Robot Connection with Profinet and Pyhton

Technical Questions Robot Communication
1

Hi together, i want to control the UR10e 5.13.0 with Python RTDE 30004 and ProfiDev together.

When i activate Profinet IO Device, the python RTDE goes to

no TCP Connection to Robot 10.150.100.141 port 30004 ‘Cannot receive when RTDE synchronization is inactive’
ERROR:rtde:Cannot send when RTDE synchronization is inactive
ERROR:rtde:Cannot send when RTDE synchronization is inactive
ERROR:rtde:Cannot send when RTDE synchronization is inactive
ERROR:rtde:Unable to send: not connected to Robot
ERROR:rtde:RTDE synchronization failed to pause

devontia
devontia1442×615 59.5 KB

The ProfinetDevice should only have the in/outs.

The Realtime is using

urrtdexmlfile = “”"<?xml version="1.0"?>

<rtde_config>

<recipe key="state">

    <field name="actual_q" type="VECTOR6D"/>

    <field name="actual_TCP_pose" type="VECTOR6D"/>

    <field name="output_int_register_0" type="INT32"/>

    <field name="output_int_register_1" type="INT32"/>

    <field name="output_int_register_2" type="INT32"/>

    <field name="output_int_register_3" type="INT32"/>

    <field name="output_int_register_4" type="INT32"/>

    <field name="robot_status_bits" type="UINT32"/>

    <field name="output_int_register_11" type="INT32"/>

    <field name="output_int_register_12" type="INT32"/>

    <field name="output_int_register_13" type="INT32"/>

    <field name="output_bit_register_64" type="BOOL"/>

    <field name="output_bit_register_65" type="BOOL"/>

    <field name="output_bit_register_66" type="BOOL"/>

    <field name="output_bit_register_67" type="BOOL"/>

    <field name="output_bit_register_68" type="BOOL"/>

    <field name="output_bit_register_69" type="BOOL"/>

    <field name="output_bit_register_70" type="BOOL"/>

    <field name="output_bit_register_71" type="BOOL"/>

</recipe>



<recipe key="boolin">

    <field name="input_bit_register_64" type="BOOL"/>

    <field name="input_bit_register_65" type="BOOL"/>

    <field name="input_bit_register_66" type="BOOL"/>

    <field name="input_bit_register_67" type="BOOL"/>

    <field name="input_bit_register_68" type="BOOL"/>

    <field name="input_bit_register_69" type="BOOL"/>

    <field name="input_bit_register_70" type="BOOL"/>

    <field name="input_bit_register_71" type="BOOL"/>

</recipe>



<recipe key="setpose">

    <field name="input_double_register_0" type="DOUBLE"/>

    <field name="input_double_register_1" type="DOUBLE"/>

    <field name="input_double_register_2" type="DOUBLE"/>

    <field name="input_double_register_3" type="DOUBLE"/>

    <field name="input_double_register_4" type="DOUBLE"/>

    <field name="input_double_register_5" type="DOUBLE"/>

</recipe>



<recipe key="setbase">

    <field name="input_double_register_6" type="DOUBLE"/>

    <field name="input_double_register_7" type="DOUBLE"/>

    <field name="input_double_register_8" type="DOUBLE"/>

    <field name="input_double_register_9" type="DOUBLE"/>

    <field name="input_double_register_10" type="DOUBLE"/>

    <field name="input_double_register_11" type="DOUBLE"/>

</recipe>



<recipe key="settcp">

    <field name="input_double_register_12" type="DOUBLE"/>

    <field name="input_double_register_13" type="DOUBLE"/>

    <field name="input_double_register_14" type="DOUBLE"/>

    <field name="input_double_register_15" type="DOUBLE"/>

    <field name="input_double_register_16" type="DOUBLE"/>

    <field name="input_double_register_17" type="DOUBLE"/>

</recipe>



<recipe key="setjoint">

    <field name="input_double_register_18" type="DOUBLE"/>

    <field name="input_double_register_19" type="DOUBLE"/>

    <field name="input_double_register_20" type="DOUBLE"/>

    <field name="input_double_register_21" type="DOUBLE"/>

    <field name="input_double_register_22" type="DOUBLE"/>

    <field name="input_double_register_23" type="DOUBLE"/>

</recipe>



<recipe key="sendjob">

    <field name="input_int_register_1" type="INT32"/>

    <field name="input_int_register_3" type="INT32"/>

</recipe>



<recipe key="sendorderid">

    <field name="input_int_register_4" type="INT32"/>

</recipe>



<recipe key="watchdog">

    <field name="input_int_register_0" type="INT32"/>

</recipe>



<recipe key="setgrp">

    <field name="input_int_register_11" type="INT32"/>

    <field name="input_int_register_12" type="INT32"/>

    <field name="input_int_register_13" type="INT32"/>

</recipe>

</rtde_config>“”"

Any Ideas ?

Greetings Tom

2

Solved, we changed the register in to 24 upper