Hi all,
recently, in new FA project... a simply handling (pick & place)
but, robot maker is kawasaki.
robot I used before is fanuc
so, question.
1. how can I "Shift by tool coordinate"?
in fanuc, create "Position register (variable position data)" and mix into moving instruction
that "PR[3]" contain XYZRxRyRz
I'm reading kawasaki "AS" language manual and fund "SHIFT" and "TDRAW" instruction.
that ofsx ofsy ofsz as num value and I see "SHIFT" only XYZ shifting.
I need contain Rx Ry Rz value. so, drop out "SHIFT" instruction.
"TDRAW" is not bad. but that instruction didn't refer "Position data".
It seems like a shift by "Current Position".
I'm checked jog different position and cursor on again "TDRAW" and press "GO" button's result..
Drop out.
I'm still find out [Move Instruction + Ref pos + Shift value].. plz someone teach me
2. how can I Go only "Line by Line"?
FANUC
01 L PR[20] 500mm/sec CNT30 Offset,PR[93]
02 L PR[20] 100mm/sec FINE
03 DO[13:Grip Open]=ON
04 DO[14:Grip Close]=OFF
05 L PR[20] 500mm/sec CNT30 Offset,PR[93]
KAWASAKI
01 LMOVE SHIFT(p20, 0,0,200)
02 LMOVE p20
03 SIGNAL 13; Grip Open
04 SIGNAL -14; Grip Close
05 LMOVE SHIFT(p20, 0,0,200)
Display More
for moving test, make kawasaki program similar fanuc robot.
make Off "CONT" button's function and manual press "GO".
as same each robot arrive line number 02.
but, after run, I'm shocked.
why Kawasaki robot continuous run line 03 04 05???
isn't it software bug?