py-ur

Control Universal Robot via python

Simple functions and convenience class to manipulate UR data

Dashboard Functions based on : DashboardServer_e-Series_2022

Modbus Registers functions based on : ModBus Server Data and more info here

Modbus Register commands

Read from register

Transaction ID	Protocol ID	Length	Unit ID	Function Code	Starting Address	Quantity
0x00 0x01	0x00 0x00	0x00 0x06	0x01	0x02	0x00 0x00	0x00 0x08

Write to register

Transaction ID	Protocol ID	Length	Unit ID	Function Code	Register Address	Value
0x00 0x01	0x00 0x00	0x00 0x06	0x01	0x06	0x00 0x01	0x12 0x34

1. Transaction id can be anything, I use the register address, so it's easier to keep track of the returning packets.
2. Protocol ID is alway 0000 for modbus
3. Length is always 6 if you only interact with one register at a time
4. Unit ID doesn't matter, so I usually put 0
5. Function codes can be found here

• 0x01: READ_COILS (read output bits)
• 0x02: READ_DISCRETE_INPUTS (read input bits)
• 0x03: READ_HOLDING_REGISTERS (read output registers)
• 0x04: READ_INPUT_REGISTERS (read input registers)
• 0x05: WRITE_SINGLE_COIL (write output bit)
• 0x06: WRITE_SINGLE_REGISTER(write output register)
• 0x0F: WRITE_MULTIPLE_COILS (write multiple output bits)
• 0x10: WRITE_MULTIPLE_REGISTERS (write multiple output registers)