Rethink Robotics Sawyer, Original Instructions Manual, Page: 125 / 220

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Intera 5.3
I/O Devices
configured as a Modbus Server (Slave) and communicate using Modbus TCP in order to
communicate with Sawyer.
Modbus TCP
INTERA is capable of communicating to external devices, configured as Slave Devices, with the
Modbus TCP Protocol. INTERA uses the FieldTalk Modbus Master library for modbus communica-
tions and is limited to discrete inputs and outputs using two modbus function codes, which are:
•
02 - Read Discrete Inputs (Read Input Status)
•
15 - Force Multiple Coils
Intera Lines and Modbus Addresses
The following information is for connecting to a device such as a PLC for Modbus communication.
Devices such as a Remote Terminal Unit (ex. Moxa E1212) may not need any further configuration
to work with the corresponding addresses. The Intera software uses lines for communicating with
external devices and these lines correspond to an address for communicating with Modbus
addresses. The Lines are 0 based, meaning that 8 configured lines on Sawyer correspond to lines
0-7. The corresponding Modbus addresses are 1 based, meaning that 8 configured lines on Sawyer
correspond to modbus addresses 1-8. (This is not a concern, however, because Intera Studio
abstracts away this problem by subtracting 1 from every line.)
The addressing below works with Modbus TCP devices that have addresses that are pre-config-
ured on the device. If a device needs to be configured to assign variables to specific addresses,
those addresses and variables must be configured on the device prior to configuring the device in
Intera.
NOTE: This a guideline for some but not all devices, please refer to device manufacturers’ docu-
mentation.
For further assistance with configuration of a device or Intera please contact the Rethink Robotics
Support Department at:
866-704-7400 (USA)
support@rethinkrobotics.com or
visit Rethink Support.