Open Seynen opened 3 months ago
Clearly Ethernet/IP is enabled - it reserves all int/double GP registers 0-23. Control loop example needs to be updated to use registers 24 and above instead of 0. This needs to be done both on the urp program side, and python side.
Hi Michal, thanks for the quick response.
I disabled all MODBUS/Profinet/EtherNetIP and now the lower 0-24 variables are indeed available.
However I now constantly get the C207A0 Protective Stop, (infamous?) Fieldbus input disconnected. It says to disable fieldbus (which it is) or check the RTDE watchdog.
Where do I find and configure this watchdog? My software has an open connection to the 30004 socket. The "REAL-TIME DATA EXCHANGE (RTDE) GUIDE" does not mention a watchdog.
Can you point me in the right direction?
Best Regards,
Python script needs to be started before program on the robot starts. Alternatively watchdog can be disabled on line 3, however in this case setpoint is set to 0 that will likely collide with base if input int registers 0 is set.
Thanks for the help, i get it now,
Hello, I try to run the example_control_loop.py, but it always says the variables are in use. (IN_USE). Have not been able to run it ever. Are there some undocumented requirements?
The record.py example works ! But that does not use any input_variables (input to the UR) so that not failing on 'in use'.
I run it on Windows, with the URSIM UR5 in a Virtual Box. Clean install, reboot virtual machine, does not seem to help.
netstat shows this: so there are connections to port 30004 but that's directly after restarting so that's normal, i guess.![image](https://github.com/UniversalRobots/RTDE_Python_Client_Library/assets/9315033/6170bc49-629a-4ca8-89ad-1ad67550086d)
error:![image](https://github.com/UniversalRobots/RTDE_Python_Client_Library/assets/9315033/1d53b83a-8712-4b6f-a9ba-fbcfa371e5ec)
Any help would be greatly appreciated. Best Regards,