Where to change idle timeout value

[yanjunyangmonash]

I followed #16, and understand both the EGM convergence timeout or idle timeout will cause the EGM to stop. Our task requires the EGM to keep opening for at least 30 minutes. The EGM convergence timeout DEFAULT_CONDITION_TIME has been set to 1800s. The problem is the EGM will stop and jump back to idle after only 15 mins every time (we use StateMachine Add-in). When you talk about the idle timeout, is this based on the driver side or the Add-in side? and where I can modify that value?

Thanks

[jontje]

Hi @yanjunyangmonash,

It should only be the robot controller that automatically closes active EGM communication channels, for example if:

• EGM communication timeout occurs (e.g. the network shutsdown).
  • The StateMachine Add-In's default settings for this is DEFAULT_COMM_TIMEOUT.
• EGM convergence criteria is fulfilled (if I understood you correctly, then this is the same thing as the "idle timeout" you mentioned).
  • The StateMachine Add-In's default settings for this are DEFAULT_COND_MIN_MAX and DEFAULT_CONDITION_TIME.
• EGM error occurs (e.g. references sent by the user are out of bounds).
• Internal supervision error occurs (e.g. collision).

I haven't really used EGM motions for extended time periods, so I haven't noticed any upper limit for continuously running EGM. I usually start EGM, do my motions (for a few minutes maximum) and then stop EGM until I need it again. This is mainly because it is better for the robot to not have EGM active all the time.

Anyway, I just tried out some longer running scenarios with RobotStudio simulations, and it appears there is an upper limit of about 15 minutes as you have noticed. I can't find anything about this in the manual, so I suggest you to ask about this in the official ABB Robotics User Forum (if you haven't already done so).

[jontje]

I will close this issue, because I think it is due to internal workings of RobotWare instead of an issue with the packages in abb_robot_driver.

Please feel free to keep posting comments.

[yanjunyangmonash]

An update to my post. The trick is to change line 281 current_state := STATE_IDLE to current_state := STATE_RUN_EGM_ROUTINE in T_ROB_R/TRobEGM/runEGMRoutine to make sure it stays in the EGM status. Not sure if that is correct but it worked for my case