# Robot Communication **URL:** https://forum.universal-robots.com/c/technical-questions/robot-communication/13.md [Latest](https://forum.universal-robots.com/latest.md) · [Categories](https://forum.universal-robots.com/categories.md) · [Tags](https://forum.universal-robots.com/tags.md) --- ## [About the Robot Communication category](https://forum.universal-robots.com/t/about-the-robot-communication-category/32)
**Author:** [@jbm](https://forum.universal-robots.com/u/jbm)\ **Replies:** 1\ **Last updated:** [August 7, 2019, 9:52am UTC](https://forum.universal-robots.com/t/about-the-robot-communication-category/32 "2019-08-07T09:52:45Z")
Topics related to the communication interfaces supported by the robot. --- ## [Vention Rail System Control Using Grasshopper](https://forum.universal-robots.com/t/vention-rail-system-control-using-grasshopper/43366)
**Author:** [@ebarn41](https://forum.universal-robots.com/u/ebarn41)\ **Replies:** 0\ **Last updated:** [September 23, 2026, 7:14pm UTC](https://forum.universal-robots.com/t/vention-rail-system-control-using-grasshopper/43366 "2026-09-23T19:14:20Z")
Hello all. I am currently trying to communicate with a vention 7th axis rail system connected to a UR20 using Grasshopper. I was wondering if there was a way to do this and how it could be done? I am currently using the … --- ## [Using dh gripper via modbus with control box](https://forum.universal-robots.com/t/using-dh-gripper-via-modbus-with-control-box/43195)
**Author:** [@rprieto](https://forum.universal-robots.com/u/rprieto)\ **Replies:** 1\ **Last updated:** [August 18, 2026, 2:15pm UTC](https://forum.universal-robots.com/t/using-dh-gripper-via-modbus-with-control-box/43195 "2026-08-18T14:15:13Z")
Hi everyone, I’m currently adapting an older Modbus RTU URCap to communicate with a DH Robotics gripper through a USB-to-RS485 adapter. I am using a UR3e. The original URCap uses: GitHub - EbbeFuglsang/Modbus\_URCap: A … --- ## [Missing A0C0 PROGRAM\_XXX\_STOPPED/STARTED Primary Interface Messages in Polyscope 5.25.0 (UR7e, Remote Control Mode)](https://forum.universal-robots.com/t/missing-a0c0-program-xxx-stopped-started-primary-interface-messages-in-polyscope-5-25-0-ur7e-remote-control-mode/43162)
**Author:** [@jon\_17s](https://forum.universal-robots.com/u/jon_17s)\ **Replies:** 0\ **Last updated:** [August 4, 2026, 10:25am UTC](https://forum.universal-robots.com/t/missing-a0c0-program-xxx-stopped-started-primary-interface-messages-in-polyscope-5-25-0-ur7e-remote-control-mode/43162 "2026-08-04T10:25:50Z")
Hello, I am currently using a UR7e robot with Polyscope 5.25.0 in remote\_control mode. My workflow involves powering on the robot, releasing the brakes, and then loading and playing programs using Dashboard Interface c… --- ## [How to SSH into Docker URsim?](https://forum.universal-robots.com/t/how-to-ssh-into-docker-ursim/43110)
**Author:** [@robin\_gdwl](https://forum.universal-robots.com/u/robin_gdwl)\ **Replies:** 1\ **Last updated:** [July 26, 2026, 7:43pm UTC](https://forum.universal-robots.com/t/how-to-ssh-into-docker-ursim/43110 "2026-07-26T19:43:01Z")
I have setup the universalrobots/ursim\_e-series docker container (Link) I am now trying to access this container and the file system via ssh. How should this be done ideally? I have remapped the the docker container p… --- ## [Sending pose information to UR e-series arm](https://forum.universal-robots.com/t/sending-pose-information-to-ur-e-series-arm/43119)
