How to program the UR with a PLC 1200 or 1500 of Siemens? The connection is between UR and PLC is ok.
It depends on what you want to achieve.
Profinet (gsd-file):
Communication via input/output register e.g. trigger sequences in your UR-program, handshake, etc
Profinet Guide
Dashboard Server
eg. load program, run, stop …
PLC: TSEND_C & TRCV_C
Primary/Secondary Client Interface
eg send URScript commands
PLC: TSEND_C & TRCV_C
Real-Time Data Exchange (RTDE)
eg write digital outputs, input register, etc
PLC: TCON, TSEND, TRCV, TDISCON
have a look at:
OVERVIEW OF CLIENT INTERFACES
You can’t exactly “program the UR” through a PLC, if that’s what you’re asking for.
The PROFINET connection can exchange variables (bool, int, real), I/O states, robot states among others between the PLC and the UR, but you cannot send whole programs to the robot. 