motoman xrc inform II shckrst ?

[Guest Bart M]

Hello everybody; Where i work the company who installed our robot is gone bakrupted. Big problem cause there are still a bit of bugs in it (maybe the reason there out of business). i could solve a few already but one strange problem i cant find its a palletising robot that for one or other reason it jumps out of its job and then fals in a loop (thats normal ones i followth the program´s structure) in this job they use shckset ssl#(1) and then 15 lines further they use shckrst i suspect the jump is generated just before or after the shckrst. but i cant find the function (shckset and shckrst) in any manual (even the german ones who are BIG) Does anybody now the function so yes please help me. code: as far as i know this one works its a simple taking of a box /JOB //NAME TAKE //POS ///NPOS 7,0,0,0,0,0 ///TOOL 0 ///POSTYPE PULSE ///PULSE C00000=-112959,64306,-74098,522,-26753,-10032 C00001=-112959,64306,-74098,522,-26753,-10032 C00002=-112959,83941,-69812,833,-16592,-10194 C00003=-112959,95169,-66340,1194,-11513,-10380 C00004=-112959,100425,-64460,1470,-9320,-10525 C00005=-113021,90536,-67516,997,-13793,-10248 C00006=-112708,68586,-74786,590,-23370,-10203 //INST ///DATE 2003/03/13 13:25 ///ATTR SC,RW ///GROUP1 RB1 NOP JUMP *end IF IN#(1)=ON MOVL C00000 V=1250.0 *prod_det JUMP *X IF B005=0 DOUT OG#(9) 100 TIMER T=1.00 DOUT OG#(9) 0 *X MOVL C00001 V=1000.0 PL=0 SHCKSET SSL#(1) DIN B005 IN#(73) JUMP *prod_det IF B005=1 DOUT OT#(1) OFF WAIT IN#(2)=ON JUMP JOB:HOME IF IN#(28)=OFF MOVL C00002 V=1000.0 PL=0 DIN B005 IN#(73) JUMP *prod_det IF B005=1 MOVL C00003 V=800.0 PL=0 DIN B005 IN#(73) JUMP *prod_det IF B005=1 MOVL C00004 V=500.0 PL=0 DOUT OT#(1) ON WAIT IN#(1)=ON WAIT IN#(2)=OFF MOVL C00005 V=1250.0 MOVL C00006 V=1250.0 SHCKRST *end END code2: this is the job where the robot jumps out in 5% of production time (mostly on 1st layer of boxes /JOB //NAME MOVEBOX //POS ///NPOS 11,0,0,0,0,0 ///TOOL 0 ///POSTYPE PULSE ///PULSE C00000=-112959,64306,-74098,522,-26753,-10032 C00001=-112959,64306,-74098,522,-26753,-10032 C00002=-112959,83909,-69819,830,-16606,-10194 C00003=-112959,93710,-66833,1130,-12144,-10349 C00004=-112959,100425,-64460,1470,-9320,-10525 C00005=-113021,90536,-67516,997,-13793,-10248 C00006=-112708,68586,-74786,590,-23370,-10203 C00007=-168241,49433,-113487,2578,-9399,-52762 C00008=-165111,99028,-92186,930,8691,-53642 C00009=-155977,100054,-58809,476,-14651,-58260 C00010=-155974,76857,-65570,278,-25436,-58158 //INST ///DATE 2003/01/17 12:47 ///ATTR SC,RW ///GROUP1 RB1 NOP JUMP *end IF IN#(1)=ON MOVL C00000 V=1250.0 *prod_det JUMP *X IF B005=0 DOUT OG#(9) 100 TIMER T=1.00 DOUT OG#(9) 0 *X DIN B005 IN#(73) MOVL C00001 V=1250.0 SHCKSET SSL#(1) WAIT IN#(57)=ON JUMP *prod_det IF B005=1 DOUT OT#(1) OFF WAIT IN#(2)=ON MOVL C00002 V=1000.0 PL=0 DIN B005 IN#(73) JUMP *prod_det IF B005=1 MOVL C00003 V=800.0 PL=0 DIN B005 IN#(73) JUMP *prod_det IF B005=1 MOVL C00004 V=500.0 PL=0 DOUT OT#(1) ON <----- this is done cause he grabs the case and moves up WAIT IN#(1)=ON WAIT IN#(2)=OFF MOVL C00005 V=1250.0 MOVL C00006 V=1250.0 <------ i think this is the last line the robot does SHCKRST WAIT IN#(1)=ON WAIT IN#(2)=OFF MOVL C00007 V=1250.0 <---- can be here too cause u see the robot move a little before jumping out of his job MOVL C00008 V=1250.0 MOVL C00009 V=1250.0 <----- here he never gets cause the movement is too big DOUT OT#(1) OFF WAIT IN#(1)=OFF WAIT IN#(2)=ON MOVL C00010 V=1250.0 *end JUMP JOB:HOME END Edited 7 Jul 2004 by Bart M

[Guest Bart M]

Ok made a bit of progress but no final solution. I think i will have tot reprogram the whole robot shckset and shckrst are collision detection levels so cant be the reason for jumping out of the job. dang getting close but not yet there