Universal Robots UR5 with CB2 User Manual page 47

3.3. Robot Control
Refresh
Push this button to refresh the connectivity status of all modbus signals in the
current installation.
Add unit
Push this button to add a new modbus unit to the robot installation.
Delete unit
Push this button to delete the modbus unit and all signals added to the unit.
Set unit IP
Here, the IP address of the modbus unit is shown. Press the button to change it.
Add signal
Push this button to add a signal to the robot installation which can be found on
the corresponding modbus unit.
Delete signal
Push this button to delete the modbus signal from the installation.
Set signal type
Use this drop down menu to choose the signal type. Available types are:
Digital input: A digital input is a one-bit quantity which is read from the
modbus unit on the coil specified in the address field of the signal. Function
code 0x02 (Read Discrete Inputs) is used.
Digital output: A digital output is a one-bit quantity which can be set to
either high or low according to the configuration of the corresponding
modbus terminal. Until the value of this output has been set by the user,
the value is read from the unit. This means that function code 0x01 (Read
Coils) is used until the output has been set, and then when either the out-
put has been set by a robot program or by pressing the "set signal value"
button, the function code 0x05 (Write Single Coil) is used onwards.
Register input: A register input is a 16-bit quantity read from the address
specified in the address field. The function code 0x04 (Read Input Regis-
ters) is used.
Register output: A register output is a 16-bit quantity which can be set
by the user. Until the value of the register has been set, the value of it is
simply read. This means that function code 0x03 (Read Holding Registers)
is used until the signal is set either by a robot program or by specifying a
signal value in the "set signal value" field, and after that function code
0x06 (Write Single Register) is used onwards.
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47 UR5