restore TOOL after teaching

Quote from TRapp

When the customer changes the TOOL in teach-mode and forgets to switch back before continue automatic operation,

the robot will most likely crash somewhere using the wrong TOOL offset

Correct.

Quote from TRapp

Or could I set an error-trap to save the current tool and restore it after teach mode?

You could and in an ideal world, you would have electrical contacts from the EOAT currently hardware fitted tool and wired into the inputs, sending this input back relative to a tool id.

Then have a program or constant program checking for this tool id inputs matches current one that's selected in program and depending on result, allow to operate or refuse and throw a message up.

Cubic-S has this built in as a function for such cases and works 100% of the time.

But that is a dedicated Safety PLC Module intended for many uses and is a little OTT if that is all you require to do.

Quote from TRapp

Is there any option or system switch to force the system to switch back to the original TOOL ?

100% depends on your programming method (BLOCK or AS) and also how you program.

Please investigate in the manuals:

- System switch QTOOL.

- TOOL command.

Applying the above correctly for the type of programming you are using can be very effective.

without any need of electrical tool id signals or trap routines.

To further elaborate on this.

BLOCK programming:

- Uses QTOOL ON System Switch (ON as default out of the box).

- This addresses the tool settings directly in Aux Func 0304 (TOOL 1-9).

- Each BLOCK step when recorded, will set the current tool no. in use to that step.

- The beauty of BLOCK, is that the positions are saved as joint angles, not relative Cartesians.

- So Irrespective of what tool is set in the step, or selected in tool interpolation, no crashes will happen.

- BLOCK has adjustment, compensation options that if used, the tool no. set on the step is important.

AS Programming:

- Uses a single tool reference internally referred to as tool 0 but you will never see this.

- It does not address Aux Func 0304 (TOOL1-9) settings at all.

- TOOL command will allow to change the tool coordinate in this tool 0 area.

- QTOOL can also be used programmatically.

- Programmatically, if QTOOL is OFF and you use TOOL command, only that tool will ever be used.

- By using QTOOL and TOOL commands at the start of your program, will always ensure it is correct.

- This makes tool changing very easy using AS and simple to manage.

Many people fall into the trap of not changing QTOOL to OFF if they are using AS programming straight out of the box and this is where complications can happen.

I have posted something here with a video for differences between D and E Controllers regarding QTOOL that may help understand a little more and maybe worth watching:

Post

RE: Tool mode motion incorrect, need hints on diagnostics & correction

Hi guys

I was going to start a new topic, but thought it would be relevant to include in the current one.

Attached is a small video clip demonstrating Qtool and it's purpose.

You will see just how 'confusing' this is...….and this is something Kawasaki has never really 'locked out' and 'restricted' and therefore often a simple change can lead to confusing results.

I cannot explain the 'reasons' behind it, nor will I try and justify whether Kawasaki is right or wrong in what they have delivered.

The…

kwakisaki

October 1, 2019 at 1:05 PM