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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
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Hi Mnurpeiissov,
What operating system do you have?
Can you provide a print screen of the log?
Albert
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嗨,我和其他人有同样的问题lined 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...
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Any solution? I have the same problem :(
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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...
更新计算机IP计划:192.168.1.254乌利希期刊指南ating 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...
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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?
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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
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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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Hi Albert.
Thanks for your reply. I have full administrator rights on all the computers I have tried. Antivirus has been disabled with no change in the connection status.
The fact that I can connect the PC to a UR5 running a CB3 controller and it connects without issue means its not an issue with the network, port, or the establishment of the server as you indicate - it must be something else specific to the older CB2 controller.
