# Robot Communication **URL:** https://forum.universal-robots.com/c/technical-questions/robot-communication/13.md?page=1 [Latest](https://forum.universal-robots.com/latest.md) · [Categories](https://forum.universal-robots.com/categories.md) · [Tags](https://forum.universal-robots.com/tags.md) **Page:** 2 --- ## [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! --- ## [SSH and VNC connection timeout even when set up according to instructions](https://forum.universal-robots.com/t/ssh-and-vnc-connection-timeout-even-when-set-up-according-to-instructions/42166)
**Author:** [@hrbo](https://forum.universal-robots.com/u/hrbo)\ **Replies:** 2\ **Last updated:** [February 5, 2026, 8:11am UTC](https://forum.universal-robots.com/t/ssh-and-vnc-connection-timeout-even-when-set-up-according-to-instructions/42166 "2026-02-05T08:11:06Z")
With a brand new robot, polyscope version 5.24.1 I set up the SSH connection in the settings (on Polyscope) and tried connecting. The robot is in the same subnet, profinet works, the SSH Access is enabled and password ba… --- ## [Program start not working](https://forum.universal-robots.com/t/program-start-not-working/34809)
**Author:** [@backus](https://forum.universal-robots.com/u/backus)\ **Replies:** 8\ **Last updated:** [February 4, 2026, 7:41pm UTC](https://forum.universal-robots.com/t/program-start-not-working/34809 "2026-02-04T19:41:24Z")
I am currently trying to start up a machine that has 3 URs, a UR3, UR10, and UR20. The PLC is a Allen Bradley 5069 Compact GuardLogix. I have the Ethernet communications on, IP addresses set, and can send outputs from my… --- ## [Unable to Establish Communication Between Robotiq 3-Finger Adaptive Gripper and UR10 (CB3, PolyScope 3.15)](https://forum.universal-robots.com/t/unable-to-establish-communication-between-robotiq-3-finger-adaptive-gripper-and-ur10-cb3-polyscope-3-15/42077)
**Author:** [@kazi.armaan9130](https://forum.universal-robots.com/u/kazi.armaan9130)\ **Replies:** 2\ **Last updated:** [January 29, 2026, 7:27am UTC](https://forum.universal-robots.com/t/unable-to-establish-communication-between-robotiq-3-finger-adaptive-gripper-and-ur10-cb3-polyscope-3-15/42077 "2026-01-29T07:27:14Z")
I am working with a UR10 CB-series robot running PolyScope 3.15, and a Robotiq 3-Finger Adaptive Gripper (3F) mounted on the robot wrist. The mechanical mounting is completed, and the gripper is powered correctly the Po… --- ## [RTDE random deconnection](https://forum.universal-robots.com/t/rtde-random-deconnection/41363)
**Author:** [@dfl](https://forum.universal-robots.com/u/dfl)\ **Replies:** 4\ **Last updated:** [January 27, 2026, 10:12am UTC](https://forum.universal-robots.com/t/rtde-random-deconnection/41363 "2026-01-27T10:12:42Z")
Hi, I am using both UR-RTDE and RTDE C++ API to connect 2 or 3 clients (different process for testing purpose) on port 30004, to listen to robot variables (like joints, speed, tcp offset, …). And sometimes, I got an “E… --- ## [External Control URCapX fails to install on PolyScope X 74.23.218 (Manifest file missing)](https://forum.universal-robots.com/t/external-control-urcapx-fails-to-install-on-polyscope-x-74-23-218-manifest-file-missing/41546)
**Author:** [@sabrina.mekhoukh](https://forum.universal-robots.com/u/sabrina.mekhoukh)\ **Replies:** 1\ **Last updated:** [January 21, 2026, 11:53am UTC](https://forum.universal-robots.com/t/external-control-urcapx-fails-to-install-on-polyscope-x-74-23-218-manifest-file-missing/41546 "2026-01-21T11:53:35Z")
Hello everyone, I’m currently setting up a ROS 2 Jazzy environment with a UR7e robot (e-Series, manufactured recently – August 2025). The robot is running PolyScope X version 74.23.218. When I try to install the Exte… --- ## [RTDE Protocol change](https://forum.universal-robots.com/t/rtde-protocol-change/42017)
**Author:** [@ali.mohammadijou\_1](https://forum.universal-robots.com/u/ali.mohammadijou_1)\ **Replies:** 0\ **Last updated:** [January 4, 2026, 7:24pm UTC](https://forum.universal-robots.com/t/rtde-protocol-change/42017 "2026-01-04T19:24:06Z")
Hello all, We have 2 UR5 robots bought in a period of 6 months apart. on the First robot RTDE works fine and I use LabVIEW to start the communication with the following command: “0x0 0x5 0x56 0x0 0x2“ \*\*RTDE\_REQUE… --- ## [Is it possible to disable 30011/30012/30013 port on UR10 CB3](https://forum.universal-robots.com/t/is-it-possible-to-disable-30011-30012-30013-port-on-ur10-cb3/42013)
