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abb optical tracking arc error

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fyl1991
fyl1991 ✭
edited September 2018 in Robot Controller
hello everyone:
     when i try to use my own sensor(not standard kind of sensor that is supported by ABB such as Meta or Scansonic) to mate with ABB robot using ABB optical tracking arc option, it comes to a general sensor error (see the attachment);
i have done the following steps:
1. install the arc & optical tracking arc option and config the my own senor configuration for abb Arc system
2. accomplish the abb sensor calibration and verification(  using the kind of ABB0 calibration plate )
3. code the RAPID optical tracking arc test program, here is the code snippet :

        PERS seamdata seam1:=[0,0,[0,0,0,0,0,0,0,0,0],0,0,0,0,0,[0,0,0,0,0,0,0,0,0],0,0,[0,0,0,0,0,0,0,0,0],0,0,[0,0,0,0,0,0,0,0,0],0];
   PERS welddata weld1:=[6,0,[0,0,0,0,0,0,0,0,0],[0,0,0,0,0,0,0,0,0]];
   PERS optscandata optscan1:=[6,6,0,0,0,0,FALSE];
   PERS trackdata track1:=[1,FALSE,20,[0,0,0,0,0,0,0,0,0],[1,5,0,0,0,0,0]];  

    PROC main()
       ArcTrackTest;
    ENDPROC

    PROC ArcTrackTest()
      MoveJ p0, v200, z20, tWeldGun;    
      ArcLStart pS, v50, seam1, weld1, fine, tWeldGun\Track:=track1\PreProcessTracking;  
        ArcL weldTrackStartPoint, v50, seam1, weld1, z20, tWeldGun\Track:=track1;   
      ArcLEnd weldTrackEndPoint, v50, seam1, weld1, fine, tWeldGun\Track:=track1;  
        MoveJ p1, v200, z20, tWeldGun;  
    ENDPROC 


4. code the sensor server program: i implement the ABB LTAPPTCP protocol by C# and set up a TCP server on the sensor side to parse and response the request from abb optical tracking arc rapid API(such as ArcL,ArcC), here is the key LTAPPTCP protocol instruction parsing snippets log from the senor server by c# when ArcL function is executed:

