Details of a Kawasaki Move command

  • I have an existing robot that uses some move commands that I am unfamiliar with. Below is an example of the move. Is anyone able to explain what is going on here? It appears that bits are being set and/or reset within the move command but I cannot be entirely sure. Is there a reason to do this instead of setting/resetting outside of the move instruction?

    Please redirect me to another post if this has already been covered, I was unable to find such a thread.

    JOINT SPEED9 ACCU4 TIMER0 TOOL1 WORK0 CLAMP1 (OFF,0,1,1) OX=-65 WX= CL1=0.000,0.0,0.0,0.0,0.0,0.0,0.0  #[-45.76,15.268,-35.747,-128.91,-62.465,-29.161,95] ;

    Thank you.

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  • What you are looking at is a typical BLOCK step.

    For reference of BLOCK, locate the Operation Manual and it explains how to BLOCK program using the teach pendant and offers explanations in detail of BLOCK steps.

    You may also need to review SPOT welding section relative for Clamp settings.

    However, I can offer you a brief explanation.

    A BLOCK step contains many elements associated with one step of execution.

    This means all of the elements will be applied during the execution of the step.

    JOINT - Joint Interpolation motion request.

    SPEED x - Speed x applied to the motion request (see aux func 0301 for set/adjustable value).

    ACCU x - Accuracy x applied to the motion request (see aux func 0302 for set/adjustable value).

    TIMER x - Timer x (delay) applied to the motion request (see aux func 0303 for set/adjustable value).

    TOOL x - Tool Coordinate System to use - (see aux func 0304 for set/adjustable value).

    WORK x - Work Compensation instruction if used (optional).

    CLAMP x - Set the Clamp signals (possible gripper signals) at the end of the motion execution.

    (OFF,0,1,1) - Parameters to use with Clamp control - Such as Weld Schedule, Clamp Conditions.

    OX x - Set the Output No's used.

    WX x - Wait for the Input No's used.

    CL1 = .........Force, voltage,current parameters demand for weld timer conditions. Joint Angle Target Positional values.

    You will find in most automotive spot welding applications using Kawasaki, a global use of BLOCK programming for the motion instructions and actual welding functions.

    This makes setup, programming and adjustments more simplified as all elements required for that specific step are contained on one step.

    Also, consider moving whilst closing the clamp.

    Same as you approaching a door with a handle to open, you blend the move with hand action.

    Same with spot welding - makes for more efficient and better cycle times.

    Otherwise you would have a very defined motion, then signal, then clamp, then clamp off, then signal off.

    Hope that helps, but would recommend the Operation Manual for more detailed explanation.

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