Using KepWare It should be possible yes Not fast but possible

Happy to help :)

Try to grep on holding register address first. To see, if you require something that's not defined in the server, it will return that all is illegal

@@HelgeGrn don't know what you mean, but i am using a ur10e and connecting using qmodmaster, trying to follow your video but keep getting error no error which i found is error 0x02 invalid address

That is the default setting I am showing, if the HMI have been change, there are a long combination of presses in the corners that also can be set ... Lastly, the integrators can also disable the menu completely 😟

@@HelgeGrn No other way to get into config menu? I guess I will have to contact the manufacturer. Thank you,

@@gringuette46 there are combination of the 4 cornes, but I would try to ask your contact at SE

QModMaster needs to be set to Modbus TCP, when we are using TCP, Master = Client and Slave = Server. The UR10 robot both has a client and a server, I am demonstrating UR10 as a server (automatic running on the robot) and using QModMaster as a clients (again master=client). Then you should be able to read the DO on address 1 (40001+1=40002)

It was a quick upload ... After a lot of the same question on a few days ... So it was a shot and upload Quick and very dirty 🤣

You should get RSLinx gateway with your s studio 5000 (or it's an option to install it. So you need to contact Allan Bradley Rockwell for that.

@@HelgeGrn mine came with Lite version, Not sure how can I install gateway

ok... The video is a couple of years old.. AB might have changed they package... The were the program RSLinx Classic Gateway.

You are welcome

Muchísimas gracias

Depending what you need it for ... As far as I remember (I have not looked in the documents) the 40271-40276 is read only memory But... That said ... Do you want to use it for forward kinematics? Or control the robot from an external IK engine... One way is to send a value to the general purpose memory and the let a UR script on the robot read the value into a joint I have an intro to some UR script on this GitHub github.com/glinvad/UR_Scripting Let me hear more of the project But tell a little more on why you want to do it

@@HelgeGrn Hello, thank you for replying. Exactly in the documentation it says it is read only.... My project, I want to control my robot in teleoperation from VR, so I have an external IK engine and I want to send the values of the joints to the UR16e.

One way is via the UR ros drive, that could help you connect with your VR setup. Another possibility could be found her www.google.com/url?sa=t&source=web&rct=j&url=upcommons.upc.edu/bitstream/handle/2117/333559/tfm-muei-etseib-sergiponsacobas.pdf%3Fsequence%3D1%26isAllowed%3Dy&ved=2ahUKEwjQ6vjstbL4AhWNtqQKHWI1Ba8QFnoECC4QAQ&usg=AOvVaw1t41ibFjbHTS-Bd-7vBJMz

The example with the URSim works exactly the same as on the reel robot, both the e-series and the cb-series from CB2 and up... You just need to set up the network on the robot

There are different approach... The easies is probably to set up 3 general purpose booleans in the UR robot to be Start, Stop and Pause Then write to those addresses from the Siemens PLC. Robotiq has an older guide I used a long time ago to do something simulation. dof.robotiq.com/discussion/1266/integration-ur-cobot-to-siemens-plc I hope you can use it, or else just write again

That depends on what kind of input you are interested in writing. You can qModmaster to write either single (0x06) or multiple (0x10) 16-bit integers. But the big Q is where to write. You can Either write directly to digital outputs (bool) (address 1) or some of the other boolean values. You can also write to your analog Out (int). But you have limited output, both digital and analog. Therefore will I recommend that you use the "general-purpose 16-bit register" address 128-255? The easiest way to get access to these are as follows: - go to the installation tab - go to Fieldbus - chose Modbus - access 127.0.0.1 - chose an input (start with 128) (make an output for the same address for testing) now you will have a new input variable that you can use in your program via Modbus Test it, and let me hear if I should make a video for it. A little more help can be found her www.universal-robots.com/articles/ur/interface-communication/modbus-server-bit-access/

The video is in Danish... I might put subs on it, or make another in English. I am looking into some Sick vision and some OnRobot eyes. But I don't have any cognex in stock. That said, unless I remember wrong, the cognex supports Modbus TCP, thereby you can use the build in Modbus client on the UR or take a look at some of my other videos on UR+Modbus

@@HelgeGrn Thanks a lot I will definetly do it

Thank you

@@HelgeGrn Hi, do you have also a video doing it by ethernet/IP Protocol?

@@I_vantheory when I finds the time ... Yes

qModmaster is an applikationer with a life of its own... But if you finds a solution, please post 😉

I have made some data exchange via NodeRed for serial to modbus between an Arduino and UR

Always nice 🥇

I found modbus address pdf from site it says address "1" for digital outputs and address "31" for configurable outputs am I right?

Remember that it is the holding register... This gives the address from the documentation www.universal-robots.com/articles/ur/interface-communication/modbus-server/ Of 40001+the address So the output is 1 therefore 40002 And the configure output is 31 therefore 40032

I might. I am mainly using VMWare, you can also use the WMWare Player for free. I like to make a bridge connection between my WM mashines and physical network card. This means that my IP range will come from my router (DHCP server) and therefore will be on the same network as my host mashine. When you runs "ifconfig" in the URSim and are getting 10.0.2.15, I would guess that you are either on NAT or INTERNAL setup. see more her www.virtualbox.org/manual/ch06.html Try to setup the Bridge connection and then you should also be able to Ping the robot. I hope you finds it useful, if not try to write again

@@HelgeGrn Hi! I dont know If Alex was able to solve his issue, for me happend the same, My mistake I had the VM ethernet adaptors with fixed IP, U chenged them to DHCP and the ip of my lap ethernet adaptor on the same range and finnaly I was able to ping the robot.

you are welcome