Hi all,I am working with URs on a small project. I would like to program an application for collecting data through PROFINET interface on URs and PLC of Siemens. In fact, my recent application could get state signals such as standard and configurable digital outputs (state of I/O) by using RTDE and TCP/IP ,... but with PROFINET I/O, I have no idea on receiving them.Is is possible for us to collect Profinet signals through I/O registers variables and functions such as ''read_output_boolean_register(address)'' or ''write_output_boolean_register(address, value)"... in real-time? It would be great if you might share me solutions to resolve my problem. Thank you in advance!