Internal Error: ComputeManualRrsConfigString: Wrong motionparameters.e file, number of joints with turns is 2, should be 3.
Solution
In the error message it says:
The number of joints with turns is 2. It should be 3.
Turns are defined by the keyword default_turns.
In the motionparameter.e file you will see:
default_turns j4 0 -180, j6 0 -180;
As in J4 & J6 are defined. I.E. TWO joints. We need 1 more joint defined.
Looking at all default_turns for M710s on the ftp site:
m710i_rj.cojt/motionparameters.e:default_turns j1 0 -180.0, j4 0 -180.0, j6 0 -180.0;
m710ib70.cojt/motionparameters.e:default_turns j1 0 -180.0, j4 0 -180.0, j6 0 -180.0;
m710ib_70.cojt/motionparameters.e:default_turns j1 0 -180, j4 0 -180, j6 0 -180;
m710ib_70_x.cojt/motionparameters.e:default_turns j1 0 -180, j4 0 -180, j6 0 -180;
m710ic_20l.cojt/motionparameters.e:default_turns j4 0 -180, j6 0 -180;
m710ic_50.cojt/motionparameters.e:default_turns j4 0 -180, j6 0 -180;
m710ic_50s.cojt/motionparameters.e:default_turns j4 0 -180, j6 0 -180;
m710ic_70.cojt/motionparameters.e:default_turns j4 0 -180, j6 0 -180;
m710iw.cojt/motionparameters.e:default_turns j4 0 -180, j6 0 -180;
We see that some have J1 also. And J4/J6 are the same for all.
To eliminate the message and use a value that is correct, change the line to:
default_turns j1 0 -180.0, j4 0 -180, j6 0 -180;
Since the motionparameters.e also has:
joint_is_turn j4 turn;
joint_is_turn j6 turn;
I would also add:
joint_is_turn j1 turn;
Notes and References
Hardware/Software Configuration
Platform: na
OS: n/a
OS Version: n/a
Product: TECNOMATIX
Application: PROCESS_SIMULAT
Version: V12.1
Function: ROBOTICS
Ref: 002-7008687