Watchdog error expected but not visible with an Robotiq Gripper URCap

Technical Questions URScript
1

Hi everyone,

I have written an URScript which set a watchdog with

rtde_set_watchdog("input_int_register_47", 1, "stop")

Usually, I have an error quickly after pressing play if I do no send any data to the URsim via RTDE.
But when I install the robotiq 2F-85 gripper URCap, I do not have the error anymore. The scripts continue running.

With the URCap I do not see the URScript error as well. If I set the register number to 48, which is not available, I don’t have any error either.

In the logs I can also see the following error:

RTMachine      socket_read_byte_list(): timeout

I tried two different version of the Robotiq grippers urcap: 1.6.0.4 and 1.7.1.2 , and got the same results.
I am running under Windows 10 with the URSim in the virtual machine of the 1.6 sdk starter kit.

Does anybody have an idea of the reason why I do not see the watchdog error ?
Is it because I am running on URSim without any physical gripper ?

2

I have tested with the starter kit for 1.7 sdk and got the same behaviour : with the same script I have a watchdog error without the URCap and the URScritp is stopped, with the URCap no error and the URScript is running.

3

It seems that the absence of error was due to the absence of gripper on the URSim. Therefore, the script was not really running and not showing a watchdog error.
I do not have the same behavior on a real UR10e with the Robotiq gripper plugged on it.