ofxModbusOriental

modbus protocol wrapper for oriental motor

Dependencies

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

#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

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

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()

// 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

// 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

yoeshi / ofxModbusOriental