"Uncertain circle" error in RS with programs running OK On-line

RobotStudio
1

Hi everybody,

I have a problem when I want to simulate some programs in RS which are now running On-line in production on IRB 2400 M98A.
I’m using a RS station with IRB 2400 M2000, normally I don’t have any problem, but this was existing programs built On-line which I modified Off-Line.

I receive this event log:

“Description
Task: T_ROB2
The points are misplaced, reason3:
1 End point too close to start point.
2 Circle point too close to start point.
3 Circle point too close to end point.
4 Uncertain reorientation.
5 Circle too large > 240 degrees.
Program Ref. /MODULE01/C520_LRr_15_T1/MoveC/575
Actions
Check the points of the circle and the end point of the move instruction before. The points of the circle can be verified by stepping trough the circle in manual mode.”

Is there a solution to avoid this problem.

Thank you

2

Hi. In the motion configuration of the VC: Uncheck “Restrict placing of circlepoints”. Under Motion planner.
See the attachment.

Motion planner.jpg
Motion planner.jpg550×650 101 KB

3

Hi,

I did the modification in the Motion planner, but know, I have a new error in the VC:

"50027: Joint Out of Range

Description
Position for ROB_1 joint rob1_6 is out of working range.
Actions
Use the joystick to move the joint into its working range."

This is really strange, because this program works good on-line.

4

Hi everybody,

any idea ??

Thanks

5

M98 then I guess the real controller isn’t a IRC5 controller right probably a S4C+ controller?

6

Hi,

it’s a S4C one.