I am developing an electric claw for UR+, but I did not understand how to communicate between my URCap and the tool. The electric claws uses Modbus-RTU communication. Thanks.
If this is TCP/IP based communication then controller has script commands for adding modbus signals. Look for “modbus_…” script commands.
I just use 485 communication
UR does not natively support Modbus RTU, only Modbus TCP. For more info about Modbus, please visit the following links: