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question about custom olp command (problem)

PLM World Member Valued Contributor PLM World Member Valued Contributor
PLM World Member Valued Contributor

hello, i have a question about the custom xml code of abb.

 

why can not drive the gun via  "# destination" command after a reltool movement?

 

see example code:

 

<SimulationLayer>
                <Line>
                    <Item Type="const"># MoveLRelTool 0 0 -30</Item>
                </Line>
                <Line>
                    <Item Type="const"># ForceFullArrival</Item>
                </Line>
        
                <Line>
                    <Item Type="const"># Destination ${ActiveGun}</Item>
                </Line>

                <Line>
                    <Item Type="const"># Drive CLOSE</Item>
                </Line>
                <Line>
                    <Item Type="const"># Destination </Item>
                    <Item Type="const">${ActiveGun} </Item>
                </Line>
                <Line>
                    <Item Type="const"># WaitDevice CLOSE</Item>
                </Line>  


                <Line>
                    <Item Type="const"># Destination </Item>
                    <Item Type="const">${ActiveGun} </Item>
                </Line>
                <Line>
                    <Item Type="const"># Drive OPEN</Item>
                </Line>
                <Line>
                    <Item Type="const"># Destination </Item>
                    <Item Type="const">${ActiveGun} </Item>
                </Line>
                <Line>
                    <Item Type="const"># WaitDevice OPEN</Item>
                </Line>
                
                
            </SimulationLayer>

19 REPLIES

Re: question about custom olp command (problem)

Siemens Phenom Siemens Phenom
Siemens Phenom

Can you provide the simulation debug trace?

Re: question about custom olp command (problem)

PLM World Member Valued Contributor PLM World Member Valued Contributor
PLM World Member Valued Contributor

