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question about custom olp command (problem)

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)

Can you provide the simulation debug trace?

Re: question about custom olp command (problem)

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)

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)

yes you are right.

 

but in ps dosen't move.

 

i send you a movie

Re: question about custom olp command (problem)

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)

it dosen't work for olp commands as well.

Re: question about custom olp command (problem)

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)

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)

after removing the reltool commands the destination commands are working.

 

the problem is the reltool movement before a destination

Kind regards,

Benjamin Voelzke