Greetings URCommunity,
Is there any way of increasing the number of outputs of the robot? I already have the 8 standard and configurable digital outputs full and need at least 4 more. (I know the use of a PLC can solve this, but I’m trying not to use it)
Best regards,
PMonforte
There are apparently MODBUS expansion modules that I’ve heard about, but never used myself. Short of that the only way to “get more” outputs would be to use some sort of binary decoding to go get 2^n number of combinations.
Here’s a great article with a Phoenix MODBUS I/O module, that adds 16 DI and 16 DO. 
You can get two more from the EOAT.
If you don’t mind that the digital outputs are NPN (grounds the load) and if advertising of UR+ products is allowed here, you can check out the IOFirebug Engine for UR.
https://www.universal-robots.com/plus/products/4each/iofirebug/