Hi!
If you need to switch off the same signals, consider PULSE instruction.
And in your case, if condition goes right after the STIM command. It checks the signal once and then program goes further. You should use SWAIT command and then switch off the signals.
Hi!
There is no version of Krcc library for .net 6 and 7
I've checked the official download center and the latest version is 4.0
Well my excuse is that I haven't even got a Kawasaki robot yet!
I got Notepad++ and the AS plug-in because I have been generating AS code using Rhino/Grasshopper/HAL . HAL can output AS code.
I see K-IDE is free. Is the simulation software K-Roset free also?
Yes, KIDE is totally free and I'm using it for about 4+ years and it's really a brand new experience after the Notepad++ and other tools. I know, that K-ROSET has it's own AS editor, but it it doesn't have the features I use in the KIDE.
K-ROSET has three license types. One of them is free, but you have a lot of limitations like you can add only robot and 1 object on scene. But you have a full virtual controller.
You also can ask Kawasaki for a free two-month trial.
Guys, why don't you want to use KIDE?
I would like to understand the model of each controller of each Kawasaki robot in my company.
Best regards,
Mariangelo
The model of the controller must be written on the nameplate
Display MoreI would like to generate a robot error or alarm using AS language. For example, I want to generate an alarm when the motor current or torque of axis 1 is outside a certain range, but I don't know how to program it. The after-sales service manual is too limited. Is there a way to read the robot's current motor current value and generate an alarm using that data?
How to display W error code without the robot stopping
I'm looking at the formula string of the PC software that checks the robot's current status, but I can't figure out how to create the formula or what data to load.
Also, I don't understand how to read the motor current values of the robot's 1-6 axes from the PC;;;;
Hello!
1. AFAIK, you can not generate errors and warnings by yourself (In some robots, there are some dedicated signals for custom errors, but it's not warnings). All you can do is show them as text in terminal or interface panel.
Btw, to get the motor current, you can use IQARM(axis number) command.
2. Which manuals do you have? Do you have an AS Language Reference Manual?
I was wondering the same thing since I am using Linux for a few weeks now and just cannot get the communication via telnet working properly.
Arrow keys/backspace do(es) not work, SEND/LOAD does not work (HUGE ISSUE), always have to press some key in order to execute the command I just wrote...
Wouldn't have anything against a convenient and powerful editor for Linux
Hi!
Unfortunately, there are a very poor options of using Linux-based systems to work with a Kawasaki robot. (And that's a very big omission imho). K-ROSET, KRTerm and KIDE are windows-only programs.
You can try using wine to run KRTerm and KIDE, for me it worked. K-ROSET works bad under wine.
Or there is another option. You can build this repository github.com/dm-bogachev/rbwkrut
It's not so good, as KRTerm, but at least it's native for linux. I don't have much time updating it, but if you can do it, feel free 
Hi!
It depends on settings in Menu -> Aux. Functions -> Input/Output Signal -> Signal Allocation -> Allocate signals to ports.
In this menu you must set what addresses will be local and slave.
Do you have a General Fieldbus manual?
Hi!
Does anybody have a manual for MIG/TIG welding change function manual? I haven't found it on Kawasaki Download Centre.
Can you post the equipment dimensions and weight and do you happen to have an image of the equipment on the arm before you removed it so that I can ask some questions at Kawasaki regarding max/min dimensions/weight/COG capabilities of the arm load?
I would be interested to hear about their thoughts on this, as this would not be an isolated problem if it is load related.
Unfortunately, I've already left the client's place, so I don't have any photos of equipment, but it's a Kemppi A7 Wire Feeder (Specifications are below). We used this equipment for a very long time on a different robots (BA006L, BA006N, RS020N etc.), so I think that it's just a series of unfortunate events.
Solved the problem by moving the wire feeding mechanism outside the robot.
I also tried to use "Readjusting gear compensation parameters" procedure. No effect.
Update!
I found that if I remove wire feeder from the JT3, everything became OK. In Basic Setting -> Load on Arm parameters I set the correct values, but it doesn't take any effect. I also tried Auto Load Measurement, but still nothing.
Do you have any Ideas?
Also, how can I download the backup? Until now, I have only been working with newer controlers from Kawasaki that have a new TP and menu (E series). I hope I don't need an RS-232 interface on my laptop to download a backup, as I don't have one.
Hi!
I think, that you can buy USB-RS232 cable (they are cheap) or use a PC-Card (of course, you will need to buy card reader).
Thanks for the answer.
Software versions are ASE_033300Z53 and SVE_08000006C. I can try older versions (I have some) a bit later. But I've tried to remove the cooperation and write a simple program
(like
LWS a
LWE b, 1)
and the robot behaved the same way.
I also think, that it may be some resonance stuff, but I don't know, how to check it. I've tried another BA006N from other client, and all was OK.
Hi!
I have a problem with robot BA006N.
Let me describe a situation. The robot's task is to weld a V-shaped seam on a pipe. Accordingly, the robot is equipped with a single-axis positioner and the positioner is set up in cooperation mode with the robot. It is set precisely. Welding must be performed with oscillations and this is where the problem arises. When welding with a frequency of 1.5 Hz, there is a vertical tremor of the torch. However, at a frequency of 2 Hz, there is no more tremor. Moreover, the presence of tremor also depends on the width of the oscillation. Tremor at 1.5 Hz occurs at an oscillation width of 5-8 mm.
Unfortunately, the technological process implies such oscillations (what an unfortunate coincidence!). Is there any idea how to solve this problem. At the link you can see a video with tremor at 1.5 Hz and no tremor at 2 Hz. https://drive.google.com/drive…NpdZnhPDpNC0y?usp=sharing
my autostart.pc sometimes get aborted during emergency stop is there a dedicated input or something that continues autostart.pc becase i added dedicated input start external program1 to my plc and all it does it gives me error program dosent exisit
Hi! To run background task by signal, it should be named like zzextpc
Btw, background tasks should work undependently from the motion program and emergency stop should not affect them directly.
This is "other languages" part of the forum, so why shouldn't he use an other language than english?
But of course it will be better to use English, as you will get more answers.
It was moved here, but I saw it on basic Kawasaki forum
Please, use English language on this forum.
You can register on Kawasaki distribution server and download everything here: https://dl.robotics.khi.co.jp/login
P.S. You need your Kawasaki distributor contact data
Hello again!
An update to topic:
I got access to another RS007 Robot and found that different distance between left side and JT5 axis and right side of JT5 axis is normal.
I also found that the runout occurs in the direction of travel of the JT5 axis. I used a micrometer and zeroed the 5 axis to get rid of the runout.
In doing so, the position of the marks did not match. But considering that on RS007 robots, the calibration marks are just glued-on pieces of paper, this is not surprising.
Now everything is fine! Thank you for your support.
