Java communication with CMMO-ST-C5-1-LKP Festo controller over MODBUS TCP/IP

Question

I have an assignment to develop a Java library for communication with a CMMO-ST-C5-1-LKP Festo controller. I have read the controller documentation and it provides a MODBUS TCP/IP communication interface. I have used jamod and managed to connect to the controller. (I have configured and parametrised the axis) The problem is that I don't really understand the communication encoding (what bytes do I need to send to get the axis to move somewhere). I have tried to find some example of the communication (bytes beeing send and recived), but I can't find any.

Does anyone know where I might find an example of communication?

Sorry, if this question is out of place here. I am completly stuck.

Answer 1

here - https://www.festo.com/net/cs_cz/SupportPortal/default.aspx?cat=4561&q=CMMO-ST&tab=4&s=t#result is many examples from other controllers (not PC, PLC only) maby you can find any inspiration. Good tool for commissioning of CMMO drive is Modbus TCP simulator - https://www.festo.com/net/cs_cz/SupportPortal/default.aspx?q=modbus&tab=4

If you set a stop, halt, OPM1, digital input - enable - short PAUSE - enable. If enable (output) output is set, you should be able to start reference move - hom. after homing (ideály set current position for start in FCT) you can set a speed and position to move and set start.

Good luck