# Robot Communication **URL:** https://forum.universal-robots.com/c/technical-questions/robot-communication/13.md?page=2 [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:** 3 --- ## [Connection of UR20 to Autonics PLC via Modbus TCP/IP](https://forum.universal-robots.com/t/connection-of-ur20-to-autonics-plc-via-modbus-tcp-ip/40931)
**Author:** [@daniel.calderon](https://forum.universal-robots.com/u/daniel.calderon)\ **Replies:** 2\ **Last updated:** [August 29, 2025, 5:00pm UTC](https://forum.universal-robots.com/t/connection-of-ur20-to-autonics-plc-via-modbus-tcp-ip/40931 "2025-08-29T17:00:22Z")
Hello everyone, I’m currently working on connecting a UR20 to an Autonics PLC using Modbus TCP/IP. I’ve already managed to link the IP addresses, and on certain addresses I can see data. However, the issue is that this … --- ## [What is the best practice to remotely shut down the CB3 Series?](https://forum.universal-robots.com/t/what-is-the-best-practice-to-remotely-shut-down-the-cb3-series/40906)
**Author:** [@jon\_17s](https://forum.universal-robots.com/u/jon_17s)\ **Replies:** 1\ **Last updated:** [August 22, 2025, 8:36am UTC](https://forum.universal-robots.com/t/what-is-the-best-practice-to-remotely-shut-down-the-cb3-series/40906 "2025-08-22T08:36:55Z")
I am working with a UR5 robot (CB3-Series) and need to shut it down remotely using the Dashboard Interface. According to the documentation, I should send the “shutdown” command. To ensure a safe shutdown, I believe I fi… --- ## [Correct GSD version for URSoftware 3.7.0.40195](https://forum.universal-robots.com/t/correct-gsd-version-for-ursoftware-3-7-0-40195/40840)
**Author:** [@ryan.malimban](https://forum.universal-robots.com/u/ryan.malimban)\ **Replies:** 3\ **Last updated:** [August 21, 2025, 2:41pm UTC](https://forum.universal-robots.com/t/correct-gsd-version-for-ursoftware-3-7-0-40195/40840 "2025-08-21T14:41:25Z")
Im currently working on communicating our cobot into our siemens PLC S7-1200 via profinet. Followed the instructions provided online but wont be able to establish comm so I was thinking maybe i used the wrong GSD version… --- ## [UR10e: Fault C262A17: Failed to communicate with Elbow joint](https://forum.universal-robots.com/t/ur10e-fault-c262a17-failed-to-communicate-with-elbow-joint/40835)
**Author:** [@pshahare](https://forum.universal-robots.com/u/pshahare)\ **Replies:** 1\ **Last updated:** [August 19, 2025, 10:13am UTC](https://forum.universal-robots.com/t/ur10e-fault-c262a17-failed-to-communicate-with-elbow-joint/40835 "2025-08-19T10:13:12Z")
UR10e: Fault C262A17: Failed to communicate with Elbow joint. Getting this failure when I updated UR10e from 5.17 to 5.22.0 (Universal Robots - Robot Image - UR-Series & e-Series - SW 5.22.0) What would have caused th… --- ## [Robot Connection with Profinet and Pyhton](https://forum.universal-robots.com/t/robot-connection-with-profinet-and-pyhton/40821)
**Author:** [@tgtec](https://forum.universal-robots.com/u/tgtec)\ **Replies:** 1\ **Last updated:** [August 13, 2025, 12:20pm UTC](https://forum.universal-robots.com/t/robot-connection-with-profinet-and-pyhton/40821 "2025-08-13T12:20:34Z")
Hi together, i want to control the UR10e 5.13.0 with Python RTDE 30004 and ProfiDev together. When i activate Profinet IO Device, the python RTDE goes to no TCP Connection to Robot 10.150.100.141 port 30004 ‘Cannot re… --- ## [Hand-E Robotiq gripper stopped working after 5.21.2 update](https://forum.universal-robots.com/t/hand-e-robotiq-gripper-stopped-working-after-5-21-2-update/39178)
