MODBUS I/O nodes

Also checkout the new CB3 forum

Extension of Inputs Outputs interfaces with MODBUS nodes.

If the number of I/O interface ports on the controller board and tool head is not enough then it is possible to extend by installing external MODBUS nodes.

They are connected to the UR controller via the Ethernet and the UR controller programming method is prepared to read and set these external I/O signals as they were a part of the integrated controller.

universal-robots-zacobria-modbus-nodes-1

Example of Modbus configuration using BK 9050, KL 1408, KL 2408 and KL 9010 Modbus modules.

BK 9050 = Modbus Controller with Ethernet port for IP configuration.

KL 1408 = Modbus 8 port input module.

KL 2408 = Modbus 8 port output module.

KL 9010 = Modbus End terminator.

The IP address of the Modbus node has to be defined in the Robot configuration.

universal-robots-zacobria-modbus-nodes-2

Tick the “Show advanced options” and press the “+” sign.

universal-robots-zacobria-modbus-nodes-3

In our case the Modbus node has been setup for the IP address of 192.168.0.10 and therefore we have to define this for the Robot.

Press the Keyboard icon next to the IP: address field.

universal-robots-zacobria-modbus-nodes-4

Key in the IP address of the Modbus node and press “OK”.

universal-robots-zacobria-modbus-nodes-5

Press the “+” sign just below the “-“ sign and in same row as the IP address we are defining.

universal-robots-zacobria-modbus-nodes-6

Define the first entry as an Input.                        Press the Keyboard sign in the middle.

universal-robots-zacobria-modbus-nodes-7

Define the first Modbus signal address as “0” which is the local address on the Modbus node for input 0 (first input on Modbus node).

This will activate the Modbus node and a Green light will appear. In this case the Input is high – indicated by the dark grey box next to the green light.

Each Individual Input and output has to be defined in this manner.

universal-robots-zacobria-modbus-nodes-8

Press on the “+” sign below the previous Modbus definition to define the next Input.

universal-robots-zacobria-modbus-nodes-9

Define this next Input like the previous one, but this one has the next local address which is “1”.

universal-robots-zacobria-modbus-nodes-10

In this case the Modbus node has 8 inputs and therefore address 0 to 7 has been defined.

universal-robots-zacobria-modbus-nodes-11

After all the Inputs has been defined – then define the Outputs in similar way.

universal-robots-zacobria-modbus-nodes-12

Continue until all 8 Outputs have been defined (local address 0 – 7).

In case of more than 8 in and 8 outputs the Modbus “scan” frequency maybe has to be reduced.

universal-robots-zacobria-modbus-nodes-13

If there is yellow light in some Modbus nodes representation in the UR robot menu (not on the node) then the frequency has to be reduced until all in/output is green – properly 5 Hz is recommended.

universal-robots-zacobria-modbus-nodes-14

Make sure there is no more flickering yellow light and all is green which indicates that the Scan frequency is correct.

Press the I/O tab and notice that there is now a Tab called the Modbus.

universal-robots-zacobria-modbus-nodes-15

universal-robots-zacobria-modbus-nodes-16

 

This screen shows the status of the Modbus Inputs and Outputs and the Outputs can be manipulated. On the right side all outputs has been set high.

The Modbus Inputs and Outputs are no available to be used in the program structure.

universal-robots-zacobria-modbus-nodes-17

Modbus Inputs ready to be used.                                      Modbus Outputs ready to be used.

Disclaimer: While the Zacobria Pte. Ltd. believes that information and guidance provided is correct, parties must rely upon their skill and judgement when making use of them. Zacobria Pte. Ltd. assumes no liability for loss or damage caused by error or omission, whether such an error or omission is the result of negligence or any other cause. Where reference is made to legislation it is not to be considered as legal advice. Any and all such liability is disclaimed.

If you need specific advice (for example, medical, legal, financial or risk management), please seek a professional who is licensed or knowledgeable in that area.

Author:
By Zacobria Lars Skovsgaard
Accredited Universal Robots support Centre and Forum.

Also check out the CB3 forum



48 thoughts on “MODBUS I/O nodes

  1. Charlotte

    Hi,

    We’ve been trying to connect the UR10 to a Windows 10 laptop using MODBUS and creating a socket with Python (the two are connected with a UTP cable). However, I cannot seem to get a connection between the two. The indicator on the ‘Ethernet/IP’ screen is yellow, indicating that it does not see the laptop and also on the IO-settings window (on the teaching panel) the indicator before the MODBUS ports does not turn green. I’m just starting to work with UR10, so it could be that I’m just missing a simple clue. Does anyone have any ideas that I might try? (Besides changing the port)

    Reply
    1. zacopressadmin Post author

      Hi Charlotte

      Thanks for the question.

