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A theory of how the system is build up

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wago will be configrued as a slave.

https://www.tm-robot.com/en/docs/how-modbus-master-slave-work/

WagoIP     (slave)     192.168.2.17

Tm12 arm (slave)      192.168.2.18

Topology with I/O

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Physical set up for comunication with WAGO PLC and TP-LINK router: 

Image AddedTmflow      (Master)  192.168.2.19