IRB6400 M94A program issues

[spaceacealpha]

Hi all, I have a IRB6400 where the cabinet was destroyed.  We bought a replacement cabinet which is also a M94A and matches manipulator 2.4-150.  I install BASIC 2.0 just fine and install my program fine.  

I noticed though, I can MODPOS positions and I can drill into the XYZ quadrant information, but I can't manually alter any values.  IE, my 'at' position is a bit off in Z, so I normally adjust it manually by typing in what I want.  No dice for some odd reason.  Also I do a lot of OFFS() commands in the program and I tweak the XYZ to my liking but it will only let me change one value after a fresh install and never again.  I found I can drill into the OFFS() command real deep into the 'more' category and force it to change there.

I've been on the phone with ABB tech support all day.  Finally I got ahold of a guy who said that the version BASIC 2.0 is out dated and said I should upgrade to 3.0.  He said that the memory stack is full and my changes are somehow falling into oblivion.  He suggested a return statement at the end of my subroutine but, this shouldn't have anything to do with me under the ROBTARGET table making changes there.

However, I got several of these same robots all over the plant and they don't have any issues like this.  I had them confirm my firmware is good, the new cabinet is using the latest chips SDG and SBV.  I got a feeling that I'm are missing something in the equation.

[luetin]

I'm not familiar with BASIC 2.0 but maybe you have some funky permission settings in MMC.cfg?

Can you manually alter values when the PP is on another line? I've had your issue on S4 and I think it had something to do with not letting the system execute through the command (ie. stepping into a MoveLSync command and releasing the safety guard too early).

Hi all, I have a IRB6400 where the cabinet was destroyed.  We bought a replacement cabinet which is also a M94A and matches manipulator 2.4-150.  I install BASIC 2.0 just fine and install my program fine. 

I noticed though, I can MODPOS positions and I can drill into the XYZ quadrant information, but I can't manually alter any values.  IE, my 'at' position is a bit off in Z, so I normally adjust it manually by typing in what I want.  No dice for some odd reason.  Also I do a lot of OFFS() commands in the program and I tweak the XYZ to my liking but it will only let me change one value after a fresh install and never again.  I found I can drill into the OFFS() command real deep into the 'more' category and force it to change there.

I've been on the phone with ABB tech support all day.  Finally I got ahold of a guy who said that the version BASIC 2.0 is out dated and said I should upgrade to 3.0.  He said that the memory stack is full and my changes are somehow falling into oblivion.  He suggested a return statement at the end of my subroutine but, this shouldn't have anything to do with me under the ROBTARGET table making changes there.

However, I got several of these same robots all over the plant and they don't have any issues like this.  I had them confirm my firmware is good, the new cabinet is using the latest chips SDG and SBV.  I got a feeling that I'm are missing something in the equation.

[spaceacealpha]

BASIC 2.0 is thier early 90's version software before it was called BASEWARE 2.0. 

I've been thinking about it over the weekend and I'm agreeing with the ABB rep that its bad software.  I only disagree with his explaination as to why.  Key point is the chips are the latest and greatest for this century but the software I'm trying to load is last century.  They just don't agree.  I'm seeing wild things like previously taught positions being offset if its called in as an offset command's 'root'.  And it sticks and won't go away ruining any chance of proper debugging.

I put in the wrecked cabinets MAIN cpu, Robot cpu and RAM boards and attempted a loading of the BASIC 2.0 and BASEWARE 2.1 RAP that was ordered for the original cabinet in 2005.  Seems no dice with 2.1 RAP, it comes up with IOC FILE NOT FOUND warning even though its on the disk and the 2.0 has the same issues.  ABB rep says that the reason is because its the wrong cabinet but the 'brains' are the same as the old.