Just a programming fool

[tdevine77]

OK here is some operations using the teach pendant for the A and AD series controlles.

HOW TO MOVE THE ROBOT AROUND

-To move the robot you must be in teach mode.

1.  Press the "T/P ENABLE" button. It's red LED should illuminate when it is active. it stands for Teach Pendant Enabled.
2.  Choose which coordinate style you would like to move your robot in. Press the button labled JOINT, TOOL or BASE. Your selection of the movement type will have a LED illuminated next to it. If you look at your AXES keys it will have different labling on it to corospond to which coordinate style you are using.

JOINT = Allows you to move each individual joint regardless of the tool position. The AXES keys are labled 1, 2, 3, 4, 5, 6, 7 (7 is optional joint on robots, most do
              not have this axes)

BASE = Allows you to move the robot referencing from the tool center point in a straight line while maintaining tool orientation. The base coordinate system origin
             is in the robots base which can be changed using Auxillary function 47. The AXES keys are labled X, Y, Z, RX, RY and RZ.

TOOL = Allows you to also move the robot in a straight line, Its origin is the TOOL center point. The AXES keys are labled X, Y, Z, rx, ry and rz.

(The BASE coordinate system is best for begginers)

3. To move the robot you must now press and hold a speed selection button of High, Medium or Low speed.
     High = >>>, Medium = >>, Low = >

4.  Next press one of the AXES directional buttons and your robot should now be moving.


HOW TO SELECT A PROGRAM

1. Press the "T/P ENABLE" button. It's red LED should be illuminated to show you it's in teach mode.
2. Press the "MODE SELECT" button one time.
    -Your teach pendant display should now show a list of all robot programs stored in the controller.
3. Use the arrow keys on the pendant key pad to select / highlight the program that you wish to load on the stack.
4. Press the red "ENTER" button to select the highlighted program.
    - The display should now show your programs name at the top of the screen. And in the middle of the screen the program should list the programs first step
      number and data.


HOW TO CHECK STEP THROUGH A PROGRAM

1. Press the "T/P ENABLE" button.
2. Select your program.
3. Press the "CHECK MODE" button. It's red LED lamp should illuminate showing that you are in check mode.
4. Press and hold a speed selection button of High, Medium or Low.
5. Press and hold the "CHECK STEP" button. Your robot should now be moving, Keep these buttons held in until the robot comes to a complete stop at the
    variable taught location.
6. Repeat steps 4 through 5 above until you have checked through your program.
    - To exit check mode press the "CHECK MODE" button. It's LED lamp should be off.



HOW TO RE-TEACH A VARIABLE TO A NEW LOCATION

1. Using the "CHECK MODE" check step your robot t0 the variable step that you would like to re-teach to a new position.
2. Press the "CHECK MODE" button to deactivate check step mode. It's LED should be off.
3. Using the speed and axes buttons move your robot to the desired new position.
4. Press the button that is labled "POS .R and AUX .R" one time. Now the POS .R should have a LED lamp displayed beside it.
    - POS .R = Positional re-write. This will enable you to only record or write new positional data in AS or BLOCK language.
    - AUX .R = Auxillary re-write. This will enable you to only record or write new auxillary data in BLOCK language only. Auxillary data is speed, accuracy, etc...)
5. Press the red "R" button one time. this is the Record or Re-write initiate button.
    -Note:  After the button is hit one time your program display will automatically move to the next program step. If you accidently hit the record button twice
                then you will also record the next steps variable positon to the same positin as the previous, SO ONLY HIT THIS BUTTON ONCE!!!
6. Press the "POS .R and AUX .R" button twice so that no LED's are now lighted.
7. You can now go back to "CHECK STEP" and continue step checking through your program.

[MIYAM]

i work with my robot with the teach pendant but it only goes in a positive direction i dont know what happen??? do you know what shuold i do??'' 

[tdevine77]

So you are saying that if you have the teach pendant "T/P Enable" button activated and you press and hold a speed and then select a AXES to move it will only move in the positive direction? That sounds really funky.

Place the teach pendant in joint mode, now move each individual joint in the positive and negative directions. Can you move each individual joint in joint mode?

Do you hear any beeps from the teach pendant when you try to move in the negative direction? If so you are trying to move your robot out of its software limits and you will need to change the function for the settings.

[MIYAM]

i change the mode to joint and it still move only in positive direction, and i hear a beep when i try to move in a negative direction how can i change the settings? 

[roboperson]

Sounds like your robot lost zero and is lost. Did you get encoder battery low errors before this happened? From what I remember you have an AD controller, but not sure if HQ or not? If this is HG, go to function 140 and zero the joint with problems or 0 for all. Next goto function 41 and do the same. If this is non HQ then function 140 will not exist. You will need to go to the base of the robot and toggle the switches on the board at the side cover with the controller on. This is your encoder board. After doing this, cycle power to the controller. Then do the operation at aux 41. After you zero where you are, teach the robot to scribes and zero it again in the correct location.

[MIYAM]

yes i this robot were used so it has a lot of time stop and i have encoder battery low errors , how can i go to those function im new using kawasaki robots? 

[roboperson]

OK. first, you need to put new batteries on your encoder board. Once again, im not sure if you have a non HQ or HQ robot? Either way, there are batteries on the board on the base of the robot. You either have to buy a new battery pack from Kawasaki, or sodier new lithium battiers to the existing battery pack. Either way, you need new batteries or this problem will come back EVERYTIME you power down the controller.
After you change the batteries,  you need to determine if you have an HQ or non HQ robot AD controller to zero the robot. On the panel on top of the controller, you will see the AUX button. Press this, and then goto AUX 140, and AUX 41. IF 140 does not exist, then you have a non hq robot. either way, follow what i stated in previous post.
Once you clear the encoder battery low errors, and zero the robot, you should be able to move the robot normally.

[rdixiemiller]

 Check your axis limits. If you are past the limit, it will only move back towards the limit value, not farther away.

[MIYAM]

how can i use the griper??? is using the I/O signals or what option i have in this robot??? is there any aux or something predetermine like in others robots???

[roboperson]

depending on your interface and application you need to set up the clamp conditions in AUX 114. Once you set these up, then you would use the clamp buttons on the interface. There is IO run out the the Arm usually that you can tie your gripper into.

[MIYAM]

i try to do that but i dont have aux 114 opcion my controller is an AD but is from korea so i dont have the same issues, do i have to conect the gripper to an I/O port or just program the clamps how can i do this?

[pawelkaczmarek]

Hello. I'm new on this forum. My question is, when i have robot moved from another company to mine, what should I checked in controller , teach pendant, atc? Also how can I sett global or base point for my robot?