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IO-Link Sensors and the Cisco/Avnet/Intel IoT Starter Kit


IO-Link is an industrial communication stardard for connecting intelligent sensors and actuators. Due to its simplicity and ease of use, it’s the perfect choice for quickly implementing an industrial IoT setup.

This tutorial will help you connect the IO-Link Master and sensors included in the Cisco/Avnet/Intel IoT Starter Kit, pull data via Modbus and publish it to the relayr Cloud via MQTT. In order to collect the data from the fieldbus and send it to the cloud, ideally we will use a Edge Agent-enabled gateway (for advanced users), or at least a computer capable of running a Modbus software adapter, i.e. a set of libraries (for beginners).

In following this tutorial, you may also want to consult the GitHub repository with code samples.

  NOTE:   If you are using a gateway, the required relayr Edge Agent distribution must include the built-in Modbus adapter.


The following hardware is required:

A computer is required to access the web server configuration menu of the IO-Link Master and (if no gateway is available) also to publish the Modbus data of the sensors to the relayr Cloud.

Installation and Configuration

Setting Up the Hardware

  IMPORTANT:   Only qualified personnel should install the device/system and set it into operation.

Before getting started, we will have to provide power to the IO-Link Master. Most regulated 24V power supplies come without a power cord, so we will have to attach such a cable first. The picture below shows how to connect an ungrounded power cord to the input wire clamps (AC 120/230V, 50/60Hz), according to the following setup:

     Brown ----- N (Neutral)
      Blue ----- L1 (Line)

The other end of the power cord MUST BE DISCONNECTED from the mains outlet!

Mains outlet

For safety reasons, DO NOT CONNECT the power supply to the mains outlet yet.

Now, in order to provide power to the IO-Link Master, we will wire this to the 24V DC output of the power supply. In this case, a red wire was used to connect the positive clamps, and a black wire for the negative ones.

V+ or OUTPUT+ ----- V+ (Red Wire)
V- or OUTPUT- ----- V- (Black Wire)

On the side of the regulated power supply, it should look like this:

Regulated power supply output

And on the side of the IO-Link Master, like this:

  NOTE:   For advanced settings and more detailed descriptions, please refer to the AY1020 IO-Link Master user’s manual.

The UGT509 (ultrasonic sensor) will be connected to the IO-Link Master using an EVC001 cable, which is included in the kit. First, connect the ultrasonic sensor to the aforementioned cable, and gently secure the nut.

In this guide, the ultrasonic sensor will be connected to Port 7 of the IO-Link Master, though another port can be used if necessary. The EVC001 cable has 4x wires, each one connected to one of the pins of the sensor: Brown (1), white (2), blue (3) and black (4). These wires have to be connected to the IO-Link Master, as shown below:

    SENSOR   |   PORT 7
     Brown ----- Pin 1
      Blue ----- Pin 2
     White ----- NC (Not Connected)
     Black ----- Pin 4

Now, let’s do the same with the TA2105 (temperature sensor). This part will be wired to the IO-Link Master using a cable of the same type, an EVC001. Attach the cable to the sensor to proceed.

We’ll be connecting this sensor to Port 3 of the IO-Link Master. As with the ultrasonic sensor, the choice of port is up to you. The wires of the EVC001 cable must be connected to the IO-Link Master as follows:

    SENSOR   |   PORT 3
     Brown ----- Pin 1
      Blue ----- Pin 2
     White ----- NC (Not Connected)
     Black ----- Pin 4

The last sensor on the list is the KQ5100 (capacitive sensor). It comes with its own cable already, and there’s no need to attach an additional cable.

This sensor will be connected to Port 4 of the IO-Link Master (again, it can be hooked to a different port if required). The wires of this sensor follow the the same color code as the EVC001 cable, so the pin allocation is easy to guess:

    SENSOR   |   PORT 4
     Brown ----- Pin 1
      Blue ----- Pin 2
     White ----- NC (Not Connected)
     Black ----- Pin 4

At this point, after carefully verifying all connections and wires one more time, you may power the entire setup by connecting the power supply to the mains outlet.

The next step is to configure the IO-Link Master in order to run the configuration tool, verify that the sensors are working properly, and start reading data via Modbus so that it can be published to the relayr Cloud.

First, connect the AY1020 to your computer (or to the local network) using an Ethernet cable. If you have no local network setup and you plan to use only your computer, you may connect it directly. If your computer doesn’t have an Ethernet port, you can use an Ethernet-to-USB adapter, as shown below:

Ethernet-to-USB adapter

After connecting the Ethernet-to-USB adapter, make sure that your computer has a different IP address than the default address of the IO-Link Master (i.e. For the sake of simplicity, an IP address with the same network prefix was assigned to the computer when this tutorial was written - in this case,

If the IO-Link Master is connected to a local network rather than directly to your computer using an adapter, make sure that the default IP address of the device is not in use by another device. If so, the IP address of the IO-Link Master must be changed. The procedure is simple, and it’s covered in the next step.

For now, let’s connect the other end of the Ethernet cable to one of the ports of the AY1020.

Connect ethernet cable to port on AY1020

After a few seconds, open a browser and enter the default IP address of the IO-Link Master in the address bar:

If the web interface does not load, verify that your computer is in the same network segment. You may also try with a different browser or try turning the WiFi off temporarily to make sure that it’s trying to connect to an internal IP address (i.e. locally).

If everything went well, the web interface will load, and you will be redirected to a general overview with basic system information called “Home.”

