Undefined Load, Event Message 41438

[jbeck28]

I've had EGM working on my desktop for about 6 months now, and I've decided to offload running the robot from my desktop to another computer. I copied the program I've been running (which essentially is a modification of https://github.com/kth-ros-pkg/yumi) and I find that when I run the program, the state machine add-in gets to line 326 in the program TRobEGM, when it setsup EGMActJoint, I get that an error on the controller saying that the load is undefined. I've never had this issue before and the only thing that changed is I downloaded the latest version of this package, and modified my CMake file to reflect that this is no longer a catkin package.

Is there any change to this package which may have caused this? I see that egm_load has a 0kg load, defined on line 151 of the same module. I'm not exactly sure if it's safe to modify this, and it also seems likely that it was set to load0 on line 305 (which is .001kg).

I haven't followed the flow of the StateMachineAddIn enough to see if this is the case, or if I should just modify the egm_load defined in the addin... but since I didn't have this issue before, I thought I'd post it here.

Any assistance would be highly appreciated!

[gavanderhoorn]

@jbeck28: could you please always provide links to lines you are referring to? And please use perma-links (ie: press y) instead of regular ones, as line numbers can and do change over time.

[jontje]

@jbeck28, are you also using the latest abb_librws? I know of a bug that has crept into the master branch (which affects nestled RAPID records), and this could be the cause. I have a fix that you can try out, if this is the case.

Otherwise, there should be a RAPID procedure called parseEGMSettings in the TRobEGM module, and you can manually set the values of this section:

! Arguments for EGMAct instructions
egm_tool := settings.activate.tool;
egm_load := egm_tool.tload;
egm_wobj := settings.activate.wobj;

For example, just to test, to:

! Arguments for EGMAct instructions
egm_tool := tool0;
egm_load := egm_tool.tload;
egm_wobj := wobj0;

[jbeck28]

@gavanderhoorn I should have been more clear, my apologies! All of those line numbers are in reference to specific modules which make up the StateMachine Add-In. I'm not sure where to find source code other than once it is installed on the controller.

@jontje

I actually did not use the latest version of abb_librws, perhaps I should try to install that.

In the mean time I'll try those modifications that you mentioned.

Thank you for your reply

[jontje]

@gavanderhoorn I should have been more clear, my apologies! All of those line numbers are in reference to specific modules which make up the StateMachine Add-In. I'm not sure where to find source code other than once it is installed on the controller.

The RAPID modules are currently only available in the distribution format, i.e. packaged into v1.0 and v1.1. But, yes, it would be nice to make the RAPID modules available directly as well.

[jbeck28]

The simple modification you mentioned worked perfectly. Thank you @jontje!

[jontje]

The simple modification you mentioned worked perfectly. Thank you @jontje!

@jbeck28, that's great! Which of the suggestions did you use? The modification of the RAPID code, or the fix for abb_librws?

[jbeck28]

I never replied, my apologies! The modification of the rapid code fixed my issue:

! Arguments for EGMAct instructions
egm_tool := tool0;
egm_load := egm_tool.tload;
egm_wobj := wobj0;

[jontje]

I never replied, my apologies! The modification of the rapid code fixed my issue:

No worries @jbeck28, and thanks for letting me know.

I will close this issue, but feel free to post additional comments if necessary.