**Author:** [@andrei.kholodnyi](https://forum.universal-robots.com/u/andrei.kholodnyi)\ **Replies:** 6\ **Last updated:** [August 13, 2025, 8:53am UTC](https://forum.universal-robots.com/t/hand-e-robotiq-gripper-stopped-working-after-5-21-2-update/39178 "2025-08-13T08:53:37Z")
My Hand-E Robotiq gripper is connected directly to the Tool using an 8 pins cable. I had Polyscope 5.14.5 version on my UR5 and updated it to 5.21.2. i also updated Gripper URCaps from 1.8.7 to 3.19.1 After that my H… --- ## [Modbus TCP two way data exchange](https://forum.universal-robots.com/t/modbus-tcp-two-way-data-exchange/40800)
**Author:** [@robert.becker](https://forum.universal-robots.com/u/robert.becker)\ **Replies:** 0\ **Last updated:** [August 11, 2025, 7:31am UTC](https://forum.universal-robots.com/t/modbus-tcp-two-way-data-exchange/40800 "2025-08-11T07:31:45Z")
I want to use the UR as Modbus client exchange data in both directions. A Modbus server is set up in the network. I defined a Register Input with Address 0 Name MODBUS\_1 And a Register Output … --- ## [UR restart during program execution](https://forum.universal-robots.com/t/ur-restart-during-program-execution/35907)
**Author:** [@dlhr06](https://forum.universal-robots.com/u/dlhr06)\ **Replies:** 3\ **Last updated:** [August 6, 2025, 9:46pm UTC](https://forum.universal-robots.com/t/ur-restart-during-program-execution/35907 "2025-08-06T21:46:23Z")
Dear Community, I am currently operating a UR program, but I have encountered an issue where the robot’s console unexpectedly shuts down, resembling a reset process, while the robot continues to move. This problem occur… --- ## [I have question about Modbus Server Connection time out](https://forum.universal-robots.com/t/i-have-question-about-modbus-server-connection-time-out/3276)
**Author:** [@dgyoo](https://forum.universal-robots.com/u/dgyoo)\ **Replies:** 2\ **Last updated:** [August 5, 2025, 10:03am UTC](https://forum.universal-robots.com/t/i-have-question-about-modbus-server-connection-time-out/3276 "2025-08-05T10:03:28Z")
I want to maintain connected state with the UR modbus server Currently, I am using the modbus communication as follows. Socket connection Send protocol (send or receive) Confirm the return value Close the so… --- ## [Ur5e get log in linux](https://forum.universal-robots.com/t/ur5e-get-log-in-linux/40537)
**Author:** [@zzzzzzhao](https://forum.universal-robots.com/u/zzzzzzhao)\ **Replies:** 5\ **Last updated:** [August 4, 2025, 9:46pm UTC](https://forum.universal-robots.com/t/ur5e-get-log-in-linux/40537 "2025-08-04T21:46:54Z")
I am using a UR5e series robotic arm on a Linux platform, communicating via RTDE. How can I obtain its error logs? Is it possible to parse the messages on POP? How should I do this? Thank you very much! --- ## [Trouble with EDS file](https://forum.universal-robots.com/t/trouble-with-eds-file/40560)
**Author:** [@ryan.craig](https://forum.universal-robots.com/u/ryan.craig)\ **Replies:** 4\ **Last updated:** [July 21, 2025, 7:05pm UTC](https://forum.universal-robots.com/t/trouble-with-eds-file/40560 "2025-07-21T19:05:38Z")
I have a PLC that has been communicating with a UR3 cobot for a long time. I logged into the device to change the IP address of the robot but when I did it said there was not EDS file registered. I went through the steps… --- ## [Error when running URSim 5.10, RobotState messages are queued up](https://forum.universal-robots.com/t/error-when-running-ursim-5-10-robotstate-messages-are-queued-up/14300)