**Author:** [@federico.venturi1](https://forum.universal-robots.com/u/federico.venturi1)\ **Replies:** 0\ **Last updated:** [July 26, 2026, 3:29am UTC](https://forum.universal-robots.com/t/sending-pose-information-to-ur-e-series-arm/43119 "2026-07-26T03:29:37Z")
Hello everyone, We recently received an e-series arm and I have two things that I’d like to do: Set a status flag indicating whether or not the arm is in a “safe” position away from other hardware once it has dropped… --- ## [PolyscopeX-10.13.0-0.9.454.urup not detecting Camera Feed from orbbec-gemini-v335Lg](https://forum.universal-robots.com/t/polyscopex-10-13-0-0-9-454-urup-not-detecting-camera-feed-from-orbbec-gemini-v335lg/43077)
**Author:** [@gmunusamy](https://forum.universal-robots.com/u/gmunusamy)\ **Replies:** 1\ **Last updated:** [July 16, 2026, 4:57pm UTC](https://forum.universal-robots.com/t/polyscopex-10-13-0-0-9-454-urup-not-detecting-camera-feed-from-orbbec-gemini-v335lg/43077 "2026-07-16T16:57:16Z")
Hi Team, We are setting up AI Accelerator With UR5e And observing that Camera is not getting detected on the PollyScopeX. We installed the following SWs on PollyScope X. PolyscopeX-10.13.0-0.9.454.urup aia-core-2.1.3… --- ## [RPS or minimum sampling rate per UR interface](https://forum.universal-robots.com/t/rps-or-minimum-sampling-rate-per-ur-interface/43058)
**Author:** [@mitdl1007](https://forum.universal-robots.com/u/mitdl1007)\ **Replies:** 1\ **Last updated:** [July 13, 2026, 9:21am UTC](https://forum.universal-robots.com/t/rps-or-minimum-sampling-rate-per-ur-interface/43058 "2026-07-13T09:21:55Z")
Hi everyone, In my current project, I’m fetching state values from various UR interfaces to determine whether an alarm has occurred. I am using three communication interfaces: Modbus, Dashboard Server, and RTDE. To ensu… --- ## [Control of a Robotiq Hand-E gripper via modbus](https://forum.universal-robots.com/t/control-of-a-robotiq-hand-e-gripper-via-modbus/43042)
**Author:** [@muefide.gueleken](https://forum.universal-robots.com/u/muefide.gueleken)\ **Replies:** 2\ **Last updated:** [July 10, 2026, 6:49am UTC](https://forum.universal-robots.com/t/control-of-a-robotiq-hand-e-gripper-via-modbus/43042 "2026-07-10T06:49:22Z")
Hello UR community, I’m trying to migrate a setup from PolyScope 5.25 to PolyScope X and cannot get Modbus communication to a Robotiq Hand-E gripper working. Setup UR16e with Robotiq Hand-E connected to the robot wris… --- ## [Profinet communication between UR20 and Beckhoff IPC](https://forum.universal-robots.com/t/profinet-communication-between-ur20-and-beckhoff-ipc/42972)
**Author:** [@nicoh01](https://forum.universal-robots.com/u/nicoh01)\ **Replies:** 1\ **Last updated:** [June 29, 2026, 11:29am UTC](https://forum.universal-robots.com/t/profinet-communication-between-ur20-and-beckhoff-ipc/42972 "2026-06-29T11:29:00Z")
Hello everyone, the PROFINET connection between my UR20 and the Beckhoff TwinCAT PLC is established, but I still cannot get the cyclic data exchange to work. So the link comes up, but no values are transferred, or not t… --- ## [UR - Siemens Logo example and Documentation](https://forum.universal-robots.com/t/ur-siemens-logo-example-and-documentation/30346)
**Author:** [@dasa](https://forum.universal-robots.com/u/dasa)\ **Replies:** 1\ **Last updated:** [June 29, 2026, 11:10am UTC](https://forum.universal-robots.com/t/ur-siemens-logo-example-and-documentation/30346 "2026-06-29T11:10:09Z")
Hello all, there is many of you asking yourself how to get Siemens Logo with UR connected. I have created for all of you a simple documentation: how to use Siemens Logo soft comfort connect with UR how to use Logo as… --- ## [RTDE\_Python\_Client\_Library installation JUN2026](https://forum.universal-robots.com/t/rtde-python-client-library-installation-jun2026/42935)
