Hi,
my UR10e communicates with PLC via TCP/IP and I use 3PE.
How can I find out whether 3PE is being held or not? How can I read the internal flags of the robot for this purpose?
Best regards
Sepehr
You can do this via RTDE. Take a look at this article:
And then lookup the Primary Client Interface → Safety Modes.
It will be 5 - SAFEGUARD_STOP if the 3PE is not pressed, otherwise 1 - NORMAL if it’s pressed (or not needing to be pressed).