Conveyor Tracking with a 660 using RS 5.12.1

SlickRick

Hello,

  I am trying to setup a conveyor tracking app using a IRB 660 and I am unable to get the system to recognize my conveyor.  If I try the same station with a 6600 it recognizes the conveyor and I am able to connect the two.  On the 660 conveyor tracking is selected as an option.  Is there some limitation on a 4 axis robot being able to handle conveyor tracking?  Any information on this would be greatly appreciated.

 

Thank You,

Rick

SlickRick

Can someone please respond back!!!!!

Henrik Berlin

Hi,

 

I did a test with 660 and it worked for me, see attached movie.

webwiz/772/ConvTracking_660_6600.zip

 

(You may need to install the Xvid codec to watch the movie)

 

 

SlickRick

Thank You for the video.  I'll keep trying on my end, maybe I will have to re-install RS.

 Thanks,

 

Henrik Berlin

What error message do you get?

Here is the rspag file I used to create the video. You can always try it and see if you get the simulation to run. Note that there is a known limitation with conveyor tracking that may cause the error message "Position out of reach" to appear after a while. Restarting the VC will remedy the fault.

 

Unzip the file before running "Unpack&Work":

 

 webwiz/772/ConveyorTestIRB660_tf0.rspag.zip

 

 

SlickRick

Below is an error message that I receive after I-Starting the controller.  This must be the problem.

 

IRB660_180kg_3.15m: File access error 10/23/2009 8:54:16 AM Controllers 
Error number 40304

 

Thanks for the help,

Henrik Berlin

If you double-click on the error message in the RS output window, or, alternatively, check in the controller event log, you will see more detailed information. Please do that.

SlickRick

So I was hoping that was causing the system not to load the system properly but it was not the case.  Your system ran fine, the 660 had no issues.  Still working on it.  I get no error messages, I never get the dialog to select my mechanical device.

 

Thanks,

Henrik Berlin

Starting with RW 5.12, you must actively select drive system when you build the sytem using system builder. (Drive 04' IRBXXX, or Drive 09' IRBXXX). If this is not done,you may get that kind of behaviour. From release notes:

Mismatching drivesystem for selected manipulators in Systembuilder

Creating a system in systembuilder with a virtual key, will result in a default drivesystem selection for 140/1400 manipulator types. For all manipulators different from these, the appropriate drivesystem has to be selected manually.


Is this the problem?

SlickRick

I was aware of the drive systems needed configured, that is an easy item to forget though Thank you.  After deleting my existing system and creating a new it still wasn't working.  I don't know why but after an I-Start it finally prompts for for the conveyor to be selected.  Its finally working.  Thanks for the help!! 

On another issue can an API Macro access rapid data on the TP?

 

Thank You,

Henrik Berlin

I am not an API expert, but I think you need to use PC-SDK of the Robot Application Builder to access the controller data. You can use PC-SDK in from an RS add-in. Check the PC-SDK manual to see what is possible.