Failed to stop rapid program [PickMaster 3]

PickMaster
1

Hi,

we using RIS to stop and start program with pickers. Sometimes, the PLC send a stop request at Pickmaster and one of the robot does’nt stop. When we restart the robot from Pause in PM, it takes 2 commands to restart it. We need to send a restart command to this robot.

the robot program : 2007-09-17_153849_Program_Robot_2_2007_09_17.zip

tx

Nicolas

2

We are having the same problem with an IRB260 and PM. did you ever figure out what the problem was?

Thanks

3

Hello,

Please try to reproduce the incorrect behaviour using only the graphical user interface of PickMaster instead of RIS. If you are unable to do this it might be a good idea to trace the RIS-commands received by PickMaster.

File Menu → Options → Log RIS commands

BR, Erik

4

Hey Erik,

We get the same result with either case. We have one 260 and 4 340’s in our project. Here is our sequence:

Run Project - Everything starts and works great.

Stop Project - All the 340’s stop but the 260 takes a long time and then gives the error “Failed to Stop Rapid”

Run Project Again - All the 340’s start but the 260 hangs

Stop Project - Everything stops

Run Project - Everything Starts great.

Any thoughts on how I might troubleshoot this?

Shane

5

Shane,

Larger robots takes longer time to go to homepos when stopping a PickMaster project. You can of course modify the homepos so that the distance is shorter and you may also increase the speed to move to HomePos to shorter the time.

BR, Erik

6

We also run into this problem sometimes even with IRB340 since it’s sometimes necessary to do some other things before going to homepos. Why not make the timeout adjustable in future PickMaster releases? Or wouldn’t it be possible to make another solution that doesn’t depend on a timeout, at least not in normal case? As long as there is a link between PickMaster and the robot it should be possible to know what is happening.

Best regards

Daniel

7

I had also the same problem but you can try this it help for me:

Place “NotifySafeStop” before the execution of you movement “GotoRestartPos”.

PROC SafeStop()
VAR string time;
VAR string date;

IDelete SafeStopInt;
NotifySafeStop;
GotoRestartPos;
ResetAx4 ROB_ID;
StopProcess:=FALSE;
ForceStopProcess:=FALSE;
ExitCycle;
ENDPROC

8

Thanks createch,

I tried your suggestion today. However it did not change anything.

Here is exactly what it is doing.

Run Program = Good

Stop = Error - Failed to stop Rapid program

Run = Warning 40210 - Interrupt removed from queue. All interrupts have been deleted from the interrupt queue in task T_Rob1.

Stop = Failed to run routine ‘Clear All’ Rapid Program stopped.

Run = Good

Starts all over again. I can repeat this sequence over and over again and it will perform the exact same way.

Does anyone have any thoughts or ideas we can try? Where do I begin to troubleshoot this thing?

9

For your information, a bug fix for this problem will be available in the next PickMaster3 release (3.13).

Best regards, Anders

10

Is there a work around until PickMaster3 comes out? Or do you have a time frame for when it might be released?

Shane

11

The work arounds I see has pretty much been up already in this thread: 1) Make a faster movement to safe pos after stop, or 2) Make another stop + restart.

Best regards, Anders

12

Ok all,

after reading all your comments, I understood that we are not the only integrator to have this problem with Pickmaster. I would like to know if this problem is solved with the 3.13 version of PM?

Thanks

13

Hello,

the problem is solved in PM3.13.

BR Anders