Created Date: September 07,2017

Created by: alchemist562

Hello again.

So, for my next trick, I am trying to write a program to communicate that will tell a robot when a part is present over Ethernet (local switch). Im kinda at a loss. I can figure out the program for the PLC (I hope) but I dont understand how to write it to send to the robot. its very vague on the robots instructions. All it gives me is (other then how to address it through an IP address):

Additional Information About the Modbus RTU

Please note the following when setting up signals:

• For ModBus digital (binary) signals, Baxter uses function code 2 (Read Discrete

Inputs) for reads and function code 5 (Write Single Coil) for writes.

• The ModBus device must be configured in SLAVE mode. When using settings

other than the default, you must set the input and output base addresses in the

Baxter configuration panel if other than 0/0, and the inputs and outputs must be

digital (discrete coils, not registers) and contiguous.

I'm assuming I must missing something on the robots end correct? I know I have to give the PLC an IP address so I think i use the ECIPSUP I-Box?

Ive found an example to write it on the PLC side on AD's site but not sure what to do to send info to the robot.

Its a Rethink Robotics "Baxter " robot. if that helps........ :confused:

Created Date: September 08,2017

Created by: OkiePC

According to those noes your quoted, the Robot is going to be the Modbus master, so you should be able to set up the I/O addresses in the "Baxter configuration panel ", establish communications and edit the ladder logic to operate on the bit addresses you want to utilize.

The big monkey wrench in your works is the mention of Modbus RTU and your talk of Ethernet. Modbus RTU is serial. Modbus TCP is Ethernet. I don't have enough DL06 experience to tell you off the top of my head how to configure a serial port for Modbus (if possible), but that is where I would start...figure out the electrical compatibility between the devices and then work on protocol and address details.

Created Date: September 09,2017

Created by: kewakl

We have two baxters. I can get with our baxter guy. We did ModbusTCP and some MOXA device.

We used a CLICK, but hopefully the comms/data should be similar.

maybe we can provide some info. It would be next week, tho.

While I'm not convinced of their readiness for prime-time, I can see their potential and I applaud an organization that can allocate the resources to help (by purchase) 'rethink ' in their research/development efforts.