Universal Robots UR10/CB3, Руководство пользователя

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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.
Signal connectivity status
This icon shows whether the signal can be properly read/written (green), or if the unit responds
unexpected or is not reachable (gray). If a MODBUS exception response is received, the response
code is displayed. The MODBUS-TCP Exception responses are:
E1
ILLEGAL FUNCTION (0x01) The function code received in the query is not an allowable action
for the server (or slave).
E2
ILLEGAL DATA ADDRESS (0x02) The function code received in the query is not an allowable
action for the server (or slave), check that the entered signal address corresponds to the
setup of the remote MODBUS server.
E3
ILLEGAL DATA VALUE (0x03) A value contained in the query data field is not an allowable
value for server (or slave), check that the enterd signal value is valid for the specified
address on the remote MODBUS server.
E4
SLAVE DEVICE FAILURE (0x04) An unrecoverable error occurred while the server (or slave)
was attempting to perform the requested action.
E5
ACKNOWLEDGE (0x05) Specialized use in conjunction with programming commands sent to
the remote MODBUS unit.
E6
SLAVE DEVICE BUSY (0x06) Specialized use in conjunction with programming commands
sent to the remote MODBUS unit, the slave (server) is not able to respond now.
UR10 138 User Manual
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