Pausing during TPWrite commands?

philhoward

Something thats only just started happening:

 

Robot would pause for no visible reason until i figured out that it was every time it was executing a small routine to update the FlexPendant display.  Sometimes it was only half a second, but gradually got worse causing delays of 5-10 seconds.

 

The routine is nothing more that a series of TPWrite commands with strings added to the end of some of them.

 

A Warm Start cured it for now -am monitoring the other 3 identical system for symptoms.  Any ideas what causes this?

 

Running 5.12_04 on an IRB660/IRC5

Knud E Lindberg

Hi

Do you have close loops in the program ?

 

philhoward

I'm not using any loops in the program, Knud.  The problem occurs in a normal routine with purely sequential TPWrite commands.

Klaus

HI.

 

Do have multitask running on the controler?

 

BR Klaus

philhoward

Not that i'm aware of - the system did have Pickmaster5 installed until last week when it was removed.  Could that have any bearing on it?

Klaus

Hi Phil

Send a backub and will look into it.

I'm out off job for the moment so got the time to help you_ _ _ if i can

 

BR Klaus

Knud E Lindberg

do you have a waittime before calling tpwrite again ?

philhoward

Knud,

Not a waittime specifically put in the code, but it is called normally twice (or 3 times) per cycle which is around 8 seconds, so maybe only 2 or 3 seconds between the routine being called.

Klaus - where would you like me to send the backup to?

Klaus

my e-mail.....soenderhegn@gmail.com.

 

IF you only use it 2-3 times pr. cyrcle there is something else that's not ok.

Sounds strange to me.

Mail me a complete backub and i will look into it to night.

I havent worked with picmaster alot but i now that knud is a specialist into that.

 

Did you make a new system on the controler when removing PM?

 

Best Regard  klaus.

 

PS Hey Knud

philhoward

Klaus,

I didn't remove Pickmaster myself; the application was removed by an ABB Engineer.

philhoward

Klaus, just tried to email you the backup and it failed...

Klaus

Hi Phil.

 

My internet did not work last night so i'v first got your mail now.

In the rapid dir of the backub there is to TASK dir but TASK2 is empty.

It seemes that the controller is running multitask but normaly the task dir should have a MOD file to run.

I'm downloading RS 5_13 now and will restore your backub after installing of RS and then i get back with more info

 

BR Klaus