Steps to reproduce:
Let the robot connect via MODBUS to a PC, were the PC act as a MODBUS server
Expected Behavior:
Exchange of data as if the PC is just any other MODBUS device
Actual Behavior:
Robot crashes violently claiming CAN bus communication between robot and safety board has been lost
Workaround Suggestion:
Disconnect misbehaving MODBUS servers
Robot Serial Number:
2018300970
Affected Version(s):
Tested on UR10, CB3 script version 3.15.9
Details:
I wrote a MODBUS server program in order to have a PC communicate with the robot. Due to a bug in my software, instead of giving a single reply to a single request, I accidentally returned an infinite stream of bytes, causing the robot to crash. Please note, that the infinite stream of bytes was not random junk, it was actually a valid response packet, just repeated indefinably.