we're running irb6400'sm94a on RW 3.0
that works out well indeed
more concretely, here is an example of RobotMaster output.
The %XXX% is RAPID syntax for (background) tasks ( think threading )
!GENERATED BY ROBOTMASTER
TASK PERS wobjdata wob0:=[FALSE,TRUE,"",[[0.00,0.00,0.00],[1,0,0,0]],[[0,0,0],[1,0,0,0]]];
PERS tooldata tl_:=[TRUE,[[367.71,-0.25,435.92],[0,0.5,0,0.8660254]],[20,[0,0,220],[1,0,0,0],0,0,0]];
LOCAL VAR string stPath := "HOME:";
LOCAL VAR string stModule1 := "MODULE1.MOD";
LOCAL VAR string stModule2 := "MODULE2.MOD";
AccSet 10, 10;
Load stPath \File:=stModule1;
UnLoad stPath \File:=stModule1;
Load stPath \File:=stModule2;
UnLoad stPath \File:=stModule2;
An important improvement you can make is to dreepfeed another module ( a2 ) while module a1 is currently being run.
This way you can use the execution time of module a1 to push a2 to the controller ( in the background ).
That way, you can load files without the milling job grinding to a halt
Multimove is not available on S4C+
All of a sudden my robot stopped while teach pendant programming, I get a "Too low DC link voltage…" error ( 50022 ), "check voltage from Motor On contactors, replace DC-Link... really awkward... Any of your perhaps an idea of what's going on?