Protective Stop C207A0: Fieldbus input disconnected

Technical Questions Robot Communication
1

I am trying to run the trained MIRAI skill on a UR10e robot but am getting this error everytime:

Error C207A0
Error C207A01200Ă—1600 323 KB

Is there a way to resolve this? Is there a way to check what is causing this error?

Thank you for the help :slight_smile:

2

What else is connected to the controller? Robotiq gripper? :slight_smile: Any other fieldbus devices?

Make sure PROFINET, Ethernet IP and MODBUS are disabled, if they are not in use.

3

This is the connection set-up:

image
image661Ă—500 65.9 KB

these are the info about connections:
OnRobot Compute Box v3.5 (Software version 6.0.4)
F/T sensor - HEX-E/H QC
Gripper - 2FG7

Also, this is one thing I observed, when Ethernet is enabled, even simple “move” program cannot run but when I disable Ethernet it can run but cannot connect with MIRAI box.

4

When you say “enable/disable Ethernet”, you’re not talking about Ethernet/IP, are you? Because it’s a fairly common thing that people confuse Ethernet/IP for Ethernet TCP/IP in the UR interface.

But since you’re saying it’s working with Ethernet enabled, I guess it’s done right. :slight_smile:

I would contact MIRAI about this issue.

5

thank you @efn, that gave me an idea to try. I was talking about the Fieldbus - “EtherNet/IP” in Installation menu.

New update: I got the program running by removing the OnRobot URCap, in this case it was able connect to MIRAI and find the skill and then execute it(even though the “EtherNet/IP” was disabled, it was never about about that;)). But I couldn’t operate the OnRobot gripper since there was’t URCap for that.
But, when I Re-install the OnRobot URCap, it detects the gripper but when executing the problem it shows the same error - “Protective Stop C207A0: Fieldbus input disconnected”. I am stuck now at this point.

6

I must admit that I’m a bit unsure if it works with two devices communicating over fieldbus simultaneously. I slightly recall having seen this issue before.

I hope someone else can elaborate on this. :slight_smile:

7

Found the solution, the problem was with the RTDE registers. MIRAI and OnRobot were both using the same registers and this was the reason for this error. I updated the version of OnRobot URCap, then offset the registers and this worked.

Thank you for the ideas. @efn