I am currently programming a cb5 ur10e connected to a siemens s7-1200 (firmware 5.12.2).
I would like to Start and Stop the robot via boolean regs over profinet.
The problem here is that the robot will not initialize automatically.
I have writen a small piece of code that reads the position of the robot and sends it to a safe position but the program will not start automaticaly. I mean, the program will be in running mode but it will still ask me to initialize it manually, by pressing continously that button…
for that you have to use the Dashboard Server communication.
I´ve done same.
I´m controlling my UR10e with a Siemens S7-1212C.
U have to write urself a step-by-step routine (at ur PLC) and send the Dashboard commands one after the other to the Robot.
It´s a bit tricky and took me ages to get it running smoothly.
Also keep in mind, that u need different “routines” in cause u have an Emergency Stop pressed or the robot has a protective stop!