Hi,
I am in the early stages of setting up a robot with the following specs.
IRB6700, RobotWare: 6.09.00.01 with multi-move system.
I have defined 3 new tools all with the TCP data setup and now I wish to perform the LoadIdentify routine.
When running in slow speed mode to check movement ranges I get no errors. I then follow the instructions and switch to automatic mode and start the motors. I then execute the routine from where it left off. The robot begins to move however only through axis 6 (not as expected). After several short movements the routine goes into program stop. I get the following errors in the log file.
176016 I Operational 10156 Program restarted 2020-03-12 20:22:16 Execution of task T_ROB1 has been restarted from where it was previously stopped. The originator is an external client.
176017 E Internal 100000 Internal error 2020-03-12 20:22:30 Par_id.c 10448 Log data error: mid point not found please check that the robot has moved back and forth
176018 E Program 40599 Program Stop during Load Identification 2020-03-12 20:22:31 No type of Program Stop is allowed during the Load Identification movements.
176019 W Program 40599 Program Stop during Load Identification 2020-03-12 20:22:31 No type of Program Stop is allowed during the Load Identification movements.
176020 I Operational 10136 Program stopped 2020-03-12 20:22:31 The task T_ROB1 has stopped. The reason is that the task has reached a stop instruction.
I presume the error causing the stop is 176017. Can anyone advise what is causing this issue?
Cheers.
