EnableRobot returns InfoID 16#6F02 and status "Interrupted"

[Thorbot]

Hello community,

I have a question about the EnableRobot command:

When I execute the command EnableRobot, I get a response with the status "Interrupted" and the InfoID : 16#6F02 "Command interrupted due to RA power state NOT_ENABLED".

What could be the reason for this ?

[P_S]

Hello community,

I have a question about the EnableRobot command:

When I execute the command EnableRobot, I get a response with the status "Interrupted" and the InfoID : 16#6F02 "Command interrupted due to RA power state NOT_ENABLED".

What could be the reason for this ?

Hi Thorbot,

What kind of a setup are you using at the moment? The EnableRobot command does not have an "Interrupted" output as far as I know and the info message also seems like it is coming from a move command and not the Enable command.

BR

[Thorbot]

Thanks for the quick response !

I use a Stäubli Robot in the SRS Emulator (Virtual UniVal PI) which is connected to my Beckhoff PLC via OPC UA .

In the attached log from the Stäubli Emulator, you can see that the robot has received the EnableRobot command and send a response with Status "Interrupted" (state = 5). In the "Rsp-Header" the InfoID 16#6F02 is set.

I am sure, the problem is, that I do not fulfil a precondition and that is why I am not allowed to execute the EnableRobot command - but the info-message is a bit confusing and doesn’t say what the real problem is.

Therefore I would need a tip what the problem / precondition could be...

The operation mode of the robot is "AUTO_EXT" and because it is a virtual device, there should not be a missing safety release.

Thanks in advance !


2024-11-21_16h12_44.png

Alright, thank yoou for the additional information!

Is it the newest version of the Stäubli interpreter or which version are you using at th e moment?

Have you also check the general Initialization, if there is everything already from PLC side as well (Initilaized, CMD sEnabled, LifeSign...)? Beside of that, it seems like you immediately after response of initialization, you try to execute the EnableRobot. Did you also execute the ExchangeConfig/ ReadMessages commands?

Currently I am using uniVALpi s1.3.3 .
The SRCI Interface is initialized (Status = 255) and the LifeSigns are exchaning cyclically without any error

I started the EnableRobot command about 30 seconds after the SRCI Interface is initialized- but the result doesn’t change if I wait 5 minutes.

I also tried the ExchangeConfiguration command - but unfortunately this command also answers with status interrupted and InfoID 16#6F02 .

It looks as if there is a general condition not yet fulfilled, which is why all commands are currently rejected / interrupted


2024-11-25_09h34_46.png

Thanks for the quick response !

I use a Stäubli Robot in the SRS Emulator (Virtual UniVal PI) which is connected to my Beckhoff PLC via OPC UA .

In the attached log from the Stäubli Emulator, you can see that the robot has received the EnableRobot command and send a response with Status "Interrupted" (state = 5). In the "Rsp-Header" the InfoID 16#6F02 is set.

I am sure, the problem is, that I do not fulfil a precondition and that is why I am not allowed to execute the EnableRobot command - but the info-message is a bit confusing and doesn’t say what the real problem is.

Therefore I would need a tip what the problem / precondition could be...

The operation mode of the robot is "AUTO_EXT" and because it is a virtual device, there should not be a missing safety release.

Thanks in advance !

2024-11-21_16h12_44.png (60.91 KiB) Viewed 1052 times

[P_S]

Hello community,

I have a question about the EnableRobot command:

When I execute the command EnableRobot, I get a response with the status "Interrupted" and the InfoID : 16#6F02 "Command interrupted due to RA power state NOT_ENABLED".

What could be the reason for this ?

Hi Thorbot,

What kind of a setup are you using at the moment? The EnableRobot command does not have an "Interrupted" output as far as I know and the info message also seems like it is coming from a move command and not the Enable command.

BR

Thanks for the quick response !

I use a Stäubli Robot in the SRS Emulator (Virtual UniVal PI) which is connected to my Beckhoff PLC via OPC UA .

In the attached log from the Stäubli Emulator, you can see that the robot has received the EnableRobot command and send a response with Status "Interrupted" (state = 5). In the "Rsp-Header" the InfoID 16#6F02 is set.

I am sure, the problem is, that I do not fulfil a precondition and that is why I am not allowed to execute the EnableRobot command - but the info-message is a bit confusing and doesn’t say what the real problem is.

Therefore I would need a tip what the problem / precondition could be...

The operation mode of the robot is "AUTO_EXT" and because it is a virtual device, there should not be a missing safety release.

Thanks in advance !


2024-11-21_16h12_44.png

Alright, thank yoou for the additional information!

Is it the newest version of the Stäubli interpreter or which version are you using at th e moment?

Have you also check the general Initialization, if there is everything already from PLC side as well (Initilaized, CMD sEnabled, LifeSign...)? Beside of that, it seems like you immediately after response of initialization, you try to execute the EnableRobot. Did you also execute the ExchangeConfig/ ReadMessages commands?

[Thorbot]

Hi Thorbot,

What kind of a setup are you using at the moment? The EnableRobot command does not have an "Interrupted" output as far as I know and the info message also seems like it is coming from a move command and not the Enable command.

BR

Thanks for the quick response !

I use a Stäubli Robot in the SRS Emulator (Virtual UniVal PI) which is connected to my Beckhoff PLC via OPC UA .

In the attached log from the Stäubli Emulator, you can see that the robot has received the EnableRobot command and send a response with Status "Interrupted" (state = 5). In the "Rsp-Header" the InfoID 16#6F02 is set.

