Kawasaki Controller E01 Group management/errors

    Robot kawasaki BA006L. (Welding robot) :exclamation_mark:

    We have 2 ext. axis. 7th / 8th. (PST1000E-H1)

    My work colleagues did cooperation on 7th axis while back. (Group 1) It works fine turns as i press joint JT7 on my teach pendant and works fine when i try to do cooperation. Also in (Group 0) - 7th axis move but without cooperation. And (Group -1) only the robot moves. From what i know this is how its supposed to be.

    The problem is in (Group 2) only way i can move Axis Nr. 8th is with pressing the ext. axis button on the pendant, and then pressing JT1 +/- to spin the axis, I have to press ext. axis button again to move robot axis. So in (Group 2) would like to get Axis nr. 8th to move when i press JT7 on pendant without pressing ext. axis button. Basically just to be able to operate axis 8th in group 2 like i do with axis 7th in group 1 at this point. And to know where is there any information about group defining/modification any information regarding groups. Thank you!

  • Lemster68 December 12, 2023 at 2:53 PM

    Approved the thread.
    • Best Answer

    If your system has been lashed together by means of just adding external axes, I'm not sure it can be achieved.

    Kawasaki's and manual jogging with cooperation interpolation was always an issue back in the day.

    When I say issue, I mean they never really implemented it as a definitive manual function.

    It used to only be achieved when you had taught positions and used a program to check it through.

    However, with systems that have been officially supplied with separate external control, I think it is possible.

    Attached is a separate control manual that may assist.

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