Good morning, I need my ABB IRB 6400 to read a program that is in parallel with the main program. Can someone help me?
parallel program ABB IRB 6400
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kennedyrsb -
February 11, 2019 at 11:44 AM -
Thread is marked as Resolved.
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That would be either traps or multitasking depending on how elaborate your parallel program is and what you're trying to do.
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we can call it multitasking, but I need it to be running even when the robot is in manual mode. I will use the program in parallel to deactivate an equipment that works with the robot.
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So the first thing is to verify that your robot has the multitasking option. Look in your backinfo file.
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#
# System backup
# Originally at: flp1:/BAK0207
# 2019-02-07 13:39:05
#
>>SYSTEM_ID:
LIC9999-0246>>PRODUCTS_ID:
3HAC2700-2/50 System Pack 3.2
TP Language
Irb 6400
Ethernet Services FTP
LoadId and ColDetect
Multitasking
IO Plus
Advanced Functions
SpotWare>>ROBOT_TYPE:
6400/2.4-150>>SYSPAR:
SYS.cfg
SIO.cfg
EIO.cfg
MOC.cfg
PROC.cfg
MMC.cfg>>TASK0: (MAIN)
SYSMOD/BASE.sys @ flp1:/BAK0108/RAPID/TASK0/SYSMOD/BASE.sys
SYSMOD/module1.sys @ ram1disk:MODULE1.sys
PROGMOD/GP_01.mod @ ram1disk:GP_01.mod
SYSMOD/BASEFUN2.sys @ ram1disk:basefun2.sys>>TASK2: (MESA_SUP)
SYSMOD/MESA.sys @ ram1disk:MESA.sys>>EOF:
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ok, so you need to configure your task, if you set it to static or semistatic, it will remain running while the robot is in manual, e-stopped, whatever. Only not running if it faults due to execution error or robot is off.
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Thank you.