Running my program on s4c controller gives error

[Anonymous]

Hi,

I'm trying to load and run PM NC robot program at my s4c ABB controller, but when trying to run it gives me an error as shown in the attachments, why do I get such errors while trying to run the module files? I tried to run both module outputs, they did not work, but still there is a third output file of type pgf, I'm I supposed to run that one?

and why do I have two module files?  

Attached also my test output program. 

Best regards,

Maycel

[richard.pedley]

Hi Maycel,

The default ABB post is written to be loaded as a program (ie you need to load the pgf file) this is the cause of one of your issues as because you are trying to load the individual modules you already have a routine called main. The controller therefore doesn't know which to use.

I'm not seeing anything else wrong with the code, but you are using an older controller than I am used to.

Hope that helps.

Richard

[Anonymous]

Thank you so much for your reply, I tried to load the .pgf file but the controller does not see it, I used to run programs of type .prg and I checked it's content, it only indicates the modules used in the program, there are no definitions for a tool or workobject.

Attached a copy of my PM project.

I would highly appreciate your advice here.

Best regards,

Maycel

[richard.pedley · Accepted solution]

Hi Maycel,

The pgf file only contains a list of the included modules, but what it does do is unload all the other programs on the controller. Therefore it will remove the module containing the main routine as that will be part of another program.

Programs (.pgf) are loaded differently to module files so you may need to identify the method to load it.

Alternatively you can manually delete out the module containing the other main routine and this will clear that error.

I strongly recommend you make sure you have a backup of any programs on the controller before you delete them though. Just in case you want them back later.

Hope that helps

Richard

[Anonymous]

Hi Richard,

Just to clarify, the pgf programs is loaded only to make sure no other main procedure exists.

But where are the tool and workobject defined in the program? in which module? 

Do I need to define tAutodesk and wAutodesk in the Robot controller? because as I know the paths need to have defined tool and workobject (workplane) to work accordingly, and I find tAutodesk and wAutodesk in the module but wondering where do they get their data from?

Best regards,

Maycel

[richard.pedley · Accepted solution]

Hi Maycel,

It depends on how your PowerMill robot session is configured. Often the tool data and workplane data will be written into the main output program, if you have set it up to do so in the robot configuration. Otherwise it will rely on the tool and workplane data already existing in the controller in a system module (that isn't deleted when you load a new program in).

Hope that helps.

Richard