HC43356: ROBUSE CANNOT CHANGE FIXED TCP TO NON-FIXED

APAR status

• Closed as user error.

Error description

• Impossible to change fixed tcp when try to define as non-fixed.
  tcp. If use defined model created on V418 level, it cannot
  change fixed tcp mode to other mode on V420+R1 level.
  .
  SCENARIO:
  --------
   1. Read the provided model.
   2. Select ROBUSE / PLACE / AUTO
   3. In the tool Center Point panel, there are:
      1 tcp for TCP and 2 tcp for FIX TCP
  ======> Impossible to change TCP
   4. Select TCP into PENDANT panel
      Try to change 1A ROBOT from 2A ROBOT
   ==========> 1A ROBOT does not exist on TCP
               Instead of TCP, 1A defined FIX TCP
  .
  Remark:
  - For recovery, we tried to create TCP for action 1A ROBOT,
    but 2A ROBOT is moved to FIX TCP.
  - This model created on V418 Refresh2 level.
    If create model on V420 Ref1, this problem does not occur
  .
  

Local fix

Problem summary

Problem conclusion

Temporary fix

Comments

•  CORRECT APPLICATION:
  It is a bad utilization of the product because:
  in the model there are two robots.
  1A : with 2 TCPs. one in the extremety set (1A-Grip), one in
       an intermediate set (1X BAS)
  2A : same
  When the model is read and ROBUSE entered, the current mobile
  TCP (TCP item of the TCP button) is *TCP4 of 2A robot.
  The current FIXED TCP (FIX TCP list of TCP button) is *TCP3.
  Because *TCP3 belong to 1A robot, it is not possible to use
  it as a mobile TCP for robot 1A.
  To use you must stop using *TCP3 as a fixed TCP for robot 2A.
  To do it:
  - Read the model
  - enter ROBUSE fumction
  - clic TCP in the PENDANT box
  - choose FIX TCP in the Tool CEnter Point Window
  - clic on *TCP3 to de-select it
  - choose TCP in the Tool Center Point Window
  ==> You can now choose *TCP3 as a mobile TCP for robot 1A
  .
  

APAR Information

• APAR is sysrouted FROM one or more of the following:

  HC43354

• APAR is sysrouted TO one or more of the following:

Fix information

Applicable component levels