{{InfoBoxTop}}{{AppliesToSBCSPG}}{{AppliesTo SBC Lynx TN}}{{AppliesToIoT}}{{AppliesTo IoT TN}}{{InfoBoxBottom}}{{WarningMessage|text=This technical note was validated against specific versions of hardware and software. It may not work with other versions.}}[[Category:MISC-AN-TN]][[Category:MISC-TN]]__FORCETOC__== History =={| class="wikitable" border="1"!Version!Date!Notes|-|1.0.0|February 2023|First public release|-|}==Introduction==ORCA-TN-001_—_Running_Armbian_Bullseye_(Debian_11)https://mirrors.dotsrc.org/armbian-dl/tritium-h3/archive/Armbian_22.11.1_Tritium-h3_bullseye_current_5.15.80_minimal.img.xzLAN .30armbian@sbcspg:~$ pip install modbus_cliarmbian@sbcspg:~$ ./.local/bin/modbus 192.168.30.42:502 300Parsed 0 registers definitions from 1 files300: 33 0x21https://github.com/fledge-iot/fledge-south-modbustcp/pull/26/filesRiavviare south plugin disable/enable per via grafica.You can think about this This Technical Note (TN) as an evolution of the article "[[MISC-TN-021: SBCSPG and ThingsBoard IoT]]". The use case described here is a real-world application based on the same elements: * [[MISC-TN-004: Running Debian (armbian) on SBCSPG#The hardware platform|The ''SBCSPG'' industrial gateway]] * [https://thingsboard.io/docs/ ''ThingsBoard IoT platform''] * [https://thingsboard.io/docs/iot-gateway/what-is-iot-gateway/ ''ThingsBoard IoT gateway'']. The application is to monitor robotized DAVE Embedded Systems' ATEs like the one shown [https://youtu.be/OoNiKgJXq00?t=409 here].== Implementation ==The implementation is suitable for a production environment. Unlike what we did for [[MISC-TN-021: SBCSPG and ThingsBoard IoT|this TN]], in this case the ThingsBoard IoT platform was installed on the cloud, specifically on an AWS EC2 instance running Ubuntu Linux. The following diagram shows the complete solution. [[File:ATE monitoring SBCSPG ThingsBoardTBD.png|center|thumb|1000x1000px]]Technically, the gateway can communicate with the ATE using different physical links and protocols. In the example under discussion, the physical link is Ethernet and the protocol is Modbus/TCP. The gateway retrieves periodically some data regarding the robotic arm used to move the device under test (DUT). These data are [https://www.universal-robots.com/articles/ur/interface-communication/modbus-server/ exposed by the PLC governing the arm] and are documented in detail [https://s3-eu-west-1.amazonaws.com/ur-support-site/16377/ModBus%20server%20data.pdf here].=== ThingsBoard IoT configuration ===To install ThingsBoard IoT platform on an EC2 instance, [https://thingsboard.io/docs/user-guide/install/cluster/aws-self-hosted-setup/ these instructions] were followed. === ThingsBoard IoT gateway configuration ===To run this esample, the most important module to configure was the [https://thingsboard.io/docs/iot-gateway/config/modbus/ Modbus connector]. The following box shows the resulting configuration file needed to poll some variables of the arm's joints (namely temperatures and currents).<syntaxhighlight lang="json">armbian@sbcspg:~$ cat /etc/thingsboard-gateway/config/modbus.json{ "master": { "slaves": [ { "host": "192.168.30.42", "port": 502, "type": "tcp", "method": "socket", "timeout": 35, "byteOrder": "BIG", "retries": true, "retryOnEmpty": true, "retryOnInvalid": true, "pollPeriod": 5000, "unitId": 1, "deviceName": "UR5", "sendDataOnlyOnChange": true, "connectAttemptTimeMs": 5000, "connectAttemptCount": 5, "waitAfterFailedAttemptsMs": 300000, "timeseries": [ { "tag": "base_joint_temperature_deg_C", "type": "16int", "functionCode": 3, "objectsCount": 1, "address": 300 }, { "tag": "shoulder_joint_temperature_deg_C", "type": "16int", "functionCode": 3, "objectsCount": 1, "address": 301 }, { "tag": "base_joint_current_mA", "type": "16int", "functionCode": 3, "objectsCount": 1, "address": 290 }, { "tag": "shoulder_joint_current_mA", "type": "16int", "functionCode": 3, "objectsCount": 1, "address": 291 }, { "tag": "elbow_joint_current_mA", "type": "16int", "functionCode": 3, "objectsCount": 1, "address": 292 }, { "tag": "wrist1_joint_current_mA", "type": "16int", "functionCode": 3, "objectsCount": 1, "address": 293 }, { "tag": "wrist2_joint_current_mA", "type": "16int", "functionCode": 3, "objectsCount": 1, "address": 294 }, { "tag": "wrist3_joint_current_mA", "type": "16int", "functionCode": 3, "objectsCount": 1, "address": 295 } ] } ] } }</syntaxhighlight>== Dashboards ==ThingsBoard IoT allows to create easily custom dashboards to visualize data. At [http://ec2-15-160-47-190.eu-south-1.compute.amazonaws.com:8080/dashboard/1178fb20-e56d-11ec-8592-e3cb29424137?publicId=28967df0-e56d-11ec-8592-e3cb29424137 this link] such a dashboard is available showing some temperatures and currents of the arm's joints.[[File:ATE monitoring SBCSPG ThingsBoard dashboard1.png|center|thumb600px|600x600pxcaption]]
