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Mobile robot model
roller
Roller
-
Type:
- None
- Seer Roller
Modbus-type roller
seerRoller (Sendo Standard Peripheral Module ModbusTCP Protocol 2.0)
Note:
The peripheral module should be configured as the slave station, with an IP address of 192.168.192.6 and a ModbusTCP port of 502.
The SRC-2000(S) controller is the primary station that reads and writes to external modules.
The address of the debugging tool is https://github.com/seer-robotics/Seer-Roller-Modbus.
For basic requirements of peripheral modules, please refer to: https://shimo.im/docs/V1GdZZVs80gRg00j/
Address Description:
Address categories: 0x for read-write status, 1x for read-only status, 3x for read-only register, and 4x for read-write register.
Module Category (3rd): 5xx Whole System General, 6xx Roller/Belt Module, 7xx Jacking Module
All addresses are offset from 00000.
The detection signals need to be processed to eliminate shaking. They should be adjusted after multi-frame detection to prevent false triggering caused by vibration or other factors.
| Function Block | Functional Type | Function | Data Type | Address Class | Address | Address Class Description | Unit | Remarks |
|---|---|---|---|---|---|---|---|---|
| Global | Query Class | Module Class Code | uint16 | 3x | 10501 | Read Only Register | 0x10 (16) = Roller Module (without Baffle), 0x11 (17) = Roller Module (including Baffle), 0x12 (18) = Belt Module, 0x20 (32) = Jacking Module, 0x30 (48) = Traction Module | |
| Global | Query Class | Protocol Version | uint16 | 3x | 10502 | Read-only Register | The protocol version number. The value must be 2. | |
| Global | Error Code | System Error Code | uint16 | 3x | 10503 | Read-Only Register | System-Level Error Code. After the emergency stop is triggered, clear the error after receiving a new control command. | |
| Global | Customize | User-defined 0 | Unsigned 16-bit integer | 4x | 10504 | Read-write register | The values of these registers can be queried and written through the TCP API. | |
| Global | Customize | User-defined 1 | Unsigned 16-bit integer | 4 times | 10505 | Read-write register | ||
| Global | Customize | User-defined 2 | Unsigned 16-bit integer | 4x | 10506 | Read-write register | ||
| Global | Customize | User-defined 3 | Unsigned 16-bit integer | 4x | 10507 | Read-write register | ||
| Global | Customize | User-defined 4 | Unsigned 16-bit integer | 4x | 10508 | Read-write register | ||
| Global | Customize | User-defined 5 | Unsigned 16-bit integer | 4x | 10509 | Read-write register | ||
| Global | Customize | User-defined 6 | Unsigned 16-bit integer | 4x | 10510 | Read-write register | ||
| Global | Customize | User-defined 7 | Unsigned 16-bit integer | 4x | 10511 | Read-write register | ||
| Global | Customize | User-defined 8 | Unsigned 16-bit integer | 4x | 10512 | Read-write register | ||
| Global | Customize | User-defined 9 | Unsigned 16-bit integer | 4x | 10513 | Read-write register | ||
| Global | Customize | User-defined 10 | Unsigned 16-bit integer | 4x | 10514 | Read-write register | ||
| Global | Customize | User Defined 11 | Unsigned 16-bit integer | 4x | 10515 | Read-Write Register | ||
| Global | Customize | User-defined 12 | Unsigned 16-bit integer | 4x | 10516 | Read-write register | ||
| Global | Customize | User-defined 13 | Unsigned 16-bit integer | 4x | 10517 | Read-write register | ||
| Global | Customize | User-defined 14 | Unsigned 16-bit integer | 4x | 10518 | Read-write register | ||
| Global | Customize | User-defined 15 | Unsigned 16-bit integer | 4x | 10519 | Read-write register | ||
| Global | Query Class | The system abruptly stops | Bit | 1x | 501 | Read-only state quantity | 0 = normal (emergency stop is not triggered), 1 = emergency stop is triggered; | |
| Global | Query Class | Module Operation Mode | Bit | 1x | 502 | Read-only State Quantity | 0 = Manual (Manual requires the installation of the control button), 1 = Automatic | |
| Global | Other | Running State | Bit | 0x | 511 | Number of Read-Write States | 0 = Standby, 1 = Navigation (Note that this is the robot's status and the robot will write this address) | |
| Global | Other | Alarm State | Bit | 0x | 512 | Number of Read-Write States | 0 = Normal, 1 = Alarm, Error or Fatal (Note that this is the status of the robot and the robot will write to this address) | |
| Roller/belt | Control class | Roll/belt module number | uint16 | 4x | 10601 | Read-write register | Default is 0, which is the first roll/belt | |
| Roller/belt | Query class | Roll/belt operation status | uint16 | 3x | 10602 | Read only register | 0x01 = Standby, 0x02 = Executing, 0x03 = Execution completed, 0x04 = Stopped, 0xFF = Execution failed | |
