Features - Universal Robots UR5 with CB2 User Manual

Set signal address
This field shows the address of the signal. Use the on-screen keypad to choose
a different address. Valid addresses depends on the manufacturer and config-
uration of the modbus unit. It is necessary to have a good understanding of
the internal memory map of the Modbus controller in order to make sure the
signal address actually corresponds to what is the intention of the signal. Espe-
cially, it might be worth verifying the meaning of a signal address when different
function codes are used. See 3.3.10 for a description of the function codes
associated with the different signal types.
Set signal name
Using the on-screen keyboard, the user may give the signal a meaningful name
which will provide a more intuitive programming of the robot using the signal.
Signal names are unique which means that two signals cannot be assigned the
same name. Signal names are restricted to be composed of no more than 10
characters.
Signal value
Here, the current value of the signal is shown. For register signals, the value is
expressed 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).
Show Advanced Options
This check box shows/hides the advanced options for each signal.
Advanced Options
Update Frequency: This menu can be used to change the update fre-
quency of the signal. This means the frequency with which requests are
send to the Modbus controller for either read or writing the signal value.
Slave Address: This text field can be used to set a specific slave address for
the requests corresponding to a specific signal. The value must be in the
range 0-255 both included, and the default is 255. If you change this value,
it is recommented that you consult the manual of your Modbus devices to
verify their functionality with a changed slave address.

3.3.11 Features

Customers that buy industrial robots generally want to be able to control or
manipulate a robot, and to program the robot, relative to various objects and
boundaries in the surroundings of the robot, such as machines, objects or blanks,
fixtures, conveyers, pallets or vision systems. Traditionally, this is done by defining
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3.3. Robot Control
UR5