Hello,
I used polyscope to create a program to perform some functions on a new CB3 UR3. The program runs fine using EthernetIP to communicate information back and forth with my PLC. I am trying to add in some functions that would allow my PLC to see if the robot has entered an error state like Estop, protective stop, etc. From the EIP-iomessage pdf that I found, it appears as if the UR to PLC register should be number 252, but that doesn’t appear to be the case. The value coming back is inconsistent and it fluctuates around. If the Estop is activated when the program is not running, the value will just stay at zero. I assume that I am looking at a value based off a joint position or joint current draw. Can anyone tell me the correct register to get these statuses via EthernetIP?