Read_joint_from_techmann.py

from pymodbus.client import ModbusTcpClient
import struct
import os
# Define device connection
client = ModbusTcpClient('127.0.0.1', port=502)  # Change IP and port as needed

# Connect to the device
while client.connect():
  
    num_registers = 12
    response = client.read_input_registers(7013, num_registers, unit=1)  
    
    if response.isError():
        print("Error reading registers")
    else:
        registers = response.registers
        float_values = []

        # Convert register pairs to float values
        for i in range(0, len(registers), 2):
            raw = struct.pack(">HH", registers[i], registers[i+1])  # Change to "<HH" for little-endian
            value = struct.unpack(">f", raw)[0]  # Change to "<f" for little-endian
            float_values.append(value)

        
        os.system('cls')
        print ("J1 %.2f" %float_values[0] )
        print ("J2 %.2f" %float_values[1] )
        print ("J3 %.2f" %float_values[2] )
        print ("J4 %.2f" %float_values[3] )
        print ("J5 %.2f" %float_values[4] )
        print ("J6 %.2f" %float_values[5] )
        
    client.close()
else:
    print("Failed to connect to device")