      If the goal is to use MODBUS like described on these pages – then the “Ethernet/IP on the robot” should not be used – “Ethernet/IP on the robot” is something different and sometimes referred to as “Field bus”.

      The MODBUS server on the robot runs on port 502 and can be accessed as described on these pages – for example from a Python program establishing a TCP scocket connection from a laptop. The robot has MODBUS server which has registers inside the robot that can be read for example from a laptop and some registers can be set – and if the intention is to use the MODBUS server to connect to – then the “Ethernet/IP on he robot” should be turned OFF (if it is not used otherwise).

      If the connection is to external MODBUS nodes – also described on one of these pages at this forum then the Ethernet/IP also should be turned OFF – and the configuration is made in the MODBUS page as described att his link

      http://www.zacobria.com/universal-robots-knowledge-base-tech-support-forum-hints-tips/knowledge-base/modbus-registers-and-nodes/

      The “Ethernet/IP on the robot” is different and are sometimes used on for example for AB PLCs as Field bus connection – and therefore there need to be such Fieldbus application running on the extenal device for example a PLC – and then the “Ethernet/IP on the robot” should be turned ON.

      If the trouble is purely the ethernet connection – then maybe consider to check that the robot has an unique IP address – and that the laptop has a different unique IP address in the same subnet – meaning the addresses are close to each other. Some computers can connect with just one cable from laptop to robot, but it is more elegant to have a hub in between.

      Then maybe also consider to test that the laptop can ping the robot to verify that the connection on the ethernet level is ok.

      Author:
      By Zacobria Lars Skovsgaard
      Accredited Universal Robots support Centre and Forum.

      Also check out the CB3 forum



      Reply
    1. zacopressadmin Post author

      Hi balasubramani

      Thanks for the question.

      There can be different ways to connect such nodes.

      One way is to use the MODBUS and some information can be found at this link

      http://www.zacobria.com/universal-robots-knowledge-base-tech-support-forum-hints-tips/knowledge-base/modbus-registers-and-nodes/

      If the nodes has a possibility to write commands – then a TCP connection socket connection can also be used – although is typically done via a PC. Some informations can be found at this link.

      http://www.zacobria.com/universal-robots-knowledge-base-tech-support-forum-hints-tips/knowledge-base/script-client-server/

      Author:
      By Zacobria Lars Skovsgaard
      Accredited Universal Robots support Centre and Forum.

      Also check out the CB3 forum

      Reply
      1. Balasubramani

        Why should we have to go for Modbus ?
        We can use Ethernet/IP or Profinet?
        What is the advantages over these protocols individually according to Universal Robot communication

        Reply
        1. Balasubramani

          Why should we have to go for Modbus ?
          We can use Ethernet/IP or Profinet?
          What is the advantages over these protocols individually according to Universal Robot communication?
          I have to come to a decision to choose and also should know the differences in it.

          Reply
      2. Balasubramani

        Hi Sir,
        I have explored about all protocols in your website. In modbus, it is just aregister based communication. In Ethernet/IP, we can get all parameters like UR robot is on , UR robot joint structue and all.
        Please checkout the above link and tell me that I can do it with Modbus itself or not?

        Reply
        1. zacopressadmin Post author

          Hi Balasubramani

          In the MODBUS registers on port 502 there are also status informations.

          More informations at these links.

          http://www.zacobria.com/universal-robots-knowledge-base-tech-support-forum-hints-tips/knowledge-base/modbus-registers-read-position/

          https://www.universal-robots.com/how-tos-and-faqs/how-to/ur-how-tos/modbus-server-16377/

          Author:
          By Zacobria Lars Skovsgaard
          Accredited Universal Robots support Centre and Forum.

          Also check out the CB3 forum

          Reply
          1. Balasubramani

            Hi Sir,
            Thank you for your support. I got cleared somewhat now that all protocols are same in the application. Do we have to edit/ write urscript in python for reading status registers?
            Thank you

          2. zacopressadmin Post author

            Hi Balasubramani

            It is not necessary to use Python – Other program languagea are also possible for example C or other languages that can handle TCP socket.

