Additional Information About The Modbus Rtu - Rethink Robotics Baxter User Manual

When you have a successful connection to a Modbus device, the UI displays a green indicator:

Additional Information About the Modbus RTU

Please note the following when setting up signals:
• For ModBus digital (binary) signals, Baxter uses function code 2 (Read Discrete
Inputs) for reads and function code 5 (Write Single Coil) for writes.
• The ModBus device must be configured in SLAVE mode. When using settings
other than the default, you must set the input and output base addresses in the
Baxter configuration panel if other than 0/0, and the inputs and outputs must be
digital (discrete coils, not registers) and contiguous.
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