Modbus - Universal Robots e Series User Manual

Tool Communication Interface When the Tool Communication Interface TCI is enabled, the tool
analog input becomes unavailable. On the I/O screen, the Tool Input field changes as illustrated
below.

18.2 MODBUS

The screenshot below displays the MODBUS client I/O signals as they are set up in the installation.
Using the drop-down menus at the top of the screen, you can change the displayed content based
on signal type and MODBUS unit if more than one is configured. Each signal in the lists contains
e-Series
NOTE:
When the Powered Dual Pin is enabled, the tool digital outputs must
be named as follows:
• tool_out[0] (Power)
• tool_out[1] (GND)
The Tool Output field is illustrated below.
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18.2 MODBUS
Version 5.4