Argument error

RobotStudio
1

Hi, I have got a problem with one of the robots on site ( IRC5 M2004)

I originally got an axis revolution counter is not updated, so I carried out a recalibrate all the axis to the marks on each axis.
The robot then started moving again but now some of the positions are out a bit.

The robot runs in auto but when in manual and I try and step through the program to get to the position I want to modify I get an argument error - orientation definition error in topoint.

How come this is an issue in manual but not in auto?

2

Hi…
Can you send me the code snippet so we can analyze it?
Good Job

3

You said recalibrate which sounds like you fine calibrated. Is that what you did or did you update rev counters (what you should have done.).

4

MoveJ pPickPre, vUser_Mid, z10, toolGripper\WObj:=wobjDrum_Conv;

MoveL pPick, vUser_Lo, fine, toolGripper\WObj:=wobjDrum_Conv; !Pick position - close gripper + add load of drums
Gripper_Close;
GripLoad loadDrums_x2;
MoveL pPickPost1, vUser_Lo , z10, toolGripper\WObj:=wobjDrum_Conv; !Motion with load - confirm pick after suitable delay
MoveL pPickPost2_Taught, vUser_Mid, z200, toolGripper\WObj:=wobjDrum_Conv;
MoveJ pPickPost3_Taught, vUser_Mid, z200, toolGripper\WObj:=wobjDrum_Conv;
IF bPick_Is_A = TRUE THEN
!Set pick confirmation flag for A position
SetDO\SDelay:=fPick_RTN_Delay, dp_doPICK_A_RTN, 1;
ELSE
!Set pick confirmation flag for B position
SetDO\SDelay:=fPick_RTN_Delay, dp_doPICK_B_RTN, 1;
ENDIF
MoveL pPlacePre2, vUser_Mid, z50, toolGripper\WObj:=wobjPllt_Conv;
MoveL pPlacePre3, vUser_Mid, z10, toolGripper\WObj:=wobjPllt_Conv;
WaitDI dp_diSpare_1, 1;
MoveL pPlace, vUser_Lo, fine, toolGripper\WObj:=wobjPllt_Conv;
!Place position - open gripper + set load back to empty gripper
Gripper_Open;
GripLoad load0;
MoveL pPlacePost1, vUser_Lo, z1, toolGripper\WObj:=wobjPllt_Conv;
MoveL pPlacePost2, vUser_Lo, z10, toolGripper\WObj:=wobjPllt_Conv;
MoveL pPlacePost3, vUser_Lo, z10, toolGripper\WObj:=wobjPllt_Conv;
ConfL\Off;
MoveL pReturnHome1, vUser_Hi, z200, toolGripper\WObj:=wobjPllt_Conv;
IF bPick_Is_A = TRUE THEN
!Set place confirmation flag for A position
SetDO\SDelay:=fPlace_RTN_Delay, dp_doPLACE_A_RTN, 1;
ELSE
!Set pick confirmation flag for B position
SetDO\SDelay:=fPlace_RTN_Delay, dp_doPLACE_B_RTN, 1;
ENDIF
MoveL pReturnHome2, vUser_Hi, z200, toolGripper\WObj:=wobjDrum_Conv;
MoveL pReturnHome3, vUser_Hi, z50, toolGripper\WObj:=wobjDrum_Conv;
ConfL\On;
MoveJ pHOME, vUser_Hi, fine, toolGripper\WObj:=wobjDrum_Conv;
ENDPROC

5

when i try and move to the top line is when i get the error, but runs in auto.