Virtual controller can't execute TriggL or MoveLDO instructions

RobotStudio
1

Hi everybody,

I have a station with an IRB2400L that work for several years. Now my customer wants to replace this od IRB2400L by a new IRB1600.

The original program of the IRB2400L use a lot of TriggL an MoveLDO instructions :

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I’ve installed the IRB1600 in my station, and now I’m able to execute the current IRB2400L program. Excepted for TriggL and MoveLDO instructions.
When I make a simulation, I get this error message :

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All these routines are working well in the IRB2400L simulation.

When I replace the TriggL instructions by simple MoveL, it works.

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Any idea?

Thanks in advance.

Raymond Cornet
Luxrobotic

2

Does the new robot have the fixed position events option?

3

Hi lemster68,

I cheched in the controller option, but I don’t find anything similar.
Where is this option located?

Thanks

4

In the pendant, or virtual, system info, system properties, options. In a backup, backinfo folder, backinfo.txt.

5

Hi,

here are the bakinfo.txt contents :

IRB1600

SYSTEM_ID:
VIRTUAL_USE

PRODUCTS_ID:
RobotWare Version: 6.07.00.00

RobotWare Base
French
687-1 Advanced Robot Motion
988-1 RW Add-In Prepared
608-1 World Zones
611-1 Path Recovery
613-1 Collision Detection
612-1 Path Offset
885-1 SoftMove
Drive System IRB 120/140/260/360/910SC/1200/1400/1520/1600/1660ID
ADU-790A in position X3
ADU-790A in position Y3
ADU-790A in position Z3
Axis Calibration
IRB 1600-10/1.2

HOME:
All public files and directories

SYSPAR:
SYS.cfg
PROC.cfg
MMC.cfg
EIO.cfg
SIO.cfg
MOC.cfg

IRB2400L

SYSTEM_ID:
VIRTUAL_USE

PRODUCTS_ID:
RobotWare Version: 5.11.3015.03

RW Control module key
RobotWare OS and English
644-1 French
602-1 Advanced Shape Tuning
603-1 Absolute Accuracy
604-1 MultiMove Coordinated
608-1 World Zones
613-1 Collision Detection
RW Drive module 1 key
ABB standard manipulator
IRB 2400 Type A
2400L Type A
Add axes IRB/drive module 140/1400
RC1 No add drive

ROBOT_TYPE:
2400L Type A

HOME:
All public files and directories

SYSPAR:
SYS.cfg
PROC.cfg
EIO.cfg
SIO.cfg
MOC.cfg
MMC.cfg

6

So, since you have what appears to be right now, a virtual controller, modify that system to include the option and see if it makes your problem go away. But the real robot will have to have that option purchased if this is the fix.

7

Could you please show me which option to select in the Controller options ?

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Thanks

8

Try motion events. No, I see that is world zones…still looking.

9

Motion envents is already activated (Only World zones available in this section)

10

Which version of RS are you using? Mine does not look quite the same.

11

6.07.01

12

Should be “fixed position events”, but I am not finding it in the installation manager.

13

Hi,

after some research, I found this topic :

I checked in the options available in the system, but didn’t found option 609-1.
Even if I try to build the new system with differnet RW versions.

:confused:

14

I could not find it either, I also tried an older version of rs.

15

Hi,

what is really strange, is that when I compare both of my systems, I don’t find this option in any of them :

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16

AS said the message error that you show in the first post, check other error that logged at the same time.

17

HI Jorge,

unfortunately there are no other messages.

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18

Hi, can you upload a backup?

19

Fixed Position Events are included in standard Robotware 5 and 6.

You will need to add these instructions in the template manager in order to see them in the station, I.E. (synchronize to station)

20

HI,

sorry for the late reply.

Thank you sturner for reminding me what to do !!
I did for some instructions, but I forgot for some other, that’s why it didn’t work.

Thanks to all