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12.11 Installation → MODBUS client I/O Setup

Delete unit

Push this button to delete the MODBUS unit and all signals on that 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 corresponding MODBUS unit.

Delete signal

Push this button to delete a MODBUS signal from the corresponding MODBUS unit.

Set signal type

Use this drop down menu to choose the signal type. Available types are:

• Digital input: A digital input (coil) 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 (coil) is a one-bit quantity which can be set to

either high or low. Before the value of this output has been set by the user, the

value is read from the remote MODBUS unit. This means that function code 0x01

(Read Coils) is used. When the output 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 speci-

ﬁed in the address ﬁeld. The function code 0x04 (Read Input Registers) is used.

• Register output: A register output is a 16-bit quantity which can be set by the

user. Before the value of the register has been set, the value of it is read from the

remote MODBUS unit. This means that function code 0x03 (Read Holding Regis-

ters) is used. When the output has been set by a robot program or by specifying

a signal value in the “set signal value” ﬁeld, function code 0x06 (Write Single

Set signal address

This ﬁeld shows the address on the remote MODBUS server. Use the on-screen key-

pad to choose a different address. Valid addresses depends on the manufacturer and

conﬁguration of the remote MODBUS unit.

Set signal name

Using the on-screen keyboard, the user can give the signal a name. This name is used

when the signal is used in programs.

Version 3.1 (rev. 17782)

II-31 CB3

Universal Robots UR5 Original Instructions

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