Universal Robots Forum

Stop Program when UR has no connection to MODBUS-Server

Hi,

we have connected some MODBUS-Clients to our UR.
In the UR-MODBUS-Configuration the digital in-/outputs are connected to the server (green) and work as they should.

In the case of a connection failure of one MODBUS-Server we want to stop/pause the UR-Program. I am searching for a solution that is not part of the robotprogram, so that I can just load the configuration.

Robert

2 Likes

I’m not sure if I understand that correctly, but current behavior is that program is stopped whenever it tries to access modbus signal that is not connected.
You could have a script running in separate program thread that periodically reads all modbus signals that are critical for you.
Something like:

thread checkModbus():
while True:
modbus_get_signal_status(“critical_signal”, False)
sleep(1)
end
end