Hello,

do we have any function or method to allow me to know if the the arm is moving or not.
what I want to do is detect if the robot is moving to deactivate one of the signal which is coming from PLC ( like enter the cell ).

Thanks In Advance,
Elsayed

Maybe you could send some signal from the robot to the PLC via your program so that the PLC knows when the robot is moving ?

You can simply set one of the configurable outputs to be Robot Moving.  Per the UR manual this output would be low when moving and high when not moving.  So you could just monitor that output in the PLC.  Are you using EIP or Profinet?

This is from the UR manual

I am using Ethernet to communicate with PLC 

So if you are using the fieldbus with Ethernet/IP then you can easily monitor the output status bit for whatever output you set up.

as in below should I unlock safety configuration and what is the default password for that 

There isn’t a default password unless your distributor put it on. If there is no password you will need to set that up in the system settings before you can access custom safety settings. 

Thank you so Much I got it ( I had to setup a new password first )