**Author:** [@Tide](https://forum.universal-robots.com/u/Tide)\ **Replies:** 1\ **Last updated:** [December 25, 2025, 4:34am UTC](https://forum.universal-robots.com/t/is-it-possible-to-disable-30011-30012-30013-port-on-ur10-cb3/42013 "2025-12-25T04:34:00Z")
Hi Forum, is it possible to disable 30011/30012/30013 ports on UR5 CB3? the purpose is prevent user to access these ports through TCP/IP with external PC. Thanks --- ## [Problem in parse seondary monitor data after update from 3.x to 5.x](https://forum.universal-robots.com/t/problem-in-parse-seondary-monitor-data-after-update-from-3-x-to-5-x/41989)
**Author:** [@oriya.g1](https://forum.universal-robots.com/u/oriya.g1)\ **Replies:** 0\ **Last updated:** [December 12, 2025, 8:22am UTC](https://forum.universal-robots.com/t/problem-in-parse-seondary-monitor-data-after-update-from-3-x-to-5-x/41989 "2025-12-12T08:22:37Z")
Hey, I recently update my robot Polyscope from 3.x to 5.x and now my python secondary monitor parser (which is based on an old example i got from this website) raising an exception every few packets: raise ParsingExcep… --- ## [UR5E and 1212C communicate via PROFINET](https://forum.universal-robots.com/t/ur5e-and-1212c-communicate-via-profinet/41978)
**Author:** [@2287673486](https://forum.universal-robots.com/u/2287673486)\ **Replies:** 0\ **Last updated:** [December 11, 2025, 4:29am UTC](https://forum.universal-robots.com/t/ur5e-and-1212c-communicate-via-profinet/41978 "2025-12-11T04:29:52Z")
UR5E and 1212C communicate via PROFINET. According to the configuration instructions in the manual, the PLC is unable to establish a connection with the manipulator. What could be the problem here? --- ## [Setting communication with Keyence Vision system](https://forum.universal-robots.com/t/setting-communication-with-keyence-vision-system/41931)
**Author:** [@gd2154c](https://forum.universal-robots.com/u/gd2154c)\ **Replies:** 6\ **Last updated:** [December 8, 2025, 1:25pm UTC](https://forum.universal-robots.com/t/setting-communication-with-keyence-vision-system/41931 "2025-12-08T13:25:28Z")
Hi, We are trying to establish communication between Keyence VS vision system and UR5. the robot is not receiving the positional data required to execute the vision-guided process. The connection attempts fail despite u… --- ## [Twincat 3 O2T register error](https://forum.universal-robots.com/t/twincat-3-o2t-register-error/30232)
**Author:** [@Berbatov98](https://forum.universal-robots.com/u/Berbatov98)\ **Replies:** 1\ **Last updated:** [December 5, 2025, 7:18pm UTC](https://forum.universal-robots.com/t/twincat-3-o2t-register-error/30232 "2025-12-05T19:18:42Z")
I have a UR5e Robot communicating over PROFINET. I can access the device in Twincat 3 and the PROFINET LED in the Fieldbus menu is also Green on the Robot. However, in Twincat 3 under the Profinet API all my 02T Output r… --- ## [Dashboard with PLC M241](https://forum.universal-robots.com/t/dashboard-with-plc-m241/41882)
**Author:** [@bgarcia](https://forum.universal-robots.com/u/bgarcia)\ **Replies:** 1\ **Last updated:** [December 3, 2025, 7:52am UTC](https://forum.universal-robots.com/t/dashboard-with-plc-m241/41882 "2025-12-03T07:52:25Z")
Hello, This is just to inform any of you who has problems with the setting up of the dashboard server communication with a SCHNEIDER M241 PLC as I had. First you have to create the connection (IP, Port) with the foncti… --- ## [RTDE Connection only works halfway](https://forum.universal-robots.com/t/rtde-connection-only-works-halfway/41875)
**Author:** [@s2510828010](https://forum.universal-robots.com/u/s2510828010)\ **Replies:** 1\ **Last updated:** [December 3, 2025, 12:37am UTC](https://forum.universal-robots.com/t/rtde-connection-only-works-halfway/41875 "2025-12-03T00:37:28Z")
Hi, Currently I am trying to connect to my UR15 modell by using both Dashboard (:29999) and the RTDE (:30004) interface using Python (3.11). Connecting to dashboard works just fine and I also managed to connect with rtd… --- ## [Enviar datos desde un PLC siemens 1215C pro profinet a un robot UR3-e](https://forum.universal-robots.com/t/enviar-datos-desde-un-plc-siemens-1215c-pro-profinet-a-un-robot-ur3-e/35844)
