July 19, 2019, 12:33:43 PM
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 INFO ENDLESS

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May 17, 2017, 09:04:43 AM
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Motouser


Hi,
I'm gathering info about a BX100S for a project. I see from the datasheet that is an "hollow" wrist model and that is very good for us. What I need to know is if it's possible rotate the JT6 endless. There are special function, limits or other things that I must know.

Thanks in advance.

Today at 12:33:43 PM
Reply #1

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May 18, 2017, 08:11:44 AM
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kwakisaki

Global Moderator
Kawasaki have a 'spin' function for 'endless' motion to JT6 and/or external axes.
- I believe it is available for all hollow wrist models, but is not available as standard.
- You would need to contact your nearest Kawasaki Distributor for further information.

Spin function 'opens' up the software limits from 360 degrees to 36000 degrees +/- (for synchronous moves).
However, within the function, you can reset the encoder counter, enabling you to have 'endless' function. (for asynchronous moves).

May 18, 2017, 09:23:54 AM
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Motouser



Hi,
thanks for the answer.

So in the first case I will have 100 rounds max and then I have to reset manually or I have to do reverse turning?
While in the second case I can move the axis endless but the movements are not coordinated?

May 18, 2017, 10:17:39 AM
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kwakisaki

Global Moderator
Well it's actually down to your specific program commands how you control it when it's enabled.
Difficult to explain really............but I try.

Two types of 'SPIN' exist:
1. Synchronous - taught position (as per a normal robot) but JT6 can operate between -36000 and 36000 degrees.
2. Asynchronous - taught position (JT1 -JT6 as normal) PLUS the Spin axis (asynchronous)

As these are just commands, you can mix and match at your leisure.

1. Synchronous Example:
- If you are going from 0 degrees to 36000 on JT6 as a separate move then you are not spinning, but going to a set angle (synchronous).
- Without spin function - yes, you would need to reverse.
- But with spin commands you can reset the encoder count to an offset/degree calculations allowing you to continuously spin/not reverse.
- ie 36000 degrees on JT6 Flange is physically the same as 0 degrees, so at 36000 degrees, you could reset to 0 degrees and carry on/stop.
- But with this being synchronous (ie a move that includes (JT1 - JT5) then the speed of the overall move will be directed by how far JT6 has to move.

2. Asynchronous Example:
- You can move as normal JT1 - JT6 to a normal location.
- But also can spin in 360 degree increments during the move at various speeds/velocities.
- Which is independent to JT6, BUT physically it is JT6, but referred to as the Spin Axis......(confusing I know).....
- Locations for JT1 - JT6 can be joint angles, co-ordinates as usual.
- You do have to be careful when teaching JT6 more than/close to 180 degrees during the spin axis moves.

Both ways can be achieved/mixed through the AS Spin Commands (when spin is available).
Hope that that helps.............

May 18, 2017, 12:41:52 PM
Reply #4
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Motouser


It helps, of course, and seems to be a little bit different from the robot that I use.

The main problem of my application is that the JT6 axis 'needs' the endless function because the cartesian movement (not joint) request an endless movement (I cannot explain better, sorry :sadsmiley:).
Based on your explanation I'm not sure in which of the two cases I fall and I'm not even sure that could work for my job.

May 18, 2017, 02:52:24 PM
Reply #5
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kwakisaki

Global Moderator
Maybe my comments have you confused a little and I've misunderstood your target.
Can you mention on here any details of the intended application?




May 19, 2017, 06:39:46 AM
Reply #6
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Motouser



I'm sorry, not here. We could continue on PM if you want.

Today at 12:33:43 PM
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May 19, 2017, 06:22:47 PM
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kwakisaki

Global Moderator
No problem, I understand..... :respect:

Looking at JT4 and JT6 software limits for the BX, they are both at +210/-210.
- So I think JT4 could be the 'stopper'.....as the spin is only applicable for JT6 or external axis.
- Tool size and running posture would need to be considered.

