"CHECK_SPECC11" Parameter only for Handling option?

    Manipulator : BXP210L-A001
    Controller : F02 (Application - Servo welding gun)

    .*=== AS GROUP ===         : ASF_02010000V 2023/12/11 13:50
    .*USER IF AS               : UASF02010000V 2023/12/11 13:50
    .*USER IF TP               : UTPF02010000V 2023/12/11 13:49
    .*ARM CONTROL AS           : AASF02010000V 2023/12/11 13:50
    .*USER IF AS MESSAGE FILE  : MASF020000VEN 2023/12/11 13:45
    .*USER IF TP MESSAGE FILE  : MTPF020000VEN 2023/12/11 13:45
    .*ARM DATA FILE            : ARMF02010000V 2023/12/11 13:49
    .*KERNEL                   : _KNL303600000 2022/09/28
    .*DRIVER                   : _DRV304300001 2022/06/28
    .*RFS                      : _RFS301000501 2021/03/03
    .*=== SERVO GROUP ===      : SVF_01000001Y 2023/01/23 12:40
    .*ARM CONTROL SERVO        : SVSF01000001Y 2023/01/23 12:39
    .*SRV DATA FILE            : SVPF01000001Y 2023/01/23 12:40
    .*ARM CONTROL SERVO FPGA   : SVFF01000000C 2022/11/09 09:15
    .*
    .*Cpu board type           : 2AA
    .*Controller ID            : 002
    .*CFast Serial No.         : AO2230731244001493  
    .*CFast Model              : SQF-S10U1-16G-BKI            
    .*FB1 Port                 : Anybus-CC Slot1 CC-Link 1.03.1

    .SYSDATA
    REG_POINT       0
    REG_ANGLE          0
    BASE              0.000     0.000     0.000     0.000     0.000     0.000
    ENV_DATA            300   0   5   0   0   0   0   0   0   0
    ENV2_DATA       0   0   0   0   0   0   0   0   0   0
    CHECK_SPEC      1   1   1   1   1   1   1   1   0
    CHECK_SPEC_JUMP    1
    DEFSIG_I EXT_MTRON       OFF     0
    DEFSIG_I EXT_ERR_RESET   OFF     0
    DEFSIG_I EXT_CYC_START   OFF     0
    DEFSIG_I EXT_PROGRM_RST  OFF     0
    DEFSIG_I EXT_JUMP        OFF


    This is a partial information on the controller of the F02 model currently in use.

    The CHECK_SPEC11 parameter exists in the E-type controller for general handling, but the new F02 controller does not have this parameter.

    I would like to use the "CmdLine-Run" method like other maker robots, but how can I do this?

    The following picture shows the option specifications confirmed in K-Roset.


    .SYSDATA
    REG_POINT       0
    REG_ANGLE          0
    BASE              0.000     0.000     0.000     0.000     0.000     0.000
    ENV_DATA              0   0   1   0   0   0   0   0   0   0
    ENV2_DATA       0   0   0   0   0   0   0   0   0   0
    CHECK_SPEC      1   1   1   1   1   1   0   1   0
    CHECK_SPEC_JUMP    1
    CHECK_SPEC11  ON

    The [CHECK_SPEC11] parameter is included even though the selected software version in the simulator is lower.

    I thought it would be supported since the software version of the F02 controller recently received is higher,

    but I couldn't find it in the UI.

    I tried uploading only a part of the parameters of the corresponding SYSDATA, but it was not activated.

    ABB, FANUC, Hyundai, Kawasaki

    Quote from kwakisaki

    Probably because:
    a. E and F Controllers are not the same.
    b. Handling and Servo gun application enabled controllers have different firmware.
    c. Different firmware results in different options in comparison.
    d. You cannot compare an apple to an orange except to say they are both fruits.

    Indeed. E & F different firmware.

    But that K-ROSET simulator's Maniplulator, Controller, Application as same actual unit. (Only different software version)

    I wonder.. why K-Roset possible ChECK_SPEC11 function and real robot didn't support :thinking_face::unamused_face:

    I found when application contain "Servo welding gun" option, CHECK_SPEC11 function removed. :tired_face:

    ABB, FANUC, Hyundai, Kawasaki

    Edited once, last by saberlars (May 27, 2024 at 2:44 AM).

    Quote from saberlars

    I wonder.. why K-Roset possible ChECK_SPEC11 function and real robot didn't support :thinking_face: :unamused_face:

    I found when application contain "Servo welding gun" option, CHECK_SPEC11 function removed. :tired_face:

    When in teach mode, older controllers Pre F controller only had check once and check continuous available as motion segments were always prioritized.

    On F controller they have added Check line function in Check specifications.
    This is for single line checking only, so you can now just check a single step, even if non motion segment command - such as SIGNAL xx.

    CHECK_SPEC11 when turned on will allow for extra Check line mode (toggle check continuous button) on teach pendant to scroll through once, line, continuous modes.
    If CHECK_SPEC11 is off, only once and continuous modes available.

    This is available in K-Roset as I have tested it....:top:

    Quote from dm.bogachev

    FYI, not only on F-controller. They have added this feature on E-controller too. I've checked right now ASE_010300Z5R and ASE_010300Z5G versions and the feature is present.

    Is that controller contain "Server weld gun" application option?

    It seems like a "Handing" application with E Controller.

    "Check Line Mode" will be remove when include servo weld gun...

    ABB, FANUC, Hyundai, Kawasaki

    E Controller has Servo Gun capabilities with the Servo Gun firmware installed either in KRoset or Real World.

    In KRoset there is no BXP Model available for use on E Controller, only F Controller.

    Check line does not appear to be included with Servo Gun/F Controller/BXP/firmware in KRoset.
    You would need to check with Kawasaki directly if this is the same as Real World.

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