Error when rebooting the robot

Sebastien

@Stefan_Stubgaard @Annick_Mottard 
I recently updated my UR3 to version 3.3.2.266 that I downloaded on the UR website. I restarted it and everything was fine. I followed the UR procedure in the UR5 service manual.I then installed the UR caps for Robotiq's products (FT300, Camera and 2F85 gripper). However, I turned the robot off before lunch and now trying to turn it back on. When the USB with the software update that I downloaded on UR website is in the teach pendant USB I get to a screen where it is saying REBOOT AND SELEC PROPER BOOT DEVICE OR INSERT BOOT MEDIA IN SELECTED BOOT DEVICE AND PRESS A KEY.
If I don't have the key with the UR software update that I downloaded from UR website, I get to a screen saying, EFI SHELL VERSION 2.31 (5.9), CURRENT RUNNING MODE 1.1.2 MAP: CANNOT FIND REQUIRED MAP NAME, PRESS ESC. TO SKIP STARTUP.NSH, ANBY OTHER KEY TO CONTINUE. I was able to solve this issue by unplugging the 4 USB ports extension that we need to make the Robotiq Camera work with FT300 and 2F85 gripper. Now when I the UR is on, I am trying to connect back the USB port extension but then when I try to shut the robot down it does not work. What steps should I do?

Sebastien

I think I found a bit the issue to my problem. I think it is related to the recognition of USB devices as we booth the robot. I uninstalled the Robotiq URCaps and vision server. I started back from scratch the installation rebooting everytime I connected a new USB device to the controller and it worked fine. Any one else experienced something like this? @Stefan_Stubgaard how are the USB ports handled by the UR during reboot and so on.

PierreOlivier_Proulx

The issue that happens sometimes is the controller trying to boot on the vision system USB flash drive. I assume that your vision USB flash drive was plugged in the 4-ports USB hub, is that right? Another thing with usb: I think that you can only have one usb flash drive auto-mounted at the time. I don't know why there is this limitation. This is the reason why we recommend to reboot the robot after an installation.

Sebastien

@PierreOlivier_Proulx
Yes the vision USB was plugged in the 4-ports USB switch. 
When restarting the installation from scratch and shuting down/restarting the robot each time a new USB device was plugged in worked. I then had to dismount the robot to move it to another location. While doing so I unplugged some USB devices and then the same problem happened upon reboot. So my guess was really the way USB ports are handled by the UR. 

carlosjoserg

Hi there, related to this issue but not exactly the same.

FYI, I don't have any other USB (like robotiq vision or anything) but the controller one containing the PMAP information. However, due to a sudden power cut or something similar, the BIOS reset to boot up from the built-in EFI, and the error is exactly the same.

Just to let you know that it can happen, weird since the BIOS shouldn't change unless one gets the small battery on the board. Anyway, the solution is the same, just go to BIOS and make it boot form the USB containing the PMAP of the UR.

Thanks for the post, it gave me the idea.

andoors2011

Guys i have the same exact issue on UR10 and i can't login into the robot at least to recover my programs....is there anyway i can get around this and copy the robot programs before installing a new image? I tried plugging the usb in different locations and tried everything you guys mentioned in here but i can't even open a terminal at least to run a script to get into the linux system.

Adwait

Is the pseudocode for UR5's bootloader mode available online?

PierreOlivier_Proulx

@andoors2011 you can plug UR's flash drive in your computer and mount the drive. You should be able to navigate the filesystem. Your programs are located in the /programs folder. The robot calibration in /root/.urcontrol. On linux it should be easy. On windows I don't know how to do it though.

bcastets

On windows you can read files of the USB using: 
https://www.diskinternals.com/linux-reader

Procedure to restore a robot image is described in this UR support document:
https://www.universal-robots.com/how-tos-and-faqs/how-to/ur-how-tos/how-to-replace-flashcard-in-cb3-robots-15375/