**Author:** [@geoff104](https://forum.universal-robots.com/u/geoff104)\ **Replies:** 0\ **Last updated:** [June 16, 2026, 5:24pm UTC](https://forum.universal-robots.com/t/rtde-python-client-library-installation-jun2026/42935 "2026-06-16T17:24:18Z")
Hi, I’m using a windows PC, with python 3.12.10. I’ve followed the RTDE\_Python\_Client\_Library github instructions for installing the library: git clone GitHub - UniversalRobots/RTDE\_Python\_Client\_Library: RTDE client l… --- ## [RTDE example problems](https://forum.universal-robots.com/t/rtde-example-problems/42933)
**Author:** [@geoff104](https://forum.universal-robots.com/u/geoff104)\ **Replies:** 0\ **Last updated:** [June 16, 2026, 5:04pm UTC](https://forum.universal-robots.com/t/rtde-example-problems/42933 "2026-06-16T17:04:38Z")
Hi , I’m trying to get started with RTDE comms using python 3.12 on windows 11. I have downloaded a copy of the RTDE\_Python\_Client\_Library and opened the example ‘record.py’ in editor VSCode. Having already setup a ‘podm… --- ## [Unable to open socket towards an external device connected to the UR Sim](https://forum.universal-robots.com/t/unable-to-open-socket-towards-an-external-device-connected-to-the-ur-sim/42914)
**Author:** [@stefanoan](https://forum.universal-robots.com/u/stefanoan)\ **Replies:** 2\ **Last updated:** [June 11, 2026, 3:40pm UTC](https://forum.universal-robots.com/t/unable-to-open-socket-towards-an-external-device-connected-to-the-ur-sim/42914 "2026-06-11T15:40:41Z")
Goodmorning, I’ve just installad the UR sim by using the Polyscope X SDK. I’m running the simulation and I would connect the sim to an external device by opening a socket (ip: 192.168.0.167 and port: 300). With the previ… --- ## [VNC to UR30 running Polyscope X 10.11.0](https://forum.universal-robots.com/t/vnc-to-ur30-running-polyscope-x-10-11-0/42916)
**Author:** [@alice.hierholz](https://forum.universal-robots.com/u/alice.hierholz)\ **Replies:** 0\ **Last updated:** [June 11, 2026, 1:47pm UTC](https://forum.universal-robots.com/t/vnc-to-ur30-running-polyscope-x-10-11-0/42916 "2026-06-11T13:47:06Z")
Hi, was anyone able to get a VNC to a UR30 running Polyscope X 10.11.0? --- ## [Connecting PC via Ethernet for Python Feedback Loops on a Vectis Welder (Safely)](https://forum.universal-robots.com/t/connecting-pc-via-ethernet-for-python-feedback-loops-on-a-vectis-welder-safely/42880)
**Author:** [@joseph.raineri](https://forum.universal-robots.com/u/joseph.raineri)\ **Replies:** 1\ **Last updated:** [June 5, 2026, 4:50pm UTC](https://forum.universal-robots.com/t/connecting-pc-via-ethernet-for-python-feedback-loops-on-a-vectis-welder-safely/42880 "2026-06-05T16:50:56Z")
Hi everyone, I’m looking to connect my PC directly to our UR cobot via Ethernet to start writing custom scripts and feedback loops using Python (running out of an Anaconda environment). Our system was originally built … --- ## [Reading inputs from modbus](https://forum.universal-robots.com/t/reading-inputs-from-modbus/42834)
**Author:** [@chris.pocock1](https://forum.universal-robots.com/u/chris.pocock1)\ **Replies:** 1\ **Last updated:** [May 29, 2026, 12:44pm UTC](https://forum.universal-robots.com/t/reading-inputs-from-modbus/42834 "2026-05-29T12:44:00Z")
HI, I have a UR3e on Polyscope X connected to a Festo CPX-AP-A remote i/o. I can read and write the inputs / outputs ok, but I can’t use the inputs in an ‘IF’ command. I presume you need to move them into a variable fir… --- ## [Diagnostic/Status of Profinet Connection on the Robot Side](https://forum.universal-robots.com/t/diagnostic-status-of-profinet-connection-on-the-robot-side/42807)
