JakaModbusCommunication

JakaModbusCommunication wraps low-level Modbus register access in a small Python API designed for practical robot integration work.

It includes helpers for digital inputs and outputs, analog reads and writes, joint telemetry, TCP position and speed, and controller status flags.

pip install JakaModbusCommunication

from JakaModbusCommunication import Jaka_Coms

jaka = Jaka_Coms(host="192.168.1.186", port=502)

try:
    power_on = jaka.get_power_on_status()
    joint_1_voltage = jaka.get_joint_voltage(1)
    tcp_x = jaka.get_tcp_position("X")

    print(bool(power_on))
    print(joint_1_voltage)
    print(tcp_x)
finally:
    jaka.close()

• Read general, cabinet, and tool digital inputs
• Write digital and analog outputs
• Read signed, unsigned, and floating-point register values
• Query joint voltage, temperature, current, position, and speed
• Read TCP position and speed by axis
• Check controller states such as power, enable, emergency stop, and motion errors

The current release includes improved input validation, quieter library behavior for production use, and a cleaner package layout for publishing.

The project is intended for developers integrating JAKA robots into custom Python workflows without repeatedly managing raw Modbus register logic by hand.