However, have a look at the attached, you don't have to comment whether its what your looking for or not.
- But that is a BX100 with Spin function in simulation rotating the TCP 35.97 degrees......1000 times....you can see the TCP vectors are endless (proving JT6 rotation).
- Then by carrying out an RTSET, that will allow you to reset the angle without having to reverse xxxxxx degrees.......sets it between 0 and 360 degrees.
- The start/finish angle of JT6 is there (after the RTSET) as well as the lashed code for the sim

Don't know whether it's along your lines but hopefully may clear up a few things................it'd certainly warm up the harmonic gear in the wrist..... :pfeif:
 
« Last Edit: May 19, 2017, 07:24:22 PM by kwakisaki »

June 11, 2017, 04:23:44 PM
Reply #8
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kwakisaki

Global Moderator
Bit blurry, but another simulation for you.
The attached is simply done using C Moves to transformations.
4 points are separated by 10 mm in height and increment 40 mm each pass
- Due to the way Kawasaki handles C Moves, larger diameters would result in some different code structure as there are 3 speed elements the Controller is having to control
- TCP linear speed, TCP rotational speed and Joint (1-6) Speed.
- If you look closely you can see these speed elements especially when you look at the right angle of the TCP (below JT6).
- The attached is working well, and appears stable but I know dependent on diameter, speeds and TCP dimensions, there will be some restrictions/limitations you will encounter.

Hope this helps........
« Last Edit: June 11, 2017, 04:37:38 PM by kwakisaki »

February 19, 2018, 09:39:37 AM
Reply #9
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Motouser


Hi kwakisaki,
could you share the code of the simulation? Will be very helpfull.
(I hope that you had saved it somewhere, there are passed MONTHS!! :wallbash: :wallbash: :wallbash:).

P.S.
I can disturb you through PM? A couple of question.

Thanks a lot anyway

February 19, 2018, 10:02:46 AM
Reply #10
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kwakisaki

Global Moderator
No problem, I usually save any code I do..............
- Very basic instruction though just to specifically simulate spin axis (will only execute on spin enabled robot).

