SearchL moves not visible in RS5.08

Cole

Hello, After not finding any method to insert or create searchL paths in RS i implemented the searchL paths in the RAPID code. However, when i synchronize to station none of the searchL paths are visible only my moveL and moveJ.

I do not have the smart tac option as i don't require the hardware. I would like to pre program my search paths and check for collisions etc. How do i get my searchL paths to show up in RS5.08?

PerSvensson

Hi
You need to define it in the instructions template so RS knows how to handle it.
Menu: CreateInstruction Template Manager.

Cole

Thankyou Per, I can see the paths now. You are very helpful

Cole

Actually, i can see the paths generated from my written code when i sync to station, however i can not find a way to implement a searchL path generated by RS.

PerSvensson

Hi
If you have created a Process Definition in Instruction Template Manager you would be able to select that in elements toolbar so that targets you add to your path would be Search instructions. You will also be able to change the motion type in edit instruction.

Cole

Thanks Per, Your information was useful. I found that there was an error in my project description under "Point Type" for Search point and To point. Once i corrected them to ToPoint and ViaPoint respectfully. I was able to create a process definition and hence use SearchL's in creating paths.

Cole

Im back, still having issues with the SearchL function.

When i generate points using the search instruction it generates two points, one "Search point" and one "to point". However, RS automatically generates both of them as "CONST Robottargets". The "ToPoint' is a point in which the search progresses too which is a CONST. However, the "SearchPoint" is the point which it finds via a digital output and requires to be written over and requires a VAR declaration.

There is option to change the Point type in the Instruction manager however non of them are the type that is required for the SearchPoint.

I can get around it by changing the declaration in the Rapid code but it doesnt seem to be the right way of doing things.

Any suggestions?

PerSvensson

Hi
When you syncronize to Virtual Controller select the advance button in the sync dialog and you will have the possibility to change the declaration type.

Cole

Cool, i never new i could do that.

On another note, in regards to the Instruction manager. I have noticed that ArcL and ArcC are in the "move instruction descriptions". However, i can not access these functions from anywhere in RS. I can only see Move and Search functions.

I do have arcweld powerpack to generate weld paths but it would be nice to have the extra flexibility. Can i access ArcL and ArcC from RS?

PerSvensson

Hi
Yes you can .
First you need to have the vc setup(ArcWare option) so it has the instructions(information is read from the vc) but I guess you already done that.

Then you need to create a Process Definition

Now you will be able to select Arc in the elements toolbar

Cole

Ok the reason i have did not try this before was because there were already default process definitions with ArcL and ArcC in them. However, i took your advice and i created custom ones and yes this presented some of them in the elements tool bar. Although only the ArcL functions display in the elements window and not the ArcC, infact none of the circular (C) moves are displaying.

Why does the elements tool bar only show some of the functions defined in the process definition and not others?

PerSvensson

Hi
The reason that circular motion doesn't appear in the elements toolbar is that it needs 2 targets. So you need to have 2 motion instructions in your path and the select booth and say convert to circular.

Cole

Thankyou Per, you have been very helpful, much appreciated.

Cole

Hi,
I have been able to get back to some RS programming after a couple of months onsite, however i am still having trouble with my instruction templates. I dont believe that i am setting them up correctly. Would it be possible for someone to look at my exported template file to see where im going wrong? i would really appreciate it.

I can create a searchL move, however when i go to execute the move i get the following warning:
"ReadInt Attribute Key: ppInstructionType Object reference not set to an instance of an object.    2/08/2007 5:34:23 PM  "
and
"T_ROB1 RsTempPath1 Instruction Index0 Is NOT valid ToPointName: YstSrchTgt1    2/08/2007 5:34:23 PM"  
 


Cole

Cole2007-8-2 11:37:22

PerSvensson

Hi
Sure, just send me the file

Cole

Here it is Per,


2007-08-03_093325_T_ROB1_Instruction_Template.zip

Thankyou

PerSvensson

Hi
You have done it correct but when you create a Search instruction  be aware of that you need to define which the search signal should be and also you need to type in a target name in the search point (just created a target,where ever in space, and set it to PERS in storage class when you sync to VC) and I think you will do fine.
At least I did with your search template.

Cole

Thanks Per,
I can get my searchL instructions to work now, however none of my arc instructions are showing up in the active process drop down menu or when i go to modify instruction they are not visible in the process templates drop down menu.

Are these available when you import my Templates?

PerSvensson

Hi
Yes I can see your Arc instructions like ArgonArc_2 and use without problem.
Do you have the Arc option in the controller?