1. Usage Scenario
Customers who require more master extension I/O can use the Modbus TCP protocol to support I/O expansion over a network link.
2. Roboshop Configuration

• Check "Show More" in the Parameter Configuration
• Set the ModbusIP parameter to the IP address of the extended device
• The ModbusDINum parameter indicates the number of DI on the extended device
• Set the ModbusDONum parameter to the number of DO's on the extended device
• Set the ModbusDIOffset parameter to offset the DI address of the extended device
• Configure the ModbusDOOffset parameter to extend the device DO address bias
• If UseModbusIO is set to true, the extended device is enabled

3. Configuration of Robot Model
3.1 Expanding DI Settings
1. Once the preceding parameters for roboshop are configured, locate the DI device type in the model file. In the following image, you can right-click on a device to add a new DI device. (You can add the required DI. You do not need to add DI.)

2. To change the ID of the DI device, simply click on it and access the properties window on the right-hand side. The Modbus ID range is illustrated in the figure below, and the extended DI set in Roboshop parameters is sorted according to sequence number, ranging from 17 to 80.

3. The inverse attribute is the setting for high and low level inversion of DI.
4. Function configuration is visible for DISensor devices and Trigger devices.
3.2 Extending DO Settings
1. After configuring the above roboshop parameters, find the DO device type in the model file. Click on a device to add a new DO device. (You can add the DO that needs to be used, but it is not necessary to add it.)

2. Click on the DO device. In the properties window on the right, change the ID. The range of Modbus IDs is indicated in the figure below, which corresponds to the number of extended DO sets in the Roboshop parameters sorted by serial numbers 8-71.

3. The DO status is the initial state of the controller when it is powered on.
4. Function configuration indicates the device's indicator light.
Four, equipment configuration

• XX network segment. Typically, 192.168.192.66 is utilized.
• The standard port for Modbus TCP protocol is 502.

Application Case - Using PLC as Modbus TCP's Extended I/O
5.1 Principle Overview
5.1.1 Why Use PLC for Modbus TCP I/O Expansion?
Firstly, a PLC that supports Modbus TCP is selected for expansion. Secondly, PLC plays a significant role in the stability of the actuator and network delay. Additionally, PLC has the characteristics of pluggability, allowing for expansion at any time.
5.1.2 Requirements for PLC Selection
Firstly, the PLC needs to support Modbus TCP communication, and the I/O points on the Modbus TCP address must be continuous. Secondly, the PLC Ethernet should be able to modify the IP address and port, rather than only using the default address and port number. For a long time to open and close the DO signal, it is recommended to choose the transistor output type. Finally, try to choose a model that supports PNP/NPN input sensing signals.
5.2 Recommended Selection of PLC
5.2.1 Delta Series DVP26SE11T/DVP12SE11R
DVP26SE11T is a small network PLC with 12DO/14DI, supporting Modbus TCP/RTU communication and serial communication protocols. The product cross-section data diagram is as follows:

For customers with high volume requirements, it is recommended to consider using this product.
Configuration instructions:
1. IP setting: This PLC has been pre-configured with a network IP address at the factory. Therefore, customers who require specific IP and network settings need to use the official configuration software (DCISoft) to modify the static IP. The connection process is as follows:
http://www.delta-china.com.cn/services/DownloadCenter2.aspx?secID=8&pid=1&tid=1&CID=06&itemID=060301&typeID=1&downloadID =,&title=--%20%E8%AF%B7%E9%80%89%E6%8B%A9%20--&dataType=8; &check=1&hl=zh-CN

To download the software, locate the image above in the downloaded web page and install it directly after downloading.
Once the installation is complete, follow the steps in the software running interface as shown in the image below. In Step 3, you can set the static IP address and click OK. (Note: Ensure that the static IP address of your PC is 192.168.1.** when first linked, as the default IP address of the PLC is 192.168.1.5)

If the previous methods fail to refresh the network configuration, follow these steps to add an IP address:

2. Create and download PLC programs
To establish ModbusTCP communication, Delta PLC programming software is required. The software download address and PLC programming software download address are the same.
The procedure is as follows:
Download Dvp-tcp.dvp

Please download the software from the link above and install it.

Once the installation is finished, the shortcut will appear as follows:

Once you have run the software, follow the steps illustrated in the image below:

Note: If the PLC does not have enough memory capacity during the process, please set the model to SE and then download the program to the PLC, as shown in the following figure.

3.I/O Description
The ModbusTCP read-only/read-write bit corresponding to DVP26SE11T/DVP12SE11R series needs to be mapped in Roboshop. The configuration method is as follows:

4. Description of Program Lock
5.3 Address Fault Symptom When an Extension Module is Used
Note 1: The ModbusTCP address of Delta DVP(26/12)SE series is shown above, but the starting address may change due to different series or brands. Therefore, you need to consult the PLC supplier to obtain the corresponding input/output address of ModbusTCP when changing the model selection not provided by our company.
Note 2: If the number of points used by the PLC ontology still cannot meet the demand, then it is necessary to add extended I/O to the PLC ontology. At this time, it should be noted that this address is not postponed. For example, the input/output of the DVP12SE series is 8/4 port. If you want to add an input and output module of 8 points respectively, modbusDInum configured in Roboshop is >8+8+8 (the first 8 represents X0 to X7 of the PLC body, and the second 8 represents X8 to X15).
Note 3: Delta PLC uses the first 16 bits of the input/output of the Modbus start address for the PLC body, regardless of whether the PLC body has 16 points or not. Therefore, for the DVP12SE mentioned above, this 8 has no practical meaning even if configured in Roboshop. However, if the ontology you selected is DVP12SE and you want to use the extension module, you must do so. The last 8 represents the number of DI module points entered by 8, modbusDOnum>28, as described in the DI configuration above.

Vi. Accessories
PLC wiring instructions (Note: this document only provides electrical wiring references, some also include size and other information. For specific use, please download the official website for detailed information.)
Delta Series:
DVP26SE11T
DVP_26SE11T.pdf
DVP12SE11R
DVP_12SE11R.pdf