Posts by dm.bogachev

If someone else will be interested about this, it does not work

Also, you can send in one 16-bit word integer part and the other 16-bit word - fractional part and then calculate the result on PLC

I have a code example for sending 32-bits numbers, but you should know that it will be correct only for the first 7 digits. (According to the manual)

.*********************************************************************************************************************
.*Wichtiger Hinweis: 
.*Bei Variablen vom Typ "REAL" werden nur die ersten 7 Stellen einer Zahl beruecksichtig!
.*Variablen vom Typ "REAL" koennen Zahlen im Bereich von -3.402823*10^38 bis +3.402823*10^38 darstellen.
.*Da bei 32BIT eigentlich Variablen vom Typ "INTEGER" verwendet werden, welche bis zu 10 Stellen einer Zahl  
.*berueksichtigen koennen, muss der Zahlenbereich unter Verwendung dieses Beispiel entsprechend limitiert werden.
.*********************************************************************************************************************  
.PROGRAM main()
;************************************
;Real in 32Bit umwandeln
;************************************
;Im folgenden Beispiel werden die Eingange "1001-1032" ausgelesen und das Ergebnis als Dezimalwert in die Variable "ergebnis" geschrieben.
startbit = 1001
CALL bits32_to_real(startbit,ergebnis)
;
;************************************
;32Bit in Real umwandeln
;************************************
;Im folgenden Beispiel wird der Dezimalwert von "wert" in Binaer umgewandelt und auf die Ausgaenge "1-32" geschrieben.
wert = 1234
startbit = 1
dezimal = 2
CALL real_to_bits32(wert,startbit)
.END
.PROGRAM real_to_bits32(.value,.startbit)
;**************************************
;.value    = Dezimalwert
;.startbit = Startbitnummer
;**************************************
If .value < 0
    SIGNAL (.startbit+31)
    .value = -.value-1
        FOR .i = 4 TO 1 STEP-1
            .byte[.i] = INT(.value/(256^(.i-1)))
            .value = .value - (.byte[.i]*(256^(.i-1)))
        END
    BITS .startbit,8      = .byte[1]
    BITS (.startbit+8),8  = .byte[2]
    BITS (.startbit+16),8 = .byte[3]
    BITS (.startbit+24),7 = .byte[4]    
    FOR .i = 0 TO 30 
    .sigtemp = .startbit+.i    
    SOUT .sigtemp = -.sigtemp                                            
    END                                                                
ELSE 
    SIGNAL -(.startbit+31)
        FOR .i = 4 TO 1 STEP-1
            .byte[.i] = INT(.value/(256^(.i-1)))
            .value = .value - (.byte[.i]*(256^(.i-1)))
        END
    BITS .startbit,8      = .byte[1]
    BITS (.startbit+8),8  = .byte[2]
    BITS (.startbit+16),8 = .byte[3]
    BITS (.startbit+24),7 = .byte[4] 
END 
.END
.PROGRAM bits32_to_real(.startbit,.value)
;**************************************
;.startbit = Startbitnummer
;.value    = Ergebnis als Dezimalwert
;**************************************
  .byte[1] = BITS(.startbit,8)
  .byte[2] = BITS((.startbit+8),8)
  .byte[3] = BITS((.startbit+16),8)
  .byte[4] = BITS((.startbit+24),7)
  IF SIG(.startbit+31) THEN
    .value = (-2147483648+.byte[4]*2^24+.byte[3]*2^16+.byte[2]*2^8+.byte[1])
  ELSE
    .value = (.byte[4]*2^24+.byte[3]*2^16+.byte[2]*2^8+.byte[1])
  END
.END

Quote from kwakisaki

I cannot give 100% recall on this warning, but I think this occurs due to incorrect equivalent radius setting in aux 2002.

Please try checking, adjusting this value to see if warning removes.

Thank you for your response. I'll check it tomorrow and tell you about the result

Hi!

I have a problem with Kawasaki BA006L robot with external axes.

Robot has 1 Kawasaki External axis (linear track motion with linear cooperation) and two separate control groups: one uniaxial positioner with positioner cooperation and one two-axial positioner, also with positioner cooperation.

When I work in base coordinates everything is fine, but when I switch to joint coordinates and start moving of ANY axis (including robot axes), the robot encounters a "W1000 Cannot move along straight line JTX in this configuration" warning, where JTX is the number of axis, I tried to move. But then I reset an error and try again, robot starts motion without fail.

I can provide backup, if needed.

Thank you in advance!

Quote from kwakisaki

I refer all the way back to my post #4 back in September last year:

Post

RE: E1337 + E1342 (E-controller)

E42 controller is a current model, so complete spares still available.
Depending on your location, your local Kawasaki distributor should be able to provide spare parts.

MC Unit 1TU board X360 connector is single phase LV from secondary of transformer for brake power.
Brake power internally also supplies fan circuits and other electronics.

If incoming supply phase is lost, could result in LV not available and brake power error.
If internal MCB (CP1) trip activated, the LV not available and brake…

kwakisaki

Sep 15th 2022

I know this problem and user. It is hard to get spare parts in Russia for now

Hello!

