RobotStudio event

Rapid "PathRecStart" instruction problem

bombq
bombq ✭
in RobotStudio
Hello,

I have a little issue with "PathRecStart" instruction. As I checked in  of "RS" in "Rapid" content this instruction requires only ID argument, Data type:pathrecid. I used it in my rapid program (RS Online, I'm working with IRB 140) RS returned an "Error 161 : Option is missing. : The instruction PathRecStart requires the option Path Recovery."

My question is: What kind of option is it? Is it hardware option?

Regards,
  
bombq
Cracov University of Technology

Comments

  • RussD
    RussD ✭
    Its a regular RobotWare Option, 611-1RussD2008-8-12 14:59:30
    Russell Drown
  • bombq
    bombq ✭

    please excuse me my question, but I am beginner in RAPID, could You explain me whats is wrong with syntax of my program?:



    PROC main()

      

       

        VAR pathrecid path1_id;





        MoveJ home, v2000, z50, tool0;

        PathRecStart path1_id;

          MoveJ p1, v2000, z50, tool0;

          MoveJ p2, v2000, z50, tool0;

          MoveJ p3, v2000, z50, tool0;

          MoveJ p4, v2000, z50, tool0;



        StorePath;



        PathRecMoveBwd ID:=path1;



        Stop;


     ENDPROC

    RS is returning an "Error 161 : Option is missing. : The instruction PathRecStart requires the option Path Recovery."


    bombq2008-8-13 9:39:41
    bombq
    Cracov University of Technology
  • Henrik Berlin
    Henrik Berlin ✭✭✭

    Hi,

    The error message is correct. The option is missing.

    I created two systems, one with the "Path Recovery" option and one without. The system without the option will give rise to the observed error message. If the option is included in the system, there is not such error message.

     

    Henrik Berlin
    ABB
  • bombq
    bombq ✭
    Could You explain how to enable "Path Recovery" option in the system, I could not find it in help files of RS and RAPID.

      
    bombq
    Cracov University of Technology
  • Henrik Berlin
    Henrik Berlin ✭✭✭

    To get the option in the real controller, you need to buy a new system from ABB that includes the option. For the VC you can include the key when building the system with "System Builder". The documentation of the option is available on the documentation CD delivered with your robot. Or see below

    2008-08-13_162102_3HAC18152-1_RevB_en_MoFnAndEvents.zip

    Henrik Berlin
    ABB
  • MarcusLindblom
    MarcusLindblom ✭
    It's not immediately obvious (in these comments) than an "option" means "controller feature at extra cost".

    Note that the current RAPID reference (F1 in robot studio) doesn't mention this for the relevant commands, so I ended up here when I googled the error.

    (I'm working with a customer to improve reliability and error recovery time on a system that has a robot, and quite a bit more...)

Categories

In this Discussion