YRC1000 - SYSTEM JOB - STOPS

Hello,

I work on a project with Yaskawa robot GP 7 and YRC 1000 controller. At the same time, I use Siemens PLC to communicate with a robot (communication via Profinet - CP1626). I have one program with default points that are precisely shifted by offsets. To get offsets I use SYSTEM JOB to read values sent by PLC. But I have issues with this solution.The SYSTEM JOB can stop for no reason (my pov). The SYSTEM JOB stops in a line where is a SET statement inside the FOR loop with error code 4432.

I tried to add this SYSTEM JOB as a ROBOT job and also as a job without a group. In both cases, SYSTEM JOBS stops after some time of automatic work.(STARTMODE : AUTO)

Has anybody idea what could induce such behavior?

Structure of SYSTEM JOB in robot looks like:

/JOB

//NAME CALCULATION_R1

//POS

///NPOS 0,0,0,0,0,0

//INST

///DATE 2024/02/11 16:29

///ATTR SC,RW,SY

///GROUP1 RB1

///LVARS 10,40,40,0,0,0,0,0

NOP

'------PART_HEIGHT-------

SET D011 EXPRESS ( IG#(55) * 256 + IG#(56) ) * 100

'------ORIENTATION-------

SET D012 EXPRESS ( IG#(57) * 256 + IG#(58) - 16384 ) * 100

'------OFFSETS-------

SET LI001 59

SET LI002 60

FOR LI003 START= 13 TO 36 STEP= 1

SET LD[LI003] EXPRESS IG#(LI001) * 256 + IG#(LI002) - 16384

ADD LI001 2

ADD LI002 2

NEXT LI003

'------------------

SET D013 LD013

SET D014 LD014

....

DELAY 20

END

Thanks in advance for any response,

Sl4w3k

Quote

You have alreday a reason: error 4432, that is an instruction interpreter error.

It also should have a subcode( one from 1 to 40) that wil show other details on your error.

Alarm log from robot:

TASK#8

4432,INSTRUCTION INTERPRETER ERROR,,[36],,REMOTE(PLAY),TASK#8

CALCULATION_R1,31,0,START

,0,0,********

,0,0,********

,0,0,********

2024/03/14 17:28:50

Subcode 36 from code list:

"The reinterpretation of the instruction was ordered when executing the instruction."

I'm not sure if I understood it correctly. SET expression was executed without information about what it contains (all of used functionalities were not translated to basic functions (like MULL or ADD or SUB) in time of execution?)

Quote

You have a loop with a local var LI003 initialized to 13, but in your express you put the result of your expression exactly in LI003.

How a FOR cycle does work for you? You are forcing a "blocked" value.

If I'm not wrong in every cycle of SYSTEM JOB LI003 starts with unknown value or 0. So I put in it 13 as start value in FOR expression. LI003 is used as position pointer in array of LD[LI003] it only informs where to put result from EXPRESS IG#(LI001) * 256 + IG#(LI002) - 16384