Hello guys,
I am working on a custom plugin for CRX robot, with a tool that has Modbus RTU.
I have looked at the Fanuc example plugin (CRX Plugin SDK) which has also Modbus as an example.
Problem is, that in the Fanuc template plugin communication is connected directly to the EE connector at 6th Axis.
But my tool has to be connected to the robot controller (tool has its own controller, so we want to avoid cabling there and back and save space at the 6th Axis).
There is an idea to connect the EE connector at the controller side.. Well, no because the warranty would be violated.
Fanuc support suggested connecting it to the USB in the controller (we have converter) - I like that plug & play idea 
But we don't know if the communication via USB ports will work the way we need, in documentation (MARRC75KR07091E) UD/UD1 is not mentioned as a communication possibility.
QUESTION 1) Is it possible to use USB in this case? If so, is there some example of this or documentation hidden under the table?
QUESTION 2) Is there any other possibility how to connect the tool, any ideas?
I am starting working on that offline, so I cannot perform "Test, Replace blown fuses, Test again" procedure without hardware right now.. That's why I am here 
