CONVEYOR ERROR

dhyan

Dear All
    I have been using IRB2400 with Conveyor Tracking to track the conveyor (as Fillling Machine) for few weeks and no problem.

    Suddently, robot stops immediatelly with Error 40777 Conveyor Error : The WaitWObj instruction is already connected.

   This is my RAPID (nothing strange with this, as on Manual Bool):
......
ActUnit CNV1;
ConfLOff;
WHILE TRUE DO
        PulseDO ReadySignalToPLC; !Conveyor will not move if robot have not been ready yet.
        WaitWObj wobjcnv1;
        MoveL..........wobj:=wobjcnv1;
        MoveL..........wobj:=wobjcnv1;
        MoveL...........(wobj0)
        DropWobj wobjcnv1;
ENDWHILE

My question is:
1. When "The object on the conveyor is already connected from previous WaitWObj" is happen? Why is it happen? Does my "Maximum Distance" is not long enough?

2. When "Connection was established during activation" is happen? By manual book, this can cause the error too.

3. How I must write an Error Handler?

Thanks and Best Regard

Dhyan Wicaksono

       

j_proulx

Hello Dhyan,

Does is your MoveL (wobj0) a fine point?

Have you tried to add a deactivate at the end of the routine? DeactUnit CNV1;

 

BR / Jim Proulx

 

dhyan

Dear Mr Proulx

    Thank you for your response.

Yes, of course, I use finepoint on my last "MoveL (wobj0)" as Manual Book said.

        I always use "DeactUnit CNV1" at the end of execution (Emergency interrupt, Stop interrupt and Jammed interrupt). I place that instruction before "Stop" instruction. But I don't use "DeactUnit CNV1" on the looping execution.

        Based on Manual Book, DropWObj is "stronger" than DeacUnit. I mean: the objects on the queue will be not droped if there is no DropWObj although there is DeacUnit.

        By the way, did you mean I must write as below :
......
ActUnit CNV1;
ConfLOff;
WHILE TRUE DO
        PulseDO ReadySignalToPLC; !Conveyor will not move if robot have not been ready yet.
        ActUnit CNV1;
        WaitWObj wobjcnv1;
        MoveL..........wobj:=wobjcnv1;
        MoveL..........wobj:=wobjcnv1;
        MoveL...........(wobj0)
        DropWobj wobjcnv1;
        DeacUnit CNV1;
ENDWHILE

Best Regard

Dhyan Wicaksono