Changes

Technically, the gateway can communicate with the ATE using different physical links and protocols. In the example under discussion, the physical link is Ethernet and the protocol is Modbus/TCP. The gateway retrieves periodically some data regarding the robotic arm used to move the device under test (DUT). These data are [https://www.universal-robots.com/articles/ur/interface-communication/modbus-server/ exposed by the PLC governing the arm ] and are documented in detail [https://wwws3-eu-west-1.universal-robotsamazonaws.com/articles/ur/interface-communicationsupport-site/modbus-server16377/ ModBus%20server%20data.pdf here].