Delta PLC-Kinco Servo Drive Integration for ROS AGV

Title:
Delta PLC (SR series) + Kinco Servo Drive Integration with ROS for AGV Navigation & Speed Control

Category: Electrical Engineering / Embedded Systems / Robotics & ROS

Budget/Type: (fill in your range — Fixed Price or Hourly)

Project Description:

I'm building an AGV and need help integrating a Delta SR-series PLC with Kinco servo drive(s) over RS485 (Modbus RTU), and connecting the control stack to ROS for navigation and speed control.

Scope of work:

PLC – Servo Drive Communication
Configure Modbus RTU communication between Delta SR PLC and Kinco servo drive(s)
Implement drive enable sequence, target speed/position control, and status monitoring
Deliver a tested, working WPLSoft/ISPSoft program
PLC – ROS Integration
Set up communication between the PLC and a ROS-based navigation stack on an onboard PC (Modbus TCP/RTU gateway, serial bridge, or similar — open to your recommendation)
Enable ROS to send speed/velocity commands and receive drive status/feedback (actual speed, position, fault status)
Support closed-loop velocity control suitable for AGV navigation (compatible with /cmd_vel style commands)
Documentation & Handover
Commented PLC program
Communication protocol/register map documentation
ROS node/bridge script with setup instructions
Short validation report showing servo responding correctly to ROS commands

Requirements:

Experience with Delta PLC programming (WPLSoft/ISPSoft) and Modbus RTU/TCP communication
Experience integrating servo drives (Kinco or similar CiA402/Modbus-based)
Solid ROS experience (specify ROS1 or ROS2), particularly serial/Modbus bridges and velocity control interfaces
AGV/mobile robot navigation experience is a plus

Deliverables:

Working PLC program file
ROS bridge/node code
Register map and communication documentation
Short video or log showing ROS command to servo motion working end-to-end