The GUI is disconnected, connecting to....192.168.X.Y

MattiaDeiRossi

Hi all,

I'm using Motorcortex software to command our Robot mounted on our AMR.

So at the moment when I turn on the robot, I will connect via Wifi using browser GoogleChrome ( with the cert installed ) to the 192.168.X.Y and the Gui appears and everything works...

After a couple of minutes the error on the gui appears The GUI is disconnected, connecting to....192.168.X.Y, and I can't reconnect even if I reload the page.

I checked the following points:

there is only one GRID deployed
the https certs installed on the browser

The "Inspection" tool show me the error

t.websocket.rejectUnauthorized```

and the log of the controller:

--> Start of log_2025-03-28_07-37-35.dat
2025-03-28 07:37:35.340 +0000 [INFO] Real-time mode enabled
2025-03-28 07:37:35.920 +0000 [INFO] Configuration:
Motorcortex-core version: 2.13.0-2-ga425732_release
Robot-app version: 3.0.10-0-gf74c4f3_release
Motorcortex-core version: 2.13.0-2-ga425732_release
Motorcortex-math version: 2.6.1-0-g4f8e1b7_release
Motorcortex-control version: 3.6.0-0-g9bd6aab_release
Motorcortex-motion version: 3.0.5-0-g9311fee_release
Hardware key: 15767076192219547437
List of components: mcx-core2 mcx-io2 mcx-math2 mcx-mechanics1 mcx-motion3 mcx-control33 mcx-robot-app3
List of features: AxesControl#6 Bartending#0 Joystick#0 MachineControl#0 ManipulatorControl#1 SafetyChannelSelector#0 SetpointGenerator#0 SignalGenerator#0 Tool6DofAdmittance#0 UdpComm#0 UserFrame#0 WeavingMotion#0
License is not valid (error type: 128 info: 1), failed to verify. License does not include components: mcx-motion3.
Configuration file: /etc/motorcortex/config/config.json
{
"AxisControl": {
"Enable": true,
"NumberOfAxes": 6
},
"Bartending": {
"Amount": 1,
"Enable": true
},
"Drive": "cia402",
"Joystick": {
"Amount": 3,
"Device_0": "/dev/input/js0",
"Device_1": "/dev/input/js1",
"Device_2": "/dev/input/js2",
"Enable": false
},
"MachineControl": {
"Enable": false,
"Linking": "machine_control_links.json",
"NumberOfJoints": 3
},
"ManipulatorControl": {
"Enable": true
},
"Mode": "Production",
"Path": {
"Control": "control/control.xml",
"ExternalReset2": "scripts/r16chksum_workaround_stage1.sh 3 4 5 6 7 8",
"Fieldbus": "io/master.xml",
"License": "15767076192219547437.lic",
"Link": "",
"Linking": "linking.json",
"Log": "/var/www/motorcortex/log",
"Mechanism": "mech/mech-parameters.xml",
"Persistence": "control/persistence.bin",
"UserParameters": "user/parameters.json",
"_License": "/home/admin/15767076192219547437.lic"
},
"Realtime": {
"Allocate": 16,
"Isolate": [
0,
1
]
},
"Server": {
"Default": {
"Certificate": "/etc/ssl/certs/motorcortex.pem",
"Direction": "listen",
"Login": "disable",
"URL": "wss://*:5568:5567"
}
},
"SetpointGenerator": {
"Amount": 3,
"Enable": true,
"Linking": "setpoint_generator.links.json"
},
"SignalGenerator": {
"Amount": 3,
"Enable": true,
"Linking": "signal_generator.links.json"
},
"SpaceNav": {
"Device": "/dev/input/by-id/usb-3Dconnexion_3Dconnexion_Universal_Receiver-event-joystick",
"Device2": "/dev/input/by-id/usb-3Dconnexion_SpaceMouse_Wireless_Receiver-event-joystick",
"Enable": false
},
"Task": {
"Comm_task": {
"Dt": 1000,
"Sched": "Normal"
},
"Control_task": {
"Cpu": [
0
],
"Dt": 1000,
"Prio": 80,
"Sched": "Realtime"
},
"Fieldbus_task": {
"Cpu": [
1
],
"Dt": 1000,
"Prio": 80,
"Sched": "Realtime"
},
"IO_task": {
"Dt": 1000,
"Sched": "Realtime"
},
"Logger_task": {
"Dt": 1000,
"Sched": "Normal"
},
"Logic_task": {
"Dt": 10000,
"Sched": "Realtime"
},
"Simulator_task": {
"Dt": 1000,
"Sched": "Realtime"
}
},
"Tool6DofAdmittance": {
"Amount": 1,
"Enable": true
},
"UserFrame": {
"Amount": 6,
"Enable": true
},
"WeavingMotion": {
"Amount": 0,
"Enable": false
},
"XsensIMU": {
"Device": "/dev/ttyUSB0",
"Enable": false
}
}

