ofxAddons
modbus protocol wrapper for oriental motor
README
ofxModbusOriental
modbus protocol wrapper for oriental motorDependencies
- ofxSerial (for further setting of ofSerial)
- USB to RS485 converter. Please check the pin assign for yourself.
Limitations
currently motor ids should be set as starts from 1 and line up in order to Nth motor.
for example, the ids of N motors are : 1, 2, …, N-1, N.
Usage
Modbus Setting
``
c++ include "ofxModbusOriental.h"
ofxOriental::Controller<num_motors> modbus;
void setup() { // start modbus communication (via usb serial) modbus.begin(serial_name_or_id, modbus_baud, modbus_interval); }
void update() { // send, receive and parse data modbus.update(); }
Motor IDs
If you pass the motor id = 0, it means broadcast and all motor receive the same command and does not reply.
Basic Motion Functions
Motion
c++ modbus.stop(id); modbus.free(id); modbus.reset(id); modbus.direct(id, pos, vel, acc, dec); modbus.forward(id); modbus.backward(id); modbus.setJogSteps(id, steps);
Request
c++ modbus.request(ofxOriental::RequestType::Status, id); modbus.request(ofxOriental::RequestType::Position, id);
Control Motion with Drive Data Number
with this feature, you can control motors flexibly like :
- control multiple motors with different motion rapidly and concurently
- buffer next positions and other parameters in advance, and execute them by just trigger
start()
c++// first, pair motor id and drive data number modbus.data_no(id, drive_data_no);
// set parameters to buffer modbus.setMode(id, drive_mode); modbus.setCurrent(id, crnt); modbus.setPosition(id, pos); modbus.setVelocity(id, vel); modbus.setAcceleration(id, acc); modbus.setDeceleration(id, dec);
// write buffered data to driver modbus.writeMode(id); modbus.writeCurrent(id); modbus.writePosition(id); modbus.writeVelocity(id); modbus.writeAcceleration(id); modbus.writeDeceleration(id);
// write trigger to start motion modbus.start(id);
// clear trigger for next motion modbus.clear(id);
or for instance, you can use wrapped methods like
c++ // first, pair motor id and drive data number modbus.data_no(id, drive_data_no);
// set mode and current modbus.setMode(id, drive_mode); modbus.setCurrent(id, crnt);
// moves to next_pos in duration // this method sets position, velocity, acceleration and deceleration modbus.setMotionTriangle(id, next_pos, duration);
// write position, velocity, acceleration and deceleration modbus.write(id);
// write trigger to start motion modbus.start(id);
// clear trigger for next motion modbus.clear(id); ``for more detail, check the example and source codes.
LICENSE
MIT