Connecting PLC M241 with Universal Robot using MODBUS TCP/IP

Technical Questions
1

Hello, I am college student and i have a project where a UR3 is used. The entire system will be controlled by a PLC. The goal is to have the operation of the machine done by only one HMI which is connected to the PLC. For simplicity of operation, the teach pendant of the UR shall not be needed in normal operation. There are different tasks the robot must perform (mostly pick and place). Ive done the program in UR3 and it run with no problem at all. But after the PLC and the UR3 was connected via Modbus TCP/IP the gripper suddenly error(gripper will shut the entire system stop or the gripper still working but not like how we want).

PLC M241 is used as the start and stop button to run the Universal Robot cycle.

IP PC = 192.168.1.10
IP HMI = 192.168.1.11
IP PLC = 192.168.1.12
IP UR = 192.168.1.13

2

Hello,

What kind of gripper do you have and how is it controlled?

There may be an overlap in the signals used for the gripper and the signals used for start/stop via Modbus.