IO triggering (TriggL) help

Robot Controller
1

Hello all,

I’m trying to trigger a digital output by using TriggIO and TriggL. For some reason robot (ABB IRB 6400 S4C) got a fatal error during the execution.
Error log reads: “INTERNAL rltrig.c 4094 Not possible to read stoppointtime persistent value in SDB”

Motion program worked before modifications for triggering, i.e. trajectory is correct. Robot has loaded the program without errors - I assume that it can handle Trigg commands. Hence I assume that there is something wrong with triggering commands.

Program segement:

VAR triggdata LDTR;

FOR i FROM 1 TO regPasses DO
IF i/2=Trunc(i/2) THEN
pts:=Offs(pts,0,phaseShift,0);
pte:=Offs(pte,0,phaseShift,0);
regStep:=-regIndex;
ELSE
pts:=pRightBot;
pte:=pRightTop;
regStep:=regIndex;
ENDIF
FOR j FROM 1 TO regIndexes DO
IF regDirection=1 THEN
TriggIO LDTR,50DOp:=do1,1;
MoveL pts,speed1,z5,tool0;

TriggL pte,speed1,LDTR,z5,tool0; (execution stopped here)
ELSE
TriggIO LDTR,50DOp:=do1,0;
MoveL pte,speed1,z5,tool0;
TriggL pts,speed1,LDTR,z5,tool0;
ENDIF
regDirection:=-regDirection;
pts:=Offs(pts,0,regStep,0);
pte:=Offs(pte,0,regStep,0);
ENDFOR
ENDFOR
Distance between endpoints (pts to pte) is about 250 mm; speed1.v_tcp:=190.

Can anybody help with proper use of triggering commands?

Thanks,
Andrei

2

Hi Andrei.

Try defining two different triggdata variables, one for setting the signal and the other one to resetting.

VAR triggdata LDTROn
VAR triggdata LDTROff

TriggIO LDTROn,50DOp:=do1,1;
TriggIO LDTROff,50DOp:=do1,0;

…

This way, you don’t need to redefine continuosly the LDTR variable while moving. I expect that, since execution is parallel to the motion, the program is trying to redefine the trigger while a TriggL is using it, causing the problem.

Bye