ISSUE WITH CONNECTION THROUGH DOOSAN DRIVER

foxobot · (This post was last modified: 05-17-2023, 02:04 PM by Albert.)

Hello.
I have RoboDK (x32 architecture) and took the latest driver for Doosan using the link from RoboDK Support. Unfortunately the issue with the connection remained.
The robot M1013 has M2.4.1 system.
Can you help me?

**Albert** · (This post was last modified: 09-21-2024, 02:05 PM by Albert.)

I recommend you to try connecting to your Doosan robot with the latest version of RoboDK available here:
https://robodk.com/download

Let us know if you have issues (I believe there was a problem when you uploaded your images).

foxobot · (This post was last modified: 09-21-2024, 02:02 PM by Albert.)

With a virtual controller i have connection, but with a real robot the situation is the opposite.

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Virtual.png (Size: 137.38 KB / Downloads: 711)
There is connection has state is "Working..." long time, but if I disconnect by double click on "Disconnect" and then push the "Stop", the state is "Ready". But at the same time I can't control the robot.

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Real.png (Size: 143.49 KB / Downloads: 690)

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Real with Stop then Move Joints.png (Size: 125.34 KB / Downloads: 675)

**Phillip** · (This post was last modified: 09-21-2024, 02:03 PM by Albert.)

Thank you for your feedback. An improved version of the driver is ready with the latest version of RoboDK:
https://robodk.com/download

If you have any further issues please get back to us, the log will provide more details of errors now.

foxobot · (This post was last modified: 09-21-2024, 02:04 PM by Albert.)

I downloaded the latest version and the connection works! Thank you for your help.

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RealConnection.png (Size: 472.83 KB / Downloads: 815)

P.S. Some instructions of RoboDK aren't work correctly on the robot. More precisely, they are not recognized by the robot. For example, "Rounding".

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RealConnection_RoundFail.png (Size: 438.47 KB / Downloads: 681)

But after reconnecting the program work is correctly and the robot is moving, but not always: sometimes in this case the robot is jerk and stopping with message "5 (CODE 7061) or 2 (CODE 9012) TCP (Tool Center Point) overstepped the workspace limit.

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RealConnection_RoundFailRestart.png (Size: 463.42 KB / Downloads: 650)

**Phillip** · (This post was last modified: 09-21-2024, 02:04 PM by Albert.)

I fixed the issue with rounding related commands being ignored, for the issue with the workspace limit, you might not be able to remotely set the tool on the real robot. The driver tries using a tool called "Tool_RoboDK" try checking what the active tool is on the teach pendant and seeing if it's tcp matches what the tool on the robot in RoboDK. If you still have issues please get back to us.

You can download the latest version of the driver with the latest version of RoboDK:
https://robodk.com/download