How to work with Linear cooperative motion

    Hai ,


    I’m using Kawasaki robot for Handling application along with 7th axis transverse axis


    I have some query which I explain follows :


    1.Now I recording some points in variable as a (x,y,z,o,a,t,JT7)


    2.Now I want to offset the value X,Y,Z value when I’m trying to do that JT7 is not moving


    3. I have enabled the linear cooperative motion also


    4. So what is the procedure to move X Y Z coordinate alone with transverse axis


    Thanks in advance

    Quote from arun_AR

    1.Now I recording some points in variable as a (x,y,z,o,a,t,JT7)

    So how are you doing this?

    Quote from arun_AR

    2.Now I want to offset the value X,Y,Z value when I’m trying to do that JT7 is not moving

    So how are you doing this?

    Quote from arun_AR

    3. I have enabled the linear cooperative motion also

    What do mean by this?

    What are you intending the linear cooperation to cooperate with?

    Quote from arun_AR

    4. So what is the procedure to move X Y Z coordinate alone with transverse axis

    What is it you are trying to accomplish exactly and what are you expecting to be happening?


    Have you read POINT command in AS manual relative to external axis?

    If you want that JT7 to be moving, you need to shift JT7.


    You said that you are using shift to move the point, that will shift only X,Y,Z. To shift the JT7 you need:


    POINT /7 shifted_point = TRANS (,,,,,,JT7_offset)


    or


    POINT shifted_point = TRANS (X_offset, Y_offset, Z_offset,,,,JT7_offset)

    Quote from Alexandru

    Either you need another button on HMI for JT7 or you need to put the same value from X or Y or Z to JT7.

    If you want to shift on X,Y,Z what shifted value you want for JT7?

    Dear Sir,


    If we enter JT-7 value separately, so everytime we need to calculate the JT-7 value, it's not a cooperative motion with JT-7.


    Please suggest how can we use linear Cooperative motion function with transverse (JT-7).

    To which coordinate you want JT7 cooperative? X, Y, or Z ?


    For X offset:


    POINT shifted_point = TRANS (X_offset, Y_offset, Z_offset,,,,X_offset)


    Y offset:


    POINT shifted_point = TRANS (X_offset, Y_offset, Z_offset,,,,Y_offset)


    Z offset:


    POINT shifted_point = TRANS (X_offset, Y_offset, Z_offset,,,,Z_offset)

    There is an assumption with linear cooperation:

    - that when you shift in XYZ that JT7 automatically moves.

    - when manually jogging in Base or Tool, JT7 should be moving.

    - I don't know why people keep assuming this as no where in Kawasaki documentation is this mentioned.


    Please read carefully the external axis manuals regarding this and also POINT in AS Language Manual.

    Agreed, in Kawasaki fashion, the explanations are not 100% clear.

    Linear cooperation is to synchronise JT7 with a linear element of either base or tool coordinate systems.

    Not to move JT7.

    Thank you for your reply, can you please tell us proper manual name with page number because we tried to according to manual step but it's not working properly. Exactly I want to do whatever you said, automatically move in JT-7 along with robot but I am unable to do it, if you know how to do, please suggest.

    Like I mentioned, Kawasaki explanation is not the best.

    External Axis Addition Manual - Search for linear cooperation.

    Quote from Robo_Dk

    according to manual step but it's not working properly

    When you say this, are you referring to either:

    - How Kawasaki has designed this to be used.

    - How you expect it to be used.

    - Is linear cooperation suitable for what you're trying to achieve.

    - Are errors being produced.


    4 totally different directions of thought.

    Quote from Robo_Dk

    Exactly I want to do whatever you said, automatically move in JT-7 along with robot but I am unable to do it

    Alexandru has offered you suggestions on how to implement this.


    What is your application, this would help?

    Dear Sir,


    I am tried this function but after enable this linear Cooperative function my JT-7 not move, when I am try to shift my point in y-direction only robot move and JT-7 is steady on transverse. Do you have any other manual or details document for linear Cooperative function?

    I follow Kawasaki manual but this function not working, so if you know about this function please help.

    Geeze louise.......... :gaah:

    Please show me in any documentation where linear cooperation function automatically moves JT7.


    How is your linear slide physically installed?

    Where is your robot in relation to it's base coordinate system?

    Is any element of your robot base or tool aligned with the linear slide?

    Some pictures would help?

    What are you trying to do in your application - not what you want to use the function for?

    Without knowing anything about what your doing, I can only explain how the function works.

    You seem to be ignoring this fact and assuming the function does something else.


    Have a look into TRADD and TRSUB, these commands are associated with traverse axis and the selected element of your selected coordinate system.

    This maybe is what your after.


    You generally create locations using this function:

    POINT test = TRADD(test_position)

    Dear Sir,


    Thank you so much for your support, I will try this command.


    My application details is as below mentioned,

    My application is material handling, from PLC robot will get X,Y, and Z coordinate in Base mode, according to cordinate robot will move and robot install with 5 meter transverse unit, so now whenever robot receive x,y,z it will movie with JT-7 and reach at coordinate.


    Robot installation photo is attached please check.

    Green arrow is shows my robot is moving whenever I shif the point but transverse not move.

    Perfect, this gives us a good visual now.


    So can you also provide just so I know which direction is which:

    - What BASE coordinate you are using.

    - How long is the traverse axis.

    - Traverse axis upper and lower limits.

    - Where is the zero of the traverse axis set (middle of the traverse, or either end).

    - Base co-ordinate we are using is X,y,z

    - transverse axis is 5000 mm long

    - upper limit 2500 and -2500 lower limit.

    - zero of transverse unit is at middle.

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