Errors:
irb7600_255_500[RRS]> Hinweis an G38_01_06wz01_330_rivet: [DBG] Lese Bibliotheksdatei E:\tx_sysroot\SystemRoot_13_141_BMW_Prototypen\RobotsMachineDataFiles\PP-BMW_VIB_L7-3-4-2013-11-37-2-804221-808624\SystemFiles\HsnUser.mod
irb7600_255_500[RRS]> Hinweis an G38_01_06wz01_330_rivet: [DBG] Lese Bibliotheksdatei E:\tx_sysroot\SystemRoot_13_141_BMW_Prototypen\RobotsMachineDataFiles\PP-BMW_VIB_L7-3-4-2013-11-37-2-804221-808624\SystemFiles\base.sys
irb7600_255_500[RRS]> Hinweis an G38_01_06wz01_330_rivet: [DBG] Lese Bibliotheksdatei E:\tx_sysroot\SystemRoot_13_141_BMW_Prototypen\RobotsMachineDataFiles\PP-BMW_VIB_L7-3-4-2013-11-37-2-804221-808624\SystemFiles\AtecBase.sys
irb7600_255_500[RRS]> Hinweis an G38_01_06wz01_330_rivet: [DBG] Lese Bibliotheksdatei E:\tx_sysroot\SystemRoot_13_141_BMW_Prototypen\RobotsMachineDataFiles\PP-BMW_VIB_L7-3-4-2013-11-37-2-804221-808624\SystemFiles\ComBase.sys
irb7600_255_500[RRS]> Hinweis an G38_01_06wz01_330_rivet: [DBG] Lese Bibliotheksdatei E:\tx_sysroot\SystemRoot_13_141_BMW_Prototypen\RobotsMachineDataFiles\PP-BMW_VIB_L7-3-4-2013-11-37-2-804221-808624\SystemFiles\FEE_Base.sys
irb7600_255_500[RRS]> Hinweis an G38_01_06wz01_330_rivet: [DBG] Lese Bibliotheksdatei E:\tx_sysroot\SystemRoot_13_141_BMW_Prototypen\RobotsMachineDataFiles\PP-BMW_VIB_L7-3-4-2013-11-37-2-804221-808624\SystemFiles\HsnBase.sys
irb7600_255_500[RRS]> Hinweis an G38_01_06wz01_330_rivet: [DBG] Lese Bibliotheksdatei E:\tx_sysroot\SystemRoot_13_141_BMW_Prototypen\RobotsMachineDataFiles\PP-BMW_VIB_L7-3-4-2013-11-37-2-804221-808624\SystemFiles\PSC_Define_Safety_Zones.sys
irb7600_255_500[RRS]> Hinweis an G38_01_06wz01_330_rivet: [DBG] Lese Bibliotheksdatei E:\tx_sysroot\SystemRoot_13_141_BMW_Prototypen\RobotsMachineDataFiles\PP-BMW_VIB_L7-3-4-2013-11-37-2-804221-808624\SystemFiles\PSC_Safty.sys
irb7600_255_500[RRS]> Hinweis an G38_01_06wz01_330_rivet: [DBG] Lese Bibliotheksdatei E:\tx_sysroot\SystemRoot_13_141_BMW_Prototypen\RobotsMachineDataFiles\PP-BMW_VIB_L7-3-4-2013-11-37-2-804221-808624\SystemFiles\SC_Base.sys
irb7600_255_500[RRS]> Hinweis an G38_01_06wz01_330_rivet: [DBG] Lese Bibliotheksdatei E:\tx_sysroot\SystemRoot_13_141_BMW_Prototypen\RobotsMachineDataFiles\PP-BMW_VIB_L7-3-4-2013-11-37-2-804221-808624\SystemFiles\TChBase.sys
irb7600_255_500[RRS]> Hinweis an G38_01_06wz01_330_rivet: [DBG] Lese Bibliotheksdatei E:\tx_sysroot\SystemRoot_13_141_BMW_Prototypen\RobotsMachineDataFiles\PP-BMW_VIB_L7-3-4-2013-11-37-2-804221-808624\SystemFiles\ComUser.mod
irb7600_255_500[RRS]> Hinweis an G38_01_06wz01_330_rivet: [DBG] Lese Bibliotheksdatei E:\tx_sysroot\SystemRoot_13_141_BMW_Prototypen\RobotsMachineDataFiles\PP-BMW_VIB_L7-3-4-2013-11-37-2-804221-808624\SystemFiles\HSN_TEST.mod
irb7600_255_500[RRS]> Hinweis an G38_01_06wz01_330_rivet: [DBG] Lese Bibliotheksdatei E:\tx_sysroot\SystemRoot_13_141_BMW_Prototypen\RobotsMachineDataFiles\PP-BMW_VIB_L7-3-4-2013-11-37-2-804221-808624\SystemFiles\PW0M11_01R01.mod
irb7600_255_500[RRS]> Hinweis an G38_01_06wz01_330_rivet: [DBG] Lese Bibliotheksdatei E:\tx_sysroot\SystemRoot_13_141_BMW_Prototypen\RobotsMachineDataFiles\PP-BMW_VIB_L7-3-4-2013-11-37-2-804221-808624\SystemFiles\TChConfig.mod
irb7600_255_500[RRS]> Hinweis an G38_01_06wz01_330_rivet: [DBG] Lese Bibliotheksdatei E:\tx_sysroot\SystemRoot_13_141_BMW_Prototypen\RobotsMachineDataFiles\PP-BMW_VIB_L7-3-4-2013-11-37-2-804221-808624\SystemFiles\TChUser.mod