| Roller/belt | Error code | Roller/belt error code | uint16 | 3x | 10603 | Read only register | After the emergency stop is triggered, the previous logic error is cleared and the new control command is received. Logic Error before Clearing 0x00 (00) // No error 0x11 (17) // Motor error 0x01 (01) // Roller has material (Feeding) 0x02 (02) // Roller has material (feeding) 0x03 (03) // Loading timeout (30s) 0x04 (04) // Blanking Timeout (30s) 0x05 (05) // Material Exceeds the Length 0x06 (06) // Left Baffle Action Timeout (Action Not Completed for three times) 0x07 (07) // Right baffle Action Timeout (Action Not Completed for three times) 0x08 (08) Preloading Timeout...... | |
| Roller/belt | Query class | Real-time running speed | uint16 | 3x | 10604 | Read only register | 0.01 m/s | Fixed point number, module running line speed (cannot provide feedback on running speed) |
| Roller/belt | Query class | Material or not | Bit | 1x | 601 | Read-only state quantity | 0 = no material, 1 = material (if there is a photocell trigger on the roller, it is considered to have material) | |
| Roller/belt | Query class | Photocell 1 | bit | 1x | 602 | Read-only state quantity | The condition of Photocell 1 needs to be treated with anti-shudder | |
| Roller/belt | Query class | Photocell 2 | bit | 1x | 603 | Read-only state quantity | The condition of Photocell 2 requires anti-shuddering treatment | |
| Roller/belt | Query class | Photocell 3 | bit | 1x | 604 | Read-only state quantity | The condition of photocell 3 needs to be treated with anti-shudder | |
| Roller/belt | Query class | There is no material on the front and rear rollers | bit | 1x | 0 = no material, 1 = material (if there is a photocell trigger on the roller, it is considered to have material) | |||
| Roller/belt | Query class | Front and rear roller photocell 1 | bit | 1x | The condition of photocell 1 needs to be treated with anti-shudder | |||
| Roller/belt | Query class | Front and rear roller photocell 2 | bit | 1x | The condition of photocell 2 requires anti-shuddering treatment | |||
| Roller/belt | Query class | Front and rear roller photocell 3 | bit | 1x | The condition of photocell 3 needs to be treated with anti-shudder | |||
| Roller/belt | Control class | Left side loading | bit | 0x | 611 | Number of read-write states | After writing 1, the system executes upon receiving the signal, clears to zero, and enters the left feeding process. If there is a timeout alarm, the system will change the running state to 0x02 after receiving the instruction, and the running state will change to 0x03 after feeding is completed. If there is an error or timeout, the running state will change to 0xFF. To ensure that the material is in place, it needs to be treated with anti-shake. | |
| Roller/belt | Control class | Left side blanking | bit | 0x | 612 | Number of read-write states | After writing 1, the system executes the left blanking process and clears to zero. If there is a timeout alarm, the running state will change to 0x02 after receiving the instruction, and the running state will change to 0x03 after blanking is completed. In case of error or timeout, the running state will change to 0xFF until the outermost photocell cannot detect the material. It is recommended to delay for 1-2 seconds to ensure that the material leaves the roller and needs to be treated with anti-shaking. | |
| Roller/belt | Control class | Right side loading | bit | 0x | 613 | Number of read-write states | After writing 1, the system executes it upon receiving and clears to zero, then enters the right feeding process. If there is a timeout alarm, the system will change the running state to 0x02 after receiving the instruction, and the running state will change to 0x03 after feeding is completed. If there is an error or timeout, the running state will change to 0xFF after the material triggers the last photocell. It is recommended to delay for 1-2 seconds to ensure that the material is in place and needs to undergo anti-shaking treatment. | |
| Roller/belt | Control class | Right side cutting | bit | 0x | 614 | Number of read-write states | After writing 1, the system executes after receiving and clearing, entering the right blanking process. There is a timeout alarm. The system will change the running state to 0x02 after receiving the instruction, and the running state will change to 0x03 after blanking is completed. In case of error or timeout, the running state will change to 0xFF until the outermost photocell cannot detect the material. It is best to delay 1-2 seconds to ensure that the material leaves the roller and needs to be treated with anti-shaking. | |
| Roller/belt | Control class | Front side feeding | Bit | 0x | 615 | Number of read-write states | The same way | |
