Hi all,
Corrently im working on a project with a ur5 dats needs mores i/o slots that what it got. So i plan to use modbus option to add a new plc. I have a modular OMRON plc with the CJ2H cpu65-eip (http://www.ia.omron.com/products/family/1993/specification.html ) and im would like to know if its possivel to directly connect the omron plc to ur5 robot via ethernet port on both equipments and how to proprely setup the modbus comunication between them since i cant find nothing relating OMRON and UR slave/master plc configs. 

Does the Omron PLC have Ethernet IP?  If so, that’s an option, I believe you can find the EPS file on the UR website and that would give you access to the IO on the PLC. 

If if all you want is expansion IO using modbus why not just use a modbus module. We use the TBEN series from Turck for IO expansion as it’s really easy to use and is already configured to use extension cables and so we screw the cable directly into it. The module we use has 8 port which gives you up to 16 configurable points as either inputs or outputs. It’s very easy to setup, you set the IP address on the face of the unit, plug it in and then simply go to the modbus screen, add a client and point it to the IP address you just set.   You can use discrete inputs or outputs and they are referenced starting at 0. 

Ey matthewd92, 
yes, the plc has the ethernet/ip port, but if i try to use that  do i need to setup up a local network with a switch and conect both robot and plc to the same net work? I do believe i have to buy a specific modbus module to the plc in order to directly connect them without the switch, just wanna be sure befor i spend money on some module i cant even configure proprely!

You should be able to plug the PLC directly into the robots Ethernet port and netwrok them without a router or switch. Make sure they are both set to use the same network such as 192.168.1.x where x is two unique values. Set the robot to use static IP address, a lot of the auxiliary systems we use come with a predefined IP address such as 192.168.1.1 out of the box so you may want to see what the Omron comes set to from the factory. 

So i define the ip from my plc to factory settings and the robot to the same one. i creat some inputs and outputs on the modbus sections, they go green, but when i press the outputs it goes yellow with E2 writen on it and cant get nothing from the inputs. 
The plc as a led status from network, its corrently blinking witch means "Tag data link and message connections not established". 

I also have a id211 (dc input unit) and od212(transistor output) in the same rack, and usualy when i program it the adress to i used to acess then is 0.00 to 0.15( 000-015) and 1.00 to 1.15(100-115),  are those the modbus signal adress on the  menu dat i have to define? and wat about the modbus slave adress(255 by default)?

Sorry for the newby questions, not much network conections between UR and omron information online.