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I copied from GitHub the following sketch but the Arduino IDE debugger says that the library ModbusTCPSlave.h does not exist anymore.

\https://github.com/IndustrialShields/arduino-Tools40/blob/master/examples/Modbus/ModbusTCPSlave/ModbusTCPSlave.ino

Is there an updated version or equivalent that I am missing?

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Yes, it exists. In order to use it you need to download the Tools40 library from the github. Download the zip file from the following link and include it on you arduino IDE libraries

https://github.com/IndustrialShields/arduino-Tools40

You can also check out our blog about the first steps using our Arduino based PLC's to know how to install all the requiered libraries and our boards:

https://www.industrialshields.com/first-steps-with-the-industrial-arduino-based-plc-s-and-the-panel-pc-s-raspberry-pi-based
 
I hope i have helped
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