Modbus Client I/O Setup - Universal Robots UR5e User Manual

17.4 Fieldbus
Robot Program
MoveJ
S1
if (digital_input[0]) then
P1_var = P1
else
P1_var = P2
MoveL # Feature: P1_var
wp1
wp2
wp3
wp4

17.4.1 MODBUS client I/O Setup

Here, the MODBUS client (master) signals can be set up. Connections to MODBUS servers (or
slaves) on specified IP addresses can be created with input/output signals (registers or digital).
Each signal has a unique name so it can be used in programs.
Refresh
Push this button to refresh all MODBUS connections. Refreshing disconnects all modbus units,
and connects them back again. All statistics are cleared.
Add unit
Push this button to add a new MODBUS unit.
Version 5.0.2
Figure 17.7: Switching from one plane feature to another
II-85 CB5