Hello everyone, I recently encountered a problem but did not find a solution. I hope you can help me. Thank you very much.
I obtain the E1 axis data through the RSI read object, but if I want to obtain E1, I must pass DEF_EIPos. This object will return the data of E1~E6, but few people will install six external axes, which will lead to the RSI data packet volume. Too large, this exception occurred.
KSS29006
Message code KSS29006
Message text RSI: Signal calculation timeout {CalcTime} usec
Message type Acknowledgement message
Effect Ramp stop
Input of active commands (robot motions, program start) is blocked.
Possible cause(s) Cause: RSI context is too extensive (>>> Page 107)
Solution: Delete objects that are not required from the RSI context
(>>> Page 107)
Cause: RSI context started twice (>>> Page 107)
Solution: End RSI context first before a restart (>>> Page 108)
Cause: RSI context is too extensive
Description
The RSI context is too extensive and takes too much computing time. The
signal calculation could not be completed within the sensor cycle rate.
Checking instructions
• Open the RSI context with RSIVisual and check whether the RSI context contains RSI objects that are not required.
Solution: Delete objects that are not required from the RSI context
Description
RSI objects that are not required can be deleted from the RSI context.
Precondition
• User group "Expert".
• Operating mode T1 or T2.
Procedure
1. Open the RSI context with RSIVisual and modify as required.
2. Save the RSI context and transfer it to the robot controller.
Cause: RSI context started twice
Description
The RSI context is started with the RSI functions RSI_CREATE() and
RSI_ON(), even though it has already been started and not terminated in
the meantime.
The procedure for checking whether the RSI context has been started twice is as follows:
KUKA.RobotSensorInterface 4.1
KST RSI 4.1 V2 | Issued: 31.03.2019 http://www.kuka.com | 107/129
Messages
Checking instructions
• Check whether RSI_CREATE() and RSI_ON() are called twice in the
program code without RSI_RESET() and RSI_OFF() being called in
between.
Solution: End RSI context first before a restart
Description
Before a restart of the RSI context with the RSI function RSI_CREATE()
and RSI_ON(), first end the RSI context with RSI_RESET() and
RSI_OFF().
Procedure
1. Select the program in the Navigator and press Open. The program is
displayed in the editor.
2. Search for the corresponding position in the program and edit it.
3. Close the file and respond to the request for confirmation asking
whether the changes should be saved by pressing Yes.
Can I selectively return only the E1 value, for example, write something like this
<SEND>
<ELEMENTS>
<ELEMENT TAG="DEF_EIPos.E1" TYPE="DOUBLE" INDX="INTERNAL" />
</ELEMENTS>
</SEND>
I tried it, but RSI reported an error. It seems that I can’t write it like this. What do I need to do to achieve the goal?
