Using the Modbus TCP Client Interface of the UR Robot

This article provides a complete understanding of the Universal Robots robot controller Modbus TCP client interface (using the robot as a client to access some other Modbus server). For information regarding the robots Modbus server please consult document 16377. This article was written assuming the Modbus functionality provided with Polyscope version 5.2 and 3.8 (eSeries and CB3 robots respectively). For older versions of Polyscope there might be some differences.

This article also provides a quick example of using the robots Modbus client interface to expand the robots IO through a Phoenix Contact IO block that behaves as a Modbus/tcp server.

This article is a consolidation of many older Modbus related articles and references current (e-Series) Polyscope software usage with regards to Modbus/TCP client IO setup.