irb7600_255_500[RRS]> Hinweis an G38_01_06wz01_330_rivet: [DBG] Lese lokale Datendefinitionen
irb7600_255_500[RRS]> Hinweis an G38_01_06wz01_330_rivet: [DBG] Init G38_A335_L_HSN_11761_01
irb7600_255_500[RRS]> Hinweis an G38_01_06wz01_330_rivet: [DBG] AbbRapid Start
irb7600_255_500[RRS]> Hinweis an G38_01_06wz01_330_rivet: [DBG] AbbRapidLib Start
irb7600_255_500[RRS]> Hinweis an G38_01_06wz01_330_rivet: [DBG] SetLogicalAxisScale 1;1
irb7600_255_500[RRS]> Hinweis an G38_01_06wz01_330_rivet: [DBG] SetLogicalAxisScale 2;1
irb7600_255_500[RRS]> Hinweis an G38_01_06wz01_330_rivet: [DBG] SetLogicalAxisScale 3;1
irb7600_255_500[RRS]> Hinweis an G38_01_06wz01_330_rivet: [DBG] SetLogicalAxisScale 4;1
irb7600_255_500[RRS]> Hinweis an G38_01_06wz01_330_rivet: [DBG] SetLogicalAxisScale 5;1
irb7600_255_500[RRS]> Hinweis an G38_01_06wz01_330_rivet: [DBG] SetLogicalAxisScale 6;1
irb7600_255_500[RRS]> Hinweis an G38_01_06wz01_330_rivet: [DBG] SetConfigControl ConfJ ON
irb7600_255_500[RRS]> Hinweis an G38_01_06wz01_330_rivet: [DBG] SetConfigControl ConfL ON
irb7600_255_500[RRS]> Hinweis an G38_01_06wz01_330_rivet: [DBG] TurnOnTimeCompensation
irb7600_255_500[RRS]> Hinweis an (G38_01_06wz01_330_rivet) G38_A335_L_HSN_11761_01: [DBG] Notify ProcessingTargetStarted G38_A335_L_HSN_11761_01
irb7600_255_500[RRS]> Hinweis an (G38_01_06wz01_330_rivet) G38_A335_L_HSN_11761_01: [DBG] # MoveLRelTool 0 0 -30
irb7600_255_500[RRS]> Hinweis an (G38_01_06wz01_330_rivet) G38_A335_L_HSN_11761_01: [DBG] NotifySimulationEvent MotionToLocation G38_A335_L_HSN_11761_01 [RelTool 0 0 -30]: ON (0ms)
irb7600_255_500[RRS]> Hinweis an (G38_01_06wz01_330_rivet) G38_A335_L_HSN_11761_01 [RelTool 0 0 -30]: [DBG] Bewegung zum Anfahrpunkt (Location) G38_A335_L_HSN_11761_01 [RelTool 0 0 -30]
irb7600_255_500[RRS]> Hinweis an (G38_01_06wz01_330_rivet) G38_A335_L_HSN_11761_01 [RelTool 0 0 -30]: [DBG] SetConfigControl ConfJ ON
irb7600_255_500[RRS]> Hinweis an (G38_01_06wz01_330_rivet) G38_A335_L_HSN_11761_01 [RelTool 0 0 -30]: [DBG] SetConfigControl ConfL ON
irb7600_255_500[RRS]> Hinweis an (G38_01_06wz01_330_rivet) G38_A335_L_HSN_11761_01 [RelTool 0 0 -30]: [DBG] Set TCP Speed 5000 mm/s
irb7600_255_500[RRS]> Hinweis an (G38_01_06wz01_330_rivet) G38_A335_L_HSN_11761_01 [RelTool 0 0 -30]: [DBG] Set Orientation Speed 500 deg/s
irb7600_255_500[RRS]> Hinweis an (G38_01_06wz01_330_rivet) G38_A335_L_HSN_11761_01 [RelTool 0 0 -30]: [DBG] Select FlyBy Mode False
irb7600_255_500[RRS]> Hinweis an (G38_01_06wz01_330_rivet) G38_A335_L_HSN_11761_01 [RelTool 0 0 -30]: [DBG] SetMountedToolFrames
irb7600_255_500[RRS]> Hinweis an (G38_01_06wz01_330_rivet) G38_A335_L_HSN_11761_01 [RelTool 0 0 -30]: [DBG] SetObjectFrame wobj_06wz01_a335_330_li_of
irb7600_255_500[RRS]> Hinweis an (G38_01_06wz01_330_rivet) G38_A335_L_HSN_11761_01 [RelTool 0 0 -30]: [DBG] SetTCPF t_gun983_tf
irb7600_255_500[RRS]> Hinweis an (G38_01_06wz01_330_rivet) G38_A335_L_HSN_11761_01 [RelTool 0 0 -30]: [DBG] Set load for tooldata t_gun983
irb7600_255_500[RRS]> Hinweis an (G38_01_06wz01_330_rivet) G38_A335_L_HSN_11761_01 [RelTool 0 0 -30]: [DBG] Set Mass 0,001
irb7600_255_500[RRS]> Hinweis an (G38_01_06wz01_330_rivet) G38_A335_L_HSN_11761_01 [RelTool 0 0 -30]: [DBG] Set Center of Gravity 1, 0, 0
irb7600_255_500[RRS]> Hinweis an (G38_01_06wz01_330_rivet) G38_A335_L_HSN_11761_01 [RelTool 0 0 -30]: [DBG] SelectMotionType Linear