**********Recv request body len = 12**********
2018/9/6 21:05:25 : Recv Raw Msg is: 00 00 00 06 01 60 00 01 00 06 0A BB
2018/9/6 21:05:25 : Recv read req msg is: msgType = 1 header = 96 number = 1
2018/9/6 21:05:25 : Recv read req data is: var = LTAPP_POWER_UP
2018/9/6 21:05:25 : Send read resp msg len is: 11
2018/9/6 21:05:25 : Send read resp raw msg is 00 00 00 05 81 60 00 00 01 0A BB parse: bodyLen = 5 msgType = 129 header = 96 status = 0
2018/9/6 21:05:25 : Send read resp data is: value = 1
2018/9/6 21:05:25 : 
**********Recv request body len = 12**********
2018/9/6 21:05:25 : Recv Raw Msg is: 00 00 00 06 01 60 00 01 00 07 0A BB
2018/9/6 21:05:25 : Recv read req msg is: msgType = 1 header = 96 number = 1
2018/9/6 21:05:25 : Recv read req data is: var = LTAPP_LASER_OFF
2018/9/6 21:05:25 : Send read resp msg len is: 11
2018/9/6 21:05:25 : Send read resp raw msg is 00 00 00 05 81 60 00 00 00 0A BB parse: bodyLen = 5 msgType = 129 header = 96 status = 0
2018/9/6 21:05:25 : Send read resp data is: value = 0
2018/9/6 21:05:25 : 
**********Recv request body len = 12**********
2018/9/6 21:05:25 : Recv Raw Msg is: 00 00 00 06 01 60 00 01 00 08 0A BB
2018/9/6 21:05:25 : Recv read req msg is: msgType = 1 header = 96 number = 1
2018/9/6 21:05:25 : Recv read req data is: var = LTAPP_X
2018/9/6 21:05:25 : Send read resp msg len is: 11
2018/9/6 21:05:25 : Send read resp raw msg is 00 00 00 05 81 60 00 00 00 0A BB parse: bodyLen = 5 msgType = 129 header = 96 status = 0
2018/9/6 21:05:25 : Send read resp data is: value = 0
2018/9/6 21:05:25 : 
**********Recv request body len = 12**********
2018/9/6 21:05:25 : Recv Raw Msg is: 00 00 00 06 01 60 00 01 00 09 0A BB
2018/9/6 21:05:25 : Recv read req msg is: msgType = 1 header = 96 number = 1
2018/9/6 21:05:25 : Recv read req data is: var = LTAPP_Y
2018/9/6 21:05:25 : Send read resp msg len is: 11
2018/9/6 21:05:25 : Send read resp raw msg is 00 00 00 05 81 60 00 FD 41 0A BB parse: bodyLen = 5 msgType = 129 header = 96 status = 0
2018/9/6 21:05:25 : Send read resp data is: value = 64833
2018/9/6 21:05:25 : 
**********Recv request body len = 12**********
2018/9/6 21:05:25 : Recv Raw Msg is: 00 00 00 06 01 60 00 01 00 0A 0A BB
2018/9/6 21:05:25 : Recv read req msg is: msgType = 1 header = 96 number = 1
2018/9/6 21:05:25 : Recv read req data is: var = LTAPP_Z
2018/9/6 21:05:25 : Send read resp msg len is: 11
2018/9/6 21:05:25 : Send read resp raw msg is 00 00 00 05 81 60 00 F9 DE 0A BB parse: bodyLen = 5 msgType = 129 header = 96 status = 0
2018/9/6 21:05:25 : Send read resp data is: value = 63966
2018/9/6 21:05:25 : 
**********Recv request body len = 12**********
2018/9/6 21:05:25 : Recv Raw Msg is: 00 00 00 06 01 60 00 01 00 0B 0A BB
2018/9/6 21:05:25 : Recv read req msg is: msgType = 1 header = 96 number = 1
2018/9/6 21:05:25 : Recv read req data is: var = LTAPP_GAP
2018/9/6 21:05:25 : Send read resp msg len is: 11
2018/9/6 21:05:25 : Send read resp raw msg is 00 00 00 05 81 60 00 01 2C 0A BB parse: bodyLen = 5 msgType = 129 header = 96 status = 0
2018/9/6 21:05:25 : Send read resp data is: value = 300
2018/9/6 21:05:25 : 
**********Recv request body len = 12**********
2018/9/6 21:05:25 : Recv Raw Msg is: 00 00 00 06 01 60 00 01 00 13 0A BB
2018/9/6 21:05:25 : Recv read req msg is: msgType = 1 header = 96 number = 1
2018/9/6 21:05:25 : Recv read req data is: var = LTAPP_UNIT
2018/9/6 21:05:25 : Send read resp msg len is: 11
2018/9/6 21:05:25 : Send read resp raw msg is 00 00 00 05 81 60 00 00 01 0A BB parse: bodyLen = 5 msgType = 129 header = 96 status = 0
2018/9/6 21:05:25 : Send read resp data is: value = 1
2018/9/6 21:05:25 : 
**********Recv request body len = 12**********
2018/9/6 21:05:25 : Recv Raw Msg is: 00 00 00 06 01 60 00 01 00 10 0A BB
2018/9/6 21:05:25 : Recv read req msg is: msgType = 1 header = 96 number = 1
2018/9/6 21:05:25 : Recv read req data is: var = LTAPP_JOINT_NO
2018/9/6 21:05:25 : Send read resp msg len is: 11
2018/9/6 21:05:25 : Send read resp raw msg is 00 00 00 05 81 60 00 00 02 0A BB parse: bodyLen = 5 msgType = 129 header = 96 status = 0
2018/9/6 21:05:25 : Send read resp data is: value = 2

5. when the rapid code runs to the ArcL command, the controller will send position request to sensor (X,Y,Z coordinate) and i have response the position(related to the sensor coordinate frame) request  correctly (just as i response the position request during the abb sensor calibration process, and i have accomplish the calibration), but  the controller comes to a general sensor error (see the attachment);

 i am very grateful if any guys  could give me a clue about this problem , thank you very much。

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