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Hello,  I have one issue during execute brake test command, serveral alarms were showed, but I do not understand what the meaning are. first step, I saw the robot power is off, then a alarm is occurred with 'no text found'(see attachment). second step, I cleared the alarm, then robot power is on, next two alarm are occurred(see attachment). after that robot power is off, and the 'RequestBrakeTest' become False. Staubli robot 6-axis TX2-60, CS9 Would you like to share a brake test application sequence? maybe my procedure sequence is not correct, thank you ... View more

Hello  I encountered one issue during calling a function block of programable robot(ProgrammableRobotItemInformation.GetRobotPointByPointId), I want to get robot point from robot piont list, then assign the point to brake test ParCmd.ExecuteBrakeTest.RobotPointAfterFail, but after call the FB, PLC is stopped with library error(see attachment), I uninstalled all robot library from the TwinCAT, and exported them by CPS, but still not working. below is my code, I am not sure if it is correct. ProgrammableRobotItemInformation.GetRobotPointByPointId(rUnit := AssyRobot.Unit,                                                                                                                               RobotPointListIdentifier := PROGRAMMABLE_ROBOT_TEMPLATE_NEST_LIST_GRIPPER1_ID,                                                                                                                               PointId := AssyRobotNestGripper1Enum.HOME,                                                                                                                               rRobotPoint := rRobotPoint,                                                                                                                               rRobotPointIndex := rRobotPointIndex); ... View more