irb7600_255_500[RRS]> Hinweis an (G38_01_06wz01_330_rivet) G38_A335_L_HSN_11761_01 [RelTool 0 0 -30]: [DBG] RegisterToLocationReachedNotification Zone
irb7600_255_500[RRS]> Hinweis an (G38_01_06wz01_330_rivet) G38_A335_L_HSN_11761_01 [RelTool 0 0 -30]: [DBG] OnLocationReached: 0,0725759983062744
irb7600_255_500[RRS]> Hinweis an (G38_01_06wz01_330_rivet) G38_A335_L_HSN_11761_01 [RelTool 0 0 -30]: [DBG] # NotifyMovingToTargetEnded G38_A335_L_HSN_11761_01 [RelTool 0 0 -30]
irb7600_255_500[RRS]> Hinweis an (G38_01_06wz01_330_rivet) G38_A335_L_HSN_11761_01 [RelTool 0 0 -30]: [DBG] NotifySimulationEvent MotionToLocation G38_A335_L_HSN_11761_01 [RelTool 0 0 -30]: OFF (0,0725759983062744ms)
irb7600_255_500[RRS]> Hinweis an (G38_01_06wz01_330_rivet) G38_A335_L_HSN_11761_01 [RelTool 0 0 -30]: [DBG] # ForceFullArrival
irb7600_255_500[RRS]> Hinweis an (G38_01_06wz01_330_rivet) G38_A335_L_HSN_11761_01 [RelTool 0 0 -30]: [DBG] # Destination SPR870_SPR900_MIT_400MM
irb7600_255_500[RRS]> Hinweis an (G38_01_06wz01_330_rivet) G38_A335_L_HSN_11761_01 [RelTool 0 0 -30]: [DBG] # Drive CLOSE
irb7600_255_500[RRS]> Hinweis an (G38_01_06wz01_330_rivet) G38_A335_L_HSN_11761_01 [RelTool 0 0 -30]: [DBG] # Destination SPR870_SPR900_MIT_400MM
irb7600_255_500[RRS]> Hinweis an (G38_01_06wz01_330_rivet) G38_A335_L_HSN_11761_01 [RelTool 0 0 -30]: [DBG] # WaitDevice CLOSE
irb7600_255_500[RRS]> Hinweis an (G38_01_06wz01_330_rivet) G38_A335_L_HSN_11761_01 [RelTool 0 0 -30]: [DBG] NotifySimulationEvent WaitDevice SPR870_SPR900_MIT_400MM: ON (0,0725759983062744ms)
irb7600_255_500[RRS]> Hinweis an (G38_01_06wz01_330_rivet) G38_A335_L_HSN_11761_01 [RelTool 0 0 -30]: [DBG] OnDeviceReachedPose SPR870_SPR900_MIT_400MM CLOSE: 0,729843091964722
irb7600_255_500[RRS]> Hinweis an (G38_01_06wz01_330_rivet) G38_A335_L_HSN_11761_01 [RelTool 0 0 -30]: [DBG] NotifySimulationEvent WaitDevice SPR870_SPR900_MIT_400MM: OFF (0,729843091964722ms)
irb7600_255_500[RRS]> Hinweis an (G38_01_06wz01_330_rivet) G38_A335_L_HSN_11761_01 [RelTool 0 0 -30]: [DBG] # Destination SPR870_SPR900_MIT_400MM
irb7600_255_500[RRS]> Hinweis an (G38_01_06wz01_330_rivet) G38_A335_L_HSN_11761_01 [RelTool 0 0 -30]: [DBG] # Drive OPEN
irb7600_255_500[RRS]> Hinweis an (G38_01_06wz01_330_rivet) G38_A335_L_HSN_11761_01 [RelTool 0 0 -30]: [DBG] # Destination SPR870_SPR900_MIT_400MM
irb7600_255_500[RRS]> Hinweis an (G38_01_06wz01_330_rivet) G38_A335_L_HSN_11761_01 [RelTool 0 0 -30]: [DBG] # WaitDevice OPEN
irb7600_255_500[RRS]> Hinweis an (G38_01_06wz01_330_rivet) G38_A335_L_HSN_11761_01 [RelTool 0 0 -30]: [DBG] NotifySimulationEvent WaitDevice SPR870_SPR900_MIT_400MM: ON (0,729843091964722ms)
irb7600_255_500[RRS]> Hinweis an (G38_01_06wz01_330_rivet) G38_A335_L_HSN_11761_01 [RelTool 0 0 -30]: [DBG] OnDeviceReachedPose SPR870_SPR900_MIT_400MM OPEN: 1,38711018562317
irb7600_255_500[RRS]> Hinweis an (G38_01_06wz01_330_rivet) G38_A335_L_HSN_11761_01 [RelTool 0 0 -30]: [DBG] NotifySimulationEvent WaitDevice SPR870_SPR900_MIT_400MM: OFF (1,38711018562317ms)
irb7600_255_500[RRS]> Hinweis an (G38_01_06wz01_330_rivet) G38_A335_L_HSN_11761_01 [RelTool 0 0 -30]: [DBG] # NotifyProcessingTargetEnded G38_A335_L_HSN_11761_01
irb7600_255_500[RRS]> Hinweis an (G38_01_06wz01_330_rivet) G38_A335_L_HSN_11761_01 [RelTool 0 0 -30]: [DBG] Notify ProcessingTargetEnded G38_A335_L_HSN_11761_01
irb7600_255_500[RRS]> Hinweis an (G38_01_06wz01_330_rivet) G38_A335_L_HSN_11761_01 [RelTool 0 0 -30]: [DBG] SimulationProcessEnded returned True

