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Reading and Writing

This page contains information on all functions present within read_write.py and aims to give a clear understanding both of what these functions do and the requirements for any data to be input into them.

Functions

read_write_control

Source code in actions\read_write.py 
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class read_write_control():

    def __init__(self, arm:XArmAPI):
        self.arm = arm

    def read_coil_bits(self, addr, quantity):
        """
        ([Standard Modbus TCP](./UF_ModbusTCP_Manual.md)) Read Coils (0x01)

        Args:
            addr: the starting address of the register to be read

            quantity: number of registers

        Returns:
            out (tuple[int, list[int]]): tuple((code, bits)) returned result is only corrent when code is 0.

            code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.

                Note: code 129~144 means modbus tcp exception, the actual modbus tcp exception code is (code-0x80), refer to [Standard Modbus TCP](./UF_ModbusTCP_Manual.md)

            bits (list[int]): values read from the registers
        """
        return self.arm.read_coil_bits(addr, quantity)

    def read_input_bits(self, addr, quantity):
        """
        ([Standard Modbus TCP](./UF_ModbusTCP_Manual.md)) Read Discrete Inputs (0x02)

        Args:
            addr: the starting address of the register to be read

            quantity: number of registers

        Returns:
            out (tuple[int, list[int]]): tuple((code, bits)) returned result is only corrent when code is 0.

            code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.

                Note: code 129~144 means modbus tcp exception, the actual modbus tcp exception code is (code-0x80), refer to [Standard Modbus TCP](./UF_ModbusTCP_Manual.md)

            bits (list[int]): values read from the registers
        """
        return self.arm.read_input_bits(addr, quantity)

    def read_holding_registers(self, addr, quantity, is_signed=False):
        """
        ([Standard Modbus TCP](./UF_ModbusTCP_Manual.md)) Read Holding Registers (0x03)

        Args:
            addr: the starting address of the register to be read

            quantity: number of registers

            is_signed: whether to convert the read register value into a signed form

        Returns:
            out (tuple[int, list[int]]): tuple((code, bits)) returned result is only corrent when code is 0.

            code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.

                Note: code 129~144 means modbus tcp exception, the actual modbus tcp exception code is (code-0x80), refer to [Standard Modbus TCP](./UF_ModbusTCP_Manual.md)

            bits (list[int]): values read from the registers
        """
        return self.arm.read_holding_registers(addr, quantity, is_signed)

    def read_input_registers(self, addr, quantity, is_signed=False):
        """
        ([Standard Modbus TCP](./UF_ModbusTCP_Manual.md)) Read Input Registers (0x04)

        Args:
            addr: the starting address of the register to be read

            quantity: number of registers

            is_signed: whether to convert the read register value into a signed form

        Returns:
            out (tuple[int, list[int]]): tuple((code, bits)) returned result is only corrent when code is 0.

            code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.

                Note: code 129~144 means modbus tcp exception, the actual modbus tcp exception code is (code-0x80), refer to [Standard Modbus TCP](./UF_ModbusTCP_Manual.md)

            bits (list[int]): values read from the registers
        """
        return self.arm.read_input_registers(addr, quantity, is_signed)

    def write_single_coil_bit(self, addr, bit_val):
        """
        ([Standard Modbus TCP](./UF_ModbusTCP_Manual.md)) Write Single Coil (0x05)

        Args:
            addr: register address

            bit_val: the value to write (0/1)

        Returns:
            code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.

                Note: code 129~144 means modbus tcp exception, the actual modbus tcp exception code is (code-0x80), refer to [Standard Modbus TCP](./UF_ModbusTCP_Manual.md)
        """
        return self.arm.write_single_coil_bit(addr, bit_val)

    def write_single_holding_register(self, addr, reg_val):
        """
        ([Standard Modbus TCP](./UF_ModbusTCP_Manual.md)) Write Single Holding Register (0x06)

        Args:
            addr: register address

            bit_val: the value to write

        Returns:
            code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.

                Note: code 129~144 means modbus tcp exception, the actual modbus tcp exception code is (code-0x80), refer to [Standard Modbus TCP](./UF_ModbusTCP_Manual.md)
        """
        return self.arm.write_single_holding_register(addr, reg_val)

    def write_multiple_coil_bits(self, addr, bits):
        """
        ([Standard Modbus TCP](./UF_ModbusTCP_Manual.md)) Write Multiple Coils (0x0F)

        Args:
            addr: the starting address of the register to be written

            bits: array of values to write

        Returns:
            code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.

