i would like to read the safety Checksum from the robot program and send it to our PLC.
@mmi wrote here:
It is also available on secondary client interface:
https://www.universal-robots.com/how-tos-and-faqs/how-to/ur-how-tos/remote-control-via-tcpip-16496/ 9 in SAFETY_DATA sub package 10 that is unfortunately not documented yet.
It’s in first 4 bytes of sub package.
This subpackage will be sent only if safety settings are actually applied to internal controller.
This is what i would like to do. For my application the Safety Checksum should be read on the robot itself and send to PLC over an existing Ethernet IP Connection.
My question is how to access the right byte ? For now I only know that you can read data from a socket but I dont know how to say wich byte. The assembly of the interface is about 1000bytes and I only need 4.
Is the value also accessible via Ethernet IP ?
You have to dig into that message deeper. You can find some examples on forum searching for “primary interface” or “secondary interface”
First you need to look for “Robot state” message (16), then inside it for “Safety data” submessage (10).
EDIT: it’s not available through Ethernet IP interface.