urx.urrobot.RobotException: Robot stopped

[MarcSallent]

Hello,

This simple program in the simulator always throws an urx.urrobot.RobotException: Robot stopped exception. I am currently using URSoftware 3.72.40245 (Oct 05 2018), but it happened with my previous version (I think that it was 3.3)

    rob = RobotClass()
    ts = rob.start("10.0.0.207")
    sleep(3)
    rob.rob.movej((radians(90), radians(-70), radians(115), radians(-45), radians(90), radians(180)), acc=1, vel=1)
    sleep(1)
    rob.stop()

INFO:urx:Sending program: movej([1.570796,-1.22173,2.007129,-0.785398,1.570796,3.141593], a=1, v=1, r=0)
Traceback (most recent call last):
  File "RobotClass.py", line 332, in <module>
    test.rob.movej((radians(90), radians(-70), radians(115), radians(-45), radians(90), radians(180)), acc=1, vel=1)
  File "/usr/local/lib/python3.7/site-packages/urx/urrobot.py", line 277, in movej
    self._wait_for_move(joints[:6], threshold=threshold, joints=True)
  File "/usr/local/lib/python3.7/site-packages/urx/urrobot.py", line 217, in _wait_for_move
    raise RobotException("Robot stopped")
urx.urrobot.RobotException: Robot stopped

[liamstal]

I just learning now, but after moving the starting position of a real UR5 it did solve this problem.

[bkinman]

What do you mean by it working after moving the starting position. Can you elaborate? I'm running into this same issue.

[pxlong]

same issue here! Could you please elaborate it? @liamstal

[liamstal]

-Ubuntu 16.04- I tested on real UR5. generally, the problem for me was related to to the starting position of the TCP. it was relatively far/hard orientation reach from the first program starting position. I don't know why getting the robot to a somewhat more logical orientation and position allowed this error not to be thrown again. maybe it was near a singularity, maybe its somehow related to position tolerances which I can't explain. again, just learning here, and it was some time ago.