Universal Robots UR3/CB3 User Manual page 136

Set signal address
This field shows the address on the remote MODBUS server. Use the on-screen key-
pad to choose a different address. Valid addresses depends on the manufacturer and
configuration of the remote MODBUS unit.
Set signal name
Using the on-screen keyboard, the user can give the signal a name. This name is used
when the signal is used in programs.
Signal value
Here, the current value of the signal is shown. For register signals, the value is ex-
pressed as an unsigned integer. For output signals, the desired signal value can be set
using the button. Again, for a register output, the value to write to the unit must be
supplied as an unsigned integer.
Signal connectivity status
This icon shows whether the signal can be properly read/written (green), or if the unit
responds unexpected or is not reachable (gray). If a MODBUS exception response is
received, the response code is displayed. The MODBUS-TCP Exception responses are:
Show Advanced Options
This check box shows/hides the advanced options for each signal.
CB3
• E1 ILLEGAL FUNCTION (0x01): The function code received in the query is not
an allowable action for the server (or slave).
• E2 ILLEGAL DATA ADDRESS (0x02): The function code received in the query
is not an allowable action for the server (or slave), check that the entered signal
address corresponds to the setup of the remote MODBUS server.
• E3 ILLEGAL DATA VALUE (0x03): A value contained in the query data field is
not an allowable value for server (or slave), check that the enterd signal value is
valid for the specified address on the remote MODBUS server.
• E4 SLAVE DEVICE FAILURE (0x04): An unrecoverable error occurred while the
server (or slave) was attempting to perform the requested action.
• E5 ACKNOWLEDGE (0x05): Specialized use in conjunction with programming
commands sent to the remote MODBUS unit.
• E6 SLAVE DEVICE BUSY (0x06): Specialized use in conjunction with program-
ming commands sent to the remote MODBUS unit, the slave (server) is not able
to respond now.
13.11 Installation
II-52
MODBUS client I/O Setup
Version 3.3.3