UR systems using OnRobot Force Torque Sensors may encounter this error message if there is no communication between the Force Torque Sensor and polyscope. With UR, systems, the Real-time Data Exchange (RTDE) feature synchronizes external executables with the UR controller, for instance URCaps, without breaking any real-time properties. Typically the error "failed to connect" is an easy fix by configuring the the Real-time Data Exchange (RTDE) registers on Polyscope.
Step 1
From the UR teach pendant, select the "Installation" tab at the top of the screen. Then navigate to the "system" tab.
Step 2
Tap on "URcaps" from the menu options then navigate to the "OnRobot" tab.
Step 3
Under the section RTDE Registers, enter the following offset values:
Bool: 0
Int: 1
Float: 7
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Step 4 (Optional)
Alternatively, you may need to configure the RTDE values from the OnRobot setup page directly. Navigate to the "OnRobot Setup" menu option
Under the section RTDE Registers, enter the following offset values:
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