Hello everyone.
I am running an IRB800 set up for arc welding. The robot sits in between 2 stations. There is an operator control panel at each station. Each control panel has several push button switches and indicator lights. I need to use the multitasking option to monitor each operator console while the robot is busy moving and welding.
All of the robot moves and welding commands will be executed within one task and the code used to monitor the control panels will be running in a different task. I have just started writing the code to monitor the control panels. This first piece of code simply blinks a light on each control panel (to indicate that the robot controller is running). This blinking code runs but after about 30 seconds, the 40206 error occurs and I cannot figure out why. (see the attached screen shot of the error)
I have tried running the same code in the other task and it runs fine with no errors.
From the error screenshot, it seems like the source of the problem is the tAwSys_1 routine. This appears to be a trap routine used by the arc welding software. Since the code I have written does not include any welding commands yet, I don't understand why this routine is generating interrupts (if that is what is happening). For some reason, is it possible that this routine is interrupting itself eventually filling the queue and causing the error?