RTDEReceiveInterface and RTDEIOInterface not working

Hello, I am using the python wrapper from the ur rtde library. We are working with 6 UR CB3 series robots. the software versions on the robots are between 3.5 and 3.15 We tried different version of ur-rtde from 1.5.0 to 1.5.4(latest). For 3 our of 6 robots, the RTDE control, receive and IO functions work well, irrespective of the software versions. However, on three robots, we are only able to use the RTDE control functions and when calling RTDE Receive or RTDE IO functions, we get the following error. The software on these robots are 3.5.3, 3.7.2 and 3.12.1 respectively. All of them return the same error.

Unable to start synchronization
RTDE: socket timeout!
RTDEReceiveInterface Exception: The network connection was aborted by the local system

We referred to the things mentioned in this thread as the issue seems similar, however, we are not able to solve the problem with any version of ur-rtde, we tested all versions from 1.5.0 to 1.5.4.