Tutorials

ROBOT COMMUNICATION · 9 lessons

I/O · TCP/IP · RS-232 · MODBUS — no real robot needed

9 hands-on lessons of robot communication on a single PC, no real robot needed — I/O handshake·Ethernet TCP/IP·RS-232 through MODBUS basics·Server (robot = slave)·Client (robot = master)·monitoring·vision·robot·gripper automation cell. Verified with python main.py and mapped 1:1 to real-equipment (HRSS) code.

Start the track
Lesson 01

Lab Environment Setup

Installing Python and pymodbus, understanding the shared modules and checking the environment

Python & pymodbus installationShared module structureSelf-check
Lesson 02

I/O Communication

Pick-and-place with a $DI/$DO handshake

$DI/$DO handshakePick and place
Lesson 03

Ethernet TCP/IP

Exchanging vision and `{data}` messages with `COPEN/CWRITE/CREAD`

COPEN/CWRITE/CREADVision and {data} exchange
Lesson 04

RS-232 Serial Communication

Packet framing and a virtual COM serial link

Packet framingVirtual COM serial
Lesson 05

MODBUS Basics

The four register types and reading/writing them with function codes

Four register typesFunction codesReads/writes
Lesson 06

MODBUS Server (Robot = Slave)

Driving robot PTP motion from a master command cycle

Master commandsRobot PTP motion
Lesson 07

MODBUS Client (Robot = Master)

Gripper control with `MBC_*` and IEEE 754 conversion

MBC_*Gripper controlIEEE 754 conversion
Lesson 08

Monitoring & Debugging

Capturing and manually decoding packets with Wireshark

WiresharkPacket captureManual decoding
Lesson 09

Capstone — Automated Cell

Integrated orchestration from vision to robot to gripper

Vision → robot → gripperIntegrated orchestration

Appendix

Reference materials

A. Command Cheat Sheet

Summary of HIWIN robot communication commands

Cheat sheetCommandsReference

B. 32-bit & IEEE 754 Conversion Lab

Word conversion and floating-point encoding

IEEE 75432-bitConversion

C. Review Question Answers

Answers to the review questions across the course

AnswersQuizSolutions
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