[RBE]

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程序:192.168.1.254 Updating 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...