I am using a UR5e and I am trying to reconnect after a) the LAN cable was disconnected or b) emergency stop was pressed & released again.
I tried to disconnect and connect again:
self.controller.disconnect()
self.receiver.disconnect()
self.io.disconnect()
self.controller = RTDEControlInterface(self.robot_ip)
self.receiver = RTDEReceiveInterface(self.robot_ip, variables=[])
self.io = RTDEIOInterface(self.robot_ip)
This works fine without any problems, but still afterwards I get:
One of the RTDE input registers are already in use! Currently you must disable the EtherNet/IP adapter, PROFINET or any MODBUS unit configured on the robot. This might change in the future.
When I restart my docker container it works again, but any idea how I can reconnect without restarting?