Hello, if you connect the LAN to the robot and router and run RTDE with the router and laptop connected to wifi, it will disconnect in the middle and won’t communicate. The code is python.
from rtde_control import RTDEControlInterface as RTDEControl from rtde_receive import RTDEReceiveInterface as RTDEReceive
def connect(self): self.rb_c = RTDEControl(self.ServIp) self.rb_r = RTDEReceive(self.ServIp) self.DashServ = Dashboard_Server.RobotDashboard() timeout = 0 while 1: status = self.getRobotStatus() print(f’Status: {status}')
if status in (32,64,128): #Emergency Stop
self.DashServ.reset_robot()
time.sleep(20)
self.reconnect()
status = self.getRobotStatus()
print(f'Status: {status}')
if status == 1028: #Protective Stop
self.DashServ.unlock_protective_stop()
if status == 1:
self.set_tcp(*self.TcpPos)
break
time.sleep(1.0)
timeout += 1
if timeout > 30:
self.Status = False
return False
self.Status = True
return True
def movAzimuth_rel(self, Angle): pose_rel = self.rb_c.poseTrans(self.rb_r.getTargetTCPPose(), [0,0,0,0,0,math.radians(Angle)]) self.rb_c.moveL(pose_rel,acceleration=0.05, speed=0.05) time.sleep(0.1)
It moves 1 degree at a movAzimuth_rel angle, moves well up to a few dozen times, then disconnects in the middle, then moves to weird places and turns into protection stop mode.
If you connect the Ethernet line, the communication is good, but it’s disconnecting only when you communicate with wifi.
What should I do? I need your help.