Universal Robots Forum

Possible to access ModbusTCP configurable output register as coil?

I can access the digital inputs and outputs bitwise as coils/inputs on the robots modbus TCP server at at the following addresses:
Address 0-7 Digital Inputs
Addresses 15-22 Digital Outputs

I can see the Configurable Inputs and outputs as registers at the addresses 30 and 31 according to the table at https://s3-eu-west-1.amazonaws.com/ur-support-site/16377/ModBus%20server%20data.pdf

But can I also reach the the CI and COs in a similar bitwise way?

I want to do this because I want to attach actions to them like “HI when running - LOW when stopped”.

Found the answer to my question in the bottom of the same document i linked in my post :blush:

128-135 x x x * Configurable inputs, bits [BBBBBBBBxxxxxxxx] x=undef, T=tool, B=box
136-143 x x x * * Configurable outputs, bits [BBBBBBBBxxxxxxxx] x=undef, T=tool, B=box


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