Modbus RTU cab for controlling gripper via teach pendant / XMLRPC not reachable

URCap Development
1

I try to make a UR Cab to communicate with my custom robot gripper. The gripper uses modbus rtu on slave address 1 and is confirmed to work. By using a this cab the gipper works perfect. Here the communication is made from my computer via modbus rtu over tcp through the cab inside my gripper.
[GitHub - UniversalRobots/Universal_Robots_ToolComm_Forwarder_URCap: Utility to forward the UR Tool Communication Interface (RS-485) to a remote PC.](https://RS485 Tool Forwarder Cab)

For my cab I used this as base:
[GitHub - EbbeFuglsang/Modbus_URCap: A tool modbus RTU URCap](https://Modbus RTU Cab)
I modified the base cab and added the control interface via via teach pendant, which allows me to set the gripper states while editing or making a new script at the teach panel.
Here you find the code of my script:
[GitHub - 22chrs/URCAB_modbusRTU_gripper](https://URL to my custom gripper cab.)

The cab starts but fires this error message, when adding it to a script.

IMG_1147 Kopie
IMG_1147 Kopie1920×2560 617 KB

I am really clueless what to do or change. My project is documented via instagram. I made a video about the errror, so maybe that will help better understanding.
[Hej Toto on Instagram: "Wer kann Java (😱) und Universal Robots Cabs basteln? 🚕"](https://Instagram Video about the Error)

Thanks!

2

Yeah Deamons can be a pain in the a** to bug fix on.

Have you set your python files to be executable?
On linux this would be simply a right a right click → properties → permission.
This is at least a something I, myself, have forgotten to do on multiple occasions.

3

So URCaps that have daemons running on the background can be tricky to compile and to install in Linux. Check the ports, make sure you are using an already existing .urcap supported file and not compiling it yourself. It can be something on the Linux machine rather than on the URCap itself.

From what I could see on your video, there is another URCap installed, what is it for? URCaps for tools can conflict between each others, try uninstalling it and try again.

On a side note, I cannot access your full IG profile without logging in. Beware that having an IG work account is rare for programmers and social media domains are banned in a lot of work computers, I would recommend you to have a copy of your documentation elsewhere more accessible for professional programmers if you need more support in the future.