SafeMove doesn't work with coordinated track

Robot Controller
1

Hi

We have a robot with SafeMove running with RobotWare 5.15.05. The robot is on a track and is working coordinated (MOC.cfg, ROBOT: -base_frame_coordinated “TRACK_1”). After loading the SafeMove into the robot we need to give in the PIN code and the system restarts. But after restart the system again asks for the PIN code. Only if we deactivate the coordinated movement the controller accepts the PIN code and goes on with asking for synchronizing SC1. We already build a similar system two years ago with RobotWare 5.14.03 that works fine. The new system is also not happy with the SafeMove configuration of the old system. What can we do?

best regards

Marcel

2

Hi

I found a hint in the Release Notes RW 5.15.07 on Page 81:

SafeMove and additional axis: Basically the SafeMove option only supports ABB track motion units. Non ABB track motion units, non ABB positioners, and other external axis may be supported by the SafeMove option but this needs to be verified case by case.

And that could be the problem, then we have a non ABB track.

The workaround now is to load the MOC.cfg parameter without: base_frame_coordinated, then load the SafeMove configuration and then load the MOC.cfg parameter with: base_frame_coordinated.

best regards

Marcel