Universal Robots Forum

UR5 PLC Joint states

i was wondering if the free analog I/O 's on the PLC can be configured to send the joints state values in real time or what the exact purpose of these I/O ports is. I need to access the 6 joint values with as little latency as possible, so i figured that if i could configure the analog output on the plc to send them this would be the fastest way.
If this is not possible what other way would you recommand me to use since the TCP/IP is already in use to establish communication with ROS. Unfortunatly there is a relatively high latency in the joint states i recieve.
Thank you!

Did you consider to use either the RTDE or Real Time interface, for reading the joint states.
These interfaces are explained here.