Hi everyone,
we are facing an issue while taking JT2 and JT3 to eye-marking position. Robot is installed in such a way. any possibilities to zero both axis?
Hi everyone,
we are facing an issue while taking JT2 and JT3 to eye-marking position. Robot is installed in such a way. any possibilities to zero both axis?
Why do you need to zero both axes?
Kawasaki Robots do not necessarily require zeroing on the scribe lines.
These are just mechanical 0 degree lines.
If you already know the joint angle at which the joint is, then it can be zero'd at this position by entering the joint angle instead of 0 during the zeroing procedure.
You would need to enter this value for Encoder rotation reset and axis zeroing.
Therefore, if you cannot achieve the mechanical zero degree posture for all axes, then you can re-zero any joint at a different joint angle, assuming you have that information.
That is why I ask, why you need to zero both axes.
Thanks for your help,
I will explain briefly. I have reset all axis encoder values. Now i can't take JT3 to eye-mark position while JT2 is in zero position(eye-mark pos). My question is how to do JT3 zeroing without keeping JT2 in eye-marked position. Here local Kawasaki representative is saying JT2 and JT3 has to be in eye-marked position while zeroing them as they are interconnected. If i move JT2 in some other position JT3 can be taken to eye-marked position, but i know it's differ from actual zero.
In this case how can i solve. which angular degree has to be entered while zeroing. The values which shows after encoder will be correct.???
QuoteIf i move JT2 in some other position JT3 can be taken to eye-marked position
So why not do that then, zero JT3 and then after drive JT3 clear so that you can obtain JT2 at scribe line?
Why have you reset encoder values?
Please ask Kawasaki representative to show you and me to the area in the manual that states JT2 and JT3 need to be aligned in order to re-zero?
You should only ever re-zero a joint that has had either a motor, encoder or further mechanical change.
There is no need to ever re-zero unaffected joints.
Production team loaded wrong robot backup, so they had pulse mismatch error, then they did encoder reset.
what could happen again we are loading previous backup?? Is it possible to retrieve old encoder values??
This is why I asked 'Why'...…………….
If there has been no mechanical changes or motor removal since last backup, then the backup will re-zero the robot to it's original values prior to the problem.
Just as your 'Production Team' loaded in an incorrect backup (re-zeroing incorrectly), then a valid backup will correct the zeroing.
If you have an ARM ID board installed, after you load the backup in, you will be asked if you wish to use settings from Controller or Arm.
- Select Controller.
You may have joint errors upon bootup, but this will be able to be reset, then you can check your positions etc and you should be good to go.