2025-03-28 07:37:35.920 +0000 [INFO] App Feature: adding 3 SignalGenerator
2025-03-28 07:37:35.920 +0000 [INFO] App Feature: adding 3 SetpointGenerator
2025-03-28 07:37:35.920 +0000 [INFO] App Feature: Joystick is disabled in the configuration
2025-03-28 07:37:35.920 +0000 [INFO] App Feature: adding 6 AxisControl
2025-03-28 07:37:35.920 +0000 [INFO] App Feature: MachineControl is disabled in the configuration
2025-03-28 07:37:35.920 +0000 [INFO] App Feature: adding 1 Tool6DofAdmittance
2025-03-28 07:37:35.920 +0000 [INFO] App Feature: adding 1 Bartending
2025-03-28 07:37:35.930 +0000 [INFO] Task Logger_task stack is 1048576 bytes
2025-03-28 07:37:35.970 +0000 [WARNING] FK solver is not set, taking the default one
2025-03-28 07:37:35.115 +0000 [INFO_SM] MotionSL: Initialized state: mcx::motion::motion_sl::Idle
2025-03-28 07:37:35.115 +0000 [INFO_SM] MotionSL: Initialized state: mcx::motion::motion_sl::StopCommand
2025-03-28 07:37:35.115 +0000 [INFO_SM] MotionSL: Initialized state: mcx::motion::motion_sl:😛rogramReceived
2025-03-28 07:37:35.115 +0000 [INFO_SM] MotionSL: Initialized state: mcx::motion::motion_sl::NoCommand
2025-03-28 07:37:35.115 +0000 [INFO_SM] MotionSL: Initialized state: mcx::motion::motion_sl::MotionNotAllowed
2025-03-28 07:37:35.115 +0000 [INFO_SM] MotionSL: Initialized state: mcx::motion::motion_sl::MoveCommand
2025-03-28 07:37:35.115 +0000 [INFO_SM] MotionSL: Initialized state: mcx::motion::motion_sl::Moving
2025-03-28 07:37:35.115 +0000 [INFO_SM] MotionSL: Initialized state: mcx::motion::motion_sl::SetCommand
2025-03-28 07:37:35.115 +0000 [INFO_SM] MotionSL: Initialized state: mcx::motion::motion_sl::WaitCommand
2025-03-28 07:37:35.115 +0000 [INFO_SM] MotionSL: Initialized state: mcx::motion::motion_sl::MoveToStartCommand
2025-03-28 07:37:35.115 +0000 [INFO_SM] MotionSL: Initialized state: mcx::motion::motion_sl::CheckStatusFailed
2025-03-28 07:37:35.115 +0000 [INFO_SM] MotionSL: Enter state: mcx::motion::motion_sl::Idle
2025-03-28 07:37:35.247 +0000 [INFO] Using EtherCAT XML Parser 2.0
2025-03-28 07:37:35.247 +0000 [INFO] DC is excluded
2025-03-28 07:37:35.247 +0000 [INFO] DC is excluded
2025-03-28 07:37:35.247 +0000 [INFO] DC is excluded
2025-03-28 07:37:35.248 +0000 [INFO] DC is excluded
2025-03-28 07:37:35.259 +0000 [INFO] EtherCAT module (single system mode), Name: Ethercat, Master Id: 0, System Mode: Production
2025-03-28 07:37:35.267 +0000 [INFO_SM] Drive1: Initialized state: mcx::drive::Transition
2025-03-28 07:37:35.267 +0000 [INFO_SM] Drive1: Initialized state: mcx::drive::NotReadyToSwitchOn
2025-03-28 07:37:35.267 +0000 [INFO_SM] Drive1: Initialized state: mcx::drive::SwitchOnDisabled
2025-03-28 07:37:35.267 +0000 [INFO_SM] Drive1: Initialized state: mcx::drive::SwitchOn
2025-03-28 07:37:35.267 +0000 [INFO_SM] Drive1: Initialized state: mcx::drive:😮perationEnable
2025-03-28 07:37:35.267 +0000 [INFO_SM] Drive1: Initialized state: mcx::drive::QuickStopActive
2025-03-28 07:37:35.267 +0000 [INFO_SM] Drive1: Initialized state: mcx::drive::Fault
2025-03-28 07:37:35.267 +0000 [INFO_SM] Drive1: Enter state: mcx::drive::NotReadyToSwitchOn
2025-03-28 07:37:35.267 +0000 [INFO] Created drive: Drive1, type: 1, system mode: Production
2025-03-28 07:37:35.267 +0000 [INFO_SM] Drive2: Initialized state: mcx::drive::Transition
2025-03-28 07:37:35.267 +0000 [INFO_SM] Drive2: Initialized state: mcx::drive::NotReadyToSwitchOn
2025-03-28 07:37:35.267 +0000 [INFO_SM] Drive2: Initialized state: mcx::drive::SwitchOnDisabled
2025-03-28 07:37:35.267 +0000 [INFO_SM] Drive2: Initialized state: mcx::drive::SwitchOn
2025-03-28 07:37:35.267 +0000 [INFO_SM] Drive2: Initialized state: mcx::drive:😮perationEnable
2025-03-28 07:37:35.267 +0000 [INFO_SM] Drive2: Initialized state: mcx::drive::QuickStopActive
2025-03-28 07:37:35.267 +0000 [INFO_SM] Drive2: Initialized state: mcx::drive::Fault
2025-03-28 07:37:35.267 +0000 [INFO_SM] Drive2: Enter state: mcx::drive::NotReadyToSwitchOn
2025-03-28 07:37:35.267 +0000 [INFO] Created drive: Drive2, type: 1, system mode: Production
2025-03-28 07:37:35.267 +0000 [INFO_SM] Drive3: Initialized state: mcx::drive::Transition
2025-03-28 07:37:35.267 +0000 [INFO_SM] Drive3: Initialized state: mcx::drive::NotReadyToSwitchOn
2025-03-28 07:37:35.267 +0000 [INFO_SM] Drive3: Initialized state: mcx::drive::SwitchOnDisabled
2025-03-28 07:37:35.267 +0000 [INFO_SM] Drive3: Initialized state: mcx::drive::SwitchOn
2025-03-28 07:37:35.267 +0000 [INFO_SM] Drive3: Initialized state: mcx::drive:😮perationEnable
2025-03-28 07:37:35.267 +0000 [INFO_SM] Drive3: Initialized state: mcx::drive::QuickStopActive
2025-03-28 07:37:35.267 +0000 [INFO_SM] Drive3: Initialized state: mcx::drive::Fault
2025-03-28 07:37:35.267 +0000 [INFO_SM] Drive3: Enter state: mcx::drive::NotReadyToSwitchOn
2025-03-28 07:37:35.267 +0000 [INFO] Created drive: Drive3, type: 1, system mode: Production
2025-03-28 07:37:35.267 +0000 [INFO_SM] Drive4: Initialized state: mcx::drive::Transition
2025-03-28 07:37:35.267 +0000 [INFO_SM] Drive4: Initialized state: mcx::drive::NotReadyToSwitchOn
