![]() What else could be the problem? Are there any other required settings? I am out of ideas. The port in both the launch file and URCap internal file is 54321. ![]() In the Tool I/O menu, I tried changing the URCap to "User" instead of "Robotiq Grippers", and I kept the robot in Remote Control mode. On the pendant, going into Log/External/MODBUS displays no activity (I assume there should be something). Running pymodbus directly to connect to the IP address and port does not succeed either, but the bridge node does not die (since the device is not used). : Starting socat with following command: : Remote device is available at '/tmp/ttyUR_b' When running the node, part of the UR driver fails like this: Output.append((response.getRegister(i) & 0xFF00) > 8)ĪttributeError: 'ModbusIOException' object has no attribute rosrun robotiq_2f_gripper_control Robotiq2FGripperRtuNode.py /tmp/ttyUR_bįile "/usr/lib/python2.7/dist-packages/pymodbus/register_read_message.py", line 98, in getRegister : device reports readiness to read but returned no data (device disconnected or multiple access on rosrun robotiq_2f_gripper_control Robotiq2FGripperRtuNode.py /tmp/ttyUR_bįile "/root/catkin_ws/src/robotiq/robotiq_modbus_rtu/src/robotiq_modbus_rtu/comModbusRtu.py", line 95, in getStatus 'device reports readiness to read but returned no data ' Result = self.client._recv(expected_response_length or 1024)įile "/usr/lib/python2.7/dist-packages/pymodbus/client/sync.py", line 401, in _recvįile "/usr/local/lib/python2.7/dist-packages/serial/serialposix.py", line 501, in read Result = self._recv(expected_response_length or 1024)įile "/usr/lib/python2.7/dist-packages/pymodbus/transaction.py", line 163, in _recv Response = _holding_registers(0x07D0, numRegs, unit=0x0009)įile "/usr/lib/python2.7/dist-packages/pymodbus/client/common.py", line 109, in read_holding_registersįile "/usr/lib/python2.7/dist-packages/pymodbus/client/sync.py", line 85, in executeįile "/usr/lib/python2.7/dist-packages/pymodbus/transaction.py", line 130, in execute Pub = rospy.Publisher('Robotiq2FGripperRobotInput', inputMsg.Robotiq2FGripper_robot_input)įile "/root/catkin_ws/src/robotiq/robotiq_2f_gripper_control/nodes/Robotiq2FGripperRtuNode.py", line 89, in įile "/root/catkin_ws/src/robotiq/robotiq_2f_gripper_control/nodes/Robotiq2FGripperRtuNode.py", line 75, in mainLoopįile "/root/catkin_ws/src/robotiq/robotiq_2f_gripper_control/src/robotiq_2f_gripper_control/baseRobotiq2FGripper.py", line 107, in getStatusįile "/root/catkin_ws/src/robotiq/robotiq_modbus_rtu/src/robotiq_modbus_rtu/comModbusRtu.py", line 88, in getStatus root/catkin_ws/src/robotiq/robotiq_2f_gripper_control/nodes/Robotiq2FGripperRtuNode.py:65: SyntaxWarning: The publisher should be created with an explicit keyword argument 'queue_size'. I get a range of error messages when running rosrun robotiq_2f_gripper_control nodes/Robotiq2FGripperRtuNode.py /tmp/ttyUR_b (I agree that this command should be rosrun robotiq_2f_gripper_control Robotiq2FGripperRtuNode.py /tmp/ttyUR_b There seems to be no firewall on the PC ( sudo ufw status returns inactive) and the robot controller works fine otherwise. ![]() I followed the tutorial to set up the tool communication interface, installed the rs-485 URCap, checked in the Installation tab that the daemon runs, checked that the voltage, baudrate, stop_bits and parity seem correct (they also match what the Robotiq Gripper URCap sets for the interface on the pendant).
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