RobotStudio event

Robot Configuration Error Handler

SteveMob
SteveMob ✭
in RobotStudio
Hello,

I am sending the robot arbitrary target data via Sockets and TCP/IP. I am wanting to validate 2000+ targets quickly. Basically, I send it the target data, and it runs through a quick check to check if the target is a valid target or not (checks target out of reach, joint limitations, etc.). The robot then sends back a message saying that the target is valid. I can do this quite quickly, however, since the target data is arbitrary, I have no way to know of the axes configuration is valid or not. Does anyone know if there is an Axis Configuration error handler or some way that I can check if the configuration data is valid or not, before I try to move to that target?

Thanks for any help,
SM
Tagged:

Comments

  • samatsimt
    samatsimt ✭
    Would really love to know too!
  • samatsimt
    samatsimt ✭
    On top of that, I'd love to have a way to "bruteforce" the cfg values to find a suitable one automatically. It may be dangerous in actual operation but this should at least be available in simulation, without having to use the GUI. I want it done on the fly independently in RAPID code.

    As far as I know there is no errno for configuration errors. Shouldn't be that hard to implement it from ABB's side?
  • SteveMob
    SteveMob ✭
    Samatsimt,

    I think a way to find a suitable config is to use like Confj\Off or On. From what I understand, this will turn configuration monitoring off, which I think will let the robot choose the best configuration. The problem with that I have found is, that the robot will choose some weird configurations, that in my mind are not the best.

    But what I am trying to do is get the robot to check the given config data and let the user know if it's a valid configuration or not, before it tries to move to that target... I'm not sure how to do that without an errno...

    Anyone have any suggestions?

    Thanks,
    SM

Categories

In this Discussion