Scenario

The OMRON TM is capable of Modbus TCP communications as both a server and a client.

The OMRON NA5 HMI has communication drivers for Ethernet, CIP Ethernet, FINS Ethernet and Modbus/TCP. However these are only specific to only OMRON PLCs and multi-axis controllers 

The OMRON NA5 cannot communicate directly to an OMRON TM Collaborative Robot.

Solution

According to the supported devices of the NA Device Connection User's Manual. Direct Modbus/TCP communications only applies to CK3E and CK3M devices.

https://assets.omron.eu/downloads/manual/en/v4/v119_na_series_programmable_terminal_device_connection_users_manual_en.pdf Page 32

There are two work arounds for this:

1. Using a PLC with Modbus/TCP capability like the OMRON NX1P2 as an intermediary device.
2. Instead of an OMRON NA5 HMI, use an OMRON NB HMI, as this allows for generic Modbus/TCP communications.

https://assets.omron.eu/downloads/manual/en/v6/v108_nb-series_host_connection_setup_manual_en.pdf Page 122

Below is an example Omron NB page built on NB Designer for Modbus/TCP communications with an OMRON TM Collaborative Robot.

The Speed% is read from address 7102 on the OMRON TM Collaborative Robot. Note that the address is n-1 where n is the designated address from the modbus address list.

Software Manual TMflow - Page 252