Configuration of StantAlone Controller

GAC_MEF_Roth

Hi together, I have no experiences using the StandAlone Controller. So I made some tests but till now no real success and I hope that maybe someone could help to solve my problems. I want to realize a simple Scara-kinematic and control this robot with the IRC5. The Scara-Robot has to rotational axis - please see a simple picture of the robot in the attached file. Based on the information of the manual I chose a kinematic model and here my problems starts. I don't know if it is correct to use the two axis doppin feeder - maybe someone could tell me if the chosen model is correct or not? Anyhow I tried to configure my system with my choice independently if it is correct or not. But just as I added the virtual controller to my station I got one system-error after another. I put my MOC-file as well in to this post. Do I need to load other *.cfgs to get it running. I also tried to compare MOC-files from standard ABB-robots with the MOC-file of the SAC, but the motor definitions aso are completely different. Maybe someone could give an advise how to get my system running. if a Pack&Go is helpful, I also can post it. KR/ Michael