I try to make a UR Cab to communicate with my custom robot gripper. The gripper uses modbus rtu on slave address 1 and is confirmed to work. By using a this cab the gipper works perfect. Here the communication is made from my computer via modbus rtu over tcp through the cab inside my gripper.
[GitHub - UniversalRobots/Universal_Robots_ToolComm_Forwarder_URCap: Utility to forward the UR Tool Communication Interface (RS-485) to a remote PC.](https://RS485 Tool Forwarder Cab)
For my cab I used this as base:
[GitHub - EbbeFuglsang/Modbus_URCap: A tool modbus RTU URCap](https://Modbus RTU Cab)
I modified the base cab and added the control interface via via teach pendant, which allows me to set the gripper states while editing or making a new script at the teach panel.
Here you find the code of my script:
[GitHub - 22chrs/URCAB_modbusRTU_gripper](https://URL to my custom gripper cab.)
The cab starts but fires this error message, when adding it to a script.
I am really clueless what to do or change. My project is documented via instagram. I made a video about the errror, so maybe that will help better understanding.
[Hej Toto on Instagram: "Wer kann Java (😱) und Universal Robots Cabs basteln? 🚕"](https://Instagram Video about the Error)
Thanks!