Delta’s SCARA robots support a variety of communication protocols including MODBUS TCP, RS-485 and RS-232. The protocol used for SCARA robots communicating with external devices such as programmable logic controllers(PLC) and human machine interfaces (HMI) is based on external device support of the protocol. Please note that SCARA robots serve as a slave station during communication and require the external devices to actively read and write the register of the SCARA robot controllers. Default communication parameters for SCARA robots are: 1. Ethernet - IP: 192.168.1.1 Station: 2 2. RS-232 / RS-485 - 9600 7, N, 2 (Modbus, ASCII) Station: 2; Communication parameter settings can change accordingly, while stations cannot.