Call a program using Jump-ON

[TCP]

I have experience with Fanuc and Motoman robots. Usually I do the program for the robot and the PLC.
This is the 1st time with a Kawasaki (c-controller) robot.
But another guy is doing the robot program i am writing the PLC program.
Robot programmer told me that at the end of the Prg1 he calls the Prg0 and activates Jump_ST.
I need to send the correct info to the robot to Jump to Prg1 from there. He is using Jump method to acheive this.
I have followed the manual and done the following in the PLC program.
Turm Motor Pwr on and Cycle Start. Then I get the CS bit On signal back to the PLC.
Then the Robot moves to another position and activates JUMP. Then PLC gets the JUMP-ST signal.
Once the JUMP-ST is on Send RPS=1, then send JUMP-ON after 200ms delay. JUMP-OFF is off all the time.
Robot programmer told me that robot is not jumping to Prg1 for some reason.
But I loose the JUMP-ST signal.
What settings are required on the robot side?
RPS Enable------->SET  not sure about this
First Binary Input---->1090
Length--------->4
Binary or BCD--------->0          We tried both 0 and 1 but no change
I am not sure whether he is in Prg0 or Prg1 when he activates JUMP.
I would appreciate your help kindly.
Thanks

[tdevine77]

So I assume you have alrady set up dedicated signals for JUMP-ON, JUMP-OFF and JUMP-ST? (using aux 111)

Also dedicated signals for RPS-ON and RPS-ST?

If so RPS should be set to SET as you say you have done.
Your first signal number for RPS code is 1090
Your Number of code signals is set to 4
Your Code is set to 0 = Binary

This sets up the signals from the PLC to the ROBOT to select programs:
1090 = 1
1092 = 2
1093 = 4
1094 = 8

IF your want to select PG1 you would turn on signal 1090
If you wanted to select PG5 you would turn on signals 1090 and 1093

Are you turning on your RPS-ON signal from the PLC to the Robot controller so it can select the PG code?

Good Luck
Tommy D

[tdevine77]

Let me correct myself:

1090 = 1
1091 = 2
1092 = 4
1093 = 8

If your want to select PG1 you would turn on signal 1090
If you wanted to select PG5 you would turn on signals 1090 and 1092