Hi guys,my communication between PLC and robot is done through MODBUS where robot is a slave. Communication through general purpose registers on address 128-255 works fine. For communication I use functions like write_port_register(), read_port_register(), integer_to_binary_list(<value>) to get the register value as a list of booleans (e.g.[True,False,.....]), or binary_list_to_integer(<list>) to go back.Problem is that I dont know how to connect some boolean from register with action Start, Stop or Pause program. I want to start program from PLC through MODBUS. How are the posibilities to do it ?With descrete inputs is no problem because on card Instalation - I/O Setup you can link for example digital_in with action Start program but I dont want to do it in this way.