Virtual controller can't execute TriggL or MoveLDO instructions

Luxrobotic

Hi everybody,

I have a station with an IRB2400L that work for several years. Now my customer wants to replace this od IRB2400L by a new IRB1600.

The original program of the IRB2400L use a lot of TriggL an MoveLDO instructions :

I've installed the IRB1600 in my station, and now I'm able to execute the current IRB2400L program. Excepted for TriggL and MoveLDO instructions.

When I make a simulation, I get this error message :

All these routines are working well in the IRB2400L simulation.

When I replace the TriggL instructions by simple MoveL, it works.

Any idea?

Thanks in advance.

Raymond Cornet

Luxrobotic

lemster68

Does the new robot have the fixed position events option?

Luxrobotic

Hi lemster68,

I cheched in the controller option, but I don't find anything similar.

Where is this option located?

Thanks

lemster68

In the pendant, or virtual, system info, system properties, options.  In a backup, backinfo folder, backinfo.txt.

Luxrobotic

Hi,

here are the bakinfo.txt contents :

# IRB1600
#
>>SYSTEM_ID:
VIRTUAL_USE

>>PRODUCTS_ID:
RobotWare Version: 6.07.00.00

  RobotWare Base
  French
  687-1 Advanced Robot Motion
  988-1 RW Add-In Prepared
  608-1 World Zones
  611-1 Path Recovery
  613-1 Collision Detection
  612-1 Path Offset
  885-1 SoftMove
  Drive System IRB 120/140/260/360/910SC/1200/1400/1520/1600/1660ID
  ADU-790A in position X3
  ADU-790A in position Y3
  ADU-790A in position Z3
  Axis Calibration
  IRB 1600-10/1.2

>>HOME:
All public files and directories

>>SYSPAR:
SYS.cfg
PROC.cfg
MMC.cfg
EIO.cfg
SIO.cfg
MOC.cfg

------------------------------------------------------------------------------------------------------------------------------------------

# IRB2400L
#
>>SYSTEM_ID:
VIRTUAL_USE

>>PRODUCTS_ID:
RobotWare Version: 5.11.3015.03

  RW Control module key
  RobotWare OS and English
  644-1 French
  602-1 Advanced Shape Tuning
  603-1 Absolute Accuracy
  604-1 MultiMove Coordinated
  608-1 World Zones
  613-1 Collision Detection
  RW Drive module 1 key
  ABB standard manipulator
  IRB 2400 Type A
  2400L Type A
  Add axes IRB/drive module 140/1400
  RC1 No add drive

>>ROBOT_TYPE:
2400L Type A

>>HOME:
All public files and directories

>>SYSPAR:
SYS.cfg
PROC.cfg
EIO.cfg
SIO.cfg
MOC.cfg
MMC.cfg

lemster68

So, since you have what appears to be right now, a virtual controller, modify that system to include the option and see if it makes your problem go away.  But the real robot will have to have that option purchased if this is the fix.

Luxrobotic

Could you please show me which option to select in the Controller options ?

Thanks

lemster68

Try motion events. No, I see that is world zones...still looking.

Luxrobotic

Motion envents is already activated (Only World zones available in this section)

lemster68

Which version of RS are you using?  Mine does not look quite the same.

Luxrobotic

6.07.01

lemster68

Should be "fixed position events", but I am not finding it in the installation manager.

Luxrobotic

Hi,

after some research, I found this topic :

https://forums.robotstudio.com/discussion/1463/triggio-and-fixed-position-events

PerSvensson said:

Start system builder from menu controller and select your system and press modify and then press next until you get to the "Modify Options" dialog and check option 609-1. 

I checked in the options available in the system, but didn't found option 609-1.

Even if I try to build the new system with differnet RW versions.

lemster68

I could not find it either, I also tried an older version of rs.

Luxrobotic

Hi,

what is really strange, is that when I compare both of my systems, I don't find this option in any of them :

Jorge

AS said the message error that you show in the first post, check other error that logged at the same time.

Luxrobotic

HI Jorge,

unfortunately there are no other messages.

Jorge

Hi, can you upload a backup?

sturner

Fixed Position Events are included in standard Robotware 5 and 6.

You will need to add these instructions in the template manager in order to see them in the station, I.E. (synchronize to station)

Luxrobotic

HI,

sorry for the late reply.

Thank you sturner for reminding me what to do !!

I did for some instructions, but I forgot for some other, that's why it didn't work.

Thanks to all

Luxrobotic

HI,

sorry for the late reply.

Thank you sturner for reminding me what to do !!

I did it for some instructions, but I forgot for some other, that's why it didn't work.

Thanks to all

Luxrobotic

HI,

sorry for the late reply.

Thank you sturner for reminding me what to do !!

I did for some instructions, but I forgot for some other, that's why id didn't work.

Thanks to all