[marcochen11]

I'm new to roboDK (14 hours experience)
I currently writing a program for Yaskawa GP7 (Motoman GP7), the simulation is great and the API is very friendly (compared to ROS), except that when I tried to run the program on robot, the connection page keeps showing "working", and the robot is not moving.

Here's the code and log

Code:

# Type help("robolink") or help("robodk") for more information
# Press F5 to run the script
# Documentation: https://robodk.com/doc/en/RoboDK-API.html
# Reference:     https://robodk.com/doc/en/PythonAPI/index.html
# Note: It is not required to keep a copy of this file, your python script is saved with the station
from robolink import *    # RoboDK API
from robodk import *      # Robot toolbox
RDK = Robolink()


robot = RDK.Item('Motoman GP7', ITEM_TYPE_ROBOT)

if not robot.Valid():
   raise Exception('No robot selected. Add a robot to attach this geometry to a link')
robot.Connect(robot_ip = '192.168.1.31')
speed_j = 10
spped_l = 10
robot.setSpeed(speed_joints = speed_j, speed_linear = spped_l)
target = [0,0,0,0,0,0]
target2 = [-60.589,19.152,-6.315,-66.460,-89.270,51.939]
robot.MoveJ(target)
robot.MoveJ(target2)
pose = robot.Pose()
xyzwpr = Pose_2_Motoman(pose)
x,y,z,w,p,r = xyzwpr
xyzwpr2 = [x, y, z-300, w, 0, r]
target3 = Motoman_2_Pose(xyzwpr2)
robot.MoveL(target3)
robot.MoveL(target2)
robot.MoveL(target3)
robot.MoveL(target2)
robot.MoveJ(target)
RDK.CloseRoboDK()

log:

Code:

Process stopped
DISCONNECT
Stopped
Driver MotomanHSE not running
Disconnected
Stopped
Starting robot driver: C:/RoboDK/api/robot/MotomanHSE.exe
Starting...
Not started
CONNECT 192.168.1.31 6;1241.212121;1517.037037;1137.777778;853.333333;728.177778;464.863492
RoboDK driver for Motoman v4.2.0 (HSE and Serial)
Loading settings: C:/Users/Haowen Chen/AppData/Roaming/RoboDK-Drivers/MotomanHSE.exe.ini
Default Tool ID: 9
Default Joint Speed (mm/s): 10
Default Linear Speed (mm/s): 5
Big Endian communication: No
Serial timeout: 250 ms
Serial pause: 25 ms
Not connected
Using high speed ethernet protocol.
Connecting to E-Server
Working...
Using system with 6 axes
Working...
Ready
MOVJ 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 560.000000 0.000000 485.000000 0.000000 -90.000000 -180.000000
Working...
Working...

[Albert]

Thank you for your feedback.

Make sure to check this:

• Did you set the robot to Remote mode? (this is a key in the teach pendant)
  
• Can you retrieve the robot position? (select Get Position)
  
• Did you properly set the IP of the robot? (make sure you can you ping the robot)
  
• I would recommend disabling firewalls or antivirus to troubleshoot if none of the above work
  

Albert

[marcochen11]

Thank you for your feedback.

Make sure to check this:

• Did you set the robot to Remote mode? (this is a key in the teach pendant)
  
• Can you retrieve the robot position? (select Get Position)
  
• Did you properly set the IP of the robot? (make sure you can you ping the robot)
  
• I would recommend disabling firewalls or antivirus to troubleshoot if none of the above work
  

Albert

Thank's for replying. 

I've tried to test with the default robot program instead. It turns that the robot can execute the first instruction. Then the connection status will remain in working even after it has reached the target, so that it cannot proceed to execute next instruction.

Is there any solution to that?

[Albert]

What controller are you using?
Can you contact us at info@robodk.com?
We'll help you troubleshoot.

[yaLa]

What controller are you using?
Can you contact us at info@robodk.com?
We'll help you troubleshoot.

 
I am experiencing the very same problem,
using Yaskawa Motoman with FS100 controller.
 
I'll appreciate your help 
Thanks in advance

[Albert]

Contact us at info@robodk.com so we can better help you. We may need to setup a call with @Phillip to better troubleshoot this issue.