External hold

[bbGalv]

Hi devs,

I'm trying to start a job with underautomation on a YRC1000. Usually Jobs are started by a superior PLC. I can start (I see it open on the TeachPendant) the Job, but not run it via the script. But I can run it through the PLC.

I get External hold Error wen executing the script.

  return RobotDataHeader(self._instance.StartJob())
                           ~~~~~~~~~~~~~~~~~~~~~~~^^
UnderAutomation.Yaskawa.HighSpeedEServer.InvalidDataAnswerException: External hold
   bei UnderAutomation.Yaskawa.HighSpeedEServer.InvalidDataAnswerException.챖(Int32 , Int32 )
   bei 챖.챹.챖(UdpClient , Int16 , Int16 , Byte , Byte , Byte[] , Int32 , Boolean , Boolean , Boolean , Boolean )
   bei UnderAutomation.Yaskawa.HighSpeedEServer.Internal.HighSpeedEServerClientBase.StartJob()

Any ideas how i can fix this? Where do you think the blocking point is?

Thanks
-BB

[Rufus31415]

Hi,
At first glance, I would say that it is impossible to start via the SDK because the EXHOLD (External Hold) input appears to be active, hence the error message "External hold" when you call StartJob()

[bbGalv]

Hi, I made some further research and found out that there is a StartupProcedure for external PLC Control. You have to match the correct StartupSqeuence (https://knowledge.motoman.com/hc/en-us/articles/4406928591255-Robot-Startup-Sequence-from-PLC-Control#article-comments).
Another Source:

When I try your example usage code, I don't see you actually starting the Servo. But on underAutomation.com you show.
// Send Servo ON robot.HighSpeedEServer.ServoCommand(OnOffCommandType.Servo, true);

When I run the example usage code get the error:
robot.high_speed_e_server.start_job() # Executes it IndentationError: unexpected indent

When i add Servo On I get:
robot.high_speed_e_server.servo_command(OnOffCommandType.Servo, True) ^^^^^^^^^^^^^^^^ NameError: name 'OnOffCommandType' is not defined

Thanks for the help!

[Rufus31415]

I just tried this code and it should works also for you :

from underautomation.yaskawa.connect_parameters import ConnectParameters
from underautomation.yaskawa.yaskawa_robot import YaskawaRobot
from underautomation.yaskawa.high_speed_e_server.on_off_command_type import OnOffCommandType

robot = YaskawaRobot()
parameters = ConnectParameters("192.168.0.1")
parameters.ping_before_connect = True

robot.connect(parameters)

robot.high_speed_e_server.servo_command(OnOffCommandType.Servo, True)

robot.high_speed_e_server.start_job()

[bbGalv]

Ok, I didn't import OnOffCommandType in my version.
So I tried your code and I am back to square 1:

When I run it, it doesn't allow me to start the Servo.

    return RobotDataHeader(self._instance.ServoCommand(command, value))
                           ~~~~~~~~~~~~~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^
UnderAutomation.Yaskawa.HighSpeedEServer.InvalidDataAnswerException: Servo power cannot be turned ON   
   bei UnderAutomation.Yaskawa.HighSpeedEServer.InvalidDataAnswerException.챖(Int32 , Int32 )
   bei 챖.챹.챖(UdpClient , Int16 , Int16 , Byte , Byte , Byte[] , Int32 , Boolean , Boolean , Boolean , Boolean )
   bei UnderAutomation.Yaskawa.HighSpeedEServer.Internal.HighSpeedEServerClientBase.ServoCommand(OnOffCommandType command, Boolean value)

But when i start the program manually through my PLC (Servo's running now) and then run the script it obviously blocks it cause the manipulator is already operating.

    return RobotDataHeader(self._instance.StartJob())
                           ~~~~~~~~~~~~~~~~~~~~~~~^^
UnderAutomation.Yaskawa.HighSpeedEServer.InvalidDataAnswerException: Manipulator operating
   bei UnderAutomation.Yaskawa.HighSpeedEServer.InvalidDataAnswerException.챖(Int32 , Int32 )
   bei 챖.챹.챖(UdpClient , Int16 , Int16 , Byte , Byte , Byte[] , Int32 , Boolean , Boolean , Boolean , Boolean )
   bei UnderAutomation.Yaskawa.HighSpeedEServer.Internal.HighSpeedEServerClientBase.StartJob()

Thanks for the help, I need to find out how to bypass the external hold without crashing the functioning PLC. Have a nice weekend :)

[Rufus31415]

Have you configured your robot as described here, in the "Configure your robot" section ?

https://underautomation.com/fr/yaskawa/documentation/high-speed-ethernet-server#configure_your_robot