MODBUS General purpose boolean registers

Technical Questions Robot Communication
1

Hi Ebbe, i can see you’ve got a list of MODBUS addresses here, i am currently trying to get a Mitsubishi HMI to communicate to UR20 over MODBUS to control a selection of Sub programmes.

if i want to simply switch on and off a selection of inputs either using bit switches or words from my HMI what addressees would i use, i understand that UR provide 128 freely configurable registers but i do not know what address i require to activate them over MODBUS.

Any help would be greatly appreciated

Kind regards

Erik Tompkins

2

Hi @erik.tompkins,

Welcome to the UR community🦾

I move you question into a dedicated topic. The list Overview of used ports on local host indicate that the UR robot have a Modbus server running on port 502. More details can be found here Modbus Server - 16377 | Universal Robots Support
And https://s3-eu-west-1.amazonaws.com/ur-support-site/16377/ModBus%20Server%20Data.pdf show that you can write and read the General Purpose Input boolean registers on coil address 300-427 and read General Purpose Output boolean registers on coil address 500-627.

The same registers can be accessed by the URScript functions:

  • write_output_boolean_register
  • read_output_boolean_register
  • read_input_boolean_register

I hope that helps you make your integration🤞

Ebbe