Re: question about custom olp command (problem)

Siemens Phenom Siemens Phenom
Siemens Phenom

As far as I can see, the gun is moving:

 

irb7600_255_500[RRS]> Hinweis an (G38_01_06wz01_330_rivet) G38_A335_L_HSN_11761_01 [RelTool 0 0 -30]: [DBG] # WaitDevice CLOSE
irb7600_255_500[RRS]> Hinweis an (G38_01_06wz01_330_rivet) G38_A335_L_HSN_11761_01 [RelTool 0 0 -30]: [DBG] NotifySimulationEvent WaitDevice SPR870_SPR900_MIT_400MM: ON (0,0725759983062744ms)
irb7600_255_500[RRS]> Hinweis an (G38_01_06wz01_330_rivet) G38_A335_L_HSN_11761_01 [RelTool 0 0 -30]: [DBG] OnDeviceReachedPose SPR870_SPR900_MIT_400MM CLOSE: 0,729843091964722
irb7600_255_500[RRS]> Hinweis an (G38_01_06wz01_330_rivet) G38_A335_L_HSN_11761_01 [RelTool 0 0 -30]: [DBG] NotifySimulationEvent WaitDevice SPR870_SPR900_MIT_400MM: OFF (0,729843091964722ms)
irb7600_255_500[RRS]> Hinweis an (G38_01_06wz01_330_rivet) G38_A335_L_HSN_11761_01 [RelTool 0 0 -30]: [DBG] # Destination SPR870_SPR900_MIT_400MM
irb7600_255_500[RRS]> Hinweis an (G38_01_06wz01_330_rivet) G38_A335_L_HSN_11761_01 [RelTool 0 0 -30]: [DBG] # Drive OPEN
irb7600_255_500[RRS]> Hinweis an (G38_01_06wz01_330_rivet) G38_A335_L_HSN_11761_01 [RelTool 0 0 -30]: [DBG] # Destination SPR870_SPR900_MIT_400MM
irb7600_255_500[RRS]> Hinweis an (G38_01_06wz01_330_rivet) G38_A335_L_HSN_11761_01 [RelTool 0 0 -30]: [DBG] # WaitDevice OPEN
irb7600_255_500[RRS]> Hinweis an (G38_01_06wz01_330_rivet) G38_A335_L_HSN_11761_01 [RelTool 0 0 -30]: [DBG] NotifySimulationEvent WaitDevice SPR870_SPR900_MIT_400MM: ON (0,729843091964722ms)
irb7600_255_500[RRS]> Hinweis an (G38_01_06wz01_330_rivet) G38_A335_L_HSN_11761_01 [RelTool 0 0 -30]: [DBG] OnDeviceReachedPose SPR870_SPR900_MIT_400MM OPEN: 1,38711018562317
irb7600_255_500[RRS]> Hinweis an (G38_01_06wz01_330_rivet) G38_A335_L_HSN_11761_01 [RelTool 0 0 -30]: [DBG] NotifySimulationEvent WaitDevice SPR870_SPR900_MIT_400MM: OFF (1,38711018562317ms)

Re: question about custom olp command (problem)

PLM World Member Valued Contributor PLM World Member Valued Contributor
PLM World Member Valued Contributor

yes you are right.

 

but in ps dosen't move.

 

i send you a movie

Re: question about custom olp command (problem)

Siemens Phenom Siemens Phenom
Siemens Phenom

Does it change anything if you remove the XML customization and just put he # Drive and # WaitDevice as Olp commands?

Re: question about custom olp command (problem)

PLM World Member Valued Contributor PLM World Member Valued Contributor
PLM World Member Valued Contributor

it dosen't work for olp commands as well.

Re: question about custom olp command (problem)

Siemens Phenom Siemens Phenom
Siemens Phenom

So it is not a problem with XML customization.Can it be a problem with the gun device or the graphics? Do you see the gun joints moving during simulation if you open Joint Jog?

Re: question about custom olp command (problem)

PLM World Member Phenom PLM World Member Phenom
PLM World Member Phenom

i have tested again.

 

joint jog of gun dosen't move (lock at robot viewer)

 

 

Kind regards,

Benjamin Voelzke

Re: question about custom olp command (problem)

PLM World Member Phenom PLM World Member Phenom
PLM World Member Phenom

after removing the reltool commands the destination commands are working.

 

the problem is the reltool movement before a destination

Kind regards,

Benjamin Voelzke