Posts by Robo_Dk

Quote from kwakisaki

Many zoptions are usually chargeable options from Kawasaki.

Visitors and members here may have already paid for options, therefore open discussions about enabling and disabling them is prohibited.

Please contact Kawasaki if you require more options.

Playing around with the zoptions can seriously destroy your robot even if it looks obvious, by altering a zoption, can also result in other settings being changed too which could cause damage or injury.

These are not toys..........

In answer to your question, yes I know about this.

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Dear sir,

First of all thank you so much for your reply.

I know Zoption is very confidential and critical option but my question is if any Zoption is on or off then how to automatically turn off or on or come in default position with controller turn off/On, if you give us your guidance then it's really helpful for me.

Thank you in advance....

Hello Everyone,

Hope all forum members are well !!!!

I just want to ask regarding Zoption available in the Kawasaki E controller, so if I turn ON or OFF any Zoption and if anyone changes that Zoption, so after Turning off/On the controller power it will automatically come in its original position.

Example:-

Zoption_6 for brake check function is ON condition, I turn off this option, but it's automatically turn ON after controller Power On/OFF.

So If anyone know about this, please let me know.

Thank you in advance...

Dear All members,

Hope all are well,

First of all Thank you forum members for continues support.

Just recently I am start to use K-roset and I am new to use K-roset software, so i want support for that. I want to create one simulation video for handling application but how to pick a part with robot i don't know, so can anyone please tell me to complete this simulation.

sample program :-

1. JMOVE #p1

2. LMOVE P2

3. OPENI

4. LMOVE P3

5. SPEED 10

6. ACCURACY 20MM/S

7. LMOVE P4

8. BREAK

9. TWAIT 0.5

10. CLOSEI

11. BREAK

12. LMOVE P5

Above program i am using and robot follow the path but part not picking, I know this is very basic but i am new for K-roset, so please support.

Thank you in advance.

Hello Everyone,

Hope all are well!!

I want to monitor signal live counter or time i.e. when i trun on SIG(24) so i want to check live counter ob IF panel. Can anyone suggest sample program to full fill this requirement.

Thank you in advance for support.

Hello everyone,

Is there any command available for repeat speed lock?

For example:-

Once I set repeat 90% and then if anyone come and need to change then he is unable to change untill we are not changing through the command.

Quote from kwakisaki

No idea, the manual states it should be OFF for normal, as it's showing RED, that means it's not normal.

Led's 100-103 remain OFF until AS software is activated, as they are not on, this means AS is not activated.

So initial data not being transferred at bootup or AS is not activating.

Of course, just make sure:

- not to mix red tab (1KA/1KB = D controller) and yellow tab (1RA/1RB) boards (D+ controller).

- replacement has ALL dipswitch on board set the same as old one, including transfer of 1GM of board and exchange with power off.

- uses existing SV installed in CPU board, so no need to load any firmware/data.

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Dear Kawasaki sir,

Thank you for your suggestion, it's helpful for us, we will change the board and let you know status.

Hope so issue will resolve after replacing 1RB boar.

Thank you once again.

Quote from kwakisaki

In that case, it looks like 1RB board is damaged.

Dear Kawasaki sir,

We also think same, do you know what is the meaning of PRG2 ?

In picture as you can see, LED2 is glowing red.

Can we change 1RB board?

Or any other possibility that we can check for troubleshooting?

Once again thank you for your suggestion and reply.

Quote from kwakisaki

Sounds like the RAM battery is exhausted completely and/or the flash memory is stuffed.

- When was the RAM battery last replaced?

- Can you get online using RS232 communication and KCWin32 or KRTerm?

- If you connect an RS232 Null modem cable between PC and controller and open KCWin32, then bootup the controller, a connection usually is automatically established and displays information.

- If that happens, can you obtain a filesave?

- If not, then the 1RA board could be stuffed.

- If you have a file save already and can connect using RS232, have you tried loading that back in?

- If not, only way of finding out is carrying hardware initialize, but this will dump ALL currently stored information and will render the controller unusable until ZROBOT information has been entered.

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Dear Kawasaki sir,

First of all thank you so much for your reply,

I would like to inform you we recently changed the 1RA board because of booting issue and after that we load the AS and SV software and did the initialisation after that robot working properly, we did teaching after that turn off the controller and turn on next day, so error D2018 (Arm control board ) not responding.

So we did controller OFF and ON but after that only Kawasaki logo coming.

