UR10e RTDE No Connection Connection Status = None Infinite Loop

Technical Questions Robot Communication
1

Hello everybody,

i am new in this forum. Just searched for a few days about my problem trying to solve it.
First things first: It is my first time using UR Robots. So please take nothing for granted. Don’t underestimate my potential of “not knowing”-something.

I Work an a 64bit Windows 11 Dell Workstation with PyCharme.
I am trying to Connect to a UR10e via Pythonscript and the following library:

With that i am following this absolutely great video Tutorial series:

I watched part 1,2 and 3 so far and felt, that i should (at least) be able to connect to my robot know.

So i open and start the program file “rtde_control_loop.urp” on my robot via panel.
Then i start the example Script “example_control_loop.py” in PyCharme.

I end up hanging in line 59 in the while loop, trying to connect over and over again.
Constantly getting the message “Connection_State: None”.

So i am guessing the connection cannot be finished succesfully.

In cmd-Line i can succesfully ping my Robot via “ping <robot_ip>”

I am Using Python 3.11.
In this Guide:

under the headline “RTDE Client Python Module” i saw the notation, that this module has been developed for python 2.7.11, so naturally i changed my Interpreter to python 2.7.11 and tried it again. Same result: Hanging in Loop, getting “Connection_status: None” messages.

So i went back to Python 3.11, because all of my other programs work with that interpreter. I would only change interpreters if i have to.

I have a static IP on my UR10e = 192.168.17.43
I made sure wie are in the same subnet Mask = 255.255.255.0

I am now starting all over again in watching the Tutorial Videos for the fifth time and reading the guidlines from front to back hoping i am finding hints what could make any problems.

Simultaneously i will get my Win10 Laptop here to make sure Win11 is not playing any evil jokes here.

Does anybody know this problem? Or does anybody have an idea for a solution? :sweat_smile:

Thank you in advance for reading all of my text.

Yours sincerely

Stefan

2

Take a look at this guide to set up the hardware for RTDE:

/Henning

3

UPDATE:

I am getting a security message “C207A0: Fieldbus Input not connected”. Although i connected the PC with the Robot Controller via RJ45 Ethernet Cable. I read online, that some Fieldbus is also capable of using the RTDE Interface. But i don’t know how to check if this is the case.
I will research further.

Addionally i tried to check if the port 30004 was open accordingly. I was expecting a “Listening” status, but i have a “waiting” status instead. So again a hint, that something already uses the port 30004.

image

Can somebody maybe help with these additionally informations?

4

Thanks i will do that right away.

5

UPDATE:

I worked my way through the PDF. I found two errors:

  1. Host IP von Robot Panel should be the Ethernet Adapter IP from the PC
  2. PROFINET, EtherNet/IP, Modbus TCP services blocks the RTDE-Interface → All deactivate

I also deactivated the firewall to prevent it to block any program.
Additionally the installation of “boost” gave me problems, but i think i solved it. It should work now.

I am still getting the connection_state “None” back from the RTDE Interface.

When i am starting the Script “rtde_control_loop.urp” i am getting the security message:

Security Stop
C207A0: Fieldbus-Input not connected

This is the protocoll i can save from this message:

recording20250318_14_48_34.zip (6.4 MB)

Yours sincerely

Stefan Fischer

6

I have a new walk-around for the problem with Boost

It is possible to copy Boost from a running computer to a new installation.
Just copy the complete folder with the Boost program from a Windows computer where it has been installed and are running.
Paste this folder to the new Windows where you want to use Boost.
No install – No problems :blush:

If you don’t have a Windows computer with a running Boost you can give it a try with this copy:
https://www.toolchanger.eu/download/doc/BoostCopy.zip

Copy the “boost-1-81-0” folder to C:”
You still need to set up the path for Boost in Windows, see the instruction in the pdf.

I tried this trick on the last setup I made. It works without any problems.

I will update the “How To RTDE” when I get the time

/Henning