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BBellBBell Posts: 14 Apprentice
Hello,

We are attempting to upload script files to our UR5e. We have tested sending script files before and everything has worked thus far except for when we tried to send a program with a cam locate node. The UR is equipped with a Robotiq Wrist Camera and a Robotiq 2F-85 Gripper. The program is suppose to locate a board, then locate a part, pick up the part then place it onto the board. This works just fine when being run from the teach pendant. When we upload the script file to our external PC and try to send it to the UR, the UR will move to its snapshot position then give a pop up error saying:

"XMLRPC: Failed with error code 2: unkown function: findmodel"

The file was all created on the teach pendant using the polyscope and the each object functions. Is this a common error? What might be the cause and how can we fix it? Thanks!

Comments

  • mkardasinskimkardasinski Posts: 37 Handy
    Please post your program.
  • BBellBBell Posts: 14 Apprentice
    Would you like the .Script or .Urp?
  • mkardasinskimkardasinski Posts: 37 Handy
    Script
  • BBellBBell Posts: 14 Apprentice
    Attached it is uploaded as a .txt
  • bcastetsbcastets Vacuum Beta tester Posts: 212 Handy
    I first thought you did not include the definition of all Robotiq Camera function in your program but it looks alright.

    Did you try to save the program on the robot and request it is execution using UR client interface ?
  • BBellBBell Posts: 14 Apprentice
    The program code was written using the polyscope on the Teach Pendant and we then exported the .Script to run remotely. 

    How do I use the UR client interface?
  • bcastetsbcastets Vacuum Beta tester Posts: 212 Handy
    Here is an article about UR client interface:
    https://www.universal-robots.com/articles/ur/overview-of-client-interfaces/

    The "dashboard server" can be use to load and execute program.
  • BBellBBell Posts: 14 Apprentice
    So we have sent a few other programs from our PC to the robot and they have worked fine but these programs also didn't utilize a camera. Once we wrote the code to utilize the camera our error appeared. 
    Is it possible to send camera related functions remotely?
    Is this a common issue? How can we fix this "findmodel" issue?
  • matthewd92matthewd92 Founding Pro, Tactile Sensor Beta Testers Posts: 1,131 Handy
    One weird question, is the installation file that is loaded the correct one for the program running with the camera?  One advantage of loading the program from the dashboard server is the robot will automatically load the correct installation file and will not proceed until it’s initialized. Sending over a program I believe it just uses whatever installation is loaded. 
  • BBellBBell Posts: 14 Apprentice
    We have found that it switches the installation. Just in case we loaded the correct installation and sent the code and it still didn't work.
  • matthewd92matthewd92 Founding Pro, Tactile Sensor Beta Testers Posts: 1,131 Handy
    Is there a specific reason to send the robot program to the robot versus just commanding it from the computer to load a certain program?
  • BBellBBell Posts: 14 Apprentice
    We are trying to run everything remotely through a dedicated PC for hazardous reasons.
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