Code: [Select]
.PROGRAM spin_test()
  BASE NULL
  TOOL spin_point
  SPEED 250 MM/S ALWAYS
  ACCURACY 5 ALWAYS
  JMOVE #s1
  LMOVE s1
  C1MOVE s2+TRANS(0,0,0,90,90,-90)
  C1MOVE s3+TRANS(0,0,0,90,180,-90)
  C1MOVE s4+TRANS(0,0,0,-90,90,90)
  C1MOVE s1+TRANS(40)
;
  C1MOVE s2+TRANS(40,0,0,90,90,-90)
  C1MOVE s3+TRANS(40,0,0,90,180,-90)
  C1MOVE s4+TRANS(40,0,0,-90,90,90)
  C1MOVE s1+TRANS(80)
;
  C1MOVE s2+TRANS(80,0,0,90,90,-90)
  C1MOVE s3+TRANS(80,0,0,90,180,-90)
  C1MOVE s4+TRANS(80,0,0,-90,90,90)
  C1MOVE s1+TRANS(120)
;
  C1MOVE s2+TRANS(120,0,0,90,90,-90)
  C1MOVE s3+TRANS(120,0,0,90,180,-90)
  C1MOVE s4+TRANS(120,0,0,-90,90,90)
  C1MOVE s1+TRANS(160)
;
  C1MOVE s2+TRANS(160,0,0,90,90,-90)
  C1MOVE s3+TRANS(160,0,0,90,180,-90)
  C1MOVE s4+TRANS(160,0,0,-90,90,90)
  C1MOVE s1+TRANS(200)
;
  C1MOVE s2+TRANS(200,0,0,90,90,-90)
  C1MOVE s3+TRANS(200,0,0,90,180,-90)
  C1MOVE s4+TRANS(200,0,0,-90,90,90)
  C1MOVE s1+TRANS(240)
;
  C1MOVE s2+TRANS(240,0,0,90,90,-90)
  C1MOVE s3+TRANS(240,0,0,90,180,-90)
  C1MOVE s4+TRANS(240,0,0,-90,90,90)
  C1MOVE s1+TRANS(280)
;
  C1MOVE s2+TRANS(280,0,0,90,90,-90)
  C1MOVE s3+TRANS(280,0,0,90,180,-90)
  C1MOVE s4+TRANS(280,0,0,-90,90,90)
  C1MOVE s1+TRANS(320)
;
  C1MOVE s2+TRANS(320,0,0,90,90,-90)
  C1MOVE s3+TRANS(320,0,0,90,180,-90)
  C1MOVE s4+TRANS(320,0,0,-90,90,90)
  C1MOVE s1+TRANS(360)
;
  C1MOVE s2+TRANS(360,0,0,90,90,-90)
  C1MOVE s3+TRANS(360,0,0,90,180,-90)
  C1MOVE s4+TRANS(360,0,0,-90,90,90)
  C1MOVE s1+TRANS(400)
;
  C1MOVE s2+TRANS(400,0,0,90,90,-90)
  C1MOVE s3+TRANS(400,0,0,90,180,-90)
  C1MOVE s4+TRANS(400,0,0,-90,90,90)
  C1MOVE s1+TRANS(440)
;
  C1MOVE s2+TRANS(440,0,0,90,90,-90)
  C1MOVE s3+TRANS(440,0,0,90,180,-90)
  C1MOVE s4+TRANS(440,0,0,-90,90,90)
  C1MOVE s1+TRANS(480)
;
  C1MOVE s2+TRANS(480,0,0,90,90,-90)
  C1MOVE s3+TRANS(480,0,0,90,180,-90)
  C1MOVE s4+TRANS(480,0,0,-90,90,90)
  C1MOVE s1+TRANS(520)
;
  C1MOVE s2+TRANS(520,0,0,90,90,-90)
  C1MOVE s3+TRANS(520,0,0,90,180,-90)
  C1MOVE s4+TRANS(520,0,0,-90,90,90)
  C1MOVE s1+TRANS(560)
;
  C1MOVE s2+TRANS(560,0,0,90,90,-90)
  C1MOVE s3+TRANS(560,0,0,90,180,-90)
  C1MOVE s4+TRANS(560,0,0,-90,90,90)
  C1MOVE s1+TRANS(600)
;
  C1MOVE s2+TRANS(600,0,0,90,90,-90)
  C1MOVE s3+TRANS(600,0,0,90,180,-90)
  C1MOVE s4+TRANS(600,0,0,-90,90,90)
  C1MOVE s1+TRANS(640)
;
  C1MOVE s2+TRANS(640,0,0,90,90,-90)
  C1MOVE s3+TRANS(640,0,0,90,180,-90)
  C1MOVE s4+TRANS(640,0,0,-90,90,90)
  C1MOVE s1+TRANS(680)
;
  C1MOVE s2+TRANS(680,0,0,90,90,-90)
  C1MOVE s3+TRANS(680,0,0,90,180,-90)
  C1MOVE s4+TRANS(680,0,0,-90,90,90)
  C2MOVE s1+TRANS(720)
;
  LMOVE s1+TRANS(480,0,300,90,15,-90); finish
  BREAK
  RTSET 0
  JMOVE #s1
.END
.TRANS
s1 155.196304 1451.415649 573.003906 -0.005400 89.999802 -179.995407
s2 -44.822399 1251.433594 582.987000 -0.005400 89.999802 -179.995407
s3 -244.803696 1451.451538 593.002625 -0.005400 89.999802 -179.995407
s4 -44.785000 1651.432007 603.019470 -0.005400 89.999802 -179.995407
spin_point 155.158997 -1.484000 122.010010 -0.601000 90.000015 0.001000
.END
.JOINTS
#s1 15.770700 13.621800 -32.264702 0.001100 -44.110401 -15.177700
.END

You can PM me if you require...... :top:
« Last Edit: February 19, 2018, 10:04:24 AM by kwakisaki »


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