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Home > Applications > Connecting a Scale to a UR10e
simmel

Hello, 
Does anyone have experience connecting a scale to a UR10e for a checkweighing application? We need our robot to remove the part from the machine, set it on the scale and then place it on a tray if the part is within weight or in a bin if it is not. What scale would be best for this and how did you establish that communication? I was thinking of using an Ethernet IP connection, but maybe there is a better way. 
Thanks in advance.  
matthewd92

I have never connected a scale but if you want to use Ethernet IP for anything you will need a PLC to connect to the robot for communication unless you get a scale that acts as the scanner as the robot only provides an adapter.

You could look for a scale that uses Modbus TCP as this is native to the robot or TCP/IP ethernet communication which the robot can support through script functions.

Another option is a scale like this which has a 4-20 mA anlaog output which the robot could receive as well, then you just need to convert the analog signal to the actual recorded weight with a math function and then you would have an easy to use scale.

simmel

@matthewd92 Thank you, I did not realize that a PLC would be needed to connect the scale if I use the Ethernet IP port. Just to make sure I understand what you are saying, if I found a scale that uses Modbus TCP, the robot would be able to directly communicate with the scale and I would not need a PLC. Is this correct?
Thank you.  
matthewd92

That is correct, ensure that the scale supports being a modbus TCP server and then you can create a modbus TCP client on the installation tab of the robot.  It can be a little tricky at times as some devices only support registers, some will also support discrete I/O, UR allows you to set up both.  Also, UR uses 0 based addressing meaning the first register is 0 and the first bit is 0, some devices such as the Banner safety controller we use have 1 based addressing where the first register and bit is 1, just subtract 1 from it and that is the address on the UR.
simmel

@matthewd92
Thank you!
matthewd92

@simmel You're welcome