EtherNet/IP with UR3e : cannot find CIP Classes in eip-iomessage.pdf

Technical Questions Robot Communication
1

Hello,

We have an UR3e. I’m very new with EtherNet/IP and trying to get/set the digital input/output of our UR3e with EtherNet/IP. Our final goal is to use the open-source library to communicate with UR3e using EtherNet/IP Implicit Messaging.

Our first target is EEIP library. In the proposed example, it can get/set with the PLC Wago based on the CIP Classes defined in Wago datasheet (Table 153 and 155, page 190). However, when I check the eip-iomessage file proposed officially by Universal Robots in here, the physical address space are organized differently (not by CIP Classes).

Could anyone give me some advice so I can achieve the goal? Thank you.

2

I can’t really speak to everything you’ve got going on here, but looking not-that-closely at the EEIP class you linked, it seems like you just need to put in the configuration info of the UR robot.

I imported the EDS file for the UR into a PLC and this is what it spits out:

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image638×292 13.2 KB

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image637×310 11 KB

So seems like you might be able to just put the pieces of information where they go in the EEIP instance creation?

3

Hello Eric,
You are right. Everything works perfectly with your configuration. Thank a lot.