Hi guys,
a little problem with control group today.
In our company we have a ES165 with an external axis: we can choose this cont.group: R1, S1, R1+S1 and the magic R1+S1:S1.
I wish to create a main program, aka MASTER JOB,(you could see a simply version below) in which I can pass a variable selected in the I/F Panel to call the right job to execute
(I use this solution in other robot but without external axis).
when I execute this program I've no problem until I release the servo, then starts the alarm 4228 WRONG DATA and I've to restore the system.
I understand that the problems are in the control group, but how to solve it? Can I still create a main program like the one below or I've to find other solutions.
/JOB
//NAME MAIN
//POS
///NPOS 1,0,0,0,0,0
///TOOL 0
///POSTYPE PULSE
///PULSE
C00000=0,2,-2,-1,-1,1
//INST
///DATE 2015/03/06 17:40
///ATTR SC,RW
///GROUP1 RB1
NOP
'Outside: the job JOB1(S1) call another job JOB3(R1) with a PSTART
SWITCH I004 CASE 0
CALL JOB:JOB1
'________________________________
'Inside: JOB2(R1+S1:S1)
CASE 1
CALL JOB:JOB2
'________________________________
'Surface:the job SURF(R1) call another job JOB4(S1) with a PSTART
CASE 2
CALL JOB:SURF
'________________________________
DEFAULT
MOVJ C00000 VJ=5.00
ENDSWITCH
END