Loading error S4C+ controllers

Yandisa

I've written new programs for a robot station that works with 3 IRB 2400 robots on Robotstudio. However, the modules that I've created on Robotstudio cannot load onto the real station. It's strange because on Robotstudio, I don't get any error messages, so I expect the modules to load when we click start cycle. I have attached the picture with the error message. Anyone possibly know why it does this?

graemepaulin

Looking up error code 40322 in the user guide - there is a RAPID syntax error in the module you are trying to load.

Have you checked the file you are trying to load for errors in RobotStudio 4?

Yandisa

Hello Graemepaulin

Thanks for your response. I am only seeing it now. Anyways, I managed to get the error sorted. Workobjects defined for S4C+ controllers are not defined the same for IRC5 controllers. So I just had to update workobjects definition for the different controllers.

E.g, to simulate on Robotstudio, my workobject would be defined like this:

Task PERS wobjdata wobj3_P703 := [FALSE,TRUE,"",[[0,0,0],[1,0,0,0]],[[0,0,0],[1,0,0,0]]];

For the real station using S4C+ controllers

PERS wobjdata wobj3_P703 := [FALSE,TRUE,"",[[0,0,0],[1,0,0,0]],[[0,0,0],[1,0,0,0]]];

Also, for this controller, I had to ensure that the names of my workobjects, routines and modules was quite short, otherwise the controller would fail to load.

Thanks
Yandisa