Good morning,
I have connected the UR10 to our PLC via Ethernet (Allen Bradley). We are able to read all values from the UR10 but are having trouble triggering the output. We are relatively new to cobots and this type of PLC interfacing, any suggestions/direction
would be appreciated!
If you want to trigger the digital outputs of the UR from the PLC, you wil also have to set the mask bit to override the robot controller’s control. 
Thanks, tried that that but can’t get the output to trigger from plc. I will keep digging
You have to set the ‘standard digital output mask’ bit and then the corresponding ‘standard digital output’ itself.
I had no luck with this, if anyone has a sample program just triggering a digital output, I would be appreciate it greatly
I helped out some students with a PLC program that was connected to the robot through PROFINET and they were using the following commands on the UR side:
# to send signals to the PLC
add_var = 0
value = 25
write_output_float_register(add_var, value)
# to read signals from the PLC
value_from_plc = read_input_float_register(add_var)
This is as simple as setting the bit in the mask high and then writing to the output bit.
# for DO1
plc mask bits:
00000010
plc output bits:
00000010
DO1 should now be seen as on
# Full control of all outputs
plc mask bits:
11111111
plc output bits:
00100001
DO0 and DO5 should now be on