2025-03-28 07:37:35.267 +0000 [INFO_SM] Drive4: Initialized state: mcx::drive::SwitchOnDisabled
2025-03-28 07:37:35.267 +0000 [INFO_SM] Drive4: Initialized state: mcx::drive::SwitchOn
2025-03-28 07:37:35.267 +0000 [INFO_SM] Drive4: Initialized state: mcx::drive:😮perationEnable
2025-03-28 07:37:35.267 +0000 [INFO_SM] Drive4: Initialized state: mcx::drive::QuickStopActive
2025-03-28 07:37:35.267 +0000 [INFO_SM] Drive4: Initialized state: mcx::drive::Fault
2025-03-28 07:37:35.267 +0000 [INFO_SM] Drive4: Enter state: mcx::drive::NotReadyToSwitchOn
2025-03-28 07:37:35.267 +0000 [INFO] Created drive: Drive4, type: 1, system mode: Production
2025-03-28 07:37:35.267 +0000 [INFO_SM] Drive5: Initialized state: mcx::drive::Transition
2025-03-28 07:37:35.267 +0000 [INFO_SM] Drive5: Initialized state: mcx::drive::NotReadyToSwitchOn
2025-03-28 07:37:35.267 +0000 [INFO_SM] Drive5: Initialized state: mcx::drive::SwitchOnDisabled
2025-03-28 07:37:35.267 +0000 [INFO_SM] Drive5: Initialized state: mcx::drive::SwitchOn
2025-03-28 07:37:35.267 +0000 [INFO_SM] Drive5: Initialized state: mcx::drive:😮perationEnable
2025-03-28 07:37:35.267 +0000 [INFO_SM] Drive5: Initialized state: mcx::drive::QuickStopActive
2025-03-28 07:37:35.267 +0000 [INFO_SM] Drive5: Initialized state: mcx::drive::Fault
2025-03-28 07:37:35.267 +0000 [INFO_SM] Drive5: Enter state: mcx::drive::NotReadyToSwitchOn
2025-03-28 07:37:35.267 +0000 [INFO] Created drive: Drive5, type: 1, system mode: Production
2025-03-28 07:37:35.267 +0000 [INFO_SM] Drive6: Initialized state: mcx::drive::Transition
2025-03-28 07:37:35.267 +0000 [INFO_SM] Drive6: Initialized state: mcx::drive::NotReadyToSwitchOn
2025-03-28 07:37:35.267 +0000 [INFO_SM] Drive6: Initialized state: mcx::drive::SwitchOnDisabled
2025-03-28 07:37:35.267 +0000 [INFO_SM] Drive6: Initialized state: mcx::drive::SwitchOn
2025-03-28 07:37:35.267 +0000 [INFO_SM] Drive6: Initialized state: mcx::drive:😮perationEnable
2025-03-28 07:37:35.267 +0000 [INFO_SM] Drive6: Initialized state: mcx::drive::QuickStopActive
2025-03-28 07:37:35.267 +0000 [INFO_SM] Drive6: Initialized state: mcx::drive::Fault
2025-03-28 07:37:35.267 +0000 [INFO_SM] Drive6: Enter state: mcx::drive::NotReadyToSwitchOn
2025-03-28 07:37:35.267 +0000 [INFO] Created drive: Drive6, type: 1, system mode: Production
2025-03-28 07:37:35.271 +0000 [INFO] Module is enabled: /etc/motorcortex/config/user/parameters.json
2025-03-28 07:37:35.279 +0000 [INFO] Task Fieldbus_task stack is 1048576 bytes
2025-03-28 07:37:35.286 +0000 [INFO_SM] Motion Mode: Initialized state: logic::InitMode
2025-03-28 07:37:35.286 +0000 [INFO_SM] Motion Mode: Initialized state: logic:😛auseMode
2025-03-28 07:37:35.286 +0000 [INFO_SM] Motion Mode: Initialized state: logic:😛auseToSemiAutoModeTransition
2025-03-28 07:37:35.286 +0000 [INFO_SM] Motion Mode: Initialized state: logic:😛auseToAutoRunModeTransition
2025-03-28 07:37:35.286 +0000 [INFO_SM] Motion Mode: Initialized state: logic:😛auseToMoveToStartModeTransition
2025-03-28 07:37:35.286 +0000 [INFO_SM] Motion Mode: Initialized state: logic:😛auseToManualJointModeTransition
2025-03-28 07:37:35.286 +0000 [INFO_SM] Motion Mode: Initialized state: logic:😛auseToManualCartModeTransition
2025-03-28 07:37:35.286 +0000 [INFO_SM] Motion Mode: Initialized state: logic::ToPauseModeTransition
2025-03-28 07:37:35.286 +0000 [INFO_SM] Motion Mode: Initialized state: logic::TorqueMode
2025-03-28 07:37:35.286 +0000 [INFO_SM] Motion Mode: Initialized state: logic::AutoRunMode
2025-03-28 07:37:35.286 +0000 [INFO_SM] Motion Mode: Initialized state: logic::MoveToStartMode
2025-03-28 07:37:35.286 +0000 [INFO_SM] Motion Mode: Initialized state: logic::SemiAutoMode
2025-03-28 07:37:35.286 +0000 [INFO_SM] Motion Mode: Initialized state: logic::ManualCartMode
2025-03-28 07:37:35.286 +0000 [INFO_SM] Motion Mode: Initialized state: logic::ManualJointMode
2025-03-28 07:37:35.286 +0000 [INFO_SM] Robot State: Initialized state: logic::InitState
2025-03-28 07:37:35.286 +0000 [INFO_SM] Robot State: Initialized state: logic::ReferencingState
2025-03-28 07:37:35.286 +0000 [INFO_SM] Robot State: Initialized state: logic::SaveConfigurationState
2025-03-28 07:37:35.286 +0000 [INFO_SM] Robot State: Initialized state: logic:😮ffState
2025-03-28 07:37:35.286 +0000 [INFO_SM] Robot State: Initialized state: logic:😮ffToIdleState
2025-03-28 07:37:35.286 +0000 [INFO_SM] Robot State: Initialized state: logic::IdleToOffState
2025-03-28 07:37:35.286 +0000 [INFO_SM] Robot State: Initialized state: logic::IdleState
2025-03-28 07:37:35.286 +0000 [INFO_SM] Robot State: Initialized state: logic::IdleToEngagedState
2025-03-28 07:37:35.286 +0000 [INFO_SM] Robot State: Initialized state: logic:😛ausedToIdleState
2025-03-28 07:37:35.286 +0000 [INFO_SM] Robot State: Initialized state: logic::EngagedToPausedState
2025-03-28 07:37:35.287 +0000 [INFO_SM] Robot State: Initialized state: logic::EngagedState
2025-03-28 07:37:35.287 +0000 [INFO_SM] Robot State: Initialized state: logic::EStopResetState
2025-03-28 07:37:35.287 +0000 [INFO_SM] Robot State: Initialized state: logic::EStopOffState
