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WalesZWalesZ Posts: 1 Recruit
Hi all
I'm working on integrating Siemens S7-1500 PLC with UR5 through Profinet communication.
I have 2 problems with URScripting.
Would you please help me find out what I have done wrong?

First Problem is: In polyscopr scripting, I can't read input register. what I did is seting tag " UR_O2T_Reg2".Bits.Register[0] (This is data type of UR_O2T_bits) on in PLC and in polyscope read the value by commond "read_input_boolean_register(0)".  Result is I can never see "read_input_boolean_register(0)" being true eventhough I have " UR_O2T_Reg2".Bits.Register[0] on in PLC.

Second problem is I want to set Digital input 0 (DI[0]) to True in PLC and read the value in URScript.
Only tag related to digital input is under "UR_2_T2O_IO", but this is robot to PLC, which is input from PLC's view. I need a output tag so that I can turn it on.



  • matthewd92matthewd92 Founding Pro, Tactile Sensor Beta Testers Posts: 1,223 Handy
    You’re using register 2 which starts at Boolean input 32 on the robot. See attached image from PN IO map. 

    There is no way from the PLC to set inputs high unless you physically wired an output from the PLC to the UR input. The masking is only for robot outputs. I wish there was a way to trigger an input this way but unfortunately there isn’t. 
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