mode=0 : Just write the data into Modbus whith out moving.
control_mode=1 : Write the data into Modbus then move.
data_Xrot, data_Yrot, data_Zrot : -359.9deg ~ 359.9deg
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