Universal Robots UR10/CB3 User Manual

Sequential mode
Available only when Show Advanced Options (seeShow Advanced Optionson page139) is
selected. Selecting this checkbox forces the modbus client to wait for a response before sending
the next request. This mode is required by some fieldbus units. Turning this option on may help
when there are multiple signals, and increasing request frequency results in signal disconnects.
The actual signal frequency may be lower than requested when multiple signals are defined in
sequential mode. Actual signal frequency can be observed in signal statistics (see
sectionAdvanced Optionson page139). The signal indicator turns yellow if the actual signal
frequency is less than half of the value selected from the Frequency drop-down list.
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 specified 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 Registers) 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 Register) is used to set the value on the remote MODBUS unit.
User Manual 137 UR10
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Universal Robots UR10/CB3 Specifications

General

Brand	Universal Robots
Model	UR10/CB3
Category	Robotics
Language	English