Universal Robots Forum

Problems with forcing register output values


I am trying to force a value of 0 to a register output when the robot program is paused or the emergency stop is activated. How can I do this? A Thread is not really useful in this case because It only works when the program is running. The second option would be to use the ‘‘Action in program’’ function in the I/O Setup folder, but the problem is that in my case I can’t assign an action to a register output, It only works on boolean outputs (see attached photo).

Is there any other way to do this?

Is maybe something wrong with my register output settings ?

For some context, this is our company’s first UR robot so I don’t have much experience with them. Communication is trough MODBUS, connected to a Beckhoff BK9100 bus coupler.

Thanks in advance!