How is $ROBRUNTIME evaluated internally ?

lionpeloux · April 9, 2019 at 5:56 PM

Hello,

KRC2 / KRR5.6

The manual states that $ROBRUNTIME gives the cumulated amount of time when drives are switched on.

But I could not find how to determine when drives are effectively switched on in the manual.
I've looked at $DRIVES_ON (pulse) and $PERI_RDY but it does not seem to be correlated as $PERI_RDY could be true while $ROBRUNTIME counter is stopped.

Can someone explain precisely how is $ROBRUNTIME computed ?
Would the time when PRO_STATE1 = P_ACTIVE be a good approximation ?

Nota : my goal is to compute a weighted value of $ROBRUNTIME (weighted by $OV_PRO).

Thanks,
Lionel

**panic mode** · April 9, 2019 at 6:21 PM

drives are on when "I" in "SIR" is green....

lionpeloux · April 10, 2019 at 8:25 AM

Ok,

So "I" in "SRI" is green when $PERI_RDY = true ... and the question remains fully open.

Indeed when $PERI_RDY is true the $ROBRUNTIME counter can be stopped (for instance if no program is selected).
So the manual (KSS 5.6 END V1 en p67/185) is possibly misleading :

Quote

Operating hours. The operating hours meter is running as long as
the drives are switched on. Alternatively, the operating hours can
also be displayed via the variable $ROBRUNTIME.

So what is the condition that makes $ROBRUNTIME count or not ? Could it be :

Code

PRO_STATE1 == #P_ACTIVE && $PERI_RDY == true

**panic mode** · April 10, 2019 at 2:10 PM

no.... program state does not matter. time is accumulated whenever drives are on - regardless if robot is stationary or not, regardless if running program or not, regardless if jogged or not. the only condition is - drives are on. when "I" is green, 'odometer' is running....

lionpeloux · April 10, 2019 at 2:53 PM

Well, I still don't fully understand what you are saying.

See my screenshots : the "I" is green (PERI_RDY = true), no program is selected by the robot interpreter, and $Robruntime is idle (at 55809).

So you said "I is green" <=> "drives are on" <=> "$ROBRUNTIME is counting".
But I see that in some cases "$ROBRUNTIME is NOT counting" when "I is green" ...
What am I missing there ?

I am on KSS5.6 / KRC2ed2005

**panic mode** · April 10, 2019 at 3:00 PM

in that case not sure... would need real KRC2 to try.
but - why is this important?

lionpeloux · April 10, 2019 at 3:28 PM

1) I am working on a maintenance plan so it's good to know what is precisely behind $ROBRUNTIME and the manual is visibly misleading.

2) I am developing a service that sends notifications when a src program is about to finished. The src programs are generated with Powermill and I get an expected simulation time from it. This simulation time is hard coded in the program when it is exported (postprocessing). My service reads this value when the src program is started and tracks the progress time of the program. The progress time must be 'normalized/weighted' to take into account the current $OV_PRO. When the progress time is about to reach the simulation time (lets say 5 minutes before) a notification is send to the operator.

=> So I was looking how to build an accurate progress time. I was thinking of $ROBRUNTIME but now I think I would better write my own counter timing when PRO_STATE1 == #P_ACTIVE.

=> So the question is still open What is the condition for $ROBRUNTIME to count ?!

**panic mode** · April 10, 2019 at 3:42 PM

i would not bother with this variable, i would use timer.

the leg · April 10, 2019 at 8:23 PM

i thought robruntime was moving time only ??

**panic mode** · April 10, 2019 at 9:32 PM

my info is that, that would tell use of gearboxes but not controller, brake circuits etc.
either way, displayed value is rounded which makes it hard to do a direct comparison without writing some code.
if one wants to use time in program - there are timers for that.

the leg · April 10, 2019 at 9:55 PM

Might have a little test in the morning ?

**panic mode** · April 10, 2019 at 10:43 PM

please share what you discover...

hiimtom · April 11, 2019 at 5:59 AM

I do not believe this value is linked to any readable variable (PERI_RDY etc).
The 'I' symbol can be green even if there is no power to the drives.

When you are in T1 and hold in dead man switch; the I turns green, but the brakes will only release once press a jog key.

When in operation, if the robot is stationary for >30s while waiting for an input etc.., the drives will switch off and the robot will close the brakes. The robot could theoretically be sitting in this state for hours/days while waiting for product. This timeout value can be modified somewhere i believe...

the leg · April 11, 2019 at 9:05 AM

So after testing this I have found that the run time is linked to the brakes lifted .

It's not movement time only that the the brakes are off

? ?

javaman · April 11, 2019 at 10:44 AM

Where robotruntime is stored ? in hdd of krc2 pc ?
Iam asking that because i have connected on the same krc2 2 different robots
and is shows me for each robot different runtime..

the leg · April 11, 2019 at 10:59 AM

Pc and the RDW

javaman · April 11, 2019 at 11:14 AM

PC or RDW ?
Has RDW eeprom chip that stores robotruntime so if you change completely krc2 runtime of robot is correct ?

the leg · April 11, 2019 at 11:16 AM

It's stored in both hence why you can get a mismatch and have to select the correct one if for example you change the RDW

javaman · April 11, 2019 at 12:15 PM

I want to know the RDW runtime value how to can find this value ?
(i think is more accurate because to replace someone the RDW has less changes than modify value in hdd)
Also where in hdd stored runtime?

the leg · April 11, 2019 at 12:30 PM

The values are the same and if they are not it asks you which one to use

The runtime is not user changeable

How is $ROBRUNTIME evaluated internally ?

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