Posts by h.esk60

    Hi
    When i connect camera to controller and then in irvision software in live mode after 3 or 4 second my controller hang and the teach pendant lock anything doesn't work.I change camera and cable with new one but problem doesn't solve
    Please help me what is my problem (i think it is about hardware in motherboard)
    I have r30ia-mate open air controller .


    many thanks.

    Hi,
    In r30ia-mate in during execute program suddenly the DTERR alarm appear and the current program aborted .I push the reset key in teach pendant but error doesn't clear I turn off and on the controller the DTERR alarm cleared .I have 3 question.
    1- why in DTERR alarm the program aborted ?
    2- why with push reset key the DTERR alarm doesn't cleared.
    3-Why after turn off -on robot doesn't come back to the main program .


    thanks. :help:

    PROC Path_10()


    ConfL\off;
    CONNECT err_interrupt WITH trap_err;
    IError COMMON_ERR, TYPE_ALL, err_interrupt;
    MoveJ Target_10, v1000, fine, tool0\WObj:=wobj0;
    PathRecStart safe_id;
    MoveL Target_20, v1000, fine, tool0\WObj:=wobj0;
    MoveL Target_30,v1000, fine, tool0\WObj:=wobj0;!! for example during this line we have a collision.after start*
    MoveL Target_40, v1000, fine, tool0\WObj:=wobj0; !*robot will continue Target_30 and after that**
    MoveL Target_50, v1000, fine, tool0\WObj:=wobj0; !**interrupt routine will execute while we expect at first
    MoveL Target_60, v1000, fine, tool0\WObj:=wobj0; !time interrupt routine execute
    IDelete err_interrupt;
    ENDPROC

    TRAP trap_err
    TPReadFK choice,"Go to safe?",stEmpty,stEmpty,stEmpty,stEmpty,"Yes";
    IF choice=5 THEN
    IF PathRecValidBwd(\ID:=safe_id) THEN
    StorePath;
    PathRecMoveBwd \ID:=safe_id \ToolOffs:=[0, 0 , 10];
    !Fix problem
    PathRecMoveFwd;
    RestoPath;
    StartMove;
    ENDIF
    ENDIF
    ENDTRAP

    hi,
    I wrote an interrupt routine when error occur this interrupt execute.
    for example when collision occur but in this time robot will continue the last position
    and after that it will go to interrupt routine while we expect at first time interrupt routine execute.
    Is there any setting for interrupt? :help:
    I use IRC5 with IRB 1410


    Many thanks