Universal Robots UR30 - Page 170

Set
sig
nal
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.
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.
UR30 171 User Manual
12.Fieldbus
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