Hi, when i tried to send some request the following errors are occuring. Sent Request: 01 03 00 24 00 02 execute try 1 error: I/O failed to write execute try 2 error: I/O failed to write Error in Reading: I/O failed to write net.wimpi.modbus.ModbusIOException: I/O failed to write at net.wimpi.modbus.io.ModbusRTUTransport.writeMessage(ModbusRTUTransport.java:82) at net.wimpi.modbus.io.ModbusSerialTransaction.execute(ModbusSerialTransaction.java:185) at SerialPortClass.readDatas(SerialPortClass.java:178) but at the same time my Slave device Receiving that Request and Responding Correctly. The Main Problem is The Master (PC) not receiving the response.

28 Aalesund University College PAGE 24 Kuhnke HT-D25-F Electromagnet Electromagnets used on the Magnet gripper. Specifications: Holding-force Power Voltage Weight Operating temperature [27] 115N 4W 24VDC 50g -5 to +40 C Figure 3.3: HT-D25-F Electromagnet [10] SCHUNK PGN-plus 100/1 The air actuator used to operate the Air gripper. It is an universal 2-finger parallel actuator with large gripping force and high maximum torque. [41] Specifications: Figure 3.4: PGN-plus 100/1 Actuator [41] Stroke per finger 10mm Closing force 660N Opening force 725 Weight 0,81kg Min operation pressure 2,5bar Max operation pressure 8bar Nominal operation pressure 6bar Closing and opening time 0,07s Operating temperature -10 to +90 C Repeat accuracy 0,01mm [41] 29 Aalesund University College PAGE 25 Camozzi 5/2 Single Solenoid Air-valve The air valve used to control the actuator. It is a 5/2 monostable air-valve with one solenoid which has electropneumatic actuation and spring return. Suitable for operating double action cylinders and actuators. It has a flow rate of 700l/min and a operating pressure of 2,5 to 10bar.

[7] Figure 3.5: 5/2 Single Solenoid Monostable Air-valve [7] Danfoss MBV Test-valve A pressure test valve for use in applications such as monitoring, alarm indication, shut-down and diagnosing on equipment. [8] In this project it is used to monitor the air pressure for the Air gripper.

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Figure 3.6: MBV Test-valve [29] 30 Aalesund University College PAGE 26 Danfoss MBC 5100 Pressure Control A pressure control switch used with the MBV 5000 Test-valve. Figure 3.7: MBC 5100 Pressure Control [28] Air pressure Regulator Regulator to limit the air-pressure to ensure that gripper and parts doesn t take any damage during operation. Figure 3.8: Air pressure Regulator [4] 31 Aalesund University College PAGE 27 IMF Photoelectric Sensor A photoelectric sensor that is used for quality control and to assist the robots during the assembly. Figure 3.9: IMF Photoelectric Sensor [21] Yasnac MRC The control system that controls the SK16 robots, and a programming pendant which is used to move the robots and store move jobs. Figure 3.10: Yasnac MRC [32] 32 Aalesund University College PAGE 28 Wago PLC The PLC that is used in this project. Figure 3.11: Wago [48] Wago Power Supply A power supply for use with the Wago PLC which can convert voltage from AC to DC.