Question on axis configurations

RobotStudio
1

I am having some issues with axis configurations. If I use anyone of the available options in the configuration tab of each point it gets an error when simulating. If I go into Rapid Robtarget and edit them to a different value they work. One of the moves in question at the 2-3 second mark in the video linked below. The point is driven from a generic RobTarget that is populated with the correct target info based on the variable for the pallet number. code below. Any ideas? TIA

PROC main()
Pno:= 1;
LoadPalletLS2;
Pno:= 3;
LoadPalletLS1;
Pno:= 12;
LoadPalletMachine;
Pno:= 16;
UnloadPalletMachine;
Pno:= 18;
UnloadPalletLS2;
Pno:= 29;
UnloadPalletLS1;
ENDPROC

PROC LoadPalletLS2()
SetPno;
PickPalRack;
MoveL offs(LS2,0,75,0),v1000,fine,NSR160\WObj:=Shelves;
MoveL offs(LS2,0,0,0),v1000,fine,NSR160\WObj:=Shelves;
OpenGripper;
MoveL offs(LS2,0,0,60),v1000,fine,NSR160\WObj:=Shelves;
MoveL LS_Home,v1000,fine,NSR160\WObj:=Shelves;
ENDPROC

PROC SetPno()
GetDataVal “Pal_”+ ValToStr(Pno), Point1;
IF Pno >= 1 AND Pno <= 15 THEN
PR_Home := PR_Home1;
ENDIF
IF Pno >= 16 AND Pno <= 30 THEN
PR_Home := PR_Home2;
ENDIF
ENDPROC

PROC PickPalRack()
OpenGripper;
MoveL LS_Home,v1000,fine,NSR160\WObj:=Shelves;
MoveL PR_Home,v1000,fine,NSR160\WObj:=Shelves;
MoveL offs(Point1,0,0,60),v1000,fine,NSR160\WObj:=Shelves;
MoveL offs(Point1,0,0,0),v1000,fine,NSR160\WObj:=Shelves;
CloseGripper;
MoveL offs(Point1,0,75,0),v1000,fine,NSR160\WObj:=Shelves;
MoveL offs(Point1,0,75,705),v1000,fine,NSR160\WObj:=Shelves;
MoveL PR_Home,v1000,fine,NSR160\WObj:=Shelves;
MoveL LS_Home,v1000,fine,NSR160\WObj:=Shelves;
ENDPROC

2

Maybe you didn’t use the hook to show all available configurations? It is called “Include Turns”.

BTW: your robot can work more efficient with zones.

3

you could also use confL\off for the part of the path that is causing issues (turning back on (confL\on) normally when you are away from obstructions and probably with a MoveJ so the axis can reset)