How do I drive 7th axis with DRL, along with 6-axis robot?

[Iggyfromboston]

I'm using a Denso 6-axis robot with the RC7 controller, and there's an additional Denso motor on the 7th drive for an external linear axis. This motor has been CALSET and we're successfully jogging it with the teaching pendant. However, when I try to execute the "Drive.VI" in the DRL and select the 7th axis, I get the following error

"DensoRoboticsLibrary.lvlib:drl_Robot DriveAEx.vi.ProxyCaller

<ERR>

Error 401900 occurred at Denso Robotics Library

Possible reason(s):

Controller error

<b>Error Code: </b>000027D9

<b>Description: </b>Cannot take J7 semaphore".

The error manual states the remedy for code 27D9 is

(1)Get an arm group containing J7 with the TAKEARM statement, and

then execute J7 motion related command.

(2)Correct the program so that more than one program will not attempt

to get an arm group containing J7 at the same time.

How do I specify Takearm 1 or 2, as these arm groups have J7 enabled?

Thanks for any assistance. Regards, Iggy

[endeavor · Accepted solution]

Hi Iggy,

have you tried using User Extension VI?

[IggyBoston]

Hi Endvr,

No, not yet. I'll look into it. Thanks.

-Iggy

[IggyBoston]

Endvr and Alexander,

It worked.

I have the 7th motor moving using the LabVIEW Denso Robotic Library.

I’m using the User Extension.vi to explicitly issue the Takearm command (cmd #1100) and control group 1 (which includes the external 7^th axis joint). I use the Drive.VI on the 7th axis to move it. After the move is complete, the Givearm command (cmd #1101) is issued to return arm control of the 6-axis robot.

Thanks for everyone's advice/guidance.

Iggy

[endeavor]

Excellent!

Thanks for your feedback.

[DGriffithjr]

Iggy started the original topic on the RC7 and found the solution in this thread using the UserExtension.vi.

We now have an RC8 controller and UserExtension.vi, specifically the 1100 and 1101 commands are no longer supported.

How do we control the 7th axis connected to a Denso RC8 controller using the ImagingLabs / DigiMetrix SDK without using UserExtension.vi?  We have identified that the ImagingLabs / DigiMetrix code has an enum to switch between the RC7 and RC8 controllers so this should be possible.

Thanks!

DeWayne