IRC5, RobotWare 6.8, RobotStudio 2019.3
So, I haven't touched an IRC5 since 2006 or so, and things have changed a lot in that time. But my current issue is that I had this working up until yesterday. Then I had to add the ProfiSafe option to this IRC5, and that destroyed my entire setup as a side effect -- nuked my EIO file, wiped out all my Task/Module load settings, erased all my modules....
But I've been piecing it back together using the backup I made immediately before this "upgrade". And I've got almost everything working. But I'm stuck on the Power_On routine. It has all my World Zones in it, but it just will not execute on boot. When I reboot the robot, I stop getting my Home position output. But, if I set the PP to the PowerOn routine manually and try to run it, I get a 40672 World Zone Already In Use error when I try to run the WZDOSet line below:
!Determining for controlling the homeposition
WZSphDef\Inside,shHomePosSD,pHome.trans,50;
WZDOSet\Stat,wzHomePos\Inside,shHomePosSD,doIRBinHome,1;
But, even though I get that error, my Home position output starts working! I guess it must be b/c the WZSphDef line runs, and doesn't error?
My SYS.CFG now 100% matches my pre-"upgrade" file, but it still doesn't seem to execute the PowerOn proc during boot:
CAB_EXEC_HOOKS:
-Routine "PowerOn" -Shelf "POWER_ON" -Task "T_ROB1"
So, if PowerOn isn't being executed on boot, what causes the 40672 error when I run PowerOn manually? But if PowerOn is being executed on boot, why isn't my Home signal working? This seems like a Catch-22. My SYS.CFG and the module containing PROC POWERON are identical now to when they worked previously. Is there some other setting that I'm just overlooking? I've run a full file comparison between a "before" and "current" backup, but I'm not finding anything that seems like it could be causing this.
The module that contains PowerOn is present in TASK1/SysMod, and shows up in the T_ROB1 task when I connect to the robot using RobotStudio. There are no errors in the log during reboot that indicate any issues executing PowerOn, or loading the module.