Hi, 

I have a UR10 running polyscope 3.9 and keep getting a protective stop message stating C207A0: Fieldbus input disconnected. The robot will run a few cycles and then trigger the error. i have researched the error code online and it states to ensure the ethernet/IP adapter is disabled which i have but the error keeps appearing.

Are you running any URCaps? Some of them are using RTDE which is a field-bus and if their processes stop can cause a disconnect issue.  Also, verify that the Profinet adapter is disabled as well.

Profinet adapter is disabled and using the Force copilot UR-Cap

One thing you could try is take the Force Co-Pilot URCap off the robot, does the issue continue?  If it does, try doing a cold restart on the robot using the service manual procedure attached.  You could also go backwards to 3.8 and see if the issue persists.  We have not upgraded any of the robots to 3.9 yet, but have been running 5.3 on the e-series without issue so I can't say if we have seen any similar issues.

The issue did occur on 3.8 which was part of the reason is updated to 3.9. I will remove the FT sensor and see what happens.

The FT sensor was removed and the protective stop issue did not occur since, is this an issue with the UR caps for the FT sensor.

@ruddock111

Can you confirm that you are running the FT300 URCap version 1.9.2? If not, could you give it a try and let us know if it solves your issue?

Are there other URCaps installed on your robot?

I was running URCap 1.9.1 and have upgrade to 1.9.2 and will let you know of the outcome.

No other URCaps are installed

No issues have occurred when running urcap 1.9.2 with polyscope 3.9. Robot has run for about 24 hrs

@ruddock111

Great news! Thanks for the update.