If the IO-Link Master must have a different IP address (because it will be connected to another network later on), this can be modified in ConfigurationNetworkEdit, as pictured below:

Change IP address of IO-Link master

Setting up the software

  NOTE:   If you are using a gateway running an Edge Agent distribution with a built-in Modbus adapter instead of a computer, please refer to the Edge Agent documentation.

Once the IO-Link Master is up and running, we will configure the software adapter to read data via Modbus and push it to the relayr Cloud. In this case, we will use the open source tool Node-RED, and an additional library for the Modbus TCP communication.


Node-RED is a visual data flow tool for wiring nodes in the Internet of Things. These nodes can be virtual and/or physical. Custom logic can be applied to any data flow. e.g., the data sent by the IO-Link sensors via the master.

Node-RED requires Node.js, so first we will have to install it. You may find several guides to do so, but it is recommended to follow the one available on the Node-RED website.

If you are already familiar with Node.js, then you can skip this step and proceed with the installation of Node-RED. The easiest way to install Node-RED is to use node’s package manager, npm. Installing it as a global module adds the command node-red to your system path. Simply open the terminal and run the following command:

sudo npm install -g --unsafe-perm node-red

Modbus TCP Library

To read data from the IO-Link Master via Modbus, we will require an additional library called Modbus TCP. This library enhances Node-RED so that we can add nodes for communicating with a Modbus TCP server.

To install it, first navigate to the default root directory of Node-RED with the following command:

cd .node-red

  NOTE:   This is only valid if Node-RED was installed in the default directory. Otherwise, you will have to navigate to the directory where the installation was performed.

Once there, run the command:

npm install node-red-contrib-modbustcp

After that, you can make sure that the package was succesfully installed by running:

npm list

The package and its dependencies should be listed then.

Create a Device in the Developer Dashboard

Before reading sensor data via Modbus, we will have to create a device in the relayr platform. A device is a representation of our IO-Link Master in the relayr Cloud. Through this entity, we will manage sent/received data, MQTT credentials through the interface of the Developer Dashboard.

To create a device on relayr Dashboard, follow the Devices Guide and select the AY1020 IO-Link Master (Cisco/Avnet/Intel IoT Starter Kit) as a Device Model. The best way to find this model when creating the device is to select the tab “By the community,” and type the name of the model in the search bar: “AY1020 IO-Link Master (Industrial IoT Starter Kit).”

Selecting the device model

After completing all the steps described in the Devices Guide linked above, your brand new device should look like this:

Device successfully created

  NOTE:   If you are using an Edge Agent-enabled gateway, you must log in to the Developer Dashboard using the account where the Edge Agent has been onboarded. All devices that will be associated with the Edge Agent must be on the same account as the Edge Agent itself.

Reading Sensor Data via Modbus and Publishing to the relayr Cloud

Running Node-RED

This section requires Node-RED, so the next step is to run the module in our computer (or gateway). To do so, open a terminal and execute the following command:


Since Node-RED was installed as a global module, it should work independently of what directory we’re currently in.

If everything went well, the last message on the terminal will look like this:

[info] Server now running at

This means that Node-RED is running locally, and we can start adding our flows. To do so, open a browser and navigate to

Importing Flows

Now we will add our first flow, which will help us read data from the UGT509 (ultrasonic sensor). In Node-RED, the flows can be imported (and exported) using JSON format. For the sake of simplicity, the flows needed to implement this example are available in this repository, and ready to use. Navigate to the flows folder and copy the first flow: UGT509_ultrasonic_sensor.json.

In Node-RED, click on the button in the top right corner and select ImportClipboard, as shown below:

Importing flows in Node-RED

On the next window, paste the raw content of the file UGT509_ultrasonic_sensor.json, as mentioned before. Now click on the part of the (until now) blank workspace where you want the flow to be placed.

As a result, the workspace should look like this:

Flow imported


Now we will configure the flow according to the device that we created in the relayr Cloud. Two parameters are necessary for this step. These can be easily retrieved through the Developer Dashboard. For more info, please click on the embedded links included below.

  • Device Id: UUID of the device that will be associated with the Edge Agent. Provided by the relayr platform when adding a device.
  • Password: MQTT password. Provided by the relayr platform when adding a device.

Configuring Flows

In this step, we will configure one of the nodes in Node-RED so that the data can reach the relayr Cloud. To start, double click on the node highlighted in this next figure:

How to configure a node

A configuration window will open. In the field labeled “Topic,” replace {your Device Id} with the Device Id of your specific device (retrieved from the Developer Dashboard in the previous section).

Editing MQTT topic

Once finished, the topic must use this format:

Now click on the button shown below:

Editing MQTT credentials, step #1

Click on “Security”:

Editing MQTT credentials, step #1

In this window, we can enter our MQTT username and password. For the sake of simplicity, the username and the device Id are the same. A configuration window will open. In the field labeled “Topic,” replace {your Device Id} with the Device Id of your specific device. In “Password” we must enter the Password retrieved from the Developer Dashboard in the previous section.

Editing MQTT credentials, step #1

Once ready, click on “Update” to save your changes and close this menu. On the next menu, click on “Done.”

We’re almost there! Now simply click on the prominent red button in the top right corner which reads “Deploy.” The flow will start reading data via Modbus from the sensor, create and format the payload, and aggregate it to the relayr Cloud via MQTT. To see the live values, just navigate to the Developer Dashboard.

  NOTE:   If you are using an Edge Agent-enabled gateway, click on the “Connection” tab when configuring the MQTT credentials. In the field labeled “Server,” you must enter the IP address of your Edge Agent gateway instead of the main broker address of the relayr Cloud (i.e. For more information, please refer to step 2 of the Setup section as described in the Edge Agent documentation.

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