Good morning @anon53018476,
did u already find a solution? I mean how do u figure out that someone has changed the UR OP-Mode to local?
I was testing it like that:
I guess you have to check if you always get an expected answer from the UR.
If the UR answers in a “weird” way, u might know that the Connection is NOT established.
I couldn´t finish my testing, so i cannot tell you how exactly to do.
At moment i only activate/ deactivate the PLC<-> UR communication depending on the Status (Robot mode) of the UR.
I´d really appreciate if u found a nicer way and u could share your knowledge.
Greetings from Luxembourg!