EGM timeout time

Robot Controller IRC5
1

In Application manual - Externally Guided Motion page 25, it writes that “EGM_STATE_CONNECTED and change the state to EGM_STATE_RUNNING as long
as the convergence criteria for the target position have not been met or the timeout time has not expired”. I know the convergence criteria should be changed in EGMRunJoint, but I couldn’t find the default value of the timeout time and have no idea how could we change it to keep a longer EGM_STATE_RUNNING status.

Looking for someone could help me

2

The manual states the default value is 1 second, you should be able to adjust this with the \CondTime argument for EGMRunJoint

3

Hi Xerim

Thanks for your reply. I actually use the EGM function with the StateMachine Addin. And yes, the \CondTime could set the EGM convergence timeout. The problem is it works if the \CondTime shorter than 15 mins. If I set a value larger than 15 mins, the EGM still stops around 15 mins. Therefore I’m trying to find if there is another timeout value.

If you are familiar with the EGM, would you mind take time to have a look at the StateMachine Addin?

4

What is the state of the EGM when it times out? Perhaps you could try printing the EGM state to the FlexPendant with TPWrite and EGMGetState to verify

5

Do you know if there is a maximum value for the \condtime?

6

I don’t know if there is a maximum timeout value, I would contact ABB about this

7

Thanks