13.3 MODBUS
Configurable I/O’s can be reserved for special safety settings defined in the safety I/O configura-
tion section of the installation (see 10.13); those which are reserved will have the name of the
safety function in place of the default or user defined name. Configurable outputs that are reserved
for safety settings are not togglable and will be displayed as LED’s only.
The electrical details of the signals are described in chapter 5.3.
Voltage In Tool Output, Voltage can be configured only when Tool Output is controlled by the
User. Selecting a URCap removes access to the Voltage.
Analog Domain Settings The analog I/O’s can be set to either current [4-20mA] or voltage [0-
10V] output. The settings will be remembered for eventual later restarts of the robot controller when
a program is saved. Selecting a URCap, in Tool Output, removes access to the Domain Settings for
the analog Tool Inputs.
13.3 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
its connections status, value, name, and signal address. The output signals can be toggled if the
connection status and the choice for I/O tab control allows it (see 13.8).
CB3 II-40 Version 3.10
Copyright © 2009–2019 by Universal Robots A/S. All rights reserved.
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