Universal Robots

UR5e

Also applies to: UR3e, UR10e, UR16e, UR20, UR30

45 minutesModerateModbus TCP/RTUFull OEE

What You Need

Cat6 Ethernet cableIncluded in kit

Flowstate CL260 edge nodeIncluded in kit

Customer provides:

1
Locate the Ethernet port
On the UR control box, find the RJ45 Ethernet port on the bottom panel.
2
Connect Ethernet cable
Run Cat6 from the control box Ethernet port to the Flowstate edge node.
3
Set robot IP
On the teach pendant: Settings > System > Network. Set a static IP in the 10.0.100.x range, subnet 255.255.255.0.

1
Enable Remote Control mode
On the teach pendant: Settings > System > Remote Control. Enable remote control to allow external monitoring and program state queries.
Remote Control mode does not give external write access unless explicitly configured in the safety settings.
2
Enable Modbus TCP server
The UR e-Series has a built-in Modbus TCP server on port 502 (enabled by default). Verify via Installation > Fieldbus > Modbus.
3
Map Modbus registers
Key registers: 128-133 (joint positions), 139-144 (joint temperatures), 256 (robot mode), 258 (safety status), 260 (program state), 400+ (digital I/O).

1
Read Modbus registers
From the edge node, read holding register 256 (robot mode). Values: 0=disconnected, 5=idle, 7=running. Non-zero confirms communication.
2
Dashboard check
Robot appears in Flowstate with joint positions, speed, program state, and safety status.

Joint positions (6 axes, radians)

Joint temperatures (C)

TCP speed (mm/s)

TCP force (N)

Robot mode (idle/running/stopped)

Program state

Safety status

Digital I/O states

Don't have Modbus TCP/RTU access?

The universal CT clamp works on any machine — 15 minutes, zero configuration.

Calculate what downtime is costing you, then get started.