2025-03-28 07:37:35.287 +0000 [INFO_SM] Robot State: Initialized state: logic::EStopOpenCircState
2025-03-28 07:37:35.287 +0000 [INFO_SM] Robot State: Initialized state: logic::ToForcedIdleState
2025-03-28 07:37:35.287 +0000 [INFO_SM] Robot State: Initialized state: logic::ForcedIdleState
2025-03-28 07:37:35.287 +0000 [INFO_SM] Robot State: Initialized state: logic::ForcedIdleResetState
2025-03-28 07:37:35.310 +0000 [INFO] App Feature: WeavingMotion is disabled in the configuration
2025-03-28 07:37:35.310 +0000 [INFO] App Feature: adding 3 SignalGenerator
2025-03-28 07:37:35.310 +0000 [INFO] Task Logic_task stack is 1048576 bytes
2025-03-28 07:37:35.312 +0000 [INFO] App Feature: adding 3 SetpointGenerator
2025-03-28 07:37:35.321 +0000 [INFO] App Feature: Joystick is disabled in the configuration
2025-03-28 07:37:35.321 +0000 [INFO] Task Simulator_task stack is 1048576 bytes
2025-03-28 07:37:35.335 +0000 [INFO] Task Control_task stack is 1048576 bytes
2025-03-28 07:37:35.347 +0000 [INFO] Task IO_task stack is 1048576 bytes
2025-03-28 07:37:35.350 +0000 [INFO] Task Comm_task stack is 1048576 bytes
2025-03-28 07:37:35.838 +0000 [ERROR] Failed to add link, path not found: root/Ethercat/GCC/error
2025-03-28 07:37:35.838 +0000 [ERROR] Failed to add link, path not found: root/Ethercat/Robot/error
2025-03-28 07:37:35.840 +0000 [WARNING] Destination root/ManipulatorControl/:fromInterp/motion_gen_command[0] has multiple sources: root/MotionInterpreter/:toCtrl/motion_gen_command[0:1], root/MotionJSInterpreter/:toCtrl/motion_gen_command[0:1]
2025-03-28 07:37:35.840 +0000 [WARNING] Destination root/ManipulatorControl/:fromInterp/move_command_ptr[0] has multiple sources: root/MotionInterpreter/:toCtrl/move_command_ptr[0:1], root/MotionJSInterpreter/:toCtrl/move_command_ptr[0:1]
2025-03-28 07:37:35.840 +0000 [WARNING] Destination root/Logic/:interpToMode/mode_command[0] has multiple sources: root/MotionInterpreter/:toMode/mode_command[0:1], root/MotionJSInterpreter/:toMode/mode_command[0:1]
2025-03-28 07:37:35.840 +0000 [ERROR] Failed to SetParameters, path not found: root/Ethercat/GCC/EL6910-01/Outputs/oSTONotActive
2025-03-28 07:37:35.840 +0000 [INFO] Applying SetpointGenerator Links
2025-03-28 07:37:35.841 +0000 [ERROR] Failed to add link, path not found: root/MachineControl/jointExternalInput1
2025-03-28 07:37:35.841 +0000 [ERROR] Failed to add link, path not found: root/MachineControl/jointExternalInput1
2025-03-28 07:37:35.841 +0000 [ERROR] Failed to add link, path not found: root/MachineControl/jointExternalInput1
2025-03-28 07:37:35.841 +0000 [INFO] Applying SignalGenerator Links
2025-03-28 07:37:35.842 +0000 [ERROR] Failed to add link, path not found: root/MachineControl/jointExternalInput2
2025-03-28 07:37:35.842 +0000 [ERROR] Failed to add link, path not found: root/MachineControl/jointExternalInput2
2025-03-28 07:37:35.842 +0000 [ERROR] Failed to add link, path not found: root/MachineControl/jointExternalInput2
2025-03-28 07:37:35.899 +0000 [INFO] Task Comm_task PID: 519 is running on CPUs: [], Scheduler Policy: SCHED_OTHER, Priority: 0, Offset: 100000 (ns)
2025-03-28 07:37:35.899 +0000 [INFO_SM] MotionJS: Initialized state: mcx::motion::motion_sl::Idle
2025-03-28 07:37:35.899 +0000 [INFO_SM] MotionJS: Initialized state: mcx::motion::motion_sl::StopCommand
2025-03-28 07:37:35.899 +0000 [INFO_SM] MotionJS: Initialized state: mcx::motion::motion_sl:😛rogramReceived
2025-03-28 07:37:35.899 +0000 [INFO_SM] MotionJS: Initialized state: mcx::motion::motion_sl::NoCommand
2025-03-28 07:37:35.899 +0000 [INFO_SM] MotionJS: Initialized state: mcx::motion::motion_sl::MotionNotAllowed
2025-03-28 07:37:35.899 +0000 [INFO_SM] MotionJS: Initialized state: mcx::motion::motion_sl::MoveCommand
2025-03-28 07:37:35.899 +0000 [INFO_SM] MotionJS: Initialized state: mcx::motion::motion_sl::Moving
2025-03-28 07:37:35.899 +0000 [INFO_SM] MotionJS: Initialized state: mcx::motion::motion_sl::SetCommand
2025-03-28 07:37:35.899 +0000 [INFO_SM] MotionJS: Initialized state: mcx::motion::motion_sl::WaitCommand
2025-03-28 07:37:35.899 +0000 [INFO_SM] MotionJS: Initialized state: mcx::motion::motion_sl::MoveToStartCommand
2025-03-28 07:37:35.899 +0000 [INFO_SM] MotionJS: Enter state: mcx::motion::motion_sl::Idle
2025-03-28 07:37:35.899 +0000 [INFO] Distributed Clock: domain: 0, device: 3, assign_active: 0x300, cycle_time_sync0: 1000000, shift_time_sync0: 0, cycle_time_sync1: 0, shift_time_sync1: 0
2025-03-28 07:37:35.899 +0000 [INFO] Distributed Clock: domain: 0, device: 4, assign_active: 0x300, cycle_time_sync0: 1000000, shift_time_sync0: 0, cycle_time_sync1: 0, shift_time_sync1: 0
2025-03-28 07:37:35.899 +0000 [INFO] Distributed Clock: domain: 0, device: 5, assign_active: 0x300, cycle_time_sync0: 1000000, shift_time_sync0: 0, cycle_time_sync1: 0, shift_time_sync1: 0
2025-03-28 07:37:35.899 +0000 [INFO] Distributed Clock: domain: 0, device: 6, assign_active: 0x300, cycle_time_sync0: 1000000, shift_time_sync0: 0, cycle_time_sync1: 0, shift_time_sync1: 0
