now,I want to use modbus tcp control ur5,I can use [modbus_read_registers] read some information by ur5. but when i use [modbus_write_registers] control ur5 ,[modbus_write_registers] return -1,so I want to know how to use modbusTcp control ur5 by ur5 as modbustcp server?
thanyou everybody!
Take a look at Modbus Server - 16377 | Universal Robots Support
TLDR: 16bit registers in range 128-255 can be used to exchange data.
thanyou I will try this