Query whether the robot is in local or remote control

[artur.falkenstern]

Hello,

I have connected the UR5e to a Beckhoff PLC and I want to know if the robot is in local or remote control (status bit?).
Can someone help me please?

BR
Artur

[m.hammerton]

When you say connected.
What connection type / protocol (TCP/IP, Ethernet IP, Profinet, modbus)?

The best way is to establish is socket connection via TCP/IP over port 29999 and use the Dashboard.
I believe you can setup TCP/IP in TwinCat and request the status from the Robot.
see the links for guidance.

https://www.universal-robots.com/articles/ur/dashboard-server-e-series-port-29999/

https://s3-eu-west-1.amazonaws.com/ur-support-site/42728/DashboardServer_e-Series.pdf

hope this helps

[artur.falkenstern]

Thank you for your reply.

Isn’t that in the standard protocol? - see screenshot below.

BR