**Author:** [@dmendez1](https://forum.universal-robots.com/u/dmendez1)\ **Replies:** 9\ **Last updated:** [December 2, 2025, 3:10am UTC](https://forum.universal-robots.com/t/enviar-datos-desde-un-plc-siemens-1215c-pro-profinet-a-un-robot-ur3-e/35844 "2025-12-02T03:10:02Z")
Hola, muy buenas. Ya puedo comunicar un plc 1215C de siemens con un robot UR3-e. Mi duda es que programa hay que hacer en polyscope, para que el plc pueda modificar las coordenadas x,y, z del robot y este se mueva a dic… --- ## [Universal Robots example with Beckhoff PLC and documentation](https://forum.universal-robots.com/t/universal-robots-example-with-beckhoff-plc-and-documentation/30975)
**Author:** [@dasa](https://forum.universal-robots.com/u/dasa)\ **Replies:** 15\ **Last updated:** [November 21, 2025, 12:08pm UTC](https://forum.universal-robots.com/t/universal-robots-example-with-beckhoff-plc-and-documentation/30975 "2025-11-21T12:08:30Z")
Hi together, if you have already searched for an example how to use Univeral Robots with a Beckhoff PLC there it is. This example shows you how to: Connect an Universal Robots via Profinet with a Beckhoff PLC how to … --- ## [RTDE Connection](https://forum.universal-robots.com/t/rtde-connection/41562)
**Author:** [@stevennn](https://forum.universal-robots.com/u/stevennn)\ **Replies:** 5\ **Last updated:** [November 19, 2025, 10:17am UTC](https://forum.universal-robots.com/t/rtde-connection/41562 "2025-11-19T10:17:32Z")
Hello everyone, I’m currently doing my internship, and I created a pick-and-place program for testing using RTDE Connection with the ur-rtde library. The program runs fine at first, but after running for a long time (s… --- ## [T2O State Firmware Version Mismatch Error - Siemens PROFINET with PROFIsafe](https://forum.universal-robots.com/t/t2o-state-firmware-version-mismatch-error-siemens-profinet-with-profisafe/41724)
**Author:** [@lasn](https://forum.universal-robots.com/u/lasn)\ **Replies:** 2\ **Last updated:** [November 14, 2025, 10:11am UTC](https://forum.universal-robots.com/t/t2o-state-firmware-version-mismatch-error-siemens-profinet-with-profisafe/41724 "2025-11-14T10:11:54Z")
Hello, I’m experiencing an issue with my UR20 robot when using Siemens PROFINET communication. The diagnostic status for the T2O module shows a firmware version mismatch error, stating that “The installed (online) fi… --- ## [Modbus TCP Write multiple registers](https://forum.universal-robots.com/t/modbus-tcp-write-multiple-registers/1972)
**Author:** [@anon16563805](https://forum.universal-robots.com/u/anon16563805)\ **Replies:** 3\ **Last updated:** [November 13, 2025, 3:49pm UTC](https://forum.universal-robots.com/t/modbus-tcp-write-multiple-registers/1972 "2025-11-13T15:49:43Z")
Hi there, I have a Modbus TCP Server, which uses FC 0x03, 0x04, 0x06, 0x10, 0x17, 0x2B. This slave needs a message with 4Registers. The slave only support the 0x10-function (write multiple registers) for this addresses. … --- ## [Dashboard with PLC Schneider M340](https://forum.universal-robots.com/t/dashboard-with-plc-schneider-m340/41680)
**Author:** [@bgarcia](https://forum.universal-robots.com/u/bgarcia)\ **Replies:** 2\ **Last updated:** [November 12, 2025, 6:56am UTC](https://forum.universal-robots.com/t/dashboard-with-plc-schneider-m340/41680 "2025-11-12T06:56:07Z")
Hello, Does anyone know how to set up the dashboard server with an M340 PLC from Schneider. I was told that it is not possible to set up a different port number , in this case 29999, than the ones set up according to th… --- ## [Using under automation dlls for running UR3](https://forum.universal-robots.com/t/using-under-automation-dlls-for-running-ur3/41671)
**Author:** [@jay.jayaram](https://forum.universal-robots.com/u/jay.jayaram)\ **Replies:** 0\ **Last updated:** [November 4, 2025, 6:44pm UTC](https://forum.universal-robots.com/t/using-under-automation-dlls-for-running-ur3/41671 "2025-11-04T18:44:28Z")
Using Under Automation dlls. I found using the PrimaryInterface, when ever I download multiple lines of motion script, the robot only completes the last script. I was wondering if anyone has a working C# code sample th… --- ## [Fault code E20B001F](https://forum.universal-robots.com/t/fault-code-e20b001f/41575)
