Read Controller's Inputs acyclic

[vt1]

Hi All,

I am currently building a project with a UR10e and a Siemens s7-1200, communicating via profinet.

I would like to use ur controller’s inputs as a remote IO. The problem i am getting here is that if robot’s program is not executed, i am not getting the signals.

Is there a way to run the thread i created the signals, inside robot’s program, acyclic? In other words…no matter what the robot is doing, the system is passing the signals thru profinet.

I have searched online, but i got no result.

Thank you,
Evangelos

[alexandru.g]

Hello vt1,

I did it with a thread. I added to the thread a wait of 0.02s and after that the assignments var_N = read_input_integer_register(X). Also I created some script files for read_Profinet.script and write_profinet.script so there can be easier edited.