            And it is also possible to read/write the MODBUS registers from a Polyscope program locally on the robot.

            Some example of reading MODBUS registers are part of the example shown at this link below. This example uses register 128 and 129, but the other registers can also be read. Some are read only registers.

            http://www.zacobria.com/universal-robots-knowledge-base-tech-support-forum-hints-tips/knowledge-base/modbus-registers-and-nodes/

            Author:
            By Zacobria Lars Skovsgaard
            Accredited Universal Robots support Centre and Forum.

            Also check out the CB3 forum

          3. Balasubramani

            Hi,
            Thank you for your support. I’ll ask some questions in future if I have any queries. I request you to extend your support

  2. Mary

    Hello,
    Anytime I go to run a program I get a Protective Stop that says “Fieldbus input disconnected.” It appears that everything is connected in the control box, so I am not sure if there is something I can do about it on the remote. Do you know what the problem is?
    Mary

    Reply
    1. zacopressadmin Post author

      Hello Mary

      Thanks for your email.

      1.
      If you intentionally want to use the Fieldbus (under Ethernet/IP feature) and therefore have “Enabled” the Ethernet/IP on the UR then the message you see could be due to connectivity issue or a setting on the connected Ethernet/IP device.

      2.
      If you are not intentionally using Fieldbus on the UR then the message could be because the Fieldbus has been enabled under the Ethernet/IP setting inside the “Installation” tab and if no Fieldbus device are connected then this message appear.

      Author:
      By Zacobria Lars Skovsgaard
      Accredited Universal Robots support Centre and Forum.

      Also check out the CB3 forum

      Reply
  3. alejandro

    Hello,

    We have a collaborative UR10 robot for one of our projects,

    Communication with the PLC siemens, is via Modbus, digital signals and records and communicate,

    but we doubt how to communicate via Modbus diagnostic robot.
     
    This information has been obtained from http://www.universal-robots.com/how-tos-and-faqs/how-to/ur-how-tos/modbus-server-16377/,

    But we do not know the home address of this mapping, could you tell us whether to enable any extra configuration or make this communication?

    Thank you very much in advance,

    I am waiting for your commentaries.

    Reply
  4. Jason

    I’m having some minor issues with the UR managing Wago outputs.

    With the regular UR outputs I can control if the output is high or low when the program is on or off. With the wago outputs I can do that as well but no matter what I do the UR will not save my changes. It always goes back to the original default. I am using a Wago 750-352 controller with 2 input and 2 output cards. The UR website offers no help on this issue. I have uploaded the latest software update. Do you have any experience with this? Am I doing something wrong?

    Here is the description of what I’m trying to do from the UR manual pg 99.

    “When an output is selected, a few options are enabled. Using the check box, a
    default value for the output can set to either low or high. This means that the
    output will be set to this value when a program is not running. If the check box is
    not checked, the output will preserve its current state after a program ends. It is also
    possible to specify whether an output can be controlled on the I/O tab (by either
    programmers, or both operators and programmers) or if it is only robot programs
    that may alter the output value.”

    Thanks,

    Jason

    Reply
    1. zacopressadmin Post author

      Hi Jason

      Thanks for your question.

      My experience is with Beckhoff modules like nodes BK9050 and KL2408, and I think they should be similar to Wago because they look very similar.

      I see the same as you see on these nodes and it might be because they are external nodes. The external nodes can also be controlled independently and from external source by MODBUS commands which can be considered.

      Author:
      By Zacobria Lars Skovsgaard
      Accredited Universal Robots support Centre and Forum.

      Also check out the CB3 forum

      Reply
      1. Jason

        Thanks for the reply, Lars.

        On our 1st gen UR’s (the robot I’m having trouble with is the UR5/CB3.1) We can control the MODBUS outputs (same Wago setups) just the same as we can with the UR outputs. (High when on, low when off, etc). On the 1st gen UR there is a checkbox next to the control options on the bottom of the page. There is no such checkbox on the latest software or the software that came installed on the robot. You also cannot change the MODBUS output’s name from this page.

        I’m thinking this is an oversight or a glitch/error that needs to be corrected.

        Reply
    1. zacopressadmin Post author

      Hi Mathias

      Thanks for your question.

