Hi, I have some Abb 6400 with M94A , S4 controllers. I have installed Baseware 2.0 + Adv Functions + Rap Communication.
I want to run big programs with them, with more than 50.000 MoveL instructions, and I need to make a program in wich I can skip the robot memory limitation, to be more exact I know that it is possible to make a loop in wich the instructions can be loaded from floppy disk or serial channel. Let`s skip some steps and get to my questions.
1.How should a program look like in wich the constant robtargets can be loaded from flp1 or serial channel?
To be more specific my program generated by Eureka look like this:
%%%
VERSION:1
LANGUAGE:ENGLISH
%%%
MODULE 1
! ------------------------------------------------------------
! Target declaration
! ------------------------------------------------------------
CONST robtarget p1:=[[-1060,-266.5,100],[0.707,0,0,-0.707],[-1,-1,0,0],[0,0,0,0,0,0]];
CONST robtarget p2:=[[-1060,-266.5,-107.5],[0.707,0,0,-0.707],[-1,-1,0,0],[0,0,0,0,0,0]];
CONST robtarget p3:=[[-1060,-266.5,-110],[0.707,0,0,-0.707],[-1,-1,0,0],[0,0,0,0,0,0]];
! ------------------------------------------------------------
! Speeddata declaration
! ------------------------------------------------------------
CONST speeddata vrapid:=[1000,500,5000,1000];
CONST speeddata vfeed1:=[0.833,0.833,0.833,0.833];
CONST speeddata vfeed2:=[12.5,12.5,12.5,12.5];
CONST zonedata zonerapid:=[FALSE,5,5,0,0,0,0];
CONST zonedata accuzone:=[FALSE,0.05,0.05,0,0,0,0];
PROC Main()
ConfL Off;
MoveL p1,vrapid,zonerapid,tool1 WObj:=Wobj1;
MoveL p2,vrapid,zonerapid,tool1 WObj:=Wobj1;
MoveL p3,vfeed1,accuzone,tool1 WObj:=Wobj1;
ENDPROC
ENDMODULE
And I know that in theory is possible to make a program like this:
Load Module from flp1,ramdisk,iodevice
!!The program would load the first group constant robtargets from p1 to p2
MoveL p1 to p(n+1)
!!The program will execute the MoveL instruction from the first "p" to the last "P"
Move to home position
Unload module
Restart the process again
Notice: the firt module will have p1 to p10 or to p100, the second module will have from p11 to p20, or from p101 to p200 and so on.
I can also try to install BaseWare 3.0 with factoryware and multitasking but I will get errors because it requires ethernet boards and my controllers are not equiped with it.
If I install BaseWare 3.0 I know that it is possible to execute the MoveL instruction with the robtargets from the robot memory and meanwhile another routine with another set of robtargets can be loaded.
I need an answer for BaseWare 2.0 if it`s possible or BaseWare 3.0 or both of them to try the program.
Any ideas ??