Base Module (system)

Robot Controller
1

Hi guys,

I would like to know more about the Base system module.

When does it load? During a power up? Everytime I press PP to Main?

The thing is I modified the module but the changes applied only after I manually loaded it.

I thought that module would execute everytime I start a new program or at least, when I power up the system.

Now that I loaded it, is it loaded for good? It seems so.

Thanks,

Jet

P.S. I modified it to add Velset 100, 1000; so my students wouldn’t be able to race the robots at 5000 :slight_smile:

I know it’s only good until they hear about the Velset command but it’s gonna be good while it last :slight_smile:

P.S.S. On the same kind of thread, when does the User system module load? Same questions but for the user module.

2

hi Janin

For my application, i created a read only user module with procedure call by event routine.

Mario Legault (un ancien Actudiant, CSTPQ inc)
:wink:

3

Hey Mario my robotics Offspring! :laughing:

I have done that before but I still don’t know about how the Base module and User module are loaded.

I thought I’d ask here to save some time looking into books but I guess I’ll have to read anyway :wink: A teacher looking for shortcuts, shame on me I know!

Last call for explanations ABB Gurus?

Thanks,

Jet

4

User.sys is loaded from the HOME by an “automatic loading of modules” entry that is created automatically and is visible in sys params, base.sys is loaded in the same way but the entry is not visible or editable.

Base.sys is loaded from the release directory into all tasks, so the correct way to load it would be to save the changes to the file on the disk and then P-Start the controller, that should ensure that the correct version is loaded into each task.

In general, I think that the intention is that you should avoid modifying base.sys, especially on your PC, because you may inadvertently download a change that does not apply to all robots.

The preferred approach would be to have your own system module/routines, encrypted if necessary, that would execute your code from a shelf routine rather than modifying base.sys.

5

Hello Russell,

Thanks for the information. I remember now about the User.sys and the automatic loading of module, I had forget about that, getting too old I guess. :wink:

Be cautious about the word encryption and encrypted modules, people get scared when you talk about it here :stuck_out_tongue_winking_eye:

I also agree that we shouldn’t modify the base.sys, I’m just trying things to see how it works.

Thanks again,

Jet