**Author:** [@anon48554506](https://forum.universal-robots.com/u/anon48554506)\ **Replies:** 1\ **Last updated:** [July 21, 2025, 2:47am UTC](https://forum.universal-robots.com/t/error-when-running-ursim-5-10-robotstate-messages-are-queued-up/14300 "2025-07-21T02:47:45Z")
When running the start-ursim.sh script, the robot starts up as expected then, once running, frequently prints an error that RobotState messages are queued up: ERROR - RobotState messages are queued up: 4 {thread: RobotS… --- ## [Remote Control Mode in Polyscope X](https://forum.universal-robots.com/t/remote-control-mode-in-polyscope-x/40592)
**Author:** [@rohithprem.ramaswamy](https://forum.universal-robots.com/u/rohithprem.ramaswamy)\ **Replies:** 0\ **Last updated:** [July 17, 2025, 2:42pm UTC](https://forum.universal-robots.com/t/remote-control-mode-in-polyscope-x/40592 "2025-07-17T14:42:40Z")
I’m working with a UR robot using Polyscope X and I’m trying to establish communication between Mir and UR. In Polyscope 5, it was possible to achieve this by enabling remote access mode under settings. I was not able to… --- ## [Profinet and EthernetIP simultaneously](https://forum.universal-robots.com/t/profinet-and-ethernetip-simultaneously/27615)
**Author:** [@anon75871193](https://forum.universal-robots.com/u/anon75871193)\ **Replies:** 1\ **Last updated:** [July 16, 2025, 4:00pm UTC](https://forum.universal-robots.com/t/profinet-and-ethernetip-simultaneously/27615 "2025-07-16T16:00:50Z")
Hello, I have successfully managed to get my UR5 communicating with a CompactLogix via EthernetIP following the UR guide. I now wanted to add a communication link to a S7-1200 via Profinet (still following the guide fr… --- ## [Send byte list over TCP/IP Socket](https://forum.universal-robots.com/t/send-byte-list-over-tcp-ip-socket/15647)
**Author:** [@anon53438463](https://forum.universal-robots.com/u/anon53438463)\ **Replies:** 1\ **Last updated:** [July 10, 2025, 4:17pm UTC](https://forum.universal-robots.com/t/send-byte-list-over-tcp-ip-socket/15647 "2025-07-10T16:17:04Z")
I wanted to know if there is a way to send a list of bytes over a TCP socket, similar to the socket\_read\_byte\_list function. Please let me know if more information is required. --- ## [Ft\_raw\_wrench in UR RTDE](https://forum.universal-robots.com/t/ft-raw-wrench-in-ur-rtde/27774)
**Author:** [@anon76029739](https://forum.universal-robots.com/u/anon76029739)\ **Replies:** 1\ **Last updated:** [July 1, 2025, 8:13am UTC](https://forum.universal-robots.com/t/ft-raw-wrench-in-ur-rtde/27774 "2025-07-01T08:13:15Z")
Is the ft\_raw\_wrench 6dvector in RTDE just the torques in all the joints? What are the units? --- ## [UR5 fail connection ssh](https://forum.universal-robots.com/t/ur5-fail-connection-ssh/40108)
**Author:** [@pablocamachoimibic](https://forum.universal-robots.com/u/pablocamachoimibic)\ **Replies:** 1\ **Last updated:** [June 12, 2025, 5:13pm UTC](https://forum.universal-robots.com/t/ur5-fail-connection-ssh/40108 "2025-06-12T17:13:06Z")
I have two ur5 robots, which each robot has two eth outputs and I am trying to connect via ssh from a central computer and one of them connects correctly but the other one doesn’t. I am trying to connect via ssh from a c… --- ## [Error connecting UR5e arm to pc with ethernet cable](https://forum.universal-robots.com/t/error-connecting-ur5e-arm-to-pc-with-ethernet-cable/40051)
**Author:** [@a.alonsoa.2020](https://forum.universal-robots.com/u/a.alonsoa.2020)\ **Replies:** 7\ **Last updated:** [June 4, 2025, 11:39am UTC](https://forum.universal-robots.com/t/error-connecting-ur5e-arm-to-pc-with-ethernet-cable/40051 "2025-06-04T11:39:32Z")
Hi, I’m trying to communicate a UR5e arm with a PLC, but when I connect the Ethernet cable to my pc to check that the communication works with a ping command, the pc says that the destination is unreachable. I don’t kn… --- ## [Fault status help](https://forum.universal-robots.com/t/fault-status-help/4916)