                Note: code 129~144 means modbus tcp exception, the actual modbus tcp exception code is (code-0x80), refer to [Standard Modbus TCP](./UF_ModbusTCP_Manual.md)
        """
        return self.arm.write_multiple_coil_bits(addr, bits)

    def write_multiple_holding_registers(self, addr, regs):
        """
        ([Standard Modbus TCP](./UF_ModbusTCP_Manual.md)) Write Multiple Holding Registers (0x10)

        Args:
            addr: the starting address of the register to be written

            regs: array of values to write

        Returns:
            code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.

                Note: code 129~144 means modbus tcp exception, the actual modbus tcp exception code is (code-0x80), refer to [Standard Modbus TCP](./UF_ModbusTCP_Manual.md)
        """
        return self.arm.write_multiple_holding_registers(addr, regs)

    def mask_write_holding_register(self, addr, and_mask, or_mask):
        """
        ([Standard Modbus TCP](./UF_ModbusTCP_Manual.md)) Mask Write Holding Register (0x16)

        Args:
            addr: register address

            and_mask: mask to be AND with

            or_mask: mask to be OR with

        Returns:
            code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.

                Note: code 129~144 means modbus tcp exception, the actual modbus tcp exception code is (code-0x80), refer to [Standard Modbus TCP](./UF_ModbusTCP_Manual.md)
        """
        return self.arm.mask_write_holding_register(addr, and_mask, or_mask)

    def write_and_read_holding_registers(self, r_addr, r_quantity, w_addr, w_regs, is_signed=False):
        """
        ([Standard Modbus TCP](./UF_ModbusTCP_Manual.md)) Write and Read Holding Registers (0x17)

        Args:
            r_addr: the starting address of the register to be read

            r_quantity: number of registers to read

            w_addr: the starting address of the register to be written

            w_regs: array of values to write

            is_signed: whether to convert the read register value into a signed form

        Returns:
            out (tuple[int, tuple]): tuple((code, regs)) returned result is only corrent when code is 0.

            code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.

                Note: code 129~144 means modbus tcp exception, the actual modbus tcp exception code is (code-0x80), refer to [Standard Modbus TCP](./UF_ModbusTCP_Manual.md)

            regs (tuple): register values
        """
        return self.arm.write_and_read_holding_registers(r_addr, r_quantity, w_addr, w_regs, is_signed)

mask_write_holding_register(addr, and_mask, or_mask)

(Standard Modbus TCP) Mask Write Holding Register (0x16)

Parameters:

Name Type Description Default
addr

register address

 required
and_mask

mask to be AND with

 required
or_mask

mask to be OR with

 required

Returns:

Name Type Description
code int

See the API Code Documentation for details.

Note: code 129~144 means modbus tcp exception, the actual modbus tcp exception code is (code-0x80), refer to Standard Modbus TCP
Source code in actions\read_write.py 
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def mask_write_holding_register(self, addr, and_mask, or_mask):
    """
    ([Standard Modbus TCP](./UF_ModbusTCP_Manual.md)) Mask Write Holding Register (0x16)

    Args:
        addr: register address

        and_mask: mask to be AND with

        or_mask: mask to be OR with

    Returns:
        code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.

            Note: code 129~144 means modbus tcp exception, the actual modbus tcp exception code is (code-0x80), refer to [Standard Modbus TCP](./UF_ModbusTCP_Manual.md)
    """
    return self.arm.mask_write_holding_register(addr, and_mask, or_mask)

read_coil_bits(addr, quantity)

(Standard Modbus TCP) Read Coils (0x01)

Parameters:

Name Type Description Default
addr

the starting address of the register to be read

 required
quantity

number of registers

 required

Returns:

Name Type Description
out tuple[int, list[int]]

tuple((code, bits)) returned result is only corrent when code is 0.
code int

See the API Code Documentation for details.

Note: code 129~144 means modbus tcp exception, the actual modbus tcp exception code is (code-0x80), refer to Standard Modbus TCP
bits list[int]

values read from the registers
Source code in actions\read_write.py 
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def read_coil_bits(self, addr, quantity):
    """
    ([Standard Modbus TCP](./UF_ModbusTCP_Manual.md)) Read Coils (0x01)

    Args:
        addr: the starting address of the register to be read

        quantity: number of registers

    Returns:
        out (tuple[int, list[int]]): tuple((code, bits)) returned result is only corrent when code is 0.

        code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.

            Note: code 129~144 means modbus tcp exception, the actual modbus tcp exception code is (code-0x80), refer to [Standard Modbus TCP](./UF_ModbusTCP_Manual.md)

        bits (list[int]): values read from the registers
    """
    return self.arm.read_coil_bits(addr, quantity)

read_holding_registers(addr, quantity, is_signed=False)

(Standard Modbus TCP) Read Holding Registers (0x03)

Parameters:

Name Type Description Default
addr

the starting address of the register to be read

 required
quantity

number of registers

 required
is_signed

whether to convert the read register value into a signed form

 False

Returns:

Name Type Description
out tuple[int, list[int]]

tuple((code, bits)) returned result is only corrent when code is 0.
code int

See the API Code Documentation for details.

