Hello,
today I have set up the UR10 to run with python. But the robot does not move. In the following, I will try to show you the steps I ran through up to this moment.
1.) Install python and pycharm on my PC and open RTDE_Python_Client_Library-main
2.) in example_control_loop.py I set:
3.) via WinSCP I saved rtde_control_loop.urp to the ur10
4.) load rtde_control_loop.urp in the Teach Panel
5.) activate ethernet/ip
6.) ur10 initialized
7.) run the program in python and print watchdog info
8.) Also, it seems that output_int_register_0 stays at 0, what means, that ur10 does not receive new orders:
Has anyone an idea, what the problem could be? UR10 is not moving.
Possible problem from my perspective:
The port 30004 to communicate with the robot is not opened by the IT of my organisation. Could that be the problem?
Kind regards
Problem in your Step-5.
You must deactivate Ethernet/IP
/Henning
Thanks for your Information. I also found out that I need to disable Ethernet/IP. I‘m still not sure how to handle the „port 30004 problematic“. I think the system administrator of my university network will have to open port 30004 for me, right? Kind regards
Port 30004 is for the robot and I can’t see how that port is blocked by your IT
Is your PC in the same subnet mask like the robot? Can you ping the robot from the Pc?
As an alternative you can use modbus to change register values in the same way you do it now and I found mod is easier to work with. Use port 502 for modbus
Hello,
to your questions:
- Yes, my PC is in the same subnet mask (255.255.255.0)
- Yes, I can ping the robot from the PC (see picture)
Information about ping to clear up possible misunderstandings:
My question is related to this picture below. First, is the picture correct? Second, which ports do I have to open? I would suggest to open port 30004 on my PC (Firewall settings) and on the standard gateway (Firewall settings)
Additionally, I wrote a python-script that checks the port status of my PC, the standard gateway an the ur10, It sais:
What should the status be? All ports should be open, right?
Kind regards
It now seems, that the UR10 is reachable through Port 30004:
Still I figured out, that I will have to allow PyCharm to communicate through the Windows Firewall:
Can anyone confirm this?
Kind regards
