Notes and Troubleshooting

The lower range (bool[0:64], int[0:23], float[0:23]) of the GP input and output registers is reserved for FieldBus/PLC interface usage.

The upper range (bool[64:127], int[23:47], float[23:47]) can be used by external RTDE clients (for example URCAPS).

• It is important to consider and set an RPI value that corresponds with the requirements of the installation. The valid range of RPI is 2 ms–3200 ms, where a smaller value means more frequent data synchronization but also requires more resources from the PLC, robot, and network.

• In the example the RPI is set to 2.0 ms.

• If you experience connection issues between a scanner and the robot, make sure that you have configured the scanner for unicast connection (point-to-point) and that you have sufficient network bandwidth between the scanner, the robot, and other devices to avoid colliding packets.