DOBOT MG400 MODBUS模板

介绍

制造商：深圳市越疆科技股份有限公司
产品名称：超小型桌面机械臂
产品型号：DOBOT-MG400
官网连接：http://dobot.cn/products/desktop-four-axis/mg400.html

资料

协议文档(请跟厂商获取)

方案

DOBOT为MG400提供了标准化的MODBUS TCP接口，对它们的设备进行远程控制，所以在Fox-Edge之中，只需要配置MODBUS模板，即可实现接入。
对于标准的MODBUS接口，灵狐提供了通用的MODBUS解码器，作为通用引擎，使用户通过CSV模板，即可跟Fox-Edge集成的能力。

灵狐在跟DOBOT技术交流后，获得了其提供信息，进行了模板配置。

灵狐通过DOBOT MG400的集成过程，演示如何跟厂商获得MODBUS协议文档后，即可通过定义CSV文件，接入该厂商的MODBUS设备的能力。
其他厂家的MODBUS设备，基本上都可以通过该方案来进行集成。

如果遇到某些厂家的设备是非标准化的MODBUS协议，还可以通过写解码器的方案来集成。具体可以参考《zs-sht30-1t-1h》篇的方案。

模板

• dobot-mg400

模板

1.线圈定义

文档定义

模板配置

2.离散输入定义

文档定义

模板配置

3.保持寄存器定义

文档定义

模板配置

测试

1.设备配置

{
     "devAddr": 1,
     "modbusMode": "TCP"
}

2.操作任务：

DOBOT-MG400-按键1

[
     {
          "param": {
               "tableName": "dobot-mg400/v1/1.0.0/Holding Registers.csv",
               "objectName": "按键",
               "objectValue": 1,
               "templateName": "DOBOT-MG400 Write Holding Registers"
          },
          "timeout": 2000,
          "deviceName": "DOBOT-MG400",
          "deviceType": "ModBus Device",
          "operateMode": "exchange",
          "operateName": "Write Single Register"
     }
]

• 配置参数

• 操作返回结果

DOBOT-MG400-读取线圈状态

[
     {
          "operateMode": "exchange",
          "operateName": "Read Coil Status",
          "deviceName": "DOBOT-MG400",
          "deviceType": "ModBus Device",
          "timeout": 2000,
          "param": {
               "regCnt": 7,
               "regAddr": 0,
               "tableName": "dobot-mg400/v1/1.0.0/Coil Status.csv",
               "templateName": "DOBOT-MG400 Read Coil Status"
          }
     }
]

• 配置参数

• 操作返回结果

其他配置

• DOBOT-MG400-按键1

[
     {
          "param": {
               "tableName": "dobot-mg400/v1/1.0.0/Holding Registers.csv",
               "objectName": "按键",
               "objectValue": 1,
               "templateName": "DOBOT-MG400 Write Holding Registers"
          },
          "timeout": 2000,
          "deviceName": "DOBOT-MG400",
          "deviceType": "ModBus Device",
          "operateMode": "exchange",
          "operateName": "Write Single Register"
     }
]

• DOBOT-MG400-按键2

[
     {
          "param": {
               "tableName": "dobot-mg400/v1/1.0.0/Holding Registers.csv",
               "objectName": "按键",
               "objectValue": 2,
               "templateName": "DOBOT-MG400 Write Holding Registers"
          },
          "timeout": 2000,
          "deviceName": "DOBOT-MG400",
          "deviceType": "ModBus Device",
          "operateMode": "exchange",
          "operateName": "Write Single Register"
     }
]

• DOBOT-MG400-系统:启动

[
     {
          "param": {
               "tableName": "dobot-mg400/v1/1.0.0/Coil Status.csv",
               "objectName": "启动",
               "objectValue": true,
               "templateName": "DOBOT-MG400 Write Coil Status"
          },
          "timeout": 2000,
          "deviceName": "DOBOT-MG400",
          "deviceType": "ModBus Device",
          "operateMode": "exchange",
          "operateName": "Write Single Status"
     }
]

• DOBOT-MG400-读取线圈状态

[
     {
          "operateMode": "exchange",
          "operateName": "Read Coil Status",
          "deviceName": "DOBOT-MG400",
          "deviceType": "ModBus Device",
          "timeout": 2000,
          "param": {
               "regCnt": 7,
               "regAddr": 0,
               "tableName": "dobot-mg400/v1/1.0.0/Coil Status.csv",
               "templateName": "DOBOT-MG400 Read Coil Status"
          }
     }
]

• DOBOT-MG400-读取离散输入状态

[
     {
          "operateMode": "exchange",
          "operateName": "Read Discrete Inputs Status",
          "deviceName": "DOBOT-MG400",
          "deviceType": "ModBus Device",
          "timeout": 2000,
          "param": {
               "regCnt": 7,
               "regAddr": 0,
               "tableName": "dobot-mg400/v1/1.0.0/Discrete Inputs Status.csv",
               "templateName": "DOBOT-MG400 Discrete Inputs Status"
          }
     }
]

• DOBOT-MG400-读取保持寄存器

[
     {
          "operateMode": "exchange",
          "operateName": "Read Holding Register",
          "deviceName": "DOBOT-MG400",
          "deviceType": "ModBus Device",
          "timeout": 2000,
          "param": {
               "regCnt": 1,
               "regAddr": 3095,
               "tableName": "dobot-mg400/v1/1.0.0/Holding Registers.csv",
               "templateName": "DOBOT-MG400 Read Holding Register"
          }
     }
]