RH Controller Running KAREL V2.2

[mpatter73]

I am setting up a RH Controller running KAREL V2.2 and after power-up I will receive NOT IN CONTROL OF MOTION error when I enable the panel and press the Calibrate Button.  When I turn the Remote switch ON and Enable the TP there are no errors and everything appears happy but the servos will not engage so I assume it is related to the 1st problem trying to use the OP panel.

I have SET VARIABLE $USAT[85] and $USAT[86] to 0 and ABORT then CLEAR-ALL and Cycle Power, this worked 1 time and allowed me to Master the robot, but when I installed a new .PC file to run, which compiled just fine, I once again have the same error NOT IN CONTROL OF MOTION but now setting the Variables and etc do not work so I have no movement ability.  I thought it may be something in the SYSVARS but I installed the original and I still had no progress.  I have also made sure the Remote Device was set to KB, and also tried all the other options just in case but no success.  If when turning the TP on I received the same message as if I use the panel it may make more sense and since I was able to master the robot and move it around at the start I have ruled out a Hardware problem or wiring.  I have many of the manuals but I can not find any options to try aside from what I have done.  I was going to re-install the complete robot but when I hold PB1 and the HOLD button while cycling the power instead of loading the software from the PC it boots up normal but I thought in doing this and starting over may clear the problem.

Does anyone have any suggestions to try?

Thanks in advance

Mark

[Freddy]

hello Mark,

I'm working also on an S420F running on Karel V2.2.
I had some problems mastering the robot (SOP has motion control), because the remote switch didn't function well.
After solved this I have now programmed the robot and runned it using the TP. 
I didn't have installed the gripper and other IO's to it yet.
I managed to gain some manuals (errors and sysvars, mech. main) and looking for a programming manual for this old karel version.
Can you help me with this and can I help you with some
system files or other installation settings?

Best regards,
Freddy

[mpatter73]

My remote switch is working, but is it causing the issue, could be.  What did you have to specifically do to correct it?  And I have installed the original software on to this robot and it is not connected to anything in the field nor does it have any program on it right now so it does appear to be a hardware issue because it should be just as it was from the factory, and yes the E-Stop and Fence circuits are jumped.

I have a Karel Manual that is about 1.8 MB zipped I can send to you if you have an email address to give me.

I have been very busy so it took me a while to check to see if I had any replies and I never received an alert I had a message.

Thanks

[murrellr]

Monitor $REMOTE to see if the keyswitch is working.  It should toggle as you change the switch.

As for NOT IN CONTROL OF MOTION, here is from the error code manual.  Unfortunately, I do not have the Enhanced KAREL Operations manual.

2006 WARN Not in control of motion

The KAREL system currently has control of motion, but some other source tried to initiate motion such as KCL, a program, the operator panel, etc.

This error can occur when motion control is being transferred from one device to another or if a system problem exists. Be sure the device attempting to initiate motion has motion control before trying again. See Figure 2-4, "Assigning Motion Control," in the Enhanced KAREL Operations Manual for more information on assigning motion control.