RobotStudio event

SearchL\Stop & External axis value error

lordsikander
lordsikander ✭
in RAPID Programming
Hello to all respectable..
ABB IRB6700 is mounted on ABB Flextrack and configured properly.
I use SearchL\Stop command to execute a motion and keep on checking for Sensor input(Touch detection).

MoveL p10,v5,Fine,Spindle\Wobj:=Rotary;
SearchL\Stop,Touch_det,p20,OFFS(p10,12,0,0),v5,fine,spindle\Wobj:=Rotary;
MoveL p20,v5,fine,spindle\WObj:=Rotary;

Rotary is non-ABB customized Positioner and controlled by exernal PLC. As the Rapid code reaches at line SearchL\Stop and start execution, error "Missing External Axis Value" occurs and stop the robot. During this code robot is at stand-still . no positional movements on flex track. 
Any idea why the error comes and how to check for the error. 
regards

Answers

  • graemepaulin
    graemepaulin mod
    Do you have an external axis value in each of the Robtargets?
  • lordsikander
    lordsikander ✭
    Got the point sir,
    I am using customized Robtarget, coordinates coming from external PLC. and the motion involves no external axis. Still i have to add the ext. axis values. I think they are already defined in the base coordinate system when we link the flex.track with robot.

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