ABB PC SDK to start funtion RAPID execution on an OmniCore V250XT

pug89

I am using the ABB PC SDK to start RAPID execution on an OmniCore V250XT master–slave robot with an external track.

My code successfully loads the RAPID program in the FlexPendant, and the robot is powered on. Execution reaches the first line of the code, but the Rapid.Start() call is not getting triggered. The robot does not start moving.

using (Mastership.Request(this.controller_.Rapid))

{

    if (this.controller_.State == ControllerState.MotorsOn)

    {

        if (this.controller_.AuthenticationSystem.CheckDemandGrant(Grant.LoadRapidProgram))

        {

            this.controller_.Rapid.Start(

                RegainMode.Regain,

                ExecutionMode.Undefined,

                ExecutionCycle.Once);

            deviceResponse.SetCodeNumber(clsDeviceResponse.SUCCESS);

            deviceResponse.SetDescription("Moving to target position.");

        }

        else

        {

            var aus = this.controller_.AuthenticationSystem;

        }

    }

    else

    {

        deviceResponse.SetDescription(

            "Robot motors are not on. Please enable motors before executing movement.");

    }

}

The program is visible in the FlexPendant, but the Start function does not execute on the OmniCore controller.

Has anyone faced a similar issue on OmniCore (V250XT), especially with master–slave robots and external axes?

Are there any additional grants, or controller state requirements specific to OmniCore that could block Rapid.Start()?