**Author:** [@miguel\_lopez](https://forum.universal-robots.com/u/miguel_lopez)\ **Replies:** 0\ **Last updated:** [May 26, 2026, 11:06am UTC](https://forum.universal-robots.com/t/diagnostic-status-of-profinet-connection-on-the-robot-side/42807 "2026-05-26T11:06:24Z")
Hello, I’m testing a Profinet connection between a UR3e robot and a Siemens S7-1200 PLC. I already have the communication working correctly. Now I’m trying to find a way to monitor the connection status on the robot si… --- ## [Dashboard Server Dashboard server "play” command not working](https://forum.universal-robots.com/t/dashboard-server-dashboard-server-play-command-not-working/39606)
**Author:** [@gerrit1](https://forum.universal-robots.com/u/gerrit1)\ **Replies:** 4\ **Last updated:** [May 19, 2026, 1:46pm UTC](https://forum.universal-robots.com/t/dashboard-server-dashboard-server-play-command-not-working/39606 "2026-05-19T13:46:10Z")
Hello, I can’t start a .urp program via the dashboard server on an UR20. The dashboard server returns “Failed to execute: play" robot is in remote mode all other dashboard server commands e.g. ‘stop’ do work. .urp p… --- ## [Transferring file using Filezilla](https://forum.universal-robots.com/t/transferring-file-using-filezilla/42640)
**Author:** [@dineshkarthik.k](https://forum.universal-robots.com/u/dineshkarthik.k)\ **Replies:** 1\ **Last updated:** [May 14, 2026, 4:17pm UTC](https://forum.universal-robots.com/t/transferring-file-using-filezilla/42640 "2026-05-14T16:17:19Z")
Hii, I want to transfer a .urp program file from my PC to UR20 cobot with Polyscope X controller. As per the procedure suggested in online, I have done the settings but still i couldn’t receive the program in my Polysco… --- ## [Comunication with an B&R PLC](https://forum.universal-robots.com/t/comunication-with-an-b-r-plc/42714)
**Author:** [@martamartorell](https://forum.universal-robots.com/u/martamartorell)\ **Replies:** 3\ **Last updated:** [May 11, 2026, 1:50pm UTC](https://forum.universal-robots.com/t/comunication-with-an-b-r-plc/42714 "2026-05-11T13:50:21Z")
I would like to remotely control the robot using the B&R PLC with ethernet, so I don’t have to rely on the robot’s own screen and can perform the necessary maneuvers. I tried connecting an X20 IF 10D1-1 module and an X2… --- ## [UR Robot Tool Not Working](https://forum.universal-robots.com/t/ur-robot-tool-not-working/42717)
**Author:** [@wehleeic](https://forum.universal-robots.com/u/wehleeic)\ **Replies:** 2\ **Last updated:** [May 8, 2026, 6:41pm UTC](https://forum.universal-robots.com/t/ur-robot-tool-not-working/42717 "2026-05-08T18:41:46Z")
I am not entirely sure what is happening, I was running the UR robot through a sequence fine and all of a sudden, the tool is not working. I run an initializing tool sequence at the beginning of my program and all of a s… --- ## [Error elbow code: 25a236 - motor encoder index missing](https://forum.universal-robots.com/t/error-elbow-code-25a236-motor-encoder-index-missing/42665)
**Author:** [@erdinaulianta17](https://forum.universal-robots.com/u/erdinaulianta17)\ **Replies:** 1\ **Last updated:** [May 5, 2026, 8:00am UTC](https://forum.universal-robots.com/t/error-elbow-code-25a236-motor-encoder-index-missing/42665 "2026-05-05T08:00:33Z")
I have a UR3 CB Series robot, purchased in 2023. The robot started experiencing the ‘Motor Encoder Index Missing’ error in 2025. It initially affected elbow 3, and every time I run it, the robot always displays a ‘Motor … --- ## [Polyscope X and Dashboard Server](https://forum.universal-robots.com/t/polyscope-x-and-dashboard-server/42647)
**Author:** [@hassan](https://forum.universal-robots.com/u/hassan)\ **Replies:** 2\ **Last updated:** [April 24, 2026, 10:09pm UTC](https://forum.universal-robots.com/t/polyscope-x-and-dashboard-server/42647 "2026-04-24T22:09:52Z")
Hi Is the Dashboard Server available with Polyscope X? Thanks --- ## [Dashboard non-responsive when EMO pressed](https://forum.universal-robots.com/t/dashboard-non-responsive-when-emo-pressed/42549)
