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
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