Possible to use Profisafe alongside RTDE

[LukGen]

Hello,

Is it possible to use the ur ros2 driver alongside with profinet. For instance if you want to control the movement of your robot with ros2 but still want to adress safety-issues with a classic plc?

[destogl]

I don't understand how this should be "connected" at all? Can you draw a small system architecture?

[gavanderhoorn]

@destogl: the RTDE infrastructure is used by various fieldbus implementations on UR controllers.

This is the cause of EtherNet/IP not working correctly when using the driver fi (and the other way around: the driver not working when EtherNet/IP is active/configured).

The question posted by the OP makes sense to me in that context.

[LukGen]

Profinet builds on tcp/ip and can therefore be transmitted via ethernet. The system architecture is therefore rather simple. The UR-Controller, a ipc and the plc would be connected to a switch via ethernet and that's it.

[fmauch]

related: UniversalRobots/Universal_Robots_ROS_Driver#56 (comment) and apparently douple post with https://forum.universal-robots.com/t/profisafe-alongside-ros2-driver-or-rtde/23750