Main proc synchronize to station

Akram_Lachiheb

Hi to all,

I have an issue with RS 5.61.02 : I am using a system with two robots : irb 2600 et irb 120, added from the layout.

At the beginning, every thing works.

When i edit the main procedure ( of task 1 or task 2) in RAPID and try to synchronize it to station i have an issue : the main proc appears in the tree under paths folder but EMPTY!!

Some help plz ?

carlosmtz2000

Can you share the type of edits that you are placing under the main routine(s)?

 

Akram_Lachiheb

I just added some lopps and some conditions.

Also when i check the the program : Checked: Linky_S15_TN/RAPID/T_ROB1: No errors. 07/04/2015 14:14:08 General !!

I think i will remove the controller, re-insert and reposition my two robots and reload the programme.

carlosmtz2000

Not all the RAPID instructions are mapped inside the "paths" folder. Most of the motion related instructions (Move, Configuration) and some signal actions are mapped to the Path's view.

This should explain the behaviour you are describing

Akram_Lachiheb

Thank you for your time.

This is what i have in main proc in rapid : see photo "rapid"

And this what i have after synchronization to station : see photo "station" an empty main proc !

And even after re-implanting my station and re-added a new controller from layout, the issue percists!

carlosmtz2000

This is the expected behavior. The RAPID lines inside the main routines are not mapped by default to this Path view (neither the loop nor the custom RAPID routines).

IN the case of your other RAPID routines, you see they have content since these RAPID lines can be mapped (i.e. Move, wait or signal actions)

 

Akram_Lachiheb

Thanks,

In this case what shall i do?

carlosmtz2000

It all depends what is your goal. At the end of the day, when the simulation runs, the RAPID code inside the virtual controller is used (not the one in the Path View)

Two ways of adding a new routine into the Path view:

1. You can configure RobotStudio to identify your custom routines, so the sync operation will keep them the same.
2. If you have RobotStudio 6.x, you can add the procedura calls manually in the main routine by right click on the main routine (inside the Path View). Then you will see the option of adding a procedure call.

However, it is not possible to map the WHILE instruction in the Path view.

BR

 

 

 

 

There are ways that you can add this procedure calls in the main routin

Akram_Lachiheb

Thanks a lot