Some moving in lib_robmove.sys
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Some moving in lib_robmove.sys
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Not a real program, but lots of instructions and routines: https://github.com/ernell/ABB-RAPID-UTILITY-LIBRARY
Question 2:
Taken from one of my libraries on github (http://github.com/ernell/ABB-RAP…ter/lib_rob.sys)
!*****************************************************
! Create new frame from 3 pos
!*****************************************************
FUNC pose PSFrame(pos x1,pos x2,pos y1)
VAR pose frame;
VAR robtarget rx1:=[[0,0,0],[1,0,0,0],[1,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
VAR robtarget rx2:=[[0,0,0],[1,0,0,0],[1,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
VAR robtarget ry1:=[[0,0,0],[1,0,0,0],[1,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
rx1.trans:=x1;
rx2.trans:=x2;
ry1.trans:=y1;
frame:=DefFrame(rx1,rx2,ry1);
RETURN frame;
ENDFUNC
Hopefully you can find something useful.
/Yolo
Also check TP connector. Glitchy sometimes.
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Here you go (attachment).
Try another TP if possible.
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I can confirm that problems with the TP can end up with the problem you describe.
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Hello Yolo,
Do you think should I replace the RH_Base.sys with your RH_Base.sys file?
No. Since the rh_base used in production is probably modified, it would be a bad idea. You could try it, but be very careful when testing. Dont blame me if things go bad.
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Question:
The encrypted file RAPID/TASK1/SYS/Rh_base.SYS, is it a modified version of HOME/MODULES/Rh_base.SYS
I can decrypt and read HOME/MODULES/Rh_base.SYS, but not RAPID/TASK1/SYS/Rh_base.SYS since it have
a newer encryption and is probably a modified version. I attached the file HOME/MODULES/Rh_base.SYS in a
readable format, but I think the answer might be in RAPID/TASK1/SYS/Rh_base.SYS.
Anyhow, this is found several times in the logfile:
313920 E Program 40206 Interrupt queue full 2015-09-07 12:11:04 Execution of all normal tasks has stopped. Too many interrupts has occurred in T_ROB1 while executing a trap routine. {args: "T_ROB1"}
313921 W Program 40210 Interrupt removed from queue 2015-09-07 12:11:04 All interrupts have been deleted from the interrupt queue in task T_ROB1. {args: "T_ROB1"}
313922 I Operational 10020 Execution error state 2015-09-07 12:11:04 The program execution in task T_ROB1 has been stopped due to a spontaneous error. {args: "1", "T_ROB1"}
313923 I Operational 10125 Program stopped 2015-09-07 12:11:04 The task T_ROB1 has stopped. The reason is that an external or internal stop has occurred. {args: "1", "T_ROB1"}
To me it sounds like TRAP-routines are triggered while already running a TRAP-routine. Result=Overflow in queue. I wonder what size the queue is?
Not the solution, but at least something.
/Yolo
Yes
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I have same problem. How to reset?
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SetDO or PulseDO may work.
Hey. Read this-> https://www.robot-forum.com/robotforum/abb…um/error-10005/
Maybe we have the same problem. Random stop without error.
Im sure its a bug in ABB code.
/rob
Nothing found in the program. All the robots are running the same program, so something else must be wrong, otherwise the fault would occur on all of them.
Its not controlled by plc that way. Only some data communication.
Its completly random. A few times I have been standing next to the controller watching it happen. Its like if invisible man himself pressed the black stopbutton on the pendant. The error does not show, but is found when looking in the log. It can happen while moving, and also while just waiting for a signal. As I said, this happens on two out of six robots. They are not connected in any way.
Does anyone know what causes this fault? 10005 Program stopped. An external or internal stop has occured. Two of my total six 6400's stops all by itself a few times a day because of this.
AccSet 100,100; !normal acc.
AccSet 1,1; !very slow acc.
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Sorry. Edited my last post. Forgot that part.