Hello,
When starting a PickMaster project with an IRC5 controller you may end up with an error 20128:
“(IRC5) (20128) Work object data has changed. The active work object T_ROB1/WObjPick was removed and replaced with wobj0. The work object data was located in task: T_ROB1 connected to mechanical unit ROB_1.”
The problem is caused by an active work object that is removed which may be the case if the robot has been stopped in the pick or place procedure with either the Pick or Place work object active. Then at startup, the work object is changed as the module is replaced by a new module.
A workaround for this problem is to move the workobject definitions from the RAPID program within PickMaster to the ppaUser.sys module.
BR,
Erik