      From Python sending this to TCP port 502 on the robot will read register 129

      print “Request reg 129″
      print “Sending: x00 x04 x00 x00 x00 x06 x00 x03 x00 x81 x00 x01″
      msg = “”
      s.send (“\x00\x04\x00\x00\x00\x06\x00\x03\x00\x81\x00\x01″)
      print “Modbus command send to read reg 129″

      Author:
      By Zacobria Lars Skovsgaard
      Accredited Universal Robots support Centre and Forum.

      Also check out the CB3 forum

      Reply
      1. Mathias O.

        Thanks,

        but I know this already. I mean, if the UR is the client. My current solution is the UR is a server. And I’m using 128, …. This works fine. But what if, if the UR is a client?

        Reply
        1. zacopressadmin Post author

          Hi Mathias

          Thanks for your question.

          Reading is function code 03.

          There is also an example at this link.

          http://www.zacobria.com/universal-robots-knowledge-base-tech-support-forum-hints-tips/knowledge-base/modbus-registers-and-nodes/

          The MODBUS port on the UR is a server on Port 502.

          If the UR is client then it can be done by reading the register in the UR GUI program and then send the value to the server with a TCP socket connection – similar to how this Client-Server example shows how to exchange data.

          http://www.zacobria.com/universal-robots-zacobria-forum-hints-tips-how-to/script-client-server-example/

          Author:
          By Zacobria Lars Skovsgaard
          Accredited Universal Robots support Centre and Forum.

          Also check out the CB3 forum

          Reply
  5. Nicolas D

    Dear,
    can I connect 2 UR robots (CB3) together with the modbus connection (without external device as WAGO) ?
    They can see each other (I have the green led on the I/O MODBUS CONFIG), but they can not communicate.
    I have the ERROR E2 (yellow led) when I try to activate the digital_output.
    Thanks

    Reply
    1. zacopressadmin Post author

      Hi Nicolas

      Thanks for your question.

      I have not tried to connect two robots like this myself. Have you configured the Modbus Ip address to be the Ip adress of the “other” robot and visa versa ?

      A E2 might indicate a address or timing issue. You might consider to lower the frequency and check the addresses at this link

      http://www.universal-robots.com/how-tos-and-faqs/how-to/ur-how-tos/modbus-server-16377/

      Author:
      By Zacobria Lars Skovsgaard
      Authorised Universal-Robots Support Forum.

      Reply
  6. Alexandre

    Hi , i want to comunicate a ur10 with a plc siemens for it, i need to use a anybus getaway, to convert Profibus on Modbus TCP, my intention is write and read registers or bools, from the getaway to comunicate it with the plc siemens.

    I don’t know if i need a getawey master or cliente (modbus)?

    Thanks!

    Reply
    1. zacopressadmin Post author

      Hi Alexandre

      Thanks for your question.

      1.
      Is your intention to read and write registers on the PLC from the UR ?

      2.
      Or is your intention to read and write registers on the UR from the PLC ?

      If “1” then I would think you need a Server.

      If “2” then I would think you need a Client because the Modbus is running as a server on standard Modbus port 502 on the UR.

      But I do not know the getaway product you mention.

      Author:
      By Zacobria Lars Skovsgaard
      Authorised Universal-Robots Distributor.

      Reply
  7. Marcos

    Hi,
    I am working with the U10 and the Robotiq gripper. The issue is that I have defined the registers in the installation panel. 3 input and 3 output registers. From the screen I can manipulate them and see how the gripper closes and opened. Actually what I need it is just to send a command from my PC over TCP to the UR10 and this to the gripper. For that purpose I found the function modbus_set_output_register. I have tried all the ideas I could have. First, I configured all 6 in the screen and then, with my code I was trying to wirte in the registers. It didn’t work. I also tried removing the declaration in the installation panel, and just use the modbus_add_sign and modbus_set_ouput_register. Nothing worked, and I am out of ideas. I am not exactly sure of what can cause the problem. I attach a picture of my screen. The register o_REG1 is the one I have to changed, but… I am not able at this point.
    I would appreciate a hand.

    http://imgur.com/OohT77x

    Thank you in advance and nice site.
    Marcos

    Reply
    1. zacopressadmin Post author

      Hi Marcos

      Thanks for your question.

      I assume the Robotiq gripper has its own IP address and using Modbus TCP – and therefore you properly need to write directly to the register of the Robotiq gripper from your PC using a standard Modbus TCP command.

      The commands you are trying are UR commands mainly to be used in the UR-GUI – but the gripper has another IP address and therefore you can write to the gripper directly from your PC.

