Universal Robots Forum

TCP/IP Dashboard with Beckhoff PLC

Hy guys,

We tried to build up a Dashboard(29999) communication between an UR10 and a Beckhoff PLC, but we ran into some problems.
We sent commands to the robot thru Dashboard, and it did the program change, but when we would like to receive the “answer”, it send us a message one before the actual. So every answer from the robot slipped by one. We tried to use delays for receiving, and tried other commands, but the result is the same.

Has anyone ran into a problem like this? What would you suggest to do?

Thanks in advice,
Balázs Vitális