Streaming data from torque cell with Modbus in use

URTrent

Hello!

I've been successfully streaming torque data off the robot using the StreamToCSV utility provided by Robotiq for some time now, but have run into a challenge.  The current application required expanded IO so a Phoenix Contact block that communicates via Modbus was incorporated into my setup. 

The problem I have now is that with the Modbus protocol active I can't seem to get the utility to connect and stream data any longer, it starts, searches for connection and terminates.  I can ping the IP via the windows command prompt, but that's the extent of verification. 

If I enable the Ethernet protocol specifically to allow communication with my PC, the controller displays a C207A0:Fieldbus input disconnected error when I try to play the program and won't execute the program.

Is there any way short of deleting all my Modbus input/output blocks and associated programming to still stream the data from the torque cell for analysis?  I'm open to solutions which may involve downloading a txt file from the UR controller after program execution if its viable.

Thanks!

Trent

louis_bergeron

@URTrent

I've just replicated a similar setup here with a Modbus TCP communication and I didn't have any issue retrieving data from the sensor with the utility. I'll open a support request with you to investigate your particular setup.