2025-03-28 07:37:35.899 +0000 [INFO] Distributed Clock: domain: 0, device: 7, assign_active: 0x300, cycle_time_sync0: 1000000, shift_time_sync0: 0, cycle_time_sync1: 0, shift_time_sync1: 0
2025-03-28 07:37:35.899 +0000 [INFO] Distributed Clock: domain: 0, device: 8, assign_active: 0x300, cycle_time_sync0: 1000000, shift_time_sync0: 0, cycle_time_sync1: 0, shift_time_sync1: 0
2025-03-28 07:37:35.899 +0000 [INFO] Enabled Distributed Clock for EtherCAT master id: 0 driver name: EtherLAB
2025-03-28 07:37:35.899 +0000 [INFO] Task Control_task PID: 517 is running on CPUs: [0], Scheduler Policy: SCHED_FIFO, Priority: 80, Offset: 550000 (ns)
2025-03-28 07:37:35.899 +0000 [INFO] Task Logger_task PID: 508 is running on CPUs: [], Scheduler Policy: SCHED_OTHER, Priority: 0, Offset: 100000 (ns)
2025-03-28 07:37:35.899 +0000 [INFO] Task IO_task PID: 518 is running on CPUs: [], Scheduler Policy: SCHED_FIFO, Priority: 1, Offset: 100000 (ns)
2025-03-28 07:37:35.899 +0000 [INFO] Task Simulator_task PID: 516 is running on CPUs: [], Scheduler Policy: SCHED_FIFO, Priority: 1, Offset: 100000 (ns)
2025-03-28 07:37:35.899 +0000 [INFO] Linking PDO Inputs
2025-03-28 07:37:35.900 +0000 [INFO] Connected root/Ethercat/RobotNoFSoE/SOMANET 1/TxPDO Mapping 1/Statusword --> root/DriveLogic/driveStatusWord[0]
2025-03-28 07:37:35.900 +0000 [INFO] Connected root/Ethercat/RobotNoFSoE/SOMANET 1/TxPDO Mapping 1/Position actual value --> root/AxisControl/actuatorControlLoops/actuatorControlLoop01/motorPositionActual[0]
2025-03-28 07:37:35.900 +0000 [INFO] Connected root/Ethercat/RobotNoFSoE/SOMANET 2/TxPDO Mapping 1/Statusword --> root/DriveLogic/driveStatusWord[1]
2025-03-28 07:37:35.900 +0000 [INFO] Connected root/Ethercat/RobotNoFSoE/SOMANET 2/TxPDO Mapping 1/Position actual value --> root/AxisControl/actuatorControlLoops/actuatorControlLoop02/motorPositionActual[0]
2025-03-28 07:37:35.900 +0000 [INFO] Connected root/Ethercat/RobotNoFSoE/SOMANET 3/TxPDO Mapping 1/Statusword --> root/DriveLogic/driveStatusWord[2]
2025-03-28 07:37:35.900 +0000 [INFO] Connected root/Ethercat/RobotNoFSoE/SOMANET 3/TxPDO Mapping 1/Position actual value --> root/AxisControl/actuatorControlLoops/actuatorControlLoop03/motorPositionActual[0]
2025-03-28 07:37:35.900 +0000 [INFO] Connected root/Ethercat/RobotNoFSoE/SOMANET 4/TxPDO Mapping 1/Statusword --> root/DriveLogic/driveStatusWord[3]
2025-03-28 07:37:35.900 +0000 [INFO] Connected root/Ethercat/RobotNoFSoE/SOMANET 4/TxPDO Mapping 1/Position actual value --> root/AxisControl/actuatorControlLoops/actuatorControlLoop04/motorPositionActual[0]
2025-03-28 07:37:35.900 +0000 [INFO] Connected root/Ethercat/RobotNoFSoE/SOMANET 5/TxPDO Mapping 1/Statusword --> root/DriveLogic/driveStatusWord[4]
2025-03-28 07:37:35.900 +0000 [INFO] Connected root/Ethercat/RobotNoFSoE/SOMANET 5/TxPDO Mapping 1/Position actual value --> root/AxisControl/actuatorControlLoops/actuatorControlLoop05/motorPositionActual[0]
2025-03-28 07:37:35.900 +0000 [INFO] Connected root/Ethercat/RobotNoFSoE/SOMANET 6/TxPDO Mapping 1/Statusword --> root/DriveLogic/driveStatusWord[5]
2025-03-28 07:37:35.900 +0000 [INFO] Connected root/Ethercat/RobotNoFSoE/SOMANET 6/TxPDO Mapping 1/Position actual value --> root/AxisControl/actuatorControlLoops/actuatorControlLoop06/motorPositionActual[0]
2025-03-28 07:37:35.900 +0000 [INFO] Linking PDO Outputs
2025-03-28 07:37:35.900 +0000 [INFO] Connected root/DriveLogic/driveControlWord[0] --> root/Ethercat/RobotNoFSoE/SOMANET 1/RxPDO Mapping 1/Controlword
2025-03-28 07:37:35.900 +0000 [INFO] Connected root/DriveLogic/driveOpMode[0] --> root/Ethercat/RobotNoFSoE/SOMANET 1/RxPDO Mapping 1/Modes of operation
2025-03-28 07:37:35.900 +0000 [INFO] Connected root/AxisControl/actuatorControlLoops/actuatorControlLoop01/motorPositionTarget[0] --> root/Ethercat/RobotNoFSoE/SOMANET 1/RxPDO Mapping 1/Target position
2025-03-28 07:37:35.900 +0000 [INFO] Connected root/DriveLogic/driveControlWord[1] --> root/Ethercat/RobotNoFSoE/SOMANET 2/RxPDO Mapping 1/Controlword
2025-03-28 07:37:35.900 +0000 [INFO] Connected root/DriveLogic/driveOpMode[1] --> root/Ethercat/RobotNoFSoE/SOMANET 2/RxPDO Mapping 1/Modes of operation
2025-03-28 07:37:35.900 +0000 [INFO] Connected root/AxisControl/actuatorControlLoops/actuatorControlLoop02/motorPositionTarget[0] --> root/Ethercat/RobotNoFSoE/SOMANET 2/RxPDO Mapping 1/Target position
2025-03-28 07:37:35.900 +0000 [INFO] Connected root/DriveLogic/driveControlWord[2] --> root/Ethercat/RobotNoFSoE/SOMANET 3/RxPDO Mapping 1/Controlword
2025-03-28 07:37:35.900 +0000 [INFO] Connected root/DriveLogic/driveOpMode[2] --> root/Ethercat/RobotNoFSoE/SOMANET 3/RxPDO Mapping 1/Modes of operation
2025-03-28 07:37:35.900 +0000 [INFO] Connected root/AxisControl/actuatorControlLoops/actuatorControlLoop03/motorPositionTarget[0] --> root/Ethercat/RobotNoFSoE/SOMANET 3/RxPDO Mapping 1/Target position
2025-03-28 07:37:35.900 +0000 [INFO] Connected root/DriveLogic/driveControlWord[3] --> root/Ethercat/RobotNoFSoE/SOMANET 4/RxPDO Mapping 1/Controlword
