RS20 SERIES robot zeroing after changing the Encoder Battery.

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Download Zeroing and Motor Replacement Manual for R Series.

Then drive all joints to scribe lines and carry out section 2.1, followed by section 4.0.

If you cannot drive all joints to scribe lines first, carry out section 2.1 first.

Then drive all joints to scribe lines and carry out section 2.1 again followed by section 4.0.

Quote from GOVINDA RAJ K

now after zeroing , and running my program, the 4th axis is rotating in -180, rest all the parts and program is working properly, why only one single axis is rotating by 180. kindly please reply.

That makes no sense, please explain more detail:

- Can you jog JT4 fully clockwise/counter clockwise.

I asked if you could jog it FULLY in both directions.

- What was your previous JT4 zero position?

- What is your standard HOME position?

- Can you provide backup before and after zeroing?

It sounds like your previous zero position for JT4 was 180 degrees different.

Why do people not take backups..............

If JT4 position is offset by 180 degrees, then like I said, prior to you re-zeroing, JT4 must have been re-zero'd 180 degrees away from scribe line.

A backup would have told you this.

Quote from GOVINDA RAJ K

My JT5 and JT6 is also getting disturbed.

Is that the technical term I should be able to know?

Quote from GOVINDA RAJ K

should i re zero every joint??

When you let the encoder battery exhaust, then every joint needs re-zeroing.

When zeroing the wrist section, special attention must be made to JT4,JT5,JT6 as below.

If you cannot re-zero exactly the same as before, then expect to have to 'tickle' positions afterwards.

Quote from GOVINDA RAJ K

one more issue is there my robot is not responding to the newly taught points.....

The only constructive comments I can make are:

1. How are you teaching them.

2. How is it not responding - errors....not moving......moving somewhere completely different.

3. Check your code to see if some code is preventing/setting the location data by other code.

4. Provide a backup and point to the problem area so we can see what the hell is going on.......

Being honest and without any backups/information you may have to re-zero JT4 at zero degrees again.

The reason I say this as I do not know how it was zero'd before and the fact you are saying JT4 was 180 degrees out is probably connected to the UWRIST and DWRIST configuration changes you are making in your code.

you need to have the online terminal KRTerm for example and type save backup, it will save the backup file from the robot.

Which terminal are you using to connect to the robot?

So you are:

- Rezeroing the robot after battery exhaustion.

- Referring to UWRIST and DWRIST and there is no evidence of this in your program.

- No idea how to make a backup.

- Applying modifications without making any sort of backups.

I am scared indeed.............

Quote from GOVINDA RAJ K

1. teaching the robot is done by using HERE command, when i teach HOME its not Responding fo r that new Home.

This is not how you teach the HOME or HOME2 positions.

You should read the Operations Manual (Aux functions) and the AS Manual for the correct command.

Now I am very scared...........

I suggest you:

- Contact Kawasaki for a training course.

- Contact your integrator or Kawasaki to assist in resolving your problems.