MoveL Question

tomC

Hi,
I have a question regarding MoveL and concurrency in robot motion.  I have been packing robtargets into an array and  then pulling them out and then passing them on to MoveL.  So far it had been working well, but I've started to encounter "Position not Compatible" (50800) errors which I suspect are from pushing too many MoveL commands to the robot.  The errors started popping up in the Y negative region, but oddly enough worked everywhere else...  It's like a "dead zone" suddenly appeared in Robot space....

What is going on internally when you send a large number of MoveL commands to the Robot?  I assume it creates an internal queue and follows the path defined, but is it possible that it drops targets in favor of the most recent if it hasn't completed moving to the previous targets (synchronization issues?).  Any help or ideas greatly appreciated.

Thanks,
Tom

Model 6400 with M98 & M97 controllers.

labu

Hi,

Your errror is most probably on the configuration part of the RobTarget as 50080 is an error linked to incorrect confdata.

Internally, then controller has no problems to have a lot of consecutive MoveL as it will not send all of them in one shot in the motion part.

Check your Conf

tomC

Thanks labu, yep it was ConfL issues:  User error - another Proc was flipping it on again and I missed it...  duh....