multitask

memphiss

Hello friends, I have a question on multitask, is there anyone can help me?

   We have a system, two robots connected to conveyor system (PLC), also a encoder with Profibus interface was conected to robots, for conveyor tracking use. Now sometimes robot responses to I/O signal very slow, is there because multitask is not used? We have software option multitask installed but not used in RAPID user programs.

 

 

memphiss

sorry, forgot to mention: our robot is IRC5 controller and we use Profibus card to comunicate with Siemens S7-319 CPU.

claudio

Hi Memphiss.

Did you Check -PollRate value in the card definition, in your EIO.CFG?
I Don't think unused multitasking option is involved.

Regards
Claudio

memphiss

Hello Claudio

    Do you mean the sector of "EIO_BUS" in EIO.CFG file?

     Bellow is a sample of good one, not my robot:

*******************************************

EIO_BUS:

      -Name "Virtual1"

      -Name "DeviceNet1" -BusType "DNET" -ConnectorLabel "First DeviceNet"

      -Name "Profibus1" -BusType "PBUS" -ConnectorLabel "Channel 1 (M)"
      -CfgPath "HOME/pbus_cfg.bin" -RecoveryTime 10

********************************************

  While in my robot, this sector is:

********************************************

   EIO_BUS:

      -Name "Virtual1"

      -Name "DeviceNet1" -BusType "DNET" -ConnectorLabel "First DeviceNet" 

***********************************************

 

 

 

claudio

No, I meant EIO_UNIT Section, like:

#
EIO_UNIT:

-Name "Encoder" -Type "d354" -Bus "BASE" -Address "15"
 -Digin 11 -Digout 4 -Anin 2 -PollRate 20 -Param "Encoder_values"


Usually -PollRate is ignored by ABB cards, but you can try....

memphiss

Thank you Claudio

   I checked and now know that we do not use Poll rate, we let robot communicate automatically because we had some problem for example to start robot on same time (cycle time to read input output).