**Author:** [@sbhuvanagiri](https://forum.universal-robots.com/u/sbhuvanagiri)\ **Replies:** 3\ **Last updated:** [October 31, 2025, 12:17pm UTC](https://forum.universal-robots.com/t/fault-code-e20b001f/41575 "2025-10-31T12:17:09Z")
Hello Universal robots community, We have a Ur10e cobot that randomly faults out with a fault code E20B001F, not on the teach pendant itself, but on the laser sensor that safeguards the cobot’s workspace (Ontario law). … --- ## [Sound during servoj loop](https://forum.universal-robots.com/t/sound-during-servoj-loop/41503)
**Author:** [@mathias.winther](https://forum.universal-robots.com/u/mathias.winther)\ **Replies:** 1\ **Last updated:** [October 16, 2025, 12:51pm UTC](https://forum.universal-robots.com/t/sound-during-servoj-loop/41503 "2025-10-16T12:51:46Z")
When I sent the following small program to the robot using the real-time client interface, the robot starts emitting a continuous tooting sound as long as the program is running: def standstill(): current\_angles = g… --- ## [Not getting answer from Dashboard](https://forum.universal-robots.com/t/not-getting-answer-from-dashboard/41405)
**Author:** [@vsantos](https://forum.universal-robots.com/u/vsantos)\ **Replies:** 10\ **Last updated:** [October 9, 2025, 3:38pm UTC](https://forum.universal-robots.com/t/not-getting-answer-from-dashboard/41405 "2025-10-09T15:38:03Z")
Hello guys, I’m trying to configure a Dashboard server and after several days of trying I’m very close to give up. I searched every threads or tutorials I could find and none have helped. Please give me some inputs to … --- ## [EtherNet/IP ERROR TO PLC](https://forum.universal-robots.com/t/ethernet-ip-error-to-plc/41378)
**Author:** [@verygoodbob88](https://forum.universal-robots.com/u/verygoodbob88)\ **Replies:** 3\ **Last updated:** [October 8, 2025, 1:52am UTC](https://forum.universal-robots.com/t/ethernet-ip-error-to-plc/41378 "2025-10-08T01:52:36Z")
We are currently using a UR20 robot. Could you please tell us how to configure EtherNet/IP to allow the PLC to read the robot’s error status? Also, does the robot’s scripting language have a function similar to “JUMP” f… --- ## [UR3机器人实物的ROS控制问题](https://forum.universal-robots.com/t/ur3-ros/41397)
**Author:** [@sqzshao](https://forum.universal-robots.com/u/sqzshao)\ **Replies:** 0\ **Last updated:** [October 6, 2025, 7:04am UTC](https://forum.universal-robots.com/t/ur3-ros/41397 "2025-10-06T07:04:51Z")
上位机运行ROS控制UR3机器人实物进行移动，二者在建立连接时，发生错误。我使用的是Ubuntu20.04系统+ROS1 Noetic版本，ROS驱动下载的是2.1.4版本，URcap为1.0.5版本，UR3软件版本为3.12.0.90886，PC机与机器人控制箱通过网线相连接。在建立通信时，首先在示教器上插入External Control节点，然后在终端运行roslaunch ur\_robot\_driver ur3\_bringup.… --- ## [Guidance for MiR250 Fleet and UR5e integration](https://forum.universal-robots.com/t/guidance-for-mir250-fleet-and-ur5e-integration/41336)
**Author:** [@alpha250](https://forum.universal-robots.com/u/alpha250)\ **Replies:** 0\ **Last updated:** [September 30, 2025, 3:21pm UTC](https://forum.universal-robots.com/t/guidance-for-mir250-fleet-and-ur5e-integration/41336 "2025-09-30T15:21:16Z")
Hi all, I am trying to establish communication between the MiR250 (Fleet) and the UR5e. Please let me know if you have any suggestions or guidance. Thank you! --- ## [UR 20, Manual Mode indication](https://forum.universal-robots.com/t/ur-20-manual-mode-indication/41176)
**Author:** [@h.al-awamleh](https://forum.universal-robots.com/u/h.al-awamleh)\ **Replies:** 0\ **Last updated:** [September 17, 2025, 8:49am UTC](https://forum.universal-robots.com/t/ur-20-manual-mode-indication/41176 "2025-09-17T08:49:09Z")
Is it possible to indicate the Manual Mode using the configurable digital outputs or the safety outputs (the yellow ones) to the PLC? I am trying to create a safety function related to the Manual Mode? [Previous page](https://forum.universal-robots.com/c/technical-questions/robot-communication/13.md) [Next page](https://forum.universal-robots.com/c/technical-questions/robot-communication/13.md?page=2)