Note: code 129~144 means modbus tcp exception, the actual modbus tcp exception code is (code-0x80), refer to Standard Modbus TCP
bits list[int]

values read from the registers
Source code in actions\read_write.py 
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def read_holding_registers(self, addr, quantity, is_signed=False):
    """
    ([Standard Modbus TCP](./UF_ModbusTCP_Manual.md)) Read Holding Registers (0x03)

    Args:
        addr: the starting address of the register to be read

        quantity: number of registers

        is_signed: whether to convert the read register value into a signed form

    Returns:
        out (tuple[int, list[int]]): tuple((code, bits)) returned result is only corrent when code is 0.

        code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.

            Note: code 129~144 means modbus tcp exception, the actual modbus tcp exception code is (code-0x80), refer to [Standard Modbus TCP](./UF_ModbusTCP_Manual.md)

        bits (list[int]): values read from the registers
    """
    return self.arm.read_holding_registers(addr, quantity, is_signed)

read_input_bits(addr, quantity)

(Standard Modbus TCP) Read Discrete Inputs (0x02)

Parameters:

Name Type Description Default
addr

the starting address of the register to be read

 required
quantity

number of registers

 required

Returns:

Name Type Description
out tuple[int, list[int]]

tuple((code, bits)) returned result is only corrent when code is 0.
code int

See the API Code Documentation for details.

Note: code 129~144 means modbus tcp exception, the actual modbus tcp exception code is (code-0x80), refer to Standard Modbus TCP
bits list[int]

values read from the registers
Source code in actions\read_write.py 
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def read_input_bits(self, addr, quantity):
    """
    ([Standard Modbus TCP](./UF_ModbusTCP_Manual.md)) Read Discrete Inputs (0x02)

    Args:
        addr: the starting address of the register to be read

        quantity: number of registers

    Returns:
        out (tuple[int, list[int]]): tuple((code, bits)) returned result is only corrent when code is 0.

        code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.

            Note: code 129~144 means modbus tcp exception, the actual modbus tcp exception code is (code-0x80), refer to [Standard Modbus TCP](./UF_ModbusTCP_Manual.md)

        bits (list[int]): values read from the registers
    """
    return self.arm.read_input_bits(addr, quantity)

read_input_registers(addr, quantity, is_signed=False)

(Standard Modbus TCP) Read Input Registers (0x04)

Parameters:

Name Type Description Default
addr

the starting address of the register to be read

 required
quantity

number of registers

 required
is_signed

whether to convert the read register value into a signed form

 False

Returns:

Name Type Description
out tuple[int, list[int]]

tuple((code, bits)) returned result is only corrent when code is 0.
code int

See the API Code Documentation for details.

Note: code 129~144 means modbus tcp exception, the actual modbus tcp exception code is (code-0x80), refer to Standard Modbus TCP
bits list[int]

values read from the registers
Source code in actions\read_write.py 
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def read_input_registers(self, addr, quantity, is_signed=False):
    """
    ([Standard Modbus TCP](./UF_ModbusTCP_Manual.md)) Read Input Registers (0x04)

    Args:
        addr: the starting address of the register to be read

        quantity: number of registers

        is_signed: whether to convert the read register value into a signed form

    Returns:
        out (tuple[int, list[int]]): tuple((code, bits)) returned result is only corrent when code is 0.

        code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.

            Note: code 129~144 means modbus tcp exception, the actual modbus tcp exception code is (code-0x80), refer to [Standard Modbus TCP](./UF_ModbusTCP_Manual.md)

        bits (list[int]): values read from the registers
    """
    return self.arm.read_input_registers(addr, quantity, is_signed)

write_and_read_holding_registers(r_addr, r_quantity, w_addr, w_regs, is_signed=False)

(Standard Modbus TCP) Write and Read Holding Registers (0x17)

Parameters:

Name Type Description Default
r_addr

the starting address of the register to be read

 required
r_quantity

number of registers to read

 required
w_addr

the starting address of the register to be written

 required
w_regs

array of values to write

 required
is_signed

whether to convert the read register value into a signed form

 False

Returns:

Name Type Description
out tuple[int, tuple]

tuple((code, regs)) returned result is only corrent when code is 0.
code int

See the API Code Documentation for details.

