Group Mask Exchange is used to copy a teach pendant program into a new program with a different group mask than an original program. The position data from the original teach pendant program will be copied into another group in the new teach pendant program. You can copy multiple group programs from a single robot or dual robots.
This feature does not validate the logic of the output program, its positional data, or the program header (except group mask information). The resulting program might also require some position touchup.
Table 1. Group Mask Exchange Screen Items
ITEM | DESCRIPTION |
---|---|
Original Program | Select the name of the original program from which to copy the group mask. |
New Program | Select the name of the new program to which the group mask will be copied. |
Copy Orig Grp[x] to New Grp[x] | Select a motion group in the original program to copy to the new program motion groups where x identifies the group number. |
Table 2. Group Mask Exchange Troubleshooting
Prompt Message | Possible Cause | Solution |
---|---|---|
%s not aborted, abort program ? | %s is the name of the program. The original or new program is Running or Paused. | Press F4 for Yes to ABORT program. Press F5 for NO and operation will be canceled |
Group %d does not exist in Orig program | %d is the original program group number. The group number does not exist in original program. This group number can not be copied to new program. | Set new group number to 0 or to a new group number for %d number. |
Group %d does not exist on controller | %d is the original program group number. The group number does not exist on the controller. This group number cannot be copied on this controller. | Set the new group number to 0 or to a new group number for %d number. |
New Grp %d axis do not match Orig Grp %d | %d is the group number for new program and original program. The original group cannot be copied to new group. | Set the new group number to 0 or to a new group number for %d number of original group. |
New Grp %d is an INDEXER cannot copy | %d is the new program group number. New program group is an INDEXER and cannot be copied. | Set new group number to 0 for %d number of new group. |
New Program could not be created | 1) Answering NO to Overwrite. | 1) Overwrite the existing program or change the new program name. |
2) Refer to the error message posted in the alarm log. | 2) Refer to the Error Code Manual for error remedy information. | |
New Program created successfully | This message is a status message only. | None |
No New Grps specified | All New Grps are "0" | You must specify a New Grp to execute Group Mask Exchange. |
Orig Grp %d is an INDEXER cannot copy | %d is the original program group number. Original program group is an INDEXER and cannot be copied. | Set new group number to 0 for %d number of original group. |
Program exist, Overwrite ? | The new program exists on the controller. | Press F4, YES, to overwrite the program on the controller. Press F5, NO, to cancel the operation. |
Program names match | Original and new program name are the same. | Change the original or the new program name. |
Robot types do not match, Orig Grp %d | %d is the original program group number. Robot types do not match and cannot be copied. Robots must be copied to robots; nobots must be copied to nobots; positioners must be copied to positioners. | Set new group number to 0 or to a new group number for %d number of original group. |
WORKING……… | The utility is copying the program | Wait for the utility to complete the copy. |