Kinova-kortex2_Gen3_G3L

This MODBUS stack is only used with the Gen3 and Gen3 lite robots. Refer to Link 6 documentation for details on how to setup MODBUS communication with a Link 6 robot.

Modbus example

Modbus example
Setup (pymodbus)
- Required Python version and module
How to use the examples
Modbus ICD documentation
Reference - useful links
- Back to root topic: readme.md

Setup (pymodbus)

Required Python version and module

Python >= 3.5
pip
pymodbus

You can either install the modules manually or use the requirements.txt file that is inside the modbus example folder.

python3 -m pip install -r requirements.txt

Refer to the main README for Python installation details: parent readme

How to use the examples

We assume the robot is using its default IP address: 192.168.1.10

Before starting, ensure that you run the test in a safe area with some examples that contain movement. Also, verify that your robot is correctly afixed to the working surface.

Prerequisites:

The examples require a wired network connection to your computer
Configure a static IP address on your network interface (e.g. 192.168.1.11/24)

Now you’re ready to run the examples. Each Python example has its own __main__ instruction. You need only to cd into the example directory and invoke the Python file using the command:

On Linux:
```
python3 <example-file>.py
```
On Windows:
```
python <example-file>.py
```

Modbus ICD documentation

Here’s a link to the ICD documentation of the modbus slave. Modbus slave ICD

Reference

useful links

Back to root topic: readme.md

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