[joshuag1041]

Hi RoboDK Support,

I’m encountering an issue with online circular motion using the Python API. The robot executes the MoveC arc and stops at the endpoint, but RoboDK remains at “Working…” and the blocking MoveC call never returns. MoveJ and MoveL complete normally, and the same arc works in simulation.
My setup is:

• RoboDK 6.0.0 on Windows
  
• FANUC Socket Messaging driver 5.3.2
  
• FANUC LR Mate 200iD/7L
  
• Controller software V9.10P/26
  

I replaced the controller programs using the V9 RDK_S3.PC and accompanying TP files from the downloaded driver package, but the issue persists.
During the arc, GO_MC shows MOVING at line 2. Afterward, it shows ABORTED at line 1, while RDK_S3 remains RUNNING with observed line readings around 516–525. There are no active alarms or corresponding alarm-history entries.
I’ve attached the Python script, connection log, and relevant screenshots. Could you check whether this is a driver compatibility or motion-completion reporting issue and advise on the appropriate fix?

Best,

Joshua

[Albert]

Can you share your RoboDK project file?
Are you making the robot move near a singularity?
Does it work if you generate the program offline and run it?

In the meantime, I recommend you to use the Program Utilities Add-in to convert programs which have MoveC to MoveL:
https://robodk.com/addin/com.robodk.app.progutilities

[joshuag1041]

Hi Albert,

Thank you for your response!

Please see the attached station of the RoboDK project file.

I'm able to run the robot in simulation to complete a full circular arc. I even tried with different starting points and changing the number of arcs/MoveC commands to perform this.
I've also tried creating a program in the GUI.
They all work in simulation, but upon running it on the real robot, it stops after the first arc has completed and the Connection Status is stuck at "Working . . .".

As per suggestion, I just tried the using Program Utilies and converted MoveC to MoveL, you can see this in the attached project file as well.
However, the start/stop movement from MoveL is not desirable as I require as much continous movement as possible since we are trying to scan an object.

Let me know your thoughts after looking over the project file.

Thanks,

Joshua