2025-03-28 07:37:35.900 +0000 [INFO] Connected root/DriveLogic/driveOpMode[3] --> root/Ethercat/RobotNoFSoE/SOMANET 4/RxPDO Mapping 1/Modes of operation
2025-03-28 07:37:35.900 +0000 [INFO] Connected root/AxisControl/actuatorControlLoops/actuatorControlLoop04/motorPositionTarget[0] --> root/Ethercat/RobotNoFSoE/SOMANET 4/RxPDO Mapping 1/Target position
2025-03-28 07:37:35.900 +0000 [INFO] Connected root/DriveLogic/driveControlWord[4] --> root/Ethercat/RobotNoFSoE/SOMANET 5/RxPDO Mapping 1/Controlword
2025-03-28 07:37:35.900 +0000 [INFO] Connected root/DriveLogic/driveOpMode[4] --> root/Ethercat/RobotNoFSoE/SOMANET 5/RxPDO Mapping 1/Modes of operation
2025-03-28 07:37:35.900 +0000 [INFO] Connected root/AxisControl/actuatorControlLoops/actuatorControlLoop05/motorPositionTarget[0] --> root/Ethercat/RobotNoFSoE/SOMANET 5/RxPDO Mapping 1/Target position
2025-03-28 07:37:35.900 +0000 [INFO] Connected root/DriveLogic/driveControlWord[5] --> root/Ethercat/RobotNoFSoE/SOMANET 6/RxPDO Mapping 1/Controlword
2025-03-28 07:37:35.900 +0000 [INFO] Connected root/DriveLogic/driveOpMode[5] --> root/Ethercat/RobotNoFSoE/SOMANET 6/RxPDO Mapping 1/Modes of operation
2025-03-28 07:37:35.900 +0000 [INFO] Connected root/AxisControl/actuatorControlLoops/actuatorControlLoop06/motorPositionTarget[0] --> root/Ethercat/RobotNoFSoE/SOMANET 6/RxPDO Mapping 1/Target position
2025-03-28 07:37:35.900 +0000 [INFO] Linking Domain System Mode
2025-03-28 07:37:35.900 +0000 [INFO] Linking SDO
2025-03-28 07:37:35.901 +0000 [INFO] Task Fieldbus_task PID: 511 is running on CPUs: [1], Scheduler Policy: SCHED_FIFO, Priority: 80, Offset: 0 (ns)
2025-03-28 07:37:35.919 +0000 [INFO] Task Logic_task PID: 515 is running on CPUs: [], Scheduler Policy: SCHED_FIFO, Priority: 1, Offset: 1000000 (ns)
2025-03-28 07:37:37.902 +0000 [INFO] Publisher reloading certificate
2025-03-28 07:37:37.902 +0000 [INFO] RPC reloading certificate
2025-03-28 07:37:37.927 +0000 [INFO_SM] Motion Mode: Enter state: logic::InitMode
2025-03-28 07:37:37.927 +0000 [INFO_SM] Robot State: Enter state: logic::InitState
2025-03-28 07:37:37.927 +0000 [INFO_SM] Robot State: Enter state: logic::EStopOpenCircState
2025-03-28 07:37:37.927 +0000 [INFO_SM] Robot State: Enter state: logic::EStopOffState
2025-03-28 07:37:37.927 +0000 [INFO_SM] Robot State: State: logic::InitState Event: emergencyStop [done]
2025-03-28 07:37:37.927 +0000 [INFO_SM] Robot State: E-Stop id: 501 (0x1f5) subsystem: 0 slave info: 0
2025-03-28 07:37:37.937 +0000 [INFO_SM] Motion Mode: Enter state: logic::ToPauseModeTransition
2025-03-28 07:37:37.937 +0000 [INFO_SM] Motion Mode: State: logic::InitMode Event: gotoPauseModeEvent [done]
2025-03-28 07:37:37.937 +0000 [INFO] Goto pause mode
2025-03-28 07:37:37.937 +0000 [INFO_SM] Robot State: State: logic::EStopOffState Event: emergencyStop [done]
2025-03-28 07:37:37.937 +0000 [INFO_SM] Robot State: E-Stop id: 607 (0x25f) subsystem: 1 slave info: 0
2025-03-28 07:37:37.937 +0000 [INFO_SM] Robot State: State: logic::EStopOffState Event: emergencyStop [done]
2025-03-28 07:37:37.937 +0000 [INFO_SM] Robot State: E-Stop id: 607 (0x25f) subsystem: 2 slave info: 0
2025-03-28 07:37:37.937 +0000 [INFO_SM] Robot State: State: logic::EStopOffState Event: emergencyStop [done]
2025-03-28 07:37:37.937 +0000 [INFO_SM] Robot State: E-Stop id: 607 (0x25f) subsystem: 3 slave info: 0
2025-03-28 07:37:37.937 +0000 [INFO_SM] Robot State: State: logic::EStopOffState Event: emergencyStop [done]
2025-03-28 07:37:37.937 +0000 [INFO_SM] Robot State: E-Stop id: 607 (0x25f) subsystem: 4 slave info: 0
2025-03-28 07:37:37.937 +0000 [INFO_SM] Robot State: State: logic::EStopOffState Event: emergencyStop [done]
2025-03-28 07:37:37.937 +0000 [INFO_SM] Robot State: E-Stop id: 607 (0x25f) subsystem: 5 slave info: 0
2025-03-28 07:37:37.937 +0000 [INFO_SM] Robot State: State: logic::EStopOffState Event: emergencyStop [done]
2025-03-28 07:37:37.937 +0000 [INFO_SM] Robot State: E-Stop id: 607 (0x25f) subsystem: 6 slave info: 0
2025-03-28 07:37:37.937 +0000 [INFO_SM] Robot State: State: logic::EStopOffState Event: delayEvent [repeat]
2025-03-28 07:37:37.937 +0000 [INFO] Drive1 mode: Cyclic Sync. Position
2025-03-28 07:37:37.937 +0000 [INFO_SM] Drive1: State: mcx::drive::NotReadyToSwitchOn Event: Switch Mode [done]
2025-03-28 07:37:37.937 +0000 [INFO_SM] Drive1: Enter state: mcx::drive::Transition
2025-03-28 07:37:37.937 +0000 [INFO_SM] Drive1: State: mcx::drive::NotReadyToSwitchOn Event: Fault Acknowledge [done]
2025-03-28 07:37:37.937 +0000 [INFO] Drive2 mode: Cyclic Sync. Position
2025-03-28 07:37:37.937 +0000 [INFO_SM] Drive2: State: mcx::drive::NotReadyToSwitchOn Event: Switch Mode [done]
2025-03-28 07:37:37.937 +0000 [INFO_SM] Drive2: Enter state: mcx::drive::Transition
2025-03-28 07:37:37.937 +0000 [INFO_SM] Drive2: State: mcx::drive::NotReadyToSwitchOn Event: Fault Acknowledge [done]
2025-03-28 07:37:37.937 +0000 [INFO] Drive3 mode: Cyclic Sync. Position
2025-03-28 07:37:37.937 +0000 [INFO_SM] Drive3: State: mcx::drive::NotReadyToSwitchOn Event: Switch Mode [done]
