Ethernet/IP creates lag on the Pendant

richardtorrie

I have a UR5e connected to a Beckhoff Controller through Ethernet/IP, both are working but I find that when either in Remote or Local mode, the Pendant starts to lag and sometimes freezes which is a real pain when debugging.

It is better when in local mode but still lags a lot but when in Remote mode, it locks up and I end up having to kill the system.

Its like Ethernet/IP is taking priority on processing power within the robot controller.

Hope someone can help me with this issues.

matthewd92

I know this will sound silly but @arnoldgauge recently had some lag issues and what they discovered was if you remove the gateway settings from the network settings page it helped. He set them back from the actual gateway address to 0.0.0.0. 

Here is a a link to the original post https://dof.robotiq.com/discussion/comment/5447#Comment_5447

Not sure if thats your problem but worth worth a shot. 

richardtorrie

Thanks for the reply Matthew,

I do not have these set, I have the following network settings in place:-

IP Address:                        192.168.1.4
Subnet Mask:                     255.255.255.0
Default Gateway:               0.0.0.0
Preferred DNS Server:      0.0.0.0
Alternative DNS Server:    0.0.0.0

arnoldgauge

Hi @richardtorrie

Sorry that didn't work for you.  This was difficult for me to debug.   UR Support duplicated my bug and sent the info to Denmark.   

While it will obviously break your application, disable the ethernet network, reboot, then try using other features of the robot.  If the robot works normally again, it will help to pinpoint the issue to the network stack. 

You may want to change the robot IP address, just to make sure there is not a duplicate on your local network.  Then for test purposes, put the robot on the internet.  I suspect there is an issue with the network stack somewhere that doesn't handle timeouts well.  

matthewd92

I have never done EIP with an E-Series, only CB3 and never experienced the lag on the TP like you are seeing, I would do what @arnoldgauge is recommending and see if you can isolate the lag.