VC & FlexPendant problems

Kevin

Running RS 5.10.2400.14.

My Rapid program consists of four modules containing many procedures. 'Check Program' shows no errors. When I select 'PP to Main' in the FlexPendant the PP does not shift to my 'Main' procedure but to a different one (always the same one). If I delete this procedure and select 'PP to Main' I get "Event Message 10067, Program pointer reset, Unable to reset the program pointer ...".

I have tried deleting 'Main' and recreating a simple replacement, without effect.

When I use  'PP to Routine' to select any procedure then try to run the procedure it sometimes works, but I often get: "Event Message 20051, Not allowed command, The command is only allowed when the client is in control of the resource ..." When this happens RSO shows that the FlexPendant has write access to the controller.

I can select 'Main' using 'PP to Routine' but still get message 20051 when I try to run.

I have tried reboots, cold-start/reload Eio.cfg/warm-start/reload program, but the problem remains.

What else should I try to resolve the problem?

Thanks,

Kevin

Henrik Berlin

Hi Kevin,

There are two ways of defining your "main". One official way and one in-official.

The official way: Configuration -> Controller -> Task -> main entry (default main)

The in-official and undocumented way which overrides the official one (this is probably what has happened to you): Save the RAPID program (*.pgf), in the .pgf-file there is an entry in early in the file that says something with "main" or "entry". Change that to main and re-load the program. I suspect that this 'hidden' main entry definition is also seen in the backinfo.txt file of a backup, but I haven't checked this myself.

Please let me know if this helps.

 

Kevin

Hi Henrik,

Thanks for your reply.

As you expected the official configuration was set to 'Main', but the unofficial configuration was set to the other routine. I now realise that I caused this when I some time ago set the other routine as the entry point in Simulation/Setup. I did not know that this would have an effect when running from the FlexPendant.

With the .pgf file now showing the entry point as 'Main' I am usually able to successfully use 'PP to Main. However, I still occasionally get the 20051 error (with RSO still showing that the FlexPendant has write access). 

Can you suggest a possible cause for this?

Kevin

Kevin

I am also getting "Event Message 20051, Not allowed command, The command is only allowed when the client is in control of the resource ..."
when I attempt to modify a variable or jog using the FlexPendant.

Jog behaves very strangely. I selected jog mode then cleared the  Common event log. I enabled the motors, which was confirmed at the top of the FlexPendant. With motion mode set to Axis 1-3 I then attempted to jog axis 1 by clicking on the joystick for several seconds.
This is what appeared in the Common event log:

SeqNo   Type    Category       Code   Title 
1158     I         Operational     10010     Motors OFF state       
1159     I         Operational     10011     Motors ON state        
1160     E         System          20051     Not allowed command    
1162     I         Operational     10012     Safety guard stop state
1163     W        Motion           50240    Optimal Em. Stop change
1164     W        Motion           50240    Optimal Em. Stop change
1165     I         Operational     10016     Automatic mode requested
1166     I         Operational     10010     Motors OFF state       
1167     I         Operational     10017     Automatic mode confirmed
1168     I         Operational     10012     Safety guard stop state
1169     I         Operational     10015     Manual mode selected   
1171     I         Operational     10016     Automatic mode requested
1172     I         Operational     10017     Automatic mode confirmed
1173     I         Operational     10010     Motors OFF state       
1174     I         Operational     10012     Safety guard stop state
1175     I         Operational     10015     Manual mode selected  

The 20051 message remained  on the screen.

Can anyone suggest what is happening here? Why is the system changing from  Manual to Auto then back to Manual? Is there a way of fixing this behaviour or do I need to create a new system from scratch?

Thanks,

Kevin