      You can also write a Client-Server solution where the UR receive data from a host (Your PC) and then your program on the UR uses the commands you have been using and write to the gripper when the data from your PC has the value that is your trigger to send data to the gripper.

      Author:
      By Zacobria Lars Skovsgaard
      Authorised Universal-Robots Distributor.

      Reply
  8. Wirat

    Dear Zacobria,
    Objective of using PLC because I need to cut off Production Worker from UR Monitor which I will still teaching Robot program with UR GUI by myselft and save program after that I will use PLC to sending output to UR robot to working in Program that I set. This Idea is possible or not, and Can UR do with idea?
    Sincerely Yours

    Reply
    1. zacopressadmin Post author

      Dear Wirat

      Yes you can do that, but you need some programming on the UR.

      Please note that you can also password protect the UR monitor so a password is need to access the UR program.

      You can communicate from the PLC to the UR via I/O signals or over the TCP socket connections.

      Regards
      Zacobria

      Reply
  9. Wirat

    Dear Sir,
    Becasue I make Robot System with other device, Can I control Universal Robot with PLC Cotroller to working with other device?

    Sincerely Yours

    Reply
    1. zacopressadmin Post author

      Hi Wirat

      You can interface from a PLC, but you will still need to make a program for the UR also – either using the UR GUI to make the program or UR script language.

      Normally it is much easier to make the program on the UR because it has already a range of I/Os and easy to control the robot.

      Regards
      Zacobria

      Reply
  10. Wirat

    I have some question, if I set system using Touch Panel (Mitsubishi GOT1000) as center of operating, I need operator choose Model from Touch Panel and Universal Robot will move follow program that I setting, For example Operator choose Circle Shape from Touch Panel, Robot will move in Circle Program which I write Program. Can UR working with Other Touch Panel (Mitsubshi GOT1000)

    Reply
    1. zacopressadmin Post author

      Hi Wirat

      Thanks for your question.

      The monitor is a special HDMI with touch screen – I have not seen other models used.

      Regards
      Zacobria

      Reply
  11. Jere

    Hi,

    First of all, thanks for great sites! There is a great amount of information, but for this particular problem I couldn’t find a solution.

    The basic issue I need to address is to control external axis by the robot. To achieve as synchronous movements as possible, I was thinking to use a external servo drive connected via Modbus to do that. Is there any example about such arrangement, like sending position or speed commands from the robot? Or other known way to do “synchronized” (robot and 7th axis would reach desired positions somehow simultaneously) 7th axis with UR?

    Reply
    1. zacopressadmin Post author

      Hi Jere

      Thanks for your question.

      Since Software version 1.8 there has been script code functions implemented that can be used for conveyor tracking i.e. use an external encoder to tell the speed of an conveyor and thereby be able to program the robot so it follow the speed.

      I have not yet tried that myself.

      And I assume you mean the other way around – where you tell the outside world the speed of the robot.

      I have various ideas for that.

      1.
      Try to take a look at these commands in the Script manual.

      get_actual_joint_speeds()
      get_actual_tcp_speeds()

      Which can give you joint speed information’s and TCP speed information’s.

      2.
      You can also consider to create your own clock (encoder) signal on an robot output – like a clock (high/low) you control in your program based on your knowledge of how fast the robot moves when you programmed it.

      I do not have any examples on this, but maybe other have.

      Regards
      Lars

      Reply
      1. Jere

        Thank You, we’ll try these!

        Do you know if some future releases would include support for fully synchronized additional axis? I mean electrical interface for additional servo drive and kinematic model upgrade so that one can just add 7th coordinate element to MOVE -commands?

        Reply
        1. zacopressadmin Post author

          Dear Jere

          Thanks for your question.

          I am not aware of any plans to change the Move command to have an element for the 7th axis and I think there would be many variables and functions to consider – such as the position of the 7th axis and external parameters if the 7th axis is not part of the robot itself.

          However I think you can program that because you can add your own variable and give it a meaning you desire and exchange it with the robot to the external axis e.g. a linear drive.

          Regards
          Lars

          Reply
  12. Peter L.

    Ok Thank you Lars.
    I meant User Interface by UI.

    What I want to try is to check if a Signal reaches the Robot Register. That means A Client will send to teh Robot a Integer and I want to see, if the value Changes in Register e.g. 400001. I want to see that in the User Interface Modbus Client despiet the Robot is not the Client. Is that possible?
    Then I also have to use Port 3002? Do I have to differ betwenn Modbus Protocol and Socket?

