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SebastienSebastien Posts: 220 Handy
Hi pros,
we struggle to find information about the EthernetIP setup on UR robots. The only documentation that I found was this example with Allen-Bradley PLC here.
How can we setup Inputs and outputs with EthernetIP? Do we need to add read and write commands in the program or can it be set up like the modbus Client IO tab in the Installation tab where we layout the IOs that need to be exchanged between the devices?

@Stefan_Stubgaard do you have some more documentation on the EthernetIP option available in the UR robot?


  • All I/O registers are preconfigured (this is what the EDS file contains), so no need to setup anything in the Installation tab on the robot. You only need to enable EthernetIP in the Installation.

    The EDS file needs to be installed in your Allen Bradley (AB) software in order to access the preconfigured registers. Then you have access to all registers from both AB software and robot.

    From the robot program if you want to read or write to a register, there is a bunch of script codes available for this. See the How-To you linked to for an overview of codes available.

    It is not posssible to see a full list of all registers directly in PolyScope, but you can in AB software see the entire list and current value of each register.

  • cbrissettecbrissette Posts: 6 Apprentice
    I am trying to connect a Keyence vision system to an UR5 through Ethernet IP. I have enabled the Ethernet option on the UR, but still am not able to see the outputs from the vision system. Is there anything further that I need to do on the UR?
  • matthewd92matthewd92 Posts: 521Founding Pro, Tactile Sensor Beta Testers Handy
    @cbrissette do you have a EthernetIP scanner on the network, if not there's no "server" to talk to. Just like the Modbus on the robot you are setting up a client (called adapter in EthernetIP) and more than likely the camera is also only an adapter. I think for EthernetIP to work you basically need to be talking to a PLC or a computer that is running the scanner software. We'd like to use more Ethernet/IP hardware as well but have never found the need to deploy a PLC with any of our applications. Maybe we should request a new feature which is adding a scanner to the UR so that we can deploy adapters in the system. 
  • cbrissettecbrissette Posts: 6 Apprentice
    Thank you mathewd92. I am getting in touch with Keyence Vision support to find out if it is capable of scanning.
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