R30iB robot fully stops after exit subroutines

    Hello all, first post here.


    This issue is actually pretty strange.


    Currently I manage 4 cells with R30iB controllers. Two of them have 2 groups installed, the other two have 3 groups installed.


    In the main program, there are several subroutines called, either to select other programs or to perform offset calculations. Everytime it comes out of a subroutine there is a delay/fullstop before it runs the next line.

    This behavior only happens in the cells with 3 groups. It doesn't matter if they are active or not.


    I believe it's something related to the system variables but it's something out of my knowledge, unfortunately.



    Thank you in advance!

    Please explain what you mean by "delay/fullstop".


    Do you mean that robot motion stops? If so, then I think there is no way to avoid that. Continuous moves are not predicted across subroutines. And that will be true for any subroutine that uses a motion group (even if its only calculating positions and not moving to a position).


    So if it is happening on only some of the cells, you may want to check the motion groups that are being used by the subroutines. Sometimes a subroutine is locking a motion group even when it doesn't use that motion group. Find the subroutine in the Select menu and press the Detail button to see the Group Mask.

    Yes, the robot motion goes to a full stop, almost as a WAIT instruction.


    The group masks are properly set. I did run some tests as well and only group 1 was active. It seems the active groups don't matter to the issue.

    Quote from HawkME

    Are you changing Frames (User Frame or User Tool) in the different subroutines?

    No. Here's an example of the subroutines.


    -- example 1


    L P[1] 100mm/s cnt100


    CALL pr_offset_1 (-100, 0, 50, 0, 0, 0)


    >pr_offset_1

    >

    >pr[10]=lpos

    >pr[10]=pr[10]-pr[10]

    >

    >pr[10:gp1,1]=ar(1)

    >pr[10:gp1,2]=ar(2)

    >pr[10:gp1,3]=ar(3)

    >pr[10:gp1,4]=ar(4)

    >pr[10:gp1,5]=ar(5)

    >pr[10:gp1,6]=ar(6)


    L P[2] 100mm/s cnt100 offset,pr[10]


    --


    -- example 2


    L P[1] 100mm/s cnt100


    CALL conditions


    >conditions

    >

    >do[1]=on

    >

    >r[10]=r[10]+1


    L P[2] 100mm/s cnt100


    --


    In both examples, the robots with 3 groups installed will stop motion before running p[2]. The others would not actually do the CNT curvature but still a continuous movement, without motion stopping completely.

Advertising from our partners