ValueError: An input parameter is already in use.

[Seynen]

Hello,
I try to run the example_control_loop.py, but it always says the variables are in use. (IN_USE).
Have not been able to run it ever. Are there some undocumented requirements?

The record.py example works ! But that does not use any input_variables (input to the UR) so that not failing on 'in use'.

I run it on Windows, with the URSIM UR5 in a Virtual Box.
Clean install, reboot virtual machine, does not seem to help.

netstat shows this: so there are connections to port 30004 but that's directly after restarting so that's normal, i guess.

error:

Any help would be greatly appreciated.
Best Regards,

[michal-milkowski]

Clearly Ethernet/IP is enabled - it reserves all int/double GP registers 0-23.
Control loop example needs to be updated to use registers 24 and above instead of 0.
This needs to be done both on the urp program side, and python side.

[Seynen]

Hi Michal,
thanks for the quick response.

I disabled all MODBUS/Profinet/EtherNetIP and now the lower 0-24 variables are indeed available.

However I now constantly get the C207A0 Protective Stop, (infamous?) Fieldbus input disconnected.
It says to disable fieldbus (which it is) or check the RTDE watchdog.

Where do I find and configure this watchdog?
My software has an open connection to the 30004 socket.
The "REAL-TIME DATA EXCHANGE (RTDE) GUIDE" does not mention a watchdog.

Can you point me in the right direction?

Best Regards,

[michal-milkowski]

Python script needs to be started before program on the robot starts.
Alternatively watchdog can be disabled on line 3, however in this case setpoint is set to 0 that will likely collide with base if input int registers 0 is set.

[Seynen]

Thanks for the help, i get it now,