I am having issues trying to offset the gun off i am using it for dispense purposes. i have found i can offset the gun on timing by changing the GS value which is where the 140 is here CLAMP1 (ON,140,0,O). the manual says to adjust the gun off by doing the same to the following line which has a CLAMP1 (OFF,0,0,O) but has no affect on the gun timing. i have also tried the GUNOFFTIMER gun_number,time and GUNOFF gun_number,distance with no affect but to be fair i am still unaware to where exacting in the program it needs to go or if i only need one or one for each gun off. if anyone has incite on this i would greatly appreciate it as it is costing us thousands of dollars in man hours to work this issue out.
RS30N E controller off timing
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namelessdeer -
January 17, 2017 at 3:08 PM -
Thread is marked as Resolved.
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Sounds like your Controller may be just be Standard Handling Version and just sealing option has been enabled.
What is the AS Version of the Controller (Aux 0804)? -
Here are the photos of that screen. i did get some response from the GUNON/GUNOFF GUNTIMERON/GUNTIMEROFF but it is intermittent is there a certain placement for those commands same with the off GS value. also it running the program back to back without any changes has a +/- of up to 40mm which we have not seen on any of are other robots that was running this system. it is a high speed process(1500-2000mm/s) . thank you for your response and very much appreciate the help and your time.
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Kawasaki E Controllers usually require specific Sealing firmware installing in order for the functionality to operate correctly.
- Your version does seem relatively new akin to the newer E0x Series of controller.
- I am not 100% sure that is Sealing firmware you have installed there (even though Sealing Options may have been activated - if not then GUNTIMER commands would create errors).
- I'll be able to verify that tomorrow.However, yes, the GUN commands in AS have to placed in a specific way in order for them to operate effectively and is a little 'hit and miss' until you get a 'bead on it' (pun intended).
GUNON/OFF TIMER is to either advance or delay when the SIGNAL is to turn on/off.
GUNON/OFF is to turn on/off the gun by distance AND it initiates the TIMER (if you have set it).
- This results in more flexibility with the environment/equipment and distances between nozzle and solenoid, variance of bead viscosity etc.Due to forward processing required in order to synchronise the gun commands with the distance offsets (as these offsets can be advanced or delayed) you also need to consider:
- Programmed accuracy value, as this forms part of the 'coincidence' and will affect your timing/distances.
- The Programmed TCP speed and the flow rate of the dispenser as this will also affect the results (your process will be very difficult at those speeds without good flow control).
- How is the bead flow being controlled - are you feeding back TCP speed to the dispenser or have another method in place and if so, is this correct.Below are a couple of small snippets of AS code as an example:
1.
JMOVE #safe
LAPPRO pos[1],30
LMOVE pos[1]; start position and start sealing
GUNON 1
LMOVE pos[2];mid bead line
LMOVE pos[3]; end of bead line
GUNOFF 1,-10; gun signal sent 10mm prior to pos[3] including accuracy being reached.
LDEPART 30
LAPPRO pos[4],30
LMOVE pos[4]; just squirt a spot.
GUNON 1
STABLE (-10*-0.01); stable delay before turning off
GUNOFF 1
LDEPART 30
JMOVE #safe2.
JAPPRO p1,100 ; Approach pos
SPEED 150 MM/S ALWAYS
JAPPRO p1,5 ; Approach pos
LMOVE p1; At target
GUNON 1,-5 ; Turn on Gun on 5mm before - resulting in gun turning on as it moves from the JAPPRO p1,5 towards LMOVE p1
ACCURACY 2 ALWAYS
LMOVE p2; Sealing
LMOVE p3; Sealing
LMOVE p4; Sealing
LMOVE p5; Sealing
ACCURACY 0 ALWAYS
LMOVE p6; Gun off position
GUNOFF 1,-20 ; Gun will turn off 20mm prior to reaching p6 location including accuracy
LDEPART 20 ; Move away from partIf you try something like the above at slow speeds and 'vary the distance' value as a test, you will be able to see the GUNON/GUNOFF affects......
