Introduction
Troubleshooting a failing connection between a MachineMotion and a Universal Robot e-Series robotic arm can be a daunting task, disrupting the setup process and impacting your ability to get up and running fast. This troubleshooting topic aims to simplify the process, offering a concise guide on identifying and resolving connectivity issues. It is designed to get your setup back on track as quickly as possible by exploring common symptoms and providing troubleshooting steps. Before starting the troubleshooting process, it is important to note that, as of the date of publishing, MachineLogic for the pendant exclusively supports Universal Robots e-Series robotic arms.
How to use this Guide
Select the symptom that closely matches the issue(s) you are experiencing and expand the corresponding section. Follow the recommended troubleshooting steps provided.
Common Symptoms
When I add a robot configuration in MachineLogic, the connection succeeds but I am stuck in a “Robot is not in a ready state” error and the “Enable Robot” button does not work.
- Missing vention_control.urp program: See troubleshooting step 5.
- Vention_control.urp missing the external control urcap: See troubleshooting step 6.
- External control URcap improperly configured or not installed: See troubleshooting steps 2 & 3.
- Robot pendant is not in remote mode: See troubleshooting step 8.
When I add a robot configuration in MachineLogic, the connections never succeed.
- Wrong network settings: See troubleshooting step 1.
- Damaged / defective safety cables: See troubleshooting step 9.
- Safety cables not properly wired: See troubleshooting step 10.
The robot is connected but most functionalities do not work.
- Robot pendant is not in remote mode: See troubleshooting step 8.
The robot is connected but freedrive and the set payload command do not work.
- Remote control is not enabled: See troubleshooting step 7.
- Robot Polyscope software version is not 5.13 or newer: See troubleshooting step 4.
- Robot pendant is not in remote mode: See troubleshooting step 8.
The robot is connected but is always stuck in E-Stop / Safeguard stop and resetting the E-Stop does not work.
- Robot safety IO configuration is incorrect: See troubleshooting step 11.
- Robot safety IO wiring is incorrect: See troubleshooting step 12.
Troubleshooting Steps
1. Validating the robot’s network configuration.
Before trying to establish a connection with the robot, it’s important to look at a very common problem: differences in network settings, especially when devices are on different subnets or LANs. These differences can cause problems, like difficulties in sending data from one device to another because of complicated network paths and firewall rules that stop devices from talking directly.
In our case, the MachineMotion relies on the robot having a static IP address and subnet to communicate with the robotic arm. Please make sure the network configuration of your e-Series robot is as follows:
2. Checking the active URcaps.
A URCap is a software plugin developed to extend the functionality of Universal Robots’ collaborative robots. The external control URcap allow for control of a robot via a computer or another controller, enhancing its capabilities beyond the built-in software. This plugin facilitates real-time management of the robot’s operations, enabling more sophisticated, flexible, and responsive applications.
In our case, the MachineMotion relies on this specific URcap. Please make sure the external control URcap is installed and active on your e-Series robot as shown here:
*Note: Some URcaps can interfere with each other when installed on the same robot. Please make sure the only installed URcap is external control to prevent possible issues.
3. Validating the configuration of the external control URcap.
Configuring the host IP, custom port, and hostname for the External Control URCap is crucial for ensuring seamless communication between the robot and the MachineMotion.
Please make sure the external control URcap configuration is as follows:
4. Checking the Polyscope Software Version.
To ensure the highest level of compatibility and performance, the MachineMotion only supports e-Series robots that are up-to-date or that are running Polyscope software version 5.13 or newer.
Please make sure the robotic arm’s Polyscope version is up-to-date.
5. Confirming the vention_control.urp program exists.
To guarantee the streamlined setup and error recovery capabilities of e-Series robotic arms, the MachineMotion system is designed to automatically load and execute the “vention_control.urp” program. This process is essential for the operational readiness of the robotic arm. Should this particular program be missing or encounter loading errors, the robotic arm will be unable to enter an operational state.
Please make sure the program exists on the UR pendant and is properly named “vention_control.urp” as shown below.
6. Verifying the contents of the vention_control.urp program.
To guarantee the streamlined setup and error recovery capabilities of e-Series robotic arms, the MachineMotion system is designed to automatically load and execute the “vention_control.urp” program. This process is essential for the operational readiness of the robotic arm. Should this particular program be incomplete or empty, the robotic arm will be unable to enter an operational state.
Please make sure the UR program has the correct commands / content as shown below.
7. Validating the robot’s remote-control configuration
Enabling remote control in a Universal Robot’s is essential for real-time control and data exchange, allowing external applications to send commands and load programs.
Please make sure your e-Series robotic arm’s Remote Control setting is Enabled as shown below.
8. Confirming the robot pendant is in remote mode.
Using a Universal Robots robotic arm in remote mode is essential for safety and efficiency, allowing the MachineMotion to control the robot from a distance, minimizing the risk of accidents and enabling flexible operation without direct physical interaction.
Please make sure your e-Series robotic arm is in remote mode as shown below.
9. Inspecting the MachineMotion’s safety cables for damage/defects.
A damaged or defective cable connecting the MachineMotion system, the Pendant, and the Universal Robot robotic arm can lead to serious issues, including erratic behavior or complete loss of control. Such problems compromise the robot’s operation and safety.
Please inspect your safety cables, including the pins of the connectors, to make sure there is no damage.
10. Validating the MachineMotion’s safety cables wiring.
Proper wiring between the MachineMotion controller, the Pendant, and the Universal Robots (UR) arm is vital for accurate and safe operation. It ensures seamless communication, preventing errors and ensuring the robotic arm executes commands precisely
Please follow the MachineLogic UR setup guide here.
11. Validating the robot’s safety IO configuration.
The configuration of safety I/O systems is crucial for the safe operation of robots, as it involves setting up the software parameters and logic that govern how the robot responds to various safety-related signals and conditions. Improper configuration of safety I/O (Input/Output) in robotic systems can lead to significant operational disruptions, including the robot being stuck in a permanent and unrecoverable emergency stop (e-stop) or safeguard stop condition.
Please follow the UR safety guide here.
12. Checking the robot’s safety IO wiring.
Safety I/O systems are critical for the safe operation of robots, designed to detect hazardous conditions and trigger emergency stops to prevent accidents and ensure the safety of human operators and equipment. Improper safety I/O (Input/Output) wiring in robotic systems can lead to severe operational issues, including the robot being in a permanent and unrecoverable emergency stop (e-stop) or safeguard stop condition.
Please follow the robot safety module user manual here.
Still having issues?
If, after following the provided troubleshooting steps, you continue to experience difficulties, it may be best to reach out directly to our Customer Support or Success team. Our dedicated professionals are equipped to offer more personalized assistance, ensuring that we can address and resolve your concerns as efficiently as possible. We’re here to help, so please don’t hesitate to contact us for further support.