**Author:** [@anon83916365](https://forum.universal-robots.com/u/anon83916365)\ **Replies:** 8\ **Last updated:** [June 3, 2025, 11:17am UTC](https://forum.universal-robots.com/t/fault-status-help/4916 "2025-06-03T11:17:25Z")
I’ve been using the ur10e and have successfully been implementing programs using socket connecting in the ur script, dashboard server and modbus. The critical thing I need is the safety status most importantly if the rob… --- ## [RRS, RCS Modules](https://forum.universal-robots.com/t/rrs-rcs-modules/29264)
**Author:** [@anon74636630](https://forum.universal-robots.com/u/anon74636630)\ **Replies:** 1\ **Last updated:** [April 25, 2025, 8:27am UTC](https://forum.universal-robots.com/t/rrs-rcs-modules/29264 "2025-04-25T08:27:56Z")
Hello, Is there an RCS module of the UR10 that can be used with offline programming solutions such as CATIA/DELMIA (V5), 3DEXPERIENCE, Process Simulate via their RRS module ? RRS : Realistic Robotic Simulator RCS : Re… --- ## [Real Time Speed Adjustment of Robot From External PC](https://forum.universal-robots.com/t/real-time-speed-adjustment-of-robot-from-external-pc/39492)
**Author:** [@aditi.verma](https://forum.universal-robots.com/u/aditi.verma)\ **Replies:** 11\ **Last updated:** [April 24, 2025, 5:25pm UTC](https://forum.universal-robots.com/t/real-time-speed-adjustment-of-robot-from-external-pc/39492 "2025-04-24T17:25:43Z")
Hello, I am controlling a UR3e robot externally via RTDE using SDU Robotics’ ur\_rtde library. I only installed the library’s Python bindings with pip, so no C++ interface. I am wondering if there is a way to control the… --- ## [RTDE Errors when running programs remotely](https://forum.universal-robots.com/t/rtde-errors-when-running-programs-remotely/39526)
**Author:** [@jcrosby](https://forum.universal-robots.com/u/jcrosby)\ **Replies:** 1\ **Last updated:** [April 21, 2025, 9:25pm UTC](https://forum.universal-robots.com/t/rtde-errors-when-running-programs-remotely/39526 "2025-04-21T21:25:29Z")
Hello. I am completely new to UR and robotics. I am trying to get the RTDE set up so I can remotely monitor urp programs and build exception handling. I have created the xml, I have the .py program, and the urp. When I t… --- ## [Strange I2C communication errors lead to Controller Disconnect](https://forum.universal-robots.com/t/strange-i2c-communication-errors-lead-to-controller-disconnect/26926)
**Author:** [@jpomo](https://forum.universal-robots.com/u/jpomo)\ **Replies:** 1\ **Last updated:** [April 14, 2025, 11:42am UTC](https://forum.universal-robots.com/t/strange-i2c-communication-errors-lead-to-controller-disconnect/26926 "2025-04-14T11:42:08Z")
Hello, We’ve encountered an issue in which our UR10e will stop safeguard stop at seemingly random times. The logs (below) show our Program (“recpXX”) start and complete as expected but every now and then the log shows … --- ## [OnRobot - 2FG Communication Error](https://forum.universal-robots.com/t/onrobot-2fg-communication-error/39402)
**Author:** [@Pawel.H](https://forum.universal-robots.com/u/Pawel.H)\ **Replies:** 3\ **Last updated:** [April 11, 2025, 7:36am UTC](https://forum.universal-robots.com/t/onrobot-2fg-communication-error/39402 "2025-04-11T07:36:04Z")
Hello everyone, I am using UR5e robot with the triple A wingman tool changer and 2FG7 OnRobot grippers. While working with the tool changer i stumbled upon the error during tool changing which says : OnRobot - status er… --- ## [RTDE connection reset by peer error 104](https://forum.universal-robots.com/t/rtde-connection-reset-by-peer-error-104/24798)
