Setting robot as controller

  • Hello , we have two R2000ic/210F robots and each of them has ARO welder we are trying to set Siemens PLC as Master and robots as its slaves but also set robots as masters for welders . We can see that ARO is sending signals but are not recieving them on robots. We tried various GSD files but it still wont work. I will be tahnkful for any help.

    Controllers : R30ib
    Profinet: CP 1604
    PLC: CPU1215C ,TIA Portal 15

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