Synchronizing RAPID to Station - losing targets

RAPID Programming
1

Hi,

I have imported a RAPID file that I created with RoboDK and now am trying to synchronize it to my station. I examined the paths and targets in the RAPID path editor, and it looks the way I expect it to. The RAPID code is basically a sequence of linear moves, and each target is shown in the graphical representation with paths between them. However, when I synchronize to station, many of the targets disappear. I’ve included an image showing the two paths.

In the RobotStudio manual, I saw there is a MinDist approximation parameter, which was mentioned in the context of creating a path from edges or curves. The manual says that if points are closer than the specified minimum distance, some of the points are filtered out. Is there a similar parameter that applies to synchronizing from RAPID to the station? If so, how can I edit that? If not, do you know what else might be happening?

Thanks!
J

2

Can you post the Rapid code? Maybe you have “unclean” move instructions.

3

Hello,
What does warning “Failed to synchronize path MOD_PSAX_ROBOTCHECK” say?

4

Rapid code is attached. The error message is:

Rapid
Controller1: Failed to synchronize path MOD_P5AX_ROBOTCHECK/Main in T_ROB1.

Data value AFD1100STC1515PARALLEL tooldata changedData value ObjectReference wobjdata changed
MOD_P5AX_ROBOTCHECK.txt (30 KB)

5

I see. All move instructions are “unclean”, the targets need to be in a variable. I don’t know RoboDK, maybe you have an option for saving targets in variables.

Example:

MODULE MOD_P5AX_ROBOTCHECK

    ! Targets in variables here

    PERS jointtarget Target_10:=[[-12.384942,51.756647,-2.272365,113.414946,9.512864,-122.531619],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
    PERS robtarget Target_20:=[[-457.200,-360.861,119.561],[0.27059805,-0.65328148,-0.65328148,-0.27059805],[-1,1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
    .
    .
    .

    ! -------------------------------
    ! Define customized variables here
    ! ...

	! Tool variables: 
	PERS tooldata AFD1100STC1515PARALLEL := [TRUE,[[335.000,0.000,205.000],[0.70710678,0.00000000,0.70710678,0.00000001]],[1,[0,0,20],[1,0,0,0],0,0,0.005]];

	! Reference variables:
	PERS wobjdata ObjectReference := [FALSE, TRUE, "", [[1700.000,0.000,0.000],[0.70710678,0.00000000,0.00000000,0.70710678]],[[0,0,0],[1,0,0,0]]];

	PROC Main()
		ConfJ \On;
		ConfL \Off;
		! Program generated by RoboDK v3.8.4 for ABB IRB 6700-235/2.65 on 18/07/2019 12:34:19
		! Using nominal kinematics.
		! Show AFD1100 STC1515 PARALLEL
		! #3 60 DEG CENTERDRILL
		! SetRPM(90750);
		! Stock Size X63. Y27. Z4.
		MoveAbsJ Target_10,v1000,z1,AFD1100STC1515PARALLEL \WObj:=ObjectReference;
		MoveL Target_20,v1000,z1,AFD1100STC1515PARALLEL \WObj:=ObjectReference;
		WaitTime 0.231;
                .
                .
                .
6

Thank you! That fixed it.

7

Hi,
Actually inline targets work just fine. It is the inline speed definitions that cause problems in this case.
Replace them with variables and you’re good, see attached file.
MOD_P5AX_ROBOTCHECK_inl.txt (29.7 KB)