Universal Robots UR16e

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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.

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.

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.

Set signal address This field shows the address on the remote MODBUS server. Use the on-

screen keypad 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.

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.

User Manual 317 UR16e

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