2025-03-28 07:37:37.937 +0000 [INFO_SM] Drive3: Enter state: mcx::drive::Transition
2025-03-28 07:37:37.937 +0000 [INFO_SM] Drive3: State: mcx::drive::NotReadyToSwitchOn Event: Fault Acknowledge [done]
2025-03-28 07:37:37.937 +0000 [INFO] Drive4 mode: Cyclic Sync. Position
2025-03-28 07:37:37.937 +0000 [INFO_SM] Drive4: State: mcx::drive::NotReadyToSwitchOn Event: Switch Mode [done]
2025-03-28 07:37:37.937 +0000 [INFO_SM] Drive4: Enter state: mcx::drive::Transition
2025-03-28 07:37:37.937 +0000 [INFO_SM] Drive4: State: mcx::drive::NotReadyToSwitchOn Event: Fault Acknowledge [done]
2025-03-28 07:37:37.937 +0000 [INFO] Drive5 mode: Cyclic Sync. Position
2025-03-28 07:37:37.937 +0000 [INFO_SM] Drive5: State: mcx::drive::NotReadyToSwitchOn Event: Switch Mode [done]
2025-03-28 07:37:37.937 +0000 [INFO_SM] Drive5: Enter state: mcx::drive::Transition
2025-03-28 07:37:37.937 +0000 [INFO_SM] Drive5: State: mcx::drive::NotReadyToSwitchOn Event: Fault Acknowledge [done]
2025-03-28 07:37:37.937 +0000 [INFO] Drive6 mode: Cyclic Sync. Position
2025-03-28 07:37:37.937 +0000 [INFO_SM] Drive6: State: mcx::drive::NotReadyToSwitchOn Event: Switch Mode [done]
2025-03-28 07:37:37.937 +0000 [INFO_SM] Drive6: Enter state: mcx::drive::Transition
2025-03-28 07:37:37.937 +0000 [INFO_SM] Drive6: State: mcx::drive::NotReadyToSwitchOn Event: Fault Acknowledge [done]
2025-03-28 07:37:37.947 +0000 [INFO_SM] Motion Mode: State: logic::ToPauseModeTransition Event: waitingPauseModeEvent [repeat]
2025-03-28 07:37:37.947 +0000 [INFO_SM] Drive1: Enter state: mcx::drive::SwitchOnDisabled
2025-03-28 07:37:37.947 +0000 [INFO_SM] Drive1: State: mcx::drive::Transition Event: Fault Reset [done]
2025-03-28 07:37:37.947 +0000 [INFO_SM] Drive2: Enter state: mcx::drive::SwitchOnDisabled
2025-03-28 07:37:37.947 +0000 [INFO_SM] Drive2: State: mcx::drive::Transition Event: Fault Reset [done]
2025-03-28 07:37:37.947 +0000 [INFO_SM] Drive3: Enter state: mcx::drive::SwitchOnDisabled
2025-03-28 07:37:37.947 +0000 [INFO_SM] Drive3: State: mcx::drive::Transition Event: Fault Reset [done]
2025-03-28 07:37:37.947 +0000 [INFO_SM] Drive4: Enter state: mcx::drive::SwitchOnDisabled
2025-03-28 07:37:37.947 +0000 [INFO_SM] Drive4: State: mcx::drive::Transition Event: Fault Reset [done]
2025-03-28 07:37:37.947 +0000 [INFO_SM] Drive5: Enter state: mcx::drive::SwitchOnDisabled
2025-03-28 07:37:37.947 +0000 [INFO_SM] Drive5: State: mcx::drive::Transition Event: Fault Reset [done]
2025-03-28 07:37:37.947 +0000 [INFO_SM] Drive6: Enter state: mcx::drive::SwitchOnDisabled
2025-03-28 07:37:37.947 +0000 [INFO_SM] Drive6: State: mcx::drive::Transition Event: Fault Reset [done]
2025-03-28 07:37:38.470 +0000 [INFO_SM] Motion Mode: Enter state: logic:😛auseMode
2025-03-28 07:37:38.470 +0000 [INFO_SM] Motion Mode: State: logic::ToPauseModeTransition Event: waitingPauseModeEvent [done]
2025-03-28 07:37:38.470 +0000 [INFO_SM] Robot State: Enter state: logic::EStopResetState
2025-03-28 07:37:38.470 +0000 [INFO_SM] Robot State: State: logic::EStopOffState Event: acknowledgeErrors [done]
2025-03-28 07:37:38.570 +0000 [INFO_SM] Robot State: State: logic::EStopResetState Event: setNoEStopRelay [done]
2025-03-28 07:37:38.670 +0000 [INFO_SM] Robot State: State: logic::EStopResetState Event: delayEvent [repeat]
2025-03-28 07:37:38.567 +0000 [INFO_SM] Robot State: State: logic::EStopResetState Event: resetEStopRelay [repeat]
2025-03-28 07:37:39.670 +0000 [INFO_SM] Robot State: State: logic::EStopResetState Event: resetEStopRelay [done]
2025-03-28 07:37:39.770 +0000 [INFO_SM] Robot State: State: logic::EStopResetState Event: delayEvent [repeat]
2025-03-28 07:37:39.577 +0000 [INFO_SM] Robot State: State: logic::EStopResetState Event: waitForEcatRecover [done]
2025-03-28 07:37:39.587 +0000 [INFO_SM] Robot State: State: logic::EStopResetState Event: delayEvent [repeat]
2025-03-28 07:37:40.587 +0000 [INFO_SM] Robot State: Enter state: logic:😮ffState
2025-03-28 07:37:40.587 +0000 [INFO_SM] Robot State: State: logic::EStopResetState Event: resetEStopErrors [done]
2025-03-28 07:37:40.597 +0000 [INFO_SM] Robot State: Warning id: 108 (0x6c) subsystem: 0 slave info: 0
2025-03-28 07:37:40.597 +0000 [INFO_SM] Robot State: State: logic:😮ffState Event: delayEvent [repeat]
2025-03-28 07:37:41.970 +0000 [INFO_SM] Robot State: State: logic:😮ffState Event: waitPersistentData [done]
2025-03-28 07:37:41.107 +0000 [INFO_SM] Robot State: State: logic:😮ffState Event: loadPersistentData [done]
2025-03-28 07:37:41.117 +0000 [INFO_SM] Robot State: State: logic:😮ffState Event: waitPersistentData [done]
2025-03-28 07:37:41.127 +0000 [INFO_SM] Robot State: State: logic:😮ffState Event: checkPersistentData [done]
2025-03-28 07:37:41.137 +0000 [INFO_SM] Robot State: State: logic:😮ffState Event: waitPersistentData [done]
2025-03-28 07:38:40.861 +0000 [INFO] RPC reloading certificate
2025-03-28 07:38:40.862 +0000 [INFO] Publisher reloading certificate
2025-03-28 07:39:11.777 +0000 [INFO] RPC reloading certificate
2025-03-28 07:39:11.777 +0000 [INFO] Publisher reloading certificate
<-- End of log_2025-03-28_07-37-35.dat



