# Comunication plc allen bradley and cobot ur10e

**URL:** <https://forum.universal-robots.com/t/comunication-plc-allen-bradley-and-cobot-ur10e/22892>\
**Category:** General Application Help: How do I?\
**Created:** [July 25, 2022, 3:24pm UTC](https://forum.universal-robots.com/t/comunication-plc-allen-bradley-and-cobot-ur10e/22892 "2022-07-25T15:24:35Z")\
**Posts on this page:** 3\
**Page:** 1

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**Author:** ![anon66183488](https://avatars.discourse-cdn.com/v4/letter/a/c67d28/32.png) [@anon66183488](https://forum.universal-robots.com/u/anon66183488)\
**Post date:** [July 25, 2022, 3:24pm UTC](https://forum.universal-robots.com/t/comunication-plc-allen-bradley-and-cobot-ur10e/22892/1 "2022-07-25T15:24:35Z")

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Good Morning

we have a cobot UR10e connecte with ethernet with 1769-l33erm of allen bradley , the plc is the master , we use the eds file to active at plc , we send the severals program to robot through interger output from the plc to robot . at robot program we use a switch commnand to change the program , but we saw the robot stop when change one program to other program and this cause time , some body know what the robot stop .

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**Author:** ![suzannastylejournal](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/suzannastylejournal/32/7619_2.png) [@suzannastylejournal](https://forum.universal-robots.com/u/suzannastylejournal)\
**Post date:** [October 5, 2026, 6:44am UTC](https://forum.universal-robots.com/t/comunication-plc-allen-bradley-and-cobot-ur10e/22892/2 "2026-10-05T06:44:53Z")

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The pause is likely caused by the robot stopping execution each time the Switch command changes to a different program. Check whether the selected program is being restarted instead of running as a subprogram, and verify the EtherNet/IP handshake timing between the 1769-L33ERM PLC and the UR10e. Optimizing the program structure and reducing unnecessary program transitions can help minimize delays. This type of integration is common in Allen-Bradley industrial automation, where proper PLC-to-robot communication is essential for smooth and efficient operation.

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**Author:** ![dubas7173](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/dubas7173/32/7725_2.png) [@dubas7173](https://forum.universal-robots.com/u/dubas7173)\
**Post date:** [October 30, 2026, 2:58pm UTC](https://forum.universal-robots.com/t/comunication-plc-allen-bradley-and-cobot-ur10e/22892/3 "2026-10-30T14:58:37Z")

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When switching between programs on a UR10e cobot connected to an Allen-Bradley PLC, the robot may pause due to program execution logic, communication delays, or a stop-and-restart sequence. It is worth checking how the PLC sends integer outputs and how the robot’s switch command handles program transitions. Reviewing the Ethernet/IP communication settings and robot program structure may help identify the cause. For industrial automation components, PLC World Australia offers PLC parts, Allen-Bradley components, and control system products.