Hello,
Does anyone have any pattern in order to check if the robot is ready for repeat mode? I'm open to discuss with you.
Thank you,
Alex!
Hello,
Does anyone have any pattern in order to check if the robot is ready for repeat mode? I'm open to discuss with you.
Thank you,
Alex!
1. **** Use dedicated output for automatic - set required conditions for this..............repeat/step cont, teach lock off, no error etc as a minimum.
2. **** Use dedicated outputs for Motor, RGSO Cycle, Teach Mode etc, to PLC to monitor if the robot is currently running or not.
3. **** PLC to send Motor Power and Cycle start signals IF no.1 condition is on (low to high detection - rising edge).
4. **** Only allow Motor Power/Cycle Start from PLC IF IN REPEAT MODE AND AUTOMATIC SIGNAL ON.....I see this on a regular basis.........when you toggle between teach/repeat, repeat/teach mode......Motor power automatically turns on due to the PLC continuously sending the Motor Power signal......drives me nuts..............
Assuming you've just been in Teach Mode:
1. Everyone out of the area, safety gates closed and confirm robot is in a location that allows freedom to move to first commanded location - safest option in my opinion...irrespective of any auto recovery code written.
2. Confirm conditions on Teach Pendant - Run>Hold, Teach>Repeat, Teach Lock>Off, Select correct Program, Step No. required and Monitor Speed.
3. Set Repeat Conditions to send Automatic Output to PLC to begin program execution - which would just be Hold>Run...............
Hello,
I was thinking at this:
IF SWITCH(RUN)==TRUE AND SWITCH(ERROR)==FALSE AND SWITCH(TEACH_LOCK)==FALSE AND SWITCH(REPEAT)==TRUE AND SWITCH(STP_ONCE)==FALSE AND SIG(2025)==FALSE THEN
SIGNAL 2020
ELSE
SIGNAL -2020
END
Signal 2025 is output signal dedicated for the emergency button.
Signal 2020 is the status for the robot (ready or not for repeat mode).
I don't think there are many people that are checking for those conditions.
Yep, what you wrote would certainly work - But there are many variations of evaluating SWITCHES and Conditions, and I would play around with them to see what methods you prefer.
- TRUE and FALSE is also represented in the Controller as -1 (TRUE) and 0 (FALSE)
- Also the 'SWITCH' is either ON of OFF......so an alternate method is to remove the TRUE/FALSE evaluations, and just evaluate the ON or NOT of the relative SWITCH instead - This will reduce the line character length.
eg.
IF SWITCH(RUN) AND NOT SWITCH(ERROR) AND NOT SWITCH(TEACH_LOCK) AND SWITCH(REPEAT) AND NOT SWITCH(STP_ONCE) AND SIG(2025) THEN
As opposed to:
IF SWITCH(RUN)==TRUE AND SWITCH(ERROR)==FALSE AND SWITCH(TEACH_LOCK)==FALSE AND SWITCH(REPEAT)==TRUE AND SWITCH(STP_ONCE)==FALSE AND SIG(2025)==FALSE THEN
I like the fact that there are many options available, as opposed to not being available, so I would use what's available to reduce the amount of code you have to write to monitor for them.
- Simplifies things when you want a PLC to control the initial power/execution sequences.
- Coding them in is also beneficial, similar to what you wrote, so you can 'locally' reference them in order to produce messages/control local sequencing within the Robot.
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Hello,I was thinking at this:
IF SWITCH(RUN)==TRUE AND SWITCH(ERROR)==FALSE AND SWITCH(TEACH_LOCK)==FALSE AND SWITCH(REPEAT)==TRUE AND SWITCH(STP_ONCE)==FALSE AND SIG(2025)==FALSE THEN
SIGNAL 2020
ELSE
SIGNAL -2020
ENDSignal 2025 is output signal dedicated for the emergency button.
Signal 2020 is the status for the robot (ready or not for repeat mode).I don't think there are many people that are checking for those conditions.
Hi guys,
I use this old post for my questions:
I'm quite new on writing code for kawasaki robots and I'm just writing my first autostart.pc program.
Now I don't understand how setting the 2xxx signal (internal signal) nor in which place I can find their meaning. In the example quoted those signal are "created" or they existed but hided inside somewhere
At the end I don't undertstand the internal signal WORLD!!! Maybe a lack of documentation
Thanks in advance
An internal signal in Kawasaki is similar (not the same) to a flag/memory bit in a PLC.
- Do not directly provide an output voltage, or require an input voltage.
- Range between 2001-2255 as default and are freely usable (unless someone else has allocated them for other functions).
- Internal signals use the same commands as Inputs and Outputs......so could be utilised as internal in's and internal out's.
- You could then write programs to monitor/control them.
A simple example would be:
- Set a dedicated output (Aux 0602) for Signal 2001 for Teach Mode.
- Set a lamp on the Interface Panel (Aux 0509) for Signal 2001 and label it Teach Mode.
- Without any code, the lamp will turn on when the key switch is set to Teach and turn off when the key switch is set to Repeat.
Result: Using the Internal Signal and Dedicated function to indicate on the Interface Panel if the Controller is in Teach Mode.
ok.
Thanks