Universal Robots example with Beckhoff PLC and documentation

Technical Questions Robot Communication
1

Hi together,

if you have already searched for an example how to use Univeral Robots with a Beckhoff PLC there it is.

This example shows you how to:

  • Connect an Universal Robots via Profinet with a Beckhoff PLC
  • how to make use of all IO´s
  • how to use Secondary interface
  • how to use Interpreter mode
  • how to use Dashboard Server
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2

there will be a brief Webinar to this example on October 24th at 10 AM GMT +2.
It will be first presented in german and in exactly the same meeting afterwards in english at round about 10:45 AM.

please find attached in this .zip the invitations and the link to our teams webinar.
outlook_invitations.zip (11.9 KB)

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3

I assume that the time is in Germany time zone, so 10:00 GMT+2? Is that correct?

I am asking since I have noticed some events in English from UR in the past the time was in US Pacific time zone.

4

first of all thank you for this very good question!
it is of course not clear from my side, sorry.

yes it will be german time zone at 10:00 GMT +2 october the 24th.

please find attached for your calender the invitation in this .zip.
there will be also a second webinar on december 7th.

outlook_invitations.zip (11.9 KB)

i could also do the same webinar in English if needed. time zone GMT +2

5

I will attend, but my German might be a little bit forgotten.
In the invitation there is another date on 7th December, why is that?

6

it is a second option for those who cant take part at the first appointment.

7

for those guys who would like to attend and german is not their language:

  • i will finish the german explanation first
  • please use the same teams link to join
  • i will present it again in english at round about 10:45 AM GMT +2

There might be some Q/A so I would like to start at 10:45 AM GMT +2 in English

2 Likes
8

Is there any recording of this. The Github is helpful but I think I’m still missing parts.

9

there is no recording available.

okay, which parts do think are missing?

10

i’m searching for the GSDML-File.
I didn’t find it in github

11

The actual gsdml file can be found at the bottom of this link:

https://www.universal-robots.com/articles/ur/interface-communication/profinet-how-to-guide-e-series/

12

Thanks Dasa. I got it working eventually. I had to rearrange one of the DUTs because of a problem with the endianness. The github made it way easier thank you very much for it.

13

Hi dasa, thank you for your work.

I’m working on a cobot application with a Profinet connection to a beckhoff plc.
I was able to establish a connection between the ur controller and the beckhoff plc with your documentation.

Unfortunately I’m having problems with the communication on the general purpose registers.

The general purpose registers contain bit, int and float outputs.
Without byte and word swap the bits are working fine, but int and float are not working.
In this case I’m receiving wrong values at the cobot.

After byte and word swap I’m having the problem the other way round: bits not working, but int and float working fine.

Does anyone have a solution for this problem?
Many thanks in advance.

David

14

Hi David,

Well thats the issue which cant be solved with Beckhoff TwinCat 3 software only with settings.

So, either you choose to swap bytes and words like in my example or you choose not to do it.

The consequences are like you mentioned:

-bits are having correct values and int, float dont
-or int, float … have correct values and bits dont

Thats why I have choosen to swap Term 4,6,7,8 and do the bit swap manually. You will find some functions which are dealing with this issue inside of the POU.

Unfortunatly Beckhoff support told me there ist no other way to solve it.

If somone else know how to do it easier, better… pls let me know I ll also update the example in that case.

BR

David