**Author:** [@kanota](https://forum.universal-robots.com/u/kanota)\ **Replies:** 3\ **Last updated:** [April 18, 2026, 6:27pm UTC](https://forum.universal-robots.com/t/dashboard-non-responsive-when-emo-pressed/42549 "2026-04-18T18:27:51Z")
Hello, We are building a custom device that operates without a teach pendant, using the Dashboard Server and I/O interface to command the robot remotely. We have observed that when the Emergency Stop (E-Stop) button is… --- ## [Software update 5.25.0 affected my Ethernet/IP communication](https://forum.universal-robots.com/t/software-update-5-25-0-affected-my-ethernet-ip-communication/42542)
**Author:** [@luis.ramirez](https://forum.universal-robots.com/u/luis.ramirez)\ **Replies:** 3\ **Last updated:** [April 2, 2026, 8:24am UTC](https://forum.universal-robots.com/t/software-update-5-25-0-affected-my-ethernet-ip-communication/42542 "2026-04-02T08:24:08Z")
I updated a UR3e that was already in operation so I could run urmagic\_data\_capture\_v0\_6\_13 and perform an application diagnostic (this was the version I had downloaded at the time, 5.25.0). However, when I reset the cell… --- ## [Pulling cobot state for external status lights?](https://forum.universal-robots.com/t/pulling-cobot-state-for-external-status-lights/42402)
**Author:** [@adrian.panasewicz](https://forum.universal-robots.com/u/adrian.panasewicz)\ **Replies:** 5\ **Last updated:** [March 26, 2026, 6:32pm UTC](https://forum.universal-robots.com/t/pulling-cobot-state-for-external-status-lights/42402 "2026-03-26T18:32:36Z")
Hello, I am wondering if there is any way to pull the current cobot state, whether that’s e-stop, freedrive, etc, but more specifically the cobot bases LED output state, and extend those lit states to external lighting. --- ## [Remote desktop to the controller UI](https://forum.universal-robots.com/t/remote-desktop-to-the-controller-ui/3826)
**Author:** [@anon76269298](https://forum.universal-robots.com/u/anon76269298)\ **Replies:** 61\ **Last updated:** [March 11, 2026, 8:38am UTC](https://forum.universal-robots.com/t/remote-desktop-to-the-controller-ui/3826 "2026-03-11T08:38:16Z")
Does anyone managed to make a remote desktop connection to the controller in order to see the UI on a PC? On google I have found that someone has solved this issue installing a VNC server on the controller. Is this the… --- ## [Rtde python module not installing](https://forum.universal-robots.com/t/rtde-python-module-not-installing/30149)
**Author:** [@dfernandez](https://forum.universal-robots.com/u/dfernandez)\ **Replies:** 1\ **Last updated:** [February 18, 2026, 5:00am UTC](https://forum.universal-robots.com/t/rtde-python-module-not-installing/30149 "2026-02-18T05:00:29Z")
I have tried installing the rtde module to use RTDE by following the instructions in: The terminal returns that there is no module named as such. I have tried using: pip install target/rtde--release.zip When trying … --- ## [Controll a Festro CPX with 30x inputs, 10x outputs and 8x valves](https://forum.universal-robots.com/t/controll-a-festro-cpx-with-30x-inputs-10x-outputs-and-8x-valves/42242)
**Author:** [@chris.pocock1](https://forum.universal-robots.com/u/chris.pocock1)\ **Replies:** 1\ **Last updated:** [February 13, 2026, 2:42pm UTC](https://forum.universal-robots.com/t/controll-a-festro-cpx-with-30x-inputs-10x-outputs-and-8x-valves/42242 "2026-02-13T14:42:00Z")
Hi, I want to use a Festo CPX with 30x inputs, 10x outputs and 8x valves with a UR3e. I can’t find a URCaps for this application though on Festo’s website? Also is the number of i/o I’ve chosen compatible? Thanks! [Next page](https://forum.universal-robots.com/c/technical-questions/robot-communication/13.md?page=1)