Ok I do not have a rs232 cable I can order one if needed. I do have a cat5 cable and I have been trying to get it to work with KCwinTCP but not having much luck. Can I use Ethernet cable with krterm?
Kawasaki FS10E Robot arm Motor Power issue
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triumpster -
June 1, 2023 at 3:59 AM -
Thread is Unresolved
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Ok I do not have a rs232 cable I can order one if needed. I do have a cat5 cable and I have been trying to get it to work with KCwinTCP but not having much luck.
Serial connectivity requires:
- RS232C cable (null modem type) - where Rx, Tx is crossed over.
- Poor mans lead would be 2=>3, 3=>2, 5=>5.
- KCWin32 or KRTerm.
Ethernet connectivity requires:
- ANY standard ethernet cable.
- If connecting via router/switch and auto negation happens, then a patch lead will be fine.
- If direct connection (peer to peer) then crossover cable is required not patch lead.
- KCWinTCP or KRTerm.
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The 3.6 volt Battery on my FS10e Arm went bad I replaced it. Now JT1 will not move in the - position, Jt3 will not move in the + position, and JT6 will not move in - position. They will move in the other direction but will not move back. The other Axis will still move in both directions. By replacing the battery do I need to re zero? Is it hard to do and do you have a manual for zeroing you could share. I have the D controller. Any info is appreciated Thanks
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If the battery in the arm is exhausted then consider ALL zeroing values lost.
Upon replacing, it is very probable the reported position of ALL the joints is incorrect, so re-zeroing is required for ALL joints.
Encoder values have been lost and on replacement of the encoder battery then the current position of JT'x' are outside of the mechanical limits which only allows one direction of travel for the respective joints to within the mechanical limits.
You need to carry out a temporary zero for each respective joint effected so you can freely move them.
On D controller, go to Aux 05 Zeroing.
Select Aux 0503. Encoder rotation counter reset.
Enter the specific joint no. and set the value to 0.
This should then allow you to jog that joint in both directions.
Do that for each specific joint affected and move the joint and align the scribe lines (mechanical zero).
Once all joints are aligned with the scribe lines carry out the following in the exact order:
- Aux 0503 Encoder Counter Rotation Reset option and set 0 for all joints and angle set to 0.
- Aux 0501 Zeroing option and set 0 for all joints and angle set to 0.
This should re-zero the joints .
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I did the first steps you said to do and it worked on JT6 I can now move it in both directions. But I have tried multiple times on JT3 and JT1 and they are still only moving in 1 direction. When trying to move in the other direction the pendant just beeps and doesn't move. I did notice the values did change on JT1 and JT3 also. Any suggestions? Should I press 0 to reset all joints or would that make a difference? I did power down the robot and tried again same result.
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In that case carry out full zeroing for each joint at that position.
- Aux 0503 for a specific joint.
- Aux 0501 for the same joint.
- Then move to the scribe line and repeat again.
Some Zeroing manuals can be found here, but use a different zeroing technique using the keyboard and ZZERO commands instead of the GUI Aux functions (which are effectively the same).
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Thanks very much for your help it did work. You are very knowledgeable hopefully everyone in the forum appreciates it as much as I do! Jamie
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Glad you managed to resolve it and letting us know.
FYI:
Full controller file saves contain the zeroing information.
After re-zeroing, you should make a full controller file save so that you have a current reference.
File saves cannot be used to restore zeroing values where the battery has become exhausted.
If the battery is exhausted, then re-zeroing is always required.
So it makes sense to periodically change the battery before it's exhausted.
Battery is used when the system is without power, so lifetime is dependent on this mainly.
I recommend replacing every 12-18 months irrespective of time spent powered off.
You're welcome and thanks for your kind words, very much appreciated.........
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I have been trying to use Circle Interpolation When I am programming I only see Linear and joint. I have been reading the arc manual to try to figure it out with no success. Is there something I need to change in settings to be able to use circular? Or is there an additional card or something I need for that motion? My robot was originally not a welding robot it was used to pickup parts and move them. I notice in the arc manual it shows a different pendant.
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Check your conversation.........
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