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Connect to UR5
#31
Hi Jeremy,

Thank you for your help, I really appreciate it. One last thing, why there is delay in the UR_ActivateMonitoring macro? Could this be because of GIL, because the threading is used to get the data from UR. Could you think of other way of implementing it? Is there a way to control the UR5 using TCP connection if I stick to this method of getting data (USING THIS MACRO and CONTROL IT SIMILAR TO THIS MACRO)?

Best Regards,

Mukhamet Nurpeiissov
#32
Dear all,

As it appears to be, the UR5 is CB2 (controller version 2), so in the apiur file, should I change it to 2, or other number? I have tried with 2, but it did not work out.

Best Regards,

mnurpeiissov
#33
Hi Mnurpeiissov,
What operating system do you have?
Can you provide a print screen of the log?
Albert
#34
Hi,

I am using Windows 10, and I have turned off the firewall. Here is the log :

In the log of UR5, teaching pendant, there is nothing happening, no error, nothing.
   

Best Regards, 

mnurpeiissov
#35
Hi, I am having the same issues as others have outlined in this thread - I can ping the robot but i get a "waiting" message when I try to connect. I have followed the steps outlined - tried connecting with multiple different laptops, turned off firewall, etc.  I am trying to connect to a UR10E, using windows 8.1. Here is the log:

Disconnected
Stopped
Starting robot driver: C:/RoboDK/api/robot/apiur.exe
Starting...
CONNECT 192.168.1.125 30000 6
MoveJ with Joints: Yes
MoveL with Joints: Yes
MoveL as: movel(...)
Controller Version: 3
Communication Timeout (ms): 1000
Disconnected
Available local IP addresses (IPv4):
192.168.1.46
10.12.130.136
Server established: 192.168.1.46:30000
Connected to 192.168.1.125:30002. Sending program :/progrobodk.script...
Updating computer IP on program: 192.168.1.46
Updating computer port on program: 30000
Program sent.
Waiting...
CONNECT 192.168.1.125 30000 6
Closing previous connection...
Available local IP addresses (IPv4):
192.168.1.46
10.12.130.136
Server established: 192.168.1.46:30000
Connected to 192.168.1.125:30002. Sending program :/progrobodk.script...
Updating computer IP on program: 192.168.1.46
Updating computer port on program: 30000
Program sent.
Waiting...
#36
Any solution? I have the same problem :(
#37
I too am experiencing ongoing issues with one of our UR5 robots almost a year after having started this thread. Our newer UR5 robots work fine, but to this day I have never managed to get RoboDK to connect to our older UR5 robot that uses a CB2 controller. Not once. For the record, here are the details of the setup:

Robot Model: UR5
Controller Model: CB2
PolyScope Version: 1.8.25319 (latest version)
Host PC OS: Windows 10
RoboDK version: v3.8.4 (latest version)

* CONTROLLER_VERSION in apiur.exe.ini has been set to 1
* Windows Firewall has been completely disabled
* The controller can be pinged from the host PC
* FileZilla is able to connect to the controller
* Multiple host PCs have been tried
* Multiple PolyScope versions have been tried

Output from the RoboDK log is as follows:

Disconnected
Stopped
Starting robot driver: C:/RoboDK/api/robot/apiur.exe Starting...
CONNECT 192.168.1.1 30000 6
RoboDK driver for UR v3.8.0
Loading settings: C:/Users/UR5/AppData/Roaming/RoboDK-Drivers/apiur.exe.ini
MoveJ with Joints: Yes
MoveL with Joints: Yes
MoveL as: movel(...)
Controller Version: 1
Communication Timeout (ms): 1000
Disconnected
Available local IP addresses (IPv4):
132.181.60.62
192.168.1.254
Server established: 192.168.1.254:30000
Warning: Using older controller compatibility (IO not supported) Connected to 192.168.1.1:30002. Sending program :/progrobodk_basic.script...
Updating computer IP on program: 192.168.1.254 Updating computer port on program: 30000 Program sent.

The only conclusion I am able to draw from this is that it is impossible to use RoboDK with a CB2-based UR5 robot. If any readers of this thread have managed to get RoboDK to connect to a CB2-based UR5 robot, please post here so we know it is possible...
#38
Can you try again with different ports? 
The port you enter in RoboDK is the port of the PC (this is a specific behavior with the UR driver)

Do you get any errors or warnings in the log? (log tab in Polyscope)
If so, can you provide more information about the errors?
#39
Hi Albert.

I have tried multiple ports, always with the same result. In each case there are no errors or warnings displayed in the PolyScope log (sample output attached).


 - RBE
#40
Can you try it on a computer where you have full administrator rights?
Do you have an antivirus? If so, I recommend you to disable it.

The RoboDK driver for UR needs to setup a TCP/IP server on your computer at the port you provide (not the other way around as with most robot drivers). Some restrictive types of user account control on Windows or antivirus could be blocking this.
  




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