The check reads only the program text of both archives - no 3D cell, no simulation - and takes typically 0.1 - 0.7 s per robot, so it can be used on a laptop at the line before and after a program change.
It is enabled with the option Check interlocks (requests, Makro20, releases, station interlocks) and technology points in the settings of the plugin (on by default). The results are shown in the tab Interlocks & tech points.
Video
A short video on YouTube (English and German) shows the check step by step: removed requests and releases, shortened interlock zones, moved points inside a zone, weld and glue points and the Fanuc programs.
DReS - Archive Diff: interlocks & technology points (YouTube, English)
|
DReS - Archive Diff: Verriegelungen & Technologiepunkte (YouTube, Deutsch)
The option in the settings of VKRC Archive Diff and Fanuc Archive Diff (wrench button)
What is compared
| Category | Content | Error (red) | Warning (yellow) |
|---|---|---|---|
| Interlock | collision requests A81..A96, activation with Makro20, releases / locks A41..A56 - also inside makros (e.g. Makro45, Makro46, Makro50, Makro57, Makro71); Fanuc A[..] / DO[..] | request, activation or release removed | moved to another point (distance in mm / deg), Fanuc XYZWPR ↔ JOINT, other UF / UT or tool / base, other activated requests, conditional call changed |
| Zone | path between request (lock) and release of each collision | zone shorter - taken later or released earlier (path length before / after) | points inside the zone moved over the tolerance, inserted, JOINT / frame changed |
| Station | station interlocks A57..A80 (old standard A49..A64) | removed | moved |
| Tech | process points (EZSP, KL, BZ, MS ... identified by the spot number or the comment above the point), glue paths KLIN / KCIR / KPTP, process makros 80-89, 180-187, 210-214; information commands (SafeRobot, Koll_Ueb ...) only as information | process point removed, process makro no longer called in the point | moved, added, spot number or parameters changed |
| Rule | check of the new archive: Makro20 later than the request or missing, request without Makro20, E41..E56 missing or unused in the online condition (FB PSPS / TC_ONLINE), manual A4x=AUS, not released at the end of the Folge, lock without waiting for the release input | marked [new] (introduced by the change), [existing] (already in the old archive) or [resolved] | |
The point tolerances are the ones set for the robot type (VKRC / Fanuc settings - distance and angle delta).
Consecutive findings of the same kind are merged (e.g. KLIN P12 .. P18, 7 points removed).
Spot welding: a weld point without Makro80, a removed spot and a point moved by 2 mm
Fanuc: release moved to an earlier point (zone shorter), input missing in the online condition, spot number and user frame changed
Working with the results
The filter shows all findings, errors and warnings or errors only. Hide rule findings existing before the changes hides the problems which were already in the old archive.
Double click on a row opens the program in the editor at the point / command of the finding.
The report can be exported to HTML, CSV (UTF-8, ';' separated) and XLSX (summary sheet and one sheet per robot).
Example of an exported HTML report (open in a new window):
Limits
The check has no information about the position of the robots in the cell - it cannot say whether a changed path really collides. It shows where the interlock logic or the path inside an interlock zone was changed, so these places can be checked in the cell. The signal ranges follow the VW standard; other numbering is not recognised.