workobject moved by mechanical unit

51Magnum

Hi,
I have a track setup with an IRB340 on it.  I have a dispenser that moves down the track with the IRB340.  I need to pick out of the dispenser and place at certain locations down the track.  I setup a workobject that is "moved by mechanical unit" which is the TRACK.  However, I get the following error.

Error: 41450
Argument WObj specifies a mechanical unit name, which is not activated or is unknown in the system.

I have activated the track and can move it just fine but when I try and pick from the workobject attached to the track I get the error.

Any thoughts?

Klaus

Hi.

1.Have you loaded the cfg file for the track?

2. Can you move the track from FP?

It looks like that you only have achaed the robot to track in RS and not in VC.

Best regards Klaus

51Magnum

Thanks Klaus,

I am working on this again and am having the same problem. 

1. I have loaded the cfg file for the track.

2. I can move the track from the FP.

I have created two work objects.  The first is the default one.  I create four points down the length of the track and it works great. 

However, when I create a workobject that is moved with the robot, i.e. Robot Holds workobject = false, moved by mechanical unit = TRACK, and programmed = false.  I get the same error as mentioned before. 

Of course, I have started with a brand new system and have gotten the same error.

Can some one help?

Please?

Shane

Anders S

Hello Shane,

To move the workobject with the track, you have to allow motion of the User Frame in the system configuration. To do that, go to Offline and select Configuration - Motion - Mechanical Unit - TRACK - Allow Move of User Frame=Yes. Warmstart the controller.