Basic PLC connection

Technical Questions
1

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!

2

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. :slight_smile:

3

Thanks, tried that that but can’t get the output to trigger from plc. I will keep digging :slight_smile:

4

You have to set the ‘standard digital output mask’ bit and then the corresponding ‘standard digital output’ itself.

image
image1311×388 56.6 KB

5

I had no luck with this, if anyone has a sample program just triggering a digital output, I would be appreciate it greatly

6

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)