[Apex]

Hi All.

When attempting to run my Python code on our UR5 robot, I get the following error:

C:\RoboDK\Python-Embedded>python C:\RoboDK\Python-Embedded\robodk_basics.py
Traceback (most recent call last):
  File "C:\RoboDK\Python-Embedded\robodk_basics.py", line 120, in <module>
    robot_program.RunCode()
  File "C:\RoboDK\Python-Embedded\lib\site-packages\robodk\robolink.py", line 6526, in RunCode
    self.link._check_status()
  File "C:\RoboDK\Python-Embedded\lib\site-packages\robodk\robolink.py", line 813, in _check_status
    raise Exception(self.LAST_STATUS_MESSAGE)
Exception: Robot is not ready

Further information:

• The error only occurs under Windows. If I run the same code from a Linux PC it works as expected.
  
• As can be seen from the error, I am running my Python file externally. Note that the issue occurs even if I drag it into the station tree and attempt to run it from there.
  
• I am able to move the real UR5 around using the RoboDK GUI under Windows, so I am quite sure the issue is not related to the Windows firewall settings, as otherwise I would not be able to do so.
  
• I am running version 5.7.4 under Windows 10.
  
• Prior to running the Python file, I have manually connected to the robot from the RoboDK GUI (i.e. the connection bar is green).
  

Is anyone able to identify what I am doing wrong and/or suggest a solution to this issue?

[Albert]

I understand the issue happens when calling RunCode. Are you using the latest version on both?
Did you customize the progrobodk.script file? This is a file that allows you to customize the driver. The file is located in the bin folder of RoboDK. You should place the same file on both systems.

Can you share the connection log from the successful attempt on Linux and the failed attempt on Ubuntu?
Can you also share the error log from the Universal Robots controller?

[Apex]

Hi Albert

Your reply is a bit confusing:

• The code ran successfully using Debian (Linux) and failed under Windows 10
  
• The error occurs when using RoboDK 5.7.x as well as the latest 5.8.x release
  
• There is no progrobodk.script file in the bin directory under Windows OS
  

Not quite sure which log file you are after from UR5 so I have included the entire lot.

[Albert]

You can see this in the RoboDK log under windows:

Code:

Starting external program: Reset_Simulation
Working...
Connected to UR dashboard server
Connected: Universal Robots Dashboard Server
Stopped
File not found: Reset_Simulation.urp

Which does not show up on Linux.

Are you using the same robot? Did you transfer this program?
I assume this program should not be run on the real robot but it should be there as an empty program at least so that the UR robot does not run into an error.

By UR logs I meant a picture of the log of the robot controller right after you see this issue.

[Apex]

Hi Albert.

All testing is being done on the same robot under both Windows and Linux. I may need you to clarify your other questions as I am not quite sure what you mean:

1. Did you transfer the program?
I am using the Python API and am calling my file external to RoboDK like so:

Code:

C:\RoboDK\Python-Embedded\python C:\robodk_basics.py

"Reset_Simulation" is a robot program that sits in my RoboDK station tree along with many others. Not quite sure if this is what you mean by transferring the program or not.

2. "Reset_Simulation" is a RoboDK robot program that sits in my station tree and which I use to set the simulation environment back to its starting state during testing. As you say, it does not affect the real robot at all. I am not exactly sure what you mean by having an empty program so the robot does not run into an error - can you please clarify this statement.

In the interim I am using Linux to communicate with all three of our UR5 robots, but from the perspective of the students whom I am teaching, Windows is likely preferred, so it would be nice to figure out exactly what is going on here.

[Albert]

The Reset_Simulation program should have been previously transferred to the robot controller. Maybe it was deleted at some point.

Can you try generating a URP file for this program and transfer it to the robot? Even if this program doesn't do anything, it is required to have an empty program with this name on the robot controller.