Argument error

Kong1918

Hi, I have got a problem with one of the robots on site ( IRC5 M2004)

I originally got an axis revolution counter is not updated, so I carried out a recalibrate all the axis to the marks on each axis.
The robot then started moving again but now some of the positions are out a bit.

The robot runs in auto but when in manual and I try and step through the program to get to the position I want to modify I get an argument error - orientation definition error in topoint.

How come this is an issue in manual but not in auto?

mandolas

Hi...

Can you send me the code snippet so we can analyze it?

Good Job

lemster68

You said recalibrate which sounds like you fine calibrated.  Is that what you did or did you update rev counters (what you should have done.).

Kong1918

MoveJ pPickPre, vUser_Mid, z10, toolGripper\WObj:=wobjDrum_Conv;         

MoveL pPick, vUser_Lo, fine, toolGripper\WObj:=wobjDrum_Conv;           !Pick position - close gripper + add load of drums

Gripper_Close;                                                  

GripLoad loadDrums_x2;                                          

MoveL pPickPost1, vUser_Lo , z10, toolGripper\WObj:=wobjDrum_Conv;  !Motion with load - confirm pick after suitable delay

MoveL pPickPost2_Taught, vUser_Mid, z200, toolGripper\WObj:=wobjDrum_Conv;

MoveJ pPickPost3_Taught, vUser_Mid, z200, toolGripper\WObj:=wobjDrum_Conv;

IF bPick_Is_A = TRUE THEN

            !Set pick confirmation flag for A position

    SetDO\SDelay:=fPick_RTN_Delay, dp_doPICK_A_RTN, 1; 

        ELSE

            !Set pick confirmation flag for B position

            SetDO\SDelay:=fPick_RTN_Delay, dp_doPICK_B_RTN, 1; 

        ENDIF 

        MoveL pPlacePre2, vUser_Mid, z50, toolGripper\WObj:=wobjPllt_Conv; 

MoveL pPlacePre3, vUser_Mid, z10, toolGripper\WObj:=wobjPllt_Conv;

WaitDI dp_diSpare_1, 1;       

MoveL pPlace, vUser_Lo, fine, toolGripper\WObj:=wobjPllt_Conv;

          !Place position - open gripper + set load back to empty gripper

Gripper_Open;                                                   

GripLoad load0;                                                 

MoveL pPlacePost1, vUser_Lo, z1, toolGripper\WObj:=wobjPllt_Conv;

MoveL pPlacePost2, vUser_Lo, z10, toolGripper\WObj:=wobjPllt_Conv;

MoveL pPlacePost3, vUser_Lo, z10, toolGripper\WObj:=wobjPllt_Conv;

ConfL\Off;

MoveL pReturnHome1, vUser_Hi, z200, toolGripper\WObj:=wobjPllt_Conv;

        IF bPick_Is_A = TRUE THEN

            !Set place confirmation flag for A position

    SetDO\SDelay:=fPlace_RTN_Delay, dp_doPLACE_A_RTN, 1; 

        ELSE

            !Set pick confirmation flag for B position

            SetDO\SDelay:=fPlace_RTN_Delay, dp_doPLACE_B_RTN, 1;  

        ENDIF    

MoveL pReturnHome2, vUser_Hi, z200, toolGripper\WObj:=wobjDrum_Conv;

MoveL pReturnHome3, vUser_Hi, z50, toolGripper\WObj:=wobjDrum_Conv;

ConfL\On;       

MoveJ pHOME, vUser_Hi, fine, toolGripper\WObj:=wobjDrum_Conv;            

ENDPROC

Kong1918

when i try and move to the top line is when i get the error, but runs in auto.