Hallo
One of our MRC cabines gives me a puzzle with sincro parallel jobs.
I hope you could help me to resolve it if that not trouble you much.
The MRC cabine contains two SK6 and three axis turntable.
I have made two identical programs for each of robots with one of external axes, R1S3 and R2S3, like this one:
NOP
MOVJ VJ=80
+MOVJ VJ=80
MOVJ VJ=80
+MOVJ VJ=80
MOVJ VJ=80
+MOVJ VJ=80
...
...
END
Then I made concurent job:
NOP
PSTART R1S3 SUB1 SINC
PSTART R2S3 SUB2
PWAIT SUB1
PWAIT SUB2
END
It all works fine in Play mode!
But in "Test Start" of Teach mode a Major Alarm occurs just before the end of the first step of moving of robots:
ALARM 1150
FAULT
ALARM 4000
NOT READY (ARITH)
ALARM 5210
SYSTEM ERROR (MOTION)
The first steps of movement of both robots are almost identical.
But in "Test Start" the robot R2 (Master) starts to move with a delay from 0,1 to 0,3 sec
We have three more MRC cabines, almost like this one, but without this problem.
It seems it is related only to MOVJ movements
The Alarm occurs in 60 - 100 mm before end of first MOVJ movement.
If I turn OFF the Servo and then turn it ON again, then run test start, the error occurs immediately because the robot tries to return the current MOVJ position.
I tried change the first MOVJ movement to MOVL.
In this case the first MOVL movement ends without alarm, but with small delays of robot R2 at the start and at the end.
Then the Alarm occurs before the end of second movement, because it is MOVJ.
If you have any advises for me, I would be grateful