Hello!
What is the robot and controller do you have?
Did the ARM ID card work before replacement?
You mentioned that you enabled "built in valve option"б but have you allocated ARM ID Signals in this menu?
Hello!
What is the robot and controller do you have?
Did the ARM ID card work before replacement?
You mentioned that you enabled "built in valve option"б but have you allocated ARM ID Signals in this menu?
Hello!
What is the type of your controller?
I think you are missing jumpers in the safety circuit system. You should look inside your controller and check a safety circuit system according to your controller's External I/O Manual.
For example, on E0X controller it is X7 connector on 1TR board
Thank you!
* Yes, it had a couple of collisions, but usually the tool broke (I was printing it out of PLA plastic) and I didn't think it could have affected any mechanical shift. But apparently I was wrong.
* I did not observe any motion when applying force in the wrist section.
* I could take the robot body apart, but I couldn't find any instructions. I'm afraid that specialized jigs may be required for reassembly. If not, I will take it apart and see.
* Alas, the robot is no longer under warranty, and there is no official support in my country.
I have an access to robot once a week, so I will prepare tools for your test and make it as soon as possibly I can.
Hello!
I have a Kawasaki RS007L Robot and I encountered a positioning problem. At first I noticed a very strange behavior of the TCP point. To figure out what was wrong, I 3D-printed a calibration pin with clearly defined dimensions and installed it as the TOOL of the robot. Then I rotated the TCP relative to another sharp object and noticed that as long as the robot didn't change orientation, the TCP held its position quite accurately. But after the orientation is changed there is a deviation of about 2mm. And in this orientation this shifted point is already held. (see video1.mp4). I saved this point in one robot orientation (Translation point), changed robot orientation and moved back to this point. And there also was an error. Same XYZOAT coordinates in robot, but different in reality. The first thing I decided to do was to check the zero marks and set the robot to the 0 position on all axes. The marks matched. I noticed that the 5th axis was not completely symmetrical (photo1.jpg) and photo2.jpg). I decided to use a micrometer and found that rotation of the 4th axis had a runout of about 0.8 mm in amplitude (video2.mp4).
I don't know, is this a normal behaviour, but in K-ROSET 5th axis looks symmetrical. And if it is a normal behavior, then how to fix the positioning error in different orientations.
Because maximum file size is 12 MB, I uploaded all files on Google Drive: https://drive.google.com/drive/folders/…iAG?usp=sharing
Thank you in advance!
Curious if you can import a 69.5mb .stp file for a cell layout into KRoset?
Hello!
No, you should convert it to .stl before.
To improve performance you should increase the maximum linear deviation for .stl file
Display MoreHi kwakisaki
Thank you very much as usual for your prompt answer.
I didn't actually undestand how to get a sub array. What you seem to show me is getting individual elements of an array, right?
For example, if I have an array with 5 elements and I want to create another array containing elements from 3 to 5, how can I do?
If I do array[2:4] it gives me P0119: Incorrect array suffix error.
Thanks again in advance.
AS Language does not support sub arrays. You should use FOR loop for this task.
Arrays in AS are not arrays in common case, like arrays in Python or C++. It's more like syntax sugar. For example, command var[222] = 1 is valid and only var[222] variable is created. var[0] to var[221] will still be nonexistent
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
Display More
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!
I refer all the way back to my post #4 back in September last year:
PostRE: 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…kwakisakiSeptember 15, 2022 at 12:27 PM
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
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.
Thank you for asking a Kawasaki for me!
I'm very appreciate your efforts
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 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!