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Using a WAGO field bus coupler with a UR e-series
/ Most recent by matthewd92
Adisharr Posts: 6 Apprentice
I'm currently using a WAGO Modbus TCP fieldbus coupler (750-352) with a UR5e robot and am seeing some strange behavior. I current have (2) 8 pt input modules and (2) 8 pt output modules attached.
I'm using 15 inputs with Modbus addresses 0-14
I'm using 9 outputs with Modbus addresses 0-5 and 8-10
It mostly works fine but the outputs seem to interfere with each other. One example, when the system boots up, the output on Modbus address 2 is 'on' but not actually on. It will not actually turn on unless I go into the I/O screen and turn it off and then on again. That's of course not ideal asking my customer to do that when they start their robot.
I think I have the addressing correct - that seems fairly straight forward. Anything I might be missing?
P.S. I have most update rates set at 5 or 10 Hz but two things set at 25 Hz to get a bit faster response from them.
I do not have a WAGO remote IO Modbus fieldbus coupler.
But I think I can guess what happened to you:
The I/O are probably at the last value they had the last time they changed. This viewed by the WAGO Module.
The idea is that at boot you probably need to update all your remote IO to really control the actual state of each of them.
Not ideal but can occur if the master is not refreshing the output at boot. Might be normal behaviour for Modbus.
Hope this helps a little.
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@Adisharr I would recommend making sure that you are not using watchdog timers on the WAGO unit. I know the Beckhoff and Automation Direct units use them and that causes a lot of issues until they are disabled.