As you suggested I will try to connect rs232 with controller and PC.

In 1RB board LED2 glowing red and according to manual it's PRG2 but I don't know what is the meaning of PRG2, please suggest if you about PRG2.

As and SV version is,

AS_R1G00223

SV_R500000H

I am trying to hardware initialisation but it's not initialised, same Kawasaki logo coming and controller stuck on logo screen.

Manual LEad indication

Hello everyone,

Can anyone one help about D controller booting issue.

We have D+ controller and controller type is D42 and it's not booting properly, only Kawasaki logo coming and after that stuck on the same screen.

Can anyone suggest how to resolve this issue.

We checked from our side and found in 1RB board glowing red light and according to manual LED indication it's PRG2 light but there is no mention what is the meaning of PRG2?

Quote from kwakisaki

Who has installed the rotary conveyor?

What is driving the conveyor motor?

Is the motor coupled to the conveyor via a gearbox at all?

Where is the encoder mounted to?

What tests/checks have you made to ensure your values are correct?

What settings have you actually made?

Are you getting any errors?

What is actually happening aside from 'it doesn't track'?

Have you read the manual and confirmed things in line with the documentation?

There is setup and programming procedures, have you followed them?

When you are looking for assistance, please provide more details as no-one reading your posts are seeing what you are seeing, as they are not there, so if you post, make sure it is full of as many details as possible.................the more details the better.

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Dear Kawasaki sir,

First of all, Thank you for your reply.

Requested details is below,

- Who has installed the rotary conveyor:- Third party system integrator install conveyor.

- What is driving the conveyor motor:- Siemens Induction motor drive the conveyor and controlled by siemens VFD.

- Is the motor coupled to the conveyor via a gearbox at all:-Yes, Motor is couple with the gearbox and gear ratio is 1:111.

- Where is the encoder mounted to:- Encoder mounted at the center of conveyor and Encoder is open collector type (Incremental) (Encoder make:-POSITAL).

- What tests/checks have you made to ensure your values are correct:- Mark the point at the conveyor measure the fixed distance manually and then reset conveyor axis data and run the conveyor till the marked point match the manual data and axis data, found 20-25mm variation.

- What settings have you actually made:- setting i made that is in attached photo.

- Are you getting any errors:- No, whenever I tried to track the conveyor at that time robot move opposite direction of conveyor moving and move till its maximum axis data.

- What is actually happening aside from 'it doesn't track:- Whenever i tried to track the conveyor robot not follow the conveyor, the robot is left behind and the conveyor overtakes it and if we increase the robot speed then robot overtake the conveyor.

- Have you read the manual and confirmed things in line with the documentation:- I have conveyor synchronization manual, according the manual only I insert the data, only I have doubt about how to calculate 1. Gain for conveyor speed bias? 2. Ineffective pitch?

- There is setup and programming procedures, have you followed them:- According to the manual procedure only I did the programing.

Dear Sir,

I am trying to give all the information but rather than if I missed something please ask, I will try to provide all the details.

once again thank you so much for your reply and support.

Quote from kwakisaki

So what are your values for each point I wrote?

Dear Kawasaki sir,

I am beginner for this Conveyor tracking, this is first time for me, so please guide me.

Thank you so much for your valuable reply.

Quote from kwakisaki

So what are your values for each point I wrote?

Dear Kawasaki sir,

Your suggested points is valuable for me and according to you point I did but still robot not track the conveyor.

Quote from kwakisaki

So what are your values for each point I wrote?

Dear Kawasaki sir,

- How many bits are provided by the encoder for one revolution of encoder travel :- Encoder PPR (1-16384), this data provided by encoder OEM.

- How many revolutions of the encoder does it take to rotate the conveyor one revolution ;- 269110597 bit.

- This will provide how many bits in total per one revolution of the conveyor:- according to the formula

= distance travel by conveyor (mm) divide by

(Encoder value after the motion (bit) - encoder

value before the motion (bit), we get resolution 4.264544 mm/bit

- Work out the circumference of the conveyor (radius from motor to centre of conveyor):- diameter of conveyor is 11537, so circumference is πxdiameter= 36223.04.

- Divide the circumference by how many bits per one revolution of the conveyor.

- This should provide bits/mm for the encoder setting.

- If you have 15 stations you then have 24 equal positions around the circumference of the conveyor.