| Roller/belt | Control class | Front side blanking | bit | 0x | 616 | Number of read-write states | The same way | |
| Roller/belt | Control class | Rear side feeding | bit | 0x | 617 | Number of read-write states | The same way | |
| Roller/belt | Control class | Back side blanking | bit | 0x | 618 | Number of read-write states | The same way | |
| Roller/belt | Control class | Roll/belt stop | bit | 0x | 619 | Number of read-write states | After writing 1, the module stops running and clears to zero, changing the running status to 0x03 | |
| Roller/belt | Control class | Pre-loading on the left side | bit | 0x | 620 | Number of read-write states | After writing 1, the system will execute the pre-feeding process on the left side (the left stop plate is put down, and the roll rolls to the right) and clear to zero. The system will change the running state to 0x02 after receiving the instruction, and the running state will change to 0x03 after the roll moves. | |
| Roller/belt | Control class | Pre-loading on the right side | bit | 0x | 621 | Number of read-write states | After writing 1, the system executes the command, clears to zero, and enters the pre-feeding process on the right side (the right stop plate is lowered, and the roll moves to the left). The system changes the running state to 0x02 after receiving the instruction, and the running state changes to 0x03 after the roll moves. | |
| Roller/belt | Control class | Front side pre-loading | bit | 0x | 622 | Number of read-write states | The same way | |
| Roller/belt | Control class | Rear side pre-loading | bit | 0x | 623 | Number of read-write states | The same way | |
| Roller/belt | Control class | Roll to the left (lower both measuring baffles) | bit | 0x | 624 | Number of read-write states | After writing 1, the system executes the command and clears to zero. The roller will start rolling to the left (both test baffles will be lowered). Without any timeout, the alarm system will change the running state to 0x02 after receiving the instruction, and the running state will change to 0x03 after the roller moves. | |
| Roller/belt | Control class | Roll to the right (both measuring baffles are down) | bit | 0x | 625 | Number of read-write states | After writing 1, the system executes the command and clears to zero. The roller will start rolling to the right (both measuring baffles are lowered). Without any timeout, the alarm system will change the running state to 0x02 after receiving the instruction, and the running state will change to 0x03 after the roller moves. | |
| Roller/belt | Control class | Roll forward (both measuring baffles down) | bit | 0x | 626 | Number of read-write states | The same way | |
| Roller/belt | Control class | Roll backwards (both measuring baffles are down) | bit | 0x | 627 | Number of read-write states | The same way | |
| Roller/belt | Control class | Left stop plate disabled | bit | 0x | 628 | Number of read-write states | 0 = not enabled, 1 = disabled (stop plate down, no longer up) | |
| Roller/belt | Control class | Right gear plate disabled | bit | 0x | 629 | Number of read-write states | 0 = not enabled, 1 = disabled (stop plate down, no longer up) | |
| Roller/belt | Control class | Front stop plate disabled | bit | 0x | 630 | Number of read-write states | The same way | |
| Roller/belt | Control class | Rear stop plate disabled | bit | 0x | 631 | Number of read-write states | The same way | |
| Roller/belt | Control class | Left baffle rise | ||||||
| Roller/belt | Control class | Port stop down | ||||||
| Roller/belt | Control class | Right baffle lift | ||||||
| Roller/belt | Control class | Starboard descent | ||||||
| Roller/belt | Control class | Front damper rise | ||||||
| Roller/belt | Control class | Front baffle drop | ||||||
| Roller/belt | Control class | Tailgate lift | ||||||
| Roller/belt | Control class | Tailgate drop | ||||||
| Roller/belt | Control class | Pass to the left (both baffles are placed, and the roller stops rotating after passing, and the baffle does not rise) | bit | 0x | 632 | Number of read-write states | ||
| Roller/belt | Control class | Pass to the right (both baffles are placed, the roller stops rotating after passing, and the baffle does not rise) | bit | 0x | 633 | Number of read-write states | ||
| Roller/belt | Configuration class | Swap left and right directions | bit | 0x | 650 | Number of read-write states | 0 = no left/right swapping, 1 = left/right swapping (not supported) | |
| Roller/belt | Configuration class | Toggle | bit | 0x | 651 | Number of read-write states | 0 = no front/back swapping, 1 = front/back swapping (cannot support left/right swapping) |
Last updated 2023/05/04
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