Special Functions kawasaki controller AD

[John0909]

Hi everyone, i just have a problem whit one robot, i have to do a circular move with the robot, and i can´t select that  interpolation mode in the teach pendant, does any one knows how to activate those functions?

My robot is a kawasaki UX-120... AD controller
 
PD. Im sorry about my bad english :(

thank you verymuch, i´ll really apreciate your help.

[tdevine77]

I think that you have to have a kawasaki techinician add the circular move as an option which you will have to pay to have that option installed.

[magruedus]

You can use AS to draw a circle. For example:

FOR angle = 0 TO 360 STEP 5
LMOVE p1+TRANS(radius*COS(angle),radius*SIN(angle))
END

p1 is the centre of the circle, radius is radius

the step 5 causes an increment of 5 degrees, ie. you will get 72 points on your circle.... increase or decrease it as desired.


You have to have your tool coordinates pointing in the correct direction (i.e. gripper pose)..... from memory probably needs to be in line with the base co-ordinate system for the transformation to work.

[tdevine77]

nice

[John0909]

Thank you very much for your help!, i didnt know that this robot can proces such a function as sin() or cos(), that is very interesting, do you know where i can see those functions? is there a manual of this?

thank you very much again, and sorry again for mi bad english... :)

[magruedus]

This AS manual should be suitable circa AD controller.

[John0909]

Thank you very much for your help!

[doetz27]

Special functions are under either AUX 98 or AUX 99 and require the password 9894 if i recall correctly.  This will open up more option menus and interpolation types are under one of them.  Hope I remembered the numbers correctly for you.

[doetz27]

Sorry, AUX 199