Posts by dm.bogachev

Here you can see EXT. HOLD status. It means that robot is "PAUSED"

You should check in 2 places to disable it

1. Menu -> Aux. Function -> 6. Input/Output Signal -> 1. Dedicated Input Signals and check for EXT_IT signal. You should disable it or get specified signal on

2. If signal is already disabled, then you should check the X9 connector on 1TR board and restore circuit

Hi! I've just checked it!

Yes, you can. You can try to test it with this code

.PROGRAM test() #0
test:
  UDP_RECVFROM retv, 49152, $recv[0], elem, 1
  IF retv == 0 THEN
  TYPE $recv[0]
  END
  GOTO test
.END

and use IP 127.0.0.1 and port 49152 (or yours, but from 8192 to 65535)

P.S. I use program Packet Sender to test TCP and UDP protocols

Hi!

You should press the R button and enter 9894. The robot will open the Lv3 menu.
Then, go to 20. Model, System Settings → 2. External Axis.
Press Next Page on the screen until you reach the last page, and find Axis Connect Mode.
Select "Disconnect" and press Enter. Done!

To enable the axis again, just change it to "Connect".

Hi! Sorry for silence.

I exported points, tools, etc. data from WINCAPS 2 into PDF, exported it in Excel and transferred all data to WINCAPS 3 cls format.

I got only a few problems with program conversion and solved them using regexp autoreplacement.

Anyway, thanks for your help to everybody

I want to add some information.

Quote from kwakisaki

It is likely to be a component that is short circuit

Well, I think it is the possible reason, because I analyzed backup now and found out that before failure, there were a lot of errors (D2072)Unexpected termination of main CPU board.Check program and data in teach mode. And (D1560)[Power sequence board]DC 24V is abnormal.

Hi again!

I solved the problem. It was problem with the 1TR board. I replaced it and the robot started working fine. I couldn't find any visible damage on the broken board, but there are a lot of SMD components, so I can't pinpoint the exact fault on the board.

Anyway, big thanks for the advises!

I understand, thank you anyway. I'll be here tomorrow with the results

Thanks, kwakisaki I will be near robot on Friday and try everything you recommended.

I will add that I've already tried to turn on the controller without robot cables and without Teach Pendant. Also, another robot is on E01 controller, so I will be able to exchange (according to parts number in parts catalog) only 1VA and 1TR

You say that it's possibly be AVR, but in parts catalog for E43 it's 50630-1162 and for E01 it's 50630-0033. I know that sometimes modules with different parts number can be exchanged, but if you know something about this case, tell me, please

Hello everyone!

I have encountered a problem with constant rebooting of the E43 controller with the ZD250S robot. I will describe the situation in more detail.

The problem started suddenly a couple of days ago. The robot was working properly, when suddenly it just turned off and started rebooting constantly. That is, it starts to turn on and immediately turns off. I will say right away that the X9 connector on the 1TR board has factory jumpers.

Just in case, I decided to blow out the dust from the controller and the following happened: the controller turned on, worked for about 5 minutes and immediately turned off. And again the reboot situation repeated itself. After repeated blowing, nothing changed.

I tried to pull out the I / O and Fieldbus boards, leaving only 1VA and 1TR, but this did not help. The power supply voltage is normal.

I suspect a malfunction in the 1TR board. There is a second controller from which I can try to re-plug the board, but since this is a controller in production, I am afraid that I can damage the board.

The strangest thing is that it still worked for 5 minutes after blowing.

What else can be checked and what is the potential problem it can be?

I only have an old backup of the robot, but if necessary, I will post it.

Hi, everyone!

I have a backup from RC5 controller (it's a backup from WINCAPS 2) and I need to migrate all data from the backup to new RC8 controller. I tried opening backup from WINCAPS 2 in WINCAPS 3, but it fails with an error "This model does not correspond" Does anyone have an idea how to get all the data from an old controller.

Quote from kacz0r

There is an option of cooperative motion for arc welding. I am not sure if it will work when two robots are facing eachother but it is worth to take a look . For sure robots can share external axis while welding.

Manual full name is " Arc Welding Cooperative Motion Control via Communication Function Manual"

Thank you for your reply. It works just right I've wanted to.

Hello!

I have a question about the principle possibility of realization of the following project.

There are two robots on two linear tracks located one opposite the other. Between them there is a single-axis positioner controlled by two motors in Dual Servo mode. The positioner is connected to one robot (let's call it a master).

At the moment, the robots work according to the principle: the master turns the positioner to the desired angle, sends a signal to the second robot and then they both start welding. However, the positioner is static and does not move during the welding process.

I need the positioner to be able to move during welding and the second robot to take this into account.

So far my idea is to use the External Encoder Control option and set up cooperation with the positioner. But I'm not sure if this will work. From what I understand, using this option involves buying the external axis kit in its entirety and that costs money, so I wouldn't want to spend that much for an idea that might not work.

I would be glad if someone could share with me their experience with this configuration or any alternative ideas.

Many thanks in advance!

Quote from kwakisaki

On F controller they have added Check line function in Check specifications.

