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ruddock111ruddock111 Posts: 18 Apprentice

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.

Best Answer


  • matthewd92matthewd92 Founding Pro, Tactile Sensor Beta Testers Posts: 1,267 Handy
    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.
  • ruddock111ruddock111 Posts: 18 Apprentice
    Profinet adapter is disabled and using the Force copilot UR-Cap
  • matthewd92matthewd92 Founding Pro, Tactile Sensor Beta Testers Posts: 1,267 Handy
    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.
  • ruddock111ruddock111 Posts: 18 Apprentice
    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.
  • ruddock111ruddock111 Posts: 18 Apprentice
    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.
  • Guillaume_CharronGuillaume_Charron Beta Tester Beetle Posts: 41 Handy

    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?
    Guillaume Charron
    Support Tech
    +01 418-380-2788 ext. 236
    [email protected]
  • ruddock111ruddock111 Posts: 18 Apprentice
    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
  • ruddock111ruddock111 Posts: 18 Apprentice
    No issues have occurred when running urcap 1.9.2 with polyscope 3.9. Robot has run for about 24 hrs
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