# I/O signals via EtherNetIP

**URL:** <https://forum.compas-framework.org/t/i-o-signals-via-ethernetip/890>\
**Category:** compas\_rrc\
**Created:** [September 5, 2024, 10:43am UTC](https://forum.compas-framework.org/t/i-o-signals-via-ethernetip/890 "2024-09-05T10:43:44Z")\
**Posts on this page:** 2\
**Page:** 1

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**Author:** ![Marco\_Palma](https://sea1.discourse-cdn.com/flex015/user_avatar/forum.compas-framework.org/marco_palma/32/620_2.png) [@Marco\_Palma](https://forum.compas-framework.org/u/Marco_Palma)\
**Post date:** [September 5, 2024, 10:43am UTC](https://forum.compas-framework.org/t/i-o-signals-via-ethernetip/890/1 "2024-09-05T10:43:44Z")

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Hi Phillippe!

In the last days I’ve wired up some extensions to our GoFa , mainly digital and analog IOs for now.

The master interface is the Beckhoff [EK9500 EthernetIP bus coupler](https://www.beckhoff.com/de-at/produkte/i-o/ethercat-klemmen/ekxxxx-buskoppler/ek9500.html), to which are attached several slave modules.

On the ABB side, I created a new EN\_Internal\_Device on the IO Network to handle communications, which is isolated from the Public Network and lives on a different subnet. Everything works well, and I now can create signals in RobotStudio that nicely do their job of handling the Beckhoff modules.

The question now is: can I access the device i created on the IO Network and send signals from compas\_rrc? Do I need to write a Custom instruction?

Many thanks for the support!  
Marco

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**Author:** ![fleischp](https://sea1.discourse-cdn.com/flex015/user_avatar/forum.compas-framework.org/fleischp/32/312_2.png) [@fleischp](https://forum.compas-framework.org/u/fleischp)\
**Post date:** [September 5, 2024, 1:37pm UTC](https://forum.compas-framework.org/t/i-o-signals-via-ethernetip/890/2 "2024-09-05T13:37:40Z")

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Hi Marco,

This sounds great. Yes, you can. Just use one of the read or set statements (ReadAnalog, ReadDigital, ReadGroup, SetAnalog, SetDigital, SetGroup, or PulseDigital) together with the name of your signal.

Here is a link to the examples in the start repo:

> **[compas\_rrc\_start/Python/instructions/signals at main ·...](https://github.com/compas-rrc/compas_rrc_start/tree/main/Python/instructions/signals)**
>
> Step-by-step guide to get started with COMPAS RRC. Contribute to compas-rrc/compas\_rrc\_start development by creating an account on GitHub.

Just for your information, a Group is a collection of single signals.

Best,  
Philippe