Posts by rKtiC

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.

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!