**Author:** [@nickbakker01](https://forum.universal-robots.com/u/nickbakker01)\ **Replies:** 1\ **Last updated:** [April 9, 2025, 10:16am UTC](https://forum.universal-robots.com/t/rtde-connection-reset-by-peer-error-104/24798 "2025-04-09T10:16:08Z")
Hello, I’am trying to constantly update data on the robot with the RTDE protocol (while true loop). Now I am having a problem. I get the error unable to negotiate protocol version. What you see in my code is that I open… --- ## [Modbus frequency](https://forum.universal-robots.com/t/modbus-frequency/39415)
**Author:** [@dpeva](https://forum.universal-robots.com/u/dpeva)\ **Replies:** 0\ **Last updated:** [April 8, 2025, 8:58pm UTC](https://forum.universal-robots.com/t/modbus-frequency/39415 "2025-04-08T20:58:09Z")
We have several UR5e systems which have been in use for a few years for gaging. They use a stepper motor for positioning, and the stepper driver communicates via Modbus. The systems were set up by someone who is no long… --- ## [ROS2 Humble- UR5 connection throws an error](https://forum.universal-robots.com/t/ros2-humble-ur5-connection-throws-an-error/28268)
**Author:** [@anon56262548](https://forum.universal-robots.com/u/anon56262548)\ **Replies:** 8\ **Last updated:** [April 2, 2025, 1:54pm UTC](https://forum.universal-robots.com/t/ros2-humble-ur5-connection-throws-an-error/28268 "2025-04-02T13:54:59Z")
Trying to run: ros2 launch ur\_robot\_driver ur\_control.launch.py ur\_type:=ur5 robot\_ip:=192.168.1.102 launch\_rviz:=false gets an error: \[INFO\] \[launch\]: All log files can be found below /home/kurikkal/.ros/log/2023-05-… --- ## [Onrobot RG2 not detected on UR3](https://forum.universal-robots.com/t/onrobot-rg2-not-detected-on-ur3/39209)
**Author:** [@jean-claude.bikaku](https://forum.universal-robots.com/u/jean-claude.bikaku)\ **Replies:** 7\ **Last updated:** [March 25, 2025, 8:33am UTC](https://forum.universal-robots.com/t/onrobot-rg2-not-detected-on-ur3/39209 "2025-03-25T08:33:13Z")
Hi, I am working on Ur3 connected with OnRobot RG2 gripper. Robot cannot detect RG2 after urcap being installed. I/O tool set to Onrobot and 24V. Anyone can help please. Thanks Jean-Claude --- ## [OnRobot VGC10 gripper](https://forum.universal-robots.com/t/onrobot-vgc10-gripper/39141)
**Author:** [@adel.dennaoui](https://forum.universal-robots.com/u/adel.dennaoui)\ **Replies:** 0\ **Last updated:** [March 20, 2025, 8:57am UTC](https://forum.universal-robots.com/t/onrobot-vgc10-gripper/39141 "2025-03-20T08:57:10Z")
Hello. I am working with a tight deadline and I would really appreciate any help. In our team, we have a framework that communicate with robots and we succeeded in having a working interface between our framework and U… --- ## [UR10e RTDE No Connection Connection Status = None Infinite Loop](https://forum.universal-robots.com/t/ur10e-rtde-no-connection-connection-status-none-infinite-loop/39036)
**Author:** [@stefan.fischer](https://forum.universal-robots.com/u/stefan.fischer)\ **Replies:** 5\ **Last updated:** [March 18, 2025, 5:50pm UTC](https://forum.universal-robots.com/t/ur10e-rtde-no-connection-connection-status-none-infinite-loop/39036 "2025-03-18T17:50:18Z")
Hello everybody, i am new in this forum. Just searched for a few days about my problem trying to solve it. First things first: It is my first time using UR Robots. So please take nothing for granted. Don’t underestimat… [Previous page](https://forum.universal-robots.com/c/technical-questions/robot-communication/13.md?page=1) [Next page](https://forum.universal-robots.com/c/technical-questions/robot-communication/13.md?page=3)