- However, if you don't then it maybe that you do need sealing firmware.
- I'll try and verify this tomorrow.Hope it helps.................
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As always thank you for the response. the flowrate is controlled through one our sealing controllers and it set up to hold the exact same flowrate at all times which is why we requested the robot to come with the best true tcp speed possible if we actually have that i do not know. we have not have this issue with other robots incoulding are old FANUCs or RS30N robots(which had t controllers so of course we cannot get) the process must be run at speeds of 1500mm/s or higher or the applicator will not work correctly so slow speed testing wont be possible. i have found after running it over and over today that the only ones that will affect it are for the gun on is the individual GS values and for the gun off the GUNOFFTIMER the GUNON/GUNOFF or the GS value for the gun off does not affect it at all and if the TIMER you speak of is in a menu i have not found that in there. As per the firmware the only options we got from the "sealing/painting" was AUX 01201, 01202, and 01203. i will try setting up the program like you have below when i come in in the moring and will let you know if that helps. Once again thank you
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RS30 on T Controllers.......yes, I know which company use those Series and may employ flow rate controls too.
You wont find any menu regarding TIMERS for the GUN - The code examples I gave were AS which have variable/constant parameter settings.
So from what you have said, you are using BLOCK then.I take it you've read the 'attached' (imga) from the manual.
I've just been trying some simple moves in KROSET and all appears to be working as I expected:1. img1 Code:
.PROGRAM test()
1 JOINT SPEED9 ACCU1 TIMER0 TOOL1 WORK0 CLAMP1 (OFF,6,0,O) 2 (OFF,0,0,O) OX= WX= #[27.908,13.068,1.0198,0,-91.019,-27.907] ;#start
2 LINEAR SPEED9 ACCU1 TIMER0 TOOL1 WORK0 CLAMP1 (ON,250,0,O) 2 (OFF,0,0,O) OX= WX= #[-0.0002531,0.000517,0.0002312,0,-89.999,-0.00086358] ;#mid
3 LINEAR SPEED9 ACCU1 TIMER0 TOOL1 WORK0 CLAMP1 (OFF,6,0,O) 2 (OFF,0,0,O) OX= WX= #[-14.832,3.392,0.068898,0,-90.068,14.831] ;#mid1
4 LINEAR SPEED9 ACCU1 TIMER0 TOOL1 WORK0 CLAMP1 (OFF,6,0,O) 2 (OFF,0,0,O) OX= WX= #[-27.908,13.068,1.0196,0,-91.02,27.907] ;#finish
.END- Gun turns on 250mm AFTER #start and turns off when arrived at #mid and start execution of #mid1
2. img2 Code:
.PROGRAM test2()
1 JOINT SPEED9 ACCU1 TIMER0 TOOL1 WORK0 CLAMP1 (OFF,6,0,O) 2 (OFF,0,0,O) OX= WX= #[27.908,13.068,1.0198,0,-91.019,-27.907] ;#start
2 LINEAR SPEED9 ACCU1 TIMER0 TOOL1 WORK0 CLAMP1 (ON,500,0,O) 2 (OFF,0,0,O) OX= WX= #[-0.0002531,0.000517,0.0002312,0,-89.999,-0.00086358] ;#mid
3 LINEAR SPEED9 ACCU1 TIMER0 TOOL1 WORK0 CLAMP1 (OFF,6,0,O) 2 (OFF,0,0,O) OX= WX= #[-14.832,3.392,0.068898,0,-90.068,14.831] ;#mid1
4 LINEAR SPEED9 ACCU1 TIMER0 TOOL1 WORK0 CLAMP1 (OFF,6,0,O) 2 (OFF,0,0,O) OX= WX= #[-27.908,13.068,1.0196,0,-91.02,27.907] ;#finish
.END- Gun turns on 500mm AFTER #start and turns off when arrived at #mid and start execution of #mid1
3. img3 Code:
.PROGRAM test3()