- So divide the circumference by 15 and you will have the distance in mm of each station centre:- 2415.53mm

- You should then have equal distances between each station centre then.

- So if the bits/mm is correct, you should be able to find each station based on the encoder value.

Dear Kawasaki sir,

According your all point, i input all the data but when I try to track the robot it's not follow the conveyor.

Sample program for conveyor tracking :-

Sir,

If any point is wrong from my side, please suggest.

Quote from kwakisaki

Kawasaki themselves can also offer assistance if you don't get any responses offered by other members, whom dedicate some free time (without charge) here at Robot Forum, you of course may need to pay for that assistance, but if you are getting paid for the job, then you wont be out of pocket by at least contacting them.

I suspect setting the conveyor parameters is similar to setting up a rotary positioner on an external axis which just needs some number crunching based on your installation.

In effect, the conveyor is a 'flywheel' attached to the end of a central motor and if your encoder is fitted to the motor then:

- How many bits are provided by the encoder for one revolution of encoder travel.

- How many revolutions of the encoder does it take to rotate the conveyor one revolution.

- This will provide how many bits in total per one revolution of the conveyor.

- Work out the circumference of the conveyor (radius from motor to centre of conveyor).

- Divide the circumference by how many bits per one revolution of the conveyor.

- This should provide bits/mm for the encoder setting.

- If you have 15 stations you then have 24 equal positions around the circumference of the conveyor.

- So divide the circumference by 15 and you will have the distance in mm of each station centre.

- You should then have equal distances between each station centre then.

- So if the bits/mm is correct, you shouarld be able to find each station based on the encoder value.

I believe the above will put you in the ball park, ages since I did any of this, so I may not be 100% accurate.

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Dear Kawasaki sir,

Please help to solve conveyor tracking issue,

I am badly stuck in middle of this project.

Thank you in advance.

Dear Forum members,

Please anyone can support for this issue.

Thank you in advance

Quote from kwakisaki

Kawasaki themselves can also offer assistance if you don't get any responses offered by other members, whom dedicate some free time (without charge) here at Robot Forum, you of course may need to pay for that assistance, but if you are getting paid for the job, then you wont be out of pocket by at least contacting them.

I suspect setting the conveyor parameters is similar to setting up a rotary positioner on an external axis which just needs some number crunching based on your installation.

In effect, the conveyor is a 'flywheel' attached to the end of a central motor and if your encoder is fitted to the motor then:

- How many bits are provided by the encoder for one revolution of encoder travel.

- How many revolutions of the encoder does it take to rotate the conveyor one revolution.

- This will provide how many bits in total per one revolution of the conveyor.

- Work out the circumference of the conveyor (radius from motor to centre of conveyor).

- Divide the circumference by how many bits per one revolution of the conveyor.

- This should provide bits/mm for the encoder setting.

- If you have 15 stations you then have 24 equal positions around the circumference of the conveyor.

- So divide the circumference by 15 and you will have the distance in mm between stations.

- So if the bits/mm is correct, you should be able to find each station based on the encoder value.

I believe the above will put you in the ball park, ages since I did any of this, so I may not be 100% accurate.

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Dear sir,

First of all thank you for your reply,

-Encoder mm/bit is calculate according to the manual formula = distance travel by conveyor (mm) divide by

(Encoder value after the motion (bit) - encoder

value before the motion (bit))

-I checked encoder bit value by using Where25 command.

- Conveyor radius is 5523mm.

- One station to another station distance is 1940mm.

For your reference I attached one drawing layout, please check once and give your feedback.

Thank you for your reply.

Hello everyone,

Please support for conveyor tracking issue.

Thank you

Hey anyone can support me.

Hello Everyone,

We are doing form pouring project with Kawasaki ZX165 robot and E02 controller, so our mold is on rotary conveyor and conveyor diameter is 11.35 meter. We have total 15 number of station on rotary conveyor and we are using Posital make incremental encoder.

We done the encoder wiring with 1SQ board and checked the encoder feedback, it coming properly.

We checked Conveyor operation manual and according to manual input the data but still my robot not track properly, I have some doubt regarding conveyor synchronisation.

1. How to calculate the resolution for Rotatory conveyor??? (i already check manual but in the manual no calculation formula or method mentioned).

2. In Environment data other details also required i.e. (Maximum speed, Maximum position, Gain for conveyor speed Bias, etc), so how to calculate this data???

Request to everyone, If anyone having idea related this issue, please support.

Thank you in advance.