The following are links to the Beckhoff componenets for the Remote IO unit in use for IO functionality for the 5G robot project.
RemoteIO unit >> https://www.beckhoff.com/da-dk/products/i-o/bus-terminals/bkxxxx-bus-coupler/bk9050.html
RemoteIO>Slot1 >> https://www.beckhoff.com/da-dk/products/i-o/bus-terminals/kl2xxx-digital-output/kl2794.html RemoteIO>Slot2 >> https://www.beckhoff.com/da-dk/products/i-o/bus-terminals/kl1xxx-digital-input/kl1408.html RemoteIO>Slot3 >> https://www.beckhoff.com/da-dk/products/i-o/bus-terminals/kl2xxx-digital-output/kl2622.html RemoteIO>Slot4 >> https://www.beckhoff.com/da-dk/products/i-o/bus-terminals/kl9xxx-system/kl9010.html
The status of the buttons can be read from the Remote IO unit's MODBUS registers with the folowing command:
modpoll -t 1 -c 8 192.168.1.197
Where;
- modpoll is a freeware MODBUS master simulator, available here - https://www.modbusdriver.com/modpoll.html
- -t 1 refers to the MODBUS Function Code, in this case FC2. Alternatives are documented.
- -c 8 refers to the number of coils (or registers) to read. Default is 1
- 192.168.1.197 is the IP-Address, the unit is currently DHCP-enabled. This information has the additional
effect of indicating a normal MODBUS/TCP connection - i.e. port 502 - although alterations to the norm
can be specified.
Currently, the connector is directly through polling the MODBUS registers. This will be carried out wirelessly by the AGV PLC untill
Intelligent Systems can provide a replacement.