Note: code 129~144 means modbus tcp exception, the actual modbus tcp exception code is (code-0x80), refer to Standard Modbus TCP
regs tuple

register values
Source code in actions\read_write.py 
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def write_and_read_holding_registers(self, r_addr, r_quantity, w_addr, w_regs, is_signed=False):
    """
    ([Standard Modbus TCP](./UF_ModbusTCP_Manual.md)) Write and Read Holding Registers (0x17)

    Args:
        r_addr: the starting address of the register to be read

        r_quantity: number of registers to read

        w_addr: the starting address of the register to be written

        w_regs: array of values to write

        is_signed: whether to convert the read register value into a signed form

    Returns:
        out (tuple[int, tuple]): tuple((code, regs)) returned result is only corrent when code is 0.

        code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.

            Note: code 129~144 means modbus tcp exception, the actual modbus tcp exception code is (code-0x80), refer to [Standard Modbus TCP](./UF_ModbusTCP_Manual.md)

        regs (tuple): register values
    """
    return self.arm.write_and_read_holding_registers(r_addr, r_quantity, w_addr, w_regs, is_signed)

write_multiple_coil_bits(addr, bits)

(Standard Modbus TCP) Write Multiple Coils (0x0F)

Parameters:

Name Type Description Default
addr

the starting address of the register to be written

 required
bits

array of values to write

 required

Returns:

Name Type Description
code int

See the API Code Documentation for details.

Note: code 129~144 means modbus tcp exception, the actual modbus tcp exception code is (code-0x80), refer to Standard Modbus TCP
Source code in actions\read_write.py 
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def write_multiple_coil_bits(self, addr, bits):
    """
    ([Standard Modbus TCP](./UF_ModbusTCP_Manual.md)) Write Multiple Coils (0x0F)

    Args:
        addr: the starting address of the register to be written

        bits: array of values to write

    Returns:
        code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.

            Note: code 129~144 means modbus tcp exception, the actual modbus tcp exception code is (code-0x80), refer to [Standard Modbus TCP](./UF_ModbusTCP_Manual.md)
    """
    return self.arm.write_multiple_coil_bits(addr, bits)

write_multiple_holding_registers(addr, regs)

(Standard Modbus TCP) Write Multiple Holding Registers (0x10)

Parameters:

Name Type Description Default
addr

the starting address of the register to be written

 required
regs

array of values to write

 required

Returns:

Name Type Description
code int

See the API Code Documentation for details.

Note: code 129~144 means modbus tcp exception, the actual modbus tcp exception code is (code-0x80), refer to Standard Modbus TCP
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def write_multiple_holding_registers(self, addr, regs):
    """
    ([Standard Modbus TCP](./UF_ModbusTCP_Manual.md)) Write Multiple Holding Registers (0x10)

    Args:
        addr: the starting address of the register to be written

        regs: array of values to write

    Returns:
        code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.

            Note: code 129~144 means modbus tcp exception, the actual modbus tcp exception code is (code-0x80), refer to [Standard Modbus TCP](./UF_ModbusTCP_Manual.md)
    """
    return self.arm.write_multiple_holding_registers(addr, regs)

write_single_coil_bit(addr, bit_val)

(Standard Modbus TCP) Write Single Coil (0x05)

Parameters:

Name Type Description Default
addr

register address

 required
bit_val

the value to write (0/1)

 required

Returns:

Name Type Description
code int

See the API Code Documentation for details.

Note: code 129~144 means modbus tcp exception, the actual modbus tcp exception code is (code-0x80), refer to Standard Modbus TCP
Source code in actions\read_write.py 
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def write_single_coil_bit(self, addr, bit_val):
    """
    ([Standard Modbus TCP](./UF_ModbusTCP_Manual.md)) Write Single Coil (0x05)

    Args:
        addr: register address

        bit_val: the value to write (0/1)

    Returns:
        code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.

            Note: code 129~144 means modbus tcp exception, the actual modbus tcp exception code is (code-0x80), refer to [Standard Modbus TCP](./UF_ModbusTCP_Manual.md)
    """
    return self.arm.write_single_coil_bit(addr, bit_val)

write_single_holding_register(addr, reg_val)

(Standard Modbus TCP) Write Single Holding Register (0x06)

Parameters:

Name Type Description Default
addr

register address

 required
bit_val

the value to write

 required

Returns:

Name Type Description
code int

See the API Code Documentation for details.

Note: code 129~144 means modbus tcp exception, the actual modbus tcp exception code is (code-0x80), refer to Standard Modbus TCP
Source code in actions\read_write.py 
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def write_single_holding_register(self, addr, reg_val):
    """
    ([Standard Modbus TCP](./UF_ModbusTCP_Manual.md)) Write Single Holding Register (0x06)

    Args:
        addr: register address

        bit_val: the value to write

    Returns:
        code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.

            Note: code 129~144 means modbus tcp exception, the actual modbus tcp exception code is (code-0x80), refer to [Standard Modbus TCP](./UF_ModbusTCP_Manual.md)
    """
    return self.arm.write_single_holding_register(addr, reg_val)