RS20 SERIES robot zeroing after changing the Encoder Battery.

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  • Goto Arm Zero and Motor Replacement Manuals - Manuals, Software and Tools for Kawasaki Robots - Robotforum - Support and discussion community for industrial robots and cobots (robot-forum.com)


    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.

  • thanks for your guide lines.................... i have done with the zeroing of the robot.


    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.

  • 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 have no backup of my previous JT4position,

    my standard position was that the the scribe lines of the joint was matching.


    now while operation the position is offset by 180


    kindly suggest for resolving this

  • my tool is not tracing its location while changing the degree of the JT4, ie, While i re zero at 180, my tool tip is also rotates together with the JT4,


    should i re zero every joint??

  • 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.


  • the above data has not helped me......:(:(:(:(


    my robot is still in uwrist condition, but my programs are operational,


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



    kindly please help......................................:(:(:(:(

  • 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.......:wallbash:


    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.

  • 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.......:wallbash:

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


    2. MOVING SOME WHERE WHICH IS CCOMPLETELY DIFFERENT


    4. kindly help out to get backup.

  • 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.............:gaah:

    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...........:away:


    I suggest you:

    - Contact Kawasaki for a training course.

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

  • :)

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