complete control of ur16 from plc

  • Hi all I'm writing an automatica machine with two UR16 and I want to control them from plc. I would pass positions, start and stop, command of external output, read external input, read actual position of robot. Can someone help me how to pass parameter to robot?

    for example in robot i write a code where position are read from plc because is plc who know which product the robot had to work and take and where put them.

    Many thanks in advance

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