Newly acquired Kawasaki UX150 with C-Controller

Quote from DoesItExist

I'm guessing It's an other movement mode I can activate by pressing joint interpolation in the teach block menu on the TP ?

That's correct.

Whenever you are checking individual joints for issues, always use Joint interpolation not base or tool.

Yes, just hearing a click from the brake does not necessarily the mechanical part is releasing internally, only real way is try and move the joint by hand during the brake release button press/hold.

Ok about the supply.

Some video would be good and if you can capture these noises and where they are coming from would be good to.

Quote from DoesItExist

I'm having the position envelope error after moving it a bit at the moment

With which joint?

Can you try the other joints individually rather than concentrating just on JT5.

It'll end up being something obvious that's been overlooked.

Quote from DoesItExist

I tried to activate joint interpolation but had an error saying "no program"..

Has nothing to do with that.

From the videos it looks like your jogging it in joint interpolation mode.

That mode is changeable on the teach screen your using, bottom to the left of the joint keys.

But do all your testing in joint anyway.

If I am hearing it correctly, it sounds like a sack of cats, but the audio is not too clear if I'm honest.

So the amp overcurrent is keeping quite at the moment......we'll take that for now.

Have you checked/cleaned F5 MCB?

Are you in a position to make a file save yet and post it here?

Is there not much room to move it in there?

You really to be able to fully test the joints working envelope, just operating it in that crunched posture is not good as it's been out of service for ages, really need to stretch her out.

The reason for the backup, is so the next step will be to hardware initialize the robot and set it up to a minimum configuration to test it without the previous configuration information.

This way we can rule out any existing settings creating these issues.

I suspect this is not software related, but doesn't harm it if we remove her memory and any old ghosts she may be keeping hold of.

If this doesn't yield anything, then we can load the backup back in afterwards.

Quote from DoesItExist

I made a save using the command:

"Save C://save"

LOL.......where did you read about how to save using that?

That file will probably end up in your hidden folders:

C:\Users\xxxxx\AppData\Local\VirtualStore

You need to ensure you are using the correct Kawasaki syntax when saving, not just throw in something you think may work.

You've made me laugh with that save instruction.....Kudos for trying that out though...

When you put KCWin32 or KRTerm on your PC, where the application is located is the default save area:

SAVE backup

If you want to save it to a completely different drive on your PC then:

SAVE c:backup

SAVE d:backup

If you want to save it to a particular folder on a particular drive, you need to create the folder first and make sure it uses the correct Kawasaki syntax.

SAVE c:file_bups/test_bup

SAVE d:file_saves/con_bup

Now that your in a position that you have a backup, then there is 'little' risk of completely wiping it, making some initial settings and see if the problem remains or resolves it.

I would be interested to have a look over it though as something in there may just 'jump' out.

But remember this is a public forum so if there is any IP related data on there you may not want to.

What is your connection method that you have used to obtain the backup - RS232, PCMCIA, Ethernet?

For future reference:

- 'IP' when referring to data is intellectual property......ie the code, not the IP address.

- Change the extension of the file save to .txt next time you upload.

- On old controllers, if you SAVE/IND and then filename, the file data will be tab indented (easier to read).

Yes, it's full of the ex-jaguar configuration and programs.

You will need the original if you ever want to restore it back to it's current configuration.

When carrying out a complete wipe, you will lose ethernet connection but will have RS232 connection, so always better to have RS232 connection available to.

Up to you if you want to wipe her memory and try a very cold basic setup?