Posts by Lemster68

If you have to reload the system again, try just loading parameters one at a time and then load all your modules one at a time instead of a restore.

Quote from megakino

I think the best thing would be to do the tests in real time and fully study the positive and negative results. There you could draw an incredible final conclusion.

Could you please be more vague with your insight?

Quote from shotvpro

Additionally, it could impact the force and torque limits, so a quick check on those parameters could help ensure smooth operation.

Where does one find the force and torque parameters in this controller?

Have you searched here for the manual which will tell you the proper calibration of that positioner?

Manuals, Software and Tools for ABB Robots

It will still work even if it has not been taught.

It might not be taught yet.

If the workobject didn't exist, then you could not execute the program anyway because the ambiguity error would be replaced with a reference error. You need to find where the ambiguous declaration is and then why it is there.

The code you have posted has unique names for the two workobjects. They are not ambiguous. Is there some loading/unloading of modules going on in the executable code?

Then you should use the function CalcJointT with the old tool and then CalcRobT on the result using the new tool.

Use the new tool in the move instructions.

Look into the speedrefresh instruction, it does exactly what you are describing. You cab program it into an interrupt.

Request write access. It has to be granted at the pendant.

It could have the VIEWONLY attribute set. In a text editor you could remove that attribute in the module declaration.

You will need to use a world zone for the area of your toolchanger. This will set an output when in the area. That MUST NOT be the actual output to unlock. You will cross connect that output to another output that is virtual from the robot to set/reset the lock signal. This cross connection resultant will be the real unlock signal. If there are proximity sensors on the nest or toolchanger you could add the into the cross connection chain for added safety.

Is this code nested in some other code which is counting the number of pieces/cycles? I had asked similar before. One comment in the code mentions 40 pieces. Somehow I expect you need to loop over and over.

To address one question in your original post, yes, it is possible to adjust the collision detection sensitivity. If you have the option Motion supervision and collision detection there is an instruction, MotionSup with an optional argument \On, AND the other optional argument \TuneValue, with which you adjust the sensitivity.

Just how are you incrementing the cycles? Which controller version? That is important too.

I will have to get back to you on Monday if someone else doesn't sooner.

Quote from Boosted Engineering

Error 40168
Task MAIN: Reference to unknownprocedure Prg_Tmp1

No this.

Did you clear out the reference error?