I have a question about MR-MC210 board. I have a Mitsubishi servo amplifier and I need to connect it with Kawasaki E-Controller. I have a 1YQ board and I need only MR-MC210 board. Kawasaki does not provide support in my country and I found a distributor who can sell me MR-MC210 board. But! I noticed that in my previous projects I used MR-MC210-S02 board, but distributor offers me a MR-MC210 board (without the S02 postfix). So the question is what is the difference between MR-MC210 and MR-MC210-S02 boards and can I use it without the postfix?

Best regards, Dmitrii

Quote from kwakisaki

I've managed to have a one on one discussion with a Kawasaki engineer regarding this and they can see the issue you've raised.

From their perspective, the Kawasaki manual is correct as it details the recommended safety relay to be used to control the MC to disconnect the motor output, brake release, enable signals in the event of emergency.

They cannot comment on the Mitsubishi document you reference to as this is produced outside of Kawasaki, but can appreciate your concerns and at this stage, can only confirm the Kawasaki recommendation outlined in the manual is an applicable design factor.

They are going to contact Japan for clarity over this, but this may take sometime I'm afraid before a definitive answer is received.

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Thank you for asking a Kawasaki for me!

I'm very appreciate your efforts

Quote from kwakisaki

I am pretty sure the ZSEND and ZRECIEVE commands are ignoring the Kawasaki protocols regarding handshaking and are not looking for any kind transmission response, except for an electrical connection.

Speculation on my part, but I think they are used when Kawasaki protocol is incompatible with the recipient protocol and allows for the Kawasaki to be utilized to make a bespoke driver operation to other peripherals.

Therefore VCHRRCV and VCHRSND may just be used in conjunction with ZSEND/ZRECEIVE to allow a raw handshake possible.

Hello again

I finally found a ZSEND and ZRECEIVE commands in Communication Option manual for F60 and F0X controllers and it looks like the same as SEND and RECEIVE.

Thank you!

Thank you for your response! I will take this information into account while doing the schematic.

Now it's hard for me to get a support from Kawasaki directly, because Kawasaki does not support my country

Hello!

I have a question about the implementation of the separate control function with Mitsubishi axes.

There are contradictions between Kawasaki Separate Control Manual and Mitsubishi MR-J4 manual.

In Kawasaki manual it is told that I need to add a magnetic contactor between motor and amplifier (fig. 1), but Mitsibishi manual strictly forbids installing a contactor between the motor and the amplifier (fig. 2)

So, my question is how to make a correct wiring? Should I follow the Kawasaki manual or Mitsubishi manual?

Thank you in advance!

Thank you, Kwakisaki!

You're the best!

Hi!

I have a problem with FS003N robot.

It have an error - (D2025) Robot code is mismatch between software and arm control board.

I need to know what is a position of dip-switches on 1KB

Thank you in advance!

Quote from tjasper

Thank you for your reply. I had hoped to have overlooked the feature only. I will ask in the KIDE forum about it.

Last feature I asked took less than a week for the developer to implement

Hi!

I thing you should write it directly to the KIDE author on his forum: (https ://www. kide-forum .eu) and ask him to add this feature.

He takes into account user requests.

P.S. Now I need this feature too

Quote from hibiki49aai

thank you! However, it seems that KMTerm and KRterm are different. The manual says KMTerm

I think that that there is a mistake in manual. Could you, please, tell me what manual do you use?

Quote from Kingphisher

Are you pleased with your overall results using the Kawasaki RS007L for 3D printing? I am looking into the RS010L and the RS013 as potential solutions. The extruder I want to use is 7.5 KG. Did you do anything special to account for sag to increase accuracy? I know that this is going to be a difficult project because robots are entirely new to me, but I think I am up for the task if I can gain enough information. Thanks!

For my purposes accuracy of robot was enough. To increase it, you should set the tool coordinates and inertia parameters very precise. And, of course, you need to make some robot speed fine tuning.

Quote from emcstang

I have a RS50N T-52 controller and am wondering if any one knows which switch and/or Zswitch needs to be on in order to use the Fixed Tool option?

Please, try ZFIXED switch

You, also, should activate Fixed Tool zoption

P.S. Aren't T-controllers for Toyota factories?

Quote from Kingphisher

Wow, this is pretty amazing! Thank you for sharing and I completely understand about not being able to share everything. It looks like you have already achieved non-planar printing which is the whole reason I am trying to use a robot arm instead of a traditional gantry style printer! I am in the prosthetics industry and want to get to non planar printing to produce stronger end-use parts for patients. I need to do some more research on PLC controllers. It seems that the turn-key solutions are using them as the controllers for the system just as you are doing. If I can start by being able to control the extrusion rate through the robot controller itself I think I may have to do that initially. I can control the temperature through simple PID controllers to start if needed, though that would not be my preferred end solution. I learn something new about this every day from here and I appreciate all the tidbits of information!

If you don't want to use external PLC, you can use robot for controlling the printing head and feeders. You can consider using the Kawasaki External Motor option for controlling the feeders and generate code already with the feeders value. Robot with some options has enough possibilities for that task. I used PLC because I had it at the time of developing And about non-planar printing. I tried to print only mathematically described objects (I didn't use any CAM system) and it works fine.

P.S. Wow, prosthetics industry is very perspective and useful! Wish you a great luck in your researches!