Protective Stop

Hi, I have integrated Siemens PLC with CB3 UR5 bot by Profinet communication protocol. Now , If UR bot hit to any object during its running condition, it should change the TAG value of PS(Protective stop) to true in PLC.
Now, If we move the robot manually and at that time if robot hit to any abject the TAG value of PS (protective stop ) changes from False to True as it should be. But if the robot is in auto mode and at that time if robot hit any abject it is not changing the TAG value .


Pls provide me your suggestion or solution.