Modbus TCP WCI Writer

Create WCI using Workcell Item Writer.

WCI can be newly created, or existing WCI can be modified.
Create new WCI: Add New
Modify existing WCI: Check one of existing WCI → Edit

Write and modify WCI (General Info)

Select WCI Category.
- EndEffector → Gripper
Enter WCI Name and Description in WCI Info.
- Modbus_TCP
- Modbus TCP gripper
Enter the name or Language Code of WCI in Multi-language input field (The name written here will appear on teach pendant).
- Choose: (none)
- Enter: Modbus_gripper
Select WCI icon.
- gripper
Enter WCI version.
- 0.1
Select Visibility Type.
- Internal

Write and modify WCI (Workcell Item Setting)

Workcell I/O Component: Communication Component
DRL Component: Component that writes the functions of WCI Action
UI Component: Component that provides user input connection function

Workcell I/O Component

1. Add Modbus TCP in Communication Component and enter the Property values as follows.

IP Adress : 192.168.137.253
Port Number : 502
Slave ID : 255

2. Add Output Signal and enter the Property values as follows.

Write Signal Name : ctrlword
Signal Type : Write Multiple Registers
Signal Address Index : 2049
Signal Initial Value : 0
Custom Data : 0,0,0,0

3. Add Input Signal and enter the Property values as follows.

Write Signal Name : statusword
Signal Type : Red Registers
Signal Address Index : 1

DRL Component

1. Mandatory WCI Action: Set up essential functions related to WCI.

Gripper → Grasp

Grasp()

PY

def Grasp():
    # get gripper status, split and return the 2,1,0 bit of first byte of the status word     .
    # 0(0b xxxx.x000): Error
    # 1(0b xxxx.x001): Out of specification
    # 2(0b xxxx.x010): Maintenace required
    # 3(0b xxxx.x011): Ready for operation (= there is no error)
    def get_gripper_status(_status_bin):
        _status_bin_list = []
        for n in _status_bin:
            tp_log("pos SW002: " + str(bin(n)[2:]))
            _status_bin_list.append(bin(n)[2:])    
        
        status_bin_buf = _status_bin_list[0][5:8]
        status_bin2int = int(status_bin_buf, 2)
        
        return status_bin2int
    
    set_modbus_output_multi("ctrlword",[int('0000010000000000',2),int('0000001100000000',2),0,0]) 
    wait(0.1)
    set_modbus_output_multi("ctrlword",[int('1000010000000000',2),int('0000001100000000',2),0,0]) #grasp
    wait(2)        
    status = get_modbus_input_multi("statusword")     #StatusWord
    #tp_log("pos SW002: " + str(status))
    now_gripper_status = get_gripper_status(status)
    tp_log("gripper_status: " + str(now_gripper_status))    
    while True:
        if now_gripper_status == 3:
            break
        else: 
            tp_popup("Error: Wrong gripper status!, (CW, 512)", DR_PM_MESSAGE)

2. Mandatory WCI Action: Set up essential functions related to WCI.

Gripper → Release

Release()

PY

def Release():
    # get gripper status, split and return the 2,1,0 bit of first byte of the status word     .
    # 0(0b xxxx.x000): Error
    # 1(0b xxxx.x001): Out of specification
    # 2(0b xxxx.x010): Maintenace required
    # 3(0b xxxx.x011): Ready for operation (= there is no error)
    def get_gripper_status(_status_bin):
        _status_bin_list = []
        for n in _status_bin:
            tp_log("pos SW002: " + str(bin(n)[2:]))
            _status_bin_list.append(bin(n)[2:])    
        
        status_bin_buf = _status_bin_list[0][5:8]
        status_bin2int = int(status_bin_buf, 2)        
        
        return status_bin2int
	set_modbus_output_multi("ctrlword",[int('0000010000000001',2),int('0000001100000000',2),0,0]) 
    wait(0.1)
    set_modbus_output_multi("ctrlword",[int('1000010000000001',2),int('0000001100000000',2),0,0])   #release
    wait(2)
    status = get_modbus_input_multi("statusword")     #StatusWord    
    now_gripper_status = get_gripper_status(status)
    tp_log("gripper_status: " + str(now_gripper_status))    
    while True:
        if now_gripper_status == 3:
            break
        else: 
            tp_popup("Error: Wrong gripper status!, (CW, 512)", DR_PM_MESSAGE)

3. User Defined WCI Action: Optional functions related to WCI can be added.

Init_comm_gripper

init_comm_gripper()

PY

def init_comm_gripper():
    # Initialize Acknowledging,Referencing,Position words
    set_modbus_output_multi("ctrlword",[int('0000000100000000',2),0,0,0]) #00 00 00 01 00 00 00 00
    wait(0.05)
    set_modbus_output_multi("ctrlword",[int('1000000100000000',2),0,0,0]) #10 00 00 01 00 00 00 00
    wait(0.05)
    set_modbus_output_multi("ctrlword",[int('0000001000000000',2),0,0,0]) #00 00 00 10 00 00 00 00
    wait(0.05)
    set_modbus_output_multi("ctrlword",[int('1000001000000000',2),0,0,0]) #10 00 00 10 00 00 00 00
    wait(0.05)
    set_modbus_output_multi("ctrlword",[int('0000010000000000',2),int('0000000000000000',2),0,0]) 
    wait(0.1)
    set_modbus_output_multi("ctrlword",[int('1000010000000000',2),int('0000000000000000',2),0,0]) 
    wait(2)        
    set_modbus_output_multi("ctrlword",[int('0000010000000001',2),int('0000000000000000',2),0,0]) 
    wait(0.1)
    set_modbus_output_multi("ctrlword",[int('1000010000000001',2),int('0000000000000000',2),0,0]) 
    wait(2)    
    
    status = get_modbus_input_multi("statusword")     #StatusWord
    tp_log("log SW: " + str(status))

UI Component

Add Line Edit in UI Component and enter the Property values as follows.

Component Name : Wait Time
Component Label Name : Wait Time
Default Value : 0.5
Value Type : Double
Double Range
- Min Value : 0
- Max Value : 10000
- Value Type: SI Unit
- Unit Type: Second
Variable Name
- Component sub-variable name : waitTime

The following UI Components can be used as user input.

Label
Text Edit
Toggle Switch
Radio Button
Button – Define DRL

The following DRL Components can be used

Global Variable
Global Function

Write and modify WCI (Workcell Item Setting)

Save WCI → Confirm
WCI list can be checked as follows.