1 JOINT SPEED9 ACCU1 TIMER0 TOOL1 WORK0 CLAMP1 (OFF,6,0,O) 2 (OFF,0,0,O) OX= WX= #[27.908,13.068,1.0198,0,-91.019,-27.907] ;#start
2 LINEAR SPEED9 ACCU1 TIMER0 TOOL1 WORK0 CLAMP1 (ON,500,0,O) 2 (OFF,0,0,O) OX= WX= #[-0.0002531,0.000517,0.0002312,0,-89.999,-0.00086358] ;#mid
3 LINEAR SPEED9 ACCU1 TIMER0 TOOL1 WORK0 CLAMP1 (ON,0,0,O) 2 (OFF,0,0,O) OX= WX= #[-14.832,3.392,0.068898,0,-90.068,14.831] ;#mid1
4 LINEAR SPEED9 ACCU1 TIMER0 TOOL1 WORK0 CLAMP1 (OFF,6,0,O) 2 (OFF,0,0,O) OX= WX= #[-27.908,13.068,1.0196,0,-91.02,27.907] ;#finish
.END- Gun turns on 500mm AFTER #start, when arrives at #mid, turns on again (staying on) until #mid1 has been executed, then turns off when #finish starts executing.
4. img4 Code:
.PROGRAM test4()
1 JOINT SPEED9 ACCU1 TIMER0 TOOL1 WORK0 CLAMP1 (OFF,6,0,O) 2 (OFF,0,0,O) OX= WX= #[27.908,13.068,1.0198,0,-91.019,-27.907] ;#start
2 LINEAR SPEED9 ACCU1 TIMER0 TOOL1 WORK0 CLAMP1 (ON,500,0,O) 2 (OFF,0,0,O) OX= WX= #[-0.0002531,0.000517,0.0002312,0,-89.999,-0.00086358] ;#mid
3 LINEAR SPEED9 ACCU1 TIMER0 TOOL1 WORK0 CLAMP1 (ON,0,0,O) 2 (OFF,0,0,O) OX= WX= #[-14.832,3.392,0.068898,0,-90.068,14.831] ;#mid1
4 LINEAR SPEED9 ACCU1 TIMER0 TOOL1 WORK0 CLAMP1 (OFF,500,0,O) 2 (OFF,0,0,O) OX= WX= #[-27.908,13.068,1.0196,0,-91.02,27.907] ;#finish
.END- Gun turns on 500mm AFTER #start, when arrives at #mid, turns on again (staying on) until #mid1 has been executed, then executes #finish BUT delays the turn off until 500mm.
(distance between #mid 1 and #finish is 500mm.........so it is synchronised).I hope the examples may help clear things a little in terms of confirmation of how you are programming it..........
This was done on a sealing firmware robot.
When I tried on a handling robot with handling firmware and just sealing options enabled, turning on the gun with GS values were working.
- However, turning them off with GS advance/delay settings did not work.
- The firmware I was using was ASE_010100X3R
- So from these results, I am pretty convinced your firmware will require sealing firmware installed.E Controller specific Sealing Firmware is prefixed with ASE_050000xxx, I would run this by your Kawasaki supplier to verify this and hopefully can be resolved/updated pretty quickly.
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Hello,
If you get the lastest firmware, please ask your distributor to give you the Software Replacement AS-Soft English E-Controller in order to have the correct steps how to upgrade the firmware.
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Yes that is how i was programming it and you are correct of how it should work and how it doesn't i will get with my distributor and see if we can have this corrected. i extremely appreciate your time and help!
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Just thought I would try and confirm the way I would program it in BLOCK so that you weren't missing anything out........
- Let us know how you get on....... or ....if you can. -
thanks that was perfect and will do! i have it working alright with the GS for on and gunofftimer for off to get us through a few demos while we work with our distributor to get this sorted out thanks again for your time it was a tremendous help!