# Is it possible to use RS-485 Modbus RTU with UR? **URL:** \ **Category:** Robot Communication\ **Created:** [July 29, 2024, 10:12pm UTC](https://forum.universal-robots.com/t/is-it-possible-to-use-rs-485-modbus-rtu-with-ur/35469 "2024-07-29T22:12:58Z")\ **Posts on this page:** 6\ **Page:** 1
**Author:** ![abalalimoghaddam](https://avatars.discourse-cdn.com/v4/letter/a/e9a140/32.png) [@abalalimoghaddam](https://forum.universal-robots.com/u/abalalimoghaddam)\ **Post date:** [July 29, 2024, 10:12pm UTC](https://forum.universal-robots.com/t/is-it-possible-to-use-rs-485-modbus-rtu-with-ur/35469/1 "2024-07-29T22:12:58Z")
Hi Everyone, I had read in [another post](https://forum.universal-robots.com/t/connect-additional-stepper-motor-or-servo-motor-to-ur-robot/30253) that Modbus TCP is one of the supported communication methods. I purchased [these stepper motor drivers](https://www.amazon.ca/RTELLIGENT-Protocol-Stepper-Digital-Equipment/dp/B081DTYVMT) which I had (I think wrongly) assumed support Modbus TCP. However, after receiving them I see they are not getting an IP address and there is very little documentation on them. The dedicated RTConfigurator is not available in English so I am not able to debug them yet. I am wondering if anyone has any insight on this type of stepper motor drivers. Is it feasible to integrate this with our UR robot? > **[RTELLIGENT RS485 Modbus/RTU Protocol Stepper Driver 2 Phase 5A 24-50V Digital...](https://www.amazon.ca/RTELLIGENT-Protocol-Stepper-Digital-Equipment/dp/B081DTYVMT)** > > Rtelligent NT60 is a MODBUS / RTU stepper motor with RS485 communication suitable for 4-wire 2-phase Nema 23/24 stepper motors with a flange of 57/60 mm and currents less than 5.0A. Functions: ▶ Slave address setting: SW1-SW5,the five DIP switches,... ---
**Author:** ![dasa](https://avatars.discourse-cdn.com/v4/letter/d/41988e/32.png) [@dasa](https://forum.universal-robots.com/u/dasa)\ **Post date:** [July 30, 2024, 5:26am UTC](https://forum.universal-robots.com/t/is-it-possible-to-use-rs-485-modbus-rtu-with-ur/35469/2 "2024-07-30T05:26:04Z")
well it has modbus rtu. you could have a look to this example where a modbus rtu is connected to the tool: [GitHub - EbbeFuglsang/Modbus\_URCap: A tool modbus RTU URCap](https://github.com/EbbeFuglsang/Modbus_URCap) ---
**Author:** ![svetozar.yolov](https://avatars.discourse-cdn.com/v4/letter/s/58f4c7/32.png) [@svetozar.yolov](https://forum.universal-robots.com/u/svetozar.yolov)\ **Post date:** [July 30, 2024, 6:20am UTC](https://forum.universal-robots.com/t/is-it-possible-to-use-rs-485-modbus-rtu-with-ur/35469/3 "2024-07-30T06:20:27Z")
Hi, You can use MODBUS TCP/RTU gateway in order to access and control MODBUS RTU device. Many company sells gateways. For example MOXA’s MGate MB3180/MB3280/MB3480 Series (my favorites). You will address the resources as MODBUS TCP, and the gateway will redirect the requests to the MODBUS RTU devices, and will return the response right back the the UR MODBUS TCP client. cheers, Svetozar Yolov ---
**Author:** ![abalalimoghaddam](https://avatars.discourse-cdn.com/v4/letter/a/e9a140/32.png) [@abalalimoghaddam](https://forum.universal-robots.com/u/abalalimoghaddam)\ **Post date:** [July 30, 2024, 5:36pm UTC](https://forum.universal-robots.com/t/is-it-possible-to-use-rs-485-modbus-rtu-with-ur/35469/4 "2024-07-30T17:36:38Z")
I will check it out, thank you! ---
**Author:** ![abalalimoghaddam](https://avatars.discourse-cdn.com/v4/letter/a/e9a140/32.png) [@abalalimoghaddam](https://forum.universal-robots.com/u/abalalimoghaddam)\ **Post date:** [July 30, 2024, 5:37pm UTC](https://forum.universal-robots.com/t/is-it-possible-to-use-rs-485-modbus-rtu-with-ur/35469/5 "2024-07-30T17:37:45Z")
Good idea! Those you suggested are more industrial than I need for my R&D purposes. Do you think a gateway like this would work? > **[PUSR RS232 RS485 Modbus RTU a Modbus TCP Gateway Serial to Ethernet Converter...](https://www.amazon.ca/PUSR-Gateway-Ethernet-Converter-USR-TCP232-410s/dp/B0BR4RX4CX)** > > PUSR RS232 RS485 Modbus RTU a Modbus TCP Gateway Serial to Ethernet Converter USR-TCP232-410s : Amazon.ca: Electronics ---
**Author:** ![svetozar.yolov](https://avatars.discourse-cdn.com/v4/letter/s/58f4c7/32.png) [@svetozar.yolov](https://forum.universal-robots.com/u/svetozar.yolov)\ **Post date:** [July 31, 2024, 6:11am UTC](https://forum.universal-robots.com/t/is-it-possible-to-use-rs-485-modbus-rtu-with-ur/35469/6 "2024-07-31T06:11:52Z")
Hi, yes, this devices can do what you want. The important part is that the device must support MODBUS Gateway functionality (which this device does). I recommend MOXA, because I use them in 90% of my projects related to MODBUS RTU communication (I have got more than 20 years of experience), and I am convinced in the quality they provide! If you seek more price oriented solution, USR-DR132/USR-DR134 - “Lipstick” Size Serial Device Server from the same supplier also can do the job (no idea what is the price of this device) . It also support MODBUS TCP/RTU gateway functionality. Both devices support up to 16 TCP clients (which is cool). Cheers, Svetozar Yolov