LoadId Reference Error 40130

Marcel

Hi
 
I would like to use the Instruction: LoadId, but I get the Reference Error 40130:
Reference to unknown procedure LoadId.
I use RobotWare 5.13. (I also tried 5.12 and 5.7)
In the actual Referenz Manual the LoadId instruction is marked with RobotWare - OS, so it is no option.
I already used this Instruction with S4C+ controller.
 
MODULE Module1
 VAR num nLoadIdAccuracy;
 PERS tooldata tGun:=[TRUE,[[-212,0,140],[0,0.707107,0,0.707107]],[1,[-42,-5,109],[1,0,0,0],1,1,1]];
 
 PROC Main()
  LoadId TOOL_LOAD_ID,MASS_WITH_AX3,tGunAccuracy:=nLoadIdAccuracy;
 ENDPROC
ENDMODULE
 
What am I doing wrong?
Thanks for help.
Best regards
Marcel

Torbjorn

Hi!
There has been some changes between S4C and IRC5. The modules used for LoadId
is not loaded by default. The load of necessary RAPID modules is done from the service routine that is normally used. The changes was done to save RAPID memory.

From Limitation in LoadId:
Usually load identification of tool or payload for the robot is done with the service routine LoadIdentify.  It is also possible to do this identification with this RAPID instruction LoadId.
Before loading or executing the program with LoadId following modules must be loaded to the system:
Load Dynamic, "RELEASE:/system/mockit.sys";
Load Dynamic, "RELEASE:/system/mockit1.sys";
It is not possible to restart the load identification movements after any type of stop such as program stop, emergency stop, or power failure. The load identification movements must then be started from the beginning.

Test done by me:

 

 PROC Main()
  Load Dynamic, "RELEASE:/system/mockit.sys";
    Load Dynamic, "RELEASE:/system/mockit1.sys";
    Load Dynamic, "HOME:/MyLoadId.mod";
    ! Late binding to procedure that do LoadId
    %"MyLoadId_proc"%;
 ENDPROC

 

Module MyLoadId.mod:

 MODULE MyLoadId
  VAR num nLoadIdAccuracy;
  PERS tooldata tGun:=[TRUE,[[-212,0,140],[0,0.707107,0,0.707107]],[1,[-42,-5,109],[1,0,0,0],1,1,1]];
 
 PROC MyLoadId_proc()

  LoadId TOOL_LOAD_ID,MASS_WITH_AX3,tGunAccuracy:=nLoadIdAccuracy;
 ENDPROC
 
 ENDMODULE

 

 

 

Marcel

Hi Torbjorn

 

Thank you very much. That is exactly what I was looking for.

 

Best regards

 

Marcel