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.

Hello!

Please, update KIDE to the latest version. I found this bug and KIDE developer already fixed it in the latest versions https://www.kide-forum.eu/t103f5-Reforma…aching-bug.html

Hello!

You are using a BLOCK PROGRAMMING which operates with joint values of points. If you want to work with XYZOAT, you should write your program using AS Programming. In AS program you can operate with both joint and translation points. (Use the AS Language Reference Manual and Arc Welding AS Language Reference Manual)

Here's a very brief example:

.PROGRAM test()

JMOVE #jointpoint

LMOVE transnonweld

LWS weldpoint[1]

C1WC weldpoint[2]

C2WC weldpoint[3]

...

LWE weldpoint[111]

LMOVE somepoint

.END

Then you can load points like

.TRANS

transnonweld X Y Z O A T JT7 JT8....

weldpoint[1] X Y Z O A T JT7 JT8....

weldpoint[2] X Y Z O A T JT7 JT8....

... and so on

.END

Yes, you can use only one autostart program in your case, but if your autostart program will have some TWAIT instructions, or will be very big, it can affect the performance.

Anyway, in your code there is a small mistake. I wrote an infinite WHILE loop and you put it inside your GOTO loop (my personal preference is to avoid using GOTO instructions, because they make code hard to understand), which means that only my loop will be executed.

Correct version will looks like this:

.PROGRAM autostart() #10
  .cycle.on = FALSE
  WHILE TRUE DO
    IF SWITCH(CS) AND .cycle.on == FALSE THEN
      .cycle.on = TRUE
    END
    IF NOT SWITCH(CS) AND .cycle.on == TRUE THEN
      MC PRIME main
      .cycle.on = FALSE
    END
    IF SIG(1011) THEN
      SIGNAL -50
      SIGNAL 49
    ELSE
      SIGNAL -49
      SIGNAL 50
    END
  END
.END

Quote from dlanhart

To clarify, are you able to save/load to and from the controller using Notepad++? If so, are you able to share how to establish this connection? I am also looking to do something similar to OP, but with creating an extension for Visual Studio Code that integrates some functionality (like load/save) form kTerm.

Hi!

I can share you an example of c++ code which implements save and load features using the Telnet connection. You can found there some special bytes sequences required for save and load operations without fail. Here's my GitHub repository with terminal for Kawasaki, written on c++ and Qt (I'm using it on my linux devices) https://github.com/dm-bogachev/rbwkrut

Hi!

I think that using of background program will be the perfect solution for you.

You can write an autostart program which will monitor the cycle off state and execute PRIME instruction.

I wrote some example for you.

WARNING!!!

BE ENSURE THAT RUNNING THE PROGRAM AFTER CYCLE STOP FOR ANY REASON (INCLUDING EMERGENCY STOP) WILL BE SAFE FOR PEOPLE AND EQUIPMENT!!!

.PROGRAM main ()
  test.value = 0
  FOR .i = 1 TO 999
    CALL test
  END
.END
.PROGRAM test ()
  test.value = test.value + 1
  TWAIT 5
  DRIVE 6, 90
  TWAIT 5
  DRIVE 6, -90
  ; blah blah blah
.END
.PROGRAM autostart.pc ()
  .cycle.on = FALSE
  WHILE TRUE DO
    IF SWITCH(CS) AND .cycle.on == FALSE THEN
      .cycle.on = TRUE
    END
    IF NOT SWITCH(CS) AND .cycle.on == TRUE THEN
      MC PRIME main
      .cycle.on = FALSE
    END
  END
.END

Quote from Danilo Brito

a memória do bo acabou e fizemos um backup via notepad++. E excluímos alguns programas do TP. Para gerar mais espaço interno. Queremos separar os programas porque se trata de uma célula com duas estações A e B. Então posso escolher qual programa quero enviar para o robô? Se for o caso, como fazer?

Hi!

There is a KIDE software made special for Kawasaki robots. You can open your backup and load any program you wish!

Somehow like this

Quote from aybee

Awsome.

I was able to talk to the robot. was able to get some string data out.

Next i want to talk to the robot using a python script.

any pointers?

I tried to write a script and check if the port is open or not and I received,

"Successfully sent data to 192.168.1.0 on port 23"

How to I send the "as" for the login and receive further replies.

Code

import socket

def send_data(ip_address, port, data):
    # Create a socket object
    s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)

    try:
        # Connect to the device
        s.connect((ip_address, port))

        # Send data
        s.sendall(data.encode())

        print(f"Successfully sent data to {ip_address} on port {port}.")

        # Close the connection
        s.close()
    except Exception as e:
        print(f"Could not send data to {ip_address} on port {port}. Error: {e}")

send_data("192.168.0.1", 23, "as")

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Hello!

Try this repository to get an example of python communication with Kawasaki robots

GitHub - IgorMIV/khi_robot_terminal: Kawasaki Robot Terminal based on Pytrhon

Kawasaki Robot Terminal based on Pytrhon. Contribute to IgorMIV/khi_robot_terminal development by creating an account on GitHub.

github.com