Profinet Communication | Boolean Registers

    Hello!

    I would like to use the Boolean registers of a UR5e for the handshake with another Profinet device.

    I just don't understand the difference between the following commands:

    read_input_boolean_register and

    read_output_boolean_register

    In the PLC I see the T2O bit registers [0] - [7] of the robot. Which of them are input and which are output registers?

    What I would like to do:

    1. robot reaches position --> write_output_boolean_register(address, TRUE) --> Use Value as condition in PLC --> WORKS!

    2. Other Profinet device reaches target value --> BOOL variable in PLC is set to TRUE --> value is mapped to register (e.g. 2)

    How can I read the value in the robot program now?

    var1 = read_input_boolean_register (2) or

    var1 = read_output_boolean_register (2)?

    Thanks a lot!

    Doesn't anyone have an idea about the boolean registers?

    I am concerned with passing TRUE and FALSE values from the PLC to the robot and the robot reading this value change and being able to react to it.

    read_input_boolean_register(address) : reads the Boolean value from one of the input registers, which can be accessed by a field bus

    read_output_boolean_register(address) : reads the Boolean value from one of the output registers, which can be accessed by a field bus

    write_output_boolean_register(address, value) : writes the Boolean value to one of the output registers, which can be accessed by a field bus

    On the PLC side, you should see T2O and O2T.

    O2T : PLC output to Robot input

    T2O : Robot output to PLC input

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