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C++ Driver/Socket development or ROS node using Omron Fins Protocol

$250-750 USD

Closed
Posted almost 3 years ago

$250-750 USD

Paid on delivery
My team needs someone to develop a driver or socket to communicate from PC to a Omron CJ2M CPU31 via Ethernet. PLC is fully programmed. Our existing application is written for an X2pro Beijer HMI connected over ethernet. We need to be able to read and write to the PLC from ROS (robot operating system) publishers and subscribers on Linux Ubuntu 20.04 with a real RT_PREEMPT Kernal patch time. We currently have a ROS node setup to communicate with our Omron PLC using FINS protocol, but it has not been completed. It has been able to connect to the PLC in the past, but not yet read or write to it. So, right now we need ONE of three possible solutions: 1 - We need the current C++ ROS node written with FINS protocol to be edited/finished to read/write to the PLC to replace all the functions the HMI currently does. OR 2 - We need a C++ driver/socket written using FINS protocol capable of communicating with the PLC from the PC the same way the HMI currently does. OR 3 - We need a driver/socket written in C++ using FINS protocol which can communicate with ROS nodes via TCP. Description of software module: 1 - Write functions (or class) in C++ for communication with ROS nodes (or as edit to existing ROS node) that writes/reads from PC to PLC's registers via FINS protocol: Reading / writing will form message according to Omron FINS protocol //function connect bool connectToPLC(string url , int port ); //function read from register: int readFromReg(int reg_address ,int *value ); //function write to register bool writeToReg(int reg_address , int value ); //function disconnect from PLC bool disconnect(); 2 - Write C++ functions or class to control and read in values for control of specific parts of the machine from the PLC, based on the functions that are used by the existing HMI program (will discuss this further and provide more detailed descriptions, this should be very quick and easy as all of these functions are already completed for the HMI). //functions to adjust the the lead screws //functions to change psi of cylinders on each leg segment //functions to read in the encoder position of the lead screws //functions to read in encoder values at all the joints of the machine 3 - Simple demonstrative c++ program / ros node to set all values of the machine as follows, and read in all values from the machine (using functions developed in step 2 above): All cylinders: 70 psi All lead screws: 2 inches Relevant ROS documentation (again, ROS setup is complete and nodes partially complete): [login to view URL] [login to view URL] [login to view URL] Documentation for FINS protocol with some sample codes: [login to view URL] [login to view URL]~pfs/recursos/plcs/omron/cs1/eth_manual/[login to view URL] This is not a difficult project if you can use FINS protocol and are familiar with Omron, most of these tasks are partially complete or fully complete in another form Will provide all PLC, HMI, and ROS code and files we have currently developed. Will require you to sign a non-disclosure agreement We need full source code and full rights. Payment after successful testing with our hard-/software.
Project ID: 30383946

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10 proposals
Remote project
Active 3 yrs ago

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10 freelancers are bidding on average $540 USD for this job
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Have FINS driver already developed and tested and used. Have over 200 other drivers for various industrial protocols developed. What Omron model is in use? Fins gateway is an old protocol. Can help using option 3. Other 2 options may also work, but our Biejer experience is little. Our drivers run in Linux and Windows and are generally X-pltform. Need to use ROS libraries, though have drivers for some other robot controllers. If you revert then will study your options in detail. If HMI has to be used as a medium then will need lot many other details as well. However option 3 seems to be cleaner in our view. The bid is default as placeholder only. Will revert after things are better defined. In Industrial control, scada domain for the last 35 years or so.
$500 USD in 7 days
5.0 (1 review)
5.8
5.8
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hi, i have rich experienced of C/C++ so that i can give you the perfect result. C/C++ is my top skill and i am majoring it for over 10 years. i have completed the several projects already so i have confident to complete your project 100%. if you want to discuss about the project, please contact with me. thank you.
$500 USD in 7 days
5.0 (2 reviews)
3.3
3.3
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Hello, I'm an Electrical Engineer .I have many Experiences in Matlab ,python ,C# ,VB , Microcontroller, Arduino , sensors ,PLC’s, SCADA system, circuit design , PCB ,also I have experience in programming that connect electronic to desktop application , android application .
$600 USD in 7 days
4.9 (5 reviews)
2.1
2.1
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PLC ROS node Expert Here I carefully read your project requirements and I understand that you want to design C++ Driver PLC ROS node based project, yes I will design it for you just in 2 to 3 days from now. I am expert in this field and having 3 years working experience on PLC ROS Node C++ based projects. I will also help to you installing it in your system via remotely software. Come on chat for more discussions Thanks
$500 USD in 1 day
5.0 (1 review)
1.5
1.5
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Hello there, I stumbled upon your project and I am interested in working on it. I am well experienced with ROS and robotics and I worked on many projects dealing with ROS comuncations (gRPC, mavlink ..) .feel free to contact me if you are interested!.
$500 USD in 7 days
5.0 (1 review)
1.5
1.5
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hi i have experience in embedded systems especially in robotics so if you interested to my service please directly message to me thankyou
$250 USD in 7 days
0.0 (0 reviews)
0.0
0.0
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Hello, Checking your requirements we found ourselves fit to proceed with this project. We are very much confident that we can achieve and fulfill all the project needs. with our efforts. Before start workings I would like to have a detailed discussion with you on this project in order to clarify the specifications better as i have some queries also. Kindly initiate me on chat to make a live conversation. Profile: https://www.freelancer.com/u/devbaker
$1,500 USD in 14 days
0.0 (0 reviews)
0.0
0.0

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Flag of UNITED STATES
Ashland, United States
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Member since May 31, 2021

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