    If I want to send him a string, I think I cant to that with modbus, but by TCP? Is sending Strings via TCP possible?

    Reply
    1. zacopressadmin Post author

      Hi Peter

      1.
      Yes that’s should be possible.

      On The UR – Modbus setup – You need to type in the IP address of your external Modbus node and the port number. Then the UR robot will poll this register and read the register and automatically get a new value if it changes.

      No need to send or do anything active on the PLC – the UR will read the register by it self.

      2.
      No – in this case you should not think about port number 30002.

      3.
      Yes I think you can read strings on the UR with

      Socket_read_string()

      Although I have not tried this self – I have tried to send out strings and to receive Floats in this example

      http://www.zacobria.com/universal-robots-zacobria-forum-hints-tips-how-to/script-client-server/

      Regards
      Lars

      Reply
  13. Peter L.

    Thank you für your Response. I see. I want to use the Robot as a Server, because I want to send Data to it . For example the Robot should know the Temperature. The value of the Temperature should send to a variable in the Robotprogram In the Robot Programm there is a if-statement and if the temerature is higher than xx C the Robot shall stop. My PLC acts like a Modbus Client and sends The value 20 °C to him. But how can the variable send to a certain Register? Is that necessary? Altough Need the Value to be written in a defined register? The UI as far as I know is only usable when I use the Robot as Client?
    How can I use the Robot a set him like a Server. Can I Programm that via the User Interface?
    Thank you!

    Reply
    1. Peter L.

      Btw. Are there Registers in the UR that can not be used becaused they are used for Special functions and whats the UID of the Robot?
      Thank you!

      Reply
      1. zacopressadmin Post author

        Hi Peter

        Thanks for your email

        I am not sure what UID means, but see my other reply to your question for reading registers.

        Regards
        Lars

        Reply
    2. zacopressadmin Post author

      Hi Peter

      Thanks for your email

      I will first try to answer some of the questions and then try and give you some ideas for you can read register data.

      1.
      The UR already have a server running on port 30002 as described in my earlier reply, but on that port you need to send Script commands format –which I think you need a higher level programming enviorment to do e.g. from a PC, but maybe your PLC also can send text strings.

      2.
      The robot also read registers that is connected external via Modbus.

      If you PLC can do Modbus and has an IP address then you can read the registers directly from the robot.

      In the UR robot you setup the IP address of the PLC and you create a name for each register you want to read – for example the register where you store the temperature.

      universal-robots-zacobria-modbus-register-setup-1

      Then you can read that register from the robot with a command like this

      var_1:=modbus_get_signal_status(“MODBUS_1″,False)

      And then use the variable var_1 for the If condition check and action.

      3.
      I am not sure what UI means ?

      Regards
      Lars

      Reply
  14. Peter L.

    Hello,
    I want to send simple Modbus/TCP from my PLC to the Robot. in The Panel under “Installation” i can found Settings for the Modbus communication. Does the Robot act as a Client or as Server?

    Reply
    1. zacopressadmin Post author

      Hi Peter

      Thanks for your question.

      The robot can both be a Server or a Client.

      1.
      You can send commands to the robot in different ways. Which one is best depends on what you need to do with the robot e.g. Move or just setting outputs.

      1.1
      The UR robot has a server running on TCP port 30002 listening for commands so in this case the robot is a server.

      You can send a command

      set_digital_out(1,True)

      To port 30002 and the robot will turn on digital out number 1. You can see more examples for this method here.

      http://www.zacobria.com/universal-robots-zacobria-forum-hints-tips-how-to/script-via-socket-connection/

      1.2
      You can also make the robot a Client and the connect to an external server and thereby exchange commands. You can see more examples for that here.

      http://www.zacobria.com/universal-robots-zacobria-forum-hints-tips-how-to/script-client-server/

      2.
      The settings for Modbus under “Installation” are for setting up external Modbus nodes e.g. additional digital Inputs – Output and Analogue Inputs – Outputs.
      Such node will have an IP address and once it is configured on the UR the additional ports is ready to be directly used in the GUI environment (Polyscope).

      You can find more examples for that here

      http://www.zacobria.com/universal-robots-zacobria-forum-hints-tips-how-to/modbus-io-nodes/

      Regards
      Lars

      Reply

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