Universal Robots Forum

XMLRPC Issues with the first command

Hi all,

I am having an issue where my script command XMLRPC is being delayed on the first command.

here is some background information:

My program uses a XMLRPC method outside of the script command for some functionality, like actuate/ Home/ settings:

ie:
xmlRpcDaemonInterface = new XmlRpcMyDaemonInterface(“127.0.0.1”, 33000);
xmlRpcDaemonInterface.ACTUATE();

For the main program my Cap uses the normal URScript method :

ie:
writer.appendLine(XMLRPC_VARIABLE+"= rpc_factory(“xmlrpc”,“http://127.0.0.1:33000”)");
writer.appendLine(“ESU.generic_command()”);

Both of them works as intended. if they are not used sequentially.

My problem is that if send the actuate command and then start a program there is a 3 second delay before the command in the script is sent to my daemon. I debugged my cap and it seems to be somewhere in the writer.

How can I reduce the delay time on the first command under this scenario?

Thanks,

Mat. O.