Trouble with UR3e and ProfiNet communication

    Hello together,


    in the near future I have to programm an UR3e that will be controlled by a Beckhoff PLC via ProfiNet.


    I read the ProfiNet-Documentation and implemented the communication between the Robot and PLC.


    Actually everything is running - means it is possible to read/write all the Process Data on the PLC.


    On the Robot I wrote a small default program for testing and configured the Signals for Remote Control as follow:


    GP_bool_in[0] => Start

    GP_bool_in[1] => Stop

    GP_bool_in[2] => Pause

    GP_bool_in[3] => Freedrive

    GP_bool_in[4] => Auto start the default program in the Run Tab

    GP_bool_in[5] => Auto brake releas the Robot


    GP_bool_out[0] => Low when Program is not running

    GP_bool_out[1] => High when Program is not running

    GP_bool_out[2] => High when Program is running


    From the Process Data the PLC can read the State of the Robot:


    0 = Disconnected

    1 = Confirm_safety

    2 = Booting

    3 = Power_off

    4 = Power_on

    5 = Idle

    6 = Backdrive

    7 = Running


    And some other Flags:


    AOM = Analog output mask

    AOT = Analog output types

    ES = Is emergency stopped

    FT = Is fault

    NO = Is normal mode

    PB = Is power button pressed

    PR = Is program running

    PS = Is protective stopped

    PW = Is power on

    RC = Is recovery mode

    RD = Is reduced mode

    RES = Is robot emergency stopped

    SES = Is system emergency stopped

    SS = Is safeguard stopped

    SSM = Speed slider fraction mask

    ST = Is stopped due to safety

    TAIT = Tool analog input types

    TB = Is teach button pressed

    TDI = Tool digital inputs

    TDO = Tool digital outputs

    TDOM = Tool digital output mask

    VL=Is violation


    Now, my Question. How looks the Handshaking of the Input/Output-Signals to start the Robot remotely in a very reliable way and without using of the Dashboard-Server?


    I have problems to start the robot after turning on the controller. The default programm doesn't start everytime - but sometimes. I think there is a timing issue...:hmmm:


    In the past I programmed a lot of Applications with ABB, Kawasaki or KUKA an I had diagrams like that:


    7079-pasted-from-clipboard-png


    Is there something similar for the UR?


    Thanks in advanced and best regards...:hi-bye:

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