Cubic S Tool Shape monitoring

    Tool shape differs between Cubic-S enabled systems and Non-Cubic-S enabled systems.

    Non Cubic-S enabled systems:
    Tool shape points can be configured and then monitored for speed change in Teach/Check Modes.

    Cubic-S enabled systems:
    Tool shape points can be configured and then monitored for speed changes/constant area monitoring/prohibited and allowed area monitoring.

    Kawasaki has 2 ways of TOOL configuration and usage:
    a. QTOOL ON - Which is directed to BLOCK Programming - Using Aux 0304 - TOOL1/TOOL9 and Tool Shape Tab (lower right corner of each Tool Setting Page)
    b. QTOOL OFF - Which is directed to AS Programming - Using AS Commands and location variables.

    Either option has TOOLSHAPE points which can be applied - Therefore can be used in Cubic-S, or Non Cubic-S systems.
    - This is all done from either the Teach Pendant or KCWin and transferred to Cubic-S Module (Note: TCP and TOOLSHAPE cannot be configured via CS Configurator)

    Before providing information, I need to know whether you are using:
    a. BLOCK Programming
    b. AS Programming
    c. Tool changing or using 1 Tool.

    After I download OLP in the robot controller I get tool TCP and TCP orientation.
    Now I want to monitor my tool shape which I defined through CubicS with 20 point.
    Now if my tool goes out of select monitoring zone will my robot will stop?

    No, you have to configure/define TOOL and TOOLSHAPE at the Controller Side, then READ data into CS Configurator, then transfer to Cubic-S Module.

    But first you need to decide which type of TOOL configuration you are using and set TCP/TOOLSHAPE using either:
    a. Teach Pendant (Aux 0304) if using QTOOL Function.
    b. AS Commands via Keyboard/KCWin in the Controller if not using QTOOL function.

    When configured in Controller then:
    a. Connect Laptop to Cubic-S Module.
    b. Open CS Configurator.
    c. Read Cubic-S Parameters (this reads Cubic-S settings into CS Configurator).
    d. Read Robot Parameters (this reads Robot settings into CS Configurator).
    e. Read Tool Data (this reads Tool Data (TCP and TOOLSHAPE into CS Configurator).

    - You can then see all values/settings/TCP/TOOLSHAPE points in CS Configurator viewer.
    - Make Changes to Area Monitoring environment settings in CS Configurator viewer etc.
    **** YOU CANNOT CHANGE TCP/TOOLSHAPE values in CS Configurator and transfer settings back to Controller ****

    f. When finished configuring in CS Configurator - Then Write Parameters to Cubic-S (transfers ALL settings from CS Configurator viewer to Cubic-S Module).
    g. When any change occur in Controller or in Cubic-S when parameters differ.....there is always mismatch of information - So always need to make same.

    In Simple terms:
    a. Change in Controller will cause difference of setting in Cubic-S.
    b. So after change.
    c. Read in Cubic-S into CS Configurator.
    d. Read in Robot and Tool Data into CS Configurator.
    e. Write Parameters to Cubic-S and Reboot.
    f. Controller and Cubic-S settings now same, now Robot can execute program as normal.....and Cubic-S is Monitoring for correct information.

    Your 2nd picture says you are OFFLINE.
    - You cannot configure TOOLSHAPE data offline and transfer to Controller.......
    - Only in Controller and transfer to Cubic-S Module.

    You cannot set TCP and TOOLSHAPE data in CS Configurator - You have to set values in Controller first.
    - See Section 11.1.2 in Cubic-S Manual - This explains AS Command structure to set TOOLSHAPE and ENABLE.
    - You set this data in Controller first.
    - When finished setting.

    1. Open up CS Configurator.
    2. Press Read Cubic-S Parameters tab - Reads Cubic-S data into CS Configurator viewer.
    3. Press Read Robot Parameters tab - Reads Robot data into CS Configurator viewer.
    - When finished 'Read Tool Data' tab appears below 'Read Robot Parameters tab'.
    4. Press Read Tool Data tab - Reads in TCP and TOOLSHAPE Data into CS Configurator.

    Information in CS Configurator can now be changed/adjusted for Cubic-S functionality and Monitoring functions etc.
    **** YOU CANNOT CHANGE TCP/TOOLSHAPE values in CS Configurator and transfer settings back to Controller - You have to make change in Controller ALWAYS ****

    When you have made changes in CS Configurator, you have to press 'Write Parameters to Cubic-S' tab, in order for settings to transfer to Cubic-S Module.
    - Controller needs power cycling to reflect changes.

    No, just by enabling/disabling QTOOL either will use Tool Data set in Aux 0304 (QTOOL ON) or via Tool Data set using AS Commands (QTOOL OFF).

    1. QTOOL ON - Check AUX 0304 - Tool data and Tool Shape Tab to enable......This is used if QTOOL is ON.
    2. QTOOL OFF - Tool data and Tool Shape Commands entered using AS commands......This is used if QTOOL is OFF
    - See Section 11.1.2 in Cubic-S Manual - This explains AS Command structure to set TOOLSHAPE and ENABLE.

    Cubic-S Setup is not as straight forward as people are assuming - That is why Kawasaki recommend training for this.
    Cubic-S is a separate module that runs in parallel to the Controller and requires CS Configurator to create profile(s) for Cubic-S Module to monitor.
    Controller and Cubic-S Robot Parameters MUST BE THE SAME (this includes model/tool/base data).

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