I am sure, the problem is, that I do not fulfil a precondition and that is why I am not allowed to execute the EnableRobot command - but the info-message is a bit confusing and doesn’t say what the real problem is.

Therefore I would need a tip what the problem / precondition could be...

The operation mode of the robot is "AUTO_EXT" and because it is a virtual device, there should not be a missing safety release.

Thanks in advance !


2024-11-21_16h12_44.png

Alright, thank yoou for the additional information!

Is it the newest version of the Stäubli interpreter or which version are you using at th e moment?

Have you also check the general Initialization, if there is everything already from PLC side as well (Initilaized, CMD sEnabled, LifeSign...)? Beside of that, it seems like you immediately after response of initialization, you try to execute the EnableRobot. Did you also execute the ExchangeConfig/ ReadMessages commands?

Currently I am using uniVALpi s1.3.3 .
The SRCI Interface is initialized (Status = 255) and the LifeSigns are exchaning cyclically without any error

I started the EnableRobot command about 30 seconds after the SRCI Interface is initialized- but the result doesn’t change if I wait 5 minutes.

I also tried the ExchangeConfiguration command - but unfortunately this command also answers with status interrupted and InfoID 16#6F02 .

It looks as if there is a general condition not yet fulfilled, which is why all commands are currently rejected / interrupted

2024-11-25_09h34_46.png (70.05 KiB) Viewed 905 times

[P_S]

Alright, thank yoou for the additional information!

Is it the newest version of the Stäubli interpreter or which version are you using at th e moment?

Have you also check the general Initialization, if there is everything already from PLC side as well (Initilaized, CMD sEnabled, LifeSign...)? Beside of that, it seems like you immediately after response of initialization, you try to execute the EnableRobot. Did you also execute the ExchangeConfig/ ReadMessages commands?

Currently I am using uniVALpi s1.3.3 .
The SRCI Interface is initialized (Status = 255) and the LifeSigns are exchaning cyclically without any error

I started the EnableRobot command about 30 seconds after the SRCI Interface is initialized- but the result doesn’t change if I wait 5 minutes.

I also tried the ExchangeConfiguration command - but unfortunately this command also answers with status interrupted and InfoID 16#6F02 .

It looks as if there is a general condition not yet fulfilled, which is why all commands are currently rejected / interrupted


2024-11-25_09h34_46.png

Thanks for the quick response !

I use a Stäubli Robot in the SRS Emulator (Virtual UniVal PI) which is connected to my Beckhoff PLC via OPC UA .

In the attached log from the Stäubli Emulator, you can see that the robot has received the EnableRobot command and send a response with Status "Interrupted" (state = 5). In the "Rsp-Header" the InfoID 16#6F02 is set.

I am sure, the problem is, that I do not fulfil a precondition and that is why I am not allowed to execute the EnableRobot command - but the info-message is a bit confusing and doesn’t say what the real problem is.

Therefore I would need a tip what the problem / precondition could be...

The operation mode of the robot is "AUTO_EXT" and because it is a virtual device, there should not be a missing safety release.

Thanks in advance !


2024-11-21_16h12_44.png

The command "ExchangeConfiguration" is mandatory to be able to set the arm power, therefore it should be executed first.

In addition, you could check if the commands are being executed in the correct Execution Mode and Buffer. The info messages indicates, that the commands are executed in the Sequence Buffer but instead they should be called in the Parallel Buffer.

[Thorbot]

Currently I am using uniVALpi s1.3.3 .
The SRCI Interface is initialized (Status = 255) and the LifeSigns are exchaning cyclically without any error

I started the EnableRobot command about 30 seconds after the SRCI Interface is initialized- but the result doesn’t change if I wait 5 minutes.

I also tried the ExchangeConfiguration command - but unfortunately this command also answers with status interrupted and InfoID 16#6F02 .

It looks as if there is a general condition not yet fulfilled, which is why all commands are currently rejected / interrupted


2024-11-25_09h34_46.png

Thanks for the quick response !

I use a Stäubli Robot in the SRS Emulator (Virtual UniVal PI) which is connected to my Beckhoff PLC via OPC UA .

In the attached log from the Stäubli Emulator, you can see that the robot has received the EnableRobot command and send a response with Status "Interrupted" (state = 5). In the "Rsp-Header" the InfoID 16#6F02 is set.

I am sure, the problem is, that I do not fulfil a precondition and that is why I am not allowed to execute the EnableRobot command - but the info-message is a bit confusing and doesn’t say what the real problem is.

Therefore I would need a tip what the problem / precondition could be...

The operation mode of the robot is "AUTO_EXT" and because it is a virtual device, there should not be a missing safety release.

Thanks in advance !


2024-11-21_16h12_44.png

The command "ExchangeConfiguration" is mandatory to be able to set the arm power, therefore it should be executed first.

In addition, you could check if the commands are being executed in the correct Execution Mode and Buffer. The info messages indicates, that the commands are executed in the Sequence Buffer but instead they should be called in the Parallel Buffer.

Thousand and one thanks for these hints !

After changing the ExecMode of the ExchangeConfiguration command to parallel,
I was able to execute the command successfully.

On the first try I got another error - but as I could read in the UniVal PI documentation,
the parameter WaitAtBlendingZone must be TRUE for Stäubli Robots.
After I had changed this, I could execute the command without any error.

The EnableRobot command has not been tested yet - but I am confident,
that this command will also work, when I have modified the ExecMode.

That I have to execute the ExchangeConfiguration command first,
I must have read over in the 1787 pages of the PDF - but it is in the description of the ExchangeConfiguration command.


Thank you for your valuable help !