Did I do something wrong in the configuration?

philippeH

I assume your license is created for v3.9.0
I noticed you are using robot app V3.0.10.
You license is invalid, meaning: application disconnects after 30min.

Could you please perform the same procedure for robot app v3.9.0, and inform me if the issue is still occurring.

MattiaDeiRossi

Hi, with version v3.9.0 the issue is fixed,
but I have another issue with the model of the robot. It is working only on the "preview" on the GRID and not on the deployed one.

philippeH

If you deploy a config to the controller your machine IP should like this:

Make sure you do not fill a machine IP inside the client connection settings.

Which browser are you using, Google Chrome?

MattiaDeiRossi

Yes, I'm using google chrome Version 134.0.6998.165 (Official Build) (64-bit)

from the "Editor"

from the "Preview"

from "Deployed"

philippeH

Hi,

Can you open browser console, ctrl + shift + j, what kind of errors are reported here?

Did you try to remove your browser cache? or use incognito mode?

MattiaDeiRossi

I've already tried to use incognito mode and also clear the cache

philippeH

404 (Not Found) means that you assigned a .glb inside the 3d.json file which does not exist.

As you can see from the browser console it cannot find frame.glb

Looking inside your 3d.json file:
{
"file": "helpers/frame.glb",
"name": "ToolPose"
},

preview mode in the browser is not capital sensitive, this is the reason why this worked, once you deploy this to the controller everything needs to be correct.

You need to specify it as:
{
"file": "helpers/Frame.glb",
"name": "ToolPose"
},

Please use the example v.3.9.0 gui configuration and keep in mind that if you change something that you use the correct naming.

MattiaDeiRossi

Hi,

thanks the issue is solved now

philippeH

Ok Great, I will close this issue.